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[glass] Use .controllable to set widgets' read-only state (#3035)

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This modifies the mecanum drive, differential drive, speed controller,
and PID controller widgets to only be writeable when .controllable is
set to true.
This commit is contained in:
Prateek Machiraju
2021-01-05 21:33:05 -05:00
committed by GitHub
parent d8652cfd4f
commit a0bc33bdba
11 changed files with 63 additions and 7 deletions
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13
glass/src/lib/native/cpp/hardware/SpeedController.cpp
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@@ -5,6 +5,7 @@
#include "glass/hardware/SpeedController.h"
#include <imgui.h>
#include <imgui_internal.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
@@ -22,6 +23,12 @@ void glass::DisplaySpeedController(SpeedControllerModel* m) {
return;
}
// Set the buttons and sliders to read-only if the model is read-only.
if (m->IsReadOnly()) {
ImGui::PushItemFlag(ImGuiItemFlags_Disabled, true);
ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(210, 210, 210, 255));
}
// Add button to zero output.
if (ImGui::Button("Zero")) {
m->SetPercent(0.0);
@@ -31,7 +38,13 @@ void glass::DisplaySpeedController(SpeedControllerModel* m) {
// Display a slider for the data.
float value = dc->GetValue();
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
if (dc->SliderFloat("% Output", &value, -1.0f, 1.0f)) {
m->SetPercent(value);
}
if (m->IsReadOnly()) {
ImGui::PopStyleColor();
ImGui::PopItemFlag();
}
}

11
glass/src/lib/native/cpp/other/Drive.cpp
View File

@@ -106,6 +106,12 @@ void glass::DisplayDrive(DriveModel* m) {
drawArrow(arrowPos, a2 + adder);
}
// Set the buttons and sliders to read-only if the model is read-only.
if (m->IsReadOnly()) {
ImGui::PushItemFlag(ImGuiItemFlags_Disabled, true);
ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(210, 210, 210, 255));
}
// Add sliders for the wheel percentages.
ImGui::SetCursorPosY(y2 - pos.y + ImGui::GetFontSize() * 0.5);
for (auto&& wheel : wheels) {
@@ -124,4 +130,9 @@ void glass::DisplayDrive(DriveModel* m) {
}
}
}
if (m->IsReadOnly()) {
ImGui::PopStyleColor();
ImGui::PopItemFlag();
}
}

8
glass/src/lib/native/cpp/other/PIDController.cpp
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@@ -20,10 +20,12 @@ void glass::DisplayPIDController(PIDControllerModel* m) {
}
if (m->Exists()) {
auto createTuningParameter = [](const char* name, double* v,
std::function<void(double)> callback) {
auto flag = m->IsReadOnly() ? ImGuiInputTextFlags_ReadOnly
: ImGuiInputTextFlags_None;
auto createTuningParameter = [flag](const char* name, double* v,
std::function<void(double)> callback) {
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
if (ImGui::InputDouble(name, v, 0.0, 0.0, "%.3f")) {
if (ImGui::InputDouble(name, v, 0.0, 0.0, "%.3f", flag)) {
callback(*v);
}
};

5
glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
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@@ -16,12 +16,14 @@ NTDifferentialDriveModel::NTDifferentialDriveModel(NT_Inst instance,
wpi::StringRef path)
: m_nt(instance),
m_name(m_nt.GetEntry(path + "/.name")),
m_controllable(m_nt.GetEntry(path + "/.controllable")),
m_lPercent(m_nt.GetEntry(path + "/Left Motor Speed")),
m_rPercent(m_nt.GetEntry(path + "/Right Motor Speed")),
m_nameValue(path.rsplit('/').second),
m_lPercentData("NTDiffDriveL:" + path),
m_rPercentData("NTDiffDriveR:" + path) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
m_nt.AddListener(m_lPercent);
m_nt.AddListener(m_rPercent);
@@ -44,6 +46,9 @@ void NTDifferentialDriveModel::Update() {
} else if (event.entry == m_rPercent && event.value &&
event.value->IsDouble()) {
m_rPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_controllable && event.value &&
event.value->IsBoolean()) {
m_controllableValue = event.value->GetBoolean();
}
}

5
glass/src/libnt/native/cpp/NTMecanumDrive.cpp
View File

@@ -15,6 +15,7 @@ NTMecanumDriveModel::NTMecanumDriveModel(wpi::StringRef path)
NTMecanumDriveModel::NTMecanumDriveModel(NT_Inst instance, wpi::StringRef path)
: m_nt(instance),
m_name(m_nt.GetEntry(path + "/.name")),
m_controllable(m_nt.GetEntry(path + "/.controllable")),
m_flPercent(m_nt.GetEntry(path + "/Front Left Motor Speed")),
m_frPercent(m_nt.GetEntry(path + "/Front Right Motor Speed")),
m_rlPercent(m_nt.GetEntry(path + "/Rear Left Motor Speed")),
@@ -25,6 +26,7 @@ NTMecanumDriveModel::NTMecanumDriveModel(NT_Inst instance, wpi::StringRef path)
m_rlPercentData("NTMcnmDriveRL:" + path),
m_rrPercentData("NTMcnmDriveRR:" + path) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
m_nt.AddListener(m_flPercent);
m_nt.AddListener(m_frPercent);
m_nt.AddListener(m_rlPercent);
@@ -63,6 +65,9 @@ void NTMecanumDriveModel::Update() {
} else if (event.entry == m_rrPercent && event.value &&
event.value->IsDouble()) {
m_rrPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_controllable && event.value &&
event.value->IsBoolean()) {
m_controllableValue = event.value->GetBoolean();
}
}

6
glass/src/libnt/native/cpp/NTPIDController.cpp
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@@ -13,6 +13,7 @@ NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
wpi::StringRef path)
: m_nt(instance),
m_name(m_nt.GetEntry(path + "/.name")),
m_controllable(m_nt.GetEntry(path + "/.controllable")),
m_p(m_nt.GetEntry(path + "/p")),
m_i(m_nt.GetEntry(path + "/i")),
m_d(m_nt.GetEntry(path + "/d")),
@@ -23,6 +24,7 @@ NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
m_setpointData("NTPIDCtrlStpt:" + path),
m_nameValue(path.rsplit('/').second) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
m_nt.AddListener(m_p);
m_nt.AddListener(m_i);
m_nt.AddListener(m_d);
@@ -67,6 +69,10 @@ void NTPIDControllerModel::Update() {
if (event.value && event.value->IsDouble()) {
m_setpointData.SetValue(event.value->GetDouble());
}
} else if (event.entry == m_controllable) {
if (event.value && event.value->IsBoolean()) {
m_controllableValue = event.value->GetBoolean();
}
}
}
}

6
glass/src/libnt/native/cpp/NTSpeedController.cpp
View File

@@ -14,10 +14,12 @@ NTSpeedControllerModel::NTSpeedControllerModel(NT_Inst instance,
: m_nt(instance),
m_value(m_nt.GetEntry(path + "/Value")),
m_name(m_nt.GetEntry(path + "/.name")),
m_controllable(m_nt.GetEntry(path + "/.controllable")),
m_valueData("NT_SpdCtrl:" + path),
m_nameValue(path.rsplit('/').second) {
m_nt.AddListener(m_value);
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
}
void NTSpeedControllerModel::SetPercent(double value) {
@@ -34,6 +36,10 @@ void NTSpeedControllerModel::Update() {
if (event.value && event.value->IsString()) {
m_nameValue = event.value->GetString();
}
} else if (event.entry == m_controllable) {
if (event.value && event.value->IsBoolean()) {
m_controllableValue = event.value->GetBoolean();
}
}
}
}

4
glass/src/libnt/native/include/glass/networktables/NTDifferentialDrive.h
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@@ -33,15 +33,17 @@ class NTDifferentialDriveModel : public DriveModel {
void Update() override;
bool Exists() override;
bool IsReadOnly() override { return false; }
bool IsReadOnly() override { return !m_controllableValue; }
private:
NetworkTablesHelper m_nt;
NT_Entry m_name;
NT_Entry m_controllable;
NT_Entry m_lPercent;
NT_Entry m_rPercent;
std::string m_nameValue;
bool m_controllableValue = false;
DataSource m_lPercentData;
DataSource m_rPercentData;

4
glass/src/libnt/native/include/glass/networktables/NTMecanumDrive.h
View File

@@ -33,17 +33,19 @@ class NTMecanumDriveModel : public DriveModel {
void Update() override;
bool Exists() override;
bool IsReadOnly() override { return false; }
bool IsReadOnly() override { return !m_controllableValue; }
private:
NetworkTablesHelper m_nt;
NT_Entry m_name;
NT_Entry m_controllable;
NT_Entry m_flPercent;
NT_Entry m_frPercent;
NT_Entry m_rlPercent;
NT_Entry m_rrPercent;
std::string m_nameValue;
bool m_controllableValue = false;
DataSource m_flPercentData;
DataSource m_frPercentData;
DataSource m_rlPercentData;

4
glass/src/libnt/native/include/glass/networktables/NTPIDController.h
View File

@@ -35,11 +35,12 @@ class NTPIDControllerModel : public PIDControllerModel {
void Update() override;
bool Exists() override;
bool IsReadOnly() override { return false; }
bool IsReadOnly() override { return !m_controllableValue; }
private:
NetworkTablesHelper m_nt;
NT_Entry m_name;
NT_Entry m_controllable;
NT_Entry m_p;
NT_Entry m_i;
NT_Entry m_d;
@@ -51,5 +52,6 @@ class NTPIDControllerModel : public PIDControllerModel {
DataSource m_setpointData;
std::string m_nameValue;
bool m_controllableValue = false;
};
} // namespace glass

4
glass/src/libnt/native/include/glass/networktables/NTSpeedController.h
View File

@@ -29,14 +29,16 @@ class NTSpeedControllerModel : public SpeedControllerModel {
void Update() override;
bool Exists() override;
bool IsReadOnly() override { return false; }
bool IsReadOnly() override { return !m_controllableValue; }
private:
NetworkTablesHelper m_nt;
NT_Entry m_value;
NT_Entry m_name;
NT_Entry m_controllable;
DataSource m_valueData;
std::string m_nameValue;
bool m_controllableValue = false;
};
} // namespace glass