mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
[sysid] Add SysId (#5672)
The source is copied from this commit:
625ff04784.
This commit is contained in:
Tyler Veness
219
sysid/src/main/native/cpp/App.cpp
Normal file
219
sysid/src/main/native/cpp/App.cpp
Normal file
@@ -0,0 +1,219 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include <cstdio>
|
||||
|
||||
#ifndef RUNNING_SYSID_TESTS
|
||||
|
||||
#include <filesystem>
|
||||
#include <memory>
|
||||
#include <string_view>
|
||||
|
||||
#include <fmt/format.h>
|
||||
#include <glass/Context.h>
|
||||
#include <glass/MainMenuBar.h>
|
||||
#include <glass/Storage.h>
|
||||
#include <glass/Window.h>
|
||||
#include <glass/WindowManager.h>
|
||||
#include <glass/other/Log.h>
|
||||
#include <imgui.h>
|
||||
#include <uv.h>
|
||||
#include <wpi/Logger.h>
|
||||
#include <wpigui.h>
|
||||
#include <wpigui_openurl.h>
|
||||
|
||||
#include "sysid/view/Analyzer.h"
|
||||
#include "sysid/view/JSONConverter.h"
|
||||
#include "sysid/view/Logger.h"
|
||||
#include "sysid/view/UILayout.h"
|
||||
|
||||
namespace gui = wpi::gui;
|
||||
|
||||
static std::unique_ptr<glass::WindowManager> gWindowManager;
|
||||
|
||||
glass::Window* gLoggerWindow;
|
||||
glass::Window* gAnalyzerWindow;
|
||||
glass::Window* gProgramLogWindow;
|
||||
static glass::MainMenuBar gMainMenu;
|
||||
|
||||
std::unique_ptr<sysid::JSONConverter> gJSONConverter;
|
||||
|
||||
glass::LogData gLog;
|
||||
wpi::Logger gLogger;
|
||||
|
||||
const char* GetWPILibVersion();
|
||||
|
||||
namespace sysid {
|
||||
std::string_view GetResource_sysid_16_png();
|
||||
std::string_view GetResource_sysid_32_png();
|
||||
std::string_view GetResource_sysid_48_png();
|
||||
std::string_view GetResource_sysid_64_png();
|
||||
std::string_view GetResource_sysid_128_png();
|
||||
std::string_view GetResource_sysid_256_png();
|
||||
std::string_view GetResource_sysid_512_png();
|
||||
} // namespace sysid
|
||||
|
||||
void Application(std::string_view saveDir) {
|
||||
// Create the wpigui (along with Dear ImGui) and Glass contexts.
|
||||
gui::CreateContext();
|
||||
glass::CreateContext();
|
||||
|
||||
// Add icons
|
||||
gui::AddIcon(sysid::GetResource_sysid_16_png());
|
||||
gui::AddIcon(sysid::GetResource_sysid_32_png());
|
||||
gui::AddIcon(sysid::GetResource_sysid_48_png());
|
||||
gui::AddIcon(sysid::GetResource_sysid_64_png());
|
||||
gui::AddIcon(sysid::GetResource_sysid_128_png());
|
||||
gui::AddIcon(sysid::GetResource_sysid_256_png());
|
||||
gui::AddIcon(sysid::GetResource_sysid_512_png());
|
||||
|
||||
glass::SetStorageName("sysid");
|
||||
glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
|
||||
: saveDir);
|
||||
|
||||
// Add messages from the global sysid logger into the Log window.
|
||||
gLogger.SetLogger([](unsigned int level, const char* file, unsigned int line,
|
||||
const char* msg) {
|
||||
const char* lvl = "";
|
||||
if (level >= wpi::WPI_LOG_CRITICAL) {
|
||||
lvl = "CRITICAL: ";
|
||||
} else if (level >= wpi::WPI_LOG_ERROR) {
|
||||
lvl = "ERROR: ";
|
||||
} else if (level >= wpi::WPI_LOG_WARNING) {
|
||||
lvl = "WARNING: ";
|
||||
} else if (level >= wpi::WPI_LOG_INFO) {
|
||||
lvl = "INFO: ";
|
||||
} else if (level >= wpi::WPI_LOG_DEBUG) {
|
||||
lvl = "DEBUG: ";
|
||||
}
|
||||
std::string filename = std::filesystem::path{file}.filename().string();
|
||||
gLog.Append(fmt::format("{}{} ({}:{})\n", lvl, msg, filename, line));
|
||||
#ifndef NDEBUG
|
||||
fmt::print(stderr, "{}{} ({}:{})\n", lvl, msg, filename, line);
|
||||
#endif
|
||||
});
|
||||
|
||||
gLogger.set_min_level(wpi::WPI_LOG_DEBUG);
|
||||
// Set the number of workers for the libuv threadpool.
|
||||
uv_os_setenv("UV_THREADPOOL_SIZE", "6");
|
||||
|
||||
// Initialize window manager and add views.
|
||||
auto& storage = glass::GetStorageRoot().GetChild("SysId");
|
||||
gWindowManager = std::make_unique<glass::WindowManager>(storage);
|
||||
gWindowManager->GlobalInit();
|
||||
|
||||
gLoggerWindow = gWindowManager->AddWindow(
|
||||
"Logger", std::make_unique<sysid::Logger>(storage, gLogger));
|
||||
|
||||
gAnalyzerWindow = gWindowManager->AddWindow(
|
||||
"Analyzer", std::make_unique<sysid::Analyzer>(storage, gLogger));
|
||||
|
||||
gProgramLogWindow = gWindowManager->AddWindow(
|
||||
"Program Log", std::make_unique<glass::LogView>(&gLog));
|
||||
|
||||
// Set default positions and sizes for windows.
|
||||
|
||||
// Logger window position/size
|
||||
gLoggerWindow->SetDefaultPos(sysid::kLoggerWindowPos.x,
|
||||
sysid::kLoggerWindowPos.y);
|
||||
gLoggerWindow->SetDefaultSize(sysid::kLoggerWindowSize.x,
|
||||
sysid::kLoggerWindowSize.y);
|
||||
|
||||
// Analyzer window position/size
|
||||
gAnalyzerWindow->SetDefaultPos(sysid::kAnalyzerWindowPos.x,
|
||||
sysid::kAnalyzerWindowPos.y);
|
||||
gAnalyzerWindow->SetDefaultSize(sysid::kAnalyzerWindowSize.x,
|
||||
sysid::kAnalyzerWindowSize.y);
|
||||
|
||||
// Program log window position/size
|
||||
gProgramLogWindow->SetDefaultPos(sysid::kProgramLogWindowPos.x,
|
||||
sysid::kProgramLogWindowPos.y);
|
||||
gProgramLogWindow->SetDefaultSize(sysid::kProgramLogWindowSize.x,
|
||||
sysid::kProgramLogWindowSize.y);
|
||||
gProgramLogWindow->DisableRenamePopup();
|
||||
|
||||
gJSONConverter = std::make_unique<sysid::JSONConverter>(gLogger);
|
||||
|
||||
// Configure save file.
|
||||
gui::ConfigurePlatformSaveFile("sysid.ini");
|
||||
|
||||
// Add menu bar.
|
||||
gui::AddLateExecute([] {
|
||||
ImGui::BeginMainMenuBar();
|
||||
gMainMenu.WorkspaceMenu();
|
||||
gui::EmitViewMenu();
|
||||
|
||||
if (ImGui::BeginMenu("Widgets")) {
|
||||
gWindowManager->DisplayMenu();
|
||||
ImGui::EndMenu();
|
||||
}
|
||||
|
||||
bool about = false;
|
||||
if (ImGui::BeginMenu("Info")) {
|
||||
if (ImGui::MenuItem("About")) {
|
||||
about = true;
|
||||
}
|
||||
ImGui::EndMenu();
|
||||
}
|
||||
|
||||
bool toCSV = false;
|
||||
if (ImGui::BeginMenu("JSON Converters")) {
|
||||
if (ImGui::MenuItem("JSON to CSV Converter")) {
|
||||
toCSV = true;
|
||||
}
|
||||
|
||||
ImGui::EndMenu();
|
||||
}
|
||||
|
||||
if (ImGui::BeginMenu("Docs")) {
|
||||
if (ImGui::MenuItem("Online documentation")) {
|
||||
wpi::gui::OpenURL(
|
||||
"https://docs.wpilib.org/en/stable/docs/software/pathplanning/"
|
||||
"system-identification/");
|
||||
}
|
||||
|
||||
ImGui::EndMenu();
|
||||
}
|
||||
|
||||
ImGui::EndMainMenuBar();
|
||||
|
||||
if (toCSV) {
|
||||
ImGui::OpenPopup("SysId JSON to CSV Converter");
|
||||
toCSV = false;
|
||||
}
|
||||
|
||||
if (ImGui::BeginPopupModal("SysId JSON to CSV Converter")) {
|
||||
gJSONConverter->DisplayCSVConvert();
|
||||
if (ImGui::Button("Close")) {
|
||||
ImGui::CloseCurrentPopup();
|
||||
}
|
||||
ImGui::EndPopup();
|
||||
}
|
||||
|
||||
if (about) {
|
||||
ImGui::OpenPopup("About");
|
||||
about = false;
|
||||
}
|
||||
if (ImGui::BeginPopupModal("About")) {
|
||||
ImGui::Text("SysId: System Identification for Robot Mechanisms");
|
||||
ImGui::Separator();
|
||||
ImGui::Text("v%s", GetWPILibVersion());
|
||||
ImGui::Separator();
|
||||
ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
|
||||
if (ImGui::Button("Close")) {
|
||||
ImGui::CloseCurrentPopup();
|
||||
}
|
||||
ImGui::EndPopup();
|
||||
}
|
||||
});
|
||||
|
||||
gui::Initialize("System Identification", sysid::kAppWindowSize.x,
|
||||
sysid::kAppWindowSize.y);
|
||||
gui::Main();
|
||||
|
||||
glass::DestroyContext();
|
||||
gui::DestroyContext();
|
||||
}
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user