[glass] Add drive class widgets (#2975)

This adds widgets for DifferentialDrive and MecanumDrive.

glass/src/libnt/native/cpp/NTDifferentialDrive.cpp

@@ -0,0 +1,59 @@
+// 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 "glass/networktables/NTDifferentialDrive.h"
+
+#include <imgui.h>
+#include <wpi/MathExtras.h>
+
+using namespace glass;
+
+NTDifferentialDriveModel::NTDifferentialDriveModel(wpi::StringRef path)
+    : NTDifferentialDriveModel(nt::GetDefaultInstance(), path) {}
+
+NTDifferentialDriveModel::NTDifferentialDriveModel(NT_Inst instance,
+                                                   wpi::StringRef path)
+    : m_nt(instance),
+      m_name(m_nt.GetEntry(path + "/.name")),
+      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_lPercent);
+  m_nt.AddListener(m_rPercent);
+
+  m_wheels.emplace_back("L % Output", &m_lPercentData, [this](auto value) {
+    nt::SetEntryValue(m_lPercent, nt::NetworkTableValue::MakeDouble(value));
+  });
+
+  m_wheels.emplace_back("R % Output", &m_rPercentData, [this](auto value) {
+    nt::SetEntryValue(m_rPercent, nt::NetworkTableValue::MakeDouble(value));
+  });
+}
+
+void NTDifferentialDriveModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_name && event.value && event.value->IsString()) {
+      m_nameValue = event.value->GetString();
+    } else if (event.entry == m_lPercent && event.value &&
+               event.value->IsDouble()) {
+      m_lPercentData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_rPercent && event.value &&
+               event.value->IsDouble()) {
+      m_rPercentData.SetValue(event.value->GetDouble());
+    }
+  }
+
+  double l = m_lPercentData.GetValue();
+  double r = m_rPercentData.GetValue();
+
+  m_speedVector = ImVec2(0.0, -(l + r) / 2.0);
+  m_rotation = (l - r) / 2.0;
+}
+
+bool NTDifferentialDriveModel::Exists() {
+  return m_nt.IsConnected() && nt::GetEntryType(m_lPercent) != NT_UNASSIGNED;
+}

glass/src/libnt/native/cpp/NTMecanumDrive.cpp

@@ -0,0 +1,81 @@
+// 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 "glass/networktables/NTMecanumDrive.h"
+
+#include <imgui.h>
+#include <wpi/MathExtras.h>
+
+using namespace glass;
+
+NTMecanumDriveModel::NTMecanumDriveModel(wpi::StringRef path)
+    : NTMecanumDriveModel(nt::GetDefaultInstance(), path) {}
+
+NTMecanumDriveModel::NTMecanumDriveModel(NT_Inst instance, wpi::StringRef path)
+    : m_nt(instance),
+      m_name(m_nt.GetEntry(path + "/.name")),
+      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")),
+      m_rrPercent(m_nt.GetEntry(path + "/Rear Right Motor Speed")),
+      m_nameValue(path.rsplit('/').second),
+      m_flPercentData("NTMcnmDriveFL:" + path),
+      m_frPercentData("NTMcnmDriveFR:" + path),
+      m_rlPercentData("NTMcnmDriveRL:" + path),
+      m_rrPercentData("NTMcnmDriveRR:" + path) {
+  m_nt.AddListener(m_name);
+  m_nt.AddListener(m_flPercent);
+  m_nt.AddListener(m_frPercent);
+  m_nt.AddListener(m_rlPercent);
+  m_nt.AddListener(m_rrPercent);
+
+  m_wheels.emplace_back("FL % Output", &m_flPercentData, [this](auto value) {
+    nt::SetEntryValue(m_flPercent, nt::NetworkTableValue::MakeDouble(value));
+  });
+
+  m_wheels.emplace_back("FR % Output", &m_frPercentData, [this](auto value) {
+    nt::SetEntryValue(m_frPercent, nt::NetworkTableValue::MakeDouble(value));
+  });
+
+  m_wheels.emplace_back("RL % Output", &m_rlPercentData, [this](auto value) {
+    nt::SetEntryValue(m_rlPercent, nt::NetworkTableValue::MakeDouble(value));
+  });
+
+  m_wheels.emplace_back("RR % Output", &m_rrPercentData, [this](auto value) {
+    nt::SetEntryValue(m_rrPercent, nt::NetworkTableValue::MakeDouble(value));
+  });
+}
+
+void NTMecanumDriveModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_name && event.value && event.value->IsString()) {
+      m_nameValue = event.value->GetString();
+    } else if (event.entry == m_flPercent && event.value &&
+               event.value->IsDouble()) {
+      m_flPercentData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_frPercent && event.value &&
+               event.value->IsDouble()) {
+      m_frPercentData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_rlPercent && event.value &&
+               event.value->IsDouble()) {
+      m_rlPercentData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_rrPercent && event.value &&
+               event.value->IsDouble()) {
+      m_rrPercentData.SetValue(event.value->GetDouble());
+    }
+  }
+
+  double fl = m_flPercentData.GetValue();
+  double fr = m_frPercentData.GetValue();
+  double rl = m_rlPercentData.GetValue();
+  double rr = m_rrPercentData.GetValue();
+
+  m_speedVector =
+      ImVec2((fl - fr - rl + rr) / 4.0f, -(fl + fr + rl + rr) / 4.0f);
+  m_rotation = -(-fl + fr - rl + rr) / 4;
+}
+
+bool NTMecanumDriveModel::Exists() {
+  return m_nt.IsConnected() && nt::GetEntryType(m_flPercent) != NT_UNASSIGNED;
+}

glass/src/libnt/native/cpp/StandardNetworkTables.cpp

@@ -4,11 +4,13 @@
 
 #include "glass/networktables/NTCommandScheduler.h"
 #include "glass/networktables/NTCommandSelector.h"
+#include "glass/networktables/NTDifferentialDrive.h"
 #include "glass/networktables/NTDigitalInput.h"
 #include "glass/networktables/NTDigitalOutput.h"
 #include "glass/networktables/NTFMS.h"
 #include "glass/networktables/NTField2D.h"
 #include "glass/networktables/NTGyro.h"
+#include "glass/networktables/NTMecanumDrive.h"
 #include "glass/networktables/NTPIDController.h"
 #include "glass/networktables/NTSpeedController.h"
 #include "glass/networktables/NTStringChooser.h"
@@ -40,6 +42,17 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
           DisplayCommandSelector(static_cast<NTCommandSelectorModel*>(model));
         });
       });
+  provider.Register(
+      NTDifferentialDriveModel::kType,
+      [](NT_Inst inst, const char* path) {
+        return std::make_unique<NTDifferentialDriveModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char*) {
+        win->SetDefaultSize(300, 350);
+        return MakeFunctionView([=] {
+          DisplayDrive(static_cast<NTDifferentialDriveModel*>(model));
+        });
+      });
   provider.Register(
       NTFMSModel::kType,
       [](NT_Inst inst, const char* path) {
@@ -94,6 +107,16 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
         return MakeFunctionView(
             [=] { DisplayGyro(static_cast<NTGyroModel*>(model)); });
       });
+  provider.Register(
+      NTMecanumDriveModel::kType,
+      [](NT_Inst inst, const char* path) {
+        return std::make_unique<NTMecanumDriveModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char*) {
+        win->SetDefaultSize(300, 350);
+        return MakeFunctionView(
+            [=] { DisplayDrive(static_cast<NTMecanumDriveModel*>(model)); });
+      });
   provider.Register(
       NTPIDControllerModel::kType,
       [](NT_Inst inst, const char* path) {