Squashed 'third_party/allwpilib/' changes from 83f1860047..f1a82828fe
f1a82828fe [wpiutil] Add DataLog and DataLogManager Stop() (#5860)
2a04e12c6f [apriltag] AprilTagFieldLayout: Add accessors for origin and field dimensions (#5869)
33e0089afb Cleanup usages of std::function<void(void)> (#5864)
d06fa633d5 [build] Fix protobuf generation when building with make (#5867)
049732afb8 [cscore] Make camera connection logging clearer (#5866)
87f7c19f90 [wpimath] Make InterpolatingDoubleTreeMap constructor public (#5865)
6b53ef47cf [wpimath] Don't recreate TrapezoidProfile in ProfiledPIDController calculate() (#5863)
8a3a268ae6 [commands] Add finallyDo with zero-arg lambda (#5862)
1c35d42cd0 [wpilib] Pop diagnostic for deprecated function use (#5859)
ddc8db6c26 [wpimath] Add feedforward constant constructor to ElevatorSim (#5823)
c6aff2c431 [upstream_utils] Update to LLVM 17.0.4 (#5855)
a9c5b18a39 [build] Update OpenCV to 2024-4.8.0-2 (#5854)
9540b6922d [hal] Add CAN IDs for AndyMark and Vivid Hosting (#5852)
83a7d33c47 [glass] Improve display of protobuf/struct type strings (#5850)
a4a8ad9c75 [commands] Make Java SelectCommand generic (#5849)
9eecf2a456 [build] Add CMake option to build Java sources jars (#5768)
9536a311cb [wpilib] Add support for the PS5 DualSense controller (#5257)
8d5e6737fc [wpilibc] SolenoidSim: Add virtual destructor (#5848)
07e13d60a2 [ntcore] Fix write_impl (#5847)
1713386869 [wpiutil] ProtobufMessageDatabase: Fix out-of-order Add() rebuild (#5845)
35472f5fc9 [ntcore] Fix a use-after-free in client close (#5844)
ed168b522c [ntcore] Disable buf pool when asan is enabled (#5843)
3e7ba2cc6f [wpinet] WebSocket: Fix write behavior (#5841)
80c47da237 [sim] Disable the robot program when DS disconnects (#5818)
abe1cec90c [wpilib] Update Usage Reporting ResourceType from NI Libraries (#5842)
cdf981abba [glass] Fix position of data type in NT view (#5840)
04dcd80adb [build] Publish unit tests for examples (#5838)
49920234ac [build] Fix checkstyle rules to allow Windows paths (#5839)
366b715942 [wpilib] Fix SendableChooser test (#5835)
3ba501f947 [commands] Java: Fix CommandXboxController.leftTrigger() parameter order (#5831)
ec569a58ef [wpimath] Make KalmanTypeFilter interface public (#5830)
b91317fd36 [wpiutil] DataLog.addSchema(): Don't add into a set view (#5829)
2ab4fcbc24 [wpiutil] ProtobufMessageDatabase: Clear messages first (#5827)
98c14f1692 [wpimath] Add EKF/UKF u-y-R correct overload (#5832)
60bcdeded9 [ci] Disable java in sanitizer builds (#5833)
c87f8fd538 [commands] Add DeferredCommand (#5566)
ad80eb3a0b [ci] Update actions for comment-command (#5824)
c7d6ad5a0b [ntcore] WebSocketConnection: Use weak capture (#5822)
8a8e220792 [simgui] Add 'Invalid' option for AllianceStation (#5820)
cfc6a47f76 [sim] DS plugin: Fix off-by-one error when setting alliance station (#5819)
8efa586ace [ntcore] Don't check type string on publishing an entry (#5816)
23ea188e60 [glass] Add protobuf decode error log message (#5812)
928e87b4f4 [build] Add combined test meta-task (#5813)
63ef585d4b [wpiutil] Fix compilation of MathExtras.h on Windows with /sdl (#5809)
b03a7668f9 [build] Windows CMake/vcpkg fixes (#5807)
3f08bcde54 [hal] Fix HAL AllianceStation on rio (#5811)
196d963dc4 [ntcore] Fix off-by-one error in stream write (#5810)
f4cbcbc984 Fix typos (NFC) (#5804)
ec0f7fefb0 [myrobot] Update the myRobot JRE (#5805)
3d618bdbfd [wpiutil] Fix Java struct array unpacking (#5801)
1fa7445667 [ntcore] Check for valid client in incoming text and binary (#5799)
269b9647da [ci] Update JDK for combine step (#5794)
bee32f080e [docs] Add wpiunits to JavaDocs (#5793)
25dad5a531 [wpinet] TCPConnector_parallel: Don't use thread_local (#5791)
4a93581f1a [build] cmake: use default library type for libglassnt, libglass, wpigui, and imgui (#5797)
abb2857e03 [wpilib] Counter: Fix default distance per pulse, add distance and rate to C++ (#5796)
b14a61e1c0 [readme] Add link to QuickBuffers release page (#5795)
cf54d9ccb7 [wpiutil, ntcore] Add structured data support (#5391)
ecb7cfa9ef [wpimath] Add Exponential motion profile (#5720)
7c6fe56cf2 [ntcore] Fix crash on disconnect (#5788)
85147bf69e [wpinet] WebSocketSerializer: Fix UB (#5787)
244163acad [wpinet] uv::Stream::TryWrite(): Return 0 on EAGAIN (#5784)
820728503d [hal] Remove extra semicolon in RoboRioData (#5786)
45f307d87e [upstream_utils] Upgrade to LLVM 17.0.3 (#5785)
4ce4d63efc [wpilibj] Fix RobotBase.isSimulation() (#5783)
579007ceb3 [commands] Add requirements parameter to Commands.idle() (#5774)
3f3a169149 [wpilib] Make physics sim setState() functions public (#5779)
7501e4ac88 [wpilib] Close sim device in ADIS IMUs (#5776)
99630d2e78 [wpimath] Upgrade to EJML 0.43.1 (#5778)
02cbbc997d [wpimath] Make Vector-Vector binary operators return Vector (#5772)
ed93889e17 [examples] Fix typo in TimesliceRobot example name (#5773)
da70e4c262 [docs] Add jinja2 to CMake prerequisites (#5771)
e814595ea7 [wpimath] Add ChassisSpeeds.fromRobotRelativeSpeeds() (#5744)
f98c943445 [wpimath] LinearSystemId: Add DCMotorSystem overload (#5770)
b3eb64b0f7 [wpiutil] ct_string: Use inline namespace for literals (#5767)
7d9ba256c2 Revert "[build] Add CMake option to build Java source jars (#5756)" (#5766)
1f6492e3d8 [sysid] Update JSON library usage (#5765)
638f04f626 [wpiutil] Add protobuf to thirdparty sources (#5746)
210255bfff [wpiutil] Update json to 3.11.2 (#5680)
896772c750 [wpimath] Add DCMotor functions for Kraken X60 and Neo Vortex (#5759)
fd427f6c82 [wpimath] Fix hardcoded module count in SwerveDriveKinematics.resetHeading() (#5762)
c0b4c6cce6 [wpimath] Add overloads for Transform2d and Transform3d (#5757)
9a0aafd8ab [examples] Make swerve examples multiply desired module speeds by cosine of heading error (#5758)
1c724884ca [build] Add CMake option to build Java source jars (#5756)
5b0db6b93e [ci] Forward CI as well (#5755)
f8cbbbac12 [ci] Take 2 on passing GITHUB_REF (#5754)
b9944be09c [ci] Pass GITHUB_REF to docker container (#5753)
de5e4eda6c [build] Update apriltag, libssh, googletest for 2024 (#5752)
227e660e20 [upstream_utils] Upgrade to LLVM 17.0.2 (#5750)
36f94c9f21 [commands,romi,xrp] Add frcYear to vendordep (#5747)
741d166457 [glass] NT view: enhance array support (#5732)
1d23513945 [ntcore] Fix string array value comparison (#5745)
ff1849052e [commands] Make command scheduling order consistent (#5470)
58e8474368 [build] Disable armsimulation unit test (#5739)
fb07b0da49 [examples] Add XRP C++ Examples and Templates (#5743)
81893ad73d Run wpiformat with clang-format 17 (#5740)
faa1e665ba [wpimath] Add ElevatorFeedforward.calculate(currentV, nextV) overload (#5715)
a789632052 [build] Update to native utils 2024.3.1 (#5738)
8f60ab5182 [build] Update OpenCV to 2024-4.8.0-1 (#5737)
33243f982b [wpimath] Expand Quaternion class with additional operators (#5600)
420f2f7c80 [ntcore] Add RTT-only subprotocol (#5731)
2b63e35ded [ntcore] Fix moving outgoing queue to new period (#5735)
be939cb636 [ntcore] Fix notification of SetDefaultEntryValue (#5733)
69a54de202 [build] Update enterprise plugin (#5730)
fef03a3ff5 [commands] Clean up C++ includes after Requirements was added (#5719)
8b7c6852cf [ntcore] Networking improvements (#5659)
1d19e09ca9 [wpiutil] Set WPI_{UN}IGNORE_DEPRECATED to empty when all else fails (#5728)
58141d6eb5 [wpilib] Make BooleanEvent more consistent (#5436)
6576d9b474 [wpilib] SendableChooser: implement Sendable instead of NTSendable (#5718)
a4030c670f [build] Update to gradle 8.4, enable win arm builds (#5727)
0960f11eba [wpinet] Revert removal of uv_clock_gettime() (#5723)
cb1bd0a3be [wpiutil] Get more precise system time on Windows (#5722)
4831277ffe [wpigui] Fix loading a maximized window on second monitor (#5721)
3eb372c25a [wpiutil] SendableBuilder: Add PublishConst methods (#5158)
1fec8596a4 [ci] Fix -dirty version (#5716)
f7e47d03f3 [build] Remove unnecessary CMake config installs (#5714)
a331ed2374 [sysid] Add SysId (#5672)
8d2cbfce16 [wpiutil] DataLog: Stop logging if insufficient free space (#5699)
48facb9cef [ntcoreffi] Add DataLogManager (#5702)
aecbcb08fc [ntcore] Correctly start DataLog for existing publishers (#5703)
5e295dfbda [wpiutil] DataLog: Limit total buffer allocation (#5700)
c7c7e05d9d [ci] Unbreak combiner (#5698)
c92bad52cb [wpilib] DataLogManager: Use system time valid function (#5697)
d404af5f24 [wpilib] RobotController: Add isSystemTimeValid() (#5696)
e56f1a3632 [ci] Run combine but skip all steps (#5695)
8f5bcad244 [ci] Use sccache for cmake builds (#5692)
703dedc4a6 [ci] Upgrade get-cmake action to fix node12 deprecation warning (#5694)
c69a0d7504 [ci] Don't run example unit test that segfaults (#5693)
66358d103e Add menu items for online docs to GUI tools (#5689)
4be8384a76 [ci] Disable combine on PR builds (#5691)
90288f06a6 [ci] Fix Gradle disk space issues (#5688)
9e9583412e [wpigui] Make wpi::gui::OpenURL() fork the process first (#5687)
d4fcd80b7b [ci] Gradle: Use container only for build step (#5684)
7b70e66772 [outlineviewer] Fix thirdparty library include sorting (#5683)
5f651df5d5 [build] Clean up Gradle configs (#5685)
65b26738d5 Add CMakeSettings.json to gitignore (#5682)
d0305951ad Fix GitHub inline warnings (#5681)
e8d4a20331 [build][cmake] Fix windows tests and re-enable CI tests (#5674)
2b58bbde0b [xrp] Add Reflectance sensor and rangefinder classes (#5673)
dd5612fbee [json] Add forward definition header (#5676)
eab44534c3 [wpimath] Remove unused SmallString include (#5677)
5ab54ff760 Replace wpi::raw_istream with wpi::MemoryBuffer (#5675)
1b6ec5a95d [wpiutil] Upgrade to LLVM 17.0.1 (#5482)
07a0d22fe6 [build] Build examples in CMake CI (#5667)
97021f074a [build] Upgrade imgui and implot (#5668)
87ce1e3761 [build] Fix wpilibNewCommands CMake install (#5671)
6ef94de9b5 [wpimath] Add tests for ArmFeedforward and ElevatorFeedforward (#5663)
c395b29fb4 [wpinet] Add WebSocket::TrySendFrames() (#5607)
c4643ba047 [romi/xrp] Fix version typo in vendordep json (#5664)
51dcb8b55a [examples] Make Romi/XRP Examples use appropriate vendordeps (#5665)
daf7702007 [build] Test each example in a new environment (#5662)
e67df8c180 [wpilib] Const-qualify EncoderSim getters (#5660)
7be290147c [wpiutil] Refactor SpanMatcher and TestPrinters from ntcore (#5658)
9fe258427a [commands] Add proxy factory to Commands (#5603)
633c5a8a22 [commands] Add C++ Requirements struct (#5504)
b265a68eea [commands] Add interruptor parameter to onCommandInterrupt callbacks (#5461)
e93c233d60 [ntcore] Compute Value memory size when creating value (#5657)
5383589f99 [wpinet] uv::Request: Return shared_ptr from Release() (#5656)
40b552be4a [wpinet] uv::Stream: Return error from TryWrite() (#5655)
202a75fe08 [wpinet] RequestImpl: Avoid infinite loop in shared_from_this() (#5654)
8896515eb7 [wpinet] uv::Buffer: Add bytes() accessor (#5653)
ae59a2fba2 [wpinet] uv::Error: Change default error to 0 (#5652)
3b51ecc35b [wpiutil] SpanExtras: Add take_back and take_front (#5651)
17f1062885 Replace std::snprintf() with wpi::format_to_n_c_str() (#5645)
bb39900353 [romi/xrp] Add Romi and XRP Vendordeps (#5644)
cb99517838 [build] cmake: Use default install location on windows for dlls (#5580)
25b0622d4c [build] Add Windows CMake CI (#5516)
34e7849605 Add warning to development builds instructions (NFC) (#5646)
e9e611c9d8 [cameraserver] Remove CameraServer.SetSize() (#5650)
94f58cc536 [wpilib] Remove Compressor.Enabled() (#5649)
4da5aee88a [wpimath] Remove SlewRateLimiter 2 argument constructor (#5648)
2e3ddf5502 Update versions in development builds instructions to 2024 (#5647)
19a8850fb1 [examples] Add TimesliceRobot templates (#3683)
9047682202 [sim] Add XRP-specific plugin (#5631)
575348b81c [wpilib] Use IsSimulation() consistently (#3534)
12e2043b77 [wpilib] Clean up Notifier (#5630)
4bac4dd0f4 [wpimath] Move PIDController from frc2 to frc namespace (#5640)
494cfd78c1 [wpiutil] Fix deprecation warning in LLVM for C++23 (#5642)
43a727e868 [apriltag] Make loadAprilTagFieldLayout throw an unchecked exception instead (#5629)
ad4b017321 [ci] Use Ninja for faster builds (#5626)
4f2114d6f5 Fix warnings from GCC 13 release build (#5637)
e7e927fe26 [build] Also compress debug info for CMake RelWithDebInfo build type (#5638)
205a40c895 [build] Specify zlib for debug info compression (#5636)
707444f000 [apriltag] Suppress -Wtype-limits warning in asserts from GCC 13 (#5635)
3b79cb6ed3 [commands] Revert SubsystemBase deprecation/removal (#5634)
bc7f23a632 [build] Compress Linux debug info (#5633)
57b2d6f254 [build] Update to image 2024 v1.0 (#5625)
339ef1ea39 [wpilib] DataLogManager: Warn user if logging to RoboRIO 1 internal storage (#5617)
7a9a901a73 [build] Fix cmake config files (#5624)
298f8a6e33 [wpilib] Add Mechanism2d tests and make Java impl match C++ (#5527)
d7ef817bae [apriltag] Update apriltag library (#5619)
c3fb31fd0e [docs] Switch to Java 17 api docs (#5613)
bd64f81cf9 [build] Run Google tests in release mode in CI (#5615)
66e6bd81ea [wpimath] Cleanup wpimath/algorithms.md (NFC) (#5621)
4fa56fd884 [build] Add missing find_dependency call (#5623)
f63d958995 [build] Update to native utils 2024.2.0 (#5601)
a9ab08f48b [wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616)
8e05983a4a [wpimath] Add math docs to plant inversion feedforward internals (NFC) (#5618)
3a33ce918b [ntcore] Add missing StringMap include (#5620)
a6157f184d [wpiutil] timestamp: Add ShutdownNowRio (#5610)
e9f612f581 [build] Guard policy setting for CMake versions below 3.24 (#5612)
1a6df6fec6 [wpimath] Fix DARE Q decomposition (#5611)
9b3f7fb548 [build] Exclude IntelliJ folders from spotless XML (#5602)
814f18c7f5 [wpimath] Fix computation of C for DARE (A, C) detectability check (#5609)
ac23f92451 [hal] Add GetTeamNumber (#5596)
a750bee54d [wpimath] Use std::norm() in IsStabilizable() (#5599)
8e2465f8a0 [wpimath] Add arithmetic functions to wheel speeds classes (#5465)
10d4f5b5df [wpimath] Clean up notation in DARE precondition docs (#5595)
b2dd59450b [hal] Fix unfinished/incorrect GetCPUTemp functions (#5598)
99f66b1e24 [wpimath] Replace frc/EigenCore.h typedefs with Eigen's where possible (#5597)
383289bc4b [build] Make custom CMake macros use lowercase (#5594)
45e7720ec1 [build] Add error message when downloading files in CMake (#5593)
4e0d785356 [wpimath] ChassisSpeeds: document that values aren't relative to the robot (NFC) (#5551)
3c04580a57 [commands] ProxyCommand: Use inner command name in unique_ptr constructor (#5570)
cf19102c4a [commands] SelectCommand: Fix leakage and multiple composition bug (#5571)
171375f440 [ntcoreffi] Link to NI libraries (#5589)
89add5d05b Disable flaky tests (#5591)
a8d4b162ab [ntcore] Remove RPC manual tests (#5590)
39a73b5b58 [commands] C++: Add CommandPtr supplier constructor to ProxyCommand (#5572)
36d514eae7 [commands] Refactor C++ ScheduleCommand to use SmallSet (#5568)
52297ffe29 [commands] Add idle command (#5555)
67043a8eeb [wpimath] Add angular jerk unit (#5582)
51b0fb1492 [wpimath] Fix incorrect header inclusion in angular_acceleration.h (#5587)
b7657a8e28 [wpimath] Split WPIMathJNI into logical chunks (#5552)
ea17f90f87 [build] Fix tool builds with multiple arm platforms installed (#5586)
f1d7b05723 [wpimath] Clean up unit formatter (#5584)
d7264ff597 Replace wpi::errs() usage with fmtlib (#5560)
ab3bf39e0e [wpiutil] Upgrade to fmt 10.1.1 (#5585)
165ebe4c79 Upgrade to fmt 10.1.0 (#5326)
8e2a7fd306 Include thirdparty libraries with angle brackets (#5578)
e322ab8e46 [wpimath] Fix docs for DARE ABQRN stabilizability check (NFC) (#5579)
360fb835f4 [upstream_utils] Handle edge case in filename matches (#5576)
9d86624c00 [build] Fix CMake configure warnings (#5577)
969979d6c7 [wpiutil] Update to foonathan memory 0.7-3 (#5573)
0d2d989e84 [wpimath] Update to gcem 1.17.0 (#5575)
cf86af7166 [wpiutil] Update to mpack 1.1.1 (#5574)
a0c029a35b [commands] Fix dangling SelectCommand documentation (NFC) (#5567)
349141b91b [upstream_utils] Document adding a patch (NFC) (#5432)
7889b35b67 [wpimath] Add RamseteController comparison to LTV controller docs (NFC) (#5559)
b3ef536677 [build] Ignore nt/sim json files in spotless (#5565)
ed895815b5 [build] Compile Java with UTF-8 encoding (#5564)
2e4ad35e36 [wpiutil] jni_util: Add JSpan and CriticalJSpan (#5554)
8f3d6a1d4b [wpimath] Remove discretizeAQTaylor() (#5562)
7c20fa1b18 [wpimath] Refactor DARE tests to reduce RAM usage at compile time (#5557)
89e738262c [ntcore] Limit buffer pool size to 64KB per connection (#5485)
96f7fa662e Upgrade Maven dependencies (#5553)
7a2d336d52 [wpinet] Leak multicast handles during windows shutdown (#5550)
f9e2757d8f [wpimath] Use JDoubleArrayRef in all JNI functions (#5546)
0cf6e37dc1 [wpimath] Make LTV controller constructors use faster DARE solver (#5543)
6953a303b3 [build] Fix the windows build with fmt (#5544)
7a37e3a496 [wpimath] Correct Rotation3d::RotateBy doc comment (NFC) (#5541)
186b409e16 [wpimath] Remove internal Eigen header include (#5539)
03764dfe93 [wpimath] Add static matrix support to DARE solver (#5536)
394cfeadbd [wpimath] Use SDA algorithm instead of SSCA for DARE solver (#5526)
a4b7fde767 [wpilib] Add mechanism specific SetState overloads to physics sims (#5534)
8121566258 [wpimath] Fix CoordinateSystem.convert() Transform3d overload (#5532)
b542e01a0b [glass] Fix array crash when clearing existing workspace (#5535)
e2e1b763b2 [wpigui] Fix PFD file dialogs not closing after window closing (#5530)
86d7bbc4e4 [examples] Add Java Examples and Templates for the XRP (#5529)
e8b5d44752 [wpimath] Make Java Quaternion use doubles instead of Vector (#5525)
38c198fa64 [myRobot] Add apriltags to myRobot build (#5528)
00450c3548 [wpimath] Upgrade to EJML 0.42 (#5531)
faf3cecd83 [wpimath] Don't copy Matrix and underlying storage in VecBuilder (#5524)
6b896a38dc [build] Don't enforce WITH_FLAT_INSTALL with MSVC (part 2) (#5517)
c01814b80e [wpiutil] Add C API for DataLog (#5509)
b5bd0771eb [wpimath] Document extrinsic vs intrinsic rotations (NFC) (#5508)
84ed8aec05 [build] Don't enforce WITH_FLAT_INSTALL with MSVC (#5515)
999f677d8c [ntcoreffi] Add WPI_Impl_SetupNowRio to exported symbols (#5510)
338f37d302 Fix header sorting of libssh (#5507)
75cbd9d6d0 [glass] Add background color selector to glass plots (#5506)
e2c190487b [examples] Add flywheel bang-bang controller example (#4071)
c52dad609e [wpinet] WebSocket: Send pong in response to ping (#5498)
e2d17a24a6 [hal] Expose power rail disable and cpu temp functionality (#5477)
3ad5d2e42d [hal,wpiutil] Use HMB for FPGA Timestamps (#5499)
b46a872494 [ntcore] Remove pImpl from implementation (#5480)
d8c59ccc71 [wpimath] Add tests for MathUtil clamp() and interpolate() (#5501)
0552c8621d [glass,ov] Improve Glass and OutlineViewer title bar message (#5502)
90e37a129f [wpiutil,wpimath] Add generic InterpolatingTreeMap (#5372)
d83a6edc20 [wpilib] Update GetMatchTime docs and units (#5232)
6db2c42966 [wpimath] Trajectory: Throw on empty lists of States (#5497)
21439b606c [wpimath] Disallow LTV controller max velocities above 15 m/s (#5495)
7496e0d208 [ntcore] Value: More efficiently store arrays (#5484)
0c93aded8a [wpimath] Change kinematics.ToTwist2d(end - start) to kinematics.ToTwist2d(start, end) (#5493)
815a8403e5 [wpimath] Give infeasible trajectory constraints a better exception message (#5492)
35a8b129d9 [wpimath] Add RotateBy() function to pose classes (#5491)
26d6e68c8f [upstream_utils] Add GCEM to CI (#5483)
6aa469ae45 [wpilib] Document how to create LinearSystem object for physics sim classes (NFC) (#5488)
a01b6467d3 [wpimath] Link to docs on LQR and KF tolerances (#5486)
d814f1d123 [wpimath] Fix copy-paste error from Pose2d docs (NFC) (#5490)
98f074b072 [wpimath] Add folder prefix to geometry includes (#5489)
e9858c10e9 [glass] Add tooltips for NT settings (#5476)
12dda24f06 [examples] Fix C robot template not correctly looping (#5474)
fc75d31755 [apriltag] Update apriltaglib (#5475)
a95994fff6 [wpiutil] timestamp: Call FPGA functions directly (#5235)
2ba8fbb6f4 [wpimath] Improve documentation for SwerveModulePosition::operator- (#5468)
b8cdf97621 [build] Prepare for Windows arm64 builds (#5390)
552f4b76b5 [wpimath] Add FOC-enabled Falcon constants to the DCMotor class (#5469)
1938251436 [examples] Add Feedforward to ElevatorProfiledPid (#5300)
873c2a6c10 [examples] Update ElevatorTrapezoidProfile example (#5466)
99b88be4f3 [wpilib] Reduce usage of NTSendable (#5434)
d125711023 [hal] Fix Java REVPH faults bitfield (take 2) (#5464)
c3fab7f1f2 [ntcore] Don't update timestamp when value is unchanged (#5356)
5ec7f18bdc [wpilib] EventLoop docs: Remove BooleanEvent references (NFC) (#5463)
c065ae1fcf [wpiunits] Add subproject for a Java typesafe unit system (#5371)
44acca7c00 [wpiutil] Add ClassPreloader (#5365)
88b11832ec [hal] Fix Java REVPH faults bitfield (#5148)
fb57d82e52 [ntcore] Enhance Java raw value support
3a6e40a44b [wpiutil] Enhance DataLog Java raw value support
8dae5af271 [wpiutil] Add compile-time string utilities (ct_string) (#5462)
fc56f8049a [wpilib] DriverStation: Change alliance station to use optional (#5229)
ef155438bd [build] Consume libuv via cmake config instead of via pkg-config (#5438)
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457)
72a4543493 [wpilib] DutyCycleEncoderSim: Expand API (#5443)
657338715d [wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425)
1af224c21b Add missing <functional> includes (#5459)
0b91ca6d5a [wpilib] SendableChooser: Add onChange listener (#5458)
6f7cdd460e [wpimath] Pose3d: Switch to JNI for exp and log (#5444)
c69e34c80c [wpimath] ChassisSpeeds: Add arithmetic functions (#5293)
335e7dd89d [wpilib] Simulation: Add ctor parameter to set starting state of mechanism sims (#5288)
14f30752ab [wpilib] Deprecate Accelerometer and Gyro interfaces (#5445)
70b60e3a74 [commands] Trigger: Fix method names in requireNonNullParam (#5454)
593767c8c7 [wpimath] Improve Euler angle calculations in gimbal lock (#5437)
daf022d3da [build] Make devImplementation inherit from implementation (#5450)
9b8d90b852 [examples] Convert the unitless joystick inputs to actual physical units (#5451)
1f6428ab63 [ntcore] Fix undefined comparison behavior when array is empty (#5448)
17eb9161cd Update code owners for removal of old commands (#5447)
3c4b58ae1e [wpinet] Upgrade to libuv 1.46.0 (#5446)
aaea85ff16 [commands] Merge CommandBase into Command and SubsystemBase into Subsystem (#5392)
7ac932996a [ci] Use PAT for workflow dispatch (#5442)
efe1987e8b [ci] Trigger pages repo workflow (#5441)
828bc5276f [wpiutil] Upgrade to LLVM 16.0.6 (#5435)
701df9eb87 [ci] Change documentation publish to single-commit (#5440)
e5452e3f69 [wpiutil] Add WPICleaner and an example how to use it (#4850)
7a099cb02a [commands] Remove deprecated classes and functions (#5409)
b250a03944 [wpilib] Add function to wait for DS Connection (#5230)
a6463ed761 [wpiutil] Fix unused variable warning in release build (#5430)
f031513470 [ntcore] NetworkTable::GetSubTables(): Remove duplicates (#5076)
f8e74e2f7c [hal] Unify PWM simulation Speed, Position, and Raw (#5277)
fd5699b240 Remove references to Drake (#5427)
e2d385d80a [build] cmake: Respect USE_SYSTEM_FMTLIB (#5429)
d37f990ce3 [hal] Fix HAL Relay/Main doc module (NFC) (#5422)
a7a8b874ac [docs] Expand HAL_ENUM in doxygen docs (#5421)
3a61deedde [wpimath] Rotation2d: Only use gcem::hypot when constexpr evaluated (#5419)
96145de7db [examples] Fix formatting (NFC) (#5420)
fffe6a7b9a [examples] Improve Pneumatics example coverage in Solenoid and RapidReactCmdBot examples (#4998)
6b5817836d [wpimath] Add tolerance for some tests (#5416)
3233883f3e [cscore] Fix warnings on macos arm (#5415)
c4fc21838f [commands] Add ConditionalCommand getInterruptionBehavior (#5161)
89fc51f0d4 Add tests for SendableChooser and Command Sendable functionality (#5179)
663bf25aaf [docs] Generate docs for symbols in __cplusplus (#5412)
fe32127ea8 [command] Clean up Command doc comments (NFC) (#5321)
c1a01569b4 [wpilib][hal] PWM Raw using microseconds (#5283)
1fca519fb4 [wpiutil] Remove remnants of ghc fs and tcb_span libraries (#5411)
90602cc135 [github] Update issue template to collect more project info (#5090)
34412ac57e [build] Exclude files in bin from Spotless (#5410)
61aa60f0e3 [wpilib] Add robot callback that is called when the DS is initially connected (#5231)
ebae341a91 [commands] Add test for subsystem registration and periodic (#5408)
5d3a133f9f Remove spaces in NOLINT comments (#5407)
3a0e484691 [wpimath] Fix clang-tidy warnings (#5403)
eb3810c765 [wpiutil] Fix clang-tidy warnings (#5406)
c4dc697192 [hal] WS Simulation: Add message filtering capability (#5395)
0eccc3f247 [ntcore] Fix clang-tidy warnings (#5405)
f4dda4bac0 [hal] Add javadocs for JNI (NFC) (#5298)
1c20c69793 [cscore] Fix clang-tidy warnings (#5404)
1501607e48 [commands] Fix clang-tidy warnings (#5402)
991f4b0f62 [wpimath] PIDController: Add IZone (#5315)
f5b0d1484b [wpimath] Add isNear method to MathUtil (#5353)
2ce248f66c [hal] Fix clang-tidy warnings (#5401)
5fc4aee2d2 [wpimath] SwerveDriveKinematics: Rename currentChassisSpeed to desiredChassisSpeed (#5393)
50b90ceb54 [wpimath] SwerveDriveKinematics: Add reset method (#5398)
316cd2a453 [commands] Notify DriverStationSim in CommandTestBaseWithParam (#5400)
d4ea5fa902 [cscore] VideoMode: Add equals override (Java) (#5397)
d6bd72d738 [wpimath] ProfiledPIDController: Add getConstraints (#5399)
25ad5017a9 [wpimath] Refactor kinematics, odometry, and pose estimator (#5355)
5c2addda0f [doc] Add missing pneumatics docs (NFC) (#5389)
c3e04a6ea2 Fix loading tests on macos 12 (#5388)
d5ed9fb859 [wpimath] Create separate archive with just units headers (#5383)
901ab693d4 [wpimath] Use UtilityClassTest for more utility classes (#5384)
9d53231b01 [wpilib] DataLogManager: Add warning for low storage space (#5364)
d466933963 [wpiutil] Group doxygen into MPack module (#5380)
652d1c44e3 [wpiutil] Upgrade to macOS 12 to remove concept shims (#5379)
6414be0e5d [wpimath] Group units doxygen modules (#5382)
7ab5800487 [wpiutil] Fix docs typo in SmallVector (#5381)
59905ea721 Replace WPI_DEPRECATED() macro with [[deprecated]] attribute (#5373)
753cb49a5e [ntcore] Fix doxygen module in generated C types (NFC) (#5374)
1c00a52b67 [hal] Expose CAN timestamp base clock (#5357)
91cbcea841 Replace SFINAE with concepts (#5361)
d57d1a4598 [wpimath] Remove unnecessary template argument from unit formatter (#5367)
5acc5e22aa [wpimath] Only compute eigenvalues with EigenSolvers (#5369)
d3c9316a97 extend shuffleboard test timeout (#5377)
1ea868081a [ci] Fix /format command (#5376)
5fac18ff4a Update formatting to clang-format 16 (#5370)
a94a998002 [wpimath] Generalize Eigen formatter (#5360)
125f6ea101 [wpimath] Make SwerveDriveKinematics::ToChassisSpeeds() take const-ref argument (#5363)
51066a5a8a [wpimath] Move unit formatters into units library (#5358)
282c032b60 [wpilibc] Add unit-aware Joystick.GetDirection() (#5319)
073d19cb69 [build] Fix CMake warning (#5359)
01490fc77b [wpiutil] DataLog: Add documentation for append methods (NFC) (#5348)
c9b612c986 [wpilibcExamples] Make C++ state-space elevator KF and LQR match Java (#5346)
eed1e6e3cb [wpimath] Replace DiscretizeAQTaylor() with DiscretizeAQ() (#5344)
c976f40364 [readme] Document how to run examples in simulation (#5340)
4d28bdc19e [ci] Update Github Pages deploy action parameters (#5343)
e0f851871f [ci] Fix github pages deploy version (#5342)
063c8cbedc Run wpiformat (NFC) (#5341)
96e41c0447 [ci] Update deploy and sshagent actions (#5338)
fd294bdd71 [build] Fix compilation with GCC 13 (#5322)
d223e4040b [dlt] Add delete without download functionality (#5329)
abc19bcb43 [upstream_utils] Zero out commit hashes and show 40 digits in index hashes (#5336)
e909f2e687 [build] Update gradle cache repo name (#5334)
52bd5b972d [wpimath] Rewrite DARE solver (#5328)
3876a2523a [wpimath] Remove unused MatrixImpl() function (#5330)
c82fcb1975 [wpiutil] Add reflection based cleanup helper (#4919)
15ba95df7e [wpiutil] Use std::filesystem (#4941)
77c2124fc5 [wpimath] Remove Eigen's custom STL types (#4945)
27fb47ab10 [glass] Field2D: Embed standard field images (#5159)
102e4f2566 [wpilib] Remove deprecated and broken SPI methods (#5249)
463a90f1df [wpilib, hal] Add function to read the RSL state (#5312)
7a90475eec [wpilib] Update RobotBase documentation (NFC) (#5320)
218cfea16b [wpilib] DutyCycleEncoder: Fix reset behavior (#5287)
91392823ff [build] Update to gradle 8.1 (#5303)
258b7cc48b [wpilibj] Filesystem.getDeployDirectory(): Strip JNI path from user.dir (#5317)
26cc43bee1 [wpilib] Add documentation to SPI mode enum (NFC) (#5324)
ac4da9b1cb [hal] Add HAL docs for Addressable LED (NFC) (#5304)
21d4244cf7 [wpimath] Fix DCMotor docs (NFC) (#5309)
1dff81bea7 [hal] Miscellaneous HAL doc fixes (NFC) (#5306)
7ce75574bf [wpimath] Upgrade to Drake v1.15.0 (#5310)
576bd646ae [hal] Add CANManufacturer for Redux Robotics (#5305)
ee3b4621e5 [commands] Add onlyWhile and onlyIf (#5291)
40ca094686 [commands] Fix RepeatCommand calling end() twice (#5261)
9cbeb841f5 [rtns] Match imaging tool capitalization (#5265)
a63d06ff77 [examples] Add constants to java gearsbot example (#5248)
b6c43322a3 [wpilibc] XboxController: Add return tag to docs (NFC) (#5246)
5162d0001c [hal] Fix and document addressable LED timings (#5272)
90fabe9651 [wpilibj] Use method references in drive class initSendable() (#5251)
24828afd11 [wpimath] Fix desaturateWheelSpeeds to account for negative speeds (#5269)
e099948a77 [wpimath] Clean up rank notation in docs (NFC) (#5274)
fd2d8cb9c1 [hal] Use std::log2() for base-2 logarithm (#5278)
ba8c64bcff [wpimath] Fix misspelled Javadoc parameters in pose estimators (NFC) (#5292)
f53c6813d5 [wpimath] Patch Eigen warnings (#5290)
663703d370 [gitattributes] Mark json files as lf text files (#5256)
aa34aacf6e [wpilib] Shuffleboard: Keep duplicates on SelectTab() (#5198)
63512bbbb8 [wpimath] Fix potential divide-by-zero in RKDP (#5242)
9227b2166e [wpilibj] DriverStation: Fix joystick data logs (#5240)
fbf92e9190 [wpinet] ParallelTcpConnector: don't connect to duplicate addresses (#5169)
2108a61362 [ntcore] NT4 client: close timed-out connections (#5175)
0a66479693 [ntcore] Optimize scan of outgoing messages (#5227)
b510c17ef6 [hal] Fix RobotController.getComments() mishandling quotes inside the comments string (#5197)
e7a7eb2e93 [commands] WaitCommand: Remove subclass doc note (NFC) (#5200)
a465f2d8f0 [examples] Shuffleboard: Correct parameter order (#5204)
a3364422fa LICENSE.md: Bump year to 2023 (#5195)
df3242a40a [wpimath] Fix NaN in C++ MakeCostMatrix() that takes an array (#5194)
00abb8c1e0 [commands] RamseteCommand: default-initialize m_prevSpeeds (#5188)
c886273fd7 [wpilibj] DutyCycleEncoder.setDistancePerRotation(): fix simulation (#5147)
53b5fd2ace [ntcore] Use int64 for datalog type string (#5186)
56b758320f [wpilib] DataLogManager: increase time for datetime to be valid (#5185)
08f298e4cd [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-8 and 1E-7 (#5168)
6d0c5b19db [commands] CommandScheduler.isComposed: Remove incorrect throws clause (NFC) (#5183)
0d22cf5ff7 [wpilib] Fix enableLiveWindowInTest crashing in disabled (#5173)
32ec5b3f75 [wpilib] Add isTestEnabled and minor docs cleanup (#5172)
e5c4c6b1a7 [wpimath] Fix invalid iterator access in TimeInterpolatableBuffer (#5138)
099d048d9e [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-9 and 1E-8 (#5143)
4af84a1c12 Fix Typos (NFC) (#5137)
ce3686b80d [wpimath] Check LTV controller max velocity precondition (#5142)
4b0eecaee0 [commands] Subsystem: Add default command removal method (#5064)
edf4ded412 [wpilib] PH: Revert to 5V rail being fixed 5V (#5122)
4c46b6aff9 [wpilibc] Fix DataLogManager crash on exit in sim (#5125)
490ca4a68a [wpilibc] Fix XboxController::GetBackButton doc (NFC) (#5131)
cbb5b0b802 [hal] Simulation: Fix REV PH solenoids 8+ (#5132)
bb7053d9ee [hal] Fix HAL_GetRuntimeType being slow on the roboRIO (#5130)
9efed9a533 Update .clang-format to c++20 (#5121)
dbbfe1aed2 [wpilib] Use PH voltage to calc Analog pressure switch threshold (#5115)
de65a135c3 [wpilib] DutyCycleEncoderSim: Add channel number constructor (#5118)
3e9788cdff [docs] Strip path from generated NT docs (#5119)
ecb072724d [ntcore] Client::Disconnect(): actually close connection (#5113)
0d462a4561 [glass] NT view: Change string/string array to quoted (#5111)
ba37986561 [ntcore] NetworkClient::Disconnect: Add null check (#5112)
25ab9cda92 [glass,ov] Provide menu item to create topic from root (#5110)
2f6251d4a6 [glass] Set default value when publishing new topic (#5109)
e9a7bed988 [wpimath] Add timestamp getter to MathShared (#5091)
9cc14bbb43 [ntcore] Add stress test to dev executable (#5107)
8068369542 [wpinet] uv: Stop creating handles when closing loop (#5102)
805c837a42 [ntcore] Fix use-after-free in server (#5101)
fd18577ba0 [commands] Improve documentation of addRequirements (NFC) (#5103)
74dea9f05e [wpimath] Fix exception for empty pose buffer in pose estimators (#5106)
9eef79d638 [wpilib] PneumaticHub: Document range of enableCompressorAnalog (NFC) (#5099)
843574a810 [ntcore] Use wpi::Now instead of loop time for transmit time
226ef35212 [wpinet] WebSocket: Reduce server send frame overhead
b30664d630 [ntcore] Reduce initial connection overhead
804e5ce236 [examples] MecanumDrive: Fix axis comment in C++ example (NFC) (#5096)
49af88f2bb [examples] ArmSimulation: Fix flaky test (#5093)
d56314f866 [wpiutil] Disable mock time on the Rio (#5092)
43975ac7cc [examples] ArmSimulation, ElevatorSimulation: Extract mechanism to class (#5052)
5483464158 [examples, templates] Improve descriptions (NFC) (#5051)
785e7dd85c [wpilibc] SendableChooser: static_assert copy- and default-constructibility (#5078)
e57ded8c39 [ntcore] Improve disconnect error reporting (#5085)
01f0394419 [wpinet] Revert WebSocket: When Close() is called, call closed immediately (#5084)
59be120982 [wpimath] Fix Pose3d exp()/log() and add rotation vector constructor to Rotation3d (#5072)
37f065032f [wpilib] Refactor TimedRobot tests (#5068)
22a170bee7 [wpilib] Add Notifier test (#5070)
2f310a748c [wpimath] Fix DCMotor.getSpeed() (#5061)
b43ec87f57 [wpilib] ElevatorSim: Fix WouldHitLimit methods (#5057)
19267bef0c [ntcore] Output warning on property set on unpublished topic (#5059)
84cbd48d84 [ntcore] Handle excludeSelf on SetDefault (#5058)
1f35750865 [cameraserver] Add GetInstance() to all functions (#5054)
8230fc631d [wpilib] Revert throw on nonexistent SimDevice name in SimDeviceSim (#5053)
b879a6f8c6 [wpinet] WebSocket: When Close() is called, call closed immediately (#5047)
49459d3e45 [ntcore] Change wire timeout to fixed 1 second (#5048)
4079eabe9b [wpimath] Discard stale pose estimates (#5045)
fe5d226a19 [glass] Fix option for debug-level NT logging (#5049)
b7535252c2 [ntcore] Don't leak buffers in rare WS shutdown case (#5046)
b61ac6db33 [ntcore] Add client disconnect function (#5022)
7b828ce84f [wpimath] Add nearest to Pose2d and Translation2d (#4882)
08a536291b [examples] Improvements to Elevator Simulation Example (#4937)
193a10d020 [wpigui] Limit frame rate to 120 fps by default (#5030)
7867bbde0e [wpilib] Clarify DS functions provided by FMS (NFC) (#5043)
fa7c01b598 [glass] Add option for debug-level NT logging (#5007)
2b81610248 [wpiutil] Add msgpack to datalog Python example (#5032)
a4a369b8da CONTRIBUTING.md: Add unicodeit CLI to math docs guidelines (#5031)
d991f6e435 [wpilib] Throw on nonexistent SimDevice name in SimDeviceSim constructor (#5041)
a27a047ae8 [hal] Check for null in getSimDeviceName JNI (#5038)
2f96cae31a [examples] Hatchbots: Add telemetry (#5011)
83ef8f9658 [simulation] GUI: Fix buffer overflow in joystick axes copy (#5036)
4054893669 [commands] Fix C++ Select() factory (#5024)
f75acd11ce [commands] Use Timer.restart() (#5023)
8bf67b1b33 [wpimath] PIDController::Calculate(double, double): update setpoint flag (#5021)
49bb1358d8 [wpiutil] MemoryBuffer: Fix GetMemoryBufferForStream (#5017)
9c4c07c0f9 [wpiutil] Remove NDEBUG check for debug-level logging (#5018)
1a47cc2e86 [ntcore] Use full handle when subscribing (#5013)
7cd30cffbc Ignore networktables.json (#5006)
92aecab2ef [commands] Command controllers are not subclasses (NFC) (#5000)
8785bba080 [ntcore] Special-case default timestamps (#5003)
9e5b7b8040 [ntcore] Handle topicsonly followed by value subscribe (#4991)
917906530a [wpilib] Add Timer::Restart() (#4963)
00aa66e4fd [wpimath] Remove extraneous assignments from DiscretizeAB() (#4967)
893320544a [examples] C++ RamseteCommand: Fix units (#4954)
b95d0e060d [wpilib] XboxController: Fix docs discrepancy (NFC) (#4993)
008232b43c [ntcore] Write empty persistent file if none found (#4996)
522be348f4 [examples] Rewrite tags (NFC) (#4961)
d48a83dee2 [wpimath] Update Wikipedia links for quaternion to Euler angle conversion (NFC) (#4995)
504fa22143 [wpimath] Workaround intellisense Eigen issue (#4992)
b2b25bf09f [commands] Fix docs inconsistency for toggleOnFalse(Command) (NFC) (#4978)
ce3dc4eb3b [hal] Properly use control word that is in sync with DS data (#4989)
1ea48caa7d [wpilib] Fix C++ ADXRS450 and Java SPI gyro defs (#4988)
fb101925a7 [build] Include wpimathjni in commands binaries (#4981)
657951f6dd [starter] Add a process starter for use by the installer for launching tools (#4931)
a60ca9d71c [examples] Update AprilTag field load API usage (#4975)
f8a45f1558 [wpimath] Remove print statements from tests (#4977)
ecba8b99a8 [examples] Fix swapped arguments in MecanumControllerCommand example (#4976)
e95e88fdf9 [examples] Add comment to drivedistanceoffboard example (#4877)
371d15dec3 [examples] Add Computer Vision Pose Estimation and Latency Compensation Example (#4901)
cb9b8938af [sim] Enable docking in the GUI (#4960)
3b084ecbe0 [apriltag] AprilTagFieldLayout: Improve API shape for loading builtin JSONs (#4949)
27ba096ea1 [wpilib] Fix MOI calculation error in SingleJointedArmSim (#4968)
42c997a3c4 [wpimath] Fix Pose3d exponential and clean up Pose3d logarithm (#4970)
5f1a025f27 [wpilibj] Fix typo in MecanumDrive docs (NFC) (#4969)
0ebf79b54c [wpimath] Fix typo in Pose3d::Exp() docs (NFC) (#4966)
a8c465f3fb [wpimath] HolonomicDriveController: Add getters for the controllers (#4948)
a7b1ab683d [wpilibc] Add unit test for fast deconstruction of GenericHID (#4953)
bd6479dc29 [build] Add Spotless for JSON (#4956)
5cb0340a8c [hal, wpilib] Load joystick values upon code initialization (#4950)
ab0e8c37a7 [readme] Update build requirements (NFC) (#4947)
b74ac1c645 [build] Add apriltag to C++ cmake example builds (#4944)
cf1a411acf [examples] Add example programs for AprilTags detection (#4932)
1e05b21ab5 [wpimath] Fix PID atSetpoint to not return true prematurely (#4906)
e5a6197633 [wpimath] Fix SwerveDriveKinematics not initializing a new array each time (#4942)
039edcc23f [ntcore] Queue current value on subscriber creation (#4938)
f7f19207e0 [wpimath] Allow multiple vision measurements from same timestamp (#4917)
befd12911c [commands] Delete UB-causing rvalue variants of CommandPtr methods (#4923)
34519de60a [commands] Fix spacing in command composition exception (#4924)
dc4355c031 [hal] Add handle constructor and name getters for sim devices (#4925)
53d8d33bca [hal, wpilibj] Add missing distance per pulse functions to EncoderSim (#4928)
530ae40614 [apriltag] Explain what April tag poses represent (NFC) (#4930)
79f565191e [examples] DigitalCommunication, I2CCommunication: Add tests (#4865)
2cd9be413f [wpilib, examples] Cleanup PotentiometerPID, Ultrasonic, UltrasonicPID examples (#4893)
babb0c1fcf [apriltag] Add 2023 field layout JSON (#4912)
330ba45f9c [wpimath] Fix swerve kinematics util classes equals function (#4907)
51272ef6b3 [fieldImages] Add 2023 field (#4915)
0d105ab771 [commands] Deduplicate command test utils (#4897)
cf4235ea36 [wpiutil] Guard MSVC pragma in SymbolExports.h (#4911)
2d4b7b9147 [build] Update opencv version in opencv.gradle (#4909)
aec6f3d506 [ntcore] Fix client flush behavior (#4903)
bfe346c76a [build] Fix cmake java resources (#4898)
Change-Id: Ia1dd90fe42c6cd5df281b8a5b710e136f54355f4
git-subtree-dir: third_party/allwpilib
git-subtree-split: f1a82828fed8950f9a3f1586c44327027627a0c8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/glass/src/lib/native/cpp/Context.cpp b/glass/src/lib/native/cpp/Context.cpp
index a55cf82..e09a86e 100644
--- a/glass/src/lib/native/cpp/Context.cpp
+++ b/glass/src/lib/native/cpp/Context.cpp
@@ -6,18 +6,16 @@
#include <algorithm>
#include <cinttypes>
-#include <cstdio>
#include <filesystem>
#include <fmt/format.h>
#include <imgui.h>
#include <imgui_internal.h>
#include <imgui_stdlib.h>
+#include <wpi/MemoryBuffer.h>
#include <wpi/StringExtras.h>
#include <wpi/fs.h>
#include <wpi/json.h>
-#include <wpi/json_serializer.h>
-#include <wpi/raw_istream.h>
#include <wpi/raw_ostream.h>
#include <wpi/timestamp.h>
#include <wpigui.h>
@@ -131,14 +129,17 @@
static bool LoadWindowStorageImpl(const std::string& filename) {
std::error_code ec;
- wpi::raw_fd_istream is{filename, ec};
- if (ec) {
+ std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+ wpi::MemoryBuffer::GetFile(filename, ec);
+ if (fileBuffer == nullptr || ec) {
ImGui::LogText("error opening %s: %s", filename.c_str(),
ec.message().c_str());
return false;
} else {
try {
- return JsonToWindow(wpi::json::parse(is), filename.c_str());
+ return JsonToWindow(
+ wpi::json::parse(fileBuffer->begin(), fileBuffer->end()),
+ filename.c_str());
} catch (wpi::json::parse_error& e) {
ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
return false;
@@ -149,8 +150,9 @@
static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
std::string_view rootName) {
std::error_code ec;
- wpi::raw_fd_istream is{filename, ec};
- if (ec) {
+ std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+ wpi::MemoryBuffer::GetFile(filename, ec);
+ if (fileBuffer == nullptr || ec) {
ImGui::LogText("error opening %s: %s", filename.c_str(),
ec.message().c_str());
return false;
@@ -162,7 +164,9 @@
createdStorage = true;
}
try {
- storage->FromJson(wpi::json::parse(is), filename.c_str());
+ storage->FromJson(
+ wpi::json::parse(fileBuffer->begin(), fileBuffer->end()),
+ filename.c_str());
} catch (wpi::json::parse_error& e) {
ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
if (createdStorage) {
@@ -533,7 +537,8 @@
void glass::PushID(int int_id) {
char buf[16];
- std::snprintf(buf, sizeof(buf), "%d", int_id);
+ wpi::format_to_n_c_str(buf, sizeof(buf), "{}", int_id);
+
PushStorageStack(buf);
ImGui::PushID(int_id);
}
diff --git a/glass/src/lib/native/cpp/MainMenuBar.cpp b/glass/src/lib/native/cpp/MainMenuBar.cpp
index 879f664..b426df4 100644
--- a/glass/src/lib/native/cpp/MainMenuBar.cpp
+++ b/glass/src/lib/native/cpp/MainMenuBar.cpp
@@ -4,9 +4,8 @@
#include "glass/MainMenuBar.h"
-#include <cstdio>
-
#include <imgui.h>
+#include <wpi/StringExtras.h>
#include <wpigui.h>
#include "glass/Context.h"
@@ -52,11 +51,11 @@
#if 0
char str[64];
- std::snprintf(str, sizeof(str), "%.3f ms/frame (%.1f FPS)",
- 1000.0f / ImGui::GetIO().Framerate,
- ImGui::GetIO().Framerate);
- ImGui::SameLine(ImGui::GetWindowWidth() - ImGui::CalcTextSize(str).x -
- 10);
+ wpi::format_to_n_c_str(str, sizeof(str), "{:.3f} ms/frame ({:.1f} FPS)",
+ 1000.0f / ImGui::GetIO().Framerate,
+ ImGui::GetIO().Framerate);
+
+ ImGui::SameLine(ImGui::GetWindowWidth() - ImGui::CalcTextSize(str).x - 10);
ImGui::Text("%s", str);
#endif
ImGui::EndMainMenuBar();
diff --git a/glass/src/lib/native/cpp/Storage.cpp b/glass/src/lib/native/cpp/Storage.cpp
index add6203..6cab443 100644
--- a/glass/src/lib/native/cpp/Storage.cpp
+++ b/glass/src/lib/native/cpp/Storage.cpp
@@ -4,7 +4,7 @@
#include "glass/Storage.h"
-#include <type_traits>
+#include <concepts>
#include <imgui.h>
#include <wpi/StringExtras.h>
@@ -14,7 +14,7 @@
template <typename To>
bool ConvertFromString(To* out, std::string_view str) {
- if constexpr (std::is_same_v<To, bool>) {
+ if constexpr (std::same_as<To, bool>) {
if (str == "true") {
*out = true;
} else if (str == "false") {
@@ -24,7 +24,7 @@
} else {
return false;
}
- } else if constexpr (std::is_floating_point_v<To>) {
+ } else if constexpr (std::floating_point<To>) {
if (auto val = wpi::parse_float<To>(str)) {
*out = val.value();
} else {
@@ -95,10 +95,14 @@
template <typename From, typename To>
static void ConvertArray(std::vector<To>** outPtr, std::vector<From>** inPtr) {
if (*inPtr) {
- std::vector<To>* tmp;
- tmp = new std::vector<To>{(*inPtr)->begin(), (*inPtr)->end()};
- delete *inPtr;
- *outPtr = tmp;
+ if (*outPtr) {
+ (*outPtr)->assign((*inPtr)->begin(), (*inPtr)->end());
+ } else {
+ std::vector<To>* tmp;
+ tmp = new std::vector<To>{(*inPtr)->begin(), (*inPtr)->end()};
+ delete *inPtr;
+ *outPtr = tmp;
+ }
} else {
*outPtr = nullptr;
}
@@ -300,7 +304,7 @@
childPtr = std::make_unique<Value>();
}
if (childPtr->type != Value::kChild) {
- childPtr->type = Value::kChild;
+ childPtr->Reset(Value::kChild);
childPtr->child = new Storage;
}
return *childPtr->child;
@@ -630,22 +634,46 @@
value.stringVal = value.stringDefault;
break;
case Value::kIntArray:
- *value.intArray = *value.intArrayDefault;
+ if (value.intArrayDefault) {
+ *value.intArray = *value.intArrayDefault;
+ } else {
+ value.intArray->clear();
+ }
break;
case Value::kInt64Array:
- *value.int64Array = *value.int64ArrayDefault;
+ if (value.int64ArrayDefault) {
+ *value.int64Array = *value.int64ArrayDefault;
+ } else {
+ value.int64Array->clear();
+ }
break;
case Value::kBoolArray:
- *value.boolArray = *value.boolArrayDefault;
+ if (value.boolArrayDefault) {
+ *value.boolArray = *value.boolArrayDefault;
+ } else {
+ value.boolArray->clear();
+ }
break;
case Value::kFloatArray:
- *value.floatArray = *value.floatArrayDefault;
+ if (value.floatArrayDefault) {
+ *value.floatArray = *value.floatArrayDefault;
+ } else {
+ value.floatArray->clear();
+ }
break;
case Value::kDoubleArray:
- *value.doubleArray = *value.doubleArrayDefault;
+ if (value.doubleArrayDefault) {
+ *value.doubleArray = *value.doubleArrayDefault;
+ } else {
+ value.doubleArray->clear();
+ }
break;
case Value::kStringArray:
- *value.stringArray = *value.stringArrayDefault;
+ if (value.stringArrayDefault) {
+ *value.stringArray = *value.stringArrayDefault;
+ } else {
+ value.stringArray->clear();
+ }
break;
case Value::kChild:
value.child->Clear();
diff --git a/glass/src/lib/native/cpp/Window.cpp b/glass/src/lib/native/cpp/Window.cpp
index f43c0ee..32c7a21 100644
--- a/glass/src/lib/native/cpp/Window.cpp
+++ b/glass/src/lib/native/cpp/Window.cpp
@@ -56,9 +56,12 @@
}
char label[128];
- std::snprintf(label, sizeof(label), "%s###%s",
- m_name.empty() ? m_defaultName.c_str() : m_name.c_str(),
- m_id.c_str());
+ if (m_name.empty()) {
+ wpi::format_to_n_c_str(label, sizeof(label), "{}###{}", m_defaultName,
+ m_id);
+ } else {
+ wpi::format_to_n_c_str(label, sizeof(label), "{}###{}", m_name, m_id);
+ }
if (Begin(label, &m_visible, m_flags)) {
if (m_renamePopupEnabled || m_view->HasSettings()) {
diff --git a/glass/src/lib/native/cpp/hardware/AnalogGyro.cpp b/glass/src/lib/native/cpp/hardware/AnalogGyro.cpp
index be06a71..259539f 100644
--- a/glass/src/lib/native/cpp/hardware/AnalogGyro.cpp
+++ b/glass/src/lib/native/cpp/hardware/AnalogGyro.cpp
@@ -4,6 +4,8 @@
#include "glass/hardware/AnalogGyro.h"
+#include <wpi/StringExtras.h>
+
#include "glass/DataSource.h"
#include "glass/other/DeviceTree.h"
@@ -11,7 +13,8 @@
void glass::DisplayAnalogGyroDevice(AnalogGyroModel* model, int index) {
char name[32];
- std::snprintf(name, sizeof(name), "AnalogGyro[%d]", index);
+ wpi::format_to_n_c_str(name, sizeof(name), "AnalogGyro[{}]", index);
+
if (BeginDevice(name)) {
// angle
if (auto angleData = model->GetAngleData()) {
diff --git a/glass/src/lib/native/cpp/hardware/AnalogInput.cpp b/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
index af22511..a2051cf 100644
--- a/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
+++ b/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
@@ -5,6 +5,7 @@
#include "glass/hardware/AnalogInput.h"
#include <imgui.h>
+#include <wpi/StringExtras.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
@@ -22,9 +23,9 @@
std::string& name = GetStorage().GetString("name");
char label[128];
if (!name.empty()) {
- std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), index);
+ wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, index);
} else {
- std::snprintf(label, sizeof(label), "In[%d]###name", index);
+ wpi::format_to_n_c_str(label, sizeof(label), "In[{}]###name", index);
}
if (model->IsGyro()) {
diff --git a/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp b/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
index 174e013..2436dd2 100644
--- a/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
+++ b/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
@@ -4,6 +4,8 @@
#include "glass/hardware/AnalogOutput.h"
+#include <wpi/StringExtras.h>
+
#include "glass/Context.h"
#include "glass/DataSource.h"
#include "glass/Storage.h"
@@ -30,9 +32,9 @@
std::string& name = GetStorage().GetString("name");
char label[128];
if (!name.empty()) {
- std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), i);
+ wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, i);
} else {
- std::snprintf(label, sizeof(label), "Out[%d]###name", i);
+ wpi::format_to_n_c_str(label, sizeof(label), "Out[{}]###name", i);
}
double value = analogOutData->GetValue();
diff --git a/glass/src/lib/native/cpp/hardware/Encoder.cpp b/glass/src/lib/native/cpp/hardware/Encoder.cpp
index 7032636..b359274 100644
--- a/glass/src/lib/native/cpp/hardware/Encoder.cpp
+++ b/glass/src/lib/native/cpp/hardware/Encoder.cpp
@@ -6,6 +6,7 @@
#include <fmt/format.h>
#include <imgui.h>
+#include <wpi/StringExtras.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
@@ -70,10 +71,11 @@
std::string& name = GetStorage().GetString("name");
char label[128];
if (!name.empty()) {
- std::snprintf(label, sizeof(label), "%s [%d,%d]###header", name.c_str(),
- chA, chB);
+ wpi::format_to_n_c_str(label, sizeof(label), "{} [{},{}]###header", name,
+ chA, chB);
} else {
- std::snprintf(label, sizeof(label), "Encoder[%d,%d]###header", chA, chB);
+ wpi::format_to_n_c_str(label, sizeof(label), "Encoder[{},{}]###header", chA,
+ chB);
}
// header
diff --git a/glass/src/lib/native/cpp/hardware/Gyro.cpp b/glass/src/lib/native/cpp/hardware/Gyro.cpp
index 607b251..8ba5d5e 100644
--- a/glass/src/lib/native/cpp/hardware/Gyro.cpp
+++ b/glass/src/lib/native/cpp/hardware/Gyro.cpp
@@ -5,12 +5,13 @@
#include "glass/hardware/Gyro.h"
#include <cmath>
+#include <numbers>
#define IMGUI_DEFINE_MATH_OPERATORS
#include <imgui.h>
#include <imgui_internal.h>
-#include <numbers>
+#include <wpi/StringExtras.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
@@ -65,7 +66,8 @@
color, 1.2f);
if (major) {
char txt[16];
- std::snprintf(txt, sizeof(txt), "%d°", i);
+ wpi::format_to_n_c_str(txt, sizeof(txt), "{}°", i);
+
draw->AddText(
center + (direction * radius * 1.25) - ImGui::CalcTextSize(txt) * 0.5,
primaryColor, txt, nullptr);
diff --git a/glass/src/lib/native/cpp/hardware/PCM.cpp b/glass/src/lib/native/cpp/hardware/PCM.cpp
index d260bda..6238fd9 100644
--- a/glass/src/lib/native/cpp/hardware/PCM.cpp
+++ b/glass/src/lib/native/cpp/hardware/PCM.cpp
@@ -9,6 +9,7 @@
#include <imgui.h>
#include <wpi/SmallVector.h>
+#include <wpi/StringExtras.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
@@ -46,10 +47,10 @@
std::string& name = GetStorage().GetString("name");
char label[128];
if (!name.empty()) {
- std::snprintf(label, sizeof(label), "%s [%d]###header", name.c_str(),
- index);
+ wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###header", name,
+ index);
} else {
- std::snprintf(label, sizeof(label), "PCM[%d]###header", index);
+ wpi::format_to_n_c_str(label, sizeof(label), "PCM[{}]###header", index);
}
// header
@@ -111,7 +112,8 @@
void glass::DisplayCompressorDevice(CompressorModel* model, int index,
bool outputsEnabled) {
char name[32];
- std::snprintf(name, sizeof(name), "Compressor[%d]", index);
+ wpi::format_to_n_c_str(name, sizeof(name), "Compressor[{}]", index);
+
if (BeginDevice(name)) {
// output enabled
if (auto runningData = model->GetRunningData()) {
diff --git a/glass/src/lib/native/cpp/hardware/PWM.cpp b/glass/src/lib/native/cpp/hardware/PWM.cpp
index 0200ac6..f719a2b 100644
--- a/glass/src/lib/native/cpp/hardware/PWM.cpp
+++ b/glass/src/lib/native/cpp/hardware/PWM.cpp
@@ -5,6 +5,7 @@
#include "glass/hardware/PWM.h"
#include <imgui.h>
+#include <wpi/StringExtras.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
@@ -22,9 +23,9 @@
std::string& name = GetStorage().GetString("name");
char label[128];
if (!name.empty()) {
- std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), index);
+ wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, index);
} else {
- std::snprintf(label, sizeof(label), "PWM[%d]###name", index);
+ wpi::format_to_n_c_str(label, sizeof(label), "PWM[{}]###name", index);
}
int led = model->GetAddressableLED();
diff --git a/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp b/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
index f1de461..90aea0e 100644
--- a/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
+++ b/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
@@ -5,9 +5,9 @@
#include "glass/hardware/PowerDistribution.h"
#include <algorithm>
-#include <cstdio>
#include <imgui.h>
+#include <wpi/StringExtras.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
@@ -36,7 +36,8 @@
void glass::DisplayPowerDistribution(PowerDistributionModel* model, int index) {
char name[128];
- std::snprintf(name, sizeof(name), "PowerDistribution[%d]", index);
+ wpi::format_to_n_c_str(name, sizeof(name), "PowerDistribution[{}]", index);
+
if (CollapsingHeader(name)) {
// temperature
if (auto tempData = model->GetTemperatureData()) {
diff --git a/glass/src/lib/native/cpp/other/DeviceTree.cpp b/glass/src/lib/native/cpp/other/DeviceTree.cpp
index cfce8c4..b242c07 100644
--- a/glass/src/lib/native/cpp/other/DeviceTree.cpp
+++ b/glass/src/lib/native/cpp/other/DeviceTree.cpp
@@ -7,6 +7,7 @@
#include <cinttypes>
#include <imgui.h>
+#include <wpi/StringExtras.h>
#include "glass/Context.h"
#include "glass/ContextInternal.h"
@@ -53,8 +54,11 @@
// build label
std::string& name = GetStorage().GetString("name");
char label[128];
- std::snprintf(label, sizeof(label), "%s###header",
- name.empty() ? id : name.c_str());
+ if (name.empty()) {
+ wpi::format_to_n_c_str(label, sizeof(label), "{}###header", id);
+ } else {
+ wpi::format_to_n_c_str(label, sizeof(label), "{}###header", name);
+ }
bool open = CollapsingHeader(label, flags);
PopupEditName("header", &name);
diff --git a/glass/src/lib/native/cpp/other/FMS.cpp b/glass/src/lib/native/cpp/other/FMS.cpp
index fbd504e..67c3f8c 100644
--- a/glass/src/lib/native/cpp/other/FMS.cpp
+++ b/glass/src/lib/native/cpp/other/FMS.cpp
@@ -11,8 +11,8 @@
using namespace glass;
-static const char* stations[] = {"Red 1", "Red 2", "Red 3",
- "Blue 1", "Blue 2", "Blue 3"};
+static const char* stations[] = {"Invalid", "Red 1", "Red 2", "Red 3",
+ "Blue 1", "Blue 2", "Blue 3"};
void glass::DisplayFMS(FMSModel* model) {
if (!model->Exists() || model->IsReadOnly()) {
@@ -41,7 +41,7 @@
if (auto data = model->GetAllianceStationIdData()) {
int val = data->GetValue();
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
- if (ImGui::Combo("Alliance Station", &val, stations, 6)) {
+ if (ImGui::Combo("Alliance Station", &val, stations, 7)) {
model->SetAllianceStationId(val);
}
data->EmitDrag();
diff --git a/glass/src/lib/native/cpp/other/Field2D.cpp b/glass/src/lib/native/cpp/other/Field2D.cpp
index 66e90b1..a99da09 100644
--- a/glass/src/lib/native/cpp/other/Field2D.cpp
+++ b/glass/src/lib/native/cpp/other/Field2D.cpp
@@ -11,6 +11,7 @@
#include <string_view>
#include <utility>
+#include <fields/fields.h>
#include <fmt/format.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>
@@ -23,12 +24,12 @@
#include <portable-file-dialogs.h>
#include <units/angle.h>
#include <units/length.h>
+#include <wpi/MemoryBuffer.h>
#include <wpi/SmallString.h>
#include <wpi/StringExtras.h>
#include <wpi/StringMap.h>
#include <wpi/fs.h>
#include <wpi/json.h>
-#include <wpi/raw_istream.h>
#include <wpigui.h>
#include "glass/Context.h"
@@ -237,10 +238,12 @@
private:
void Reset();
bool LoadImageImpl(const std::string& fn);
- void LoadJson(std::string_view jsonfile);
+ bool LoadJson(std::span<const char> is, std::string_view filename);
+ void LoadJsonFile(std::string_view jsonfile);
std::unique_ptr<pfd::open_file> m_fileOpener;
+ std::string& m_builtin;
std::string& m_filename;
gui::Texture m_texture;
@@ -340,7 +343,8 @@
}
FieldInfo::FieldInfo(Storage& storage)
- : m_filename{storage.GetString("image")},
+ : m_builtin{storage.GetString("builtin")},
+ m_filename{storage.GetString("image")},
m_width{storage.GetFloat("width", kDefaultWidth.to<float>())},
m_height{storage.GetFloat("height", kDefaultHeight.to<float>())},
m_top{storage.GetInt("top", 0)},
@@ -349,7 +353,25 @@
m_right{storage.GetInt("right", -1)} {}
void FieldInfo::DisplaySettings() {
- if (ImGui::Button("Choose image...")) {
+ ImGui::SetNextItemWidth(ImGui::GetFontSize() * 10);
+ if (ImGui::BeginCombo("Image",
+ m_builtin.empty() ? "Custom" : m_builtin.c_str())) {
+ if (ImGui::Selectable("Custom", m_builtin.empty())) {
+ Reset();
+ }
+ for (auto&& field : fields::GetFields()) {
+ bool selected = field.name == m_builtin;
+ if (ImGui::Selectable(field.name, selected)) {
+ Reset();
+ m_builtin = field.name;
+ }
+ if (selected) {
+ ImGui::SetItemDefaultFocus();
+ }
+ }
+ ImGui::EndCombo();
+ }
+ if (m_builtin.empty() && ImGui::Button("Load image...")) {
m_fileOpener = std::make_unique<pfd::open_file>(
"Choose field image", "",
std::vector<std::string>{"Image File",
@@ -370,6 +392,7 @@
void FieldInfo::Reset() {
m_texture = gui::Texture{};
+ m_builtin.clear();
m_filename.clear();
m_imageWidth = 0;
m_imageHeight = 0;
@@ -384,7 +407,7 @@
auto result = m_fileOpener->result();
if (!result.empty()) {
if (wpi::ends_with(result[0], ".json")) {
- LoadJson(result[0]);
+ LoadJsonFile(result[0]);
} else {
LoadImageImpl(result[0].c_str());
m_top = 0;
@@ -395,33 +418,46 @@
}
m_fileOpener.reset();
}
- if (!m_texture && !m_filename.empty()) {
- if (!LoadImageImpl(m_filename)) {
- m_filename.clear();
+ if (!m_texture) {
+ if (!m_builtin.empty()) {
+ for (auto&& field : fields::GetFields()) {
+ if (field.name == m_builtin) {
+ auto jsonstr = field.getJson();
+ auto imagedata = field.getImage();
+ auto texture = gui::Texture::CreateFromImage(
+ reinterpret_cast<const unsigned char*>(imagedata.data()),
+ imagedata.size());
+ if (texture && LoadJson({jsonstr.data(), jsonstr.size()}, {})) {
+ m_texture = std::move(texture);
+ m_imageWidth = m_texture.GetWidth();
+ m_imageHeight = m_texture.GetHeight();
+ } else {
+ m_builtin.clear();
+ }
+ }
+ }
+ } else if (!m_filename.empty()) {
+ if (!LoadImageImpl(m_filename)) {
+ m_filename.clear();
+ }
}
}
}
-void FieldInfo::LoadJson(std::string_view jsonfile) {
- std::error_code ec;
- wpi::raw_fd_istream f(jsonfile, ec);
- if (ec) {
- std::fputs("GUI: could not open field JSON file\n", stderr);
- return;
- }
-
+bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
// parse file
wpi::json j;
try {
- j = wpi::json::parse(f);
+ j = wpi::json::parse(is);
} catch (const wpi::json::parse_error& e) {
fmt::print(stderr, "GUI: JSON: could not parse: {}\n", e.what());
+ return false;
}
// top level must be an object
if (!j.is_object()) {
std::fputs("GUI: JSON: does not contain a top object\n", stderr);
- return;
+ return false;
}
// image filename
@@ -430,7 +466,7 @@
image = j.at("field-image").get<std::string>();
} catch (const wpi::json::exception& e) {
fmt::print(stderr, "GUI: JSON: could not read field-image: {}\n", e.what());
- return;
+ return false;
}
// corners
@@ -443,7 +479,7 @@
} catch (const wpi::json::exception& e) {
fmt::print(stderr, "GUI: JSON: could not read field-corners: {}\n",
e.what());
- return;
+ return false;
}
// size
@@ -454,7 +490,7 @@
height = j.at("field-size").at(1).get<float>();
} catch (const wpi::json::exception& e) {
fmt::print(stderr, "GUI: JSON: could not read field-size: {}\n", e.what());
- return;
+ return false;
}
// units for size
@@ -463,7 +499,7 @@
unit = j.at("field-unit").get<std::string>();
} catch (const wpi::json::exception& e) {
fmt::print(stderr, "GUI: JSON: could not read field-unit: {}\n", e.what());
- return;
+ return false;
}
// convert size units to meters
@@ -472,22 +508,38 @@
height = units::convert<units::feet, units::meters>(height);
}
- // the image filename is relative to the json file
- auto pathname = fs::path{jsonfile}.replace_filename(image).string();
+ if (!filename.empty()) {
+ // the image filename is relative to the json file
+ auto pathname = fs::path{filename}.replace_filename(image).string();
- // load field image
- if (!LoadImageImpl(pathname.c_str())) {
- return;
+ // load field image
+ if (!LoadImageImpl(pathname.c_str())) {
+ return false;
+ }
+ m_filename = pathname;
}
// save to field info
- m_filename = pathname;
m_top = top;
m_left = left;
m_bottom = bottom;
m_right = right;
m_width = width;
m_height = height;
+ return true;
+}
+
+void FieldInfo::LoadJsonFile(std::string_view jsonfile) {
+ std::error_code ec;
+ std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+ wpi::MemoryBuffer::GetFile(jsonfile, ec);
+ if (fileBuffer == nullptr || ec) {
+ std::fputs("GUI: could not open field JSON file\n", stderr);
+ return;
+ }
+ LoadJson(
+ {reinterpret_cast<const char*>(fileBuffer->begin()), fileBuffer->size()},
+ jsonfile);
}
bool FieldInfo::LoadImageImpl(const std::string& fn) {
diff --git a/glass/src/lib/native/cpp/other/Plot.cpp b/glass/src/lib/native/cpp/other/Plot.cpp
index 13d7c96..0b61709 100644
--- a/glass/src/lib/native/cpp/other/Plot.cpp
+++ b/glass/src/lib/native/cpp/other/Plot.cpp
@@ -8,7 +8,6 @@
#include <algorithm>
#include <atomic>
-#include <cstdio>
#include <cstring>
#include <memory>
#include <string>
@@ -16,6 +15,7 @@
#include <vector>
#include <fmt/format.h>
+#include <wpi/StringExtras.h>
#if defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wformat-nonliteral"
@@ -135,6 +135,8 @@
}
}
+ void SetColor(const ImVec4& color) { m_backgroundColor.SetColor(color); }
+
private:
void EmitSettingsLimits(int axis);
void DragDropAccept(PlotView& view, size_t i, int yAxis);
@@ -143,6 +145,9 @@
std::string& m_name;
bool& m_visible;
+ static constexpr float kDefaultBackgroundColor[4] = {0.0, 0.0, 0.0,
+ IMPLOT_AUTO};
+ ColorSetting m_backgroundColor;
bool& m_showPause;
bool& m_lockPrevX;
bool& m_legend;
@@ -316,8 +321,8 @@
CheckSource();
char label[128];
- std::snprintf(label, sizeof(label), "%s###name%d_%d", GetName(),
- static_cast<int>(i), static_cast<int>(plotIndex));
+ wpi::format_to_n_c_str(label, sizeof(label), "{}###name{}_{}", GetName(),
+ static_cast<int>(i), static_cast<int>(plotIndex));
int size = m_size;
int offset = m_offset;
@@ -484,6 +489,8 @@
: m_seriesStorage{storage.GetChildArray("series")},
m_name{storage.GetString("name")},
m_visible{storage.GetBool("visible", true)},
+ m_backgroundColor{
+ storage.GetFloatArray("backgroundColor", kDefaultBackgroundColor)},
m_showPause{storage.GetBool("showPause", true)},
m_lockPrevX{storage.GetBool("lockPrevX", false)},
m_legend{storage.GetBool("legend", true)},
@@ -573,13 +580,19 @@
}
char label[128];
- std::snprintf(label, sizeof(label), "%s###plot%d", m_name.c_str(),
- static_cast<int>(i));
+ wpi::format_to_n_c_str(label, sizeof(label), "{}###plot{}", m_name,
+ static_cast<int>(i));
+
ImPlotFlags plotFlags = (m_legend ? 0 : ImPlotFlags_NoLegend) |
(m_crosshairs ? ImPlotFlags_Crosshairs : 0) |
(m_mousePosition ? 0 : ImPlotFlags_NoMouseText);
if (ImPlot::BeginPlot(label, ImVec2(-1, m_height), plotFlags)) {
+ if (m_backgroundColor.GetColorFloat()[3] == IMPLOT_AUTO) {
+ SetColor(ImGui::GetStyleColorVec4(ImGuiCol_WindowBg));
+ }
+ ImPlot::PushStyleColor(ImPlotCol_PlotBg, m_backgroundColor.GetColor());
+
// setup legend
if (m_legend) {
ImPlotLegendFlags legendFlags =
@@ -656,6 +669,8 @@
m_xaxisRange = ImPlot::GetPlotLimits().X;
ImPlotPlot* plot = ImPlot::GetCurrentPlot();
+
+ ImPlot::PopStyleColor();
ImPlot::EndPlot();
// copy plot settings back to storage
@@ -715,6 +730,12 @@
ImGui::Text("Edit plot name:");
ImGui::InputText("##editname", &m_name);
ImGui::Checkbox("Visible", &m_visible);
+ m_backgroundColor.ColorEdit3("Background color",
+ ImGuiColorEditFlags_NoInputs);
+ ImGui::SameLine();
+ if (ImGui::Button("Default")) {
+ SetColor(ImGui::GetStyleColorVec4(ImGuiCol_WindowBg));
+ }
ImGui::Checkbox("Show Pause Button", &m_showPause);
if (i != 0) {
ImGui::Checkbox("Lock X-axis to previous plot", &m_lockPrevX);
@@ -917,14 +938,15 @@
char name[64];
if (!plot->GetName().empty()) {
- std::snprintf(name, sizeof(name), "%s", plot->GetName().c_str());
+ wpi::format_to_n_c_str(name, sizeof(name), "{}", plot->GetName().c_str());
} else {
- std::snprintf(name, sizeof(name), "Plot %d", static_cast<int>(i));
+ wpi::format_to_n_c_str(name, sizeof(name), "Plot {}",
+ static_cast<int>(i));
}
char label[90];
- std::snprintf(label, sizeof(label), "%s###header%d", name,
- static_cast<int>(i));
+ wpi::format_to_n_c_str(label, sizeof(label), "{}###header{}", name,
+ static_cast<int>(i));
bool open = ImGui::CollapsingHeader(label);
@@ -993,7 +1015,8 @@
char id[32];
size_t numWindows = m_windows.size();
for (size_t i = 0; i <= numWindows; ++i) {
- std::snprintf(id, sizeof(id), "Plot <%d>", static_cast<int>(i));
+ wpi::format_to_n_c_str(id, sizeof(id), "Plot <{}>", static_cast<int>(i));
+
bool match = false;
for (size_t j = 0; j < numWindows; ++j) {
if (m_windows[j]->GetId() == id) {
diff --git a/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp b/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
index 191634e..dede4a0 100644
--- a/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
+++ b/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
@@ -4,9 +4,8 @@
#include "glass/support/ExtraGuiWidgets.h"
-#include <imgui.h>
-
#define IMGUI_DEFINE_MATH_OPERATORS
+#include <imgui.h>
#include <imgui_internal.h>
#include "glass/DataSource.h"
diff --git a/glass/src/lib/native/cpp/support/NameSetting.cpp b/glass/src/lib/native/cpp/support/NameSetting.cpp
index 1dc1d20..cfc7ab3 100644
--- a/glass/src/lib/native/cpp/support/NameSetting.cpp
+++ b/glass/src/lib/native/cpp/support/NameSetting.cpp
@@ -4,9 +4,6 @@
#include "glass/support/NameSetting.h"
-#include <cstdio>
-#include <cstring>
-
#include <imgui_internal.h>
#include <imgui_stdlib.h>
#include <wpi/StringExtras.h>
@@ -16,75 +13,80 @@
void NameSetting::GetName(char* buf, size_t size,
const char* defaultName) const {
if (!m_name.empty()) {
- std::snprintf(buf, size, "%s", m_name.c_str());
+ wpi::format_to_n_c_str(buf, size, "{}", m_name);
} else {
- std::snprintf(buf, size, "%s", defaultName);
+ wpi::format_to_n_c_str(buf, size, "{}", defaultName);
}
}
void NameSetting::GetName(char* buf, size_t size, const char* defaultName,
int index) const {
if (!m_name.empty()) {
- std::snprintf(buf, size, "%s [%d]", m_name.c_str(), index);
+ wpi::format_to_n_c_str(buf, size, "{} [{}]", m_name, index);
} else {
- std::snprintf(buf, size, "%s[%d]", defaultName, index);
+ wpi::format_to_n_c_str(buf, size, "{}[{}]", defaultName, index);
}
}
void NameSetting::GetName(char* buf, size_t size, const char* defaultName,
int index, int index2) const {
if (!m_name.empty()) {
- std::snprintf(buf, size, "%s [%d,%d]", m_name.c_str(), index, index2);
+ wpi::format_to_n_c_str(buf, size, "{} [{},{}]", m_name, index, index2);
} else {
- std::snprintf(buf, size, "%s[%d,%d]", defaultName, index, index2);
+ wpi::format_to_n_c_str(buf, size, "{}[{},{}]", defaultName, index, index2);
}
}
void NameSetting::GetLabel(char* buf, size_t size,
const char* defaultName) const {
if (!m_name.empty()) {
- std::snprintf(buf, size, "%s###Name%s", m_name.c_str(), defaultName);
+ wpi::format_to_n_c_str(buf, size, "{}###Name{}", m_name, defaultName);
} else {
- std::snprintf(buf, size, "%s###Name%s", defaultName, defaultName);
+ wpi::format_to_n_c_str(buf, size, "{}###Name{}", defaultName, defaultName);
}
}
void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
int index) const {
if (!m_name.empty()) {
- std::snprintf(buf, size, "%s [%d]###Name%d", m_name.c_str(), index, index);
+ wpi::format_to_n_c_str(buf, size, "{} [{}]###Name{}", m_name, index, index);
} else {
- std::snprintf(buf, size, "%s[%d]###Name%d", defaultName, index, index);
+ wpi::format_to_n_c_str(buf, size, "{}[{}]###Name{}", defaultName, index,
+ index);
}
}
void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
int index, int index2) const {
if (!m_name.empty()) {
- std::snprintf(buf, size, "%s [%d,%d]###Name%d", m_name.c_str(), index,
- index2, index);
+ wpi::format_to_n_c_str(buf, size, "{} [{},{}]###Name{}", m_name, index,
+ index2, index);
} else {
- std::snprintf(buf, size, "%s[%d,%d]###Name%d", defaultName, index, index2,
- index);
+ wpi::format_to_n_c_str(buf, size, "{}[{},{}]###Name{}", defaultName, index,
+ index2, index);
}
}
void NameSetting::PushEditNameId(int index) {
char id[64];
- std::snprintf(id, sizeof(id), "Name%d", index);
+ wpi::format_to_n_c_str(id, sizeof(id), "Name{}", index);
+
ImGui::PushID(id);
}
void NameSetting::PushEditNameId(const char* name) {
char id[128];
- std::snprintf(id, sizeof(id), "Name%s", name);
+ wpi::format_to_n_c_str(id, sizeof(id), "Name{}", name);
+
ImGui::PushID(id);
}
bool NameSetting::PopupEditName(int index) {
bool rv = false;
+
char id[64];
- std::snprintf(id, sizeof(id), "Name%d", index);
+ wpi::format_to_n_c_str(id, sizeof(id), "Name{}", index);
+
if (ImGui::BeginPopupContextItem(id)) {
ImGui::Text("Edit name:");
if (InputTextName("##edit")) {
@@ -101,8 +103,10 @@
bool NameSetting::PopupEditName(const char* name) {
bool rv = false;
+
char id[128];
- std::snprintf(id, sizeof(id), "Name%s", name);
+ wpi::format_to_n_c_str(id, sizeof(id), "Name{}", name);
+
if (ImGui::BeginPopupContextItem(id)) {
ImGui::Text("Edit name:");
if (InputTextName("##edit")) {