James Kuszmaul | b13e13f | 2023-11-22 20:44:04 -0800 | [diff] [blame^] | 1 | // Copyright (c) FIRST and other WPILib contributors. |
| 2 | // Open Source Software; you can modify and/or share it under the terms of |
| 3 | // the WPILib BSD license file in the root directory of this project. |
| 4 | |
| 5 | #include <cstdio> |
| 6 | |
| 7 | #ifndef RUNNING_SYSID_TESTS |
| 8 | |
| 9 | #include <filesystem> |
| 10 | #include <memory> |
| 11 | #include <string_view> |
| 12 | |
| 13 | #include <fmt/format.h> |
| 14 | #include <glass/Context.h> |
| 15 | #include <glass/MainMenuBar.h> |
| 16 | #include <glass/Storage.h> |
| 17 | #include <glass/Window.h> |
| 18 | #include <glass/WindowManager.h> |
| 19 | #include <glass/other/Log.h> |
| 20 | #include <imgui.h> |
| 21 | #include <uv.h> |
| 22 | #include <wpi/Logger.h> |
| 23 | #include <wpigui.h> |
| 24 | #include <wpigui_openurl.h> |
| 25 | |
| 26 | #include "sysid/view/Analyzer.h" |
| 27 | #include "sysid/view/JSONConverter.h" |
| 28 | #include "sysid/view/Logger.h" |
| 29 | #include "sysid/view/UILayout.h" |
| 30 | |
| 31 | namespace gui = wpi::gui; |
| 32 | |
| 33 | static std::unique_ptr<glass::WindowManager> gWindowManager; |
| 34 | |
| 35 | glass::Window* gLoggerWindow; |
| 36 | glass::Window* gAnalyzerWindow; |
| 37 | glass::Window* gProgramLogWindow; |
| 38 | static glass::MainMenuBar gMainMenu; |
| 39 | |
| 40 | std::unique_ptr<sysid::JSONConverter> gJSONConverter; |
| 41 | |
| 42 | glass::LogData gLog; |
| 43 | wpi::Logger gLogger; |
| 44 | |
| 45 | const char* GetWPILibVersion(); |
| 46 | |
| 47 | namespace sysid { |
| 48 | std::string_view GetResource_sysid_16_png(); |
| 49 | std::string_view GetResource_sysid_32_png(); |
| 50 | std::string_view GetResource_sysid_48_png(); |
| 51 | std::string_view GetResource_sysid_64_png(); |
| 52 | std::string_view GetResource_sysid_128_png(); |
| 53 | std::string_view GetResource_sysid_256_png(); |
| 54 | std::string_view GetResource_sysid_512_png(); |
| 55 | } // namespace sysid |
| 56 | |
| 57 | void Application(std::string_view saveDir) { |
| 58 | // Create the wpigui (along with Dear ImGui) and Glass contexts. |
| 59 | gui::CreateContext(); |
| 60 | glass::CreateContext(); |
| 61 | |
| 62 | // Add icons |
| 63 | gui::AddIcon(sysid::GetResource_sysid_16_png()); |
| 64 | gui::AddIcon(sysid::GetResource_sysid_32_png()); |
| 65 | gui::AddIcon(sysid::GetResource_sysid_48_png()); |
| 66 | gui::AddIcon(sysid::GetResource_sysid_64_png()); |
| 67 | gui::AddIcon(sysid::GetResource_sysid_128_png()); |
| 68 | gui::AddIcon(sysid::GetResource_sysid_256_png()); |
| 69 | gui::AddIcon(sysid::GetResource_sysid_512_png()); |
| 70 | |
| 71 | glass::SetStorageName("sysid"); |
| 72 | glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir() |
| 73 | : saveDir); |
| 74 | |
| 75 | // Add messages from the global sysid logger into the Log window. |
| 76 | gLogger.SetLogger([](unsigned int level, const char* file, unsigned int line, |
| 77 | const char* msg) { |
| 78 | const char* lvl = ""; |
| 79 | if (level >= wpi::WPI_LOG_CRITICAL) { |
| 80 | lvl = "CRITICAL: "; |
| 81 | } else if (level >= wpi::WPI_LOG_ERROR) { |
| 82 | lvl = "ERROR: "; |
| 83 | } else if (level >= wpi::WPI_LOG_WARNING) { |
| 84 | lvl = "WARNING: "; |
| 85 | } else if (level >= wpi::WPI_LOG_INFO) { |
| 86 | lvl = "INFO: "; |
| 87 | } else if (level >= wpi::WPI_LOG_DEBUG) { |
| 88 | lvl = "DEBUG: "; |
| 89 | } |
| 90 | std::string filename = std::filesystem::path{file}.filename().string(); |
| 91 | gLog.Append(fmt::format("{}{} ({}:{})\n", lvl, msg, filename, line)); |
| 92 | #ifndef NDEBUG |
| 93 | fmt::print(stderr, "{}{} ({}:{})\n", lvl, msg, filename, line); |
| 94 | #endif |
| 95 | }); |
| 96 | |
| 97 | gLogger.set_min_level(wpi::WPI_LOG_DEBUG); |
| 98 | // Set the number of workers for the libuv threadpool. |
| 99 | uv_os_setenv("UV_THREADPOOL_SIZE", "6"); |
| 100 | |
| 101 | // Initialize window manager and add views. |
| 102 | auto& storage = glass::GetStorageRoot().GetChild("SysId"); |
| 103 | gWindowManager = std::make_unique<glass::WindowManager>(storage); |
| 104 | gWindowManager->GlobalInit(); |
| 105 | |
| 106 | gLoggerWindow = gWindowManager->AddWindow( |
| 107 | "Logger", std::make_unique<sysid::Logger>(storage, gLogger)); |
| 108 | |
| 109 | gAnalyzerWindow = gWindowManager->AddWindow( |
| 110 | "Analyzer", std::make_unique<sysid::Analyzer>(storage, gLogger)); |
| 111 | |
| 112 | gProgramLogWindow = gWindowManager->AddWindow( |
| 113 | "Program Log", std::make_unique<glass::LogView>(&gLog)); |
| 114 | |
| 115 | // Set default positions and sizes for windows. |
| 116 | |
| 117 | // Logger window position/size |
| 118 | gLoggerWindow->SetDefaultPos(sysid::kLoggerWindowPos.x, |
| 119 | sysid::kLoggerWindowPos.y); |
| 120 | gLoggerWindow->SetDefaultSize(sysid::kLoggerWindowSize.x, |
| 121 | sysid::kLoggerWindowSize.y); |
| 122 | |
| 123 | // Analyzer window position/size |
| 124 | gAnalyzerWindow->SetDefaultPos(sysid::kAnalyzerWindowPos.x, |
| 125 | sysid::kAnalyzerWindowPos.y); |
| 126 | gAnalyzerWindow->SetDefaultSize(sysid::kAnalyzerWindowSize.x, |
| 127 | sysid::kAnalyzerWindowSize.y); |
| 128 | |
| 129 | // Program log window position/size |
| 130 | gProgramLogWindow->SetDefaultPos(sysid::kProgramLogWindowPos.x, |
| 131 | sysid::kProgramLogWindowPos.y); |
| 132 | gProgramLogWindow->SetDefaultSize(sysid::kProgramLogWindowSize.x, |
| 133 | sysid::kProgramLogWindowSize.y); |
| 134 | gProgramLogWindow->DisableRenamePopup(); |
| 135 | |
| 136 | gJSONConverter = std::make_unique<sysid::JSONConverter>(gLogger); |
| 137 | |
| 138 | // Configure save file. |
| 139 | gui::ConfigurePlatformSaveFile("sysid.ini"); |
| 140 | |
| 141 | // Add menu bar. |
| 142 | gui::AddLateExecute([] { |
| 143 | ImGui::BeginMainMenuBar(); |
| 144 | gMainMenu.WorkspaceMenu(); |
| 145 | gui::EmitViewMenu(); |
| 146 | |
| 147 | if (ImGui::BeginMenu("Widgets")) { |
| 148 | gWindowManager->DisplayMenu(); |
| 149 | ImGui::EndMenu(); |
| 150 | } |
| 151 | |
| 152 | bool about = false; |
| 153 | if (ImGui::BeginMenu("Info")) { |
| 154 | if (ImGui::MenuItem("About")) { |
| 155 | about = true; |
| 156 | } |
| 157 | ImGui::EndMenu(); |
| 158 | } |
| 159 | |
| 160 | bool toCSV = false; |
| 161 | if (ImGui::BeginMenu("JSON Converters")) { |
| 162 | if (ImGui::MenuItem("JSON to CSV Converter")) { |
| 163 | toCSV = true; |
| 164 | } |
| 165 | |
| 166 | ImGui::EndMenu(); |
| 167 | } |
| 168 | |
| 169 | if (ImGui::BeginMenu("Docs")) { |
| 170 | if (ImGui::MenuItem("Online documentation")) { |
| 171 | wpi::gui::OpenURL( |
| 172 | "https://docs.wpilib.org/en/stable/docs/software/pathplanning/" |
| 173 | "system-identification/"); |
| 174 | } |
| 175 | |
| 176 | ImGui::EndMenu(); |
| 177 | } |
| 178 | |
| 179 | ImGui::EndMainMenuBar(); |
| 180 | |
| 181 | if (toCSV) { |
| 182 | ImGui::OpenPopup("SysId JSON to CSV Converter"); |
| 183 | toCSV = false; |
| 184 | } |
| 185 | |
| 186 | if (ImGui::BeginPopupModal("SysId JSON to CSV Converter")) { |
| 187 | gJSONConverter->DisplayCSVConvert(); |
| 188 | if (ImGui::Button("Close")) { |
| 189 | ImGui::CloseCurrentPopup(); |
| 190 | } |
| 191 | ImGui::EndPopup(); |
| 192 | } |
| 193 | |
| 194 | if (about) { |
| 195 | ImGui::OpenPopup("About"); |
| 196 | about = false; |
| 197 | } |
| 198 | if (ImGui::BeginPopupModal("About")) { |
| 199 | ImGui::Text("SysId: System Identification for Robot Mechanisms"); |
| 200 | ImGui::Separator(); |
| 201 | ImGui::Text("v%s", GetWPILibVersion()); |
| 202 | ImGui::Separator(); |
| 203 | ImGui::Text("Save location: %s", glass::GetStorageDir().c_str()); |
| 204 | if (ImGui::Button("Close")) { |
| 205 | ImGui::CloseCurrentPopup(); |
| 206 | } |
| 207 | ImGui::EndPopup(); |
| 208 | } |
| 209 | }); |
| 210 | |
| 211 | gui::Initialize("System Identification", sysid::kAppWindowSize.x, |
| 212 | sysid::kAppWindowSize.y); |
| 213 | gui::Main(); |
| 214 | |
| 215 | glass::DestroyContext(); |
| 216 | gui::DestroyContext(); |
| 217 | } |
| 218 | |
| 219 | #endif |