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app.py
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211 lines (184 loc) · 16.5 KB
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import dearpygui.dearpygui as gui
import tomli
from data_controllers.iliad_data_controller import IliadDataController
from grapher.grapher import *
from grapher.grapher import Grapher
from iliad.arm_control import ArmControl
from grapher import grapher
from typing import List, Any, Callable, Union, Tuple
class App:
# Widget tags
TAG_MAIN_WINDOW = 'app.main_window'
TAG_MAIN_MENU = 'app.main_menu'
TAG_MAIN_TAB_BAR = 'app.main_tab_bar'
TAG_CONFIG_WINDOW = 'app.config_window'
def __init__(self) -> None:
def create_theme_imgui_light() -> Union[str, int]:
with gui.theme() as theme_id:
with gui.theme_component(0):
gui.add_theme_color(gui.mvThemeCol_Text , (0.00 * 255, 0.00 * 255, 0.00 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TextDisabled , (0.60 * 255, 0.60 * 255, 0.60 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_WindowBg , (0.94 * 255, 0.94 * 255, 0.94 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_ChildBg , (0.00 * 255, 0.00 * 255, 0.00 * 255, 0.00 * 255))
gui.add_theme_color(gui.mvThemeCol_PopupBg , (1.00 * 255, 1.00 * 255, 1.00 * 255, 0.98 * 255))
gui.add_theme_color(gui.mvThemeCol_Border , (0.00 * 255, 0.00 * 255, 0.00 * 255, 0.30 * 255))
gui.add_theme_color(gui.mvThemeCol_BorderShadow , (0.00 * 255, 0.00 * 255, 0.00 * 255, 0.00 * 255))
gui.add_theme_color(gui.mvThemeCol_FrameBg , (1.00 * 255, 1.00 * 255, 1.00 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_FrameBgHovered , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.40 * 255))
gui.add_theme_color(gui.mvThemeCol_FrameBgActive , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.67 * 255))
gui.add_theme_color(gui.mvThemeCol_TitleBg , (0.96 * 255, 0.96 * 255, 0.96 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TitleBgActive , (0.82 * 255, 0.82 * 255, 0.82 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TitleBgCollapsed , (1.00 * 255, 1.00 * 255, 1.00 * 255, 0.51 * 255))
gui.add_theme_color(gui.mvThemeCol_MenuBarBg , (0.86 * 255, 0.86 * 255, 0.86 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_ScrollbarBg , (0.98 * 255, 0.98 * 255, 0.98 * 255, 0.53 * 255))
gui.add_theme_color(gui.mvThemeCol_ScrollbarGrab , (0.69 * 255, 0.69 * 255, 0.69 * 255, 0.80 * 255))
gui.add_theme_color(gui.mvThemeCol_ScrollbarGrabHovered , (0.49 * 255, 0.49 * 255, 0.49 * 255, 0.80 * 255))
gui.add_theme_color(gui.mvThemeCol_ScrollbarGrabActive , (0.49 * 255, 0.49 * 255, 0.49 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_CheckMark , (0.26 * 255, 0.59 * 255, 0.98 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_SliderGrab , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.78 * 255))
gui.add_theme_color(gui.mvThemeCol_SliderGrabActive , (0.46 * 255, 0.54 * 255, 0.80 * 255, 0.60 * 255))
gui.add_theme_color(gui.mvThemeCol_Button , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.40 * 255))
gui.add_theme_color(gui.mvThemeCol_ButtonHovered , (0.26 * 255, 0.59 * 255, 0.98 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_ButtonActive , (0.06 * 255, 0.53 * 255, 0.98 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_Header , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.31 * 255))
gui.add_theme_color(gui.mvThemeCol_HeaderHovered , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.80 * 255))
gui.add_theme_color(gui.mvThemeCol_HeaderActive , (0.26 * 255, 0.59 * 255, 0.98 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_Separator , (0.39 * 255, 0.39 * 255, 0.39 * 255, 0.62 * 255))
gui.add_theme_color(gui.mvThemeCol_SeparatorHovered , (0.14 * 255, 0.44 * 255, 0.80 * 255, 0.78 * 255))
gui.add_theme_color(gui.mvThemeCol_SeparatorActive , (0.14 * 255, 0.44 * 255, 0.80 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_ResizeGrip , (0.35 * 255, 0.35 * 255, 0.35 * 255, 0.17 * 255))
gui.add_theme_color(gui.mvThemeCol_ResizeGripHovered , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.67 * 255))
gui.add_theme_color(gui.mvThemeCol_ResizeGripActive , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.95 * 255))
gui.add_theme_color(gui.mvThemeCol_Tab , (0.76 * 255, 0.80 * 255, 0.84 * 255, 0.93 * 255))
gui.add_theme_color(gui.mvThemeCol_TabHovered , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.80 * 255))
gui.add_theme_color(gui.mvThemeCol_TabActive , (0.60 * 255, 0.73 * 255, 0.88 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TabUnfocused , (0.92 * 255, 0.93 * 255, 0.94 * 255, 0.99 * 255))
gui.add_theme_color(gui.mvThemeCol_TabUnfocusedActive , (0.74 * 255, 0.82 * 255, 0.91 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_DockingPreview , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.22 * 255))
gui.add_theme_color(gui.mvThemeCol_DockingEmptyBg , (0.20 * 255, 0.20 * 255, 0.20 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_PlotLines , (0.39 * 255, 0.39 * 255, 0.39 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_PlotLinesHovered , (1.00 * 255, 0.43 * 255, 0.35 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_PlotHistogram , (0.90 * 255, 0.70 * 255, 0.00 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_PlotHistogramHovered , (1.00 * 255, 0.45 * 255, 0.00 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TableHeaderBg , (0.78 * 255, 0.87 * 255, 0.98 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TableBorderStrong , (0.57 * 255, 0.57 * 255, 0.64 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TableBorderLight , (0.68 * 255, 0.68 * 255, 0.74 * 255, 1.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TableRowBg , (0.00 * 255, 0.00 * 255, 0.00 * 255, 0.00 * 255))
gui.add_theme_color(gui.mvThemeCol_TableRowBgAlt , (0.30 * 255, 0.30 * 255, 0.30 * 255, 0.09 * 255))
gui.add_theme_color(gui.mvThemeCol_TextSelectedBg , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.35 * 255))
gui.add_theme_color(gui.mvThemeCol_DragDropTarget , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.95 * 255))
gui.add_theme_color(gui.mvThemeCol_NavHighlight , (0.26 * 255, 0.59 * 255, 0.98 * 255, 0.80 * 255))
gui.add_theme_color(gui.mvThemeCol_NavWindowingHighlight , (0.70 * 255, 0.70 * 255, 0.70 * 255, 0.70 * 255))
gui.add_theme_color(gui.mvThemeCol_NavWindowingDimBg , (0.20 * 255, 0.20 * 255, 0.20 * 255, 0.20 * 255))
gui.add_theme_color(gui.mvThemeCol_ModalWindowDimBg , (0.20 * 255, 0.20 * 255, 0.20 * 255, 0.35 * 255))
# gui.mvThemeCat_Plots
gui.add_theme_color(gui.mvPlotCol_FrameBg , (1.00 * 255, 1.00 * 255, 1.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_PlotBg , (0.42 * 255, 0.57 * 255, 1.00 * 255, 0.13 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_PlotBorder , (0.00 * 255, 0.00 * 255, 0.00 * 255, 0.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_LegendBg , (1.00 * 255, 1.00 * 255, 1.00 * 255, 0.98 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_LegendBorder , (0.82 * 255, 0.82 * 255, 0.82 * 255, 0.80 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_LegendText , (0.00 * 255, 0.00 * 255, 0.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_TitleText , (0.00 * 255, 0.00 * 255, 0.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_InlayText , (0.00 * 255, 0.00 * 255, 0.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_XAxis , (0.00 * 255, 0.00 * 255, 0.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_XAxisGrid , (1.00 * 255, 1.00 * 255, 1.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_YAxis , (0.00 * 255, 0.00 * 255, 0.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_YAxisGrid , (1.00 * 255, 1.00 * 255, 1.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_YAxis2 , (0.00 * 255, 0.00 * 255, 0.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_YAxisGrid2 , (0.00 * 255, 0.00 * 255, 0.00 * 255, 0.50 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_YAxis3 , (0.00 * 255, 0.00 * 255, 0.00 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_YAxisGrid3 , (0.00 * 255, 0.00 * 255, 0.00 * 255, 0.50 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_Selection , (0.82 * 255, 0.64 * 255, 0.03 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_Query , (0.00 * 255, 0.84 * 255, 0.37 * 255, 1.00 * 255), category=gui.mvThemeCat_Plots)
gui.add_theme_color(gui.mvPlotCol_Crosshairs , (0.00 * 255, 0.00 * 255, 0.00 * 255, 0.50 * 255), category=gui.mvThemeCat_Plots)
# gui.mvThemeCat_Nodes
gui.add_theme_color(gui.mvNodeCol_NodeBackground , (240, 240, 240, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_NodeBackgroundHovered , (240, 240, 240, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_NodeBackgroundSelected , (240, 240, 240, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_NodeOutline , (100, 100, 100, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_TitleBar , (248, 248, 248, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_TitleBarHovered , (209, 209, 209, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_TitleBarSelected , (209, 209, 209, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_Link , ( 66, 150, 250, 100), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_LinkHovered , ( 66, 150, 250, 242), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_LinkSelected , ( 66, 150, 250, 242), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_Pin , ( 66, 150, 250, 160), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_PinHovered , ( 66, 150, 250, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_BoxSelector , ( 90, 170, 250, 30), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_BoxSelectorOutline , ( 90, 170, 250, 150), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_GridBackground , (225, 225, 225, 255), category=gui.mvThemeCat_Nodes)
gui.add_theme_color(gui.mvNodeCol_GridLine , (180, 180, 180, 100), category=gui.mvThemeCat_Nodes)
return theme_id
# Start GUI:
gui.create_context()
gui.create_viewport(title='Iliad Ground Control', width=600, height=300)
gui.setup_dearpygui()
with gui.font_registry():
primary_font = gui.add_font('assets/fonts/open_sans/OpenSans-VariableFont_wdth,wght.ttf', 16)
gui.bind_font(primary_font)
with gui.window(tag=App.TAG_MAIN_WINDOW):
gui.bind_theme(create_theme_imgui_light())
with gui.menu_bar(tag=App.TAG_MAIN_MENU):
with gui.menu(label='Options'):
gui.add_menu_item(label='Config', callback=lambda: gui.show_item(App.TAG_CONFIG_WINDOW))
with gui.menu(label='Tools'):
gui.add_menu_item(label='Packet Inspector', callback=None)
gui.add_menu_item(label='GUI Demo', callback=gui.show_imgui_demo)
gui.add_menu_item(label='Graphs Demo', callback=gui.show_implot_demo)
gui.add_menu_item(label='Font Manager', callback=gui.show_font_manager)
gui.add_menu_item(label='Style Editor', callback=gui.show_style_editor)
with gui.menu(label='View'):
gui.add_menu_item(label='Save layout', callback=None)
gui.add_menu_item(label='Load layout', callback=None)
with gui.menu(label='Help'):
gui.add_menu_item(label='Docs', callback=None)
gui.add_menu_item(label='About', callback=None)
# with gui.group(horizontal=True):
with gui.group(horizontal=True):
gui.add_group(tag='app.sidebar')
gui.add_tab_bar(tag=App.TAG_MAIN_TAB_BAR, pos=(200, 200))
# gui.add_group(horizontal=True, tag='app.sidebar')
gui.set_primary_window(App.TAG_MAIN_WINDOW, True)
self.iliad = IliadDataController('iliad_data_controller')
self.grapher = Grapher('grapher', self.iliad)
self.arm_control = ArmControl('armctl', self.iliad)
# Init config menu:
with gui.window(label='Config', tag=App.TAG_CONFIG_WINDOW, min_size=(512, 512)):
# Add categories and corresponding child windows:
with gui.tree_node(label='General'):
with gui.tree_node(label='Controls'):
gui.add_text('No options available.')
with gui.tree_node(label='Visuals'):
gui.add_text('No options available.')
with gui.tree_node(label='Misc'):
gui.add_text('No options available.')
with gui.tree_node(label='Grapher'):
gui.add_text('No options available.')
with gui.tree_node(label='Iliad Data Controller'):
self.iliad.add_config_menu()
with gui.group(horizontal=True):
def on_apply_config():
# self.grapher.apply_config()
self.iliad.apply_config()
gui.add_button(label='Cancel', callback=lambda: gui.hide_item(App.TAG_CONFIG_WINDOW))
gui.add_button(label='Apply', callback=on_apply_config)
gui.hide_item(App.TAG_CONFIG_WINDOW)
gui.show_viewport()
gui.maximize_viewport()
def update(self) -> None:
"""
Called every frame.
Calls `update()` on all components.
"""
self.iliad.update()
self.grapher.update()
self.arm_control.update()
def run(self) -> None:
"""
Starts the main event loop.
"""
while gui.is_dearpygui_running():
self.update()
gui.render_dearpygui_frame()
self.iliad.close()
gui.destroy_context()