Feature/gui tools (#195)

Co-authored-by: James Foster <jfoster@ihmc.org>
ihmcrobotics · Nov 13, 2024 · 5409289 · 5409289
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diff --git a/scs2-examples/src/main/java/us/ihmc/scs2/examples/simulations/YoHeatMapGraphic.java b/scs2-examples/src/main/java/us/ihmc/scs2/examples/simulations/YoHeatMapGraphic.java
@@ -0,0 +1,133 @@
+package us.ihmc.scs2.examples.simulations;
+
+import javafx.animation.AnimationTimer;
+import javafx.application.Platform;
+import javafx.beans.property.Property;
+import javafx.beans.property.SimpleObjectProperty;
+import javafx.scene.Scene;
+import javafx.scene.layout.GridPane;
+import javafx.scene.layout.Priority;
+import javafx.scene.layout.StackPane;
+import javafx.stage.Stage;
+import us.ihmc.scs2.SimulationConstructionSet2;
+import us.ihmc.yoVariables.math.YoMatrix;
+
+public class YoHeatMapGraphic
+{
+   public static void main(String[] args)
+   {
+      SimulationConstructionSet2 scs = new SimulationConstructionSet2(SimulationConstructionSet2.doNothingPhysicsEngine());
+      YoMatrix matrix = new YoMatrix("matrix", 3, 3, scs.getRootRegistry());
+      for (int row = 0; row < matrix.getNumRows(); row++)
+      {
+         for (int column = 0; column < matrix.getNumCols(); column++)
+         {
+            matrix.set(row, column, Math.random());
+         }
+      }
+
+      scs.start(true, false, false);
+
+      Platform.runLater(() ->
+                        {
+                           Stage window = new Stage();
+                           window.setTitle("YoHeatMapGraphic");
+                           HeatMapPane heatMapPane = new HeatMapPane();
+                           heatMapPane.matrixProperty.setValue(matrix);
+                           heatMapPane.start();
+                           window.setScene(new Scene(heatMapPane, 600, 400));
+
+                           window.setOnCloseRequest(e -> heatMapPane.stop());
+                           scs.addVisualizerShutdownListener(window::close);
+                           window.show();
+                        });
+   }
+
+   private static class HeatMapPane extends GridPane
+   {
+
+      private StackPane[][] cells;
+      private final Property<YoMatrix> matrixProperty = new SimpleObjectProperty<>(this, "matrix", null);
+      private final AnimationTimer animationTimer;
+
+      public HeatMapPane()
+      {
+         setVgap(2.0);
+         setHgap(2.0);
+         setMaxSize(Double.MAX_VALUE, Double.MAX_VALUE);
+
+         setStyle("-fx-background-color: grey;");
+
+         animationTimer = new AnimationTimer()
+         {
+            @Override
+            public void handle(long now)
+            {
+               YoMatrix matrix = matrixProperty.getValue();
+               if (matrix == null)
+               {
+                  getChildren().clear();
+                  cells = null;
+                  return;
+               }
+
+               double max = Double.NEGATIVE_INFINITY;
+               double min = Double.POSITIVE_INFINITY;
+
+               for (int row = 0; row < matrix.getNumRows(); row++)
+               {
+                  for (int column = 0; column < matrix.getNumCols(); column++)
+                  {
+                     double value = matrix.get(row, column);
+                     max = Math.max(max, value);
+                     min = Math.min(min, value);
+                  }
+               }
+
+               if (cells == null || cells.length != matrix.getNumRows() || cells[0].length != matrix.getNumCols())
+               {
+                  getChildren().clear();
+                  cells = new StackPane[matrix.getNumRows()][matrix.getNumCols()];
+
+                  for (int row = 0; row < matrix.getNumRows(); row++)
+                  {
+                     for (int column = 0; column < matrix.getNumCols(); column++)
+                     {
+                        StackPane cell = new StackPane();
+                        cell.setMinSize(1.0, 1.0);
+                        cell.setPrefSize(10.0, 10.0);
+                        cell.setMaxSize(Double.MAX_VALUE, Double.MAX_VALUE);
+                        cells[row][column] = cell;
+                        add(cell, column, row);
+                        GridPane.setHgrow(cell, Priority.ALWAYS);
+                        GridPane.setVgrow(cell, Priority.ALWAYS);
+                     }
+                  }
+               }
+
+               for (int row = 0; row < matrix.getNumRows(); row++)
+               {
+                  for (int column = 0; column < matrix.getNumCols(); column++)
+                  {
+                     double value = matrix.get(row, column);
+                     double normalizedValue = (value - min) / (max - min);
+                     // Render the value at (row, column) with normalizedValue
+                     double hue = 240.0 * normalizedValue;
+                     cells[row][column].setStyle("-fx-background-color: hsb(" + hue + ", 100%, 100%);");
+                  }
+               }
+            }
+         };
+      }
+
+      public void start()
+      {
+         animationTimer.start();
+      }
+
+      public void stop()
+      {
+         animationTimer.stop();
+      }
+   }
+}
diff --git a/...alizer-jfx/src/main/java/us/ihmc/scs2/sessionVisualizer/jfx/SessionVisualizerIOTools.java b/...alizer-jfx/src/main/java/us/ihmc/scs2/sessionVisualizer/jfx/SessionVisualizerIOTools.java
@@ -114,6 +114,7 @@ public class SessionVisualizerIOTools
    private static final String YO_GRAPHIC_2D = YO_GRAPHIC + "graphic2D/";
    private static final String YO_GRAPHIC_3D = YO_GRAPHIC + "graphic3D/";
    private static final String YO_GRAPHIC_GROUP = YO_GRAPHIC + "group/";
+   private static final String YO_PIE_CHART = "yoPieChart/";
    private static final String YO_EDITOR = "editor/";
    private static final String YO_SLIDERBOARD = "yoSliderboard/";
    private static final String YO_SLIDERBOARD_BCF2000 = YO_SLIDERBOARD + "bcf2000/";
@@ -164,6 +165,8 @@ public class SessionVisualizerIOTools
    public static final URL PLOTTER2D_OPTIONS_STAGE_URL = getFXMLResource(YO_GRAPHIC, "Plotter2DOptionsStage");
    public static final URL CAMERA3D_OPTIONS_PANE_URL = getFXMLResource("camera/Camera3DOptionsPane");
 
+   public static final URL YO_PIE_CHART_WINDOW_URL = getFXMLResource(YO_PIE_CHART, "YoPieChartWindow");
+
    public static final URL CHART_PANEL_FXML_URL = getFXMLResource(CHART, "YoChartPanel");
    public static final URL CHART_GROUP_PANEL_URL = getFXMLResource(CHART, "YoChartGroupPanel");
    public static final URL CHART_GROUP_MODEL_EDITOR_PANE_URL = getFXMLResource(CHART, "YoChartGroupModelEditorPane");

diff --git a/.../main/java/us/ihmc/scs2/sessionVisualizer/jfx/controllers/menu/YoChartMenuController.java b/.../main/java/us/ihmc/scs2/sessionVisualizer/jfx/controllers/menu/YoChartMenuController.java
@@ -60,6 +60,12 @@ private void updateMenuItemText()
       }
    }
 
+   @FXML
+   public void openPieChartWindow()
+   {
+      messager.submitMessage(topics.getOpenWindowRequest(), NewWindowRequest.pieChartWindow(owner));
+   }
+
    @FXML
    public void loadChartGroup()
    {
-Original file line number
+Diff line change
@@ Expand Up / @@ -60,6 +60,12 @@ private void updateMenuItemText() @@
           }
        }
+       @FXML
+       public void openPieChartWindow()
+       {
+          messager.submitMessage(topics.getOpenWindowRequest(), NewWindowRequest.pieChartWindow(owner));
+       }
        @FXML
        public void loadChartGroup()
        {
@@ Expand Down @@