mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
76 lines
2.1 KiB
C
76 lines
2.1 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <functional>
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#include <memory>
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#include <string>
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#include <WSProviderContainer.h>
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#include <WSProvider_SimDevice.h>
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#include <wpi/uv/Async.h>
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#include <wpi/uv/Loop.h>
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#include <wpi/uv/Tcp.h>
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#include <wpi/uv/Timer.h>
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namespace wpi {
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class json;
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} // namespace wpi
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namespace wpilibws {
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class HALSimWSClientConnection;
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class HALSimWS : public std::enable_shared_from_this<HALSimWS> {
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public:
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using LoopFunc = std::function<void(void)>;
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using UvExecFunc = wpi::uv::Async<LoopFunc>;
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HALSimWS(wpi::uv::Loop& loop, ProviderContainer& providers,
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HALSimWSProviderSimDevices& simDevicesProvider);
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HALSimWS(const HALSimWS&) = delete;
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HALSimWS& operator=(const HALSimWS&) = delete;
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bool Initialize();
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void Start();
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bool RegisterWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
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void CloseWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
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void OnNetValueChanged(const wpi::json& msg);
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wpi::StringRef GetTargetHost() const { return m_host; }
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wpi::StringRef GetTargetUri() const { return m_uri; }
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int GetTargetPort() const { return m_port; }
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wpi::uv::Loop& GetLoop() { return m_loop; }
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UvExecFunc& GetExec() { return *m_exec; }
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private:
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void AttemptConnect();
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bool m_tcp_connected = false;
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std::shared_ptr<wpi::uv::Timer> m_connect_timer;
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int m_connect_attempts = 0;
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std::weak_ptr<HALSimBaseWebSocketConnection> m_hws;
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wpi::uv::Loop& m_loop;
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std::shared_ptr<wpi::uv::Tcp> m_tcp_client;
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std::shared_ptr<UvExecFunc> m_exec;
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ProviderContainer& m_providers;
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HALSimWSProviderSimDevices& m_simDevicesProvider;
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std::string m_host;
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std::string m_uri;
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int m_port;
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};
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} // namespace wpilibws
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