allwpilib/simulation/halsim_ws_core/doc/wpilib-ws.yaml

asyncapi: 2.0.0
info:
  title: WPILib WebSocket Remote Endpoint API
  version: "1.1.0"
  description: |
    API to route WPILib HAL calls over WebSockets.
  license:
    name: WPILib BSD

channels:
  wpilibws:
    description: General channel for WPILib WebSocket messages
    publish:
      operationId: wpilibwsPublish
      message:
        $ref: "#/components/messages/wpilibwsMsg"
    subscribe:
      operationId: wpilibwsSubscribe
      message:
        $ref: "#/components/messages/wpilibwsMsg"

components:
  messages:
    wpilibwsMsg:
      title: WPILib WebSocket Message
      summary: Message envelope. Note that the "data" field contains a diff of the current state of a particular device. E.g. If only the "value" changes for a DIO device, then only the "<>value" field will be sent.
      contentType: application/json
      examples:
      - payload:
          type: PWM
          device: "1"
          data:
            "<speed": 0.5
      - payload:
          type: DIO
          device: "3"
          data:
            "<init": true
      payload:
        type: object
        oneOf:
            - $ref: "#/components/schemas/accelData"
            - $ref: "#/components/schemas/addressableLEDData"
            - $ref: "#/components/schemas/aiData"
            - $ref: "#/components/schemas/aoData"
            - $ref: "#/components/schemas/dioData"
            - $ref: "#/components/schemas/dpwmData"
            - $ref: "#/components/schemas/driverstationData"
            - $ref: "#/components/schemas/dutycycleData"
            - $ref: "#/components/schemas/encoderData"
            - $ref: "#/components/schemas/gyroData"
            - $ref: "#/components/schemas/halData"
            - $ref: "#/components/schemas/joystickData"
            - $ref: "#/components/schemas/pcmData"
            - $ref: "#/components/schemas/pwmData"
            - $ref: "#/components/schemas/relayData"
            - $ref: "#/components/schemas/solenoidData"
            - $ref: "#/components/schemas/roborioData"
            - $ref: "#/components/schemas/canmotorData"
            - $ref: "#/components/schemas/canencoderData"
            - $ref: "#/components/schemas/cangyroData"
            - $ref: "#/components/schemas/canaccelData"
            - $ref: "#/components/schemas/canainData"
            - $ref: "#/components/schemas/candioData"
            - $ref: "#/components/schemas/candutycycleData"
            - $ref: "#/components/schemas/simdeviceData"

  schemas:
    accelData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: Accel
        device:
          type: string
          description: Arbitrary device name
        data:
          type: object
          description: "Accelerometer Data (type: Accelerometer, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If accelerometer is initialized in the robot program"
            <range:
              type: number
              description: "Desired range in G’s"
            ">x":
              type: number
              description: "Acceleration in G’s "
            ">y":
              type: number
              description: "Acceleration in G’s "
            ">z":
              type: number
              description: "Acceleration in G’s "

    addressableLEDData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: AddressableLED
        device:
          type: string
          description: Arbitrary device number
        data:
          type: object
          description: "Addressable LED Data (type: AddressableLED, device: arbitrary)"
          properties:
            <init:
              type: boolean
              description: "If the led strip is initialized in the robot program"
            "<output_port":
              type: integer
              description: "DIO pin number"
            "<length":
              type: integer
              description: "The number of leds in the strip"
            "<running":
              type: boolean
              description: "Whether the strip is outputting data"
            "<data":
              type: array
              description: "One value per led"
              items:
                type: object
                description: "An object with \"r\", \"g\", and \"b\" keys, representing the rgb (0-255) components of the color"
                properties:
                  r:
                    type: integer
                  g:
                    type: integer
                  b:
                    type: integer

    aiData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: AI
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "Analog Input Data (type: AI, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If analog input is initialized in the robot program"
            "<avg_bits":
              type: integer
              description: "The number of averaging bits"
            "<oversample_bits":
              type: integer
              description: "The number of oversampling bits"
            ">voltage":
              type: number
              description: "Input voltage, in volts"
            "<accum_init":
              type: boolean
              description: "If the accumulator is initialized in the robot program"
            ">accum_value":
              type: integer
              description: "The accumulated value"
            ">accum_count":
              type: integer
              description: "The number of accumulated values"
            "<accum_center":
              type: integer
              description: "The center value of the accumulator"
            "<accum_deadband":
              type: integer
              description: "The accumulator's deadband"

    aoData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: AO
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "Analog Output Data (type: AO, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If analog output is initialized in the robot program"
            "<voltage":
              type: number
              description: "Output voltage, in volts"

    dioData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: DIO
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "Digital Input/Output Data (type: DIO, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If DIO is initialized in the robot program"
            <input:
              type: boolean
              description: "True if input, false if output"
            <>value:
              type: boolean
              description: "Input or output state"
            "<pulse_length":
              type: number
              description: "Reserved for future use"

    dpwmData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: dPWM
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "Duty Cycle Output Data (type: dPWM, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If output is initialized in the robot program"
            <duty_cycle:
              type: number
              description: "Duty cycle %"
              minimum: 0.0
              maximum: 1.0
            <dio_pin:
              type: integer
              description: "DIO pin number"

    driverstationData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: DriverStation
        device:
          type: string
          description: Should be left blank
        data:
          type: object
          description: "Driver Station Data (type: DriverStation)"
          properties:
            ">new_data":
              type: boolean
              description: "One shot.  If set to true in a message, notifies the robot program that new DS and Joystick data is available."
            ">enabled":
              type: boolean
              description: "True to enable the robot program"
            ">autonomous":
              type: boolean
              description: "True for autonomous mode; false for teleoperated mode"
            ">test":
              type: boolean
              description: "True for test mode; false for other modes"
            ">estop":
              type: boolean
              description: "True to emergency stop (no motor outputs)"
            ">fms":
              type: boolean
              description: "True if the DS is connected to a Field Management System (FMS)"
            ">ds":
              type: boolean
              description: "True if a DS application is connected"
            ">station":
              type: string
              description: "Station color and number; supported values are 'red1', 'red2', 'red3', 'blue1', 'blue2', 'blue3'."
            ">match_time":
              type: number
              description: "Match time countdown, in seconds, for each match period (e.g. for 15 second period, starts at 15 and counts down to 0).  If not in a match, -1."
            ">game_data":
              type: string
              description: "Game-specific data; arbitrary string contents"

    dutycycleData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: DutyCycle
        device:
          type: string
          description: Arbitrary device name
        data:
          type: object
          description: "Duty Cycle Input Data (type: DutyCycle, device: channel number)"
          properties:
            ">connected":
              type: boolean
              description: "True if the encoder is connected"
            ">position":
              type: number
              description: "The position in rotations"

    encoderData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: Encoder
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "Quadrature Encoder Data (type: Encoder, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If encoder is initialized in the robot program"
            <channel_a:
              type: integer
              description: "Digital channel number for 'A' phase"
            <channel_b:
              type: integer
              description: "Digital channel number for 'B' phase"
            <samples_to_avg:
              type: integer
              description: "Number of samples to average for period measurement"
            ">count":
              type: integer
              description: "Accumulated count (pulses)"
            ">period":
              type: number
              description: "Period between pulses in seconds"
            "<reverse_direction":
              type: boolean
              description: "If the encoder direction should be inverted"

    gyroData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: Gyro
        device:
          type: string
          description: Arbitrary device name
        data:
          type: object
          description: "Gyro Data (type: Gyro, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If gyro is initialized in the robot program"
            <range:
              type: number
              description: "Gyro range in degrees/second (optional)"
            ">connected":
              type: boolean
              description: "True if the gyro is connected"
            ">angle_x":
              type: number
              description: "The gyro angle in degrees"
            ">angle_y":
              type: number
              description: "The gyro angle in degrees"
            ">angle_z":
              type: number
              description: "The gyro angle in degrees"
            ">rate_x":
              type: number
              description: "The current gyro angular rate of change in degrees/second"
            ">rate_y":
              type: number
              description: "The current gyro angular rate of change in degrees/second"
            ">rate_z":
              type: number
              description: "The current gyro angular rate of change in degrees/second"

    halData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: HAL
        device:
          type: string
          description: "\"HAL\""
          const: HAL
        data:
          type: object
          description: "HAL Data (type: HAL, device: HAL)"
          properties:
            ">sim_periodic_before":
              type: boolean
              description: "Sent by the robot before running periodic simulation functions"
            ">sim_periodic_after":
              type: boolean
              description: "Sent by the robot after running periodic simulation functions"

    joystickData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: Joystick
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "Joystick Data (type: Joystick, device: channel number)"
          properties:
            ">axes":
              type: array
              items:
                type: number
                description: "Value of an individual axis on this joystick"
                minimum: -1.0
                maximum: 1.0
            ">povs":
              type: array
              description: "One array element per POV; value is a"
              items:
                type: integer
                description: "State of all POV switches on this joystick; an angle in degrees of the POV (e.g. 0, 90, 315) if pressed, or -1 if the POV is not pressed"
            ">buttons":
              type: array
              description: State of all buttons on this joystick
              items:
                type: boolean
                description: Pressed state of an individual button
            <rumble_left:
              type: number
              description: "Left rumble"
              minimum: 0.0
              maximum: 1.0
            <rumble_right:
              type: number
              description: "Right rumble"
              minimum: 0.0
              maximum: 1.0
            <outputs:
              type: integer
              description: "Bitmask of joystick HID outputs"

    pcmData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: CTREPCM
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "PCM Output Data (type: PCM, device: module number)"
          properties:
            <init:
              type: boolean
              description: "If PCM is initialized in the robot program"
            ">on":
              type: boolean
              description: "Whether the compressor is running"
            "<closed_loop":
              type: boolean
              description: "Whether closed-loop control is enabled"
            ">pressure_switch":
              type: boolean
              description: "The value of the pressure switch"
            ">current":
              type: number
              description: "The amount of current being drawn by the compressor, in Amps"

    pwmData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: PWM
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "PWM Output Data (type: PWM, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If PWM is initialized in the robot program"
            <speed:
              type: number
              description: "Speed"
              minimum: -1.0
              maximum: 1.0
            <position:
              type: number
              description: "Servo position"
              minimum: 0.0
              maximum: 1.0
            "<raw":
              type: integer
              description: "The pulse time in microseconds"
            "<period_scale":
              type: integer
              description: "Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values)"
            "<zero_latch":
              type: boolean
              description: "Whether the PWM should be latched to 0"

    relayData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: Relay
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "Relay Output Data (type: Relay, device: channel number)"
          properties:
            <init_fwd:
              type: boolean
              description: "If relay forward direction is initialized in the robot program"
            <init_rev:
              type: boolean
              description: "If relay reverse direction is initialized in the robot program"
            <fwd:
              type: boolean
              description: "True if forward direction is enabled"
            <rev:
              type: boolean
              description: "True if reverse direction is enabled"

    solenoidData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: Solenoid
        device:
          type: string
          description: Device Identifier (usually channel)
        data:
          type: object
          description: "Solenoid Data (type: Solenoid, device: channel number)"
          properties:
            <init:
              type: boolean
              description: "If Solenoid is initialized in the robot program"
            <output:
              type: boolean
              description: "The state of the solenoid"

    roborioData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: RoboRIO
        device:
          type: string
          description: Should be left blank
        data:
          type: object
          description: "RoboRIO Data (type: RoboRIO)"
          properties:
            ">fpga_button":
              type: boolean
              description: "FPGA button state"
            ">vin_voltage":
              type: number
              description: "Vin rail voltage"
            ">vin_current":
              type: number
              description: "Vin rail current"
            ">6v_voltage":
              type: number
              description: "6V rail voltage"
            ">6v_current":
              type: number
              description: "6V rail current"
            ">6v_active":
              type: boolean
              description: "True if 6V rail active, false if inactive"
            ">6v_faults":
              type: integer
              description: "Number of faults on 6V rail"
            ">5v_voltage":
              type: number
              description: "5V rail voltage"
            ">5v_current":
              type: number
              description: "5V rail current"
            ">5v_active":
              type: boolean
              description: "True if 5V rail active, false if inactive"
            ">5v_faults":
              type: integer
              description: "Number of faults on 5V rail"
            ">3v3_voltage":
              type: number
              description: "3.3V rail voltage"
            ">3v3_current":
              type: number
              description: "3.3V rail current"
            ">3v3_active":
              type: boolean
              description: "True if 3.3V rail active, false if inactive"
            ">3v3_faults":
              type: integer
              description: "Number of faults on 3.3V rail"

    canmotorData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: CANMotor
        device:
          type: string
          description: "Should have the form ControllerClassName[id]"
        data:
          type: object
          description: "CANMotor Data"
          properties:
            <init:
              type: boolean
              description: "If CANMotor is initialized in the robot program"
            "<percentOutput":
              type: number
              description: "Percent Output"
              minimum: -1.0
              maximum: 1.0
            ">supplyCurrent":
              type: number
              description: "Supply current in Amps"
              minimum: 0.0
            ">motorCurrent":
              type: number
              description: "Motor current in Amps"
              minimum: 0.0
            ">busVoltage":
              type: number
              description: "Bus voltage in Volts"
              minimum: 0.0
            "<neutralDeadband":
              type: number
              description: "Neutral Deadband"
              minimum: 0
              maximum: 1.0
            "<brakeMode":
              type: boolean
              description: "Is in brake mode"

    canencoderData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: CANEncoder
        device:
          type: string
          description: "Should have the form EncoderClassName[id]"
        data:
          type: object
          description: "CANEncoder Data"
          properties:
            <init:
              type: boolean
              description: "If CANEncoder is initialized in the robot program"
            ">position":
              type: number
              description: "Position in rotations"
            ">velocity":
              type: number
              description: "Velocity in rotations per second"

    cangyroData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: CANGyro
        device:
          type: string
          description: "Should have the form GyroClassName[id]"
        data:
          $ref: "#/components/schemas/gyroData/properties/data"

    canaccelData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: CANAccel
        device:
          type: string
          description: "Should have the form AccelClassName[id]"
        data:
          $ref: "#/components/schemas/accelData/properties/data"

    canainData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: CANAIn
        device:
          type: string
          description: "Should have the form AnalogInputClassName[id]"
        data:
          $ref: "#/components/schemas/aiData/properties/data"

    candioData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: CANDIO
        device:
          type: string
          description: "Should have the form DIOClassName[id]"
        data:
          $ref: "#/components/schemas/dioData/properties/data"

    candutycycleData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
          const: CANDutyCycle
        device:
          type: string
          description: "Should have the form DutyCycleClassName[id]"
        data:
          $ref: "#/components/schemas/dutycycleData/properties/data"

    simdeviceData:
      type: object
      required:
      - type
      - device
      properties:
        type:
          type: string
          const: SimDevice
        device:
          type: string
        data:
          type: object
          additionalProperties:
            type: string