mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
82 lines
2.3 KiB
C
82 lines
2.3 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2020 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 <memory>
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#include <string>
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#include <WSBaseProvider.h>
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#include <WSProviderContainer.h>
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#include <WSProvider_SimDevice.h>
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#include <wpi/StringMap.h>
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#include <wpi/json.h>
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#include <wpi/mutex.h>
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#include <wpi/uv/AsyncFunction.h>
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#include <wpi/uv/Buffer.h>
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#include <wpi/uv/Loop.h>
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#include <wpi/uv/Tcp.h>
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namespace wpilibws {
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class HALSimHttpConnection;
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class HALSimWeb {
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public:
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static std::shared_ptr<HALSimWeb> GetInstance() { return g_instance; }
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static void SetInstance(std::shared_ptr<HALSimWeb> inst) {
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g_instance = inst;
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}
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explicit HALSimWeb(ProviderContainer& providers,
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HALSimWSProviderSimDevices& simDevicesProvider)
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: m_providers(providers), m_simDevicesProvider(simDevicesProvider) {}
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HALSimWeb(const HALSimWeb&) = delete;
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HALSimWeb& operator=(const HALSimWeb&) = delete;
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bool Initialize();
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static void Main(void*);
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static void Exit(void*);
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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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// network -> sim
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void OnNetValueChanged(const wpi::json& msg);
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std::string GetServerUri() const { return m_uri; }
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int GetServerPort() { return m_port; }
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std::shared_ptr<wpi::uv::Loop> GetLoop() { return m_loop; }
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private:
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static std::shared_ptr<HALSimWeb> g_instance;
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void MainLoop();
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// connected http connection that contains active websocket
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std::weak_ptr<HALSimBaseWebSocketConnection> m_hws;
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// list of providers
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ProviderContainer& m_providers;
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HALSimWSProviderSimDevices& m_simDevicesProvider;
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std::shared_ptr<wpi::uv::Loop> m_loop;
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std::shared_ptr<wpi::uv::Tcp> m_server;
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// Absolute paths of folders to retrieve data from
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// -> /
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std::string m_webroot_sys;
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// -> /user
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std::string m_webroot_user;
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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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