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

asyncapi: 2.0.0
info:
  title: WPILib WebSocket Remote Endpoint API
  version: "1.0.0"
  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/aiData"
            - $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/joystickData"
            - $ref: "#/components/schemas/pwmData"
            - $ref: "#/components/schemas/relayData"
            - $ref: "#/components/schemas/solenoidData"
            - $ref: "#/components/schemas/roborioData"

  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 "

    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"
            ">voltage":
              type: number
              description: "Input 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"

    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"

    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"

    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

    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

    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"