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[sim] Various WebSockets fixes and enhancements (#2952)

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This is a breaking change to the WebSockets layer to align it with
recent specification documentation work.

To support this, HAL SimValue changed readonly to a direction enum.
This allows specifying bidirectional in addition to input and output.

The SimValue change is specifically designed to avoid API and ABI breakage.
This is completely transparent in C++; in Java a new callback class was added,
and the old readonly functions have been marked deprecated.

A new SimValue creation function for enums allows specifying double values
for each enum value, not just strings.  This allows mapping enum values to
doubles in the WebSockets layer.

A ":" in the SimDevice name now maps it to different WebSocket types (e.g.
"Accel:Name" becomes type "Accel", device "Name").  The type is hidden
in the GUI.

Other WebSockets changes:
* Implemented match_time and game_data
* Added joystick rumble data
* Added builtin accelerometer support
* SimValue enums are mapped to string and double value on WS interface
* Added WebSockets protocol specification
* Added READMEs
This commit is contained in:
Peter Johnson
2020-12-23 15:54:11 -08:00
committed by GitHub
parent 699bbe21a4
commit 10b396b4c2
38 changed files with 1264 additions and 187 deletions
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43
hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
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@@ -69,25 +69,25 @@ Java_edu_wpi_first_hal_SimDeviceJNI_freeSimDevice
/*
* Class: edu_wpi_first_hal_SimDeviceJNI
* Method: createSimValueNative
* Signature: (ILjava/lang/String;ZIJD)I
* Signature: (ILjava/lang/String;IIJD)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueNative
(JNIEnv* env, jclass, jint device, jstring name, jboolean readonly, jint type,
(JNIEnv* env, jclass, jint device, jstring name, jint direction, jint type,
jlong value1, jdouble value2)
{
return HAL_CreateSimValue(device, JStringRef{env, name}.c_str(), readonly,
return HAL_CreateSimValue(device, JStringRef{env, name}.c_str(), direction,
ValueFromJava(type, value1, value2));
}
/*
* Class: edu_wpi_first_hal_SimDeviceJNI
* Method: createSimValueEnum
* Signature: (ILjava/lang/String;Z[Ljava/lang/Object;I)I
* Signature: (ILjava/lang/String;I[Ljava/lang/Object;I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnum
(JNIEnv* env, jclass, jint device, jstring name, jboolean readonly,
(JNIEnv* env, jclass, jint device, jstring name, jint direction,
jobjectArray options, jint initialValue)
{
size_t len = env->GetArrayLength(options);
@@ -101,8 +101,37 @@ Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnum
}
wpi::SmallVector<const char*, 8> carr;
for (auto&& val : arr) carr.push_back(val.c_str());
return HAL_CreateSimValueEnum(device, JStringRef{env, name}.c_str(), readonly,
len, carr.data(), initialValue);
return HAL_CreateSimValueEnum(device, JStringRef{env, name}.c_str(),
direction, len, carr.data(), initialValue);
}
/*
* Class: edu_wpi_first_hal_SimDeviceJNI
* Method: createSimValueEnumDouble
* Signature: (ILjava/lang/String;I[Ljava/lang/Object;[DI)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnumDouble
(JNIEnv* env, jclass, jint device, jstring name, jint direction,
jobjectArray options, jdoubleArray optionValues, jint initialValue)
{
size_t len = env->GetArrayLength(options);
size_t len2 = env->GetArrayLength(optionValues);
if (len != len2) return 0;
std::vector<std::string> arr;
arr.reserve(len);
for (size_t i = 0; i < len; ++i) {
JLocal<jstring> elem{
env, static_cast<jstring>(env->GetObjectArrayElement(options, i))};
if (!elem) return 0;
arr.push_back(JStringRef{env, elem}.str());
}
wpi::SmallVector<const char*, 8> carr;
for (auto&& val : arr) carr.push_back(val.c_str());
return HAL_CreateSimValueEnumDouble(
device, JStringRef{env, name}.c_str(), direction, len, carr.data(),
JDoubleArrayRef{env, optionValues}.array().data(), initialValue);
}
/*