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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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94
hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
View File

@@ -15,6 +15,7 @@
#include "SimulatorJNI.h"
#include "edu_wpi_first_hal_simulation_SimDeviceDataJNI.h"
#include "hal/SimDevice.h"
#include "hal/handles/UnlimitedHandleResource.h"
#include "hal/simulation/SimDeviceData.h"
@@ -40,12 +41,12 @@ struct DeviceInfo {
};
struct ValueInfo {
ValueInfo(const char* name_, HAL_SimValueHandle handle_, bool readonly_,
ValueInfo(const char* name_, HAL_SimValueHandle handle_, int32_t direction_,
const HAL_Value& value_)
: name{name_}, handle{handle_}, readonly{readonly_}, value{value_} {}
: name{name_}, handle{handle_}, direction{direction_}, value{value_} {}
std::string name;
HAL_SimValueHandle handle;
bool readonly;
int32_t direction;
HAL_Value value;
jobject MakeJava(JNIEnv* env) const;
@@ -87,11 +88,11 @@ static std::pair<jlong, jdouble> ToValue12(const HAL_Value& value) {
jobject ValueInfo::MakeJava(JNIEnv* env) const {
static jmethodID func =
env->GetMethodID(simValueInfoCls, "<init>", "(Ljava/lang/String;IZIJD)V");
env->GetMethodID(simValueInfoCls, "<init>", "(Ljava/lang/String;IIIJD)V");
auto [value1, value2] = ToValue12(value);
return env->NewObject(simValueInfoCls, func, MakeJString(env, name),
(jint)handle, (jboolean)readonly, (jint)value.type,
value1, value2);
(jint)handle, (jint)direction, (jint)value.type, value1,
value2);
}
namespace {
@@ -111,16 +112,19 @@ class DeviceCallbackStore {
class ValueCallbackStore {
public:
explicit ValueCallbackStore(bool dirCallback) : m_dirCallback{dirCallback} {}
void create(JNIEnv* env, jobject obj) { m_call = JGlobal<jobject>(env, obj); }
void performCallback(const char* name, HAL_SimValueHandle handle,
bool readonly, const HAL_Value& value);
int32_t direction, const HAL_Value& value);
void free(JNIEnv* env) { m_call.free(env); }
void setCallbackId(int32_t id) { callbackId = id; }
int32_t getCallbackId() { return callbackId; }
void setCallbackId(int32_t id) { m_callbackId = id; }
int32_t getCallbackId() { return m_callbackId; }
private:
wpi::java::JGlobal<jobject> m_call;
int32_t callbackId;
int32_t m_callbackId;
bool m_dirCallback;
};
} // namespace
@@ -159,7 +163,7 @@ void DeviceCallbackStore::performCallback(const char* name,
void ValueCallbackStore::performCallback(const char* name,
HAL_SimValueHandle handle,
bool readonly,
int32_t direction,
const HAL_Value& value) {
JNIEnv* env;
JavaVM* vm = sim::GetJVM();
@@ -180,9 +184,16 @@ void ValueCallbackStore::performCallback(const char* name,
}
auto [value1, value2] = ToValue12(value);
env->CallVoidMethod(m_call, simValueCallbackCallback, MakeJString(env, name),
(jint)handle, (jboolean)readonly, (jint)value.type,
value1, value2);
if (m_dirCallback) {
env->CallVoidMethod(m_call, simValueCallbackCallback,
MakeJString(env, name), (jint)handle, (jint)direction,
(jint)value.type, value1, value2);
} else {
env->CallVoidMethod(m_call, simValueCallbackCallback,
MakeJString(env, name), (jint)handle,
(jboolean)(direction == HAL_SimValueOutput),
(jint)value.type, value1, value2);
}
if (env->ExceptionCheck()) {
env->ExceptionDescribe();
@@ -255,11 +266,12 @@ typedef void (*FreeValueCallbackFunc)(int32_t uid);
template <typename THandle>
static SIM_JniHandle AllocateValueCallback(
JNIEnv* env, THandle h, jobject callback, jboolean initialNotify,
JNIEnv* env, THandle h, jobject callback, bool dirCallback,
jboolean initialNotify,
int32_t (*createCallback)(THandle handle, void* param,
HALSIM_SimValueCallback callback,
HAL_Bool initialNotify)) {
auto callbackStore = std::make_shared<ValueCallbackStore>();
auto callbackStore = std::make_shared<ValueCallbackStore>(dirCallback);
auto handle = valueCallbackHandles->Allocate(callbackStore);
@@ -273,14 +285,14 @@ static SIM_JniHandle AllocateValueCallback(
callbackStore->create(env, callback);
auto callbackFunc = [](const char* name, void* param,
HAL_SimValueHandle handle, HAL_Bool readonly,
HAL_SimValueHandle handle, int32_t direction,
const HAL_Value* value) {
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle jnihandle = static_cast<SIM_JniHandle>(handleTmp);
auto data = valueCallbackHandles->Get(jnihandle);
if (!data) return;
data->performCallback(name, handle, readonly, *value);
data->performCallback(name, handle, direction, *value);
};
auto id = createCallback(h, handleAsVoidPtr, callbackFunc, initialNotify);
@@ -504,7 +516,21 @@ Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_registerSimValueCreatedCallba
(JNIEnv* env, jclass, jint device, jobject callback, jboolean initialNotify)
{
return AllocateValueCallback(env, static_cast<HAL_SimDeviceHandle>(device),
callback, initialNotify,
callback, false, initialNotify,
&HALSIM_RegisterSimValueCreatedCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
* Method: registerSimValueCreatedCallback2
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_registerSimValueCreatedCallback2
(JNIEnv* env, jclass, jint device, jobject callback, jboolean initialNotify)
{
return AllocateValueCallback(env, static_cast<HAL_SimDeviceHandle>(device),
callback, true, initialNotify,
&HALSIM_RegisterSimValueCreatedCallback);
}
@@ -530,7 +556,21 @@ Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_registerSimValueChangedCallba
(JNIEnv* env, jclass, jint handle, jobject callback, jboolean initialNotify)
{
return AllocateValueCallback(env, static_cast<HAL_SimValueHandle>(handle),
callback, initialNotify,
callback, false, initialNotify,
&HALSIM_RegisterSimValueChangedCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
* Method: registerSimValueChangedCallback2
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_registerSimValueChangedCallback2
(JNIEnv* env, jclass, jint handle, jobject callback, jboolean initialNotify)
{
return AllocateValueCallback(env, static_cast<HAL_SimValueHandle>(handle),
callback, true, initialNotify,
&HALSIM_RegisterSimValueChangedCallback);
}
@@ -610,6 +650,20 @@ Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_getSimValueEnumOptions
return jarr;
}
/*
* Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
* Method: getSimValueEnumDoubleValues
* Signature: (I)[D
*/
JNIEXPORT jdoubleArray JNICALL
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_getSimValueEnumDoubleValues
(JNIEnv* env, jclass, jint handle)
{
int32_t numElems = 0;
const double* elems = HALSIM_GetSimValueEnumDoubleValues(handle, &numElems);
return MakeJDoubleArray(env, wpi::makeArrayRef(elems, numElems));
}
/*
* Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
* Method: resetSimDeviceData