Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

13
wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
View File

@@ -16,13 +16,14 @@ using namespace frc;
ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
: m_i2c(port, deviceAddress),
m_simDevice("ADXL345_I2C", port, deviceAddress) {
m_simDevice("Accel:ADXL345_I2C", port, deviceAddress) {
if (m_simDevice) {
m_simRange =
m_simDevice.CreateEnum("Range", true, {"2G", "4G", "8G", "16G"}, 0);
m_simX = m_simDevice.CreateDouble("X Accel", false, 0.0);
m_simY = m_simDevice.CreateDouble("Y Accel", false, 0.0);
m_simZ = m_simDevice.CreateDouble("Z Accel", false, 0.0);
m_simRange = m_simDevice.CreateEnumDouble("range", hal::SimDevice::kOutput,
{"2G", "4G", "8G", "16G"},
{2.0, 4.0, 8.0, 16.0}, 0);
m_simX = m_simDevice.CreateDouble("x", hal::SimDevice::kInput, 0.0);
m_simY = m_simDevice.CreateDouble("y", hal::SimDevice::kInput, 0.0);
m_simZ = m_simDevice.CreateDouble("z", hal::SimDevice::kInput, 0.0);
}
// Turn on the measurements
m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);

13
wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
View File

@@ -15,13 +15,14 @@
using namespace frc;
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
: m_spi(port), m_simDevice("ADXL345_SPI", port) {
: m_spi(port), m_simDevice("Accel:ADXL345_SPI", port) {
if (m_simDevice) {
m_simRange =
m_simDevice.CreateEnum("Range", true, {"2G", "4G", "8G", "16G"}, 0);
m_simX = m_simDevice.CreateDouble("X Accel", false, 0.0);
m_simY = m_simDevice.CreateDouble("Y Accel", false, 0.0);
m_simZ = m_simDevice.CreateDouble("Z Accel", false, 0.0);
m_simRange = m_simDevice.CreateEnumDouble("range", hal::SimDevice::kOutput,
{"2G", "4G", "8G", "16G"},
{2.0, 4.0, 8.0, 16.0}, 0);
m_simX = m_simDevice.CreateDouble("x", hal::SimDevice::kInput, 0.0);
m_simY = m_simDevice.CreateDouble("y", hal::SimDevice::kInput, 0.0);
m_simZ = m_simDevice.CreateDouble("z", hal::SimDevice::kInput, 0.0);
}
m_spi.SetClockRate(500000);
m_spi.SetMSBFirst();

13
wpilibc/src/main/native/cpp/ADXL362.cpp
View File

@@ -35,13 +35,14 @@ static constexpr int kPowerCtl_Measure = 0x02;
ADXL362::ADXL362(Range range) : ADXL362(SPI::Port::kOnboardCS1, range) {}
ADXL362::ADXL362(SPI::Port port, Range range)
: m_spi(port), m_simDevice("ADXL362", port) {
: m_spi(port), m_simDevice("Accel:ADXL362", port) {
if (m_simDevice) {
m_simRange =
m_simDevice.CreateEnum("Range", true, {"2G", "4G", "8G", "16G"}, 0);
m_simX = m_simDevice.CreateDouble("X Accel", false, 0.0);
m_simY = m_simDevice.CreateDouble("Y Accel", false, 0.0);
m_simZ = m_simDevice.CreateDouble("Z Accel", false, 0.0);
m_simRange = m_simDevice.CreateEnumDouble("range", hal::SimDevice::kOutput,
{"2G", "4G", "8G", "16G"},
{2.0, 4.0, 8.0, 16.0}, 0);
m_simX = m_simDevice.CreateDouble("x", hal::SimDevice::kInput, 0.0);
m_simY = m_simDevice.CreateDouble("y", hal::SimDevice::kInput, 0.0);
m_simZ = m_simDevice.CreateDouble("z", hal::SimDevice::kInput, 0.0);
}
m_spi.SetClockRate(3000000);

7
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
View File

@@ -32,10 +32,11 @@ static constexpr int kPIDRegister = 0x0C;
ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
: m_spi(port), m_port(port), m_simDevice("ADXRS450_Gyro", port) {
: m_spi(port), m_port(port), m_simDevice("Gyro:ADXRS450", port) {
if (m_simDevice) {
m_simAngle = m_simDevice.CreateDouble("Angle", false, 0.0);
m_simRate = m_simDevice.CreateDouble("Rate", false, 0.0);
m_simAngle =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simRate = m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
}
m_spi.SetClockRate(3000000);

12
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
View File

@@ -54,13 +54,14 @@ DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource)
}
void DutyCycleEncoder::Init() {
m_simDevice = hal::SimDevice{"DutyCycleEncoder", m_dutyCycle->GetFPGAIndex()};
m_simDevice = hal::SimDevice{"DutyCycle:DutyCycleEncoder",
m_dutyCycle->GetSourceChannel()};
if (m_simDevice) {
m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
m_simDistancePerRotation =
m_simDevice.CreateDouble("DistancePerRotation", false, 1.0);
m_simIsConnected = m_simDevice.CreateBoolean("Connected", false, true);
m_simPosition =
m_simDevice.CreateDouble("position", hal::SimDevice::kInput, 0.0);
m_simIsConnected =
m_simDevice.CreateBoolean("connected", hal::SimDevice::kInput, true);
} else {
m_analogTrigger = std::make_unique<AnalogTrigger>(m_dutyCycle.get());
m_analogTrigger->SetLimitsDutyCycle(0.25, 0.75);
@@ -100,7 +101,6 @@ units::turn_t DutyCycleEncoder::Get() const {
void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
m_distancePerRotation = distancePerRotation;
m_simDistancePerRotation.Set(distancePerRotation);
}
double DutyCycleEncoder::GetDistancePerRotation() const {