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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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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();