Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +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

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);