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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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12
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -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 {