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[sim] Add WebSocket extension (client/server) (#2589)

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This allows access to HAL-level simulation data via a WebSocket connection.

The server additionally serves local files.

The following environment variables can be used for configuration:
HALSIMWS_USERROOT (server) - local directory to use for file serving for /user/ URIs, defaults to ./sim/user
HALSIMWS_SYSROOT (server) - local directory to use for file serving for all other URIs, defaults to ./sim
HALSIMWS_URI (client or server) - WebSocket URI, defaults to /wpilibws
HALSIMWS_PORT (client or server) - port number, defaults to 8080
HALSIMWS_HOST (client) - host to connect to, defaults to localhost

Co-authored-by: Zhiquan Yeo <zyeo8@bloomberg.net>
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: jpokornyiii <jpokornyiii@gmail.com>
This commit is contained in:
Zhiquan Yeo
2020-08-20 01:14:03 -04:00
committed by GitHub
parent e127bac7fd
commit 932bfcf374
51 changed files with 3696 additions and 1 deletions
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3
settings.gradle
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@@ -32,6 +32,9 @@ include 'simulation:frc_gazebo_plugins'
include 'simulation:halsim_gazebo'
include 'simulation:halsim_ds_socket'
include 'simulation:halsim_gui'
include 'simulation:halsim_ws_core'
include 'simulation:halsim_ws_client'
include 'simulation:halsim_ws_server'
include 'cameraserver'
include 'cameraserver:multiCameraServer'
include 'wpilibOldCommands'