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[sim] Update WebSockets API Specification (#6664)

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Also update AddressableLED data to be output instead of input.
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CoolSpy3
2024-05-26 14:58:32 -07:00
committed by GitHub
parent 958387ddd3
commit 98fcbdb44e
3 changed files with 249 additions and 21 deletions
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104
simulation/halsim_ws_core/doc/hardware_ws_api.md
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@@ -77,13 +77,17 @@ The “hardware“ (which might be a full-fledged 3D simulation engine, a physic
| Type value | Description | Device value |
| ----------------------- | -------------------------- | ------------------------- |
| [``"Accel"``][] | Accelerometer | Arbitrary device name |
| [``"AddressableLED"``][]| Addressable LED Strip | Arbitrary device number |
| [``"AI"``][] | Analog input | Port index, e.g. "1", "2" |
| [``"AO"``][] | Analog output | Port index, e.g. "1", "2" |
| [``"CTREPCM"``][] | PCM | Module number, e.g. "1", "2" |
| [``"DIO"``][] | Digital input/output | Port index, e.g. "1", "2" |
| [``"dPWM"``][] | Duty cycle output | Arbitrary device number |
| [``"DriverStation"``][] | Driver station / FMS state | Blank |
| [``"DutyCycle"``][] | Duty cycle input | Arbitrary device name |
| [``"Encoder"``][] | Quadrature encoder | Arbitrary device number |
| [``"Gyro"``][] | Gyro | Arbitrary device name |
| [``"HAL"``][] | HAL data | ``"HAL"`` |
| [``"Joystick"``][] | Joystick data | Joystick number |
| [``"PWM"``][] | PWM output | Port index, e.g. "1", "2" |
| [``"Relay"``][] | Relay output | Port index, e.g. "1", "2" |
@@ -105,16 +109,46 @@ C++/Java implementation note: these are created as either BuiltInAccelerometer o
| ``">y"`` | Float | Acceleration in G’s |
| ``">z"`` | Float | Acceleration in G’s |
#### Addressable LED Strip ("AddressableLED")
[``"AddressableLED"``]:#addressable-led-strip-addressableled
| Data Key | Type | Description |
| ------------------ | ------- | ---------------------------------------------------- |
| ``"<init"`` | Boolean | If the led strip is initialized in the robot program |
| ``"<output_port"`` | Integer | DIO pin number |
| ``"<length"`` | Integer | The number of leds in the strip |
| ``"<running"`` | Boolean | Whether the strip is outputting data |
| ``"<data"`` | Array (See Below) | One value per led; value is an object with ``"r"``, ``"g"``, and ``"b"`` keys, representing the rgb (0-255) components of the color |
#### Analog Input ("AI")
[``"AI"``]:#analog-input-ai
The basic analog input just reads a voltage.
The basic analog input just reads a voltage. An analog input can also be configured to use an averaging and oversampling engine.
| Data Key | Type | Description |
| -------------- | ------- | --------------------------------------------------- |
| ``"<init"`` | Boolean | If analog input is initialized in the robot program |
| ``">voltage"`` | Float | Input voltage, in volts |
| Data Key | Type | Description |
| --------------------- | ------- | --------------------------------------------------- |
| ``"<init"`` | Boolean | If analog input is initialized in the robot program |
| ``"<avg_bits"`` | Integer | The number of averaging bits |
| ``"<oversample_bits"` | Integer | The number of oversampling bits |
| ``">voltage"`` | Float | Input voltage, in volts |
| ``"<accum_init"`` | Boolean | If the accumulator is initialized in the robot program |
| ``">accum_value"`` | Integer | The accumulated value |
| ``">accum_count"`` | Integer | The number of accumulated values |
| ``"<accum_center"`` | Integer | The center value of the accumulator |
| ``"<accum_deadband"`` | Integer | The accumulator's deadband |
#### Analog Output ("AO")
[``"AO"``]:#analog-output-ao
The basic analog output just sends a voltage.
| Data Key | Type | Description |
| --------------------- | ------- | ---------------------------------------------------- |
| ``"<init"`` | Boolean | If analog output is initialized in the robot program |
| ``"<voltage"`` | Float | Output voltage, in volts |
#### Digital Input/Output ("DIO")
@@ -125,6 +159,7 @@ The basic analog input just reads a voltage.
| ``"<init"`` | Boolean | If DIO is initialized in the robot program |
| ``"<input"`` | Boolean | True if input, false if output |
| ``"<>value"`` | Boolean | Input or output state |
| ``"<pulse_length"`` | Float | Reserved for future use |
#### Duty Cycle Output ("dPWM")
@@ -172,14 +207,15 @@ C++/Java implementation note: these are created as SimDevice nodes where the dev
A relative encoder. For absolute encoders, use ``"DutyCycle"``.
| Data Key | Type | Description |
| --------------------- | ------- | --------------------------------------------------- |
| ``"<init"`` | Boolean | If encoder is initialized in the robot program |
| ``"<channel_a"`` | Integer | Digital channel number for “A” phase |
| ``"<channel_b"`` | Integer | Digital channel number for “B” phase |
| ``"<samples_to_avg"`` | Integer | Number of samples to average for period measurement |
| ``">count"`` | Integer | Accumulated count (pulses) |
| ``">period"`` | Float | Period between pulses in seconds |
| Data Key | Type | Description |
| ------------------------ | ------- | --------------------------------------------------- |
| ``"<init"`` | Boolean | If encoder is initialized in the robot program |
| ``"<channel_a"`` | Integer | Digital channel number for “A” phase |
| ``"<channel_b"`` | Integer | Digital channel number for “B” phase |
| ``"<samples_to_avg"`` | Integer | Number of samples to average for period measurement |
| ``">count"`` | Integer | Accumulated count (pulses) |
| ``">period"`` | Float | Period between pulses in seconds |
| ``"<reverse_direction"`` | Boolean | If the encoder direction should be inverted |
#### Gyro ("Gyro")
@@ -201,6 +237,19 @@ C++/Java implementation note: these are created as SimDevice nodes where the dev
| ``">rate_y"`` | Float | The current gyro angular rate of change in degrees/second |
| ``">rate_z"`` | Float | The current gyro angular rate of change in degrees/second |
#### HAL Data ("HAL")
[``"HAL"``]:#hal-data-hal
Only sent in XRP mode.
Only one of ``">sim_periodic_before"`` or ``">sim_periodic_after"`` should be sent in a single message.
| Data Key | Type | Description |
| -------------------------- | ------- | -------------------------------------------------------------- |
| ``">sim_periodic_before"`` | Boolean | Sent by the robot before running periodic simulation functions |
| ``">sim_periodic_after"`` | Boolean | Sent by the robot after running periodic simulation functions |
#### Joystick Data ("Joystick")
[``"Joystick"``]:#joystick-data-joystick
@@ -215,17 +264,34 @@ Joystick data is an input to the robot program and should be updated for each in
| ``"<rumble_left"`` | Float | Left rumble, value is 0-1 range |
| ``"<rumble_right"`` | Float | Right rumble, value is 0-1 range |
#### PCM Data ("CTREPCM")
[``"CTREPCM"``]#pcm-data-ctrepcm
A pneumatic control module is used to regulate the pressure in a pneumatic system by switching a compressor on or off.
| Data Key | Type | Description |
| ---------------------- | ------- | ------------------------------------------ |
| ``"<init"`` | Boolean | If PCM is initialized in the robot program |
| ``">on"`` | Boolean | Whether the compressor is running |
| ``"<closed_loop"`` | Boolean | Whether closed-loop control is enabled |
| ``">pressure_switch"`` | Boolean | The value of the pressure switch |
| ``">current"`` | Float | The amount of current being drawn by the compressor, in Amps |
#### PWM Output ("PWM")
[``"PWM"``]:#pwm-output-pwm
PWMs may be used to control either motor controllers or servos. Typically only one of either ``"<speed"`` (for a motor controller) or ``"<position"`` (for a servo) is used for a given PWM.
PWMs may be used to control either motor controllers or servos. Typically only one of either ``"<speed"`` (for a motor controller) ``"<position"`` (for a servo), or ``"raw"`` is used for a given PWM.
| Data Key | Type | Description |
| --------------- | ------- | ------------------------------------------ |
| ``"<init"`` | Boolean | If PWM is initialized in the robot program |
| ``"<speed"`` | Float | Speed, -1.0 to 1.0 range |
| ``"<position"`` | Float | Servo position, 0.0 to 1.0 range |
| Data Key | Type | Description |
| ------------------- | ------- | ------------------------------------------ |
| ``"<init"`` | Boolean | If PWM is initialized in the robot program |
| ``"<speed"`` | Float | Speed, -1.0 to 1.0 range |
| ``"<position"`` | Float | Servo position, 0.0 to 1.0 range |
| ``"<raw"`` | Integer | The pulse time in microseconds |
| ``"<period_scale"`` | Integer | Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values) |
| ``"<zero_latch"`` | Boolean | Whether the PWM should be latched to 0 |
#### Relay Output ("Relay")

164
simulation/halsim_ws_core/doc/wpilib-ws.yaml
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@@ -1,7 +1,7 @@
asyncapi: 2.0.0
info:
title: WPILib WebSocket Remote Endpoint API
version: "1.0.0"
version: "1.1.0"
description: |
API to route WPILib HAL calls over WebSockets.
license:
@@ -40,14 +40,18 @@ components:
type: object
oneOf:
- $ref: "#/components/schemas/accelData"
- $ref: "#/components/schemas/addressableLEDData"
- $ref: "#/components/schemas/aiData"
- $ref: "#/components/schemas/aoData"
- $ref: "#/components/schemas/dioData"
- $ref: "#/components/schemas/dpwmData"
- $ref: "#/components/schemas/driverstationData"
- $ref: "#/components/schemas/dutycycleData"
- $ref: "#/components/schemas/encoderData"
- $ref: "#/components/schemas/gyroData"
- $ref: "#/components/schemas/halData"
- $ref: "#/components/schemas/joystickData"
- $ref: "#/components/schemas/pcmData"
- $ref: "#/components/schemas/pwmData"
- $ref: "#/components/schemas/relayData"
- $ref: "#/components/schemas/solenoidData"
@@ -88,6 +92,49 @@ components:
type: number
description: "Acceleration in G’s "
addressableLEDData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: AddressableLED
device:
type: string
description: Arbitrary device number
data:
type: object
description: "Addressable LED Data (type: AddressableLED, device: arbitrary)"
properties:
<init:
type: boolean
description: "If the led strip is initialized in the robot program"
"<output_port":
type: integer
description: "DIO pin number"
"<length":
type: integer
description: "The number of leds in the strip"
"<running":
type: boolean
description: "Whether the strip is outputting data"
"<data":
type: array
description: "One value per led"
items:
type: object
description: "An object with \"r\", \"g\", and \"b\" keys, representing the rgb (0-255) components of the color"
properties:
r:
type: integer
g:
type: integer
b:
type: integer
aiData:
type: object
required:
@@ -108,9 +155,54 @@ components:
<init:
type: boolean
description: "If analog input is initialized in the robot program"
"<avg_bits":
type: integer
description: "The number of averaging bits"
"<oversample_bits":
type: integer
description: "The number of oversampling bits"
">voltage":
type: number
description: "Input voltage, in volts"
"<accum_init":
type: boolean
description: "If the accumulator is initialized in the robot program"
">accum_value":
type: integer
description: "The accumulated value"
">accum_count":
type: integer
description: "The number of accumulated values"
"<accum_center":
type: integer
description: "The center value of the accumulator"
"<accum_deadband":
type: integer
description: "The accumulator's deadband"
aoData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: AO
device:
type: string
description: Device Identifier (usually channel)
data:
type: object
description: "Analog Output Data (type: AO, device: channel number)"
properties:
<init:
type: boolean
description: "If analog output is initialized in the robot program"
"<voltage":
type: number
description: "Output voltage, in volts"
dioData:
type: object
@@ -138,6 +230,9 @@ components:
<>value:
type: boolean
description: "Input or output state"
"<pulse_length":
type: number
description: "Reserved for future use"
dpwmData:
type: object
@@ -275,6 +370,9 @@ components:
">period":
type: number
description: "Period between pulses in seconds"
"<reverse_direction":
type: boolean
description: "If the encoder direction should be inverted"
gyroData:
type: object
@@ -321,6 +419,31 @@ components:
type: number
description: "The current gyro angular rate of change in degrees/second"
halData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: HAL
device:
type: string
description: "\"HAL\""
const: HAL
data:
type: object
description: "HAL Data (type: HAL, device: HAL)"
properties:
">sim_periodic_before":
type: boolean
description: "Sent by the robot before running periodic simulation functions"
">sim_periodic_after":
type: boolean
description: "Sent by the robot after running periodic simulation functions"
joystickData:
type: object
required:
@@ -368,6 +491,36 @@ components:
minimum: 0.0
maximum: 1.0
pcmData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: CTREPCM
device:
type: string
description: Device Identifier (usually channel)
data:
<init:
type: boolean
description: "If PCM is initialized in the robot program"
">on":
type: boolean
description: "Whether the compressor is running"
"<closed_loop":
type: boolean
description: "Whether closed-loop control is enabled"
">pressure_switch":
type: boolean
description: "The value of the pressure switch"
">current":
type: number
description: "The amount of current being drawn by the compressor, in Amps"
pwmData:
type: object
required:
@@ -398,6 +551,15 @@ components:
description: "Servo position"
minimum: 0.0
maximum: 1.0
"<raw":
type: integer
description: "The pulse time in microseconds"
"<period_scale":
type: integer
description: "Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values)"
"<zero_latch":
type: boolean
description: "Whether the PWM should be latched to 0"
relayData:
type: object

2
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
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@@ -51,7 +51,7 @@ void HALSimWSProviderAddressableLED::RegisterCallbacks() {
}
wpi::json payload;
payload[">data"] = jsonData;
payload["<data"] = jsonData;
provider->ProcessHalCallback(payload);
},