From a6ac4228c30effbdbefe6e52564465f0e8761679 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Mon, 27 May 2024 06:52:25 -0700
Subject: [PATCH] [sim] WebSockets Documentation Fixes (#6668)

---
 .../halsim_ws_core/doc/hardware_ws_api.md     | 27 +++++++-------
 simulation/halsim_ws_core/doc/wpilib-ws.yaml  | 36 +++++++++++--------
 2 files changed, 35 insertions(+), 28 deletions(-)

diff --git a/simulation/halsim_ws_core/doc/hardware_ws_api.md b/simulation/halsim_ws_core/doc/hardware_ws_api.md
index 061fa984be..cfeef53b3d 100644
--- a/simulation/halsim_ws_core/doc/hardware_ws_api.md
+++ b/simulation/halsim_ws_core/doc/hardware_ws_api.md
@@ -119,7 +119,7 @@ C++/Java implementation note: these are created as either BuiltInAccelerometer o
 | ``"<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 |
+| ``"<data"``        | Array   | 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")
 
@@ -127,17 +127,17 @@ C++/Java implementation note: these are created as either BuiltInAccelerometer o
 
 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 |
-| ``"<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                          |
+| 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")
 
@@ -261,12 +261,13 @@ Joystick data is an input to the robot program and should be updated for each in
 | ``">axes"``         | Array of float   | One array element per axis; value is -1 to 1 range |
 | ``">povs"``         | Array of integer | One array element per POV; value is angle in degrees of the POV (e.g. 0, 90, 315) if pressed, or -1 if the POV is not pressed |
 | ``">buttons"``      | Array of boolean | One array element per button; true if button is pressed, false if button is released |
+| ``"<outputs"``      | Integer          | Bitmask of joystick HID outputs |
 | ``"<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
+[``"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.
 
diff --git a/simulation/halsim_ws_core/doc/wpilib-ws.yaml b/simulation/halsim_ws_core/doc/wpilib-ws.yaml
index b1f86d7e76..2e2d173a79 100644
--- a/simulation/halsim_ws_core/doc/wpilib-ws.yaml
+++ b/simulation/halsim_ws_core/doc/wpilib-ws.yaml
@@ -490,6 +490,9 @@ components:
               description: "Right rumble"
               minimum: 0.0
               maximum: 1.0
+            <outputs:
+              type: integer
+              description: "Bitmask of joystick HID outputs"
 
     pcmData:
       type: object
@@ -505,21 +508,24 @@ components:
           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"
+          type: object
+          description: "PCM Output Data (type: PCM, device: module number)"
+          properties:
+            <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