mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
[sim] WebSockets: don't override HAL_Main
Also clean up some other implementation aspects for cleaner shutdown and reduce peak memory allocation.
This commit is contained in:
Peter Johnson
@@ -7,190 +7,50 @@
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#include "HALSimWSClient.h"
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#include <wpi/SmallString.h>
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#include <wpi/raw_ostream.h>
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#include <wpi/uv/util.h>
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#include <WSProviderContainer.h>
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#include <WSProvider_Analog.h>
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#include <WSProvider_DIO.h>
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#include <WSProvider_DriverStation.h>
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#include <WSProvider_Encoder.h>
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#include <WSProvider_Joystick.h>
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#include <WSProvider_PWM.h>
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#include <WSProvider_Relay.h>
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#include <WSProvider_RoboRIO.h>
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#include <WSProvider_SimDevice.h>
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#include <WSProvider_dPWM.h>
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#include <wpi/EventLoopRunner.h>
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#include "HALSimWSClientConnection.h"
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using namespace wpilibws;
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static constexpr int kTcpConnectAttemptTimeout = 1000;
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bool HALSimWSClient::Initialize() {
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bool result = true;
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runner.ExecSync([&](wpi::uv::Loop& loop) {
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simws = std::make_shared<HALSimWS>(loop, providers, simDevices);
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namespace uv = wpi::uv;
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namespace wpilibws {
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std::shared_ptr<HALSimWS> HALSimWS::g_instance;
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bool HALSimWS::Initialize() {
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const char* host = std::getenv("HALSIMWS_HOST");
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if (host != NULL) {
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m_host = host;
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} else {
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m_host = "localhost";
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}
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const char* port = std::getenv("HALSIMWS_PORT");
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if (port != NULL) {
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try {
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m_port = std::stoi(port);
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} catch (const std::invalid_argument& err) {
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wpi::errs() << "Error decoding HALSIMWS_PORT (" << err.what() << ")\n";
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return false;
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}
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} else {
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m_port = 8080;
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}
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const char* uri = std::getenv("HALSIMWS_URI");
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if (uri != NULL) {
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m_uri = uri;
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} else {
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m_uri = "/wpilibws";
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}
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m_loop = uv::Loop::Create();
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if (!m_loop) {
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return false;
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}
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m_loop->error.connect([](uv::Error err) {
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wpi::errs() << "HALSim WS Client libuv Error: " << err.str() << "\n";
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});
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m_tcp_client = uv::Tcp::Create(m_loop);
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if (!m_tcp_client) {
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return false;
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}
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m_tcp_client->SetNoDelay(true);
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// Hook up TCP client events
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m_tcp_client->error.connect(
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[this, socket = m_tcp_client.get()](wpi::uv::Error err) {
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if (m_tcp_connected) {
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m_tcp_connected = false;
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m_connect_attempts = 0;
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m_loop->Stop();
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return;
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}
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// If we weren't previously connected, attempt a reconnection
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m_connect_timer->Start(uv::Timer::Time(kTcpConnectAttemptTimeout));
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});
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m_tcp_client->closed.connect(
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[]() { wpi::outs() << "TCP connection closed\n"; });
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// Set up the connection timer
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m_connect_timer = uv::Timer::Create(m_loop);
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if (!m_connect_timer) {
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return false;
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}
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wpi::outs() << "HALSimWS Initialized\n";
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wpi::outs() << "Will attempt to connect to: " << m_host << ":" << m_port
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<< " " << m_uri << "\n";
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return true;
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}
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void HALSimWS::Main(void* param) {
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GetInstance()->MainLoop();
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SetInstance(nullptr);
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}
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void HALSimWS::MainLoop() {
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// Set up the timer to attempt connection
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m_connect_timer->timeout.connect([this] { AttemptConnect(); });
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// Run the initial connect immediately
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m_connect_timer->Start(uv::Timer::Time(0));
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m_loop->Run();
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}
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void HALSimWS::AttemptConnect() {
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m_connect_attempts++;
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wpi::outs() << "Connection Attempt " << m_connect_attempts << "\n";
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struct sockaddr_in dest;
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uv::NameToAddr(m_host, m_port, &dest);
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m_tcp_client->Connect(dest, [this, socket = m_tcp_client.get()]() {
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m_tcp_connected = true;
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auto wsConn = std::make_shared<HALSimWSClientConnection>(m_tcp_client);
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wsConn->Initialize();
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});
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}
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void HALSimWS::Exit(void* param) {
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auto inst = GetInstance();
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if (!inst) {
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return;
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}
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auto loop = inst->m_loop;
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loop->Walk([](uv::Handle& h) {
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h.SetLoopClosing(true);
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h.Close();
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});
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}
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bool HALSimWS::RegisterWebsocket(
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std::shared_ptr<HALSimBaseWebSocketConnection> hws) {
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if (m_hws.lock()) {
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return false;
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}
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m_hws = hws;
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m_simDevicesProvider.OnNetworkConnected(hws);
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m_providers.ForEach([hws](std::shared_ptr<HALSimWSBaseProvider> provider) {
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provider->OnNetworkConnected(hws);
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});
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return true;
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}
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void HALSimWS::CloseWebsocket(
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std::shared_ptr<HALSimBaseWebSocketConnection> hws) {
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// Inform the providers that they need to cancel callbacks
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m_simDevicesProvider.OnNetworkDisconnected();
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m_providers.ForEach([](std::shared_ptr<HALSimWSBaseProvider> provider) {
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provider->OnNetworkDisconnected();
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});
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if (hws == m_hws.lock()) {
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m_hws.reset();
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}
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}
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void HALSimWS::OnNetValueChanged(const wpi::json& msg) {
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// Look for "type" and "device" fields so that we can
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// generate the key
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try {
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auto& type = msg.at("type").get_ref<const std::string&>();
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auto& device = msg.at("device").get_ref<const std::string&>();
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wpi::SmallString<64> key;
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key.append(type);
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if (!device.empty()) {
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key.append("/");
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key.append(device);
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if (!simws->Initialize()) {
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result = false;
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return;
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}
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auto provider = m_providers.Get(key.str());
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if (provider) {
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provider->OnNetValueChanged(msg.at("data"));
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}
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} catch (wpi::json::exception& e) {
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wpi::errs() << "Error with incoming message: " << e.what() << "\n";
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}
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}
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WSRegisterFunc registerFunc = [&](auto key, auto provider) {
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providers.Add(key, provider);
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};
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} // namespace wpilibws
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HALSimWSProviderAnalogIn::Initialize(registerFunc);
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HALSimWSProviderAnalogOut::Initialize(registerFunc);
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HALSimWSProviderDIO::Initialize(registerFunc);
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HALSimWSProviderDigitalPWM::Initialize(registerFunc);
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HALSimWSProviderDriverStation::Initialize(registerFunc);
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HALSimWSProviderEncoder::Initialize(registerFunc);
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HALSimWSProviderJoystick::Initialize(registerFunc);
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HALSimWSProviderPWM::Initialize(registerFunc);
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HALSimWSProviderRelay::Initialize(registerFunc);
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HALSimWSProviderRoboRIO::Initialize(registerFunc);
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simDevices.Initialize(loop);
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simws->Start();
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});
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return result;
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}
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