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[sim] WebSockets: don't override HAL_Main

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Also clean up some other implementation aspects for cleaner shutdown and
reduce peak memory allocation.
This commit is contained in:
Peter Johnson
2020-09-04 10:57:05 -07:00
parent f1b1bdb121
commit f86a5f9b09
19 changed files with 780 additions and 851 deletions
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64
simulation/halsim_ws_client/src/main/native/include/HALSimWSClient.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,67 +8,27 @@
#pragma once
#include <memory>
#include <string>
#include <WSProviderContainer.h>
#include <WSProvider_SimDevice.h>
#include <wpi/json.h>
#include <wpi/uv/AsyncFunction.h>
#include <wpi/uv/Loop.h>
#include <wpi/uv/Tcp.h>
#include <wpi/uv/Timer.h>
#include <wpi/EventLoopRunner.h>
#include "HALSimWS.h"
namespace wpilibws {
class HALSimWSClientConnection;
class HALSimWS {
class HALSimWSClient {
public:
static std::shared_ptr<HALSimWS> GetInstance() { return g_instance; }
static void SetInstance(std::shared_ptr<HALSimWS> inst) { g_instance = inst; }
explicit HALSimWS(ProviderContainer& providers,
HALSimWSProviderSimDevices& simDevicesProvider)
: m_providers(providers), m_simDevicesProvider(simDevicesProvider) {}
HALSimWS(const HALSimWS&) = delete;
HALSimWS& operator=(const HALSimWS&) = delete;
HALSimWSClient() = default;
HALSimWSClient(const HALSimWSClient&) = delete;
HALSimWSClient& operator=(const HALSimWSClient&) = delete;
bool Initialize();
static void Main(void*);
static void Exit(void*);
bool RegisterWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
void CloseWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
void OnNetValueChanged(const wpi::json& msg);
std::string GetTargetHost() const { return m_host; }
std::string GetTargetUri() const { return m_uri; }
int GetTargetPort() { return m_port; }
std::shared_ptr<wpi::uv::Loop> GetLoop() { return m_loop; }
private:
static std::shared_ptr<HALSimWS> g_instance;
void MainLoop();
void AttemptConnect();
bool m_tcp_connected = false;
std::shared_ptr<wpi::uv::Timer> m_connect_timer;
int m_connect_attempts = 0;
std::weak_ptr<HALSimBaseWebSocketConnection> m_hws;
ProviderContainer& m_providers;
HALSimWSProviderSimDevices& m_simDevicesProvider;
std::shared_ptr<wpi::uv::Loop> m_loop;
std::shared_ptr<wpi::uv::Tcp> m_tcp_client;
std::string m_host;
std::string m_uri;
int m_port;
ProviderContainer providers;
HALSimWSProviderSimDevices simDevices{providers};
wpi::EventLoopRunner runner;
std::shared_ptr<HALSimWS> simws;
};
} // namespace wpilibws