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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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50
simulation/halsim_ws_server/src/main/native/cpp/main.cpp
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@@ -5,18 +5,9 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <WSProviderContainer.h>
#include <WSProvider_Analog.h>
#include <WSProvider_DIO.h>
#include <WSProvider_DriverStation.h>
#include <WSProvider_Encoder.h>
#include <WSProvider_Joystick.h>
#include <WSProvider_PWM.h>
#include <WSProvider_Relay.h>
#include <WSProvider_RoboRIO.h>
#include <WSProvider_SimDevice.h>
#include <WSProvider_dPWM.h>
#include <hal/Main.h>
#include <memory>
#include <hal/Extensions.h>
#include <wpi/raw_ostream.h>
#include "HALSimWSServer.h"
@@ -24,44 +15,23 @@
using namespace std::placeholders;
using namespace wpilibws;
// Currently, robots never terminate, so we keep static objects that are
// never properly released or cleaned up.
static ProviderContainer providers;
static HALSimWSProviderSimDevices simDevices(providers);
static std::unique_ptr<HALSimWSServer> gServer;
extern "C" {
#if defined(WIN32) || defined(_WIN32)
__declspec(dllexport)
#endif
int HALSIM_InitExtension(void) {
wpi::outs() << "Websocket Simulator Initializing.\n";
auto hsw = std::make_shared<HALSimWeb>(providers, simDevices);
HALSimWeb::SetInstance(hsw);
wpi::outs() << "Websocket WS Server Initializing.\n";
if (!hsw->Initialize()) {
HAL_OnShutdown(nullptr, [](void*) { gServer.reset(); });
gServer = std::make_unique<HALSimWSServer>();
if (!gServer->Initialize()) {
return -1;
}
WSRegisterFunc registerFunc = [&](auto key, auto provider) {
providers.Add(key, provider);
};
HALSimWSProviderAnalogIn::Initialize(registerFunc);
HALSimWSProviderAnalogOut::Initialize(registerFunc);
HALSimWSProviderDIO::Initialize(registerFunc);
HALSimWSProviderDigitalPWM::Initialize(registerFunc);
HALSimWSProviderDriverStation::Initialize(registerFunc);
HALSimWSProviderEncoder::Initialize(registerFunc);
HALSimWSProviderJoystick::Initialize(registerFunc);
HALSimWSProviderPWM::Initialize(registerFunc);
HALSimWSProviderRelay::Initialize(registerFunc);
HALSimWSProviderRoboRIO::Initialize(registerFunc);
simDevices.Initialize(hsw->GetLoop());
HAL_SetMain(nullptr, HALSimWeb::Main, HALSimWeb::Exit);
wpi::outs() << "Websocket Simulator Initialized!\n";
wpi::outs() << "Websocket WS Server Initialized!\n";
return 0;
}
} // extern "C"