[sim] WebSockets: don't override HAL_Main

Also clean up some other implementation aspects for cleaner shutdown and
reduce peak memory allocation.

simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h

@@ -8,74 +8,27 @@
 #pragma once
 
 #include <memory>
-#include <string>
 
-#include <WSBaseProvider.h>
 #include <WSProviderContainer.h>
 #include <WSProvider_SimDevice.h>
-#include <wpi/StringMap.h>
-#include <wpi/json.h>
-#include <wpi/mutex.h>
-#include <wpi/uv/AsyncFunction.h>
-#include <wpi/uv/Buffer.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Tcp.h>
+#include <wpi/EventLoopRunner.h>
+
+#include "HALSimWeb.h"
 
 namespace wpilibws {
 
-class HALSimHttpConnection;
-
-class HALSimWeb {
+class HALSimWSServer {
  public:
-  static std::shared_ptr<HALSimWeb> GetInstance() { return g_instance; }
-  static void SetInstance(std::shared_ptr<HALSimWeb> inst) {
-    g_instance = inst;
-  }
-
-  explicit HALSimWeb(ProviderContainer& providers,
-                     HALSimWSProviderSimDevices& simDevicesProvider)
-      : m_providers(providers), m_simDevicesProvider(simDevicesProvider) {}
-
-  HALSimWeb(const HALSimWeb&) = delete;
-  HALSimWeb& operator=(const HALSimWeb&) = delete;
+  HALSimWSServer() = default;
+  HALSimWSServer(const HALSimWSServer&) = delete;
+  HALSimWSServer& operator=(const HALSimWSServer&) = 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);
-
-  // network -> sim
-  void OnNetValueChanged(const wpi::json& msg);
-
-  std::string GetServerUri() const { return m_uri; }
-  int GetServerPort() { return m_port; }
-  std::shared_ptr<wpi::uv::Loop> GetLoop() { return m_loop; }
-
- private:
-  static std::shared_ptr<HALSimWeb> g_instance;
-
-  void MainLoop();
-
-  // connected http connection that contains active websocket
-  std::weak_ptr<HALSimBaseWebSocketConnection> m_hws;
-
-  // list of providers
-  ProviderContainer& m_providers;
-  HALSimWSProviderSimDevices& m_simDevicesProvider;
-
-  std::shared_ptr<wpi::uv::Loop> m_loop;
-  std::shared_ptr<wpi::uv::Tcp> m_server;
-
-  // Absolute paths of folders to retrieve data from
-  // -> /
-  std::string m_webroot_sys;
-  // -> /user
-  std::string m_webroot_user;
-
-  std::string m_uri;
-  int m_port;
+  ProviderContainer providers;
+  HALSimWSProviderSimDevices simDevices{providers};
+  wpi::EventLoopRunner runner;
+  std::shared_ptr<HALSimWeb> simWeb;
 };
 
 }  // namespace wpilibws