Provides an implementation of a XRP-specific plugin that sends binary messages over UDP (to account for the less performant hardware on the XRP).
This plugin leverages the work already done for the WebSocket protocol and does a translation to/from JSON/binary.
This allows access to HAL-level simulation data via a WebSocket connection.
The server additionally serves local files.
The following environment variables can be used for configuration:
HALSIMWS_USERROOT (server) - local directory to use for file serving for /user/ URIs, defaults to ./sim/user
HALSIMWS_SYSROOT (server) - local directory to use for file serving for all other URIs, defaults to ./sim
HALSIMWS_URI (client or server) - WebSocket URI, defaults to /wpilibws
HALSIMWS_PORT (client or server) - port number, defaults to 8080
HALSIMWS_HOST (client) - host to connect to, defaults to localhost
Co-authored-by: Zhiquan Yeo <zyeo8@bloomberg.net>
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: jpokornyiii <jpokornyiii@gmail.com>
This uses Dear Imgui to provide a cross-platform integrated GUI for robot
simulation. The GUI provides fully integrated DS and joystick support so it's
not necessary to run the official DS.
