mirror of
https://github.com/wpilibsuite/allwpilib
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862 lines
27 KiB
YAML
862 lines
27 KiB
YAML
asyncapi: 2.0.0
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info:
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title: WPILib WebSocket Remote Endpoint API
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version: "1.1.0"
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description: |
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API to route WPILib HAL calls over WebSockets.
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license:
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name: WPILib BSD
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channels:
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wpilibws:
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description: General channel for WPILib WebSocket messages
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publish:
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operationId: wpilibwsPublish
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message:
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$ref: "#/components/messages/wpilibwsMsg"
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subscribe:
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operationId: wpilibwsSubscribe
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message:
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$ref: "#/components/messages/wpilibwsMsg"
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components:
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messages:
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wpilibwsMsg:
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title: WPILib WebSocket Message
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summary: Message envelope. Note that the "data" field contains a diff of the current state of a particular device. E.g. If only the "value" changes for a DIO device, then only the "<>value" field will be sent.
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contentType: application/json
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examples:
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- payload:
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type: PWM
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device: "1"
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data:
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"<speed": 0.5
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- payload:
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type: DIO
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device: "3"
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data:
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"<init": true
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payload:
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type: object
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oneOf:
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- $ref: "#/components/schemas/accelData"
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- $ref: "#/components/schemas/addressableLEDData"
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- $ref: "#/components/schemas/aiData"
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- $ref: "#/components/schemas/aoData"
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- $ref: "#/components/schemas/dioData"
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- $ref: "#/components/schemas/dpwmData"
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- $ref: "#/components/schemas/driverstationData"
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- $ref: "#/components/schemas/dutycycleData"
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- $ref: "#/components/schemas/encoderData"
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- $ref: "#/components/schemas/gyroData"
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- $ref: "#/components/schemas/halData"
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- $ref: "#/components/schemas/joystickData"
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- $ref: "#/components/schemas/pcmData"
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- $ref: "#/components/schemas/pwmData"
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- $ref: "#/components/schemas/relayData"
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- $ref: "#/components/schemas/solenoidData"
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- $ref: "#/components/schemas/roborioData"
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- $ref: "#/components/schemas/canmotorData"
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- $ref: "#/components/schemas/canencoderData"
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- $ref: "#/components/schemas/cangyroData"
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- $ref: "#/components/schemas/canaccelData"
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- $ref: "#/components/schemas/canainData"
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- $ref: "#/components/schemas/candioData"
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- $ref: "#/components/schemas/candutycycleData"
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- $ref: "#/components/schemas/simdeviceData"
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schemas:
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accelData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Accel
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device:
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type: string
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description: Arbitrary device name
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data:
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type: object
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description: "Accelerometer Data (type: Accelerometer, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If accelerometer is initialized in the robot program"
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<range:
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type: number
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description: "Desired range in G’s"
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">x":
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type: number
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description: "Acceleration in G’s "
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">y":
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type: number
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description: "Acceleration in G’s "
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">z":
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type: number
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description: "Acceleration in G’s "
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addressableLEDData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: AddressableLED
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device:
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type: string
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description: Arbitrary device number
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data:
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type: object
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description: "Addressable LED Data (type: AddressableLED, device: arbitrary)"
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properties:
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<init:
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type: boolean
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description: "If the led strip is initialized in the robot program"
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"<output_port":
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type: integer
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description: "DIO pin number"
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"<length":
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type: integer
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description: "The number of leds in the strip"
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"<running":
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type: boolean
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description: "Whether the strip is outputting data"
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"<data":
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type: array
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description: "One value per led"
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items:
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type: object
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description: "An object with \"r\", \"g\", and \"b\" keys, representing the rgb (0-255) components of the color"
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properties:
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r:
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type: integer
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g:
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type: integer
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b:
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type: integer
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aiData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: AI
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Analog Input Data (type: AI, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If analog input is initialized in the robot program"
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"<avg_bits":
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type: integer
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description: "The number of averaging bits"
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"<oversample_bits":
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type: integer
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description: "The number of oversampling bits"
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">voltage":
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type: number
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description: "Input voltage, in volts"
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"<accum_init":
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type: boolean
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description: "If the accumulator is initialized in the robot program"
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">accum_value":
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type: integer
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description: "The accumulated value"
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">accum_count":
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type: integer
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description: "The number of accumulated values"
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"<accum_center":
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type: integer
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description: "The center value of the accumulator"
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"<accum_deadband":
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type: integer
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description: "The accumulator's deadband"
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aoData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: AO
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Analog Output Data (type: AO, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If analog output is initialized in the robot program"
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"<voltage":
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type: number
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description: "Output voltage, in volts"
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dioData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: DIO
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Digital Input/Output Data (type: DIO, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If DIO is initialized in the robot program"
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<input:
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type: boolean
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description: "True if input, false if output"
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<>value:
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type: boolean
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description: "Input or output state"
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"<pulse_length":
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type: number
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description: "Reserved for future use"
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dpwmData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: dPWM
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Duty Cycle Output Data (type: dPWM, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If output is initialized in the robot program"
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<duty_cycle:
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type: number
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description: "Duty cycle %"
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minimum: 0.0
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maximum: 1.0
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<dio_pin:
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type: integer
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description: "DIO pin number"
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driverstationData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: DriverStation
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device:
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type: string
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description: Should be left blank
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data:
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type: object
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description: "Driver Station Data (type: DriverStation)"
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properties:
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">new_data":
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type: boolean
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description: "One shot. If set to true in a message, notifies the robot program that new DS and Joystick data is available."
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">enabled":
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type: boolean
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description: "True to enable the robot program"
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">autonomous":
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type: boolean
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description: "True for autonomous mode; false for teleoperated mode"
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">test":
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type: boolean
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description: "True for test mode; false for other modes"
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">estop":
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type: boolean
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description: "True to emergency stop (no motor outputs)"
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">fms":
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type: boolean
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description: "True if the DS is connected to a Field Management System (FMS)"
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">ds":
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type: boolean
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description: "True if a DS application is connected"
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">station":
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type: string
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description: "Station color and number; supported values are 'red1', 'red2', 'red3', 'blue1', 'blue2', 'blue3'."
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">match_time":
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type: number
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description: "Match time countdown, in seconds, for each match period (e.g. for 15 second period, starts at 15 and counts down to 0). If not in a match, -1."
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">game_data":
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type: string
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description: "Game-specific data; arbitrary string contents"
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dutycycleData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: DutyCycle
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device:
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type: string
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description: Arbitrary device name
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data:
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type: object
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description: "Duty Cycle Input Data (type: DutyCycle, device: channel number)"
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properties:
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">connected":
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type: boolean
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description: "True if the encoder is connected"
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">position":
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type: number
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description: "The position in rotations"
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encoderData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Encoder
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Quadrature Encoder Data (type: Encoder, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If encoder is initialized in the robot program"
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<channel_a:
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type: integer
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description: "Digital channel number for 'A' phase"
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<channel_b:
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type: integer
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description: "Digital channel number for 'B' phase"
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<samples_to_avg:
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type: integer
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description: "Number of samples to average for period measurement"
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">count":
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type: integer
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description: "Accumulated count (pulses)"
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">period":
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type: number
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description: "Period between pulses in seconds"
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"<reverse_direction":
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type: boolean
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description: "If the encoder direction should be inverted"
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gyroData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Gyro
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device:
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type: string
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description: Arbitrary device name
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data:
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type: object
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description: "Gyro Data (type: Gyro, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If gyro is initialized in the robot program"
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<range:
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type: number
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description: "Gyro range in degrees/second (optional)"
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">connected":
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type: boolean
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description: "True if the gyro is connected"
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">angle_x":
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type: number
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description: "The gyro angle in degrees"
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">angle_y":
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type: number
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description: "The gyro angle in degrees"
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">angle_z":
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type: number
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description: "The gyro angle in degrees"
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">rate_x":
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type: number
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description: "The current gyro angular rate of change in degrees/second"
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">rate_y":
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type: number
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description: "The current gyro angular rate of change in degrees/second"
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">rate_z":
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type: number
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description: "The current gyro angular rate of change in degrees/second"
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halData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: HAL
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device:
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type: string
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description: "\"HAL\""
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const: HAL
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data:
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type: object
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description: "HAL Data (type: HAL, device: HAL)"
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properties:
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">sim_periodic_before":
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type: boolean
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description: "Sent by the robot before running periodic simulation functions"
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">sim_periodic_after":
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type: boolean
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description: "Sent by the robot after running periodic simulation functions"
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joystickData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Joystick
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Joystick Data (type: Joystick, device: channel number)"
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properties:
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">axes":
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type: array
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items:
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type: number
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description: "Value of an individual axis on this joystick"
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minimum: -1.0
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maximum: 1.0
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">povs":
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type: array
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description: "One array element per POV; value is a"
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items:
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type: integer
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description: "State of all POV switches on this joystick; an angle in degrees of the POV (e.g. 0, 90, 315) if pressed, or -1 if the POV is not pressed"
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">buttons":
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type: array
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description: State of all buttons on this joystick
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items:
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type: boolean
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description: Pressed state of an individual button
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<rumble_left:
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type: number
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description: "Left rumble"
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minimum: 0.0
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maximum: 1.0
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<rumble_right:
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type: number
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description: "Right rumble"
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minimum: 0.0
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maximum: 1.0
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<outputs:
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type: integer
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description: "Bitmask of joystick HID outputs"
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pcmData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: CTREPCM
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "PCM Output Data (type: PCM, device: module number)"
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properties:
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<init:
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type: boolean
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description: "If PCM is initialized in the robot program"
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">on":
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type: boolean
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description: "Whether the compressor is running"
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"<closed_loop":
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type: boolean
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description: "Whether closed-loop control is enabled"
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">pressure_switch":
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type: boolean
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description: "The value of the pressure switch"
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">current":
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type: number
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description: "The amount of current being drawn by the compressor, in Amps"
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pwmData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: PWM
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "PWM Output Data (type: PWM, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If PWM is initialized in the robot program"
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<speed:
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type: number
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description: "Speed"
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minimum: -1.0
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maximum: 1.0
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<position:
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type: number
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description: "Servo position"
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minimum: 0.0
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maximum: 1.0
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"<raw":
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type: integer
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description: "The pulse time in microseconds"
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"<period_scale":
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type: integer
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description: "Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values)"
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"<zero_latch":
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type: boolean
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description: "Whether the PWM should be latched to 0"
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relayData:
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type: object
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required:
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||
- type
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- device
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properties:
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type:
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type: string
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||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Relay
|
||
device:
|
||
type: string
|
||
description: Device Identifier (usually channel)
|
||
data:
|
||
type: object
|
||
description: "Relay Output Data (type: Relay, device: channel number)"
|
||
properties:
|
||
<init_fwd:
|
||
type: boolean
|
||
description: "If relay forward direction is initialized in the robot program"
|
||
<init_rev:
|
||
type: boolean
|
||
description: "If relay reverse direction is initialized in the robot program"
|
||
<fwd:
|
||
type: boolean
|
||
description: "True if forward direction is enabled"
|
||
<rev:
|
||
type: boolean
|
||
description: "True if reverse direction is enabled"
|
||
|
||
solenoidData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: Solenoid
|
||
device:
|
||
type: string
|
||
description: Device Identifier (usually channel)
|
||
data:
|
||
type: object
|
||
description: "Solenoid Data (type: Solenoid, device: channel number)"
|
||
properties:
|
||
<init:
|
||
type: boolean
|
||
description: "If Solenoid is initialized in the robot program"
|
||
<output:
|
||
type: boolean
|
||
description: "The state of the solenoid"
|
||
|
||
roborioData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: RoboRIO
|
||
device:
|
||
type: string
|
||
description: Should be left blank
|
||
data:
|
||
type: object
|
||
description: "RoboRIO Data (type: RoboRIO)"
|
||
properties:
|
||
">fpga_button":
|
||
type: boolean
|
||
description: "FPGA button state"
|
||
">vin_voltage":
|
||
type: number
|
||
description: "Vin rail voltage"
|
||
">vin_current":
|
||
type: number
|
||
description: "Vin rail current"
|
||
">6v_voltage":
|
||
type: number
|
||
description: "6V rail voltage"
|
||
">6v_current":
|
||
type: number
|
||
description: "6V rail current"
|
||
">6v_active":
|
||
type: boolean
|
||
description: "True if 6V rail active, false if inactive"
|
||
">6v_faults":
|
||
type: integer
|
||
description: "Number of faults on 6V rail"
|
||
">5v_voltage":
|
||
type: number
|
||
description: "5V rail voltage"
|
||
">5v_current":
|
||
type: number
|
||
description: "5V rail current"
|
||
">5v_active":
|
||
type: boolean
|
||
description: "True if 5V rail active, false if inactive"
|
||
">5v_faults":
|
||
type: integer
|
||
description: "Number of faults on 5V rail"
|
||
">3v3_voltage":
|
||
type: number
|
||
description: "3.3V rail voltage"
|
||
">3v3_current":
|
||
type: number
|
||
description: "3.3V rail current"
|
||
">3v3_active":
|
||
type: boolean
|
||
description: "True if 3.3V rail active, false if inactive"
|
||
">3v3_faults":
|
||
type: integer
|
||
description: "Number of faults on 3.3V rail"
|
||
|
||
canmotorData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: CANMotor
|
||
device:
|
||
type: string
|
||
description: "Should have the form ControllerClassName[id]"
|
||
data:
|
||
type: object
|
||
description: "CANMotor Data"
|
||
properties:
|
||
<init:
|
||
type: boolean
|
||
description: "If CANMotor is initialized in the robot program"
|
||
"<percentOutput":
|
||
type: number
|
||
description: "Percent Output"
|
||
minimum: -1.0
|
||
maximum: 1.0
|
||
">supplyCurrent":
|
||
type: number
|
||
description: "Supply current in Amps"
|
||
minimum: 0.0
|
||
">motorCurrent":
|
||
type: number
|
||
description: "Motor current in Amps"
|
||
minimum: 0.0
|
||
">busVoltage":
|
||
type: number
|
||
description: "Bus voltage in Volts"
|
||
minimum: 0.0
|
||
"<neutralDeadband":
|
||
type: number
|
||
description: "Neutral Deadband"
|
||
minimum: 0
|
||
maximum: 1.0
|
||
"<brakeMode":
|
||
type: boolean
|
||
description: "Is in brake mode"
|
||
|
||
canencoderData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: CANEncoder
|
||
device:
|
||
type: string
|
||
description: "Should have the form EncoderClassName[id]"
|
||
data:
|
||
type: object
|
||
description: "CANEncoder Data"
|
||
properties:
|
||
<init:
|
||
type: boolean
|
||
description: "If CANEncoder is initialized in the robot program"
|
||
">position":
|
||
type: number
|
||
description: "Position in rotations"
|
||
">velocity":
|
||
type: number
|
||
description: "Velocity in rotations per second"
|
||
|
||
cangyroData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: CANGyro
|
||
device:
|
||
type: string
|
||
description: "Should have the form GyroClassName[id]"
|
||
data:
|
||
$ref: "#/components/schemas/gyroData/properties/data"
|
||
|
||
canaccelData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: CANAccel
|
||
device:
|
||
type: string
|
||
description: "Should have the form AccelClassName[id]"
|
||
data:
|
||
$ref: "#/components/schemas/accelData/properties/data"
|
||
|
||
canainData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: CANAIn
|
||
device:
|
||
type: string
|
||
description: "Should have the form AnalogInputClassName[id]"
|
||
data:
|
||
$ref: "#/components/schemas/aiData/properties/data"
|
||
|
||
candioData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: CANDIO
|
||
device:
|
||
type: string
|
||
description: "Should have the form DIOClassName[id]"
|
||
data:
|
||
$ref: "#/components/schemas/dioData/properties/data"
|
||
|
||
candutycycleData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
||
const: CANDutyCycle
|
||
device:
|
||
type: string
|
||
description: "Should have the form DutyCycleClassName[id]"
|
||
data:
|
||
$ref: "#/components/schemas/dutycycleData/properties/data"
|
||
|
||
simdeviceData:
|
||
type: object
|
||
required:
|
||
- type
|
||
- device
|
||
properties:
|
||
type:
|
||
type: string
|
||
const: SimDevice
|
||
device:
|
||
type: string
|
||
data:
|
||
type: object
|
||
additionalProperties:
|
||
type: string
|