mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
10b396b4c2
This is a breaking change to the WebSockets layer to align it with recent specification documentation work. To support this, HAL SimValue changed readonly to a direction enum. This allows specifying bidirectional in addition to input and output. The SimValue change is specifically designed to avoid API and ABI breakage. This is completely transparent in C++; in Java a new callback class was added, and the old readonly functions have been marked deprecated. A new SimValue creation function for enums allows specifying double values for each enum value, not just strings. This allows mapping enum values to doubles in the WebSockets layer. A ":" in the SimDevice name now maps it to different WebSocket types (e.g. "Accel:Name" becomes type "Accel", device "Name"). The type is hidden in the GUI. Other WebSockets changes: * Implemented match_time and game_data * Added joystick rumble data * Added builtin accelerometer support * SimValue enums are mapped to string and double value on WS interface * Added WebSockets protocol specification * Added READMEs
16 lines
981 B
Markdown
16 lines
981 B
Markdown
# HAL WebSockets Server
|
|
|
|
This is an extension that provides a server version of a WebSockets API for transmitting robot hardware interface state over a network. See the [Robot Hardware Interface WebSockets API specification](../halsim_ws_core/doc/hardware_ws_api.md) for more details on the protocol.
|
|
|
|
## Configuration
|
|
|
|
The WebSockets server has a number of configuration options available through environment variables.
|
|
|
|
``HALSIMWS_SYSROOT``: The local directory to serve non-websocket HTTP content from (e.g. HTML files) starting from `/`. Defaults to the `sim` subdirectory of the current working directory.
|
|
|
|
``HALSIMWS_USERROOT``: The local directory to serve non-websocket HTTP content from (e.g. HTML files) starting from `/user/`. Defaults to the `sim/user` subdirectory of the current working directory.
|
|
|
|
``HALSIMWS_PORT``: The port number to listen at. Defaults to 3300.
|
|
|
|
``HALSIMWS_URI``: The URI path to use for WebSockets connections. Defaults to ``"/wpilibws"``.
|