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https://github.com/wpilibsuite/allwpilib
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64 lines
2.0 KiB
C++
64 lines
2.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "HALSimWSClient.h"
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#include <memory>
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#include <WSProviderContainer.h>
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#include <WSProvider_AddressableLED.h>
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#include <WSProvider_Analog.h>
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#include <WSProvider_BuiltInAccelerometer.h>
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#include <WSProvider_DIO.h>
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#include <WSProvider_DriverStation.h>
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#include <WSProvider_Encoder.h>
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#include <WSProvider_Joystick.h>
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#include <WSProvider_PCM.h>
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#include <WSProvider_PWM.h>
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#include <WSProvider_Relay.h>
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#include <WSProvider_RoboRIO.h>
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#include <WSProvider_SimDevice.h>
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#include <WSProvider_Solenoid.h>
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#include <WSProvider_dPWM.h>
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#include <wpinet/EventLoopRunner.h>
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using namespace wpilibws;
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bool HALSimWSClient::Initialize() {
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bool result = true;
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runner.ExecSync([&](wpi::uv::Loop& loop) {
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simws = std::make_shared<HALSimWS>(loop, providers, simDevices);
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if (!simws->Initialize()) {
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result = false;
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return;
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}
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WSRegisterFunc registerFunc = [&](auto key, auto provider) {
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providers.Add(key, provider);
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};
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HALSimWSProviderAddressableLED::Initialize(registerFunc);
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HALSimWSProviderAnalogIn::Initialize(registerFunc);
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HALSimWSProviderAnalogOut::Initialize(registerFunc);
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HALSimWSProviderBuiltInAccelerometer::Initialize(registerFunc);
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HALSimWSProviderDIO::Initialize(registerFunc);
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HALSimWSProviderDigitalPWM::Initialize(registerFunc);
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HALSimWSProviderDriverStation::Initialize(registerFunc);
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HALSimWSProviderEncoder::Initialize(registerFunc);
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HALSimWSProviderJoystick::Initialize(registerFunc);
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HALSimWSProviderPCM::Initialize(registerFunc);
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HALSimWSProviderPWM::Initialize(registerFunc);
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HALSimWSProviderRelay::Initialize(registerFunc);
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HALSimWSProviderRoboRIO::Initialize(registerFunc);
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HALSimWSProviderSolenoid::Initialize(registerFunc);
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simDevices.Initialize(loop);
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simws->Start();
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});
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return result;
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}
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