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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
14 lines
637 B
Markdown
14 lines
637 B
Markdown
# HAL WebSockets Client
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This is an extension that provides a client 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.
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## Configuration
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The WebSockets client has a number of configuration options available through environment variables.
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``HALSIMWS_HOST``: The host to connect to. Defaults to localhost.
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``HALSIMWS_PORT``: The port number to connect to. Defaults to 3300.
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``HALSIMWS_URI``: The URI path to connect to. Defaults to ``"/wpilibws"``.
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