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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>
75 lines
2.2 KiB
C++
75 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <string>
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#include <WSProviderContainer.h>
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#include <WSProvider_SimDevice.h>
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#include <wpi/json.h>
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#include <wpi/uv/AsyncFunction.h>
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#include <wpi/uv/Loop.h>
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#include <wpi/uv/Tcp.h>
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#include <wpi/uv/Timer.h>
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namespace wpilibws {
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class HALSimWSClientConnection;
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class HALSimWS {
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public:
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static std::shared_ptr<HALSimWS> GetInstance() { return g_instance; }
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static void SetInstance(std::shared_ptr<HALSimWS> inst) { g_instance = inst; }
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explicit HALSimWS(ProviderContainer& providers,
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HALSimWSProviderSimDevices& simDevicesProvider)
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: m_providers(providers), m_simDevicesProvider(simDevicesProvider) {}
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HALSimWS(const HALSimWS&) = delete;
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HALSimWS& operator=(const HALSimWS&) = delete;
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bool Initialize();
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static void Main(void*);
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static void Exit(void*);
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bool RegisterWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
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void CloseWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
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void OnNetValueChanged(const wpi::json& msg);
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std::string GetTargetHost() const { return m_host; }
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std::string GetTargetUri() const { return m_uri; }
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int GetTargetPort() { return m_port; }
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std::shared_ptr<wpi::uv::Loop> GetLoop() { return m_loop; }
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private:
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static std::shared_ptr<HALSimWS> g_instance;
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void MainLoop();
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void AttemptConnect();
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bool m_tcp_connected = false;
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std::shared_ptr<wpi::uv::Timer> m_connect_timer;
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int m_connect_attempts = 0;
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std::weak_ptr<HALSimBaseWebSocketConnection> m_hws;
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ProviderContainer& m_providers;
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HALSimWSProviderSimDevices& m_simDevicesProvider;
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std::shared_ptr<wpi::uv::Loop> m_loop;
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std::shared_ptr<wpi::uv::Tcp> m_tcp_client;
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std::string m_host;
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std::string m_uri;
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int m_port;
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};
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} // namespace wpilibws
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