mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
932bfcf374
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>
82 lines
2.3 KiB
C++
82 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include <WSBaseProvider.h>
|
|
#include <WSProviderContainer.h>
|
|
#include <WSProvider_SimDevice.h>
|
|
#include <wpi/StringMap.h>
|
|
#include <wpi/json.h>
|
|
#include <wpi/mutex.h>
|
|
#include <wpi/uv/AsyncFunction.h>
|
|
#include <wpi/uv/Buffer.h>
|
|
#include <wpi/uv/Loop.h>
|
|
#include <wpi/uv/Tcp.h>
|
|
|
|
namespace wpilibws {
|
|
|
|
class HALSimHttpConnection;
|
|
|
|
class HALSimWeb {
|
|
public:
|
|
static std::shared_ptr<HALSimWeb> GetInstance() { return g_instance; }
|
|
static void SetInstance(std::shared_ptr<HALSimWeb> inst) {
|
|
g_instance = inst;
|
|
}
|
|
|
|
explicit HALSimWeb(ProviderContainer& providers,
|
|
HALSimWSProviderSimDevices& simDevicesProvider)
|
|
: m_providers(providers), m_simDevicesProvider(simDevicesProvider) {}
|
|
|
|
HALSimWeb(const HALSimWeb&) = delete;
|
|
HALSimWeb& operator=(const HALSimWeb&) = delete;
|
|
|
|
bool Initialize();
|
|
static void Main(void*);
|
|
static void Exit(void*);
|
|
|
|
bool RegisterWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
|
|
void CloseWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
|
|
|
|
// network -> sim
|
|
void OnNetValueChanged(const wpi::json& msg);
|
|
|
|
std::string GetServerUri() const { return m_uri; }
|
|
int GetServerPort() { return m_port; }
|
|
std::shared_ptr<wpi::uv::Loop> GetLoop() { return m_loop; }
|
|
|
|
private:
|
|
static std::shared_ptr<HALSimWeb> g_instance;
|
|
|
|
void MainLoop();
|
|
|
|
// connected http connection that contains active websocket
|
|
std::weak_ptr<HALSimBaseWebSocketConnection> m_hws;
|
|
|
|
// list of providers
|
|
ProviderContainer& m_providers;
|
|
HALSimWSProviderSimDevices& m_simDevicesProvider;
|
|
|
|
std::shared_ptr<wpi::uv::Loop> m_loop;
|
|
std::shared_ptr<wpi::uv::Tcp> m_server;
|
|
|
|
// Absolute paths of folders to retrieve data from
|
|
// -> /
|
|
std::string m_webroot_sys;
|
|
// -> /user
|
|
std::string m_webroot_user;
|
|
|
|
std::string m_uri;
|
|
int m_port;
|
|
};
|
|
|
|
} // namespace wpilibws
|