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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>
33 lines
983 B
C++
33 lines
983 B
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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#include <iostream>
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#include <thread>
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#include <hal/DriverStation.h>
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#include <hal/HALBase.h>
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#include <hal/Main.h>
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extern "C" int HALSIM_InitExtension(void);
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int main() {
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HAL_Initialize(500, 0);
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HALSIM_InitExtension();
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HAL_RunMain();
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int cycleCount = 0;
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while (cycleCount < 100) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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cycleCount++;
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std::cout << "Count: " << cycleCount << std::endl;
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}
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std::cout << "DONE" << std::endl;
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HAL_ExitMain();
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}
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