mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
ce6fd225a6
Support joystick outputs, including Rumble and LEDs. Also requires an update to Joystick descriptors, as that has also changed in mrccomm to support showing what outputs are supported.
770 lines
24 KiB
YAML
770 lines
24 KiB
YAML
asyncapi: 2.0.0
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info:
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title: WPILib WebSocket Remote Endpoint API
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version: "1.1.0"
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description: |
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API to route WPILib HAL calls over WebSockets.
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license:
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name: WPILib BSD
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channels:
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wpilibws:
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description: General channel for WPILib WebSocket messages
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publish:
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operationId: wpilibwsPublish
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message:
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$ref: "#/components/messages/wpilibwsMsg"
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subscribe:
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operationId: wpilibwsSubscribe
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message:
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$ref: "#/components/messages/wpilibwsMsg"
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components:
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messages:
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wpilibwsMsg:
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title: WPILib WebSocket Message
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summary: Message envelope. Note that the "data" field contains a diff of the current state of a particular device. E.g. If only the "value" changes for a DIO device, then only the "<>value" field will be sent.
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contentType: application/json
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examples:
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- payload:
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type: PWM
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device: "1"
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data:
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"<speed": 0.5
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- payload:
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type: DIO
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device: "3"
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data:
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"<init": true
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payload:
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type: object
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oneOf:
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- $ref: "#/components/schemas/accelData"
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- $ref: "#/components/schemas/addressableLEDData"
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- $ref: "#/components/schemas/aiData"
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- $ref: "#/components/schemas/aoData"
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- $ref: "#/components/schemas/dioData"
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- $ref: "#/components/schemas/dpwmData"
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- $ref: "#/components/schemas/driverstationData"
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- $ref: "#/components/schemas/dutycycleData"
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- $ref: "#/components/schemas/encoderData"
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- $ref: "#/components/schemas/gyroData"
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- $ref: "#/components/schemas/halData"
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- $ref: "#/components/schemas/joystickData"
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- $ref: "#/components/schemas/pcmData"
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- $ref: "#/components/schemas/pwmData"
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- $ref: "#/components/schemas/solenoidData"
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- $ref: "#/components/schemas/roborioData"
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- $ref: "#/components/schemas/canmotorData"
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- $ref: "#/components/schemas/canencoderData"
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- $ref: "#/components/schemas/cangyroData"
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- $ref: "#/components/schemas/canaccelData"
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- $ref: "#/components/schemas/canainData"
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- $ref: "#/components/schemas/candioData"
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- $ref: "#/components/schemas/candutycycleData"
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- $ref: "#/components/schemas/simdeviceData"
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schemas:
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addressableLEDData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: AddressableLED
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device:
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type: string
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description: Arbitrary device number
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data:
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type: object
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description: "Addressable LED Data (type: AddressableLED, device: arbitrary)"
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properties:
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<init:
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type: boolean
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description: "If the led strip is initialized in the robot program"
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"<output_port":
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type: integer
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description: "DIO pin number"
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"<length":
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type: integer
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description: "The number of leds in the strip"
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"<running":
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type: boolean
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description: "Whether the strip is outputting data"
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"<data":
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type: array
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description: "One value per led"
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items:
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type: object
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description: "An object with \"r\", \"g\", and \"b\" keys, representing the rgb (0-255) components of the color"
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properties:
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r:
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type: integer
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g:
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type: integer
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b:
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type: integer
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aiData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: AI
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Analog Input Data (type: AI, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If analog input is initialized in the robot program"
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"<avg_bits":
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type: integer
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description: "The number of averaging bits"
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"<oversample_bits":
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type: integer
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description: "The number of oversampling bits"
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">voltage":
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type: number
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description: "Input voltage, in volts"
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aoData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: AO
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Analog Output Data (type: AO, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If analog output is initialized in the robot program"
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"<voltage":
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type: number
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description: "Output voltage, in volts"
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dioData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: DIO
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Digital Input/Output Data (type: DIO, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If DIO is initialized in the robot program"
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<input:
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type: boolean
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description: "True if input, false if output"
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<>value:
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type: boolean
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description: "Input or output state"
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"<pulse_length":
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type: number
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description: "Reserved for future use"
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dpwmData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: dPWM
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Duty Cycle Output Data (type: dPWM, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If output is initialized in the robot program"
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<duty_cycle:
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type: number
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description: "Duty cycle %"
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minimum: 0.0
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maximum: 1.0
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<dio_pin:
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type: integer
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description: "DIO pin number"
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driverstationData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: DriverStation
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device:
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type: string
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description: Should be left blank
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data:
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type: object
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description: "Driver Station Data (type: DriverStation)"
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properties:
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">new_data":
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type: boolean
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description: "One shot. If set to true in a message, notifies the robot program that new DS and Joystick data is available."
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">enabled":
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type: boolean
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description: "True to enable the robot program"
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">autonomous":
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type: boolean
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description: "True for autonomous mode; false for teleoperated mode"
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">test":
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type: boolean
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description: "True for test mode; false for other modes"
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">estop":
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type: boolean
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description: "True to emergency stop (no motor outputs)"
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">fms":
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type: boolean
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description: "True if the DS is connected to a Field Management System (FMS)"
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">ds":
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type: boolean
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description: "True if a DS application is connected"
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">station":
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type: string
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description: "Station color and number; supported values are 'red1', 'red2', 'red3', 'blue1', 'blue2', 'blue3'."
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">match_time":
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type: number
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description: "Match time countdown, in seconds, for each match period (e.g. for 15 second period, starts at 15 and counts down to 0). If not in a match, -1."
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">game_data":
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type: string
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description: "Game-specific data; arbitrary string contents"
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dutycycleData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: DutyCycle
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device:
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type: string
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description: Arbitrary device name
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data:
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type: object
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description: "Duty Cycle Input Data (type: DutyCycle, device: channel number)"
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properties:
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">connected":
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type: boolean
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description: "True if the encoder is connected"
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">position":
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type: number
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description: "The position in rotations"
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encoderData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Encoder
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Quadrature Encoder Data (type: Encoder, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If encoder is initialized in the robot program"
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<channel_a:
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type: integer
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description: "Digital channel number for 'A' phase"
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<channel_b:
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type: integer
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description: "Digital channel number for 'B' phase"
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<samples_to_avg:
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type: integer
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description: "Number of samples to average for period measurement"
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">count":
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type: integer
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description: "Accumulated count (pulses)"
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">period":
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type: number
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description: "Period between pulses in seconds"
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"<reverse_direction":
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type: boolean
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description: "If the encoder direction should be inverted"
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gyroData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Gyro
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device:
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type: string
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description: Arbitrary device name
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data:
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type: object
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description: "Gyro Data (type: Gyro, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If gyro is initialized in the robot program"
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<range:
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type: number
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description: "Gyro range in degrees/second (optional)"
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">connected":
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type: boolean
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description: "True if the gyro is connected"
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">angle_x":
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type: number
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description: "The gyro angle in degrees"
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">angle_y":
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type: number
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description: "The gyro angle in degrees"
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">angle_z":
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type: number
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description: "The gyro angle in degrees"
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">rate_x":
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type: number
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description: "The current gyro angular rate of change in degrees/second"
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">rate_y":
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type: number
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description: "The current gyro angular rate of change in degrees/second"
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">rate_z":
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type: number
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description: "The current gyro angular rate of change in degrees/second"
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halData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: HAL
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device:
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type: string
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description: "\"HAL\""
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const: HAL
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data:
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type: object
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description: "HAL Data (type: HAL, device: HAL)"
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properties:
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">sim_periodic_before":
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type: boolean
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description: "Sent by the robot before running periodic simulation functions"
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">sim_periodic_after":
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type: boolean
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description: "Sent by the robot after running periodic simulation functions"
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joystickData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Joystick
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Joystick Data (type: Joystick, device: channel number)"
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properties:
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">axes":
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type: array
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items:
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type: number
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description: "Value of an individual axis on this joystick"
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minimum: -1.0
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maximum: 1.0
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">povs":
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type: array
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description: "One array element per POV; value is a"
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items:
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type: integer
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description: "State of all POV switches on this joystick; an angle in degrees of the POV (e.g. 0, 90, 315) if pressed, or -1 if the POV is not pressed"
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">buttons":
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type: array
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description: State of all buttons on this joystick
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items:
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type: boolean
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description: Pressed state of an individual button
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<rumble_left:
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type: number
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description: "Left rumble"
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minimum: 0.0
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maximum: 1.0
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<rumble_right:
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type: number
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description: "Right rumble"
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minimum: 0.0
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maximum: 1.0
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<outputs:
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type: integer
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description: "LED Output Color (0xRRGGBB)"
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pcmData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: CTREPCM
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "PCM Output Data (type: PCM, device: module number)"
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properties:
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<init:
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type: boolean
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description: "If PCM is initialized in the robot program"
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">on":
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type: boolean
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description: "Whether the compressor is running"
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"<closed_loop":
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type: boolean
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description: "Whether closed-loop control is enabled"
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">pressure_switch":
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type: boolean
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description: "The value of the pressure switch"
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">current":
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type: number
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description: "The amount of current being drawn by the compressor, in Amps"
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pwmData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: PWM
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "PWM Output Data (type: PWM, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If PWM is initialized in the robot program"
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"<raw":
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type: integer
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description: "The pulse time in microseconds"
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"<output_period":
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type: integer
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description: "Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values)"
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solenoidData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: Solenoid
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device:
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type: string
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description: Device Identifier (usually channel)
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data:
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type: object
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description: "Solenoid Data (type: Solenoid, device: channel number)"
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properties:
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<init:
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type: boolean
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description: "If Solenoid is initialized in the robot program"
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<output:
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type: boolean
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description: "The state of the solenoid"
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roborioData:
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type: object
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required:
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- type
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- device
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properties:
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type:
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type: string
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description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
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const: RoboRIO
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device:
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type: string
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description: Should be left blank
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data:
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type: object
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description: "RoboRIO Data (type: RoboRIO)"
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properties:
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">fpga_button":
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type: boolean
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description: "FPGA button state"
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">vin_voltage":
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type: number
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description: "Vin rail voltage"
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">vin_current":
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type: number
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description: "Vin rail current"
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">6v_voltage":
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type: number
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description: "6V rail voltage"
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">6v_current":
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type: number
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description: "6V rail current"
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">6v_active":
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type: boolean
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description: "True if 6V rail active, false if inactive"
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">6v_faults":
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type: integer
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description: "Number of faults on 6V rail"
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">5v_voltage":
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type: number
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description: "5V rail voltage"
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">5v_current":
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type: number
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description: "5V rail current"
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|
">5v_active":
|
|
type: boolean
|
|
description: "True if 5V rail active, false if inactive"
|
|
">5v_faults":
|
|
type: integer
|
|
description: "Number of faults on 5V rail"
|
|
">3v3_voltage":
|
|
type: number
|
|
description: "3.3V rail voltage"
|
|
">3v3_current":
|
|
type: number
|
|
description: "3.3V rail current"
|
|
">3v3_active":
|
|
type: boolean
|
|
description: "True if 3.3V rail active, false if inactive"
|
|
">3v3_faults":
|
|
type: integer
|
|
description: "Number of faults on 3.3V rail"
|
|
|
|
canmotorData:
|
|
type: object
|
|
required:
|
|
- type
|
|
- device
|
|
properties:
|
|
type:
|
|
type: string
|
|
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
|
const: CANMotor
|
|
device:
|
|
type: string
|
|
description: "Should have the form ControllerClassName[id]"
|
|
data:
|
|
type: object
|
|
description: "CANMotor Data"
|
|
properties:
|
|
<init:
|
|
type: boolean
|
|
description: "If CANMotor is initialized in the robot program"
|
|
"<percentOutput":
|
|
type: number
|
|
description: "Percent Output"
|
|
minimum: -1.0
|
|
maximum: 1.0
|
|
">supplyCurrent":
|
|
type: number
|
|
description: "Supply current in Amps"
|
|
minimum: 0.0
|
|
">motorCurrent":
|
|
type: number
|
|
description: "Motor current in Amps"
|
|
minimum: 0.0
|
|
">busVoltage":
|
|
type: number
|
|
description: "Bus voltage in Volts"
|
|
minimum: 0.0
|
|
"<neutralDeadband":
|
|
type: number
|
|
description: "Neutral Deadband"
|
|
minimum: 0
|
|
maximum: 1.0
|
|
"<brakeMode":
|
|
type: boolean
|
|
description: "Is in brake mode"
|
|
|
|
canencoderData:
|
|
type: object
|
|
required:
|
|
- type
|
|
- device
|
|
properties:
|
|
type:
|
|
type: string
|
|
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
|
const: CANEncoder
|
|
device:
|
|
type: string
|
|
description: "Should have the form EncoderClassName[id]"
|
|
data:
|
|
type: object
|
|
description: "CANEncoder Data"
|
|
properties:
|
|
<init:
|
|
type: boolean
|
|
description: "If CANEncoder is initialized in the robot program"
|
|
">position":
|
|
type: number
|
|
description: "Position in rotations"
|
|
">velocity":
|
|
type: number
|
|
description: "Velocity in rotations per second"
|
|
|
|
cangyroData:
|
|
type: object
|
|
required:
|
|
- type
|
|
- device
|
|
properties:
|
|
type:
|
|
type: string
|
|
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
|
const: CANGyro
|
|
device:
|
|
type: string
|
|
description: "Should have the form GyroClassName[id]"
|
|
data:
|
|
$ref: "#/components/schemas/gyroData/properties/data"
|
|
|
|
canaccelData:
|
|
type: object
|
|
required:
|
|
- type
|
|
- device
|
|
properties:
|
|
type:
|
|
type: string
|
|
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
|
const: CANAccel
|
|
device:
|
|
type: string
|
|
description: "Should have the form AccelClassName[id]"
|
|
data:
|
|
$ref: "#/components/schemas/accelData/properties/data"
|
|
|
|
canainData:
|
|
type: object
|
|
required:
|
|
- type
|
|
- device
|
|
properties:
|
|
type:
|
|
type: string
|
|
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
|
const: CANAIn
|
|
device:
|
|
type: string
|
|
description: "Should have the form AnalogInputClassName[id]"
|
|
data:
|
|
$ref: "#/components/schemas/aiData/properties/data"
|
|
|
|
candioData:
|
|
type: object
|
|
required:
|
|
- type
|
|
- device
|
|
properties:
|
|
type:
|
|
type: string
|
|
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
|
const: CANDIO
|
|
device:
|
|
type: string
|
|
description: "Should have the form DIOClassName[id]"
|
|
data:
|
|
$ref: "#/components/schemas/dioData/properties/data"
|
|
|
|
candutycycleData:
|
|
type: object
|
|
required:
|
|
- type
|
|
- device
|
|
properties:
|
|
type:
|
|
type: string
|
|
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
|
|
const: CANDutyCycle
|
|
device:
|
|
type: string
|
|
description: "Should have the form DutyCycleClassName[id]"
|
|
data:
|
|
$ref: "#/components/schemas/dutycycleData/properties/data"
|
|
|
|
simdeviceData:
|
|
type: object
|
|
required:
|
|
- type
|
|
- device
|
|
properties:
|
|
type:
|
|
type: string
|
|
const: SimDevice
|
|
device:
|
|
type: string
|
|
data:
|
|
type: object
|
|
additionalProperties:
|
|
type: string
|