mirror of
https://github.com/wpilibsuite/allwpilib
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73 lines
2.0 KiB
C++
73 lines
2.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <memory>
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#include <span>
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#include <string>
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#include <HALSimBaseWebSocketConnection.h>
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#include <WSProviderContainer.h>
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#include <WSProvider_SimDevice.h>
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#include <wpi/json_fwd.h>
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#include <wpinet/uv/Async.h>
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#include <wpinet/uv/Buffer.h>
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#include <wpinet/uv/Loop.h>
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#include <wpinet/uv/Timer.h>
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#include <wpinet/uv/Udp.h>
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#include "XRP.h"
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namespace wpilibxrp {
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// This masquerades as a "WebSocket" so that we can reuse the
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// stuff in halsim_ws_core
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class HALSimXRP : public wpilibws::HALSimBaseWebSocketConnection,
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public std::enable_shared_from_this<HALSimXRP> {
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public:
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using LoopFunc = std::function<void()>;
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using UvExecFunc = wpi::uv::Async<LoopFunc>;
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HALSimXRP(wpi::uv::Loop& loop, wpilibws::ProviderContainer& providers,
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wpilibws::HALSimWSProviderSimDevices& simDevicesProvider);
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HALSimXRP(const HALSimXRP&) = delete;
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HALSimXRP& operator=(const HALSimXRP&) = delete;
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bool Initialize();
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void Start();
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void ParsePacket(std::span<const uint8_t> packet);
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void OnNetValueChanged(const wpi::json& msg);
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void OnSimValueChanged(const wpi::json& simData) override;
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const std::string& GetTargetHost() const { return m_host; }
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int GetTargetPort() const { return m_port; }
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wpi::uv::Loop& GetLoop() { return m_loop; }
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UvExecFunc& GetExec() { return *m_exec; }
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private:
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XRP m_xrp;
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wpi::uv::Loop& m_loop;
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std::shared_ptr<wpi::uv::Udp> m_udp_client;
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std::shared_ptr<UvExecFunc> m_exec;
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wpilibws::ProviderContainer& m_providers;
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wpilibws::HALSimWSProviderSimDevices& m_simDevicesProvider;
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std::string m_host;
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int m_port;
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void SendStateToXRP();
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wpi::uv::SimpleBufferPool<4>& GetBufferPool();
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std::mutex m_buffer_mutex;
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struct sockaddr_in m_dest;
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};
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} // namespace wpilibxrp
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