mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
f86a5f9b09
Also clean up some other implementation aspects for cleaner shutdown and reduce peak memory allocation.
57 lines
1.9 KiB
C++
57 lines
1.9 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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#include "HALSimWSClient.h"
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#include <WSProviderContainer.h>
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#include <WSProvider_Analog.h>
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#include <WSProvider_DIO.h>
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#include <WSProvider_DriverStation.h>
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#include <WSProvider_Encoder.h>
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#include <WSProvider_Joystick.h>
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#include <WSProvider_PWM.h>
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#include <WSProvider_Relay.h>
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#include <WSProvider_RoboRIO.h>
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#include <WSProvider_SimDevice.h>
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#include <WSProvider_dPWM.h>
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#include <wpi/EventLoopRunner.h>
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using namespace wpilibws;
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bool HALSimWSClient::Initialize() {
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bool result = true;
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runner.ExecSync([&](wpi::uv::Loop& loop) {
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simws = std::make_shared<HALSimWS>(loop, providers, simDevices);
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if (!simws->Initialize()) {
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result = false;
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return;
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}
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WSRegisterFunc registerFunc = [&](auto key, auto provider) {
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providers.Add(key, provider);
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};
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HALSimWSProviderAnalogIn::Initialize(registerFunc);
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HALSimWSProviderAnalogOut::Initialize(registerFunc);
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HALSimWSProviderDIO::Initialize(registerFunc);
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HALSimWSProviderDigitalPWM::Initialize(registerFunc);
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HALSimWSProviderDriverStation::Initialize(registerFunc);
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HALSimWSProviderEncoder::Initialize(registerFunc);
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HALSimWSProviderJoystick::Initialize(registerFunc);
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HALSimWSProviderPWM::Initialize(registerFunc);
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HALSimWSProviderRelay::Initialize(registerFunc);
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HALSimWSProviderRoboRIO::Initialize(registerFunc);
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simDevices.Initialize(loop);
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simws->Start();
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});
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return result;
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}
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