Initial Code Simulation Support: WebSocket Client #1031
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,233 @@ | ||
| /* eslint-disable @typescript-eslint/no-explicit-any */ | ||
| import Mechanism from "@/systems/physics/Mechanism" | ||
| import Brain from "../Brain" | ||
|
|
||
| import WPILibWSWorker from "./WPILibWSWorker?worker" | ||
|
|
||
| const worker = new WPILibWSWorker() | ||
|
|
||
| const PWM_SPEED = "<speed" | ||
| const PWM_POSITION = "<position" | ||
| const CANMOTOR_DUTY_CYCLE = "<dutyCycle" | ||
| const CANMOTOR_SUPPLY_VOLTAGE = ">supplyVoltage" | ||
| const CANENCODER_RAW_INPUT_POSITION = ">rawPositionInput" | ||
|
|
||
| export type SimType = "PWM" | "CANMotor" | "Solenoid" | "SimDevice" | "CANEncoder" | ||
|
|
||
| enum FieldType { | ||
| Read = 0, | ||
| Write = 1, | ||
| Both = 2, | ||
| Unknown = -1, | ||
| } | ||
|
|
||
| function GetFieldType(field: string): FieldType { | ||
| if (field.length < 2) { | ||
| return FieldType.Unknown | ||
| } | ||
|
|
||
| switch (field.charAt(0)) { | ||
| case "<": | ||
| return field.charAt(1) == ">" ? FieldType.Both : FieldType.Read | ||
| case ">": | ||
| return FieldType.Write | ||
| default: | ||
| return FieldType.Unknown | ||
| } | ||
| } | ||
|
|
||
| export const simMap = new Map<SimType, Map<string, any>>() | ||
|
|
||
| export class SimGeneric { | ||
| private constructor() {} | ||
|
|
||
| public static Get<T>(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined { | ||
| const fieldType = GetFieldType(field) | ||
| if (fieldType != FieldType.Read && fieldType != FieldType.Both) { | ||
| console.warn(`Field '${field}' is not a read or both field type`) | ||
| return undefined | ||
| } | ||
|
|
||
| const map = simMap.get(simType) | ||
| if (!map) { | ||
| console.warn(`No '${simType}' devices found`) | ||
| return undefined | ||
| } | ||
|
|
||
| const data = map.get(device) | ||
| if (!data) { | ||
| console.warn(`No '${simType}' device '${device}' found`) | ||
| return undefined | ||
| } | ||
|
|
||
| return (data[field] as T | undefined) ?? defaultValue | ||
| } | ||
|
|
||
| public static Set<T>(simType: SimType, device: string, field: string, value: T): boolean { | ||
| const fieldType = GetFieldType(field) | ||
| if (fieldType != FieldType.Write && fieldType != FieldType.Both) { | ||
| console.warn(`Field '${field}' is not a write or both field type`) | ||
| return false | ||
| } | ||
|
|
||
| const map = simMap.get(simType) | ||
| if (!map) { | ||
| console.warn(`No '${simType}' devices found`) | ||
| return false | ||
| } | ||
|
|
||
| const data = map.get(device) | ||
| if (!data) { | ||
| console.warn(`No '${simType}' device '${device}' found`) | ||
| return false | ||
| } | ||
|
|
||
| const selectedData: any = {} | ||
| selectedData[field] = value | ||
|
|
||
| data[field] = value | ||
| worker.postMessage({ | ||
| command: "update", | ||
| data: { | ||
| type: simType, | ||
| device: device, | ||
| data: selectedData, | ||
| }, | ||
| }) | ||
|
|
||
| window.dispatchEvent(new SimMapUpdateEvent(true)) | ||
| return true | ||
| } | ||
| } | ||
|
|
||
| export class SimPWM { | ||
| private constructor() {} | ||
|
|
||
| public static GetSpeed(device: string): number | undefined { | ||
| return SimGeneric.Get("PWM", device, PWM_SPEED, 0.0) | ||
| } | ||
|
|
||
| public static GetPosition(device: string): number | undefined { | ||
| return SimGeneric.Get("PWM", device, PWM_POSITION, 0.0) | ||
| } | ||
| } | ||
|
|
||
| export class SimCANMotor { | ||
| private constructor() {} | ||
|
|
||
| public static GetDutyCycle(device: string): number | undefined { | ||
| return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0) | ||
| } | ||
|
|
||
| public static SetSupplyVoltage(device: string, voltage: number): boolean { | ||
| return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage) | ||
| } | ||
| } | ||
|
|
||
| export class SimCANEncoder { | ||
| private constructor() {} | ||
|
|
||
| public static SetRawInputPosition(device: string, rawInputPosition: number): boolean { | ||
| return SimGeneric.Set("CANEncoder", device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition) | ||
| } | ||
| } | ||
|
|
||
| worker.addEventListener("message", (eventData: MessageEvent) => { | ||
| let data: any | undefined | ||
| try { | ||
| if (typeof eventData.data == "object") { | ||
| data = eventData.data | ||
| } else { | ||
| data = JSON.parse(eventData.data) | ||
| } | ||
| } catch (e) { | ||
| console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`) | ||
| } | ||
|
|
||
| if (!data || !data.type) { | ||
| console.log("No data, bailing out") | ||
| return | ||
| } | ||
|
|
||
| // console.debug(data) | ||
|
|
||
| const device = data.device | ||
| const updateData = data.data | ||
|
|
||
| switch (data.type) { | ||
| case "PWM": | ||
| console.debug("pwm") | ||
| UpdateSimMap("PWM", device, updateData) | ||
| break | ||
| case "Solenoid": | ||
| console.debug("solenoid") | ||
| UpdateSimMap("Solenoid", device, updateData) | ||
| break | ||
| case "SimDevice": | ||
| console.debug("simdevice") | ||
| UpdateSimMap("SimDevice", device, updateData) | ||
| break | ||
| case "CANMotor": | ||
| console.debug("canmotor") | ||
| UpdateSimMap("CANMotor", device, updateData) | ||
| break | ||
| case "CANEncoder": | ||
| console.debug("canencoder") | ||
| UpdateSimMap("CANEncoder", device, updateData) | ||
| break | ||
| default: | ||
| // console.debug(`Unrecognized Message:\n${data}`) | ||
| break | ||
| } | ||
| }) | ||
|
|
||
| function UpdateSimMap(type: SimType, device: string, updateData: any) { | ||
| let typeMap = simMap.get(type) | ||
| if (!typeMap) { | ||
| typeMap = new Map<string, any>() | ||
| simMap.set(type, typeMap) | ||
| } | ||
|
|
||
| let currentData = typeMap.get(device) | ||
| if (!currentData) { | ||
| currentData = {} | ||
| typeMap.set(device, currentData) | ||
| } | ||
| Object.entries(updateData).forEach(kvp => (currentData[kvp[0]] = kvp[1])) | ||
|
|
||
| window.dispatchEvent(new SimMapUpdateEvent(false)) | ||
| } | ||
|
|
||
| class WPILibBrain extends Brain { | ||
| constructor(mech: Mechanism) { | ||
| super(mech) | ||
| } | ||
|
|
||
| public Update(_: number): void {} | ||
|
|
||
| public Enable(): void { | ||
| worker.postMessage({ command: "connect" }) | ||
| } | ||
|
|
||
| public Disable(): void { | ||
| worker.postMessage({ command: "disconnect" }) | ||
| } | ||
| } | ||
|
|
||
| export class SimMapUpdateEvent extends Event { | ||
| public static readonly TYPE: string = "ws/sim-map-update" | ||
|
|
||
| private _internalUpdate: boolean | ||
|
|
||
| public get internalUpdate(): boolean { | ||
| return this._internalUpdate | ||
| } | ||
|
|
||
| public constructor(internalUpdate: boolean) { | ||
| super(SimMapUpdateEvent.TYPE) | ||
|
|
||
| this._internalUpdate = internalUpdate | ||
| } | ||
| } | ||
|
|
||
| export default WPILibBrain | ||
|
There was a problem hiding this comment. Note: If you click WS test twice you run into a warning (the connection is not being closed I believe) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| import { Mutex } from "async-mutex" | ||
|
|
||
| let socket: WebSocket | undefined = undefined | ||
|
|
||
| const connectMutex = new Mutex() | ||
|
|
||
| async function tryConnect(port: number | undefined): Promise<void> { | ||
| await connectMutex | ||
| .runExclusive(() => { | ||
| if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) { | ||
| return | ||
| } | ||
|
|
||
| socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`) | ||
|
|
||
| socket.addEventListener("open", () => { | ||
| console.log("WS Opened") | ||
| self.postMessage({ status: "open" }) | ||
| }) | ||
| socket.addEventListener("error", () => { | ||
| console.log("WS Could not open") | ||
| self.postMessage({ status: "error" }) | ||
| }) | ||
|
|
||
| socket.addEventListener("message", onMessage) | ||
| }) | ||
| .then(() => console.debug("Mutex released")) | ||
| } | ||
|
|
||
| async function tryDisconnect(): Promise<void> { | ||
| await connectMutex.runExclusive(() => { | ||
| if (!socket) { | ||
| return | ||
| } | ||
|
|
||
| socket?.close() | ||
| socket = undefined | ||
| }) | ||
| } | ||
|
|
||
| function onMessage(event: MessageEvent) { | ||
| // console.log(`${JSON.stringify(JSON.parse(event.data), null, '\t')}`) | ||
| self.postMessage(event.data) | ||
| } | ||
|
|
||
| self.addEventListener("message", e => { | ||
| switch (e.data.command) { | ||
| case "connect": | ||
| tryConnect(e.data.port) | ||
| break | ||
| case "disconnect": | ||
| tryDisconnect() | ||
| break | ||
| case "update": | ||
| if (socket) { | ||
| socket.send(JSON.stringify(e.data.data)) | ||
| } | ||
| break | ||
| default: | ||
| console.warn(`Unrecognized command '${e.data.command}'`) | ||
| break | ||
| } | ||
| }) | ||
|
|
||
| console.log("Worker started") |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Should simMap be a static field on SimGeneric, since the latter encapsulates former?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
@PepperLola How ever you two end up structuring everything will determine this.