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Update WebSockets Spec #47

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merged 2 commits into from
May 30, 2024
Merged

Update WebSockets Spec #47

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887303f
update websockets spec
CoolSpy3 May 30, 2024
80b01e4
Bump commit now that the spec changes have been merged.
brettle May 30, 2024
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6 changes: 5 additions & 1 deletion asyncapi-template/filters/DeviceFilter.js
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,11 @@ function formatName(type) {
case "AI":
return "AnalogInput";
case "AO":
return "AnalogOutput"
return "AnalogOutput";
case "CANAccel":
return "CANAccelerometer";
case "CANAIn":
return "CANAnalogInput";
case "CTREPCM":
return "PCM";
default:
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2 changes: 1 addition & 1 deletion build.gradle
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Expand Up @@ -55,7 +55,7 @@ task generateDeviceFiles(type: NpxTask) {
command = '@asyncapi/[email protected]'
args = ['--force-write',
'-o', "${outputDir}/org/team199/wpiws/devices",
"https://raw.githubusercontent.com/wpilibsuite/allwpilib/3b8d8a367b49bea28d5423dca53f913c13ff6936/simulation/halsim_ws_core/doc/wpilib-ws.yaml",
"https://raw.githubusercontent.com/DeepBlueRobotics/allwpilib/c1fc86033a4b5ebda451de657fc2546eb3f431fb/simulation/halsim_ws_core/doc/wpilib-ws.yaml",
file(archiveTemplate.archiveFile).toURI()]

// Define the inputs and outputs of this task so that gradle only runs it
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42 changes: 16 additions & 26 deletions src/main/java/org/team199/wpiws/connection/MessageProcessor.java
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Expand Up @@ -10,7 +10,12 @@
import org.team199.wpiws.devices.AddressableLEDSim;
import org.team199.wpiws.devices.AnalogInputSim;
import org.team199.wpiws.devices.AnalogOutputSim;
import org.team199.wpiws.devices.CANAccelerometerSim;
import org.team199.wpiws.devices.CANAnalogInputSim;
import org.team199.wpiws.devices.CANDIOSim;
import org.team199.wpiws.devices.CANDutyCycleSim;
import org.team199.wpiws.devices.CANEncoderSim;
import org.team199.wpiws.devices.CANGyroSim;
import org.team199.wpiws.devices.CANMotorSim;
import org.team199.wpiws.devices.DIOSim;
import org.team199.wpiws.devices.DriverStationSim;
Expand Down Expand Up @@ -57,11 +62,11 @@ public final class MessageProcessor {
registerProcessor("SimDevice", SimDeviceSim::processMessage);
registerProcessor("CANMotor", CANMotorSim::processMessage);
registerProcessor("CANEncoder", CANEncoderSim::processMessage);
registerProcessor("CANDutyCycle", DutyCycleSim::processMessage);
registerProcessor("CANAccel", AccelerometerSim::processMessage);
registerProcessor("CANAIn", AnalogInputSim::processMessage);
registerProcessor("CANDIO", DIOSim::processMessage);
registerProcessor("CANGyro", GyroSim::processMessage);
registerProcessor("CANDutyCycle", CANDutyCycleSim::processMessage);
registerProcessor("CANAccel", CANAccelerometerSim::processMessage);
registerProcessor("CANAIn", CANAnalogInputSim::processMessage);
registerProcessor("CANDIO", CANDIOSim::processMessage);
registerProcessor("CANGyro", CANGyroSim::processMessage);

}

Expand All @@ -88,29 +93,14 @@ public static void registerProcessor(String type, DeviceMessageProcessor process
* @param data the values of that device which have been modified
*/
public static void process(String device, String type, List<WSValue> data) {
// Per the spec, some message with a type of SimDevice have a data
// format that is identical to hardware devices. In particular a
// SimDevice message with device=DutyCyle:Name has the same data format
// as a DutyCycle message, and a SimDevice message with
// device=CAN{Gyro,AI,Accel,DIO,DutyCycle}:Name has the same data format
// as a {Gyro,AI,Accel,DIO,DutyCycle} message. The
// CAN{Gyro,AI,Accel,DIO,DutyCycle} processors are registered as aliases
// for the the their non CAN counterparts. CANMotor and CANEncoder have
// their own processors because there is no Motor processor and the
// CANEncoder data format is different from the Encoder data format.
String dataType = type;
if (type.equals("SimDevice")) {
String[] deviceParts = device.split(":");
if (deviceParts.length > 1) {
dataType = deviceParts[0];
}
}

// Use the data type to find the appropriate processor. Fallback on SimDevice if the parsing above returned an invalid type.
DeviceMessageProcessor processor = processors.getOrDefault(dataType, type.equals("SimDevice") ? processors.get("SimDevice") : null);
DeviceMessageProcessor processor = processors.get(type);
if(processor == null) {
if(unknownTypes.add(dataType)) {
System.err.println("No processor found for device with data type: \"" + dataType + "\". Messages with this data type will be ignored.");
if (unknownTypes.add(type)) {
System.err.println(
"No processor found for device with data type: \""
+ type
+ "\". Messages with this data type will be ignored.");
}
return;
}
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