Skip to content

Add-automatically-requesting-HALSimWS-connection-from-DeepBlueSim #106

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
CoolSpy3 merged 3 commits into from
Jul 21, 2024
Merged

Add-automatically-requesting-HALSimWS-connection-from-DeepBlueSim #106

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
29406f9
Automatically request HALSimWS connection from DeepBlueSim.
brettle Jul 18, 2024
20ec23e
Add comment.
brettle Jul 18, 2024
f5cc814
Regulary request the HALSimWS connection to handle the case of the We…
brettle Jul 18, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 10 additions & 1 deletion src/main/java/org/carlmontrobotics/lib199/Lib199Subsystem.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
import java.util.concurrent.CopyOnWriteArrayList;
import java.util.function.Consumer;

import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Subsystem;

public class Lib199Subsystem implements Subsystem {
Expand All @@ -27,6 +27,15 @@ private static void ensureRegistered() {
return;
}
registered = true;

// Regularly request a HALSimWS connection from the DeepBlueSim controller (if/when it is
// listening). To workaround https://github.com/wpilibsuite/allwpilib/issues/6842, this must
// be done *after* any SimDevices have been created (like those used to support simulation
// of many of the devices in lib199).
var reqPublisher = NetworkTableInstance.getDefault()
.getStringTopic("/DeepBlueSim/Coordinator/request").publish();
registerSimulationPeriodic(() -> reqPublisher.set("connectHALSimWS"));

INSTANCE.register();
}

Expand Down