Add support for CAN devices.

[brettle]

No description provided.

[brettle]

Fyi, I'm already working on the making DeepBlueSim compatible with these changes, but this can be merged before that is finished because DeepBlueSim will continue to reference the current commit of WPIWebSockets until it is made compatible.

[CoolSpy3]

If we do go back to directly referencing the WPILib spec rather than the one here (see other comment), we should change this to point at a specific tag rather than master.

[brettle]

Agreed. Per my other comment, I'd like to do that as a separate PR.

[CoolSpy3]

The original reason we PRed wpilib-ws.yaml to WPILib was so that it could be kept up-to-date with their project. Thus, if we wanted to add this support, it would probably make more sense to open a new PR to allwpilib to add the necessary info to the machine-readable spec. In order to do the aliasing, we could then (for example) do:

simDevice:
  type: object
    required:
    - type
    - device
    properties:
      type:
        const: SimDevice
      oneOf:
        - device:
            type: string
          data:
            type: object
            additionalProperties:
               type: string
         - device:
             type: string
             format: "CANMotor:.+" # If we actually do this we can make a better regex
           data:
                $ref: "#/schemas/aiData/properties/data"
         - ...etc

(I threw this together quickly, so we'd also have to validate the syntax)
We could then try to delete the extra SimDevice object with a generator hook. (I tried and failed to do this before, but hopefully, we can make it work :D )

[brettle]

With my latest commit, I've updated the local wpilib-ws.yaml to better address the aliasing. I'll open a wpilib PR to get the changes included there, but I don't see a good reason to wait. Even once the wpilib copy is updated, we should refer to a fixed version (as you mentioned above). But doing that won't change the actual contents of the yaml file that is used. It will just change it's source to better document intent. That can be as a future PR.

[brettle]

I've created the wpilib PR.