From 0082ea5d0b9a8d86500b2745f27c9b7f8fee3ee4 Mon Sep 17 00:00:00 2001
From: Patrick Fairbank <pat@patfairbank.com>
Date: Sat, 25 Aug 2018 14:54:13 -0700
Subject: [PATCH] Fix issues from testing PLC integration.

---
 field/arena.go       | 11 ++++++-----
 field/coil_string.go |  4 ++--
 field/plc.go         |  6 ++++++
 game/seesaw.go       |  7 +++++--
 4 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/field/arena.go b/field/arena.go
index 92c503e..42d4f84 100644
--- a/field/arena.go
+++ b/field/arena.go
@@ -733,9 +733,9 @@ func (arena *Arena) handlePlcInput() {
 
 	// Handle scale and switch ownership.
 	scale, redSwitch, blueSwitch := arena.Plc.GetScaleAndSwitches()
-	arena.Scale.UpdateState(scale, currentTime)
-	arena.RedSwitch.UpdateState(redSwitch, currentTime)
-	arena.BlueSwitch.UpdateState(blueSwitch, currentTime)
+	ownershipChanged := arena.Scale.UpdateState(scale, currentTime)
+	ownershipChanged = arena.RedSwitch.UpdateState(redSwitch, currentTime) || ownershipChanged
+	ownershipChanged = arena.BlueSwitch.UpdateState(blueSwitch, currentTime) || ownershipChanged
 	if arena.MatchState == AutoPeriod {
 		redScore.AutoOwnershipPoints = 2 * int(arena.RedSwitch.GetRedSeconds(matchStartTime, currentTime)+
 			arena.Scale.GetRedSeconds(matchStartTime, currentTime))
@@ -773,7 +773,7 @@ func (arena *Arena) handlePlcInput() {
 		arena.PlaySoundNotifier.Notify("match-" + newBluePowerUp)
 	}
 
-	if !oldRedScore.Equals(redScore) || !oldBlueScore.Equals(blueScore) {
+	if !oldRedScore.Equals(redScore) || !oldBlueScore.Equals(blueScore) || ownershipChanged {
 		arena.RealtimeScoreNotifier.Notify(nil)
 	}
 }
@@ -789,8 +789,9 @@ func (arena *Arena) handleLeds() {
 		// Set the stack light state -- blinking green if ready, or solid alliance color(s) if not.
 		redAllianceReady := arena.checkAllianceStationsReady("R1", "R2", "R3") == nil
 		blueAllianceReady := arena.checkAllianceStationsReady("B1", "B2", "B3") == nil
-		greenStackLight := redAllianceReady && blueAllianceReady && arena.Plc.GetCycleState(2, 0, 25)
+		greenStackLight := redAllianceReady && blueAllianceReady && arena.Plc.GetCycleState(2, 0, 2)
 		arena.Plc.SetStackLights(!redAllianceReady, !blueAllianceReady, greenStackLight)
+		arena.Plc.SetStackBuzzer(redAllianceReady && blueAllianceReady)
 
 		// Turn off each alliance switch if all teams become ready.
 		if redAllianceReady && !arena.lastRedAllianceReady {
diff --git a/field/coil_string.go b/field/coil_string.go
index b678023..dca43e6 100644
--- a/field/coil_string.go
+++ b/field/coil_string.go
@@ -4,9 +4,9 @@ package field
 
 import "strconv"
 
-const _coil_name = "heartbeatmatchResetstackLightGreenstackLightOrangestackLightRedstackLightBluered1EthernetDisablered2EthernetDisablered3EthernetDisableblue1EthernetDisableblue2EthernetDisableblue3EthernetDisablecoilCount"
+const _coil_name = "heartbeatmatchResetstackLightGreenstackLightOrangestackLightRedstackLightBluestackLightBuzzerred1EthernetDisablered2EthernetDisablered3EthernetDisableblue1EthernetDisableblue2EthernetDisableblue3EthernetDisablecoilCount"
 
-var _coil_index = [...]uint8{0, 9, 19, 34, 50, 63, 77, 96, 115, 134, 154, 174, 194, 203}
+var _coil_index = [...]uint8{0, 9, 19, 34, 50, 63, 77, 93, 112, 131, 150, 170, 190, 210, 219}
 
 func (i coil) String() string {
 	if i < 0 || i >= coil(len(_coil_index)-1) {
diff --git a/field/plc.go b/field/plc.go
index 1411521..8afc753 100644
--- a/field/plc.go
+++ b/field/plc.go
@@ -95,6 +95,7 @@ const (
 	stackLightOrange
 	stackLightRed
 	stackLightBlue
+	stackLightBuzzer
 	red1EthernetDisable
 	red2EthernetDisable
 	red3EthernetDisable
@@ -208,6 +209,11 @@ func (plc *Plc) SetStackLights(red, blue, green bool) {
 	plc.Coils[stackLightGreen] = green
 }
 
+// Set the on/off state of the stack lights on the scoring table.
+func (plc *Plc) SetStackBuzzer(state bool) {
+	plc.Coils[stackLightBuzzer] = state
+}
+
 func (plc *Plc) GetCycleState(max, index, duration int) bool {
 	return plc.cycleCounter/duration%max == index
 }
diff --git a/game/seesaw.go b/game/seesaw.go
index b4865ec..b119825 100644
--- a/game/seesaw.go
+++ b/game/seesaw.go
@@ -30,8 +30,9 @@ type Ownership struct {
 	endTime   *time.Time
 }
 
-// Updates the internal timing state of the scale or switch given the current state of the sensors.
-func (seesaw *Seesaw) UpdateState(state [2]bool, currentTime time.Time) {
+// Updates the internal timing state of the scale or switch given the current state of the sensors. Returns true if
+// ownership has changed since the last cycle.
+func (seesaw *Seesaw) UpdateState(state [2]bool, currentTime time.Time) bool {
 	ownedBy := NeitherAlliance
 
 	// Check if there is an active force power up for this seesaw.
@@ -61,7 +62,9 @@ func (seesaw *Seesaw) UpdateState(state [2]bool, currentTime time.Time) {
 			newOwnership := &Ownership{seesaw: seesaw, ownedBy: ownedBy, startTime: currentTime}
 			seesaw.ownerships = append(seesaw.ownerships, newOwnership)
 		}
+		return true
 	}
+	return false
 }
 
 func (seesaw *Seesaw) GetOwnedBy() Alliance {