Don't start a match unless all robots are connected.

arena.go

@@ -67,6 +67,7 @@ func (arena *Arena) AssignTeam(teamId int, station string) error {
 	if _, ok := arena.allianceStations[station]; !ok {
 		return fmt.Errorf("Invalid alliance station '%s'.", station)
 	}
+
 	// Do nothing if the station is already assigned to the requested team.
 	dsConn := arena.allianceStations[station].driverStationConnection
 	if dsConn != nil && dsConn.TeamId == teamId {
@@ -145,6 +146,18 @@ func (arena *Arena) StartMatch() error {
 	if arena.currentMatch == nil {
 		return fmt.Errorf("Cannot start match when no match is loaded.")
 	}
+	for _, allianceStation := range arena.allianceStations {
+		if allianceStation.emergencyStop {
+			return fmt.Errorf("Cannot start match while an emergency stop is active.")
+		}
+		if !allianceStation.bypass {
+			dsConn := allianceStation.driverStationConnection
+			if dsConn == nil || !dsConn.DriverStationStatus.RobotLinked {
+				return fmt.Errorf("Cannot start match until all robots are connected or bypassed.")
+			}
+		}
+	}
+
 	arena.matchState = START_MATCH
 	return nil
 }

arena_test.go

@@ -71,8 +71,7 @@ func TestArenaMatchFlow(t *testing.T) {
 	db, err = OpenDatabase(testDbPath)
 	assert.Nil(t, err)
 	defer db.Close()
-	err = db.CreateTeam(&Team{Id: 254})
-	assert.Nil(t, err)
+	db.CreateTeam(&Team{Id: 254})
 	mainArena.Setup()
 	err = mainArena.AssignTeam(254, "B3")
 	assert.Nil(t, err)
@@ -91,7 +90,14 @@ func TestArenaMatchFlow(t *testing.T) {
 	assert.Equal(t, lastPacketCount+1, mainArena.allianceStations["B3"].driverStationConnection.packetCount)
 
 	// Check match start, autonomous and transition to teleop.
-	mainArena.StartMatch()
+	mainArena.allianceStations["R1"].bypass = true
+	mainArena.allianceStations["R2"].bypass = true
+	mainArena.allianceStations["R3"].bypass = true
+	mainArena.allianceStations["B1"].bypass = true
+	mainArena.allianceStations["B2"].bypass = true
+	mainArena.allianceStations["B3"].driverStationConnection.DriverStationStatus.RobotLinked = true
+	err = mainArena.StartMatch()
+	assert.Nil(t, err)
 	mainArena.Update()
 	assert.Equal(t, AUTO_PERIOD, mainArena.matchState)
 	assert.Equal(t, true, mainArena.allianceStations["B3"].driverStationConnection.Auto)
@@ -176,6 +182,12 @@ func TestArenaMatchFlow(t *testing.T) {
 
 func TestArenaStateEnforcement(t *testing.T) {
 	mainArena.Setup()
+	mainArena.allianceStations["R1"].bypass = true
+	mainArena.allianceStations["R2"].bypass = true
+	mainArena.allianceStations["R3"].bypass = true
+	mainArena.allianceStations["B1"].bypass = true
+	mainArena.allianceStations["B2"].bypass = true
+	mainArena.allianceStations["B3"].bypass = true
 
 	err := mainArena.LoadMatch(new(Match))
 	assert.Nil(t, err)
@@ -268,3 +280,81 @@ func TestArenaStateEnforcement(t *testing.T) {
 	err = mainArena.LoadMatch(new(Match))
 	assert.Nil(t, err)
 }
+
+func TestMatchStartRobotLinkEnforcement(t *testing.T) {
+	clearDb()
+	defer clearDb()
+	var err error
+	db, err = OpenDatabase(testDbPath)
+	assert.Nil(t, err)
+	defer db.Close()
+	db.CreateTeam(&Team{Id: 101})
+	db.CreateTeam(&Team{Id: 102})
+	db.CreateTeam(&Team{Id: 103})
+	db.CreateTeam(&Team{Id: 104})
+	db.CreateTeam(&Team{Id: 105})
+	db.CreateTeam(&Team{Id: 106})
+	match := Match{Red1: 101, Red2: 102, Red3: 103, Blue1: 104, Blue2: 105, Blue3: 106}
+	db.CreateMatch(&match)
+	mainArena.Setup()
+
+	err = mainArena.LoadMatch(&match)
+	assert.Nil(t, err)
+	for _, station := range mainArena.allianceStations {
+		station.driverStationConnection.DriverStationStatus.RobotLinked = true
+	}
+	err = mainArena.StartMatch()
+	assert.Nil(t, err)
+	mainArena.matchState = PRE_MATCH
+
+	// Check with a single team e-stopped, not linked and bypassed.
+	mainArena.allianceStations["R1"].emergencyStop = true
+	err = mainArena.StartMatch()
+	if assert.NotNil(t, err) {
+		assert.Contains(t, err.Error(), "while an emergency stop is active")
+	}
+	mainArena.allianceStations["R1"].emergencyStop = false
+	mainArena.allianceStations["R1"].driverStationConnection.DriverStationStatus.RobotLinked = false
+	err = mainArena.StartMatch()
+	if assert.NotNil(t, err) {
+		assert.Contains(t, err.Error(), "until all robots are connected or bypassed")
+	}
+	mainArena.allianceStations["R1"].bypass = true
+	err = mainArena.StartMatch()
+	assert.Nil(t, err)
+	mainArena.allianceStations["R1"].bypass = false
+	mainArena.matchState = PRE_MATCH
+
+	// Check with a team missing.
+	err = mainArena.AssignTeam(0, "R1")
+	assert.Nil(t, err)
+	err = mainArena.StartMatch()
+	if assert.NotNil(t, err) {
+		assert.Contains(t, err.Error(), "until all robots are connected or bypassed")
+	}
+	mainArena.allianceStations["R1"].bypass = true
+	err = mainArena.StartMatch()
+	assert.Nil(t, err)
+	mainArena.matchState = PRE_MATCH
+
+	// Check with no teams present.
+	mainArena.LoadMatch(new(Match))
+	err = mainArena.StartMatch()
+	if assert.NotNil(t, err) {
+		assert.Contains(t, err.Error(), "until all robots are connected or bypassed")
+	}
+	mainArena.allianceStations["R1"].bypass = true
+	mainArena.allianceStations["R2"].bypass = true
+	mainArena.allianceStations["R3"].bypass = true
+	mainArena.allianceStations["B1"].bypass = true
+	mainArena.allianceStations["B2"].bypass = true
+	mainArena.allianceStations["B3"].bypass = true
+	mainArena.allianceStations["B3"].emergencyStop = true
+	err = mainArena.StartMatch()
+	if assert.NotNil(t, err) {
+		assert.Contains(t, err.Error(), "while an emergency stop is active")
+	}
+	mainArena.allianceStations["B3"].emergencyStop = false
+	err = mainArena.StartMatch()
+	assert.Nil(t, err)
+}