Added placeholder LED logic until we know how to interface with the hardware.

arena.go

@@ -8,6 +8,7 @@ package main
 import (
 	"fmt"
 	"log"
+	"math/rand"
 	"time"
 )
 
@@ -85,6 +86,7 @@ type Arena struct {
 	lastMatchTimeSec               float64
 	savedMatch                     *Match
 	savedMatchResult               *MatchResult
+	leftGoalHotFirst               bool
 }
 
 var mainArena Arena // Named thusly to avoid polluting the global namespace with something more generic.
@@ -129,6 +131,8 @@ func (arena *Arena) Setup() {
 	arena.savedMatchResult = &MatchResult{}
 	arena.allianceStationDisplays = make(map[string]string)
 	arena.allianceStationDisplayScreen = "blank"
+
+	SetupLights()
 }
 
 // Loads a team into an alliance station, cleaning up the previous team there if there is one.
@@ -375,6 +379,7 @@ func (arena *Arena) Update() {
 		arena.MatchState = AUTO_PERIOD
 		arena.matchStartTime = time.Now()
 		arena.lastMatchTimeSec = -1
+		arena.leftGoalHotFirst = rand.Intn(2) == 1
 		auto = true
 		enabled = true
 		sendDsPacket = true
@@ -448,6 +453,9 @@ func (arena *Arena) Update() {
 		// TODO(pat): Come up with better criteria for sending robot status updates.
 		arena.robotStatusNotifier.Notify(nil)
 	}
+
+	arena.handleLighting("red", arena.redRealtimeScore)
+	arena.handleLighting("blue", arena.blueRealtimeScore)
 }
 
 // Loops indefinitely to track and update the arena components.
@@ -482,3 +490,22 @@ func (realtimeScore *RealtimeScore) Score(opponentFouls []Foul) int {
 	}
 	return score
 }
+
+// Manipulates the arena LED lighting based on the current state of the match.
+func (arena *Arena) handleLighting(alliance string, score *RealtimeScore) {
+	switch arena.MatchState {
+	case AUTO_PERIOD:
+		leftSide := arena.MatchTimeSec() < float64(arena.matchTiming.AutoDurationSec)/2 == arena.leftGoalHotFirst
+		SetHotGoalLights(alliance, leftSide)
+	case TELEOP_PERIOD:
+		if score.AutoLeftoverBalls == 0 && score.CurrentCycle.Assists == 0 {
+			SetPedestalLight(alliance)
+		} else {
+			ClearPedestalLight(alliance)
+		}
+		SetAssistGoalLights(alliance, score.CurrentCycle.Assists)
+	default:
+		ClearGoalLights(alliance)
+		ClearPedestalLight(alliance)
+	}
+}

lights.go

@@ -0,0 +1,64 @@
+// Copyright 2014 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Methods for controlling the field LED lighting.
+
+package main
+
+import (
+	"fmt"
+)
+
+var hotGoalLights map[string]bool
+var assistLights map[string]int
+var pedestalLights map[string]bool
+
+func SetupLights() {
+	hotGoalLights = make(map[string]bool)
+	assistLights = make(map[string]int)
+	pedestalLights = make(map[string]bool)
+}
+
+func SetHotGoalLights(alliance string, leftSide bool) {
+	if hotGoalLights[alliance] == leftSide {
+		return
+	}
+	hotGoalLights[alliance] = leftSide
+	if leftSide {
+		fmt.Printf("Setting left %s goal hot\n", alliance)
+	} else {
+		fmt.Printf("Setting right %s goal hot\n", alliance)
+	}
+}
+
+func SetAssistGoalLights(alliance string, numAssists int) {
+	if assistLights[alliance] == numAssists {
+		return
+	}
+	assistLights[alliance] = numAssists
+	if numAssists <= 0 {
+		fmt.Printf("Clearing %s goal lights\n", alliance)
+	} else if numAssists < 3 {
+		fmt.Printf("Setting %s goal to %d assists\n", alliance, numAssists)
+	} else {
+		fmt.Printf("Setting %s goal to 3 assists\n", alliance)
+	}
+}
+
+func ClearGoalLights(alliance string) {
+	SetAssistGoalLights(alliance, 0)
+}
+
+func SetPedestalLight(alliance string) {
+	if pedestalLights[alliance] == false {
+		pedestalLights[alliance] = true
+		fmt.Printf("Setting %s pedestal\n", alliance)
+	}
+}
+
+func ClearPedestalLight(alliance string) {
+	if pedestalLights[alliance] == true {
+		pedestalLights[alliance] = false
+		fmt.Printf("Clearing %s pedestal\n", alliance)
+	}
+}