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Refactor scoring panel to support independant score commits for each active instance.

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This commit is contained in:
Patrick Fairbank
2019-08-03 13:21:16 -07:00
parent 692135f721
commit 2609f121f6
9 changed files with 218 additions and 54 deletions
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12
web/scoring_panel.go
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@@ -107,6 +107,10 @@ func (web *Web) scoringPanelWebsocketHandler(w http.ResponseWriter, r *http.Requ
return
}
defer ws.Close()
web.arena.ScoringPanelRegistry.RegisterPanel(alliance, ws)
web.arena.ScoringStatusNotifier.Notify()
defer web.arena.ScoringStatusNotifier.Notify()
defer web.arena.ScoringPanelRegistry.UnregisterPanel(alliance, ws)
// Subscribe the websocket to the notifiers whose messages will be passed on to the client, in a separate goroutine.
go ws.HandleNotifiers(web.arena.MatchLoadNotifier, web.arena.MatchTimeNotifier, web.arena.RealtimeScoreNotifier,
@@ -132,12 +136,8 @@ func (web *Web) scoringPanelWebsocketHandler(w http.ResponseWriter, r *http.Requ
ws.WriteError("Cannot commit score: Match is not over.")
continue
}
if !(*realtimeScore).TeleopCommitted {
(*realtimeScore).TeleopCommitted = true
web.arena.ScoringStatusNotifier.Notify()
scoreChanged = true
}
web.arena.ScoringPanelRegistry.SetScoreCommitted(alliance, ws)
web.arena.ScoringStatusNotifier.Notify()
} else if number, err := strconv.Atoi(command); err == nil && number >= 1 && number <= 9 {
// Handle per-robot scoring fields.
if number <= 3 {

95
web/scoring_panel_test.go
View File

@@ -5,6 +5,7 @@ package web
import (
"github.com/Team254/cheesy-arena/field"
"github.com/Team254/cheesy-arena/game"
"github.com/Team254/cheesy-arena/websocket"
gorillawebsocket "github.com/gorilla/websocket"
"github.com/stretchr/testify/assert"
@@ -36,12 +37,16 @@ func TestScoringPanelWebsocket(t *testing.T) {
assert.Nil(t, err)
defer redConn.Close()
redWs := websocket.NewTestWebsocket(redConn)
assert.Equal(t, 1, web.arena.ScoringPanelRegistry.GetNumPanels("red"))
assert.Equal(t, 0, web.arena.ScoringPanelRegistry.GetNumPanels("blue"))
blueConn, _, err := gorillawebsocket.DefaultDialer.Dial(wsUrl+"/panels/scoring/blue/websocket", nil)
assert.Nil(t, err)
defer blueConn.Close()
blueWs := websocket.NewTestWebsocket(blueConn)
assert.Equal(t, 1, web.arena.ScoringPanelRegistry.GetNumPanels("red"))
assert.Equal(t, 1, web.arena.ScoringPanelRegistry.GetNumPanels("blue"))
// Should receive a score update right after connection.
// Should get a few status updates right after connection.
readWebsocketType(t, redWs, "matchLoad")
readWebsocketType(t, redWs, "matchTime")
readWebsocketType(t, redWs, "realtimeScore")
@@ -49,57 +54,77 @@ func TestScoringPanelWebsocket(t *testing.T) {
readWebsocketType(t, blueWs, "matchTime")
readWebsocketType(t, blueWs, "realtimeScore")
// TODO(pat): Update for 2019.
/*
// Send a match worth of scoring commands in.
redWs.Write("r", nil)
blueWs.Write("r", nil)
blueWs.Write("r", nil)
blueWs.Write("r", nil)
blueWs.Write("r", nil)
blueWs.Write("R", nil)
for i := 0; i < 5; i++ {
readWebsocketType(t, redWs, "realtimeScore")
readWebsocketType(t, blueWs, "realtimeScore")
}
redWs.Write("\r", nil)
blueWs.Write("\r", nil)
redWs.Write("a", nil)
redWs.Write("\r", nil)
for i := 0; i < 4; i++ {
readWebsocketType(t, redWs, "realtimeScore")
readWebsocketType(t, blueWs, "realtimeScore")
}
// Send a some pre-match scoring commands.
redWs.Write("1", nil)
blueWs.Write("2", nil)
blueWs.Write("2", nil)
blueWs.Write("2", nil)
blueWs.Write("2", nil)
for i := 0; i < 5; i++ {
readWebsocketType(t, redWs, "realtimeScore")
readWebsocketType(t, blueWs, "realtimeScore")
}
assert.Equal(t, 1, web.arena.RedRealtimeScore.CurrentScore.RobotStartLevels[0])
assert.Equal(t, 0, web.arena.BlueRealtimeScore.CurrentScore.RobotStartLevels[1])
redWs.Write("e", nil)
redWs.Write("i", nil)
redWs.Write("i", nil)
redWs.Write("v", nil)
redWs.Write("q", nil)
redWs.Write(",", nil)
for i := 0; i < 3; i++ {
readWebsocketType(t, redWs, "realtimeScore")
readWebsocketType(t, blueWs, "realtimeScore")
}
assert.Equal(t, [8]game.BayStatus{1, 0, 0, 0, 0, 0, 0, 3},
web.arena.RedRealtimeScore.CurrentScore.CargoBaysPreMatch)
assert.Equal(t, [8]game.BayStatus{1, 0, 0, 0, 0, 0, 0, 3}, web.arena.RedRealtimeScore.CurrentScore.CargoBays)
assert.Equal(t, [3]game.BayStatus{0, 0, 0}, web.arena.RedRealtimeScore.CurrentScore.RocketNearLeftBays)
assert.Equal(t, [3]game.BayStatus{0, 0, 0}, web.arena.RedRealtimeScore.CurrentScore.RocketNearRightBays)
assert.Equal(t, [3]game.BayStatus{0, 0, 0}, web.arena.RedRealtimeScore.CurrentScore.RocketFarLeftBays)
assert.Equal(t, [3]game.BayStatus{0, 0, 0}, web.arena.RedRealtimeScore.CurrentScore.RocketFarRightBays)
assert.Equal(t, 1, web.arena.RedRealtimeScore.CurrentScore.AutoRuns)
assert.Equal(t, 2, web.arena.BlueRealtimeScore.CurrentScore.AutoRuns)
redWs.Write("r", nil)
// Make sure auto scores haven't changed in teleop.
assert.Equal(t, 1, web.arena.RedRealtimeScore.CurrentScore.AutoRuns)
assert.Equal(t, 2, web.arena.BlueRealtimeScore.CurrentScore.AutoRuns)
*/
// Send some in-match scoring commands.
web.arena.MatchState = field.AutoPeriod
redWs.Write("e", nil)
redWs.Write("i", nil)
redWs.Write("k", nil)
redWs.Write("4", nil)
blueWs.Write("9", nil)
for i := 0; i < 5; i++ {
readWebsocketType(t, redWs, "realtimeScore")
readWebsocketType(t, blueWs, "realtimeScore")
}
assert.Equal(t, [8]game.BayStatus{1, 0, 0, 0, 0, 0, 0, 3},
web.arena.RedRealtimeScore.CurrentScore.CargoBaysPreMatch)
assert.Equal(t, [8]game.BayStatus{2, 0, 0, 0, 0, 0, 0, 2}, web.arena.RedRealtimeScore.CurrentScore.CargoBays)
assert.Equal(t, [3]game.BayStatus{0, 1, 0}, web.arena.RedRealtimeScore.CurrentScore.RocketFarRightBays)
assert.True(t, web.arena.RedRealtimeScore.CurrentScore.SandstormBonuses[0])
assert.Equal(t, 1, web.arena.BlueRealtimeScore.CurrentScore.RobotEndLevels[2])
// Test committing logic.
redWs.Write("commitMatch", nil)
readWebsocketType(t, redWs, "error")
blueWs.Write("commitMatch", nil)
readWebsocketType(t, blueWs, "error")
assert.False(t, web.arena.RedRealtimeScore.TeleopCommitted)
assert.False(t, web.arena.BlueRealtimeScore.TeleopCommitted)
assert.Equal(t, 0, web.arena.ScoringPanelRegistry.GetNumScoreCommitted("red"))
assert.Equal(t, 0, web.arena.ScoringPanelRegistry.GetNumScoreCommitted("blue"))
web.arena.MatchState = field.PostMatch
redWs.Write("commitMatch", nil)
blueWs.Write("commitMatch", nil)
time.Sleep(time.Millisecond * 10) // Allow some time for the commands to be processed.
assert.True(t, web.arena.RedRealtimeScore.TeleopCommitted)
assert.True(t, web.arena.BlueRealtimeScore.TeleopCommitted)
assert.Equal(t, 1, web.arena.ScoringPanelRegistry.GetNumScoreCommitted("red"))
assert.Equal(t, 1, web.arena.ScoringPanelRegistry.GetNumScoreCommitted("blue"))
// Load another match to reset the results.
web.arena.ResetMatch()
web.arena.LoadTestMatch()
readWebsocketType(t, redWs, "matchLoad")
readWebsocketType(t, redWs, "realtimeScore")
readWebsocketType(t, blueWs, "matchLoad")
readWebsocketType(t, blueWs, "realtimeScore")
assert.Equal(t, field.NewRealtimeScore(), web.arena.RedRealtimeScore)
assert.Equal(t, field.NewRealtimeScore(), web.arena.BlueRealtimeScore)
assert.Equal(t, 0, web.arena.ScoringPanelRegistry.GetNumScoreCommitted("red"))
assert.Equal(t, 0, web.arena.ScoringPanelRegistry.GetNumScoreCommitted("blue"))
}