Send out game data when Stage 3 capacity is reached.

field/arena.go

@@ -70,6 +70,8 @@ type Arena struct {
 	MuteMatchSounds            bool
 	matchAborted               bool
 	soundsPlayed               map[*game.MatchSound]struct{}
+	RedControlPanel            *game.ControlPanel
+	BlueControlPanel           *game.ControlPanel
 }
 
 type AllianceStation struct {
@@ -206,10 +208,13 @@ func (arena *Arena) LoadMatch(match *model.Match) error {
 	arena.FieldVolunteers = false
 	arena.FieldReset = false
 	arena.ScoringPanelRegistry.resetScoreCommitted()
+	arena.RedControlPanel = new(game.ControlPanel)
+	arena.BlueControlPanel = new(game.ControlPanel)
 
 	// Notify any listeners about the new match.
 	arena.MatchLoadNotifier.Notify()
 	arena.RealtimeScoreNotifier.Notify()
+	arena.ControlPanelColorNotifier.Notify()
 	arena.AllianceStationDisplayMode = "match"
 	arena.AllianceStationDisplayModeNotifier.Notify()
 
@@ -686,6 +691,23 @@ func (arena *Arena) sendDsPacket(auto bool, enabled bool) {
 	arena.lastDsPacketTime = time.Now()
 }
 
+// Sends a game data packet encoded with the given Control Panel target color to the given stations.
+func (arena *Arena) sendGameDataPacket(color game.ControlPanelColor, stations ...string) {
+	gameData := game.GetGameDataForColor(color)
+	log.Printf("Sending game data packet '%s' to stations %v", gameData, stations)
+	for _, station := range stations {
+		if allianceStation, ok := arena.AllianceStations[station]; ok {
+			dsConn := allianceStation.DsConn
+			if dsConn != nil {
+				err := dsConn.sendGameDataPacket(gameData)
+				if err != nil {
+					log.Printf("Error sending game data packet to Team %d: %v", dsConn.TeamId, err)
+				}
+			}
+		}
+	}
+}
+
 // Returns the alliance station identifier for the given team, or the empty string if the team is not present
 // in the current match.
 func (arena *Arena) getAssignedAllianceStation(teamId int) string {
@@ -717,6 +739,26 @@ func (arena *Arena) handlePlcInput() {
 		// Don't do anything if we're outside the match, otherwise we may overwrite manual edits.
 		return
 	}
+
+	redScore := &arena.RedRealtimeScore.CurrentScore
+	oldRedScore := *redScore
+	blueScore := &arena.BlueRealtimeScore.CurrentScore
+	oldBlueScore := *blueScore
+
+	if redScore.StageAtCapacity(game.Stage3, arena.MatchState >= TeleopPeriod) &&
+		redScore.Stage3TargetColor == game.ColorUnknown ||
+		blueScore.StageAtCapacity(game.Stage3, arena.MatchState >= TeleopPeriod) &&
+			blueScore.Stage3TargetColor == game.ColorUnknown {
+		// Determine the position control target colors and send packets to inform the driver stations.
+		redScore.Stage3TargetColor = arena.RedControlPanel.GetStage3TargetColor()
+		blueScore.Stage3TargetColor = arena.BlueControlPanel.GetStage3TargetColor()
+		arena.sendGameDataPacket(redScore.Stage3TargetColor, "R1", "R2", "R3")
+		arena.sendGameDataPacket(blueScore.Stage3TargetColor, "B1", "B2", "B3")
+	}
+
+	if !oldRedScore.Equals(redScore) || !oldBlueScore.Equals(blueScore) {
+		arena.RealtimeScoreNotifier.Notify()
+	}
 }
 
 func (arena *Arena) handlePlcOutput() {

field/arena_notifiers.go

@@ -29,6 +29,7 @@ type ArenaNotifiers struct {
 	ReloadDisplaysNotifier             *websocket.Notifier
 	ScorePostedNotifier                *websocket.Notifier
 	ScoringStatusNotifier              *websocket.Notifier
+	ControlPanelColorNotifier          *websocket.Notifier
 }
 
 type DisplayConfigurationMessage struct {
@@ -65,6 +66,7 @@ func (arena *Arena) configureNotifiers() {
 	arena.ReloadDisplaysNotifier = websocket.NewNotifier("reload", nil)
 	arena.ScorePostedNotifier = websocket.NewNotifier("scorePosted", arena.generateScorePostedMessage)
 	arena.ScoringStatusNotifier = websocket.NewNotifier("scoringStatus", arena.generateScoringStatusMessage)
+	arena.ControlPanelColorNotifier = websocket.NewNotifier("controlPanelColor", arena.generateControlPanelColorMessage)
 }
 
 func (arena *Arena) generateAllianceSelectionMessage() interface{} {
@@ -226,6 +228,13 @@ func (arena *Arena) generateScoringStatusMessage() interface{} {
 		arena.ScoringPanelRegistry.GetNumPanels("blue"), arena.ScoringPanelRegistry.GetNumScoreCommitted("blue")}
 }
 
+func (arena *Arena) generateControlPanelColorMessage() interface{} {
+	return &struct {
+		RedControlPanelColor  game.ControlPanelColor
+		BlueControlPanelColor game.ControlPanelColor
+	}{arena.RedControlPanel.CurrentColor, arena.BlueControlPanel.CurrentColor}
+}
+
 // Constructs the data object for one alliance sent to the audience display for the realtime scoring overlay.
 func getAudienceAllianceScoreFields(allianceScore *RealtimeScore,
 	allianceScoreSummary *game.ScoreSummary) *audienceAllianceScoreFields {

field/driver_station_connection.go

@@ -385,3 +385,26 @@ func (dsConn *DriverStationConnection) handleTcpConnection(arena *Arena) {
 		}
 	}
 }
+
+// Sends a TCP packet containing the given game data to the driver station.
+func (dsConn *DriverStationConnection) sendGameDataPacket(gameData string) error {
+	byteData := []byte(gameData)
+	size := len(byteData)
+	packet := make([]byte, size+4)
+
+	packet[0] = 0              // Packet size
+	packet[1] = byte(size + 2) // Packet size
+	packet[2] = 28             // Packet type
+	packet[3] = byte(size)     // Data size
+
+	// Fill the rest of the packet with the data.
+	for i, character := range byteData {
+		packet[i+4] = character
+	}
+
+	if dsConn.tcpConn != nil {
+		_, err := dsConn.tcpConn.Write(packet)
+		return err
+	}
+	return nil
+}

game/control_panel.go

@@ -0,0 +1,58 @@
+// Copyright 2020 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Represents the state of an alliance Control Panel in the 2020 game.
+
+package game
+
+import "math/rand"
+
+type ControlPanel struct {
+	CurrentColor ControlPanelColor
+}
+
+type ControlPanelColor int
+
+const (
+	ColorUnknown ControlPanelColor = iota
+	ColorRed
+	ColorGreen
+	ColorBlue
+	ColorYellow
+)
+
+type ControlPanelStatus int
+
+const (
+	ControlPanelNone ControlPanelStatus = iota
+	ControlPanelRotation
+	ControlPanelPosition
+)
+
+// Returns a random color that does not match the current color.
+func (controlPanel *ControlPanel) GetStage3TargetColor() ControlPanelColor {
+	if controlPanel.CurrentColor == ColorUnknown {
+		// If the sensor or manual scorekeeping did not detect/set the current color, pick one of the four at random.
+		return ControlPanelColor(rand.Intn(4) + 1)
+	}
+	newColor := int(controlPanel.CurrentColor) + rand.Intn(3) + 1
+	if newColor > 4 {
+		newColor -= 4
+	}
+	return ControlPanelColor(newColor)
+}
+
+// Returns the string that is to be sent to the driver station for the given color.
+func GetGameDataForColor(color ControlPanelColor) string {
+	switch color {
+	case ColorRed:
+		return "R"
+	case ColorGreen:
+		return "G"
+	case ColorBlue:
+		return "B"
+	case ColorYellow:
+		return "Y"
+	}
+	return ""
+}

game/control_panel_test.go

@@ -0,0 +1,44 @@
+// Copyright 2020 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+
+package game
+
+import (
+	"github.com/stretchr/testify/assert"
+	"math/rand"
+	"testing"
+)
+
+func TestControlPanelGetStage3TargetColor(t *testing.T) {
+	rand.Seed(0)
+	var controlPanel ControlPanel
+
+	controlPanel.CurrentColor = ColorUnknown
+	results := getStage3TargetColorNTimes(&controlPanel, 10000)
+	assert.Equal(t, [5]int{0, 2543, 2527, 2510, 2420}, results)
+
+	controlPanel.CurrentColor = ColorRed
+	results = getStage3TargetColorNTimes(&controlPanel, 10000)
+	assert.Equal(t, [5]int{0, 0, 3351, 3311, 3338}, results)
+
+	controlPanel.CurrentColor = ColorGreen
+	results = getStage3TargetColorNTimes(&controlPanel, 10000)
+	assert.Equal(t, [5]int{0, 3335, 0, 3320, 3345}, results)
+
+	controlPanel.CurrentColor = ColorBlue
+	results = getStage3TargetColorNTimes(&controlPanel, 10000)
+	assert.Equal(t, [5]int{0, 3328, 3296, 0, 3376}, results)
+
+	controlPanel.CurrentColor = ColorYellow
+	results = getStage3TargetColorNTimes(&controlPanel, 10000)
+	assert.Equal(t, [5]int{0, 3303, 3388, 3309, 0}, results)
+}
+
+// Invokes the method N times and returns a map of the counts for each result, for statistical testing.
+func getStage3TargetColorNTimes(controlPanel *ControlPanel, n int) [5]int {
+	var results [5]int
+	for i := 0; i < n; i++ {
+		results[controlPanel.GetStage3TargetColor()]++
+	}
+	return results
+}

game/score.go

@@ -16,10 +16,11 @@ type Score struct {
 	TeleopCellsOuter     [4]int
 	TeleopCellsInner     [4]int
 	ControlPanelStatus
-	EndgameStatuses [3]EndgameStatus
-	RungIsLevel     bool
-	Fouls           []Foul
-	ElimDq          bool
+	EndgameStatuses   [3]EndgameStatus
+	RungIsLevel       bool
+	Fouls             []Foul
+	ElimDq            bool
+	Stage3TargetColor ControlPanelColor
 }
 
 type ScoreSummary struct {
@@ -55,14 +56,6 @@ const (
 	StageExtra
 )
 
-type ControlPanelStatus int
-
-const (
-	ControlPanelNone ControlPanelStatus = iota
-	ControlPanelRotation
-	ControlPanelPosition
-)
-
 // Represents the state of a robot at the end of the match.
 type EndgameStatus int
 

partner/tba.go

@@ -138,6 +138,8 @@ type TbaPublishedAward struct {
 }
 
 var exitedInitLineMapping = map[bool]string{false: "None", true: "Exited"}
+var controlPanelColorMapping = map[game.ControlPanelColor]string{game.ColorUnknown: "Unknown", game.ColorRed: "Red",
+	game.ColorGreen: "Green", game.ColorBlue: "Blue", game.ColorYellow: "Yellow"}
 var endgameMapping = []string{"None", "Park", "Hang"}
 var rungIsLevelMapping = map[bool]string{false: "NotLevel", true: "IsLevel"}
 
@@ -543,8 +545,7 @@ func createTbaScoringBreakdown(match *model.Match, matchResult *model.MatchResul
 	breakdown.Stage1Activated = scoreSummary.StagesActivated[0]
 	breakdown.Stage2Activated = scoreSummary.StagesActivated[1]
 	breakdown.Stage3Activated = scoreSummary.StagesActivated[2]
-	// TODO(pat): Add once the Arena logic is in place.
-	// breakdown.Stage3TargetColor =
+	breakdown.Stage3TargetColor = controlPanelColorMapping[score.Stage3TargetColor]
 	breakdown.EndgameRobot1 = endgameMapping[score.EndgameStatuses[0]]
 	breakdown.EndgameRobot2 = endgameMapping[score.EndgameStatuses[1]]
 	breakdown.EndgameRobot3 = endgameMapping[score.EndgameStatuses[2]]

static/css/scoring_panel.css

@@ -86,6 +86,24 @@ body {
 .control-panel[data-value="true"] {
   background-color: #263;
 }
+.control-panel-color[data-value="0"] {
+  background-color: #333;
+}
+.control-panel-color[data-value="0"][data-control-panel-status="1"] {
+  border: 3px solid red;
+}
+.control-panel-color[data-value="1"] {
+  background-color: #633;
+}
+.control-panel-color[data-value="2"] {
+  background-color: #263;
+}
+.control-panel-color[data-value="3"] {
+  background-color: #236;
+}
+.control-panel-color[data-value="4"] {
+  background-color: #882;
+}
 .shortcut {
   margin: 0 0.2vw;
   font-size: 1vw;

static/js/scoring_panel.js

@@ -20,6 +20,24 @@ var handleMatchLoad = function(data) {
   }
 };
 
+// Handles a websocket message to update the match status.
+var handleMatchTime = function(data) {
+  switch (matchStates[data.MatchState]) {
+    case "PRE_MATCH":
+      // Pre-match message state is set in handleRealtimeScore().
+      $("#postMatchMessage").hide();
+      $("#commitMatchScore").hide();
+      break;
+    case "POST_MATCH":
+      $("#postMatchMessage").hide();
+      $("#commitMatchScore").css("display", "flex");
+      break;
+    default:
+      $("#postMatchMessage").hide();
+      $("#commitMatchScore").hide();
+  }
+};
+
 // Handles a websocket message to update the realtime scoring fields.
 var handleRealtimeScore = function(data) {
   var realtimeScore;
@@ -67,24 +85,20 @@ var handleRealtimeScore = function(data) {
   }
   $("#rungIsLevel>.value").text(score.RungIsLevel ? "Yes" : "No");
   $("#rungIsLevel").attr("data-value", score.RungIsLevel);
+  $("#controlPanelColor").attr("data-control-panel-status", score.ControlPanelStatus)
 };
 
-// Handles a websocket message to update the match status.
-var handleMatchTime = function(data) {
-  switch (matchStates[data.MatchState]) {
-    case "PRE_MATCH":
-      // Pre-match message state is set in handleRealtimeScore().
-      $("#postMatchMessage").hide();
-      $("#commitMatchScore").hide();
-      break;
-    case "POST_MATCH":
-      $("#postMatchMessage").hide();
-      $("#commitMatchScore").css("display", "flex");
-      break;
-    default:
-      $("#postMatchMessage").hide();
-      $("#commitMatchScore").hide();
+// Handles a websocket message to update the Control Panel color.
+var handleControlPanelColor = function(data) {
+  var color;
+  if (alliance === "red") {
+    color = data.RedControlPanelColor;
+  } else {
+    color = data.BlueControlPanelColor;
   }
+
+  $("#controlPanelColor>.value").text(getControlPanelColorText(color));
+  $("#controlPanelColor").attr("data-value", color);
 };
 
 // Handles a keyboard event and sends the appropriate websocket message.
@@ -116,6 +130,22 @@ var getEndgameStatusText = function(level) {
   }
 };
 
+// Returns the display text corresponding to the given integer Control Panel color value.
+var getControlPanelColorText = function(level) {
+  switch (level) {
+    case 1:
+      return "Red";
+    case 2:
+      return "Green";
+    case 3:
+      return "Blue";
+    case 4:
+      return "Yellow";
+    default:
+      return "Unknown";
+  }
+};
+
 // Updates the power cell count for a goal, given the element and score values.
 var setGoalValue = function(element, powerCells) {
   var total = 0;
@@ -133,7 +163,8 @@ $(function() {
   websocket = new CheesyWebsocket("/panels/scoring/" + alliance + "/websocket", {
     matchLoad: function(event) { handleMatchLoad(event.data); },
     matchTime: function(event) { handleMatchTime(event.data); },
-    realtimeScore: function(event) { handleRealtimeScore(event.data); }
+    realtimeScore: function(event) { handleRealtimeScore(event.data); },
+    controlPanelColor: function(event) { handleControlPanelColor(event.data); }
   });
 
   $(document).keypress(handleKeyPress);

templates/scoring_panel.html

@@ -55,6 +55,7 @@
       <div class="scoring-section">
         <div class="scoring-header">
           <div>Rotation Control</div>
+          <div>Color After Rotation</div>
           <div>Position Control</div>
           <div>Rung Is Level</div>
         </div>
@@ -64,6 +65,11 @@
             <div class="value"></div>
             <div class="shortcut"></div>
           </div>
+          <div id="controlPanelColor" class="control-panel-color robot-field" onclick="handleClick('K');">
+            <div class="shortcut">K</div>
+            <div class="value"></div>
+            <div class="shortcut"></div>
+          </div>
           <div id="positionControl" class="control-panel robot-field" onclick="handleClick('P');">
             <div class="shortcut">P</div>
             <div class="value"></div>

web/scoring_panel.go

@@ -81,7 +81,7 @@ func (web *Web) scoringPanelWebsocketHandler(w http.ResponseWriter, r *http.Requ
 
 	// 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,
-		web.arena.ReloadDisplaysNotifier)
+		web.arena.ControlPanelColorNotifier, web.arena.ReloadDisplaysNotifier)
 
 	// Loop, waiting for commands and responding to them, until the client closes the connection.
 	for {
@@ -189,6 +189,20 @@ func (web *Web) scoringPanelWebsocketHandler(w http.ResponseWriter, r *http.Requ
 					score.ControlPanelStatus = game.ControlPanelRotation
 				}
 				scoreChanged = true
+			case "K":
+				if score.ControlPanelStatus == game.ControlPanelRotation {
+					var controlPanel *game.ControlPanel
+					if alliance == "red" {
+						controlPanel = web.arena.RedControlPanel
+					} else {
+						controlPanel = web.arena.BlueControlPanel
+					}
+					controlPanel.CurrentColor++
+					if controlPanel.CurrentColor == 5 {
+						controlPanel.CurrentColor = 1
+					}
+					web.arena.ControlPanelColorNotifier.Notify()
+				}
 			case "P":
 				if score.ControlPanelStatus == game.ControlPanelPosition {
 					score.ControlPanelStatus = game.ControlPanelRotation

web/scoring_panel_test.go

@@ -50,9 +50,11 @@ func TestScoringPanelWebsocket(t *testing.T) {
 	readWebsocketType(t, redWs, "matchLoad")
 	readWebsocketType(t, redWs, "matchTime")
 	readWebsocketType(t, redWs, "realtimeScore")
+	readWebsocketType(t, redWs, "controlPanelColor")
 	readWebsocketType(t, blueWs, "matchLoad")
 	readWebsocketType(t, blueWs, "matchTime")
 	readWebsocketType(t, blueWs, "realtimeScore")
+	readWebsocketType(t, blueWs, "controlPanelColor")
 
 	// Send some autonomous period scoring commands.
 	web.arena.MatchState = field.AutoPeriod
@@ -79,6 +81,7 @@ func TestScoringPanelWebsocket(t *testing.T) {
 	blueWs.Write("5", nil)
 	blueWs.Write("5", nil)
 	blueWs.Write("L", nil)
+	blueWs.Write("k", nil)
 	for i := 0; i < 6; i++ {
 		readWebsocketType(t, redWs, "realtimeScore")
 		readWebsocketType(t, blueWs, "realtimeScore")
@@ -106,9 +109,13 @@ func TestScoringPanelWebsocket(t *testing.T) {
 	web.arena.ResetMatch()
 	web.arena.LoadTestMatch()
 	readWebsocketType(t, redWs, "matchLoad")
-	readWebsocketType(t, redWs, "realtimeScore")
+	messages := readWebsocketMultiple(t, redWs, 2)
+	assert.Contains(t, messages, "realtimeScore")
+	assert.Contains(t, messages, "controlPanelColor")
 	readWebsocketType(t, blueWs, "matchLoad")
-	readWebsocketType(t, blueWs, "realtimeScore")
+	messages = readWebsocketMultiple(t, blueWs, 2)
+	assert.Contains(t, messages, "realtimeScore")
+	assert.Contains(t, messages, "controlPanelColor")
 	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"))