Send out game data when Stage 3 capacity is reached.

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