Decode ArmorBlock status register from PLC and surface individual statuses on Match Play page.

field/arena.go

@@ -662,6 +662,11 @@ func (arena *Arena) checkCanStartMatch() error {
 		if arena.Plc.GetFieldEstop() {
 			return fmt.Errorf("Cannot start match while field emergency stop is active.")
 		}
+		for name, status := range arena.Plc.GetArmorBlockStatuses() {
+			if !status {
+				return fmt.Errorf("Cannot start match while PLC ArmorBlock '%s' is not connected.", name)
+			}
+		}
 	}
 
 	return nil

field/arena_notifiers.go

@@ -89,11 +89,13 @@ func (arena *Arena) generateArenaStatusMessage() interface{} {
 		AllianceStations map[string]*AllianceStation
 		TeamWifiStatuses map[string]network.TeamWifiStatus
 		MatchState
-		CanStartMatch bool
+		CanStartMatch         bool
-		PlcIsHealthy  bool
+		PlcIsHealthy          bool
-		FieldEstop    bool
+		FieldEstop            bool
+		PlcArmorBlockStatuses map[string]bool
 	}{arena.CurrentMatch.Id, arena.AllianceStations, teamWifiStatuses, arena.MatchState,
-		arena.checkCanStartMatch() == nil, arena.Plc.IsHealthy, arena.Plc.GetFieldEstop()}
+		arena.checkCanStartMatch() == nil, arena.Plc.IsHealthy, arena.Plc.GetFieldEstop(),
+		arena.Plc.GetArmorBlockStatuses()}
 }
 
 func (arena *Arena) generateAudienceDisplayModeMessage() interface{} {

plc/armorblock_string.go

@@ -0,0 +1,27 @@
+// Code generated by "stringer -type=armorBlock"; DO NOT EDIT.
+
+package plc
+
+import "strconv"
+
+func _() {
+	// An "invalid array index" compiler error signifies that the constant values have changed.
+	// Re-run the stringer command to generate them again.
+	var x [1]struct{}
+	_ = x[redDs-0]
+	_ = x[blueDs-1]
+	_ = x[shieldGenerator-2]
+	_ = x[controlPanel-3]
+	_ = x[armorBlockCount-4]
+}
+
+const _armorBlock_name = "redDsblueDsshieldGeneratorcontrolPanelarmorBlockCount"
+
+var _armorBlock_index = [...]uint8{0, 5, 11, 26, 38, 53}
+
+func (i armorBlock) String() string {
+	if i < 0 || i >= armorBlock(len(_armorBlock_index)-1) {
+		return "armorBlock(" + strconv.FormatInt(int64(i), 10) + ")"
+	}
+	return _armorBlock_name[_armorBlock_index[i]:_armorBlock_index[i+1]]
+}

plc/plc.go

@@ -11,6 +11,7 @@ import (
 	"github.com/Team254/cheesy-arena/websocket"
 	"github.com/goburrow/modbus"
 	"log"
+	"strings"
 	"time"
 )
 
@@ -114,6 +115,17 @@ const (
 	coilCount
 )
 
+// Bitmask for decoding fieldIoConnection into individual ArmorBlock connection statuses.
+type armorBlock int
+
+const (
+	redDs armorBlock = iota
+	blueDs
+	shieldGenerator
+	controlPanel
+	armorBlockCount
+)
+
 func (plc *Plc) SetAddress(address string) {
 	plc.address = address
 	plc.resetConnection()
@@ -177,6 +189,15 @@ func (plc *Plc) Run() {
 	}
 }
 
+// Returns a map of ArmorBlocks I/O module names to whether they are connected properly.
+func (plc *Plc) GetArmorBlockStatuses() map[string]bool {
+	statuses := make(map[string]bool, armorBlockCount)
+	for i := 0; i < int(armorBlockCount); i++ {
+		statuses[strings.Title(armorBlock(i).String())] = plc.registers[fieldIoConnection]&(1<<i) > 0
+	}
+	return statuses
+}
+
 // Returns the state of the field emergency stop button (true if e-stop is active).
 func (plc *Plc) GetFieldEstop() bool {
 	return plc.IsEnabled() && !plc.inputs[fieldEstop]

plc/plc_test.go

@@ -34,3 +34,32 @@ func TestBoolToByte(t *testing.T) {
 		assert.Equal(t, bools, byteToBool(bytes, len(bools)))
 	}
 }
+
+func TestGetArmorBlockStatuses(t *testing.T) {
+	var plc Plc
+
+	plc.registers[fieldIoConnection] = 0
+	assert.Equal(t, map[string]bool{"RedDs": false, "BlueDs": false, "ShieldGenerator": false, "ControlPanel": false},
+		plc.GetArmorBlockStatuses())
+	plc.registers[fieldIoConnection] = 1
+	assert.Equal(t, map[string]bool{"RedDs": true, "BlueDs": false, "ShieldGenerator": false, "ControlPanel": false},
+		plc.GetArmorBlockStatuses())
+	plc.registers[fieldIoConnection] = 2
+	assert.Equal(t, map[string]bool{"RedDs": false, "BlueDs": true, "ShieldGenerator": false, "ControlPanel": false},
+		plc.GetArmorBlockStatuses())
+	plc.registers[fieldIoConnection] = 4
+	assert.Equal(t, map[string]bool{"RedDs": false, "BlueDs": false, "ShieldGenerator": true, "ControlPanel": false},
+		plc.GetArmorBlockStatuses())
+	plc.registers[fieldIoConnection] = 8
+	assert.Equal(t, map[string]bool{"RedDs": false, "BlueDs": false, "ShieldGenerator": false, "ControlPanel": true},
+		plc.GetArmorBlockStatuses())
+	plc.registers[fieldIoConnection] = 5
+	assert.Equal(t, map[string]bool{"RedDs": true, "BlueDs": false, "ShieldGenerator": true, "ControlPanel": false},
+		plc.GetArmorBlockStatuses())
+	plc.registers[fieldIoConnection] = 10
+	assert.Equal(t, map[string]bool{"RedDs": false, "BlueDs": true, "ShieldGenerator": false, "ControlPanel": true},
+		plc.GetArmorBlockStatuses())
+	plc.registers[fieldIoConnection] = 15
+	assert.Equal(t, map[string]bool{"RedDs": true, "BlueDs": true, "ShieldGenerator": true, "ControlPanel": true},
+		plc.GetArmorBlockStatuses())
+}

static/js/match_play.js

@@ -187,6 +187,9 @@ var handleArenaStatus = function(data) {
     $("#plcStatus").attr("data-ready", false);
   }
   $("#fieldEstop").attr("data-ready", !data.FieldEstop);
+  $.each(data.PlcArmorBlockStatuses, function(name, status) {
+    $("#plc" + name + "Status").attr("data-ready", status);
+  });
 };
 
 // Handles a websocket message to update the match time countdown.

templates/match_play.html

@@ -123,6 +123,9 @@
           <p>
             <span class="label label-scoring" id="plcStatus"></span><br />
             <span class="label label-scoring" id="fieldEstop">E-Stop</span>
+            {{range $name, $status := .PlcArmorBlockStatuses}}
+              <br /><span class="label label-scoring" id="plc{{$name}}Status">{{$name}}</span>
+            {{end}}
           </p>
         {{end}}
         </div>

web/match_play.go

@@ -72,14 +72,15 @@ func (web *Web) matchPlayHandler(w http.ResponseWriter, r *http.Request) {
 	isReplay := matchResult != nil
 	data := struct {
 		*model.EventSettings
-		PlcIsEnabled      bool
+		PlcIsEnabled          bool
-		MatchesByType     map[string]MatchPlayList
+		MatchesByType         map[string]MatchPlayList
-		CurrentMatchType  string
+		CurrentMatchType      string
-		Match             *model.Match
+		Match                 *model.Match
-		AllowSubstitution bool
+		AllowSubstitution     bool
-		IsReplay          bool
+		IsReplay              bool
+		PlcArmorBlockStatuses map[string]bool
 	}{web.arena.EventSettings, web.arena.Plc.IsEnabled(), matchesByType, currentMatchType, web.arena.CurrentMatch,
-		web.arena.CurrentMatch.ShouldAllowSubstitution(), isReplay}
+		web.arena.CurrentMatch.ShouldAllowSubstitution(), isReplay, web.arena.Plc.GetArmorBlockStatuses()}
 	err = template.ExecuteTemplate(w, "base", data)
 	if err != nil {
 		handleWebErr(w, err)