diff --git a/vaultled/controller.go b/vaultled/controller.go
new file mode 100644
index 0000000..1bdea42
--- /dev/null
+++ b/vaultled/controller.go
@@ -0,0 +1,199 @@
+// Copyright 2018 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Represents a Philips Color Kinetics LED controller with one output, as used in the 2018 vault.
+
+package vaultled
+
+import (
+ "fmt"
+ "github.com/Team254/cheesy-arena/led"
+ "net"
+ "time"
+)
+
+const (
+ port = 6038
+ packetTimeoutSec = 1
+ numPixels = 17
+ pixelDataOffset = 21
+)
+
+type Controller struct {
+ CurrentForceMode Mode
+ CurrentLevitateMode Mode
+ CurrentBoostMode Mode
+ pixels [numPixels][3]byte
+ oldPixels [numPixels][3]byte
+ conn net.Conn
+ packet []byte
+ lastPacketTime time.Time
+}
+
+func (controller *Controller) SetAddress(address string) error {
+ if controller.conn != nil {
+ controller.conn.Close()
+ controller.conn = nil
+ }
+
+ if address != "" {
+ var err error
+ if controller.conn, err = net.Dial("udp4", fmt.Sprintf("%s:%d", address, port)); err != nil {
+ return err
+ }
+ }
+
+ return nil
+}
+
+// Sets the current mode for the section of LEDs corresponding to the force powerup.
+func (controller *Controller) SetForceMode(mode Mode) {
+ controller.CurrentForceMode = mode
+ controller.setPixels(0, mode)
+}
+
+// Sets the current mode for the section of LEDs corresponding to the levitate powerup.
+func (controller *Controller) SetLevitateMode(mode Mode) {
+ controller.CurrentLevitateMode = mode
+ controller.setPixels(6, mode)
+}
+
+// Sets the current mode for the section of LEDs corresponding to the boost powerup.
+func (controller *Controller) SetBoostMode(mode Mode) {
+ controller.CurrentBoostMode = mode
+ controller.setPixels(12, mode)
+}
+
+// Sets the current mode for all sections of LEDs to the same value.
+func (controller *Controller) SetAllModes(mode Mode) {
+ controller.SetForceMode(mode)
+ controller.SetLevitateMode(mode)
+ controller.SetBoostMode(mode)
+}
+
+// Sends a packet if necessary. Should be called from a timed loop.
+func (controller *Controller) Update() error {
+ if controller.conn == nil {
+ // This controller is not configured; do nothing.
+ return nil
+ }
+
+ // Create the template packet if it doesn't already exist.
+ if len(controller.packet) == 0 {
+ controller.packet = createBlankPacket(numPixels)
+ }
+
+ // Send packets if the pixel values have changed.
+ if controller.shouldSendPacket() {
+ controller.populatePacketPixels(controller.packet[pixelDataOffset:])
+ controller.sendPacket()
+ }
+
+ return nil
+}
+
+func (controller *Controller) setPixels(offset int, mode Mode) {
+ for i := 0; i < 5; i++ {
+ controller.pixels[offset+i] = led.Colors[led.Black]
+ }
+
+ switch mode {
+ case ThreeCubeMode:
+ controller.pixels[offset+3] = led.Colors[led.Yellow]
+ fallthrough
+ case TwoCubeMode:
+ controller.pixels[offset+2] = led.Colors[led.Yellow]
+ fallthrough
+ case OneCubeMode:
+ controller.pixels[offset+1] = led.Colors[led.Yellow]
+ case RedPlayedMode:
+ for i := 0; i < 5; i++ {
+ controller.pixels[offset+i] = led.Colors[led.Red]
+ }
+ case BluePlayedMode:
+ for i := 0; i < 5; i++ {
+ controller.pixels[offset+i] = led.Colors[led.Blue]
+ }
+ }
+}
+
+// Constructs the structure of a KiNET data packet that can be re-used indefinitely by updating the pixel data and
+// re-sending it.
+func createBlankPacket(numPixels int) []byte {
+ size := pixelDataOffset + 3*numPixels
+ packet := make([]byte, size)
+
+ // Magic sequence
+ packet[0] = 0x04
+ packet[1] = 0x01
+ packet[2] = 0xdc
+ packet[3] = 0x4a
+
+ // Version
+ packet[4] = 0x01
+ packet[5] = 0x00
+
+ // Type
+ packet[6] = 0x01
+ packet[7] = 0x01
+
+ // Sequence
+ packet[8] = 0x00
+ packet[9] = 0x00
+ packet[10] = 0x00
+ packet[11] = 0x00
+
+ // Port
+ packet[12] = 0x00
+
+ // Padding
+ packet[13] = 0x00
+
+ // Flags
+ packet[14] = 0x00
+ packet[15] = 0x00
+
+ // Timer
+ packet[16] = 0xff
+ packet[17] = 0xff
+ packet[18] = 0xff
+ packet[19] = 0xff
+
+ // Universe
+ packet[20] = 0x00
+
+ // Remainder of packet is pixel data which will be populated whenever packet is sent.
+ return packet
+}
+
+// Returns true if the pixel data has changed.
+func (controller *Controller) shouldSendPacket() bool {
+ for i := 0; i < numPixels; i++ {
+ if controller.pixels[i] != controller.oldPixels[i] {
+ return true
+ }
+ }
+ return time.Since(controller.lastPacketTime).Seconds() > packetTimeoutSec
+}
+
+// Writes the pixel RGB values into the given packet in preparation for sending.
+func (controller *Controller) populatePacketPixels(pixelData []byte) {
+ for i, pixel := range controller.pixels {
+ pixelData[3*i] = pixel[0]
+ pixelData[3*i+1] = pixel[1]
+ pixelData[3*i+2] = pixel[2]
+ }
+
+ // Keep a record of the pixel values in order to detect future changes.
+ controller.oldPixels = controller.pixels
+ controller.lastPacketTime = time.Now()
+}
+
+func (controller *Controller) sendPacket() error {
+ _, err := controller.conn.Write(controller.packet)
+ if err != nil {
+ return err
+ }
+
+ return nil
+}
diff --git a/vaultled/mode.go b/vaultled/mode.go
new file mode 100644
index 0000000..32a9518
--- /dev/null
+++ b/vaultled/mode.go
@@ -0,0 +1,26 @@
+// Copyright 2018 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Contains the set of display modes for the vault LEDs.
+
+package vaultled
+
+type Mode int
+
+const (
+ OffMode Mode = iota
+ OneCubeMode
+ TwoCubeMode
+ ThreeCubeMode
+ RedPlayedMode
+ BluePlayedMode
+)
+
+var ModeNames = map[Mode]string{
+ OffMode: "Off",
+ OneCubeMode: "One Cube",
+ TwoCubeMode: "Two Cubes",
+ ThreeCubeMode: "Three Cubes",
+ RedPlayedMode: "Red Played",
+ BluePlayedMode: "Blue Played",
+}
diff --git a/web/setup_field.go b/web/setup_field.go
index 1b4a891..6fdfff5 100644
--- a/web/setup_field.go
+++ b/web/setup_field.go
@@ -9,6 +9,7 @@ import (
"github.com/Team254/cheesy-arena/field"
"github.com/Team254/cheesy-arena/led"
"github.com/Team254/cheesy-arena/model"
+ "github.com/Team254/cheesy-arena/vaultled"
"log"
"net/http"
"strconv"
@@ -34,8 +35,11 @@ func (web *Web) fieldGetHandler(w http.ResponseWriter, r *http.Request) {
CoilNames []string
CurrentLedMode led.Mode
LedModeNames map[led.Mode]string
+ CurrentVaultLedMode vaultled.Mode
+ VaultLedModeNames map[vaultled.Mode]string
}{web.arena.EventSettings, web.arena.AllianceStationDisplays, plc.GetInputNames(), plc.GetRegisterNames(),
- plc.GetCoilNames(), web.arena.ScaleLeds.GetCurrentMode(), led.ModeNames}
+ plc.GetCoilNames(), web.arena.ScaleLeds.GetCurrentMode(), led.ModeNames,
+ web.arena.RedVaultLeds.CurrentForceMode, vaultled.ModeNames}
err = template.ExecuteTemplate(w, "base", data)
if err != nil {
handleWebErr(w, err)
@@ -83,6 +87,11 @@ func (web *Web) fieldTestPostHandler(w http.ResponseWriter, r *http.Request) {
web.arena.RedSwitchLeds.SetMode(ledMode, ledMode)
web.arena.BlueSwitchLeds.SetMode(ledMode, ledMode)
+ vaultMode, _ := strconv.Atoi(r.PostFormValue("vaultMode"))
+ vaultLedMode := vaultled.Mode(vaultMode)
+ web.arena.RedVaultLeds.SetAllModes(vaultLedMode)
+ web.arena.BlueVaultLeds.SetAllModes(vaultLedMode)
+
http.Redirect(w, r, "/setup/field", 303)
}
diff --git a/web/setup_settings.go b/web/setup_settings.go
index d695f3e..0126c05 100644
--- a/web/setup_settings.go
+++ b/web/setup_settings.go
@@ -73,6 +73,8 @@ func (web *Web) settingsPostHandler(w http.ResponseWriter, r *http.Request) {
eventSettings.ScaleLedAddress = r.PostFormValue("scaleLedAddress")
eventSettings.RedSwitchLedAddress = r.PostFormValue("redSwitchLedAddress")
eventSettings.BlueSwitchLedAddress = r.PostFormValue("blueSwitchLedAddress")
+ eventSettings.RedVaultLedAddress = r.PostFormValue("redVaultLedAddress")
+ eventSettings.BlueVaultLedAddress = r.PostFormValue("blueVaultLedAddress")
err := web.arena.Database.SaveEventSettings(eventSettings)
if err != nil {