Merge branch 'austin_2014-08-23'

arena.go

@@ -14,7 +14,7 @@ import (
 
 const (
 	arenaLoopPeriodMs     = 10
-	dsPacketPeriodMs      = 250
+	dsPacketPeriodMs      = 100
 	matchEndScoreDwellSec = 3
 )
 
@@ -338,6 +338,14 @@ func (arena *Arena) StartMatch() error {
 			db.SaveMatch(arena.currentMatch)
 		}
 
+		// Save the missed packet count to subtract it from the running count.
+		for _, allianceStation := range arena.AllianceStations {
+			if allianceStation.DsConn != nil {
+				allianceStation.DsConn.DriverStationStatus.MissedPacketOffset =
+					allianceStation.DsConn.DriverStationStatus.MissedPacketCount
+			}
+		}
+
 		arena.MatchState = START_MATCH
 	}
 	return err

displays.go

@@ -1118,3 +1118,21 @@ func AllianceStationDisplayWebsocketHandler(w http.ResponseWriter, r *http.Reque
 		}
 	}
 }
+
+// Renders the FTA diagnostic display.
+func FtaDisplayHandler(w http.ResponseWriter, r *http.Request) {
+	template := template.New("").Funcs(templateHelpers)
+	_, err := template.ParseFiles("templates/fta_display.html", "templates/base.html")
+	if err != nil {
+		handleWebErr(w, err)
+		return
+	}
+	data := struct {
+		*EventSettings
+	}{eventSettings}
+	err = template.ExecuteTemplate(w, "base", data)
+	if err != nil {
+		handleWebErr(w, err)
+		return
+	}
+}

driver_station_connection.go

@@ -20,31 +20,33 @@ const driverStationProtocolVersion = "11191100"
 const driverStationLinkTimeoutMs = 500
 
 type DriverStationStatus struct {
-	TeamId            int
+	TeamId             int
-	AllianceStation   string
+	AllianceStation    string
-	DsLinked          bool
+	DsLinked           bool
-	RobotLinked       bool
+	RobotLinked        bool
-	Auto              bool
+	Auto               bool
-	Enabled           bool
+	Enabled            bool
-	EmergencyStop     bool
+	EmergencyStop      bool
-	BatteryVoltage    float64
+	BatteryVoltage     float64
-	DsVersion         string
+	DsVersion          string
-	PacketCount       int
+	PacketCount        int
-	MissedPacketCount int
+	MissedPacketCount  int
-	DsRobotTripTimeMs int
+	MissedPacketOffset int
+	DsRobotTripTimeMs  int
 }
 
 type DriverStationConnection struct {
-	TeamId              int
+	TeamId                    int
-	AllianceStation     string
+	AllianceStation           string
-	Auto                bool
+	Auto                      bool
-	Enabled             bool
+	Enabled                   bool
-	EmergencyStop       bool
+	EmergencyStop             bool
-	DriverStationStatus *DriverStationStatus
+	DriverStationStatus       *DriverStationStatus
-	LastPacketTime      time.Time
+	LastPacketTime            time.Time
-	LastRobotLinkedTime time.Time
+	LastRobotLinkedTime       time.Time
-	conn                net.Conn
+	SecondsSinceLastRobotLink float64
-	packetCount         int
+	conn                      net.Conn
+	packetCount               int
 }
 
 // Opens a UDP connection for communicating to the driver station.
@@ -105,6 +107,7 @@ func ListenForDsPackets(listener *net.UDPConn) {
 			if dsStatus.RobotLinked {
 				dsConn.LastRobotLinkedTime = time.Now()
 			}
+			dsConn.SecondsSinceLastRobotLink = time.Since(dsConn.LastRobotLinkedTime).Seconds()
 		}
 	}
 }

static/css/cheesy-arena.css

@@ -41,18 +41,21 @@
 .modal-large {
   width: 60%;
 }
-.ds-status, .robot-status, .battery-status, .bypass-status {
+.ds-status, .robot-status, .battery-status, .bypass-status, .bypass-status-fta, .trip-time, .packet-loss  {
   background-color: #aaa;
   color: #000;
   border: 1px solid #999;
   border-radius: 4px;
   padding: 0px;
-  width: 40px;
+  width: 45px;
   height: 27px;
   line-height: 25px;
   font-size: 14px;
   margin: 0 auto;
 }
+.trip-time, .packet-loss {
+  width: 90px;
+}
 .bypass-status {
   cursor: pointer;
 }

static/js/fta_display.js

@@ -0,0 +1,62 @@
+// Copyright 2014 Team 254. All Rights Reserved.
+// Author: austin.linux@gmail.com (Austin Schuh)
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Client-side logic for the FTA diagnostic display.
+
+var websocket;
+
+var handleStatus = function(data) {
+  // Update the team status view.
+  $.each(data.AllianceStations, function(station, stationStatus) {
+    if (stationStatus.DsConn) {
+      $("#status" + station + " .team").text(stationStatus.DsConn.TeamId);
+      var dsStatus = stationStatus.DsConn.DriverStationStatus;
+      $("#status" + station + " .ds-status").attr("data-status-ok", dsStatus.DsLinked);
+      $("#status" + station + " .robot-status").attr("data-status-ok", dsStatus.RobotLinked);
+      if (stationStatus.DsConn.SecondsSinceLastRobotLink > 1 && stationStatus.DsConn.SecondsSinceLastRobotLink < 1000) {
+        $("#status" + station + " .robot-status").text(stationStatus.DsConn.SecondsSinceLastRobotLink.toFixed());
+      } else {
+        $("#status" + station + " .robot-status").text("");
+      }
+      $("#status" + station + " .battery-status").attr("data-status-ok",
+                                                       dsStatus.BatteryVoltage > 6 && dsStatus.RobotLinked);
+      $("#status" + station + " .battery-status").text(dsStatus.BatteryVoltage.toFixed(1) + "V");
+      $("#status" + station + " .trip-time").attr("data-status-ok", true);
+      $("#status" + station + " .trip-time").text(dsStatus.DsRobotTripTimeMs.toFixed(1) + "ms");
+      $("#status" + station + " .packet-loss").attr("data-status-ok", true);
+      $("#status" + station + " .packet-loss").text(dsStatus.MissedPacketCount - dsStatus.MissedPacketOffset);
+    } else {
+      $("#status" + station + " .ds-status").attr("data-status-ok", "");
+      $("#status" + station + " .robot-status").attr("data-status-ok", "");
+      $("#status" + station + " .robot-status").text("");
+      $("#status" + station + " .battery-status").attr("data-status-ok", "");
+      $("#status" + station + " .battery-status").text("");
+      $("#status" + station + " .trip-time").attr("data-status-ok", "");
+      $("#status" + station + " .trip-time").text("");
+      $("#status" + station + " .packet-loss").attr("data-status-ok", "");
+      $("#status" + station + " .packet-loss").text("");
+    }
+
+    if (stationStatus.EmergencyStop) {
+      $("#status" + station + " .bypass-status-fta").attr("data-status-ok", false);
+      $("#status" + station + " .bypass-status-fta").text("ES");
+    } else if (stationStatus.Bypass) {
+      $("#status" + station + " .bypass-status-fta").attr("data-status-ok", false);
+      $("#status" + station + " .bypass-status-fta").text("B");
+    } else {
+      $("#status" + station + " .bypass-status-fta").attr("data-status-ok", true);
+      $("#status" + station + " .bypass-status-fta").text("");
+    }
+  });
+};
+
+$(function() {
+  // Activate tooltips above the status headers.
+  $("[data-toggle=tooltip]").tooltip({"placement": "top"});
+
+  // Set up the websocket back to the server.
+  websocket = new CheesyWebsocket("/match_play/websocket", {
+    status: function(event) { handleStatus(event.data); }
+  });
+});

templates/base.html

@@ -57,13 +57,14 @@
             <li class="dropdown">
               <a href="#" class="dropdown-toggle" data-toggle="dropdown">Display</a>
               <ul class="dropdown-menu">
-                <li><a href="/displays/audience">Audience</a></li>
+                <li><a href="/displays/alliance_station">Alliance Station</a></li>
-                <li><a href="/displays/pit">Pit</a></li>
                 <li><a href="/displays/announcer">Announcer</a></li>
+                <li><a href="/displays/audience">Audience</a></li>
+                <li><a href="/displays/fta">FTA</a></li>
+                <li><a href="/displays/pit">Pit</a></li>
                 <li><a href="/displays/referee">Referee</a></li>
                 <li><a href="/displays/scoring/red">Scoring &ndash; Red</a></li>
                 <li><a href="/displays/scoring/blue">Scoring &ndash; Blue</a></li>
-                <li><a href="/displays/alliance_station">Alliance Station</a></li>
               </ul>
             </li>
           </ul>

templates/fta_display.html

@@ -0,0 +1,53 @@
+{{define "title"}}FTA Display{{end}}
+{{define "body"}}
+<div class="row">
+  <div class="col-lg-12">
+    <div class="row text-center">
+      <div class="col-lg-6 well well-darkblue">
+        <div class="row form-group">
+          <div class="col-lg-3">Blue Teams</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Driver Station">DS</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Robot Status/Time Since Last Link">R</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Battery">Bat</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Bypassed/Disabled">Byp</div>
+          <div class="col-lg-2" data-toggle="tooltip" title="Average Trip Time">Trip Time</div>
+          <div class="col-lg-2" data-toggle="tooltip" title="Packet Loss">Lost Pack</div>
+        </div>
+        {{template "ftaTeam" dict "color" "B" "position" 1 "data" .}}
+        {{template "ftaTeam" dict "color" "B" "position" 2 "data" .}}
+        {{template "ftaTeam" dict "color" "B" "position" 3 "data" .}}
+      </div>
+      <div class="col-lg-6 well well-darkred">
+        <div class="row form-group">
+          <div class="col-lg-3">Red Teams</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Driver Station">DS</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Robot Status/Time Since Last Link">R</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Battery">Bat</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Bypassed/Disabled">Byp</div>
+          <div class="col-lg-2" data-toggle="tooltip" title="Average Trip Time">Trip Time</div>
+          <div class="col-lg-2" data-toggle="tooltip" title="Packet Loss">Lost Pack</div>
+        </div>
+        {{template "ftaTeam" dict "color" "R" "position" 3 "data" .}}
+        {{template "ftaTeam" dict "color" "R" "position" 2 "data" .}}
+        {{template "ftaTeam" dict "color" "R" "position" 1 "data" .}}
+      </div>
+    </div>
+    <br />
+  </div>
+</div>
+{{end}}
+{{define "script"}}
+<script src="/static/js/fta_display.js"></script>
+{{end}}
+{{define "ftaTeam"}}
+<div class="row form-group" id="status{{.color}}{{.position}}">
+  <div class="col-lg-1">{{.position}} </div>
+  <div class="col-lg-2"><div class="team"></div></div>
+  <div class="col-lg-1 col-no-padding"><div class="ds-status"></div></div>
+  <div class="col-lg-1 col-no-padding"><div class="robot-status"></div></div>
+  <div class="col-lg-1 col-no-padding"><div class="battery-status"></div></div>
+  <div class="col-lg-1 col-no-padding"><div class="bypass-status-fta"></div></div>
+  <div class="col-lg-2 col-no-padding"><div class="trip-time" ></div></div>
+  <div class="col-lg-2 col-no-padding"><div class="packet-loss" ></div></div>
+</div>
+{{end}}

web.go

@@ -152,6 +152,7 @@ func newHandler() http.Handler {
 	router.HandleFunc("/displays/referee/websocket", RefereeDisplayWebsocketHandler).Methods("GET")
 	router.HandleFunc("/displays/alliance_station", AllianceStationDisplayHandler).Methods("GET")
 	router.HandleFunc("/displays/alliance_station/websocket", AllianceStationDisplayWebsocketHandler).Methods("GET")
+	router.HandleFunc("/displays/fta", FtaDisplayHandler).Methods("GET")
 	router.HandleFunc("/api/matches/{type}", MatchesApiHandler).Methods("GET")
 	router.HandleFunc("/api/rankings", RankingsApiHandler).Methods("GET")
 	router.HandleFunc("/", IndexHandler).Methods("GET")