Implement orange stack light.

field/arena.go

@@ -673,12 +673,16 @@ func (arena *Arena) handleLeds() {
 	case TimeoutActive:
 		fallthrough
 	case PostTimeout:
-		// Set the stack light state -- blinking green if ready, or solid alliance color(s) if not.
+		// Set the stack light state -- solid alliance color(s) if robots are not connected, solid orange if scores are
+		// not input, or blinking green if ready.
 		redAllianceReady := arena.checkAllianceStationsReady("R1", "R2", "R3") == nil
 		blueAllianceReady := arena.checkAllianceStationsReady("B1", "B2", "B3") == nil
-		greenStackLight := redAllianceReady && blueAllianceReady && arena.Plc.GetCycleState(2, 0, 2)
-		arena.Plc.SetStackLights(!redAllianceReady, !blueAllianceReady, greenStackLight)
-		arena.Plc.SetStackBuzzer(redAllianceReady && blueAllianceReady)
+		preMatchScoreReady := arena.BypassPreMatchScore || arena.RedRealtimeScore.CurrentScore.IsValidPreMatch() &&
+			arena.BlueRealtimeScore.CurrentScore.IsValidPreMatch()
+		greenStackLight := redAllianceReady && blueAllianceReady && preMatchScoreReady &&
+			arena.Plc.GetCycleState(2, 0, 2)
+		arena.Plc.SetStackLights(!redAllianceReady, !blueAllianceReady, !preMatchScoreReady, greenStackLight)
+		arena.Plc.SetStackBuzzer(redAllianceReady && blueAllianceReady && preMatchScoreReady)
 
 		// Turn off lights if all teams become ready.
 		// TODO(pat): Implement for 2019.
@@ -700,9 +704,10 @@ func (arena *Arena) handleLeds() {
 			//arena.BlueSwitchLeds.SetMode(led.BlueMode, led.BlueMode)
 		}
 		arena.lastBlueAllianceReady = blueAllianceReady
-
 	case PostMatch:
-		arena.Plc.SetStackLights(false, false, false)
+		scoreReady := arena.RedRealtimeScore.FoulsCommitted && arena.BlueRealtimeScore.FoulsCommitted &&
+			arena.alliancePostMatchScoreReady("red") && arena.alliancePostMatchScoreReady("blue")
+		arena.Plc.SetStackLights(false, false, !scoreReady, false)
 	}
 }
 
@@ -745,3 +750,8 @@ func (arena *Arena) playSound(name string) {
 		arena.PlaySoundNotifier.NotifyWithMessage(name)
 	}
 }
+
+func (arena *Arena) alliancePostMatchScoreReady(alliance string) bool {
+	numPanels := arena.ScoringPanelRegistry.GetNumPanels(alliance)
+	return numPanels > 0 && arena.ScoringPanelRegistry.GetNumScoreCommitted(alliance) >= numPanels
+}

field/arena_notifiers.go

@@ -219,11 +219,14 @@ func (arena *Arena) generateScorePostedMessage() interface{} {
 func (arena *Arena) generateScoringStatusMessage() interface{} {
 	return &struct {
 		RefereeScoreReady         bool
+		RedScoreReady             bool
+		BlueScoreReady            bool
 		NumRedScoringPanels       int
 		NumRedScoringPanelsReady  int
 		NumBlueScoringPanels      int
 		NumBlueScoringPanelsReady int
 	}{arena.RedRealtimeScore.FoulsCommitted && arena.BlueRealtimeScore.FoulsCommitted,
+		arena.alliancePostMatchScoreReady("red"), arena.alliancePostMatchScoreReady("blue"),
 		arena.ScoringPanelRegistry.GetNumPanels("red"), arena.ScoringPanelRegistry.GetNumScoreCommitted("red"),
 		arena.ScoringPanelRegistry.GetNumPanels("blue"), arena.ScoringPanelRegistry.GetNumScoreCommitted("blue")}
 }

plc/plc.go

@@ -102,29 +102,32 @@ func (plc *Plc) Run() {
 	for {
 		if plc.handler == nil {
 			if plc.address == "" {
-				time.Sleep(time.Second * plcRetryIntevalSec)
+				// No PLC is configured; just allow the loop to continue to simulate inputs and outputs.
 				plc.IsHealthy = false
-				continue
-			}
-
-			err := plc.connect()
-			if err != nil {
-				log.Printf("PLC error: %v", err)
-				time.Sleep(time.Second * plcRetryIntevalSec)
-				plc.IsHealthy = false
-				continue
+			} else {
+				err := plc.connect()
+				if err != nil {
+					log.Printf("PLC error: %v", err)
+					//time.Sleep(time.Second * plcRetryIntevalSec)
+					plc.IsHealthy = false
+					continue
+				}
 			}
 		}
 
 		startTime := time.Now()
-		isHealthy := true
-		isHealthy = isHealthy && plc.writeCoils()
-		isHealthy = isHealthy && plc.readInputs()
-		isHealthy = isHealthy && plc.readCounters()
-		if !isHealthy {
-			plc.resetConnection()
+
+		if plc.handler != nil {
+			isHealthy := true
+			isHealthy = isHealthy && plc.writeCoils()
+			isHealthy = isHealthy && plc.readInputs()
+			isHealthy = isHealthy && plc.readCounters()
+			if !isHealthy {
+				plc.resetConnection()
+			}
+			plc.IsHealthy = isHealthy
 		}
-		plc.IsHealthy = isHealthy
+
 		plc.cycleCounter++
 		if plc.cycleCounter == cycleCounterMax {
 			plc.cycleCounter = 0
@@ -162,9 +165,10 @@ func (plc *Plc) GetTeamEstops() ([3]bool, [3]bool) {
 }
 
 // Set the on/off state of the stack lights on the scoring table.
-func (plc *Plc) SetStackLights(red, blue, green bool) {
+func (plc *Plc) SetStackLights(red, blue, orange, green bool) {
 	plc.coils[stackLightRed] = red
 	plc.coils[stackLightBlue] = blue
+	plc.coils[stackLightOrange] = orange
 	plc.coils[stackLightGreen] = green
 }
 

static/css/cheesy-arena.css

@@ -92,6 +92,12 @@
   width: 80px;
 }
 input[type=number]::-webkit-inner-spin-button, input[type=number]::-webkit-outer-spin-button {
-    -webkit-appearance: none;
-    margin: 0;
+  -webkit-appearance: none;
+  margin: 0;
+}
+td[data-plc-value="false"] {
+  color: #f00;
+}
+td[data-plc-value="true"] {
+  color: #090;
 }

static/js/match_play.js

@@ -222,14 +222,12 @@ var handleAudienceDisplayMode = function(data) {
 
 // Handles a websocket message to signal whether the referee and scorers have committed after the match.
 var handleScoringStatus = function(data) {
-  var redScoreReady = data.NumRedScoringPanels > 0 && data.NumRedScoringPanelsReady >= data.NumRedScoringPanels;
-  var blueScoreReady = data.NumBlueScoringPanels > 0 && data.NumBlueScoringPanelsReady >= data.NumBlueScoringPanels;
-  scoreIsReady = data.RefereeScoreReady && redScoreReady && blueScoreReady;
+  scoreIsReady = data.RefereeScoreReady && data.RedScoreReady && data.BlueScoreReady;
   $("#refereeScoreStatus").attr("data-ready", data.RefereeScoreReady);
   $("#redScoreStatus").text("Red Scoring " + data.NumRedScoringPanelsReady + "/" + data.NumRedScoringPanels);
-  $("#redScoreStatus").attr("data-ready", redScoreReady);
+  $("#redScoreStatus").attr("data-ready", data.RedScoreReady);
   $("#blueScoreStatus").text("Blue Scoring " + data.NumBlueScoringPanelsReady + "/" + data.NumBlueScoringPanels);
-  $("#blueScoreStatus").attr("data-ready", blueScoreReady);
+  $("#blueScoreStatus").attr("data-ready", data.BlueScoreReady);
 };
 
 // Handles a websocket message to update the alliance station display screen selector.

static/js/setup_led_plc.js

@@ -24,6 +24,7 @@ var handleLedMode = function(data) {
 var handlePlcIoChange = function(data) {
   $.each(data.Inputs, function(index, input) {
     $("#input" + index).text(input)
+    $("#input" + index).attr("data-plc-value", input);
   });
 
   $.each(data.Registers, function(index, register) {
@@ -32,6 +33,7 @@ var handlePlcIoChange = function(data) {
 
   $.each(data.Coils, function(index, coil) {
     $("#coil" + index).text(coil)
+    $("#coil" + index).attr("data-plc-value", coil);
   });
 };
 

templates/setup_led_plc.html

@@ -19,7 +19,7 @@
             {{range $i, $name := .InputNames}}
             <tr>
               <td>{{$name}}</td>
-              <td id="input{{$i}}"></td>
+              <td id="input{{$i}}" data-plc-value="false"></td>
             </tr>
             {{end}}
           </table>
@@ -45,7 +45,7 @@
             {{range $i, $name := .CoilNames}}
             <tr>
               <td>{{$name}}</td>
-              <td id="coil{{$i}}"></td>
+              <td id="coil{{$i}}" data-plc-value="false"></td>
             </tr>
             {{end}}
           </table>