diff --git a/field/arena.go b/field/arena.go
index 1404f6c..9aae4a3 100644
--- a/field/arena.go
+++ b/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
+}
diff --git a/field/arena_notifiers.go b/field/arena_notifiers.go
index 542cc56..073d21e 100644
--- a/field/arena_notifiers.go
+++ b/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")}
}
diff --git a/plc/plc.go b/plc/plc.go
index cf3160c..76d9be5 100644
--- a/plc/plc.go
+++ b/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
}
diff --git a/static/css/cheesy-arena.css b/static/css/cheesy-arena.css
index 1875d68..e2971fc 100644
--- a/static/css/cheesy-arena.css
+++ b/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;
}
diff --git a/static/js/match_play.js b/static/js/match_play.js
index 3b4ed6e..5acfffe 100644
--- a/static/js/match_play.js
+++ b/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.
diff --git a/static/js/setup_led_plc.js b/static/js/setup_led_plc.js
index 2d20279..f047d18 100644
--- a/static/js/setup_led_plc.js
+++ b/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);
});
};
diff --git a/templates/setup_led_plc.html b/templates/setup_led_plc.html
index 3a8da19..b87ca88 100644
--- a/templates/setup_led_plc.html
+++ b/templates/setup_led_plc.html
@@ -19,7 +19,7 @@
{{range $i, $name := .InputNames}}
| {{$name}} |
- |
+ |
{{end}}
@@ -45,7 +45,7 @@
{{range $i, $name := .CoilNames}}
| {{$name}} |
- |
+ |
{{end}}