Implement PLC integration for the shield generator rung.

field/arena.go

@@ -796,6 +796,11 @@ func (arena *Arena) handlePlcInput() {
 		blueControlPanel.UpdateState(blueSegmentCount, blueScore.StageAtCapacity(game.Stage2, teleopStarted),
 			blueScore.StageAtCapacity(game.Stage3, teleopStarted), currentTime)
 		blueScore.ControlPanelStatus = blueControlPanel.ControlPanelStatus
+
+		// Handle shield generator rungs.
+		if game.ShouldAssessRung(matchStartTime, currentTime) {
+			redScore.RungIsLevel, blueScore.RungIsLevel = arena.Plc.GetRungs()
+		}
 	}
 
 	// Check if either alliance has reached Stage 3 capacity.

game/match_timing.go

@@ -7,6 +7,12 @@ package game
 
 import "time"
 
+const (
+	powerPortAutoGracePeriodSec   = 5
+	powerPortTeleopGracePeriodSec = 5
+	rungAssessmentDelaySec        = 5
+)
+
 var MatchTiming = struct {
 	WarmupDurationSec           int
 	AutoDurationSec             int
@@ -25,7 +31,18 @@ func GetDurationToTeleopStart() time.Duration {
 		time.Second
 }
 
+func GetDurationToWarning() time.Duration {
+	return time.Duration(MatchTiming.WarmupDurationSec+MatchTiming.AutoDurationSec+MatchTiming.PauseDurationSec+
+		MatchTiming.TeleopDurationSec-MatchTiming.WarningRemainingDurationSec) * time.Second
+}
+
 func GetDurationToTeleopEnd() time.Duration {
 	return time.Duration(MatchTiming.WarmupDurationSec+MatchTiming.AutoDurationSec+MatchTiming.PauseDurationSec+
 		MatchTiming.TeleopDurationSec) * time.Second
 }
+
+// Returns true if the given time is within the proper range for assessing the level state of the shield generator rung.
+func ShouldAssessRung(matchStartTime, currentTime time.Time) bool {
+	return currentTime.After(matchStartTime.Add(GetDurationToWarning())) &&
+		currentTime.Before(matchStartTime.Add(GetDurationToTeleopEnd()+rungAssessmentDelaySec*time.Second))
+}

game/match_timing_test.go

@@ -0,0 +1,18 @@
+// Copyright 2020 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+
+package game
+
+import (
+	"github.com/stretchr/testify/assert"
+	"testing"
+)
+
+func TestShouldAssessRung(t *testing.T) {
+	assert.Equal(t, false, ShouldAssessRung(matchStartTime, timeAfterStart(0)))
+	assert.Equal(t, false, ShouldAssessRung(matchStartTime, timeAfterStart(121.9)))
+	assert.Equal(t, true, ShouldAssessRung(matchStartTime, timeAfterStart(122.1)))
+	assert.Equal(t, true, ShouldAssessRung(matchStartTime, timeAfterStart(152.1)))
+	assert.Equal(t, true, ShouldAssessRung(matchStartTime, timeAfterStart(156.9)))
+	assert.Equal(t, false, ShouldAssessRung(matchStartTime, timeAfterStart(157.1)))
+}

game/power_port.go

@@ -9,11 +9,6 @@ import (
 	"time"
 )
 
-const (
-	powerPortAutoGracePeriodSec   = 5
-	powerPortTeleopGracePeriodSec = 5
-)
-
 type PowerPort struct {
 	AutoCellsBottom   [2]int
 	AutoCellsOuter    [2]int

plc/plc.go

@@ -230,6 +230,11 @@ func (plc *Plc) GetControlPanels() (game.ControlPanelColor, int, game.ControlPan
 		game.ControlPanelColor(plc.registers[blueControlPanelColor]), int(plc.registers[blueControlPanelSegments])
 }
 
+// Returns whether each of the red and blue rungs is level.
+func (plc *Plc) GetRungs() (bool, bool) {
+	return plc.inputs[redRungIsLevel], plc.inputs[blueRungIsLevel]
+}
+
 // Set the on/off state of the stack lights on the scoring table.
 func (plc *Plc) SetStackLights(red, blue, orange, green bool) {
 	plc.coils[stackLightRed] = red