Add pre- and post-match LED modes to indicate field status.

field/arena.go

@@ -53,6 +53,7 @@ type Arena struct {
 	RedRealtimeScore               *RealtimeScore
 	BlueRealtimeScore              *RealtimeScore
 	lastDsPacketTime               time.Time
+	FieldVolunteers                bool
 	FieldReset                     bool
 	AudienceDisplayScreen          string
 	SavedMatch                     *model.Match
@@ -83,6 +84,8 @@ type Arena struct {
 	RedSwitchLeds                  led.Controller
 	BlueSwitchLeds                 led.Controller
 	warmupLedMode                  led.Mode
+	lastRedAllianceReady           bool
+	lastBlueAllianceReady          bool
 }
 
 type ArenaStatus struct {
@@ -227,6 +230,7 @@ func (arena *Arena) LoadMatch(match *model.Match) error {
 	// Reset the realtime scores.
 	arena.RedRealtimeScore = NewRealtimeScore()
 	arena.BlueRealtimeScore = NewRealtimeScore()
+	arena.FieldVolunteers = false
 	arena.FieldReset = false
 	arena.Scale = &game.Seesaw{Kind: game.NeitherAlliance}
 	arena.RedSwitch = &game.Seesaw{Kind: game.RedAlliance}
@@ -249,6 +253,13 @@ func (arena *Arena) LoadMatch(match *model.Match) error {
 	arena.AllianceStationDisplayScreen = "match"
 	arena.AllianceStationDisplayNotifier.Notify(nil)
 
+	// Set the initial state of the lights.
+	arena.ScaleLeds.SetMode(led.OffMode, led.OffMode)
+	arena.RedSwitchLeds.SetMode(led.RedMode, led.RedMode)
+	arena.BlueSwitchLeds.SetMode(led.BlueMode, led.BlueMode)
+	arena.lastRedAllianceReady = false
+	arena.lastBlueAllianceReady = false
+
 	return nil
 }
 
@@ -607,15 +618,10 @@ func (arena *Arena) checkCanStartMatch() error {
 	if arena.MatchState != PreMatch {
 		return fmt.Errorf("Cannot start match while there is a match still in progress or with results pending.")
 	}
-	for _, allianceStation := range arena.AllianceStations {
-		if allianceStation.Estop {
-			return fmt.Errorf("Cannot start match while an emergency stop is active.")
-		}
-		if !allianceStation.Bypass {
-			if allianceStation.DsConn == nil || !allianceStation.DsConn.RobotLinked {
-				return fmt.Errorf("Cannot start match until all robots are connected or bypassed.")
-			}
-		}
+
+	err := arena.checkAllianceStationsReady("R1", "R2", "R3", "B1", "B2", "B3")
+	if err != nil {
+		return err
 	}
 
 	if arena.EventSettings.PlcAddress != "" {
@@ -630,6 +636,22 @@ func (arena *Arena) checkCanStartMatch() error {
 	return nil
 }
 
+func (arena *Arena) checkAllianceStationsReady(stations ...string) error {
+	for _, station := range stations {
+		allianceStation := arena.AllianceStations[station]
+		if allianceStation.Estop {
+			return fmt.Errorf("Cannot start match while an emergency stop is active.")
+		}
+		if !allianceStation.Bypass {
+			if allianceStation.DsConn == nil || !allianceStation.DsConn.RobotLinked {
+				return fmt.Errorf("Cannot start match until all robots are connected or bypassed.")
+			}
+		}
+	}
+
+	return nil
+}
+
 func (arena *Arena) sendDsPacket(auto bool, enabled bool) {
 	for _, allianceStation := range arena.AllianceStations {
 		dsConn := allianceStation.DsConn
@@ -752,6 +774,22 @@ func (arena *Arena) handlePlcOutput() {
 
 func (arena *Arena) handleLeds() {
 	switch arena.MatchState {
+	case PreMatch:
+		// Turn off each alliance switch if all teams become ready.
+		if arena.checkAllianceStationsReady("R1", "R2", "R3") == nil && !arena.lastRedAllianceReady {
+			arena.RedSwitchLeds.SetMode(led.OffMode, led.OffMode)
+			arena.lastRedAllianceReady = true
+		} else if arena.checkAllianceStationsReady("R1", "R2", "R3") != nil && arena.lastRedAllianceReady {
+			arena.RedSwitchLeds.SetMode(led.RedMode, led.RedMode)
+			arena.lastRedAllianceReady = false
+		}
+		if arena.checkAllianceStationsReady("B1", "B2", "B3") == nil && !arena.lastBlueAllianceReady {
+			arena.BlueSwitchLeds.SetMode(led.OffMode, led.OffMode)
+			arena.lastBlueAllianceReady = true
+		} else if arena.checkAllianceStationsReady("B1", "B2", "B3") != nil && arena.lastBlueAllianceReady {
+			arena.BlueSwitchLeds.SetMode(led.BlueMode, led.BlueMode)
+			arena.lastBlueAllianceReady = false
+		}
 	case WarmupPeriod:
 		arena.ScaleLeds.SetMode(arena.warmupLedMode, arena.warmupLedMode)
 		arena.RedSwitchLeds.SetMode(arena.warmupLedMode, arena.warmupLedMode)
@@ -769,9 +807,15 @@ func (arena *Arena) handleLeds() {
 		arena.RedSwitchLeds.SetMode(led.OffMode, led.OffMode)
 		arena.BlueSwitchLeds.SetMode(led.OffMode, led.OffMode)
 	case PostMatch:
-		arena.ScaleLeds.SetMode(led.FadeSingleMode, led.FadeSingleMode)
-		arena.RedSwitchLeds.SetMode(led.FadeSingleMode, led.FadeSingleMode)
-		arena.BlueSwitchLeds.SetMode(led.FadeSingleMode, led.FadeSingleMode)
+		mode := led.FadeSingleMode
+		if arena.FieldReset {
+			mode = led.GreenMode
+		} else if arena.FieldVolunteers {
+			mode = led.PurpleMode
+		}
+		arena.ScaleLeds.SetMode(mode, mode)
+		arena.RedSwitchLeds.SetMode(mode, mode)
+		arena.BlueSwitchLeds.SetMode(mode, mode)
 	}
 
 	arena.ScaleLeds.Update()

led/mode.go

@@ -13,6 +13,7 @@ const (
 	GreenMode
 	BlueMode
 	WhiteMode
+	PurpleMode
 	ChaseMode
 	WarmupMode
 	Warmup2Mode
@@ -35,6 +36,7 @@ var ModeNames = map[Mode]string{
 	GreenMode:       "Green",
 	BlueMode:        "Blue",
 	WhiteMode:       "White",
+	PurpleMode:      "Purple",
 	ChaseMode:       "Chase",
 	WarmupMode:      "Warmup",
 	Warmup2Mode:     "Warmup Purple",

led/strip.go

@@ -30,6 +30,8 @@ func (strip *strip) updatePixels() {
 		strip.updateSingleColorMode(blue)
 	case WhiteMode:
 		strip.updateSingleColorMode(white)
+	case PurpleMode:
+		strip.updateSingleColorMode(purple)
 	case ChaseMode:
 		strip.updateChaseMode()
 	case WarmupMode:

static/js/referee_display.js

@@ -79,6 +79,11 @@ var cycleCard = function(cardButton) {
   $(cardButton).attr("data-card", newCard);
 };
 
+// Signals to the volunteers that they may enter the field.
+var signalVolunteers = function() {
+  websocket.send("signalVolunteers");
+};
+
 // Signals to the teams that they may enter the field.
 var signalReset = function() {
   websocket.send("signalReset");

templates/referee_display.html

@@ -72,6 +72,8 @@
                 onclick="commitFoul();">Add Foul</button>
           </div>
           <div class="row text-center">
+            <a class="btn btn-sm btn-warning btn-referee btn-referee-wide"
+                onclick="signalVolunteers();">Signal Volunteers</a>
             <a class="btn btn-sm btn-success btn-referee btn-referee-wide"
                 onclick="signalReset();">Signal Reset</a>
             <a class="btn btn-sm btn-info btn-referee btn-referee-wide"

web/referee_display.go

@@ -213,6 +213,13 @@ func (web *Web) refereeDisplayWebsocketHandler(w http.ResponseWriter, r *http.Re
 			}
 			cards[strconv.Itoa(args.TeamId)] = args.Card
 			continue
+		case "signalVolunteers":
+			if web.arena.MatchState != field.PostMatch {
+				// Don't allow clearing the field until the match is over.
+				continue
+			}
+			web.arena.FieldVolunteers = true
+			continue // Don't reload.
 		case "signalReset":
 			if web.arena.MatchState != field.PostMatch {
 				// Don't allow clearing the field until the match is over.