Add PLC integration for field sensors, motors, and lights.

2026-03-09 13:46:44 -04:00 · 2017-09-03 20:51:20 -07:00
parent fa70323b85
commit d5ec68b77e
23 changed files with 713 additions and 59 deletions
--- a/web/audience_display.go
+++ b/web/audience_display.go
@@ -98,7 +98,7 @@ func (web *Web) audienceDisplayWebsocketHandler(w http.ResponseWriter, r *http.R
 		BlueScore        *game.Score
 		RedScoreSummary  *game.ScoreSummary
 		BlueScoreSummary *game.ScoreSummary
-	}{web.arena.RedRealtimeScore.CurrentScore, web.arena.BlueRealtimeScore.CurrentScore,
+	}{&web.arena.RedRealtimeScore.CurrentScore, &web.arena.BlueRealtimeScore.CurrentScore,
 		web.arena.RedScoreSummary(), web.arena.BlueScoreSummary()}
 	err = websocket.Write("realtimeScore", data)
 	if err != nil {
@@ -160,7 +160,7 @@ func (web *Web) audienceDisplayWebsocketHandler(w http.ResponseWriter, r *http.R
 					BlueScore        *game.Score
 					RedScoreSummary  *game.ScoreSummary
 					BlueScoreSummary *game.ScoreSummary
-				}{web.arena.RedRealtimeScore.CurrentScore, web.arena.BlueRealtimeScore.CurrentScore,
+				}{&web.arena.RedRealtimeScore.CurrentScore, &web.arena.BlueRealtimeScore.CurrentScore,
 					web.arena.RedScoreSummary(), web.arena.BlueScoreSummary()}
 			case _, ok := <-scorePostedListener:
 				if !ok {
--- a/web/match_play.go
+++ b/web/match_play.go
@@ -415,7 +415,7 @@ func (web *Web) matchPlayWebsocketHandler(w http.ResponseWriter, r *http.Request
 		}

 		// Send out the status again after handling the command, as it most likely changed as a result.
-		err = websocket.Write("status", web.arena)
+		err = websocket.Write("status", web.arena.GetStatus())
 		if err != nil {
 			log.Printf("Websocket error: %s", err)
 			return
@@ -541,7 +541,7 @@ func (web *Web) commitMatchScore(match *model.Match, matchResult *model.MatchRes

 func (web *Web) getCurrentMatchResult() *model.MatchResult {
 	return &model.MatchResult{MatchId: web.arena.CurrentMatch.Id, MatchType: web.arena.CurrentMatch.Type,
-		RedScore: web.arena.RedRealtimeScore.CurrentScore, BlueScore: web.arena.BlueRealtimeScore.CurrentScore,
+		RedScore: &web.arena.RedRealtimeScore.CurrentScore, BlueScore: &web.arena.BlueRealtimeScore.CurrentScore,
 		RedCards: web.arena.RedRealtimeScore.Cards, BlueCards: web.arena.BlueRealtimeScore.Cards}
 }

--- a/web/match_review.go
+++ b/web/match_review.go
@@ -129,8 +129,8 @@ func (web *Web) matchReviewEditPostHandler(w http.ResponseWriter, r *http.Reques

 	if isCurrent {
 		// If editing the current match, just save it back to memory.
-		web.arena.RedRealtimeScore.CurrentScore = matchResult.RedScore
-		web.arena.BlueRealtimeScore.CurrentScore = matchResult.BlueScore
+		web.arena.RedRealtimeScore.CurrentScore = *matchResult.RedScore
+		web.arena.BlueRealtimeScore.CurrentScore = *matchResult.BlueScore
 		web.arena.RedRealtimeScore.Cards = matchResult.RedCards
 		web.arena.BlueRealtimeScore.Cards = matchResult.BlueCards

--- a/web/setup_field.go
+++ b/web/setup_field.go
@@ -6,6 +6,7 @@
 package web

 import (
+	"github.com/Team254/cheesy-arena/field"
 	"github.com/Team254/cheesy-arena/model"
 	"net/http"
 )
@@ -24,7 +25,12 @@ func (web *Web) fieldGetHandler(w http.ResponseWriter, r *http.Request) {
 	data := struct {
 		*model.EventSettings
 		AllianceStationDisplays map[string]string
-	}{web.arena.EventSettings, web.arena.AllianceStationDisplays}
+		FieldTestMode           string
+		Inputs                  []bool
+		Counters                []uint16
+		Coils                   []bool
+	}{web.arena.EventSettings, web.arena.AllianceStationDisplays, web.arena.FieldTestMode, web.arena.Plc.Inputs[:],
+		web.arena.Plc.Counters[:], web.arena.Plc.Coils[:]}
 	err = template.ExecuteTemplate(w, "base", data)
 	if err != nil {
 		handleWebErr(w, err)
@@ -54,3 +60,64 @@ func (web *Web) fieldReloadDisplaysHandler(w http.ResponseWriter, r *http.Reques
 	web.arena.ReloadDisplaysNotifier.Notify(nil)
 	http.Redirect(w, r, "/setup/field", 303)
 }
+
+// Controls the field LEDs for testing or effect.
+func (web *Web) fieldTestPostHandler(w http.ResponseWriter, r *http.Request) {
+	if !web.userIsAdmin(w, r) {
+		return
+	}
+
+	if web.arena.MatchState != field.PreMatch {
+		http.Error(w, "Arena must be in pre-match state", 400)
+		return
+	}
+
+	mode := r.PostFormValue("mode")
+	switch mode {
+	case "boiler":
+		web.arena.Plc.SetBoilerMotors(true)
+		web.arena.Plc.SetRotorMotors(0, 0)
+		web.arena.Plc.SetRotorLights(0, 0)
+		web.arena.Plc.SetTouchpadLights([3]bool{false, false, false}, [3]bool{false, false, false})
+	case "rotor1":
+		web.arena.Plc.SetBoilerMotors(false)
+		web.arena.Plc.SetRotorMotors(1, 1)
+		web.arena.Plc.SetRotorLights(1, 1)
+		web.arena.Plc.SetTouchpadLights([3]bool{true, false, false}, [3]bool{true, false, false})
+	case "rotor2":
+		web.arena.Plc.SetBoilerMotors(false)
+		web.arena.Plc.SetRotorMotors(2, 2)
+		web.arena.Plc.SetRotorLights(2, 2)
+		web.arena.Plc.SetTouchpadLights([3]bool{false, true, false}, [3]bool{false, true, false})
+	case "rotor3":
+		web.arena.Plc.SetBoilerMotors(false)
+		web.arena.Plc.SetRotorMotors(3, 3)
+		web.arena.Plc.SetRotorLights(2, 2)
+		web.arena.Plc.SetTouchpadLights([3]bool{false, false, true}, [3]bool{false, false, true})
+	case "rotor4":
+		web.arena.Plc.SetBoilerMotors(false)
+		web.arena.Plc.SetRotorMotors(4, 4)
+		web.arena.Plc.SetRotorLights(2, 2)
+		web.arena.Plc.SetTouchpadLights([3]bool{false, false, false}, [3]bool{false, false, false})
+	case "red":
+		web.arena.Plc.SetBoilerMotors(false)
+		web.arena.Plc.SetRotorMotors(4, 0)
+		web.arena.Plc.SetRotorLights(2, 0)
+		web.arena.Plc.SetTouchpadLights([3]bool{true, true, true}, [3]bool{false, false, false})
+	case "blue":
+		web.arena.Plc.SetBoilerMotors(false)
+		web.arena.Plc.SetRotorMotors(0, 4)
+		web.arena.Plc.SetRotorLights(0, 2)
+		web.arena.Plc.SetTouchpadLights([3]bool{false, false, false}, [3]bool{true, true, true})
+	case "flash":
+		fallthrough
+	default:
+		web.arena.Plc.SetBoilerMotors(false)
+		web.arena.Plc.SetRotorMotors(0, 0)
+		web.arena.Plc.SetRotorLights(0, 0)
+		web.arena.Plc.SetTouchpadLights([3]bool{false, false, false}, [3]bool{false, false, false})
+	}
+
+	web.arena.FieldTestMode = mode
+	http.Redirect(w, r, "/setup/field", 303)
+}
--- a/web/setup_field_test.go
+++ b/web/setup_field_test.go
@@ -23,10 +23,7 @@ func TestSetupField(t *testing.T) {
 	assert.Contains(t, recorder.Body.String(), "12345")
 	assert.Contains(t, recorder.Body.String(), "selected")

-	// TODO(patrick): Replace with PLC mode.
-	/*
-		recorder = web.postHttpResponse("/setup/field/lights", "mode=strobe")
-		assert.Equal(t, 303, recorder.Code)
-		assert.Equal(t, "strobe", web.arena.Lights.currentMode)
-	*/
+	recorder = web.postHttpResponse("/setup/field/test", "mode=rotor2")
+	assert.Equal(t, 303, recorder.Code)
+	assert.Equal(t, "rotor2", web.arena.FieldTestMode)
 }
--- a/web/setup_settings.go
+++ b/web/setup_settings.go
@@ -64,6 +64,7 @@ func (web *Web) settingsPostHandler(w http.ResponseWriter, r *http.Request) {
 	eventSettings.SwitchAddress = r.PostFormValue("switchAddress")
 	eventSettings.SwitchPassword = r.PostFormValue("switchPassword")
 	eventSettings.BandwidthMonitoringEnabled = r.PostFormValue("bandwidthMonitoringEnabled") == "on"
+	eventSettings.PlcAddress = r.PostFormValue("plcAddress")
 	eventSettings.AdminPassword = r.PostFormValue("adminPassword")
 	eventSettings.ReaderPassword = r.PostFormValue("readerPassword")

--- a/web/web.go
+++ b/web/web.go
@@ -150,6 +150,7 @@ func (web *Web) newHandler() http.Handler {
 	router.HandleFunc("/setup/field", web.fieldGetHandler).Methods("GET")
 	router.HandleFunc("/setup/field", web.fieldPostHandler).Methods("POST")
 	router.HandleFunc("/setup/field/reload_displays", web.fieldReloadDisplaysHandler).Methods("GET")
+	router.HandleFunc("/setup/field/test", web.fieldTestPostHandler).Methods("POST")
 	router.HandleFunc("/setup/lower_thirds", web.lowerThirdsGetHandler).Methods("GET")
 	router.HandleFunc("/setup/lower_thirds/websocket", web.lowerThirdsWebsocketHandler).Methods("GET")
 	router.HandleFunc("/setup/sponsor_slides", web.sponsorSlidesGetHandler).Methods("GET")