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

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This commit is contained in:
Patrick Fairbank
2017-09-03 20:51:20 -07:00
parent fa70323b85
commit d5ec68b77e
23 changed files with 713 additions and 59 deletions
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69
web/setup_field.go
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@@ -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)
}