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Implement A-stop.

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This commit is contained in:
Patrick Fairbank
2018-05-19 22:25:31 -07:00
parent e9273a46d8
commit ea405f71b1
2 changed files with 80 additions and 5 deletions
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20
field/arena.go
View File

@@ -94,6 +94,7 @@ type ArenaStatus struct {
type AllianceStation struct {
DsConn *DriverStationConnection
Astop bool
Estop bool
Bypass bool
Team *model.Team
@@ -635,7 +636,7 @@ func (arena *Arena) sendDsPacket(auto bool, enabled bool) {
dsConn := allianceStation.DsConn
if dsConn != nil {
dsConn.Auto = auto
dsConn.Enabled = enabled && !allianceStation.Estop && !allianceStation.Bypass
dsConn.Enabled = enabled && !allianceStation.Estop && !allianceStation.Astop && !allianceStation.Bypass
dsConn.Estop = allianceStation.Estop
err := dsConn.update(arena)
if err != nil {
@@ -741,9 +742,18 @@ func (arena *Arena) handlePlcOutput() {
func (arena *Arena) handleEstop(station string, state bool) {
allianceStation := arena.AllianceStations[station]
if state {
allianceStation.Estop = true
} else if arena.MatchTimeSec() == 0 {
// Don't reset the e-stop while a match is in progress.
allianceStation.Estop = false
if arena.MatchState == AutoPeriod {
allianceStation.Astop = true
} else {
allianceStation.Estop = true
}
} else {
if arena.MatchState != AutoPeriod {
allianceStation.Astop = false
}
if arena.MatchTimeSec() == 0 {
// Don't reset the e-stop while a match is in progress.
allianceStation.Estop = false
}
}
}

65
field/arena_test.go
View File

@@ -482,3 +482,68 @@ func TestSetupNetwork(t *testing.T) {
assert.Contains(t, writer.String(), "Failed to configure team Ethernet")
assert.Contains(t, writer.String(), "Failed to configure team WiFi")
}
func TestAstop(t *testing.T) {
arena := setupTestArena(t)
arena.Database.CreateTeam(&model.Team{Id: 254})
err := arena.assignTeam(254, "R1")
assert.Nil(t, err)
dummyDs := &DriverStationConnection{TeamId: 254}
arena.AllianceStations["R1"].DsConn = dummyDs
arena.Database.CreateTeam(&model.Team{Id: 148})
err = arena.assignTeam(148, "R2")
assert.Nil(t, err)
dummyDs = &DriverStationConnection{TeamId: 148}
arena.AllianceStations["R2"].DsConn = dummyDs
arena.AllianceStations["R1"].DsConn.RobotLinked = true
arena.AllianceStations["R2"].DsConn.RobotLinked = true
arena.AllianceStations["R3"].Bypass = true
arena.AllianceStations["B1"].Bypass = true
arena.AllianceStations["B2"].Bypass = true
arena.AllianceStations["B3"].Bypass = true
err = arena.StartMatch()
assert.Nil(t, err)
arena.Update()
arena.MatchStartTime = time.Now().Add(-time.Duration(game.MatchTiming.WarmupDurationSec) * time.Second)
arena.Update()
assert.Equal(t, AutoPeriod, arena.MatchState)
assert.Equal(t, true, arena.AllianceStations["R1"].DsConn.Enabled)
arena.handleEstop("R1", true)
arena.lastDsPacketTime = time.Unix(0, 0) // Force a DS packet.
arena.Update()
assert.Equal(t, false, arena.AllianceStations["R1"].DsConn.Enabled)
assert.Equal(t, true, arena.AllianceStations["R2"].DsConn.Enabled)
arena.handleEstop("R2", true)
arena.lastDsPacketTime = time.Unix(0, 0) // Force a DS packet.
arena.Update()
assert.Equal(t, false, arena.AllianceStations["R1"].DsConn.Enabled)
assert.Equal(t, false, arena.AllianceStations["R2"].DsConn.Enabled)
arena.handleEstop("R1", false)
arena.lastDsPacketTime = time.Unix(0, 0) // Force a DS packet.
arena.Update()
assert.Equal(t, false, arena.AllianceStations["R1"].DsConn.Enabled)
assert.Equal(t, false, arena.AllianceStations["R2"].DsConn.Enabled)
arena.MatchStartTime = time.Now().Add(-time.Duration(game.MatchTiming.WarmupDurationSec+
game.MatchTiming.AutoDurationSec) * time.Second)
arena.Update()
assert.Equal(t, PausePeriod, arena.MatchState)
arena.MatchStartTime = time.Now().Add(-time.Duration(game.MatchTiming.WarmupDurationSec+
game.MatchTiming.AutoDurationSec+game.MatchTiming.PauseDurationSec) * time.Second)
arena.handleEstop("R2", true)
arena.Update()
assert.Equal(t, TeleopPeriod, arena.MatchState)
assert.Equal(t, true, arena.AllianceStations["R1"].DsConn.Enabled)
assert.Equal(t, false, arena.AllianceStations["R2"].DsConn.Enabled)
arena.handleEstop("R2", false)
arena.lastDsPacketTime = time.Unix(0, 0) // Force a DS packet.
arena.Update()
assert.Equal(t, true, arena.AllianceStations["R1"].DsConn.Enabled)
assert.Equal(t, false, arena.AllianceStations["R2"].DsConn.Enabled)
}