WIP: Austin's changes at beta testing day.

arena.go

@@ -14,7 +14,7 @@ import (
 
 const (
 	arenaLoopPeriodMs     = 10
-	dsPacketPeriodMs      = 250
+	dsPacketPeriodMs      = 20
 	matchEndScoreDwellSec = 3
 )
 
@@ -335,6 +335,14 @@ func (arena *Arena) StartMatch() error {
 			db.SaveMatch(arena.currentMatch)
 		}
 
+		// At the beginning of the match, save the missed packet count.
+		for _, allianceStation := range arena.AllianceStations {
+			if allianceStation.DsConn != nil {
+				allianceStation.DsConn.DriverStationStatus.MissedOffset =
+		    		allianceStation.DsConn.DriverStationStatus.MissedPacketCount
+			}
+		}
+
 		arena.MatchState = START_MATCH
 	}
 	return err

driver_station_connection.go

@@ -32,19 +32,21 @@ type DriverStationStatus struct {
 	PacketCount       int
 	MissedPacketCount int
 	DsRobotTripTimeMs int
+	MissedOffset      int
 }
 
 type DriverStationConnection struct {
-	TeamId              int
-	AllianceStation     string
-	Auto                bool
-	Enabled             bool
-	EmergencyStop       bool
-	DriverStationStatus *DriverStationStatus
-	LastPacketTime      time.Time
-	LastRobotLinkedTime time.Time
-	conn                net.Conn
-	packetCount         int
+	TeamId                           int
+	AllianceStation                  string
+	Auto                             bool
+	Enabled                          bool
+	EmergencyStop                    bool
+	DriverStationStatus             *DriverStationStatus
+	LastPacketTime                   time.Time
+	LastRobotLinkedTime              time.Time
+	SecondsSinceLastRobotConnection  float64
+	conn                             net.Conn
+	packetCount                      int
 }
 
 // Opens a UDP connection for communicating to the driver station.
@@ -105,6 +107,7 @@ func ListenForDsPackets(listener *net.UDPConn) {
 			if dsStatus.RobotLinked {
 				dsConn.LastRobotLinkedTime = time.Now()
 			}
+			dsConn.SecondsSinceLastRobotConnection = time.Since(dsConn.LastRobotLinkedTime).Seconds()
 		}
 	}
 }

font

@@ -1 +0,0 @@
-../../../code.google.com/p/gofpdf/font

match_play.go

@@ -87,6 +87,58 @@ func MatchPlayHandler(w http.ResponseWriter, r *http.Request) {
 	}
 }
 
+
+// Shows the match play control interface.
+func MatchFTAHandler(w http.ResponseWriter, r *http.Request) {
+	practiceMatches, err := buildMatchPlayList("practice")
+	if err != nil {
+		handleWebErr(w, err)
+		return
+	}
+	qualificationMatches, err := buildMatchPlayList("qualification")
+	if err != nil {
+		handleWebErr(w, err)
+		return
+	}
+	eliminationMatches, err := buildMatchPlayList("elimination")
+	if err != nil {
+		handleWebErr(w, err)
+		return
+	}
+
+	template := template.New("").Funcs(templateHelpers)
+	_, err = template.ParseFiles("templates/match_fta.html", "templates/base.html")
+	if err != nil {
+		handleWebErr(w, err)
+		return
+	}
+	matchesByType := map[string]MatchPlayList{"practice": practiceMatches,
+		"qualification": qualificationMatches, "elimination": eliminationMatches}
+	if currentMatchType == "" {
+		currentMatchType = "practice"
+	}
+	allowSubstitution := mainArena.currentMatch.Type != "qualification"
+	matchResult, err := db.GetMatchResultForMatch(mainArena.currentMatch.Id)
+	if err != nil {
+		handleWebErr(w, err)
+		return
+	}
+	isReplay := matchResult != nil
+	data := struct {
+		*EventSettings
+		MatchesByType     map[string]MatchPlayList
+		CurrentMatchType  string
+		Match             *Match
+		AllowSubstitution bool
+		IsReplay          bool
+	}{eventSettings, matchesByType, currentMatchType, mainArena.currentMatch, allowSubstitution, isReplay}
+	err = template.ExecuteTemplate(w, "base", data)
+	if err != nil {
+		handleWebErr(w, err)
+		return
+	}
+}
+
 func MatchPlayLoadHandler(w http.ResponseWriter, r *http.Request) {
 	vars := mux.Vars(r)
 	matchId, _ := strconv.Atoi(vars["matchId"])

static/css/cheesy-arena.css

@@ -41,18 +41,21 @@
 .modal-large {
   width: 60%;
 }
-.ds-status, .robot-status, .battery-status, .bypass-status {
+.ds-status, .robot-status, .battery-status, .bypass-status, .trip-time, .packet-loss  {
   background-color: #aaa;
   color: #000;
   border: 1px solid #999;
   border-radius: 4px;
   padding: 0px;
-  width: 40px;
+  width: 45px;
   height: 27px;
   line-height: 25px;
   font-size: 14px;
   margin: 0 auto;
 }
+.trip-time, .packet-loss {
+  width:90px;
+}
 .bypass-status {
   cursor: pointer;
 }

static/js/match_fta.js

@@ -0,0 +1,152 @@
+// Copyright 2014 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Client-side logic for the match play page.
+
+var websocket;
+var scoreIsReady;
+
+var substituteTeam = function(team, position) {
+  websocket.send("substituteTeam", { team: parseInt(team), position: position })
+};
+
+var toggleBypass = function(station) {
+  websocket.send("toggleBypass", station);
+};
+
+var startMatch = function() {
+  websocket.send("startMatch");
+};
+
+var abortMatch = function() {
+  websocket.send("abortMatch");
+};
+
+var setAudienceDisplay = function() {
+  websocket.send("setAudienceDisplay", $("input[name=audienceDisplay]:checked").val());
+};
+
+var setAllianceStationDisplay = function() {
+  websocket.send("setAllianceStationDisplay", $("input[name=allianceStationDisplay]:checked").val());
+};
+
+var confirmCommit = function(isReplay) {
+  if (isReplay || !scoreIsReady) {
+    // Show the appropriate message(s) in the confirmation dialog.
+    $("#confirmCommitReplay").css("display", isReplay ? "block" : "none");
+    $("#confirmCommitNotReady").css("display", scoreIsReady ? "none" : "block");
+    $("#confirmCommitResults").modal("show");
+  } else {
+    commitResults();
+  }
+};
+
+var handleStatus = function(data) {
+  // Update the team status view.
+  $.each(data.AllianceStations, function(station, stationStatus) {
+    if (stationStatus.DsConn) {
+      var dsStatus = stationStatus.DsConn.DriverStationStatus;
+      $("#status" + station + " .ds-status").attr("data-status-ok", dsStatus.DsLinked);
+      $("#status" + station + " .robot-status").attr("data-status-ok", dsStatus.RobotLinked);
+      if (stationStatus.DsConn.SecondsSinceLastRobotConnection > 1 && stationStatus.DsConn.SecondsSinceLastRobotConnection < 1000) {
+        $("#status" + station + " .robot-status").text(
+          stationStatus.DsConn.SecondsSinceLastRobotConnection.toFixed());
+      } else {
+        $("#status" + station + " .robot-status").text("");
+      }
+      $("#status" + station + " .battery-status").attr("data-status-ok",
+                                                       dsStatus.BatteryVoltage > 6 && dsStatus.RobotLinked);
+      $("#status" + station + " .battery-status").text(dsStatus.BatteryVoltage.toFixed(1) + "V");
+      $("#status" + station + " .trip-time").attr("data-status-ok", true);
+      $("#status" + station + " .trip-time").text(dsStatus.DsRobotTripTimeMs.toFixed(1) + "ms");
+      $("#status" + station + " .packet-loss").attr("data-status-ok", true);
+      $("#status" + station + " .packet-loss").text((dsStatus.MissedPacketCount - dsStatus.MissedOffset).toFixed() + "p");
+    } else {
+      $("#status" + station + " .ds-status").attr("data-status-ok", "");
+      $("#status" + station + " .robot-status").attr("data-status-ok", "");
+      $("#status" + station + " .robot-status").text("");
+      $("#status" + station + " .battery-status").attr("data-status-ok", "");
+      $("#status" + station + " .battery-status").text("");
+      $("#status" + station + " .trip-time").attr("data-status-ok", "");
+      $("#status" + station + " .trip-time").text("");
+      $("#status" + station + " .packet-loss").attr("data-status-ok", "");
+      $("#status" + station + " .packet-loss").text("");
+    }
+
+    if (stationStatus.EmergencyStop) {
+      $("#status" + station + " .bypass-status").attr("data-status-ok", false);
+      $("#status" + station + " .bypass-status").text("ES");
+    } else if (stationStatus.Bypass) {
+      $("#status" + station + " .bypass-status").attr("data-status-ok", false);
+      $("#status" + station + " .bypass-status").text("B");
+    } else {
+      $("#status" + station + " .bypass-status").attr("data-status-ok", true);
+      $("#status" + station + " .bypass-status").text("");
+    }
+  });
+
+  // Enable/disable the buttons based on the current match state.
+  switch (matchStates[data.MatchState]) {
+    case "PRE_MATCH":
+      $("#startMatch").prop("disabled", !data.CanStartMatch);
+      $("#abortMatch").prop("disabled", true);
+      $("#commitResults").prop("disabled", true);
+      $("#discardResults").prop("disabled", true);
+      break;
+    case "START_MATCH":
+    case "AUTO_PERIOD":
+    case "PAUSE_PERIOD":
+    case "TELEOP_PERIOD":
+    case "ENDGAME_PERIOD":
+      $("#startMatch").prop("disabled", true);
+      $("#abortMatch").prop("disabled", false);
+      $("#commitResults").prop("disabled", true);
+      $("#discardResults").prop("disabled", true);
+      break;
+    case "POST_MATCH":
+      $("#startMatch").prop("disabled", true);
+      $("#abortMatch").prop("disabled", true);
+      $("#commitResults").prop("disabled", false);
+      $("#discardResults").prop("disabled", false);
+      break;
+  }
+};
+
+var handleMatchTime = function(data) {
+  translateMatchTime(data, function(matchState, matchStateText, countdownSec) {
+    $("#matchState").text(matchStateText);
+    $("#matchTime").text(countdownSec);
+  });
+};
+
+var handleSetAudienceDisplay = function(data) {
+  $("input[name=audienceDisplay]:checked").prop("checked", false);
+  $("input[name=audienceDisplay][value=" + data + "]").prop("checked", true);
+};
+
+var handleScoringStatus = function(data) {
+  scoreIsReady = data.RefereeScoreReady && data.RedScoreReady && data.BlueScoreReady;
+  $("#refereeScoreStatus").attr("data-ready", data.RefereeScoreReady);
+  $("#redScoreStatus").attr("data-ready", data.RedScoreReady);
+  $("#blueScoreStatus").attr("data-ready", data.BlueScoreReady);
+};
+
+var handleSetAllianceStationDisplay = function(data) {
+  $("input[name=allianceStationDisplay]:checked").prop("checked", false);
+  $("input[name=allianceStationDisplay][value=" + data + "]").prop("checked", true);
+};
+
+$(function() {
+  // Activate tooltips above the status headers.
+  $("[data-toggle=tooltip]").tooltip({"placement": "top"});
+
+  // Set up the websocket back to the server.
+  websocket = new CheesyWebsocket("/match_play/websocket", {
+    status: function(event) { handleStatus(event.data); },
+    matchTiming: function(event) { handleMatchTiming(event.data); },
+    matchTime: function(event) { handleMatchTime(event.data); },
+    setAudienceDisplay: function(event) { handleSetAudienceDisplay(event.data); },
+    scoringStatus: function(event) { handleScoringStatus(event.data); },
+    setAllianceStationDisplay: function(event) { handleSetAllianceStationDisplay(event.data); }
+  });
+});

templates/audience_display.html

@@ -123,7 +123,7 @@
     <audio id="match-end" src="/static/audio/match_end.wav" type="audio/wav" preload="auto" />
     <audio id="match-abort" src="/static/audio/match_abort.mp3" type="audio/mp3" preload="auto" />
     <audio id="match-resume" src="/static/audio/match_resume.wav" type="audio/wav" preload="auto" />
-    <audio id="match-endgame" src="/static/audio/match_endgame.wav" type="audio/wav" preload="auto" />
+    <audio id="match-endgame" src="/static/audio/GetToTheChoppa.wav" type="audio/wav" preload="auto" />
     <script src="/static/js/lib/jquery.min.js"></script>
     <script src="/static/js/lib/jquery.json-2.4.min.js"></script>
     <script src="/static/js/lib/jquery.websocket-0.0.1.js"></script>

templates/base.html

@@ -32,6 +32,7 @@
               <a href="#" class="dropdown-toggle" data-toggle="dropdown">Run</a>
               <ul class="dropdown-menu">
                 <li><a href="/match_play">Match Play</a></li>
+                <li><a href="/match_fta">Match FTA</a></li>
                 <li><a href="/match_review">Match Review</a></li>
               </ul>
             </li>

templates/match_fta.html

@@ -0,0 +1,62 @@
+{{define "title"}}Match FTA{{end}}
+{{define "body"}}
+<div class="row">
+  <div class="col-lg-12">
+    <div class="row text-center">
+      <div id="matchState" class="col-lg-2 col-lg-offset-4 well well-sm">&nbsp;</div>
+      <div id="matchTime" class="col-lg-2 well well-sm">&nbsp;</div>
+    </div>
+    <div class="row text-center">
+      <div class="col-lg-6 well well-darkblue">
+        <div class="row form-group">
+          <div class="col-lg-4">Blue Teams</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Driver Station">DS</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Robot Status and time since last seen">R</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Battery">Bat</div>
+          <div class="col-lg-2" data-toggle="tooltip" title="Trip Time">Trip Time</div>
+          <div class="col-lg-2" data-toggle="tooltip" title="Packet Loss">Lost Pack</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Bypass/Disable">Byp</div>
+        </div>
+        {{template "matchPlayTeam" dict "team" .Match.Blue1 "color" "B" "position" 1 "data" .}}
+        {{template "matchPlayTeam" dict "team" .Match.Blue2 "color" "B" "position" 2 "data" .}}
+        {{template "matchPlayTeam" dict "team" .Match.Blue3 "color" "B" "position" 3 "data" .}}
+      </div>
+      <div class="col-lg-6 well well-darkred">
+        <div class="row form-group">
+          <div class="col-lg-4">Red Teams</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Driver Station">DS</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Robot Status and time since last seen">R</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Battery">Bat</div>
+          <div class="col-lg-2" data-toggle="tooltip" title="Trip Time">Trip Time</div>
+          <div class="col-lg-2" data-toggle="tooltip" title="Packet Loss">Lost Pack</div>
+          <div class="col-lg-1" data-toggle="tooltip" title="Bypass/Disable">Byp</div>
+        </div>
+        {{template "matchPlayTeam" dict "team" .Match.Red3 "color" "R" "position" 3 "data" .}}
+        {{template "matchPlayTeam" dict "team" .Match.Red2 "color" "R" "position" 2 "data" .}}
+        {{template "matchPlayTeam" dict "team" .Match.Red1 "color" "R" "position" 1 "data" .}}
+      </div>
+    </div>
+    <br />
+  </div>
+</div>
+{{end}}
+{{define "script"}}
+<script src="/static/js/match_timing.js"></script>
+<script src="/static/js/match_fta.js"></script>
+{{end}}
+{{define "matchPlayTeam"}}
+<div class="row form-group" id="status{{.color}}{{.position}}">
+  <div class="col-lg-1">{{.position}} </div>
+  <div class="col-lg-3">
+    <input type="text" disabled class="form-control input-sm" value="{{if ne 0 .team}}{{.team}}{{end}}"
+        {{if not .data.AllowSubstitution}}disabled{{end}}>
+  </div>
+  <div class="col-lg-1 col-no-padding"><div class="ds-status"></div></div>
+  <div class="col-lg-1 col-no-padding"><div class="robot-status"></div></div>
+  <div class="col-lg-1 col-no-padding"><div class="battery-status"></div></div>
+  <div class="col-lg-2 col-no-padding"><div class="trip-time" ></div></div>
+  <div class="col-lg-2 col-no-padding"><div class="packet-loss" ></div></div>
+  <div class="col-lg-1 col-no-padding"><div class="bypass-status"></div>
+  </div>
+</div>
+{{end}}

web.go

@@ -132,6 +132,8 @@ func newHandler() http.Handler {
 	router.HandleFunc("/match_review", MatchReviewHandler).Methods("GET")
 	router.HandleFunc("/match_review/{matchId}/edit", MatchReviewEditGetHandler).Methods("GET")
 	router.HandleFunc("/match_review/{matchId}/edit", MatchReviewEditPostHandler).Methods("POST")
+	router.HandleFunc("/match_fta", MatchFTAHandler).Methods("GET")
+	router.HandleFunc("/match_fta/websocket", MatchPlayWebsocketHandler).Methods("GET")
 	router.HandleFunc("/reports/csv/rankings", RankingsCsvReportHandler).Methods("GET")
 	router.HandleFunc("/reports/pdf/rankings", RankingsPdfReportHandler).Methods("GET")
 	router.HandleFunc("/reports/csv/schedule/{type}", ScheduleCsvReportHandler).Methods("GET")