diff --git a/field/arena.go b/field/arena.go
index a3c112ff..b9a1b150 100644
--- a/field/arena.go
+++ b/field/arena.go
@@ -56,6 +56,7 @@ type Arena struct {
NexusClient *partner.NexusClient
AllianceStations map[string]*AllianceStation
Displays map[string]*Display
+ TeamSigns *TeamSigns
ScoringPanelRegistry
ArenaNotifiers
MatchState
@@ -114,6 +115,8 @@ func NewArena(dbPath string) (*Arena, error) {
arena.Displays = make(map[string]*Display)
+ arena.TeamSigns = NewTeamSigns()
+
var err error
arena.Database, err = model.OpenDatabase(dbPath)
if err != nil {
@@ -150,6 +153,14 @@ func (arena *Arena) LoadSettings() error {
arena.EventSettings = settings
// Initialize the components that depend on settings.
+ arena.TeamSigns.Red1.SetAddress(settings.TeamSignRed1Address)
+ arena.TeamSigns.Red2.SetAddress(settings.TeamSignRed2Address)
+ arena.TeamSigns.Red3.SetAddress(settings.TeamSignRed3Address)
+ arena.TeamSigns.RedTimer.SetAddress(settings.TeamSignRedTimerAddress)
+ arena.TeamSigns.Blue1.SetAddress(settings.TeamSignBlue1Address)
+ arena.TeamSigns.Blue2.SetAddress(settings.TeamSignBlue2Address)
+ arena.TeamSigns.Blue3.SetAddress(settings.TeamSignBlue3Address)
+ arena.TeamSigns.BlueTimer.SetAddress(settings.TeamSignBlueTimerAddress)
accessPointWifiStatuses := [6]*network.TeamWifiStatus{
&arena.AllianceStations["R1"].WifiStatus,
&arena.AllianceStations["R2"].WifiStatus,
@@ -290,7 +301,6 @@ func (arena *Arena) LoadMatch(match *model.Match) error {
arena.soundsPlayed = make(map[*game.MatchSound]struct{})
arena.RedRealtimeScore = NewRealtimeScore()
arena.BlueRealtimeScore = NewRealtimeScore()
- arena.FieldReset = false
arena.ScoringPanelRegistry.resetScoreCommitted()
arena.Plc.ResetMatch()
@@ -546,6 +556,7 @@ func (arena *Arena) Update() {
sendDsPacket = true
}
arena.Plc.ResetMatch()
+ arena.FieldReset = false
case WarmupPeriod:
auto = true
enabled = false
@@ -569,7 +580,6 @@ func (arena *Arena) Update() {
enabled = true
}
}
- arena.FieldReset = false
case PausePeriod:
auto = false
enabled = false
@@ -601,7 +611,6 @@ func (arena *Arena) Update() {
arena.preLoadNextMatch()
}()
}
- arena.FieldReset = false
case TimeoutActive:
if matchTimeSec >= float64(game.MatchTiming.TimeoutDurationSec) {
arena.MatchState = PostTimeout
@@ -636,6 +645,9 @@ func (arena *Arena) Update() {
// Handle field sensors/lights/actuators.
arena.handlePlcInputOutput()
+ // Handle the team number / timer displays.
+ arena.TeamSigns.Update(arena)
+
arena.LastMatchTimeSec = matchTimeSec
arena.lastMatchState = arena.MatchState
}
@@ -934,6 +946,7 @@ func (arena *Arena) handlePlcInputOutput() {
// Turn off lights if all teams become ready.
if redAllianceReady && blueAllianceReady {
+ arena.FieldReset = false
arena.Plc.SetFieldResetLight(false)
if arena.CurrentMatch.FieldReadyAt.IsZero() {
arena.CurrentMatch.FieldReadyAt = time.Now()
diff --git a/field/team_sign.go b/field/team_sign.go
new file mode 100644
index 00000000..e8bc3dcc
--- /dev/null
+++ b/field/team_sign.go
@@ -0,0 +1,292 @@
+// Copyright 2024 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Models and logic for controlling a Cypress team number / timer sign.
+
+package field
+
+import (
+ "fmt"
+ "github.com/Team254/cheesy-arena/game"
+ "image/color"
+ "log"
+ "net"
+ "strconv"
+ "strings"
+)
+
+// Represents a collection of team number and timer signs.
+type TeamSigns struct {
+ Red1 TeamSign
+ Red2 TeamSign
+ Red3 TeamSign
+ RedTimer TeamSign
+ Blue1 TeamSign
+ Blue2 TeamSign
+ Blue3 TeamSign
+ BlueTimer TeamSign
+}
+
+// Represents a team number or timer sign.
+type TeamSign struct {
+ isTimer bool
+ address byte
+ frontText string
+ frontColor color.RGBA
+ rearText string
+ lastFrontText string
+ lastFrontColor color.RGBA
+ lastRearText string
+ udpConn net.Conn
+ packetData [128]byte
+ packetIndex int
+}
+
+const (
+ teamSignPort = 10011
+ teamSignPacketMagicString = "CYPRX"
+ teamSignPacketHeaderLength = 7
+ teamSignCommandSetDisplay = 0x04
+ teamSignAddressSingle = 0x01
+ teamSignPacketTypeFrontText = 0x01
+ teamSignPacketTypeRearText = 0x02
+ teamSignPacketTypeFrontIntensity = 0x03
+ teamSignPacketTypeColor = 0x04
+)
+
+// Predefined colors for the team sign front text. The "A" channel is used as the intensity.
+var redColor = color.RGBA{255, 0, 0, 255}
+var blueColor = color.RGBA{0, 0, 255, 255}
+var greenColor = color.RGBA{0, 255, 0, 255}
+var orangeColor = color.RGBA{255, 165, 0, 255}
+var whiteColor = color.RGBA{255, 255, 255, 255}
+
+// Creates a new collection of team signs.
+func NewTeamSigns() *TeamSigns {
+ signs := new(TeamSigns)
+ signs.RedTimer.isTimer = true
+ signs.BlueTimer.isTimer = true
+ return signs
+}
+
+// Updates the state of all signs with the latest data and sends packets to the signs if anything has changed.
+func (signs *TeamSigns) Update(arena *Arena) {
+ // Generate the countdown string which is used in multiple places.
+ matchTimeSec := int(arena.MatchTimeSec())
+ var countdownSec int
+ switch arena.MatchState {
+ case PreMatch:
+ fallthrough
+ case StartMatch:
+ fallthrough
+ case WarmupPeriod:
+ countdownSec = game.MatchTiming.AutoDurationSec
+ case AutoPeriod:
+ countdownSec = game.MatchTiming.WarmupDurationSec + game.MatchTiming.AutoDurationSec - matchTimeSec
+ case TeleopPeriod:
+ countdownSec = game.MatchTiming.WarmupDurationSec + game.MatchTiming.AutoDurationSec +
+ game.MatchTiming.TeleopDurationSec + game.MatchTiming.PauseDurationSec - matchTimeSec
+ case TimeoutActive:
+ countdownSec = game.MatchTiming.TimeoutDurationSec - matchTimeSec
+ default:
+ countdownSec = 0
+ }
+ countdown := fmt.Sprintf("%02d:%02d", countdownSec/60, countdownSec%60)
+
+ // Generate the in-match rear text which is common to a whole alliance.
+ redInMatchRearText := generateInMatchRearText(countdown, arena.RedRealtimeScore, arena.BlueRealtimeScore)
+ blueInMatchRearText := generateInMatchRearText(countdown, arena.BlueRealtimeScore, arena.RedRealtimeScore)
+
+ signs.Red1.update(arena, arena.AllianceStations["R1"], true, countdown, redInMatchRearText)
+ signs.Red2.update(arena, arena.AllianceStations["R2"], true, countdown, redInMatchRearText)
+ signs.Red3.update(arena, arena.AllianceStations["R3"], true, countdown, redInMatchRearText)
+ signs.RedTimer.update(arena, nil, true, countdown, redInMatchRearText)
+ signs.Blue1.update(arena, arena.AllianceStations["B1"], false, countdown, blueInMatchRearText)
+ signs.Blue2.update(arena, arena.AllianceStations["B2"], false, countdown, blueInMatchRearText)
+ signs.Blue3.update(arena, arena.AllianceStations["B3"], false, countdown, blueInMatchRearText)
+ signs.BlueTimer.update(arena, nil, false, countdown, blueInMatchRearText)
+}
+
+// Sets the IP address of the sign.
+func (sign *TeamSign) SetAddress(ipAddress string) {
+ if sign.udpConn != nil {
+ _ = sign.udpConn.Close()
+ }
+ if ipAddress == "" {
+ // The sign is not configured.
+ sign.address = 0
+ }
+
+ var err error
+ sign.udpConn, err = net.Dial("udp4", fmt.Sprintf("%s:%d", ipAddress, teamSignPort))
+ if err != nil {
+ log.Printf("Failed to connect to team sign at %s: %v", ipAddress, err)
+ return
+ }
+ addressParts := strings.Split(ipAddress, ".")
+ if len(addressParts) != 4 {
+ log.Printf("Failed to configure team sign: invalid IP address: %s", ipAddress)
+ return
+ }
+ address, _ := strconv.Atoi(addressParts[3])
+ sign.address = byte(address)
+
+ sign.lastFrontText = "dummy value to ensure it gets cleared"
+ sign.lastFrontColor = color.RGBA{}
+ sign.lastRearText = "dummy value to ensure it gets cleared"
+}
+
+// Updates the sign's internal state with the latest data and sends packets to the sign if anything has changed.
+func (sign *TeamSign) update(
+ arena *Arena, allianceStation *AllianceStation, isRed bool, countdown, inMatchRearText string,
+) {
+ if sign.address == 0 {
+ // Don't do anything if there is no sign configured in this position.
+ return
+ }
+
+ if sign.isTimer {
+ sign.frontText, sign.frontColor = generateTimerText(arena.FieldReset, countdown)
+ sign.rearText = inMatchRearText
+ } else {
+ sign.frontText, sign.frontColor, sign.rearText = generateTeamNumberTexts(
+ arena, allianceStation, isRed, inMatchRearText,
+ )
+ }
+
+ if err := sign.sendPacket(); err != nil {
+ log.Printf("Failed to send team sign packet: %v", err)
+ }
+}
+
+// Returns the in-match rear text that is common to a whole alliance.
+func generateInMatchRearText(countdown string, realtimeScore, opponentRealtimeScore *RealtimeScore) string {
+ var amplifiedCountdown string
+ if realtimeScore.AmplifiedTimeRemainingSec > 0 {
+ amplifiedCountdown = fmt.Sprintf("Amp:%2d", realtimeScore.AmplifiedTimeRemainingSec)
+ }
+ scoreSummary := realtimeScore.CurrentScore.Summarize(&opponentRealtimeScore.CurrentScore)
+ return fmt.Sprintf(
+ "%s %02d/%02d %6s", countdown, scoreSummary.NumNotes, scoreSummary.NumNotesGoal, amplifiedCountdown,
+ )
+}
+
+// Returns the front text and color to display on the timer display.
+func generateTimerText(fieldReset bool, countdown string) (string, color.RGBA) {
+ var frontText string
+ var frontColor color.RGBA
+ if fieldReset {
+ frontText = "SAFE"
+ frontColor = greenColor
+ } else {
+ frontText = countdown
+ frontColor = whiteColor
+ }
+ return frontText, frontColor
+}
+
+// Returns the front text, front color, and rear text to display on the sign for the given alliance station.
+func generateTeamNumberTexts(
+ arena *Arena, allianceStation *AllianceStation, isRed bool, inMatchRearText string,
+) (string, color.RGBA, string) {
+ if allianceStation.Team == nil {
+ return "", whiteColor, fmt.Sprintf("%20s", "No Team Assigned")
+ }
+
+ frontText := fmt.Sprintf("%5d", allianceStation.Team.Id)
+
+ var frontColor color.RGBA
+ if allianceStation.EStop || allianceStation.AStop && arena.MatchState == AutoPeriod {
+ frontColor = orangeColor
+ } else if arena.FieldReset {
+ frontColor = greenColor
+ } else if isRed {
+ frontColor = redColor
+ } else {
+ frontColor = blueColor
+ }
+
+ var message string
+ if allianceStation.EStop {
+ message = "E-STOP"
+ } else if allianceStation.AStop && arena.MatchState == AutoPeriod {
+ message = "A-STOP"
+ } else if arena.MatchState == PreMatch {
+ if allianceStation.Bypass {
+ message = "Bypassed"
+ } else if !allianceStation.Ethernet {
+ message = "Connect PC"
+ } else if allianceStation.DsConn == nil {
+ message = "Start DS"
+ } else if allianceStation.DsConn.WrongStation != "" {
+ message = "Move Station"
+ } else if !allianceStation.DsConn.RadioLinked {
+ message = "No Radio"
+ } else if !allianceStation.DsConn.RioLinked {
+ message = "No Rio"
+ } else if !allianceStation.DsConn.RobotLinked {
+ message = "No Code"
+ } else {
+ message = "Ready"
+ }
+ }
+
+ var rearText string
+ if len(message) > 0 {
+ rearText = fmt.Sprintf("%-5d %14s", allianceStation.Team.Id, message)
+ } else {
+ rearText = inMatchRearText
+ }
+
+ return frontText, frontColor, rearText
+}
+
+// Sends a UDP packet to the sign if its state has changed.
+func (sign *TeamSign) sendPacket() error {
+ if sign.packetIndex == 0 {
+ // Write the static packet header the first time this method is invoked.
+ sign.writePacketData([]byte(teamSignPacketMagicString))
+ sign.writePacketData([]byte{sign.address, teamSignCommandSetDisplay})
+ } else {
+ // Reset the write index to just after the header.
+ sign.packetIndex = teamSignPacketHeaderLength
+ }
+
+ if sign.frontText != sign.lastFrontText {
+ sign.writePacketData([]byte{teamSignAddressSingle, sign.address, teamSignPacketTypeFrontText})
+ sign.writePacketData([]byte(sign.frontText))
+ sign.writePacketData([]byte{0, 0}) // Second byte is "show decimal point".
+ sign.lastFrontText = sign.frontText
+ }
+
+ if sign.frontColor != sign.lastFrontColor {
+ sign.writePacketData([]byte{teamSignAddressSingle, sign.address, teamSignPacketTypeColor})
+ sign.writePacketData([]byte{sign.frontColor.R, sign.frontColor.G, sign.frontColor.B})
+ sign.writePacketData([]byte{teamSignAddressSingle, sign.address, teamSignPacketTypeFrontIntensity})
+ sign.writePacketData([]byte{sign.frontColor.A})
+ sign.lastFrontColor = sign.frontColor
+ }
+
+ if sign.rearText != sign.lastRearText {
+ sign.writePacketData([]byte{teamSignAddressSingle, sign.address, teamSignPacketTypeRearText})
+ sign.writePacketData([]byte(sign.rearText))
+ sign.writePacketData([]byte{0})
+ sign.lastRearText = sign.rearText
+ }
+
+ if sign.packetIndex > teamSignPacketHeaderLength {
+ if _, err := sign.udpConn.Write(sign.packetData[:sign.packetIndex]); err != nil {
+ return err
+ }
+ }
+
+ return nil
+}
+
+// Writes the given data to the packet buffer and advances the write index.
+func (sign *TeamSign) writePacketData(data []byte) {
+ for _, value := range data {
+ sign.packetData[sign.packetIndex] = value
+ sign.packetIndex++
+ }
+}
diff --git a/field/team_sign_test.go b/field/team_sign_test.go
new file mode 100644
index 00000000..60e8cafd
--- /dev/null
+++ b/field/team_sign_test.go
@@ -0,0 +1,117 @@
+// Copyright 2024 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+
+package field
+
+import (
+ "github.com/Team254/cheesy-arena/game"
+ "github.com/Team254/cheesy-arena/model"
+ "github.com/stretchr/testify/assert"
+ "image/color"
+ "testing"
+)
+
+func TestTeamSign_GenerateInMatchRearText(t *testing.T) {
+ realtimeScore1 := &RealtimeScore{AmplifiedTimeRemainingSec: 9}
+ realtimeScore2 := &RealtimeScore{CurrentScore: game.Score{AmpSpeaker: game.AmpSpeaker{AutoSpeakerNotes: 12}}}
+
+ assert.Equal(t, "01:23 00/18 Amp: 9", generateInMatchRearText("01:23", realtimeScore1, realtimeScore2))
+ game.MelodyBonusThresholdWithoutCoop = 23
+ assert.Equal(t, "34:56 12/23 ", generateInMatchRearText("34:56", realtimeScore2, realtimeScore1))
+}
+
+func TestTeamSign_Timer(t *testing.T) {
+ arena := setupTestArena(t)
+ sign := TeamSign{isTimer: true}
+
+ // Should do nothing if no address is set.
+ sign.update(arena, nil, true, "12:34", "Rear Text")
+ assert.Equal(t, [128]byte{}, sign.packetData)
+
+ // Check some basics about the data but don't unit-test the whole packet.
+ sign.SetAddress("10.0.100.56")
+ sign.update(arena, nil, true, "12:34", "Rear Text")
+ assert.Equal(t, "CYPRX", string(sign.packetData[0:5]))
+ assert.Equal(t, 56, int(sign.packetData[5]))
+ assert.Equal(t, 0x04, int(sign.packetData[6]))
+ assert.Equal(t, "12:34", string(sign.packetData[10:15]))
+ assert.Equal(t, "Rear Text", string(sign.packetData[30:39]))
+ assert.Equal(t, 40, sign.packetIndex)
+
+ arena.FieldReset = false
+ frontText, frontColor := generateTimerText(false, "23:45")
+ assert.Equal(t, "23:45", frontText)
+ assert.Equal(t, whiteColor, frontColor)
+ frontText, frontColor = generateTimerText(true, "23:45")
+ assert.Equal(t, "SAFE", frontText)
+ assert.Equal(t, greenColor, frontColor)
+}
+
+func TestTeamSign_TeamNumber(t *testing.T) {
+ arena := setupTestArena(t)
+ allianceStation := arena.AllianceStations["R1"]
+ arena.Database.CreateTeam(&model.Team{Id: 254})
+ sign := &TeamSign{isTimer: false}
+
+ // Should do nothing if no address is set.
+ sign.update(arena, allianceStation, true, "12:34", "Rear Text")
+ assert.Equal(t, [128]byte{}, sign.packetData)
+
+ // Check some basics about the data but don't unit-test the whole packet.
+ sign.SetAddress("10.0.100.53")
+ sign.update(arena, allianceStation, true, "12:34", "Rear Text")
+ assert.Equal(t, "CYPRX", string(sign.packetData[0:5]))
+ assert.Equal(t, 53, int(sign.packetData[5]))
+ assert.Equal(t, 0x04, int(sign.packetData[6]))
+ assert.Equal(t, []byte{0x01, 53, 0x01, 0, 0}, sign.packetData[7:12])
+ assert.Equal(t, "No Team Assigned", string(sign.packetData[29:45]))
+ assert.Equal(t, 46, sign.packetIndex)
+
+ assertSign := func(isRed bool, expectedFrontText string, expectedFrontColor color.RGBA, expectedRearText string) {
+ frontText, frontColor, rearText := generateTeamNumberTexts(arena, allianceStation, isRed, "Rear Text")
+ assert.Equal(t, expectedFrontText, frontText)
+ assert.Equal(t, expectedFrontColor, frontColor)
+ assert.Equal(t, expectedRearText, rearText)
+ }
+
+ assertSign(true, "", whiteColor, " No Team Assigned")
+ arena.FieldReset = true
+ arena.assignTeam(254, "R1")
+ assertSign(true, " 254", greenColor, "254 Connect PC")
+ assertSign(false, " 254", greenColor, "254 Connect PC")
+ arena.FieldReset = false
+ assertSign(true, " 254", redColor, "254 Connect PC")
+ assertSign(false, " 254", blueColor, "254 Connect PC")
+
+ // Check through pre-match sequence.
+ allianceStation.Ethernet = true
+ assertSign(true, " 254", redColor, "254 Start DS")
+ allianceStation.DsConn = &DriverStationConnection{}
+ assertSign(true, " 254", redColor, "254 No Radio")
+ allianceStation.DsConn.WrongStation = "R1"
+ assertSign(true, " 254", redColor, "254 Move Station")
+ allianceStation.DsConn.WrongStation = ""
+ allianceStation.DsConn.RadioLinked = true
+ assertSign(true, " 254", redColor, "254 No Rio")
+ allianceStation.DsConn.RioLinked = true
+ assertSign(true, " 254", redColor, "254 No Code")
+ allianceStation.DsConn.RobotLinked = true
+ assertSign(true, " 254", redColor, "254 Ready")
+ allianceStation.Bypass = true
+ assertSign(true, " 254", redColor, "254 Bypassed")
+
+ // Check E-stop and A-stop.
+ arena.MatchState = AutoPeriod
+ assertSign(true, " 254", redColor, "Rear Text")
+ allianceStation.AStop = true
+ assertSign(true, " 254", orangeColor, "254 A-STOP")
+ allianceStation.EStop = true
+ assertSign(false, " 254", orangeColor, "254 E-STOP")
+ allianceStation.EStop = false
+ arena.MatchState = TeleopPeriod
+ assertSign(false, " 254", blueColor, "Rear Text")
+ allianceStation.EStop = true
+ assertSign(false, " 254", orangeColor, "254 E-STOP")
+ arena.MatchState = PostMatch
+ assertSign(false, " 254", orangeColor, "254 E-STOP")
+}
diff --git a/model/event_settings.go b/model/event_settings.go
index 6a32d420..a34aa042 100644
--- a/model/event_settings.go
+++ b/model/event_settings.go
@@ -35,6 +35,14 @@ type EventSettings struct {
SwitchPassword string
PlcAddress string
AdminPassword string
+ TeamSignRed1Address string
+ TeamSignRed2Address string
+ TeamSignRed3Address string
+ TeamSignRedTimerAddress string
+ TeamSignBlue1Address string
+ TeamSignBlue2Address string
+ TeamSignBlue3Address string
+ TeamSignBlueTimerAddress string
WarmupDurationSec int
AutoDurationSec int
PauseDurationSec int
diff --git a/templates/setup_settings.html b/templates/setup_settings.html
index 8ccaff4a..998c9c41 100644
--- a/templates/setup_settings.html
+++ b/templates/setup_settings.html
@@ -226,6 +226,62 @@
+