Add logic and tests for the 2024 Amp and Speaker elements.

game/amp_speaker.go

@@ -0,0 +1,148 @@
+// Copyright 2024 Team 254. All Rights Reserved.
+// Author: [email protected] (Patrick Fairbank)
+//
+// Scoring logic for the 2024 Amp and Speaker elements.
+
+package game
+
+import (
+	"time"
+)
+
+const bankedAmpNoteLimit = 2
+
+type AmpSpeaker struct {
+	BankedAmpNotes                int
+	CoopActivated                 bool
+	autoAmpNotes                  int
+	teleopAmpNotes                int
+	autoSpeakerNotes              int
+	teleopUnamplifiedSpeakerNotes int
+	teleopAmplifiedSpeakerNotes   int
+	lastAmplifiedTime             time.Time
+	lastAmplifiedSpeakerNotes     int
+}
+
+// Updates the internal state of the AmpSpeaker based on the PLC inputs.
+func (ampSpeaker *AmpSpeaker) UpdateState(
+	ampNoteCount, speakerNoteCount int, amplifyButton, coopButton bool, matchStartTime, currentTime time.Time,
+) {
+	newAmpNotes := ampNoteCount - ampSpeaker.ampNotesScored()
+	newSpeakerNotes := speakerNoteCount - ampSpeaker.speakerNotesScored()
+
+	// Handle the autonomous period.
+	autoValidityCutoff := matchStartTime.Add(GetDurationToAutoEnd() + speakerAutoGracePeriodSec*time.Second)
+	if currentTime.Before(autoValidityCutoff) {
+		ampSpeaker.autoAmpNotes += newAmpNotes
+		ampSpeaker.BankedAmpNotes = min(ampSpeaker.BankedAmpNotes+newAmpNotes, bankedAmpNoteLimit)
+		ampSpeaker.autoSpeakerNotes += newSpeakerNotes
+
+		// Bail out to avoid exercising the teleop logic.
+		return
+	}
+
+	// Handle the Amp.
+	teleopAmpValidityCutoff := matchStartTime.Add(GetDurationToTeleopEnd())
+	if currentTime.Before(teleopAmpValidityCutoff) {
+		// Handle incoming Amp notes.
+		ampSpeaker.teleopAmpNotes += newAmpNotes
+		if !ampSpeaker.isAmplified(currentTime, false) {
+			ampSpeaker.BankedAmpNotes = min(ampSpeaker.BankedAmpNotes+newAmpNotes, bankedAmpNoteLimit)
+		}
+
+		// Handle the co-op button.
+		if coopButton && !ampSpeaker.CoopActivated && ampSpeaker.BankedAmpNotes >= 1 &&
+			ampSpeaker.IsCoopWindowOpen(matchStartTime, currentTime) {
+			ampSpeaker.CoopActivated = true
+			ampSpeaker.BankedAmpNotes--
+		}
+
+		// Handle the amplify button.
+		if amplifyButton && !ampSpeaker.isAmplified(currentTime, false) && ampSpeaker.BankedAmpNotes >= 2 {
+			ampSpeaker.lastAmplifiedTime = currentTime
+			ampSpeaker.lastAmplifiedSpeakerNotes = 0
+			ampSpeaker.BankedAmpNotes -= 2
+		}
+	}
+
+	// Handle the Speaker.
+	teleopSpeakerValidityCutoff := matchStartTime.Add(
+		GetDurationToTeleopEnd() + speakerTeleopGracePeriodSec*time.Second,
+	)
+	if currentTime.Before(teleopSpeakerValidityCutoff) {
+		for newSpeakerNotes > 0 && ampSpeaker.isAmplified(currentTime, true) {
+			ampSpeaker.teleopAmplifiedSpeakerNotes++
+			ampSpeaker.lastAmplifiedSpeakerNotes++
+			newSpeakerNotes--
+		}
+		ampSpeaker.teleopUnamplifiedSpeakerNotes += newSpeakerNotes
+	}
+}
+
+// Returns the amount of time remaining in the current amplification period, or zero if not currently amplified.
+func (ampSpeaker *AmpSpeaker) AmplifiedTimeRemaining(currentTime time.Time) float64 {
+	if !ampSpeaker.isAmplified(currentTime, false) {
+		return 0
+	}
+	return float64(AmplificationDurationSec) - currentTime.Sub(ampSpeaker.lastAmplifiedTime).Seconds()
+}
+
+// Returns true if the co-op window during the match is currently open.
+func (ampSpeaker *AmpSpeaker) IsCoopWindowOpen(matchStartTime, currentTime time.Time) bool {
+	coopValidityCutoff := matchStartTime.Add(GetDurationToTeleopStart() + coopTeleopWindowSec*time.Second)
+	return MelodyBonusWithCoop > 0 && currentTime.Before(coopValidityCutoff)
+}
+
+// Returns the total number of notes scored in the Amp and Speaker.
+func (ampSpeaker *AmpSpeaker) TotalNotesScored() int {
+	return ampSpeaker.ampNotesScored() + ampSpeaker.speakerNotesScored()
+}
+
+// Returns the total points scored in the Amp and Speaker during the autonomous period.
+func (ampSpeaker *AmpSpeaker) AutoNotePoints() int {
+	return 2*ampSpeaker.autoAmpNotes + 5*ampSpeaker.autoSpeakerNotes
+}
+
+// Returns the total points scored in the Amp and Speaker during the teleoperated period.
+func (ampSpeaker *AmpSpeaker) TeleopNotePoints() int {
+	return ampSpeaker.teleopAmpNotes +
+		2*ampSpeaker.teleopUnamplifiedSpeakerNotes +
+		5*ampSpeaker.teleopAmplifiedSpeakerNotes
+}
+
+// Returns the total points scored in the Amp.
+func (ampSpeaker *AmpSpeaker) AmpPoints() int {
+	return 2*ampSpeaker.autoAmpNotes + ampSpeaker.teleopAmpNotes
+}
+
+// Returns the total points scored in the Speaker.
+func (ampSpeaker *AmpSpeaker) SpeakerPoints() int {
+	return 5*ampSpeaker.autoSpeakerNotes +
+		2*ampSpeaker.teleopUnamplifiedSpeakerNotes +
+		5*ampSpeaker.teleopAmplifiedSpeakerNotes
+}
+
+// Returns the total number of notes scored in the Amp.
+func (ampSpeaker *AmpSpeaker) ampNotesScored() int {
+	return ampSpeaker.autoAmpNotes + ampSpeaker.teleopAmpNotes
+}
+
+// Returns the total number of notes scored in the Speaker.
+func (ampSpeaker *AmpSpeaker) speakerNotesScored() int {
+	return ampSpeaker.autoSpeakerNotes +
+		ampSpeaker.teleopUnamplifiedSpeakerNotes +
+		ampSpeaker.teleopAmplifiedSpeakerNotes
+}
+
+// Returns whether the Speaker should be counting new incoming notes as amplified.
+func (ampSpeaker *AmpSpeaker) isAmplified(currentTime time.Time, includeGracePeriod bool) bool {
+	amplifiedValidityCutoff := ampSpeaker.lastAmplifiedTime.Add(time.Duration(AmplificationDurationSec) * time.Second)
+	if includeGracePeriod {
+		amplifiedValidityCutoff = amplifiedValidityCutoff.Add(
+			time.Duration(speakerAmplifiedGracePeriodSec) * time.Second,
+		)
+	}
+	meetsTimeCriterion := currentTime.After(ampSpeaker.lastAmplifiedTime) && currentTime.Before(amplifiedValidityCutoff)
+	meetsNoteCriterion := AmplificationNoteLimit == 0 || ampSpeaker.lastAmplifiedSpeakerNotes < AmplificationNoteLimit
+	return meetsTimeCriterion && meetsNoteCriterion
+}

game/amp_speaker_test.go

@@ -0,0 +1,236 @@
+// Copyright 2024 Team 254. All Rights Reserved.
+// Author: [email protected] (Patrick Fairbank)
+
+package game
+
+import (
+	"github.com/stretchr/testify/assert"
+	"testing"
+	"time"
+)
+
+var matchStartTime = time.Unix(10, 0)
+
+func TestAmpSpeaker_CalculationMethods(t *testing.T) {
+	ampSpeaker := AmpSpeaker{
+		autoAmpNotes:                  1,
+		teleopAmpNotes:                2,
+		autoSpeakerNotes:              3,
+		teleopUnamplifiedSpeakerNotes: 5,
+		teleopAmplifiedSpeakerNotes:   8,
+	}
+	assert.Equal(t, 3, ampSpeaker.ampNotesScored())
+	assert.Equal(t, 16, ampSpeaker.speakerNotesScored())
+	assert.Equal(t, 19, ampSpeaker.TotalNotesScored())
+	assert.Equal(t, 17, ampSpeaker.AutoNotePoints())
+	assert.Equal(t, 52, ampSpeaker.TeleopNotePoints())
+	assert.Equal(t, 4, ampSpeaker.AmpPoints())
+	assert.Equal(t, 65, ampSpeaker.SpeakerPoints())
+}
+
+func TestAmpSpeaker_MatchSequence(t *testing.T) {
+	var ampSpeaker AmpSpeaker
+	assertAmpSpeaker := func(
+		autoAmpNotes, teleopAmpNotes, autoSpeakerNotes, teleopUnamplifiedSpeakerNotes, teleopAmplifiedSpeakerNotes int,
+	) {
+		assert.Equal(t, autoAmpNotes, ampSpeaker.autoAmpNotes)
+		assert.Equal(t, teleopAmpNotes, ampSpeaker.teleopAmpNotes)
+		assert.Equal(t, autoSpeakerNotes, ampSpeaker.autoSpeakerNotes)
+		assert.Equal(t, teleopUnamplifiedSpeakerNotes, ampSpeaker.teleopUnamplifiedSpeakerNotes)
+		assert.Equal(t, teleopAmplifiedSpeakerNotes, ampSpeaker.teleopAmplifiedSpeakerNotes)
+	}
+
+	ampSpeaker.UpdateState(0, 0, false, false, matchStartTime, timeAfterStart(0))
+	assertAmpSpeaker(0, 0, 0, 0, 0)
+
+	// Score in the Amp and Speaker during auto.
+	ampSpeaker.UpdateState(1, 0, false, false, matchStartTime, timeAfterStart(1))
+	assertAmpSpeaker(1, 0, 0, 0, 0)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.IsCoopWindowOpen(matchStartTime, timeAfterStart(1)))
+	ampSpeaker.UpdateState(2, 0, false, false, matchStartTime, timeAfterStart(2))
+	assertAmpSpeaker(2, 0, 0, 0, 0)
+	assert.Equal(t, 2, ampSpeaker.BankedAmpNotes)
+	ampSpeaker.UpdateState(2, 3, false, false, matchStartTime, timeAfterStart(3))
+	assertAmpSpeaker(2, 0, 3, 0, 0)
+	ampSpeaker.UpdateState(3, 4, false, false, matchStartTime, timeAfterStart(4))
+	assertAmpSpeaker(3, 0, 4, 0, 0)
+	assert.Equal(t, 2, ampSpeaker.BankedAmpNotes)
+
+	// Pressing the buttons during auto should not have any effect.
+	ampSpeaker.UpdateState(3, 4, true, true, matchStartTime, timeAfterStart(5))
+	assert.Equal(t, 2, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, false, ampSpeaker.CoopActivated)
+	assert.Equal(t, 0.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(5)))
+
+	// Score in the Amp and Speaker around the expiration of the grace period.
+	ampSpeaker.UpdateState(4, 6, false, false, matchStartTime, timeAfterStart(17.9))
+	assertAmpSpeaker(4, 0, 6, 0, 0)
+	ampSpeaker.UpdateState(5, 8, false, false, matchStartTime, timeAfterStart(18.1))
+	assertAmpSpeaker(4, 1, 6, 2, 0)
+	assert.Equal(t, 2, ampSpeaker.BankedAmpNotes)
+
+	// Activate co-op.
+	ampSpeaker.UpdateState(5, 8, false, true, matchStartTime, timeAfterStart(20))
+	assertAmpSpeaker(4, 1, 6, 2, 0)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.CoopActivated)
+
+	// Activate co-op a second time.
+	ampSpeaker.UpdateState(5, 8, false, false, matchStartTime, timeAfterStart(21))
+	assertAmpSpeaker(4, 1, 6, 2, 0)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.CoopActivated)
+
+	// Try to activate amplify with insufficient notes banked.
+	ampSpeaker.UpdateState(5, 8, true, false, matchStartTime, timeAfterStart(22))
+	assertAmpSpeaker(4, 1, 6, 2, 0)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, false, ampSpeaker.isAmplified(timeAfterStart(22), false))
+
+	// Score more notes in the Amp and amplify.
+	ampSpeaker.UpdateState(7, 8, false, false, matchStartTime, timeAfterStart(23))
+	assertAmpSpeaker(4, 3, 6, 2, 0)
+	assert.Equal(t, 2, ampSpeaker.BankedAmpNotes)
+	ampSpeaker.UpdateState(7, 8, true, false, matchStartTime, timeAfterStart(24))
+	assertAmpSpeaker(4, 3, 6, 2, 0)
+	assert.Equal(t, 0, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(24.1), false))
+	assert.Equal(t, 9.9, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(24.1)))
+
+	// Score in the amplified Speaker and the Amp.
+	ampSpeaker.UpdateState(8, 11, false, false, matchStartTime, timeAfterStart(25))
+	assertAmpSpeaker(4, 4, 6, 2, 3)
+	assert.Equal(t, 0, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(26), false))
+	assert.Equal(t, 8.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(26)))
+
+	// Exceed the note limit for the amplified Speaker.
+	ampSpeaker.UpdateState(8, 15, false, false, matchStartTime, timeAfterStart(27))
+	assertAmpSpeaker(4, 4, 6, 5, 4)
+	assert.Equal(t, 0, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, false, ampSpeaker.isAmplified(timeAfterStart(27), false))
+	assert.Equal(t, 0.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(27)))
+
+	// Do another amplified cycle and test the grace period.
+	ampSpeaker.UpdateState(10, 15, true, false, matchStartTime, timeAfterStart(30))
+	assertAmpSpeaker(4, 6, 6, 5, 4)
+	assert.Equal(t, 0, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(31), false))
+	assert.Equal(t, 9.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(31)))
+	ampSpeaker.UpdateState(10, 16, true, false, matchStartTime, timeAfterStart(32))
+	assertAmpSpeaker(4, 6, 6, 5, 5)
+	ampSpeaker.UpdateState(10, 17, true, false, matchStartTime, timeAfterStart(42.9))
+	assertAmpSpeaker(4, 6, 6, 5, 6)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(42.9), true))
+	assert.Equal(t, false, ampSpeaker.isAmplified(timeAfterStart(42.9), false))
+	assert.Equal(t, 0.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(42.9)))
+	ampSpeaker.UpdateState(10, 18, true, false, matchStartTime, timeAfterStart(43.1))
+	assertAmpSpeaker(4, 6, 6, 6, 6)
+	assert.Equal(t, false, ampSpeaker.isAmplified(timeAfterStart(43.1), true))
+
+	// Test around the end of the match and the grace period after.
+	ampSpeaker.UpdateState(11, 21, false, false, matchStartTime, timeAfterStart(152.9))
+	assertAmpSpeaker(4, 7, 6, 9, 6)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	ampSpeaker.UpdateState(13, 23, true, false, matchStartTime, timeAfterStart(153.1))
+	assertAmpSpeaker(4, 7, 6, 11, 6)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	ampSpeaker.UpdateState(13, 24, true, false, matchStartTime, timeAfterStart(157.9))
+	assertAmpSpeaker(4, 7, 6, 12, 6)
+	ampSpeaker.UpdateState(13, 25, false, false, matchStartTime, timeAfterStart(158.1))
+	assertAmpSpeaker(4, 7, 6, 12, 6)
+
+	// Reset the AmpSpeaker to test different conditions and settings.
+	ampSpeaker = AmpSpeaker{}
+	assertAmpSpeaker(0, 0, 0, 0, 0)
+	assert.Equal(t, 0, ampSpeaker.BankedAmpNotes)
+
+	// Attempt to co-op with insufficient notes banked.
+	ampSpeaker.UpdateState(0, 0, false, true, matchStartTime, timeAfterStart(20))
+	assert.Equal(t, false, ampSpeaker.CoopActivated)
+
+	// Attempt to co-op just before the window has closed.
+	assert.Equal(t, true, ampSpeaker.IsCoopWindowOpen(matchStartTime, timeAfterStart(62.9)))
+	ampSpeaker.UpdateState(1, 0, false, true, matchStartTime, timeAfterStart(62.9))
+	assertAmpSpeaker(0, 1, 0, 0, 0)
+	assert.Equal(t, 0, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.CoopActivated)
+	assert.Equal(t, true, ampSpeaker.IsCoopWindowOpen(matchStartTime, timeAfterStart(62.9)))
+
+	// Undo the co-op and try again after the window has closed.
+	ampSpeaker = AmpSpeaker{}
+	assertAmpSpeaker(0, 0, 0, 0, 0)
+	assert.Equal(t, false, ampSpeaker.IsCoopWindowOpen(matchStartTime, timeAfterStart(63.1)))
+	ampSpeaker.UpdateState(1, 0, false, true, matchStartTime, timeAfterStart(63.1))
+	assertAmpSpeaker(0, 1, 0, 0, 0)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, false, ampSpeaker.CoopActivated)
+
+	// Backtrack and disable co-op.
+	assertAmpSpeaker(0, 1, 0, 0, 0)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.IsCoopWindowOpen(matchStartTime, timeAfterStart(60)))
+	MelodyBonusWithCoop = 0
+	assert.Equal(t, false, ampSpeaker.IsCoopWindowOpen(matchStartTime, timeAfterStart(60)))
+	ampSpeaker.UpdateState(2, 0, false, true, matchStartTime, timeAfterStart(60))
+	assertAmpSpeaker(0, 2, 0, 0, 0)
+	assert.Equal(t, 2, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, false, ampSpeaker.CoopActivated)
+
+	// Test with different amplification note limit and duration.
+	AmplificationNoteLimit = 3
+	AmplificationDurationSec = 6
+	ampSpeaker.UpdateState(2, 0, true, false, matchStartTime, timeAfterStart(70))
+	assertAmpSpeaker(0, 2, 0, 0, 0)
+	ampSpeaker.UpdateState(2, 1, true, false, matchStartTime, timeAfterStart(71))
+	assertAmpSpeaker(0, 2, 0, 0, 1)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(71), false))
+	assert.Equal(t, 5.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(71)))
+	ampSpeaker.UpdateState(2, 4, false, false, matchStartTime, timeAfterStart(72))
+	assertAmpSpeaker(0, 2, 0, 1, 3)
+	assert.Equal(t, false, ampSpeaker.isAmplified(timeAfterStart(72), true))
+	assert.Equal(t, 0.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(72)))
+
+	// Test with no amplification note limit and long duration.
+	AmplificationNoteLimit = 0
+	AmplificationDurationSec = 23
+	ampSpeaker.lastAmplifiedTime = time.Time{}
+	ampSpeaker.UpdateState(4, 4, true, false, matchStartTime, timeAfterStart(73))
+	assertAmpSpeaker(0, 4, 0, 1, 3)
+	assert.Equal(t, 0, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(74), true))
+	assert.Equal(t, 22.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(74)))
+	ampSpeaker.UpdateState(100, 44, false, false, matchStartTime, timeAfterStart(94))
+	assertAmpSpeaker(0, 100, 0, 1, 43)
+	assert.Equal(t, 0, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(94), true))
+	assert.Equal(t, 2.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(94)))
+	ampSpeaker.UpdateState(101, 57, false, false, matchStartTime, timeAfterStart(98.9))
+	assertAmpSpeaker(0, 101, 0, 1, 56)
+	assert.Equal(t, 1, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(98.9), true))
+	assert.Less(t, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(98.9)), 0.2)
+	ampSpeaker.UpdateState(102, 60, false, false, matchStartTime, timeAfterStart(99.1))
+	assertAmpSpeaker(0, 102, 0, 4, 56)
+	assert.Equal(t, 2, ampSpeaker.BankedAmpNotes)
+	assert.Equal(t, false, ampSpeaker.isAmplified(timeAfterStart(99.1), true))
+	assert.Equal(t, 0.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(99.1)))
+
+	// Restore global constants.
+	AmplificationNoteLimit = 4
+	AmplificationDurationSec = 10
+
+	// Test hitting the amplification button just before the end of the match.
+	ampSpeaker.UpdateState(102, 60, true, false, matchStartTime, timeAfterStart(152))
+	ampSpeaker.UpdateState(102, 63, true, false, matchStartTime, timeAfterStart(157))
+	assertAmpSpeaker(0, 102, 0, 4, 59)
+	assert.Equal(t, true, ampSpeaker.isAmplified(timeAfterStart(157), true))
+	assert.Equal(t, 5.0, ampSpeaker.AmplifiedTimeRemaining(timeAfterStart(157)))
+	ampSpeaker.UpdateState(102, 66, true, false, matchStartTime, timeAfterStart(157.9))
+	assertAmpSpeaker(0, 102, 0, 6, 60)
+}
+
+func timeAfterStart(sec float32) time.Time {
+	return matchStartTime.Add(time.Duration(1000*sec) * time.Millisecond)
+}

game/match_timing.go

@@ -7,7 +7,12 @@ package game
 
 import "time"
 
-var ChargeStationTeleopGracePeriod = 3 * time.Second
+const (
+	speakerAutoGracePeriodSec      = 3
+	speakerTeleopGracePeriodSec    = 5
+	speakerAmplifiedGracePeriodSec = 3
+	coopTeleopWindowSec            = 45
+)
 
 var MatchTiming = struct {
 	WarmupDurationSec           int