Add A-Stop to DS protocol and logging.

field/arena.go

@@ -843,6 +843,7 @@ func (arena *Arena) sendDsPacket(auto bool, enabled bool) {
 			dsConn.Enabled = enabled && !allianceStation.EStop && !(auto && allianceStation.AStop) &&
 				!allianceStation.Bypass
 			dsConn.EStop = allianceStation.EStop
+			dsConn.AStop = allianceStation.AStop
 			err := dsConn.update(arena)
 			if err != nil {
 				log.Printf("Unable to send driver station packet for team %d.", allianceStation.Team.Id)

field/arena_test.go

@@ -693,6 +693,8 @@ func TestPlcEStopAStop(t *testing.T) {
 	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["R1"].DsConn.EStop)
+	assert.Equal(t, true, arena.AllianceStations["R1"].DsConn.AStop)
 	assert.Equal(t, true, arena.AllianceStations["R2"].DsConn.Enabled)
 
 	// Unpress the R1 A-stop and press the R2 E-stop.
@@ -708,7 +710,11 @@ func TestPlcEStopAStop(t *testing.T) {
 	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["R1"].DsConn.EStop)
+	assert.Equal(t, true, arena.AllianceStations["R1"].DsConn.AStop)
 	assert.Equal(t, false, arena.AllianceStations["R2"].DsConn.Enabled)
+	assert.Equal(t, true, arena.AllianceStations["R2"].DsConn.EStop)
+	assert.Equal(t, false, arena.AllianceStations["R2"].DsConn.AStop)
 
 	// Unpress the R2 E-stop.
 	plc.redAStops[0] = false

field/driver_station_connection.go

@@ -35,6 +35,7 @@ type DriverStationConnection struct {
 	Auto                      bool
 	Enabled                   bool
 	EStop                     bool
+	AStop                     bool
 	DsLinked                  bool
 	RadioLinked               bool
 	RioLinked                 bool
@@ -176,6 +177,9 @@ func (dsConn *DriverStationConnection) encodeControlPacket(arena *Arena) [22]byt
 	if dsConn.EStop {
 		packet[3] |= 0x80
 	}
+	if dsConn.AStop {
+		packet[3] |= 0x40
+	}
 
 	// Unknown or unused.
 	packet[4] = 0
@@ -258,7 +262,6 @@ func (dsConn *DriverStationConnection) decodeStatusPacket(data [36]byte) {
 
 	// Number of missed packets sent from the DS to the robot.
 	dsConn.MissedPacketCount = int(data[2]) - dsConn.missedPacketOffset
-
 }
 
 // Listens for TCP connection requests to Cheesy Arena from driver stations.

field/driver_station_connection_test.go

@@ -80,6 +80,10 @@ func TestEncodeControlPacket(t *testing.T) {
 	data = dsConn.encodeControlPacket(arena)
 	assert.Equal(t, byte(132), data[3])
 
+	dsConn.AStop = true
+	data = dsConn.encodeControlPacket(arena)
+	assert.Equal(t, byte(196), data[3])
+
 	// Check different match types.
 	arena.CurrentMatch.Type = model.Practice
 	data = dsConn.encodeControlPacket(arena)

field/team_match_log.go

@@ -39,16 +39,19 @@ func NewTeamMatchLog(teamId int, match *model.Match, wifiStatus *network.TeamWif
 	}
 
 	log := TeamMatchLog{log.New(logFile, "", 0), logFile, wifiStatus}
-	log.logger.Println("matchTimeSec,packetType,teamId,allianceStation,dsLinked,radioLinked,rioLinked,robotLinked,auto,enabled," +
-		"emergencyStop,batteryVoltage,missedPacketCount,dsRobotTripTimeMs,rxRate,txRate,signalNoiseRatio")
+	log.logger.Println(
+		"matchTimeSec,packetType,teamId,allianceStation,dsLinked,radioLinked,rioLinked,robotLinked,auto,enabled," +
+			"emergencyStop,autonomousStop,batteryVoltage,missedPacketCount,dsRobotTripTimeMs,rxRate,txRate," +
+			"signalNoiseRatio",
+	)
 
 	return &log, nil
 }
 
 // Adds a line to the log when a packet is received.
 func (log *TeamMatchLog) LogDsPacket(matchTimeSec float64, packetType int, dsConn *DriverStationConnection) {
 	log.logger.Printf(
-		"%f,%d,%d,%s,%v,%v,%v,%v,%v,%v,%v,%f,%d,%d,%f,%f,%d",
+		"%f,%d,%d,%s,%v,%v,%v,%v,%v,%v,%v,%v,%f,%d,%d,%f,%f,%d",
 		matchTimeSec,
 		packetType,
 		dsConn.TeamId,
@@ -60,6 +63,7 @@ func (log *TeamMatchLog) LogDsPacket(matchTimeSec float64, packetType int, dsCon
 		dsConn.Auto,
 		dsConn.Enabled,
 		dsConn.EStop,
+		dsConn.AStop,
 		dsConn.BatteryVoltage,
 		dsConn.MissedPacketCount,
 		dsConn.DsRobotTripTimeMs,

templates/view_match_log.html

@@ -28,7 +28,8 @@ <h3>Match Log: {{.Match.ShortName}} - {{ .MatchLogs.TeamId}} ({{.MatchLogs.Allia
             <th>Robot Linked</th>
             <th>Mode</th>
             <th>Enabled</th>
-            <th>E-Stop</th>
+            <th class="nowrap">E-Stop</th>
+            <th class="nowrap">A-Stop</th>
             <th>Voltage</th>
             <th>Missed Packets</th>
             <th>Latency</th>
@@ -50,6 +51,7 @@ <h3>Match Log: {{.Match.ShortName}} - {{ .MatchLogs.TeamId}} ({{.MatchLogs.Allia
               <td>{{if $row.Auto}}Auto{{else}}Telop{{end}}</td>
               <td>{{$row.Enabled}}</td>
               <td>{{$row.EmergencyStop}}</td>
+              <td>{{$row.AutonomousStop}}</td>
               <td>{{printf "%.3f" $row.BatteryVoltage}}</td>
               <td>{{$row.MissedPacketCount}}</td>
               <td>{{$row.DsRobotTripTimeMs}}</td>

web/match_logs.go

@@ -39,6 +39,7 @@ type MatchLogRow struct {
 	Auto              bool
 	Enabled           bool
 	EmergencyStop     bool
+	AutonomousStop    bool
 	BatteryVoltage    float64
 	MissedPacketCount int
 	DsRobotTripTimeMs int
@@ -206,6 +207,7 @@ func (web *Web) getMatchLogFromRequest(r *http.Request) (*model.Match, *MatchLog
 			curRow.Auto, _ = strconv.ParseBool(record[headerMap["auto"]])
 			curRow.Enabled, _ = strconv.ParseBool(record[headerMap["enabled"]])
 			curRow.EmergencyStop, _ = strconv.ParseBool(record[headerMap["emergencyStop"]])
+			curRow.AutonomousStop, _ = strconv.ParseBool(record[headerMap["autonomousStop"]])
 			curRow.BatteryVoltage, _ = strconv.ParseFloat(record[headerMap["batteryVoltage"]], 64)
 			curRow.MissedPacketCount, _ = strconv.Atoi(record[headerMap["missedPacketCount"]])
 			curRow.DsRobotTripTimeMs, _ = strconv.Atoi(record[headerMap["dsRobotTripTimeMs"]])