Avoid using the PLC register values before a match starts.

Author: patfair

field/arena.go

@@ -972,7 +972,12 @@ func (arena *Arena) handlePlcInputOutput() {
 
 	// Get all the game-specific inputs and update the score.
 	redAmplifyButton, redCoopButton, blueAmplifyButton, blueCoopButton := arena.Plc.GetAmpButtons()
-	redAmpNoteCount, redSpeakerNoteCount, blueAmpNoteCount, blueSpeakerNoteCount := arena.Plc.GetAmpSpeakerNoteCounts()
+	var redAmpNoteCount, redSpeakerNoteCount, blueAmpNoteCount, blueSpeakerNoteCount int
+	if arena.MatchState != PreMatch {
+		// Don't read the registers pre-match to avoid messing up the amp/speaker state from any manual testing.
+		redAmpNoteCount, redSpeakerNoteCount, blueAmpNoteCount, blueSpeakerNoteCount =
+			arena.Plc.GetAmpSpeakerNoteCounts()
+	}
 	redAmpSpeaker := &arena.RedRealtimeScore.CurrentScore.AmpSpeaker
 	blueAmpSpeaker := &arena.BlueRealtimeScore.CurrentScore.AmpSpeaker
 	redAmpSpeaker.UpdateState(

plc/plc.go

@@ -259,6 +259,12 @@ func (plc *ModbusPlc) GetEthernetConnected() ([3]bool, [3]bool) {
 func (plc *ModbusPlc) ResetMatch() {
 	plc.coils[matchReset] = true
 	plc.matchResetCycles = 0
+
+	// Clear register variables (other than fieldIoConnection) so that any values from pre-match testing don't carry
+	// over.
+	for i := 1; i < int(registerCount); i++ {
+		plc.registers[i] = 0
+	}
 }
 
 // Sets the on/off state of the stack lights on the scoring table.

plc/plc_test.go

@@ -446,9 +446,22 @@ func TestPlcCoils(t *testing.T) {
 	assert.Equal(t, true, client.coils[0])
 
 	assert.Equal(t, false, client.coils[1])
+	client.registers[fieldIoConnection] = 31
+	plc.registers[fieldIoConnection] = 31
+	plc.registers[redSpeaker] = 1
+	plc.registers[blueSpeaker] = 2
+	plc.registers[redAmp] = 3
+	plc.registers[blueAmp] = 4
+	plc.registers[miscounts] = 5
 	plc.ResetMatch()
 	plc.update()
 	assert.Equal(t, true, client.coils[1])
+	assert.Equal(t, 31, int(plc.registers[fieldIoConnection]))
+	assert.Equal(t, 0, int(plc.registers[redSpeaker]))
+	assert.Equal(t, 0, int(plc.registers[blueSpeaker]))
+	assert.Equal(t, 0, int(plc.registers[redAmp]))
+	assert.Equal(t, 0, int(plc.registers[blueAmp]))
+	assert.Equal(t, 0, int(plc.registers[miscounts]))
 
 	plc.SetStackLights(false, false, false, false)
 	plc.update()