driver_station_connection.go

// Copyright 2014 Team 254. All Rights Reserved.
// Author: pat@patfairbank.com (Patrick Fairbank)
//
// Model and methods for interacting with a team's Driver Station.

package main

import (
	"fmt"
	"log"
	"net"
	"time"
)

const (
	driverStationTcpListenPort     = 1750
	driverStationUdpSendPort       = 1120
	driverStationUdpReceivePort    = 1160
	driverStationTcpLinkTimeoutSec = 5
	driverStationUdpLinkTimeoutSec = 1
	maxTcpPacketBytes              = 4096
)

type DriverStationConnection struct {
	TeamId                    int
	AllianceStation           string
	Auto                      bool
	Enabled                   bool
	EmergencyStop             bool
	DsLinked                  bool
	RobotLinked               bool
	BatteryVoltage            float64
	DsRobotTripTimeMs         int
	MissedPacketCount         int
	MBpsToRobot               float64
	MBpsFromRobot             float64
	SecondsSinceLastRobotLink float64
	lastPacketTime            time.Time
	lastRobotLinkedTime       time.Time
	packetCount               int
	missedPacketOffset        int
	tcpConn                   net.Conn
	udpConn                   net.Conn
	log                       *TeamMatchLog
}

var allianceStationPositionMap = map[string]byte{"R1": 0, "R2": 1, "R3": 2, "B1": 3, "B2": 4, "B3": 5}
var driverStationTcpListenAddress = "10.0.100.5" // The DS will try to connect to this address only.

// Opens a UDP connection for communicating to the driver station.
func NewDriverStationConnection(teamId int, allianceStation string, tcpConn net.Conn) (*DriverStationConnection, error) {
	ipAddress, _, err := net.SplitHostPort(tcpConn.RemoteAddr().String())
	if err != nil {
		return nil, err
	}
	log.Printf("Driver station for Team %d connected from %s\n", teamId, ipAddress)

	udpConn, err := net.Dial("udp4", fmt.Sprintf("%s:%d", ipAddress, driverStationUdpSendPort))
	if err != nil {
		return nil, err
	}
	return &DriverStationConnection{TeamId: teamId, AllianceStation: allianceStation, tcpConn: tcpConn, udpConn: udpConn}, nil
}

// Loops indefinitely to read packets and update connection status.
func ListenForDsUdpPackets() {
	udpAddress, _ := net.ResolveUDPAddr("udp4", fmt.Sprintf(":%d", driverStationUdpReceivePort))
	listener, err := net.ListenUDP("udp4", udpAddress)
	if err != nil {
		log.Fatalln("Error opening driver station UDP socket: %v", err.Error())
	}
	log.Printf("Listening for driver stations on UDP port %d\n", driverStationUdpReceivePort)

	var data [50]byte
	for {
		listener.Read(data[:])

		teamId := int(data[4])<<8 + int(data[5])

		var dsConn *DriverStationConnection
		for _, allianceStation := range mainArena.AllianceStations {
			if allianceStation.Team != nil && allianceStation.Team.Id == teamId {
				dsConn = allianceStation.DsConn
				break
			}
		}

		if dsConn != nil {
			dsConn.DsLinked = true
			dsConn.lastPacketTime = time.Now()

			dsConn.RobotLinked = data[3]&0x20 != 0
			if dsConn.RobotLinked {
				dsConn.lastRobotLinkedTime = time.Now()

				// Robot battery voltage, stored as volts * 256.
				dsConn.BatteryVoltage = float64(data[6]) + float64(data[7])/256
			}
		}
	}
}

// Sends a control packet to the Driver Station and checks for timeout conditions.
func (dsConn *DriverStationConnection) Update() error {
	err := dsConn.sendControlPacket()
	if err != nil {
		return err
	}

	if time.Since(dsConn.lastPacketTime).Seconds() > driverStationUdpLinkTimeoutSec {
		dsConn.DsLinked = false
		dsConn.RobotLinked = false
		dsConn.BatteryVoltage = 0
		dsConn.MBpsToRobot = 0
		dsConn.MBpsFromRobot = 0
	}
	dsConn.SecondsSinceLastRobotLink = time.Since(dsConn.lastRobotLinkedTime).Seconds()

	return nil
}

func (dsConn *DriverStationConnection) Close() {
	if dsConn.log != nil {
		dsConn.log.Close()
	}
	if dsConn.udpConn != nil {
		dsConn.udpConn.Close()
	}
	if dsConn.tcpConn != nil {
		dsConn.tcpConn.Close()
	}
}

// Called at the start of the match to allow for driver station initialization.
func (dsConn *DriverStationConnection) signalMatchStart(match *Match) error {
	// Zero out missed packet count and begin logging.
	dsConn.missedPacketOffset = dsConn.MissedPacketCount
	var err error
	dsConn.log, err = NewTeamMatchLog(dsConn.TeamId, match)
	return err
}

// Serializes the control information into a packet.
func (dsConn *DriverStationConnection) encodeControlPacket() [22]byte {
	var packet [22]byte

	// Packet number, stored big-endian in two bytes.
	packet[0] = byte((dsConn.packetCount >> 8) & 0xff)
	packet[1] = byte(dsConn.packetCount & 0xff)

	// Protocol version.
	packet[2] = 0

	// Robot status byte.
	packet[3] = 0
	if dsConn.Auto {
		packet[3] |= 0x02
	}
	if dsConn.Enabled {
		packet[3] |= 0x04
	}
	if dsConn.EmergencyStop {
		packet[3] |= 0x80
	}

	// Unknown or unused.
	packet[4] = 0

	// Alliance station.
	packet[5] = allianceStationPositionMap[dsConn.AllianceStation]

	// Match information.
	match := mainArena.currentMatch
	if match.Type == "practice" {
		packet[6] = 1
	} else if match.Type == "qualification" {
		packet[6] = 2
	} else if match.Type == "elimination" {
		packet[6] = 3
	} else {
		packet[6] = 0
	}
	// TODO(patrick): Implement if it ever becomes necessary; the official FMS has a different concept of
	// match numbers so it's hard to translate.
	packet[7] = 0 // Match number
	packet[8] = 1 // Match number
	packet[9] = 1 // Match repeat number

	// Current time.
	currentTime := time.Now()
	packet[10] = byte(((currentTime.Nanosecond() / 1000) >> 24) & 0xff)
	packet[11] = byte(((currentTime.Nanosecond() / 1000) >> 16) & 0xff)
	packet[12] = byte(((currentTime.Nanosecond() / 1000) >> 8) & 0xff)
	packet[13] = byte((currentTime.Nanosecond() / 1000) & 0xff)
	packet[14] = byte(currentTime.Second())
	packet[15] = byte(currentTime.Minute())
	packet[16] = byte(currentTime.Hour())
	packet[17] = byte(currentTime.Day())
	packet[18] = byte(currentTime.Month())
	packet[19] = byte(currentTime.Year() - 1900)

	// Remaining number of seconds in match.
	var matchSecondsRemaining int
	switch mainArena.MatchState {
	case PRE_MATCH:
		fallthrough
	case START_MATCH:
		fallthrough
	case AUTO_PERIOD:
		matchSecondsRemaining = mainArena.matchTiming.AutoDurationSec - int(mainArena.MatchTimeSec())
	case PAUSE_PERIOD:
		matchSecondsRemaining = mainArena.matchTiming.TeleopDurationSec
	case TELEOP_PERIOD:
		fallthrough
	case ENDGAME_PERIOD:
		matchSecondsRemaining = mainArena.matchTiming.AutoDurationSec + mainArena.matchTiming.TeleopDurationSec +
			mainArena.matchTiming.PauseDurationSec - int(mainArena.MatchTimeSec())
	default:
		matchSecondsRemaining = 0
	}
	packet[20] = byte(matchSecondsRemaining >> 8 & 0xff)
	packet[21] = byte(matchSecondsRemaining & 0xff)

	// Increment the packet count for next time.
	dsConn.packetCount++

	return packet
}

// Builds and sends the next control packet to the Driver Station.
func (dsConn *DriverStationConnection) sendControlPacket() error {
	packet := dsConn.encodeControlPacket()
	if dsConn.udpConn != nil {
		_, err := dsConn.udpConn.Write(packet[:])
		if err != nil {
			return err
		}
	}

	return nil
}

// Deserializes a packet from the DS into a structure representing the DS/robot status.
func (dsConn *DriverStationConnection) decodeStatusPacket(data [36]byte) {
	// Average DS-robot trip time in milliseconds.
	dsConn.DsRobotTripTimeMs = int(data[1]) / 2

	// 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.
func ListenForDriverStations() {
	l, err := net.Listen("tcp", fmt.Sprintf("%s:%d", driverStationTcpListenAddress, driverStationTcpListenPort))
	if err != nil {
		log.Printf("Error opening driver station TCP socket: %v", err.Error())
		log.Printf("Change IP address to %s and restart Cheesy Arena to fix.", driverStationTcpListenAddress)
		return
	}
	defer l.Close()

	log.Printf("Listening for driver stations on TCP port %d\n", driverStationTcpListenPort)
	for {
		tcpConn, err := l.Accept()
		if err != nil {
			log.Println("Error accepting driver station connection: ", err.Error())
			continue
		}

		// Read the team number back and start tracking the driver station.
		var packet [5]byte
		_, err = tcpConn.Read(packet[:])
		if err != nil {
			log.Println("Error reading initial packet: ", err.Error())
			continue
		}
		if !(packet[0] == 0 && packet[1] == 3 && packet[2] == 24) {
			log.Printf("Invalid initial packet received: %v", packet)
			tcpConn.Close()
			continue
		}
		teamId := int(packet[3])<<8 + int(packet[4])

		// Check to see if the team is supposed to be on the field, and notify the DS accordingly.
		var assignmentPacket [5]byte
		assignmentPacket[0] = 0  // Packet size
		assignmentPacket[1] = 3  // Packet size
		assignmentPacket[2] = 25 // Packet type
		assignedStation := mainArena.getAssignedAllianceStation(teamId)
		if assignedStation == "" {
			log.Printf("Rejecting connection from Team %d, who is not in the current match.", teamId)
			assignmentPacket[3] = 0
			assignmentPacket[4] = 2
			tcpConn.Write(assignmentPacket[:])
			tcpConn.Close()
			continue
		}
		log.Printf("Accepting connection from Team %d in station %s.", teamId, assignedStation)
		assignmentPacket[3] = allianceStationPositionMap[assignedStation]
		assignmentPacket[4] = 0
		_, err = tcpConn.Write(assignmentPacket[:])
		if err != nil {
			log.Println("Error sending driver station assignment packet: %v", err)
			tcpConn.Close()
			continue
		}

		dsConn, err := NewDriverStationConnection(teamId, assignedStation, tcpConn)
		if err != nil {
			log.Println("Error registering driver station connection: %v", err)
			tcpConn.Close()
			continue
		}
		mainArena.AllianceStations[assignedStation].DsConn = dsConn

		// Spin up a goroutine to handle further TCP communication with this driver station.
		go dsConn.handleTcpConnection()
	}
}

func (dsConn *DriverStationConnection) handleTcpConnection() {
	buffer := make([]byte, maxTcpPacketBytes)
	for {
		dsConn.tcpConn.SetReadDeadline(time.Now().Add(time.Second * driverStationTcpLinkTimeoutSec))
		_, err := dsConn.tcpConn.Read(buffer)
		if err != nil {
			log.Printf("Error reading from connection for Team %d: %v\n", dsConn.TeamId, err.Error())
			dsConn.Close()
			mainArena.AllianceStations[dsConn.AllianceStation].DsConn = nil
			break
		}

		packetType := int(buffer[2])
		switch packetType {
		case 28:
			// DS keepalive packet; do nothing.
		case 22:
			// Robot status packet.
			var statusPacket [36]byte
			copy(statusPacket[:], buffer[2:38])
			dsConn.decodeStatusPacket(statusPacket)
		}

		// Log the packet if the match is in progress.
		matchTimeSec := mainArena.MatchTimeSec()
		if matchTimeSec > 0 && dsConn.log != nil {
			dsConn.log.LogDsPacket(matchTimeSec, packetType, dsConn)
		}
	}
}