Add 2021 field to Spline UI
Change-Id: Ic2e86a0c42e76e4e61b5ee34c95dc743d409c8b8
diff --git a/frc971/control_loops/python/constants.py b/frc971/control_loops/python/constants.py
index 14c2afc..2c94169 100644
--- a/frc971/control_loops/python/constants.py
+++ b/frc971/control_loops/python/constants.py
@@ -1,4 +1,5 @@
from gi.repository import Gtk
+from collections import namedtuple
window = Gtk.Window()
screen = window.get_screen()
@@ -17,23 +18,103 @@
ROBOT_SIDE_TO_HATCH_PANEL = 0.1
HATCH_PANEL_WIDTH = 0.4826
-FIELD = 2020
+FieldType = namedtuple(
+ 'Field', ['name', 'tags', 'year', 'width', 'length', 'json_name'])
-if FIELD == 2019:
- # Half Field
- WIDTH_OF_FIELD_IN_METERS = 8.258302
-elif FIELD == 2020:
- # Full Field
- WIDTH_OF_FIELD_IN_METERS = 15.98295
- LENGTH_OF_FIELD_IN_METERS = 8.21055
+GALACTIC_SEARCH = "Galactic Search"
+ARED = "A Red"
+BRED = "B Red"
+ABLUE = "A Blue"
+BBLUE = "B Blue"
+AUTONAV = "AutoNav"
+BOUNCE = "Bounce"
+SLALOM = "Slalom"
+BARREL = "Barrel"
+
+FIELDS = {
+ "2019 Field":
+ FieldType(
+ "2019 Field",
+ tags=[],
+ year=2019,
+ width=8.258302,
+ length=8.258302,
+ json_name="spline_2019.json"),
+ "2020 Field":
+ FieldType(
+ "2020 Field",
+ tags=[],
+ year=2020,
+ width=15.98295,
+ length=8.21055,
+ json_name="spline_2020.json"),
+ "2021 Galactic Search BRed":
+ FieldType(
+ "2021 Galactic Search BRed",
+ tags=[GALACTIC_SEARCH, BRED],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="spline_red_a.json"),
+ "2021 Galactic Search ARed":
+ FieldType(
+ "2021 Galactic Search ARed",
+ tags=[GALACTIC_SEARCH, ARED],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="spline_red_b.json"),
+ "2021 Galactic Search BBlue":
+ FieldType(
+ "2021 Galactic Search BBlue",
+ tags=[GALACTIC_SEARCH, BBLUE],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="spline_blue_b.json"),
+ "2021 Galactic Search ABlue":
+ FieldType(
+ "2021 Galactic Search ABlue",
+ tags=[GALACTIC_SEARCH, ABLUE],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="spline_blue_a.json"),
+ "2021 AutoNav Barrel":
+ FieldType(
+ "2021 AutoNav Barrel",
+ tags=[AUTONAV, BARREL],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="autonav_barrel.json"),
+ "2021 AutoNav Slalom":
+ FieldType(
+ "2021 AutoNav Slalom",
+ tags=[AUTONAV, SLALOM],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="autonav_slalom.json"),
+ "2021 AutoNav Bounce":
+ FieldType(
+ "2021 AutoNav Bounce",
+ tags=[AUTONAV, BOUNCE],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="autonav_bounce.json"),
+}
+
+FIELD = FIELDS["2021 Galactic Search BRed"]
def pxToM(p):
- return p * WIDTH_OF_FIELD_IN_METERS / SCREEN_SIZE
+ return p * FIELD.width / SCREEN_SIZE
def mToPx(m):
- return (m * SCREEN_SIZE / WIDTH_OF_FIELD_IN_METERS)
+ return (m * SCREEN_SIZE / FIELD.width)
def inToM(i):
diff --git a/frc971/control_loops/python/drawing_constants.py b/frc971/control_loops/python/drawing_constants.py
index a364e40..8548b54 100644
--- a/frc971/control_loops/python/drawing_constants.py
+++ b/frc971/control_loops/python/drawing_constants.py
@@ -60,6 +60,91 @@
cr.scale(widthb, -heightb)
+def draw_at_home_grid(cr):
+ field = np.zeros(shape=(5, 11), dtype=bool)
+ # field[row from bottom][column from left]
+
+ if GALACTIC_SEARCH in FIELD.tags:
+ # Galactic search start zone
+ field[1][0] = True
+ field[3][0] = True
+
+ # Galactic search end zone
+ field[1][10] = True
+ field[3][10] = True
+
+ if ARED in FIELD.tags:
+ field[4][5] = True
+ field[2][2] = True
+ field[1][4] = True
+ elif ABLUE in FIELD.tags:
+ field[0][5] = True
+ field[3][6] = True
+ field[2][8] = True
+ elif BRED in FIELD.tags:
+ field[3][2] = True
+ field[1][4] = True
+ field[3][6] = True
+ elif BBLUE in FIELD.tags:
+ field[1][5] = True
+ field[3][7] = True
+ field[1][9] = True
+ elif AUTONAV in FIELD.tags:
+ # start/end zone
+ field[1][0] = True
+ field[1][1] = True
+ field[3][0] = True
+ field[3][1] = True
+
+ if BAREL in FIELD.tags:
+ # barrels
+ field[1][4] = True
+ field[3][8] = True
+ field[1][10] = True
+ if BARREL in FIELD.tags:
+ field[1][3:8] = True # 3 to 7 inclusive
+ field[1][9] = True
+ if BOUNCE in FIELD.tags:
+ # turn on two rows
+ field[1][:11] = True
+ field[3][:11] = True
+
+ # turn off parts of rows
+ field[3][2] = False
+ field[3][5] = False
+ field[3][8] = False
+
+ field[1][3] = False
+ field[1][5] = False
+ field[1][8] = False
+
+ # markers to hit
+ field[4][2] = True
+ field[4][5] = True
+ field[4][8] = True
+
+ # Move origin to bottom left
+ xorigin = -mToPx(FIELD.width) / 2.0
+ yorigin = -mToPx(FIELD.length) / 2.0
+
+ color = palette["BLACK"]
+ # markers are at least 6.35 x 6.35 cm
+ marker_length = mToPx(0.0635)
+
+ for row, row_array in enumerate(field):
+ for column, has_marker in enumerate(row_array):
+ one_indexed_row = row + 1
+ one_indexed_column = column + 1
+
+ # 76.2 cm increments
+ pos_y = one_indexed_row * mToPx(0.762)
+ pos_x = one_indexed_column * mToPx(0.762)
+
+ if has_marker:
+ draw_px_x(cr, xorigin + pos_x, yorigin + pos_y, marker_length,
+ color)
+
+
def markers(cr):
SHOW_MARKERS = False
if SHOW_MARKERS:
@@ -111,9 +196,9 @@
def draw_init_lines(cr):
set_color(cr, palette["RED"])
- init_line_x = WIDTH_OF_FIELD_IN_METERS / 2.0 - inToM(120)
- init_start_y = -LENGTH_OF_FIELD_IN_METERS / 2.0
- init_end_y = LENGTH_OF_FIELD_IN_METERS / 2.0
+ init_line_x = FIELD.width / 2.0 - inToM(120)
+ init_start_y = -FIELD.length / 2.0
+ init_end_y = FIELD.length / 2.0
cr.move_to(mToPx(init_line_x), mToPx(init_start_y))
cr.line_to(mToPx(init_line_x), mToPx(init_end_y))
@@ -124,7 +209,7 @@
def draw_trench_run(cr):
- edge_of_field_y = LENGTH_OF_FIELD_IN_METERS / 2.0
+ edge_of_field_y = FIELD.length / 2.0
edge_of_trench_y = edge_of_field_y - inToM(55.5)
trench_start_x = inToM(-108.0)
trench_length_x = inToM(216.0)
@@ -133,7 +218,7 @@
ball_two_x = -inToM(36)
ball_three_x = 0.0
# The fourth/fifth balls are referenced off of the init line...
- ball_fourfive_x = WIDTH_OF_FIELD_IN_METERS / 2.0 - inToM(120.0 + 130.36)
+ ball_fourfive_x = FIELD.width / 2.0 - inToM(120.0 + 130.36)
for sign in [1.0, -1.0]:
set_color(cr, palette["GREEN"])
@@ -167,9 +252,9 @@
def draw_control_panel(cr): # Base plates are not included
set_color(cr, palette["LIGHT_GREY"])
- edge_of_field_y = LENGTH_OF_FIELD_IN_METERS / 2.0
+ edge_of_field_y = FIELD.length / 2.0
edge_of_trench_y = edge_of_field_y - inToM(55.5)
- high_x = inToM(374.59) - WIDTH_OF_FIELD_IN_METERS / 2.0
+ high_x = inToM(374.59) - FIELD.width / 2.0
low_x = high_x - inToM(30)
for sign in [1.0, -1.0]:
# Bottom Control Panel
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index f198299..7620ff5 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -96,17 +96,19 @@
return self.all_controls[self.get_index_of_nearest_point()]
def draw_field_elements(self, cr):
- if FIELD == 2019:
+ if FIELD.year == 2019:
draw_HAB(cr)
draw_rockets(cr)
draw_cargo_ship(cr)
- elif FIELD == 2020:
+ elif FIELD.year == 2020:
set_color(cr, palette["BLACK"])
markers(cr)
draw_shield_generator(cr)
draw_trench_run(cr)
draw_init_lines(cr)
draw_control_panel(cr)
+ elif FIELD.year == 2021:
+ draw_at_home_grid(cr)
def draw_robot_at_point(self, cr, i, p, spline):
p1 = [mToPx(spline.Point(i)[0]), mToPx(spline.Point(i)[1])]
@@ -222,18 +224,18 @@
cr.show_text('Press "i" to import')
cr.save()
- cr.translate(mToPx(WIDTH_OF_FIELD_IN_METERS) / 2.0, 0.0)
set_color(cr, palette["BLACK"])
- if FIELD == 2020:
- cr.rectangle(-mToPx(WIDTH_OF_FIELD_IN_METERS) / 2.0,
- -mToPx(LENGTH_OF_FIELD_IN_METERS) / 2.0,
- mToPx(WIDTH_OF_FIELD_IN_METERS),
- mToPx(LENGTH_OF_FIELD_IN_METERS))
- else:
+
+ if FIELD.year == 2019: # half field
cr.rectangle(0, -SCREEN_SIZE / 2, SCREEN_SIZE, SCREEN_SIZE)
+ else: # full field
+ cr.translate(mToPx(FIELD.width) / 2.0, 0.0)
+ cr.rectangle(-mToPx(FIELD.width) / 2.0, -mToPx(FIELD.length) / 2.0,
+ mToPx(FIELD.width), mToPx(FIELD.length))
cr.set_line_join(cairo.LINE_JOIN_ROUND)
cr.stroke()
self.draw_field_elements(cr)
+
y = 0
# update everything
@@ -319,7 +321,7 @@
def mouse_move(self, event):
old_x = self.x
old_y = self.y
- self.x = event.x - mToPx(WIDTH_OF_FIELD_IN_METERS / 2.0)
+ self.x = event.x - mToPx(FIELD.width / 2.0)
self.y = event.y
dif_x = self.x - old_x
dif_y = self.y - old_y
@@ -435,6 +437,6 @@
def do_button_press(self, event):
# Be consistent with the scaling in the drawing_area
- self.x = event.x * 2 - mToPx(WIDTH_OF_FIELD_IN_METERS / 2.0)
+ self.x = event.x * 2 - mToPx(FIELD.width / 2.0)
self.y = event.y * 2
self.button_press_action()