commit b2433463e5a782a23c02772e3bd644c15a46fb17
author Alex Perry <alex.perry96@gmail.com> Tue Mar 26 21:45:26 2019 -0700
committer Alex Perry <alex.perry96@gmail.com> Tue Mar 26 21:45:26 2019 -0700
tree 7bdc504c33bd37bada6c6d5b8abea41e1980ebea
parent dfe58be25b0ee5fad0a9635b86a2809e2a557cc3

Draw the HAB on the field visualizer.

Also fix some TS compile errors.

Change-Id: I187f8498b814b456adba5cbd5c8ce82035cf932d

y2019/vision/server/www/field.ts

diff --git a/y2019/vision/server/www/field.ts b/y2019/vision/server/www/field.ts
index 8cb1282..b52eee8 100644
--- a/y2019/vision/server/www/field.ts
+++ b/y2019/vision/server/www/field.ts
@@ -29,17 +29,37 @@
 const HP_Y = ((26 * 12 + 10.5) / 2 - 25.9) * IN_TO_M;
 const HP_THETA = Math.PI;
 
+const HAB_LENGTH = 4 * FT_TO_M;
+const HALF_HAB_3_WIDTH = 2 * FT_TO_M;
+const HAB_2_WIDTH = (3 * 12 + 4) * IN_TO_M;
+const HALF_HAB_1_WIDTH = (6 * 12 + 3.25) * IN_TO_M;
+const HAB_1_LENGTH = (3 * 12 + 11.25) * IN_TO_M;
+
+const DEPOT_WIDTH = (12 + 10.625) * IN_TO_M;
+
 export function drawField(ctx : CanvasRenderingContext2D) : void {
   drawTargets(ctx);
+  drawHab(ctx);
 }
 
 function drawHab(ctx : CanvasRenderingContext2D) : void {
-  ctx.fillstyle = 'rgb(100,100,100)';
-  const habLeft = 5 * FT_TO_M;
-  const habWidth = 5 * FT_TO_M;
-  const habTop = -5 * FT_TO_M;
-  const habHeight = 10 * FT_TO_M;
-  ctx.fillRect(habLeft,habTop,habWidth,habHeight);
+  drawHalfHab(ctx);
+  ctx.save();
+
+  ctx.scale(1, -1);
+  drawHalfHab(ctx);
+
+  ctx.restore();
+}
+
+function drawHalfHab(ctx : CanvasRenderingContext2D) : void {
+  ctx.fillStyle = 'rgb(50, 50, 50)';
+  ctx.fillRect(0, 0, HAB_LENGTH, HALF_HAB_3_WIDTH);
+  ctx.fillStyle = 'rgb(100, 100, 100)';
+  ctx.fillRect(0, HALF_HAB_3_WIDTH, HAB_LENGTH, HAB_2_WIDTH);
+  ctx.fillStyle = 'rgb(200, 200, 200)';
+  ctx.fillRect(HAB_LENGTH, 0, HAB_1_LENGTH, HALF_HAB_1_WIDTH);
+  ctx.strokeRect(0, HALF_HAB_3_WIDTH + HAB_2_WIDTH, HAB_LENGTH, DEPOT_WIDTH);
 }
 
 function drawTargets(ctx : CanvasRenderingContext2D) : void {

y2019/vision/server/www/main.ts

diff --git a/y2019/vision/server/www/main.ts b/y2019/vision/server/www/main.ts
index 8dc0ea9..17b7139 100644
--- a/y2019/vision/server/www/main.ts
+++ b/y2019/vision/server/www/main.ts
@@ -2,8 +2,6 @@
 import {drawField, drawTarget} from './field';
 import {drawRobot} from './robot';
 
-const FIELD_WIDTH = 27 * FT_TO_M;
-
 function main(): void {
   const vis = new Visualiser();
 }
@@ -14,9 +12,10 @@
   private theta = 0;
 
   private drawLocked = false;
-  private lockedX = 0;
-  private lockedY = 0;
-  private lockedTheta = 0;
+  private targetLocked = false;
+  private targetX = 0;
+  private targetY = 0;
+  private targetTheta = 0;
 
   constructor() {
     const canvas = <HTMLCanvasElement>document.getElementById('field');