Merge "Configure rockpi to flush dirty pages faster"
diff --git a/.bazelignore b/.bazelignore
index 784e4c1..2409a99 100644
--- a/.bazelignore
+++ b/.bazelignore
@@ -4,7 +4,6 @@
scouting/www/counter_button/node_modules
scouting/www/driver_ranking/node_modules
scouting/www/entry/node_modules
-scouting/www/import_match_list/node_modules
scouting/www/match_list/node_modules
scouting/www/notes/node_modules
scouting/www/rpc/node_modules
diff --git a/WORKSPACE b/WORKSPACE
index 817e5ba..a7630d1 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -959,7 +959,6 @@
"@//scouting/www/counter_button:package.json",
"@//scouting/www/driver_ranking:package.json",
"@//scouting/www/entry:package.json",
- "@//scouting/www/import_match_list:package.json",
"@//scouting/www/match_list:package.json",
"@//scouting/www/notes:package.json",
"@//scouting/www/rpc:package.json",
diff --git a/aos/util/config_validator.cc b/aos/util/config_validator.cc
index 78bd0b1..d5bd6ba 100644
--- a/aos/util/config_validator.cc
+++ b/aos/util/config_validator.cc
@@ -1,4 +1,5 @@
#include <chrono>
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
@@ -9,8 +10,7 @@
#include "gflags/gflags.h"
#include "gtest/gtest.h"
-DEFINE_string(config, "",
- "Name of the config file to replay using.");
+DEFINE_string(config, "", "Name of the config file to replay using.");
/* This binary is used to validate that all of the
needed remote timestamps channels are in the config
to log the timestamps.
@@ -18,8 +18,8 @@
to confirm that the timestamps in the config are able to
replay all of the data in the log
This can be done by getting a list of all of the nodes and
- iterating through it with a for loop creating a logger for
- each one
+ iterating through it with a for loop creating a logger for
+ each one
Reference superstructure_lib_test.cc*/
TEST(ConfigValidatorTest, ReadConfig) {
ASSERT_TRUE(!FLAGS_config.empty());
@@ -30,3 +30,7 @@
factory.RunFor(std::chrono::seconds(1));
}
+
+// TODO(milind): add more tests, the above one doesn't
+// catch an error like forgetting to add a forwarded message to
+// the destination node's config.
diff --git a/aos/util/config_validator_macro.bzl b/aos/util/config_validator_macro.bzl
index 47ab240..453c5c2 100644
--- a/aos/util/config_validator_macro.bzl
+++ b/aos/util/config_validator_macro.bzl
@@ -1,4 +1,4 @@
-def config_validator_rule(name, config, visibility = None):
+def config_validator_rule(name, config, extension = ".bfbs", visibility = None):
'''
Macro to take a config and pass it to the config validator to validate that it will work on a real system.
@@ -8,12 +8,12 @@
name: name that the config validator uses, e.g. "test_config",
config: config rule that needs to be validated, e.g. "//aos/events:pingpong_config",
'''
- config_bfbs = config + ".bfbs"
+ config_file = config + extension
native.genrule(
name = name,
outs = [name + ".txt"],
- cmd = "$(location //aos/util:config_validator) --config $(location %s) > $@" % config_bfbs,
- srcs = [config_bfbs],
+ cmd = "$(location //aos/util:config_validator) --config $(location %s) > $@" % config_file,
+ srcs = [config_file],
tools = ["//aos/util:config_validator"],
testonly = True,
visibility = visibility,
diff --git a/frc971/control_loops/control_loops.fbs b/frc971/control_loops/control_loops.fbs
index 243e2cb..da2dc05 100644
--- a/frc971/control_loops/control_loops.fbs
+++ b/frc971/control_loops/control_loops.fbs
@@ -86,6 +86,13 @@
encoder:double (id: 0);
}
+// An enum to represent the different types of errors
+// a zeroing estimator could have.
+enum ZeroingError : short {
+ OFFSET_MOVED_TOO_FAR,
+ LOST_ABSOLUTE_ENCODER
+}
+
// The internal state of a zeroing estimator.
table EstimatorState {
// If true, there has been a fatal error for the estimator.
@@ -114,6 +121,9 @@
// The estimated absolute position of the encoder. This is filtered, so it
// can be easily used when zeroing.
absolute_position:double (id: 4);
+
+ // If errored, this contains the causes for the error.
+ errors: [ZeroingError] (id: 5);
}
// The internal state of a zeroing estimator.
@@ -128,6 +138,9 @@
// The estimated absolute position of the encoder. This is filtered, so it
// can be easily used when zeroing.
absolute_position:double (id: 3);
+
+ // If errored, this contains the causes for the error.
+ errors: [ZeroingError] (id: 4);
}
// The internal state of a zeroing estimator.
@@ -145,8 +158,12 @@
// Estimated absolute position of the single turn absolute encoder.
single_turn_absolute_position:double (id: 4);
+
+ // If errored, this contains the causes for the error.
+ errors: [ZeroingError] (id: 5);
}
+
table RelativeEncoderEstimatorState {
// If true, there has been a fatal error for the estimator.
error:bool (id: 0);
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 9150e8a..51f92b1 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -49,6 +49,31 @@
int do_accel_corrections = 50;
};
+// Configuration for line-following mode.
+struct LineFollowConfig {
+ // The line-following uses an LQR controller with states of [theta,
+ // linear_velocity, angular_velocity] and inputs of [left_voltage,
+ // right_voltage].
+ // These Q and R matrices are the costs for state and input respectively.
+ Eigen::Matrix3d Q =
+ Eigen::Matrix3d((::Eigen::DiagonalMatrix<double, 3>().diagonal()
+ << 1.0 / ::std::pow(0.1, 2),
+ 1.0 / ::std::pow(1.0, 2), 1.0 / ::std::pow(1.0, 2))
+ .finished()
+ .asDiagonal());
+ Eigen::Matrix2d R =
+ Eigen::Matrix2d((::Eigen::DiagonalMatrix<double, 2>().diagonal()
+ << 1.0 / ::std::pow(12.0, 2),
+ 1.0 / ::std::pow(12.0, 2))
+ .finished()
+ .asDiagonal());
+
+ // The driver can use their steering controller to adjust where we attempt to
+ // place things laterally. This specifies how much range on either side of
+ // zero we allow them, in meters.
+ double max_controllable_offset = 0.1;
+};
+
template <typename Scalar = double>
struct DrivetrainConfig {
// Shifting method we are using.
@@ -118,6 +143,8 @@
DownEstimatorConfig down_estimator_config{};
+ LineFollowConfig line_follow_config{};
+
// Converts the robot state to a linear distance position, velocity.
static Eigen::Matrix<Scalar, 2, 1> LeftRightToLinear(
const Eigen::Matrix<Scalar, 7, 1> &left_right) {
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
index a53538b..95f14a3 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
@@ -95,6 +95,8 @@
const DrivetrainConfig<double> &dt_config,
TargetSelectorInterface *target_selector)
: dt_config_(dt_config),
+ Q_(dt_config_.line_follow_config.Q),
+ R_(dt_config_.line_follow_config.R),
A_d_(ADiscrete(dt_config_)),
B_d_(BDiscrete(dt_config_)),
K_(CalcK(A_d_, B_d_, Q_, R_)),
@@ -131,7 +133,8 @@
}
// Set an adjustment that lets the driver tweak the offset for where we place
// the target left/right.
- side_adjust_ = -goal->wheel() * 0.1;
+ side_adjust_ =
+ -goal->wheel() * dt_config_.line_follow_config.max_controllable_offset;
}
bool LineFollowDrivetrain::SetOutput(
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.h b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
index 24f8cd4..c5b03f0 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.h
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
@@ -1,7 +1,6 @@
#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_LINE_FOLLOW_DRIVETRAIN_H_
#define FRC971_CONTROL_LOOPS_DRIVETRAIN_LINE_FOLLOW_DRIVETRAIN_H_
#include "Eigen/Dense"
-
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
@@ -56,21 +55,10 @@
double relative_y_offset, double velocity_sign);
const DrivetrainConfig<double> dt_config_;
- // TODO(james): These should probably be factored out somewhere.
// TODO(james): This controller is not actually asymptotically stable, due to
// the varying goal theta.
- const ::Eigen::DiagonalMatrix<double, 3> Q_ =
- (::Eigen::DiagonalMatrix<double, 3>().diagonal()
- << 1.0 / ::std::pow(0.1, 2),
- 1.0 / ::std::pow(1.0, 2), 1.0 / ::std::pow(1.0, 2))
- .finished()
- .asDiagonal();
- const ::Eigen::DiagonalMatrix<double, 2> R_ =
- (::Eigen::DiagonalMatrix<double, 2>().diagonal()
- << 1.0 / ::std::pow(12.0, 2),
- 1.0 / ::std::pow(12.0, 2))
- .finished()
- .asDiagonal();
+ const ::Eigen::Matrix<double, 3, 3> Q_;
+ const ::Eigen::Matrix<double, 2, 2> R_;
// The matrices we use for the linear controller.
// State for these is [theta, linear_velocity, angular_velocity]
const ::Eigen::Matrix<double, 3, 3> A_d_;
diff --git a/frc971/control_loops/drivetrain/localization/puppet_localizer.cc b/frc971/control_loops/drivetrain/localization/puppet_localizer.cc
index 3125793..33095f2 100644
--- a/frc971/control_loops/drivetrain/localization/puppet_localizer.cc
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer.cc
@@ -7,7 +7,9 @@
PuppetLocalizer::PuppetLocalizer(
aos::EventLoop *event_loop,
const frc971::control_loops::drivetrain::DrivetrainConfig<double>
- &dt_config)
+ &dt_config,
+ std::unique_ptr<frc971::control_loops::drivetrain::TargetSelectorInterface>
+ target_selector)
: event_loop_(event_loop),
dt_config_(dt_config),
ekf_(dt_config),
@@ -17,7 +19,8 @@
"/localizer")),
clock_offset_fetcher_(
event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
- "/aos")) {
+ "/aos")),
+ target_selector_(std::move(target_selector)) {
ekf_.set_ignore_accel(true);
event_loop->OnRun([this, event_loop]() {
@@ -25,7 +28,11 @@
HybridEkf::State::Zero(), ekf_.P());
});
- target_selector_.set_has_target(false);
+ if (!target_selector_) {
+ auto selector = std::make_unique<TrivialTargetSelector>();
+ selector->set_has_target(false);
+ target_selector_ = std::move(selector);
+ }
}
void PuppetLocalizer::Reset(
diff --git a/frc971/control_loops/drivetrain/localization/puppet_localizer.h b/frc971/control_loops/drivetrain/localization/puppet_localizer.h
index 4f8f4f3..24e2f88 100644
--- a/frc971/control_loops/drivetrain/localization/puppet_localizer.h
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer.h
@@ -32,14 +32,17 @@
PuppetLocalizer(
aos::EventLoop *event_loop,
const frc971::control_loops::drivetrain::DrivetrainConfig<double>
- &dt_config);
+ &dt_config,
+ std::unique_ptr<
+ frc971::control_loops::drivetrain::TargetSelectorInterface>
+ target_selector = {});
frc971::control_loops::drivetrain::HybridEkf<double>::State Xhat()
const override {
return ekf_.X_hat().cast<double>();
}
- frc971::control_loops::drivetrain::TrivialTargetSelector *target_selector()
+ frc971::control_loops::drivetrain::TargetSelectorInterface *target_selector()
override {
- return &target_selector_;
+ return target_selector_.get();
}
void Update(const ::Eigen::Matrix<double, 2, 1> &U,
@@ -97,7 +100,8 @@
aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
// Target selector to allow us to satisfy the LocalizerInterface requirements.
- frc971::control_loops::drivetrain::TrivialTargetSelector target_selector_;
+ std::unique_ptr<frc971::control_loops::drivetrain::TargetSelectorInterface>
+ target_selector_;
};
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localizer.h
index 67d681e..d590f1d 100644
--- a/frc971/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localizer.h
@@ -15,6 +15,7 @@
// state updates and then determine what poes we should be driving to.
class TargetSelectorInterface {
public:
+ virtual ~TargetSelectorInterface() {}
// Take the state as [x, y, theta, left_vel, right_vel]
// If unable to determine what target to go for, returns false. If a viable
// target is selected, then returns true and sets target_pose.
@@ -108,6 +109,7 @@
// manually set the target selector state.
class TrivialTargetSelector : public TargetSelectorInterface {
public:
+ virtual ~TrivialTargetSelector() {}
bool UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &, double) override {
return has_target_;
}
diff --git a/frc971/zeroing/BUILD b/frc971/zeroing/BUILD
index 9ec2772..d50f181 100644
--- a/frc971/zeroing/BUILD
+++ b/frc971/zeroing/BUILD
@@ -80,6 +80,7 @@
target_compatible_with = ["@platforms//os:linux"],
deps = [
":wrap",
+ "//aos/containers:error_list",
"//aos/logging",
"//frc971:constants",
"//frc971/control_loops:control_loops_fbs",
diff --git a/frc971/zeroing/absolute_and_absolute_encoder.cc b/frc971/zeroing/absolute_and_absolute_encoder.cc
index 40b0519..03ef3f1 100644
--- a/frc971/zeroing/absolute_and_absolute_encoder.cc
+++ b/frc971/zeroing/absolute_and_absolute_encoder.cc
@@ -71,6 +71,7 @@
if (zeroed_) {
VLOG(1) << "NAN on one of the absolute encoders.";
error_ = true;
+ errors_.Set(ZeroingError::LOST_ABSOLUTE_ENCODER);
} else {
++nan_samples_;
VLOG(1) << "NAN on one of the absolute encoders while zeroing"
@@ -78,6 +79,7 @@
if (nan_samples_ >= constants_.average_filter_size) {
error_ = true;
zeroed_ = true;
+ errors_.Set(ZeroingError::LOST_ABSOLUTE_ENCODER);
}
}
// Throw some dummy values in for now.
@@ -189,11 +191,6 @@
(-constants_.single_turn_measured_absolute_position +
what_Unwrap_added));
- /*
- filtered_single_turn_absolute_encoder_ =
- sample.encoder - single_turn_to_relative_encoder_offset_;
- */
-
if (!zeroed_) {
first_offset_ = offset_;
}
@@ -209,6 +206,7 @@
constants_.allowable_encoder_error *
constants_.one_revolution_distance);
error_ = true;
+ errors_.Set(ZeroingError::OFFSET_MOVED_TOO_FAR);
}
zeroed_ = true;
@@ -222,8 +220,12 @@
flatbuffers::Offset<AbsoluteAndAbsoluteEncoderZeroingEstimator::State>
AbsoluteAndAbsoluteEncoderZeroingEstimator::GetEstimatorState(
flatbuffers::FlatBufferBuilder *fbb) const {
+ flatbuffers::Offset<flatbuffers::Vector<ZeroingError>> errors_offset =
+ errors_.ToFlatbuffer(fbb);
+
State::Builder builder(*fbb);
builder.add_error(error_);
+ builder.add_errors(errors_offset);
builder.add_zeroed(zeroed_);
builder.add_position(position_);
builder.add_absolute_position(filtered_absolute_encoder_);
diff --git a/frc971/zeroing/absolute_and_absolute_encoder.h b/frc971/zeroing/absolute_and_absolute_encoder.h
index 499f7d1..509d5c5 100644
--- a/frc971/zeroing/absolute_and_absolute_encoder.h
+++ b/frc971/zeroing/absolute_and_absolute_encoder.h
@@ -5,6 +5,7 @@
#include "flatbuffers/flatbuffers.h"
+#include "aos/containers/error_list.h"
#include "frc971/zeroing/zeroing.h"
namespace frc971 {
@@ -73,6 +74,8 @@
bool zeroed_;
// Marker to track whether an error has occurred.
bool error_;
+ // Marker to track what kind of error has occured.
+ aos::ErrorList<ZeroingError> errors_;
// The first valid offset we recorded. This is only set after zeroed_ first
// changes to true.
double first_offset_;
diff --git a/frc971/zeroing/absolute_and_absolute_encoder_test.cc b/frc971/zeroing/absolute_and_absolute_encoder_test.cc
index cc1872d..59b421a 100644
--- a/frc971/zeroing/absolute_and_absolute_encoder_test.cc
+++ b/frc971/zeroing/absolute_and_absolute_encoder_test.cc
@@ -1,15 +1,15 @@
#include "frc971/zeroing/absolute_and_absolute_encoder.h"
-#include "gtest/gtest.h"
-
#include "frc971/zeroing/zeroing_test.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
namespace frc971 {
namespace zeroing {
namespace testing {
using constants::AbsoluteAndAbsoluteEncoderZeroingConstants;
-using EstimatorState = AbsoluteAndAbsoluteEncoderZeroingEstimator::State;
class AbsoluteAndAbsoluteEncoderZeroingTest : public ZeroingTest {
protected:
@@ -17,7 +17,7 @@
AbsoluteAndAbsoluteEncoderZeroingEstimator *estimator,
double new_position) {
simulator->MoveTo(new_position);
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
estimator->UpdateEstimate(
*simulator->FillSensorValues<AbsoluteAndAbsolutePosition>(&fbb));
}
@@ -107,7 +107,7 @@
AbsoluteAndAbsoluteEncoderZeroingEstimator estimator(constants);
// We tolerate a couple NANs before we start.
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
fbb.Finish(CreateAbsoluteAndAbsolutePosition(
fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN(), 0.0));
for (size_t i = 0; i < kSampleSize - 1; ++i) {
@@ -180,7 +180,7 @@
AbsoluteAndAbsoluteEncoderZeroingEstimator estimator(constants);
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
fbb.Finish(CreateAbsoluteAndAbsolutePosition(
fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN(), 0.0));
const auto sensor_values =
@@ -192,6 +192,14 @@
estimator.UpdateEstimate(*sensor_values);
ASSERT_TRUE(estimator.error());
+
+ fbb.Finish(estimator.GetEstimatorState(&fbb));
+ const AbsoluteAndAbsoluteEncoderEstimatorState *state =
+ flatbuffers::GetRoot<AbsoluteAndAbsoluteEncoderEstimatorState>(
+ fbb.GetBufferPointer());
+
+ ASSERT_GT(state->errors()->size(), 0);
+ EXPECT_EQ(state->errors()->Get(0), ZeroingError::LOST_ABSOLUTE_ENCODER);
}
TEST_F(AbsoluteAndAbsoluteEncoderZeroingTest,
@@ -234,12 +242,13 @@
ASSERT_TRUE(estimator.zeroed());
EXPECT_DOUBLE_EQ(start_pos, estimator.offset());
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
fbb.Finish(estimator.GetEstimatorState(&fbb));
- const EstimatorState *state =
- flatbuffers::GetRoot<EstimatorState>(fbb.GetBufferPointer());
+ const AbsoluteAndAbsoluteEncoderEstimatorState *state =
+ flatbuffers::GetRoot<AbsoluteAndAbsoluteEncoderEstimatorState>(
+ fbb.GetBufferPointer());
EXPECT_NEAR(state->position(), position, 1e-10);
@@ -253,6 +262,74 @@
EXPECT_NEAR(state->single_turn_absolute_position(), 0.3, 1e-10);
}
+// Tests that errors() adds the OFFSET_MOVED_TOO_FAR error when we move too far.
+TEST_F(AbsoluteAndAbsoluteEncoderZeroingTest,
+ TestAbsoluteAndAbsoluteEncoderZeroingStateErrors) {
+ const double full_range = 4.0;
+ const double distance_per_revolution = 1.0;
+ const double single_turn_distance_per_revolution = full_range;
+ const double start_pos = 2.1;
+ const double single_turn_middle_position = full_range * 0.5;
+ const double measured_absolute_position = 0.3 * distance_per_revolution;
+ const double single_turn_measured_absolute_position =
+ 0.4 * single_turn_distance_per_revolution;
+
+ AbsoluteAndAbsoluteEncoderZeroingConstants constants{
+ kSampleSize,
+ distance_per_revolution,
+ measured_absolute_position,
+ single_turn_distance_per_revolution,
+ single_turn_measured_absolute_position,
+ single_turn_middle_position,
+ 0.1,
+ kMovingBufferSize,
+ kIndexErrorFraction};
+
+ PositionSensorSimulator sim(distance_per_revolution,
+ single_turn_distance_per_revolution);
+ sim.Initialize(start_pos, distance_per_revolution / 3.0, 0.0,
+ measured_absolute_position,
+ single_turn_measured_absolute_position);
+
+ AbsoluteAndAbsoluteEncoderZeroingEstimator estimator(constants);
+
+ const double position = 2.7;
+
+ for (size_t i = 0; i < kSampleSize + kMovingBufferSize - 1; ++i) {
+ MoveTo(&sim, &estimator, position);
+ ASSERT_FALSE(estimator.zeroed());
+ }
+ MoveTo(&sim, &estimator, position);
+ ASSERT_TRUE(estimator.zeroed());
+ EXPECT_DOUBLE_EQ(start_pos, estimator.offset());
+
+ // If the ratios suddenly get very messed up
+ flatbuffers::FlatBufferBuilder fbb;
+ fbb.Finish(CreateAbsoluteAndAbsolutePosition(fbb, 0.0, 0.0, 3.0));
+
+ const auto sensor_values =
+ flatbuffers::GetRoot<AbsoluteAndAbsolutePosition>(fbb.GetBufferPointer());
+
+ ASSERT_FALSE(estimator.error());
+
+ for (size_t i = 0; i < kSampleSize + kMovingBufferSize - 1; ++i) {
+ estimator.UpdateEstimate(*sensor_values);
+ }
+ ASSERT_TRUE(estimator.error());
+
+ flatbuffers::FlatBufferBuilder fbb2;
+ fbb2.Finish(estimator.GetEstimatorState(&fbb2));
+ const AbsoluteAndAbsoluteEncoderEstimatorState *state =
+ flatbuffers::GetRoot<AbsoluteAndAbsoluteEncoderEstimatorState>(
+ fbb2.GetBufferPointer());
+
+ for (ZeroingError err : *state->errors()) {
+ LOG(INFO) << "error: " << EnumNameZeroingError(err);
+ }
+ EXPECT_THAT(*state->errors(),
+ ::testing::ElementsAre(ZeroingError::OFFSET_MOVED_TOO_FAR));
+}
+
} // namespace testing
} // namespace zeroing
} // namespace frc971
diff --git a/frc971/zeroing/absolute_encoder.cc b/frc971/zeroing/absolute_encoder.cc
index ffdf9da..d0cd0d9 100644
--- a/frc971/zeroing/absolute_encoder.cc
+++ b/frc971/zeroing/absolute_encoder.cc
@@ -3,9 +3,9 @@
#include <cmath>
#include <numeric>
-#include "glog/logging.h"
-
+#include "aos/containers/error_list.h"
#include "frc971/zeroing/wrap.h"
+#include "glog/logging.h"
namespace frc971 {
namespace zeroing {
@@ -29,7 +29,6 @@
move_detector_.Reset();
}
-
// The math here is a bit backwards, but I think it'll be less error prone that
// way and more similar to the version with a pot as well.
//
@@ -49,11 +48,13 @@
if (::std::isnan(info.absolute_encoder())) {
if (zeroed_) {
VLOG(1) << "NAN on absolute encoder.";
+ errors_.Set(ZeroingError::LOST_ABSOLUTE_ENCODER);
error_ = true;
} else {
++nan_samples_;
VLOG(1) << "NAN on absolute encoder while zeroing " << nan_samples_;
if (nan_samples_ >= constants_.average_filter_size) {
+ errors_.Set(ZeroingError::LOST_ABSOLUTE_ENCODER);
error_ = true;
zeroed_ = true;
}
@@ -152,6 +153,7 @@
<< ", current " << offset_ << ", allowable change: "
<< constants_.allowable_encoder_error *
constants_.one_revolution_distance;
+ errors_.Set(ZeroingError::OFFSET_MOVED_TOO_FAR);
error_ = true;
}
@@ -166,11 +168,15 @@
flatbuffers::Offset<AbsoluteEncoderZeroingEstimator::State>
AbsoluteEncoderZeroingEstimator::GetEstimatorState(
flatbuffers::FlatBufferBuilder *fbb) const {
+ flatbuffers::Offset<flatbuffers::Vector<ZeroingError>> errors_offset =
+ errors_.ToFlatbuffer(fbb);
+
State::Builder builder(*fbb);
builder.add_error(error_);
builder.add_zeroed(zeroed_);
builder.add_position(position_);
builder.add_absolute_position(filtered_absolute_encoder_);
+ builder.add_errors(errors_offset);
return builder.Finish();
}
diff --git a/frc971/zeroing/absolute_encoder.h b/frc971/zeroing/absolute_encoder.h
index 0021e13..df40ec3 100644
--- a/frc971/zeroing/absolute_encoder.h
+++ b/frc971/zeroing/absolute_encoder.h
@@ -85,6 +85,9 @@
// The filtered position.
double position_ = 0.0;
+
+ // Marker to track what kind of error has occured.
+ aos::ErrorList<ZeroingError> errors_;
};
} // namespace zeroing
diff --git a/frc971/zeroing/absolute_encoder_test.cc b/frc971/zeroing/absolute_encoder_test.cc
index 38ce069..ce485eb 100644
--- a/frc971/zeroing/absolute_encoder_test.cc
+++ b/frc971/zeroing/absolute_encoder_test.cc
@@ -1,8 +1,8 @@
#include "frc971/zeroing/absolute_encoder.h"
-#include "gtest/gtest.h"
-
#include "frc971/zeroing/zeroing_test.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
namespace frc971 {
namespace zeroing {
@@ -15,7 +15,7 @@
void MoveTo(PositionSensorSimulator *simulator,
AbsoluteEncoderZeroingEstimator *estimator, double new_position) {
simulator->MoveTo(new_position);
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
estimator->UpdateEstimate(
*simulator->FillSensorValues<AbsolutePosition>(&fbb));
}
@@ -71,7 +71,7 @@
AbsoluteEncoderZeroingEstimator estimator(constants);
// We tolerate a couple NANs before we start.
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
fbb.Finish(CreateAbsolutePosition(
fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN()));
const auto sensor_values =
@@ -126,7 +126,7 @@
AbsoluteEncoderZeroingEstimator estimator(constants);
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
fbb.Finish(CreateAbsolutePosition(
fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN()));
const auto sensor_values =
@@ -138,6 +138,16 @@
estimator.UpdateEstimate(*sensor_values);
ASSERT_TRUE(estimator.error());
+
+ flatbuffers::FlatBufferBuilder fbb2;
+ fbb2.Finish(estimator.GetEstimatorState(&fbb2));
+
+ const AbsoluteEncoderEstimatorState *state =
+ flatbuffers::GetRoot<AbsoluteEncoderEstimatorState>(
+ fbb2.GetBufferPointer());
+
+ EXPECT_THAT(*state->errors(),
+ ::testing::ElementsAre(ZeroingError::LOST_ABSOLUTE_ENCODER));
}
} // namespace testing
diff --git a/frc971/zeroing/pot_and_absolute_encoder.cc b/frc971/zeroing/pot_and_absolute_encoder.cc
index 200f399..32c4f60 100644
--- a/frc971/zeroing/pot_and_absolute_encoder.cc
+++ b/frc971/zeroing/pot_and_absolute_encoder.cc
@@ -3,9 +3,9 @@
#include <cmath>
#include <numeric>
-#include "glog/logging.h"
-
+#include "aos/containers/error_list.h"
#include "frc971/zeroing/wrap.h"
+#include "glog/logging.h"
namespace frc971 {
namespace zeroing {
@@ -57,11 +57,13 @@
if (::std::isnan(info.absolute_encoder())) {
if (zeroed_) {
VLOG(1) << "NAN on absolute encoder.";
+ errors_.Set(ZeroingError::LOST_ABSOLUTE_ENCODER);
error_ = true;
} else {
++nan_samples_;
- VLOG(1) << "NAN on absolute encoder while zeroing" << nan_samples_;
+ VLOG(1) << "NAN on absolute encoder while zeroing " << nan_samples_;
if (nan_samples_ >= constants_.average_filter_size) {
+ errors_.Set(ZeroingError::LOST_ABSOLUTE_ENCODER);
error_ = true;
zeroed_ = true;
}
@@ -168,6 +170,7 @@
<< ", current " << offset_ << ", allowable change: "
<< constants_.allowable_encoder_error *
constants_.one_revolution_distance;
+ errors_.Set(ZeroingError::OFFSET_MOVED_TOO_FAR);
error_ = true;
}
@@ -183,12 +186,16 @@
flatbuffers::Offset<PotAndAbsoluteEncoderZeroingEstimator::State>
PotAndAbsoluteEncoderZeroingEstimator::GetEstimatorState(
flatbuffers::FlatBufferBuilder *fbb) const {
+ flatbuffers::Offset<flatbuffers::Vector<ZeroingError>> errors_offset =
+ errors_.ToFlatbuffer(fbb);
+
State::Builder builder(*fbb);
builder.add_error(error_);
builder.add_zeroed(zeroed_);
builder.add_position(position_);
builder.add_pot_position(filtered_position_);
builder.add_absolute_position(filtered_absolute_encoder_);
+ builder.add_errors(errors_offset);
return builder.Finish();
}
diff --git a/frc971/zeroing/pot_and_absolute_encoder.h b/frc971/zeroing/pot_and_absolute_encoder.h
index 133eaf5..2ff141f 100644
--- a/frc971/zeroing/pot_and_absolute_encoder.h
+++ b/frc971/zeroing/pot_and_absolute_encoder.h
@@ -3,8 +3,8 @@
#include <vector>
+#include "aos/containers/error_list.h"
#include "flatbuffers/flatbuffers.h"
-
#include "frc971/zeroing/zeroing.h"
namespace frc971 {
@@ -92,6 +92,9 @@
double filtered_position_ = 0.0;
// The filtered position.
double position_ = 0.0;
+
+ // Marker to track what kind of error has occured.
+ aos::ErrorList<ZeroingError> errors_;
};
} // namespace zeroing
diff --git a/frc971/zeroing/pot_and_absolute_encoder_test.cc b/frc971/zeroing/pot_and_absolute_encoder_test.cc
index ba89834..1784fed 100644
--- a/frc971/zeroing/pot_and_absolute_encoder_test.cc
+++ b/frc971/zeroing/pot_and_absolute_encoder_test.cc
@@ -1,8 +1,8 @@
#include "frc971/zeroing/pot_and_absolute_encoder.h"
-#include "gtest/gtest.h"
-
#include "frc971/zeroing/zeroing_test.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
namespace frc971 {
namespace zeroing {
@@ -16,7 +16,7 @@
PotAndAbsoluteEncoderZeroingEstimator *estimator,
double new_position) {
simulator->MoveTo(new_position);
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
estimator->UpdateEstimate(
*simulator->FillSensorValues<PotAndAbsolutePosition>(&fbb));
}
@@ -70,7 +70,7 @@
PotAndAbsoluteEncoderZeroingEstimator estimator(constants);
// We tolerate a couple NANs before we start.
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
fbb.Finish(CreatePotAndAbsolutePosition(
fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN(), 0.0));
for (size_t i = 0; i < kSampleSize - 1; ++i) {
@@ -124,7 +124,7 @@
PotAndAbsoluteEncoderZeroingEstimator estimator(constants);
- FBB fbb;
+ flatbuffers::FlatBufferBuilder fbb;
fbb.Finish(CreatePotAndAbsolutePosition(
fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN(), 0.0));
const auto sensor_values =
@@ -136,6 +136,16 @@
estimator.UpdateEstimate(*sensor_values);
ASSERT_TRUE(estimator.error());
+
+ flatbuffers::FlatBufferBuilder fbb2;
+ fbb2.Finish(estimator.GetEstimatorState(&fbb2));
+
+ const PotAndAbsoluteEncoderEstimatorState *state =
+ flatbuffers::GetRoot<PotAndAbsoluteEncoderEstimatorState>(
+ fbb2.GetBufferPointer());
+
+ EXPECT_THAT(*state->errors(),
+ ::testing::ElementsAre(ZeroingError::LOST_ABSOLUTE_ENCODER));
}
} // namespace testing
diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml
index 01c9f01..10c6288 100644
--- a/pnpm-lock.yaml
+++ b/pnpm-lock.yaml
@@ -72,12 +72,6 @@
'@angular/forms': 15.1.5
'@org_frc971/scouting/www/counter_button': link:../counter_button
- scouting/www/import_match_list:
- specifiers:
- '@angular/forms': 15.1.5
- dependencies:
- '@angular/forms': 15.1.5
-
scouting/www/match_list:
specifiers:
'@angular/forms': 15.1.5
diff --git a/scouting/db/db.go b/scouting/db/db.go
index 940d96e..162f973 100644
--- a/scouting/db/db.go
+++ b/scouting/db/db.go
@@ -232,6 +232,14 @@
return result.Error
}
+func (database *Database) DeleteFromStats(compLevel_ string, matchNumber_ int32, setNumber_ int32, teamNumber_ string) error {
+ var stats2023 []Stats2023
+ result := database.
+ Where("comp_level = ? AND match_number = ? AND set_number = ? AND team_number = ?", compLevel_, matchNumber_, setNumber_, teamNumber_).
+ Delete(&stats2023)
+ return result.Error
+}
+
func (database *Database) AddOrUpdateRankings(r Ranking) error {
result := database.Clauses(clause.OnConflict{
UpdateAll: true,
@@ -297,6 +305,12 @@
return stats, result.Error
}
+func (database *Database) ReturnStats2023() ([]Stats2023, error) {
+ var stats2023 []Stats2023
+ result := database.Find(&stats2023)
+ return stats2023, result.Error
+}
+
func (database *Database) ReturnRankings() ([]Ranking, error) {
var rankins []Ranking
result := database.Find(&rankins)
diff --git a/scouting/db/db_test.go b/scouting/db/db_test.go
index ec5e776..ec7a1e7 100644
--- a/scouting/db/db_test.go
+++ b/scouting/db/db_test.go
@@ -6,6 +6,7 @@
"os"
"os/exec"
"reflect"
+ "strconv"
"strings"
"testing"
"time"
@@ -281,6 +282,133 @@
}
}
+func TestDeleteFromStats(t *testing.T) {
+ fixture := createDatabase(t)
+ defer fixture.TearDown()
+
+ startingStats := []Stats2023{
+ Stats2023{
+ TeamNumber: "1111", MatchNumber: 5, SetNumber: 1,
+ CompLevel: "quals", StartingQuadrant: 2, LowCubesAuto: 2,
+ MiddleCubesAuto: 0, HighCubesAuto: 1, CubesDroppedAuto: 1,
+ LowConesAuto: 0, MiddleConesAuto: 2, HighConesAuto: 0,
+ ConesDroppedAuto: 1, LowCubes: 0, MiddleCubes: 1,
+ HighCubes: 2, CubesDropped: 1, LowCones: 1,
+ MiddleCones: 0, HighCones: 1, ConesDropped: 2,
+ AvgCycle: 58, CollectedBy: "unknown",
+ },
+ Stats2023{
+ TeamNumber: "2314", MatchNumber: 5, SetNumber: 1,
+ CompLevel: "quals", StartingQuadrant: 3, LowCubesAuto: 1,
+ MiddleCubesAuto: 0, HighCubesAuto: 1, CubesDroppedAuto: 1,
+ LowConesAuto: 0, MiddleConesAuto: 1, HighConesAuto: 0,
+ ConesDroppedAuto: 0, LowCubes: 2, MiddleCubes: 0,
+ HighCubes: 1, CubesDropped: 0, LowCones: 0,
+ MiddleCones: 2, HighCones: 1, ConesDropped: 0,
+ AvgCycle: 34, CollectedBy: "simon",
+ },
+ Stats2023{
+ TeamNumber: "3242", MatchNumber: 5, SetNumber: 1,
+ CompLevel: "quals", StartingQuadrant: 1, LowCubesAuto: 0,
+ MiddleCubesAuto: 2, HighCubesAuto: 0, CubesDroppedAuto: 1,
+ LowConesAuto: 1, MiddleConesAuto: 0, HighConesAuto: 0,
+ ConesDroppedAuto: 1, LowCubes: 0, MiddleCubes: 2,
+ HighCubes: 0, CubesDropped: 0, LowCones: 2,
+ MiddleCones: 0, HighCones: 1, ConesDropped: 1,
+ AvgCycle: 50, CollectedBy: "eliza",
+ },
+ Stats2023{
+ TeamNumber: "1742", MatchNumber: 5, SetNumber: 1,
+ CompLevel: "quals", StartingQuadrant: 4, LowCubesAuto: 1,
+ MiddleCubesAuto: 1, HighCubesAuto: 0, CubesDroppedAuto: 0,
+ LowConesAuto: 0, MiddleConesAuto: 2, HighConesAuto: 0,
+ ConesDroppedAuto: 1, LowCubes: 0, MiddleCubes: 1,
+ HighCubes: 2, CubesDropped: 1, LowCones: 0,
+ MiddleCones: 2, HighCones: 1, ConesDropped: 1,
+ AvgCycle: 49, CollectedBy: "isaac",
+ },
+ Stats2023{
+ TeamNumber: "2454", MatchNumber: 5, SetNumber: 1,
+ CompLevel: "quals", StartingQuadrant: 1, LowCubesAuto: 0,
+ MiddleCubesAuto: 0, HighCubesAuto: 0, CubesDroppedAuto: 0,
+ LowConesAuto: 1, MiddleConesAuto: 1, HighConesAuto: 0,
+ ConesDroppedAuto: 1, LowCubes: 1, MiddleCubes: 2,
+ HighCubes: 0, CubesDropped: 0, LowCones: 1,
+ MiddleCones: 1, HighCones: 1, ConesDropped: 0,
+ AvgCycle: 70, CollectedBy: "sam",
+ },
+ }
+
+ correct := []Stats2023{
+ Stats2023{
+ TeamNumber: "3242", MatchNumber: 5, SetNumber: 1,
+ CompLevel: "quals", StartingQuadrant: 1, LowCubesAuto: 0,
+ MiddleCubesAuto: 2, HighCubesAuto: 0, CubesDroppedAuto: 1,
+ LowConesAuto: 1, MiddleConesAuto: 0, HighConesAuto: 0,
+ ConesDroppedAuto: 1, LowCubes: 0, MiddleCubes: 2,
+ HighCubes: 0, CubesDropped: 0, LowCones: 2,
+ MiddleCones: 0, HighCones: 1, ConesDropped: 1,
+ AvgCycle: 50, CollectedBy: "eliza",
+ },
+ Stats2023{
+ TeamNumber: "2454", MatchNumber: 5, SetNumber: 1,
+ CompLevel: "quals", StartingQuadrant: 1, LowCubesAuto: 0,
+ MiddleCubesAuto: 0, HighCubesAuto: 0, CubesDroppedAuto: 0,
+ LowConesAuto: 1, MiddleConesAuto: 1, HighConesAuto: 0,
+ ConesDroppedAuto: 1, LowCubes: 1, MiddleCubes: 2,
+ HighCubes: 0, CubesDropped: 0, LowCones: 1,
+ MiddleCones: 1, HighCones: 1, ConesDropped: 0,
+ AvgCycle: 70, CollectedBy: "sam",
+ },
+ }
+
+ originalMatches := []TeamMatch{
+ TeamMatch{MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 1111},
+ TeamMatch{MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 2314},
+ TeamMatch{MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 1742},
+ TeamMatch{MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 2454},
+ TeamMatch{MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 3242},
+ }
+
+ // Matches for which we want to delete the stats.
+ matches := []TeamMatch{
+ TeamMatch{MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
+ TeamNumber: 1111},
+ TeamMatch{MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
+ TeamNumber: 2314},
+ TeamMatch{MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
+ TeamNumber: 1742},
+ }
+
+ for _, match := range originalMatches {
+ err := fixture.db.AddToMatch(match)
+ check(t, err, "Failed to add match")
+ fmt.Println("Match has been added : ", match.TeamNumber)
+ }
+
+ for _, stat := range startingStats {
+ err := fixture.db.AddToStats2023(stat)
+ check(t, err, "Failed to add stat")
+ }
+
+ for _, match := range matches {
+ err := fixture.db.DeleteFromStats(match.CompLevel, match.MatchNumber, match.SetNumber, strconv.Itoa(int(match.TeamNumber)))
+ check(t, err, "Failed to delete stat")
+ }
+
+ got, err := fixture.db.ReturnStats2023()
+ check(t, err, "Failed ReturnStats()")
+
+ if !reflect.DeepEqual(correct, got) {
+ t.Errorf("Got %#v,\nbut expected %#v.", got, correct)
+ }
+}
+
func TestQueryShiftDB(t *testing.T) {
fixture := createDatabase(t)
defer fixture.TearDown()
diff --git a/scouting/deploy/README.md b/scouting/deploy/README.md
index 6d223da..2c6ebdb 100644
--- a/scouting/deploy/README.md
+++ b/scouting/deploy/README.md
@@ -35,3 +35,10 @@
$ sudo systemctl start scouting.service
$ sudo systemctl restart scouting.service
```
+
+Incompatible database changes
+--------------------------------------------------------------------------------
+When deploying a new scouting application that has incompatible changes, you
+may want to clear the existing database. This can be done by also specifying
+the `--clear-db` option when deploying. This option will cause all tables to be
+dropped before the scouting app is deployed.
diff --git a/scouting/deploy/deploy.py b/scouting/deploy/deploy.py
index 5967956..f947398 100644
--- a/scouting/deploy/deploy.py
+++ b/scouting/deploy/deploy.py
@@ -19,9 +19,40 @@
default="scouting.frc971.org",
help="The SSH host to install the scouting web server to.",
)
+ parser.add_argument(
+ "--clear-db",
+ action="store_true",
+ help=("If set, will stop the existing scouting server and clear the "
+ "database before deploying the new one."),
+ )
args = parser.parse_args(argv[1:])
deb = Path(args.deb)
+ if args.clear_db:
+ print("Stopping the scouting app.")
+ subprocess.run(
+ f"ssh -tt {args.host} sudo systemctl stop scouting.service",
+ shell=True,
+ # In case the scouting app isn't installed, ignore the error here.
+ check=False,
+ stdin=sys.stdin)
+ print("Clearing the database.")
+ subprocess.run(
+ " ".join([
+ f"ssh -tt {args.host}",
+ "\"sudo -u postgres psql",
+ # Drop all tables in the same schema.
+ "-c 'drop schema public cascade;'",
+ # Create an empty schema for the scouting app to use.
+ "-c 'create schema public;'",
+ # List all tables as a sanity check.
+ "-c '\dt'",
+ "postgres\"",
+ ]),
+ shell=True,
+ check=True,
+ stdin=sys.stdin)
+
# Copy the .deb to the scouting server, install it, and delete it again.
subprocess.run(["rsync", "-L", args.deb, f"{args.host}:/tmp/{deb.name}"],
check=True,
diff --git a/scouting/scouting_test.cy.js b/scouting/scouting_test.cy.js
index a2dfa83..105cf43 100644
--- a/scouting/scouting_test.cy.js
+++ b/scouting/scouting_test.cy.js
@@ -62,17 +62,6 @@
cy.visit('/');
disableAlerts();
cy.title().should('eq', 'FRC971 Scouting Application');
-
- // Import the match list before running any tests. Ideally this should be
- // run in beforeEach(), but it's not worth doing that at this time. Our
- // tests are basic enough not to require this.
- switchToTab('Import Match List');
- headerShouldBe('Import Match List');
- setInputTo('#year', '2016');
- setInputTo('#event_code', 'nytr');
- clickButton('Import');
-
- cy.get('.progress_message').contains('Successfully imported match list.');
});
beforeEach(() => {
diff --git a/scouting/scraping/background/BUILD b/scouting/scraping/background/BUILD
new file mode 100644
index 0000000..9aa92c9
--- /dev/null
+++ b/scouting/scraping/background/BUILD
@@ -0,0 +1,9 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_library")
+
+go_library(
+ name = "background",
+ srcs = ["background.go"],
+ importpath = "github.com/frc971/971-Robot-Code/scouting/scraping/background",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+)
diff --git a/scouting/scraping/background/background.go b/scouting/scraping/background/background.go
new file mode 100644
index 0000000..5af8c3e
--- /dev/null
+++ b/scouting/scraping/background/background.go
@@ -0,0 +1,52 @@
+package background
+
+import (
+ "time"
+)
+
+// A helper to run a function in the background every ~10 minutes. Technically
+// can be used for a lot of different things, but is primarily geared towards
+// scraping thebluealliance.com.
+type BackgroundScraper struct {
+ doneChan chan<- bool
+ checkStopped chan<- bool
+}
+
+func (scraper *BackgroundScraper) Start(scrape func()) {
+ scraper.doneChan = make(chan bool, 1)
+ scraper.checkStopped = make(chan bool, 1)
+
+ go func() {
+ // Setting start time to 11 minutes prior so getRankings called instantly when Start() called
+ startTime := time.Now().Add(-11 * time.Minute)
+ for {
+ curTime := time.Now()
+ diff := curTime.Sub(startTime)
+
+ if diff.Minutes() > 10 {
+ scrape()
+ startTime = curTime
+ }
+
+ if len(scraper.doneChan) != 0 {
+ break
+ }
+
+ time.Sleep(time.Second)
+ }
+
+ scraper.checkStopped <- true
+ }()
+}
+
+func (scraper *BackgroundScraper) Stop() {
+ scraper.doneChan <- true
+
+ for {
+ if len(scraper.checkStopped) != 0 {
+ close(scraper.doneChan)
+ close(scraper.checkStopped)
+ break
+ }
+ }
+}
diff --git a/scouting/scraping/scrape.go b/scouting/scraping/scrape.go
index 625157a..b905465 100644
--- a/scouting/scraping/scrape.go
+++ b/scouting/scraping/scrape.go
@@ -89,36 +89,17 @@
return bodyBytes, nil
}
-// Return all matches in event according to TBA
-func AllMatches(year int32, eventCode, configPath string) ([]Match, error) {
- bodyBytes, err := getJson(year, eventCode, configPath, "matches")
-
+func GetAllData[T interface{}](year int32, eventCode, configPath string, category string) (T, error) {
+ var result T
+ bodyBytes, err := getJson(year, eventCode, configPath, category)
if err != nil {
- return nil, err
+ return result, err
}
- var matches []Match
- // Unmarshal json into go usable format.
- if err := json.Unmarshal([]byte(bodyBytes), &matches); err != nil {
- return nil, errors.New(fmt.Sprint("Failed to parse JSON received from TBA: ", err))
+ // Unmarshal the JSON data into the in-memory format.
+ if err = json.Unmarshal([]byte(bodyBytes), &result); err != nil {
+ return result, errors.New(fmt.Sprint("Failed to parse ", category, " JSON received from TBA: ", err))
}
- return matches, nil
-}
-
-// Return event rankings according to TBA
-func AllRankings(year int32, eventCode, configPath string) (EventRanking, error) {
- bodyBytes, err := getJson(year, eventCode, configPath, "rankings")
-
- if err != nil {
- return EventRanking{}, err
- }
-
- var rankings EventRanking
- // Unmarshal json into go usable format.
- if err := json.Unmarshal([]byte(bodyBytes), &rankings); err != nil {
- return EventRanking{}, errors.New(fmt.Sprint("Failed to parse JSON received from TBA: ", err))
- }
-
- return rankings, nil
+ return result, nil
}
diff --git a/scouting/scraping/scraping_demo.go b/scouting/scraping/scraping_demo.go
index 69cdbff..0c58612 100644
--- a/scouting/scraping/scraping_demo.go
+++ b/scouting/scraping/scraping_demo.go
@@ -11,6 +11,25 @@
"github.com/frc971/971-Robot-Code/scouting/scraping"
)
+func dumpData[T interface{}](jsonPtr *bool, category string) {
+ // Get all the data.
+ data, err := scraping.GetAllData[T](2016, "nytr", "", category)
+ if err != nil {
+ log.Fatal("Failed to scrape ", category, " data: ", err)
+ }
+
+ // Dump the data.
+ if *jsonPtr {
+ jsonData, err := json.MarshalIndent(data, "", " ")
+ if err != nil {
+ log.Fatal("Failed to turn ranking list into JSON: ", err)
+ }
+ fmt.Println(string(jsonData))
+ } else {
+ spew.Dump(data)
+ }
+}
+
func main() {
jsonPtr := flag.Bool("json", false, "If set, dump as JSON, rather than Go debug output.")
demoCategory := flag.String("category", "matches", "Decide whether to demo matches or rankings.")
@@ -18,38 +37,8 @@
flag.Parse()
if *demoCategory == "rankings" {
- // Get all the rankings.
- rankings, err := scraping.AllRankings(2016, "nytr", "")
- if err != nil {
- log.Fatal("Failed to scrape ranking list: ", err)
- }
-
- // Dump the rankings.
- if *jsonPtr {
- jsonData, err := json.MarshalIndent(rankings, "", " ")
- if err != nil {
- log.Fatal("Failed to turn ranking list into JSON: ", err)
- }
- fmt.Println(string(jsonData))
- } else {
- spew.Dump(rankings)
- }
+ dumpData[scraping.EventRanking](jsonPtr, "rankings")
} else if *demoCategory == "matches" {
- // Get all the matches.
- matches, err := scraping.AllMatches(2016, "nytr", "")
- if err != nil {
- log.Fatal("Failed to scrape match list: ", err)
- }
-
- // Dump the matches.
- if *jsonPtr {
- jsonData, err := json.MarshalIndent(matches, "", " ")
- if err != nil {
- log.Fatal("Failed to turn match list into JSON: ", err)
- }
- fmt.Println(string(jsonData))
- } else {
- spew.Dump(matches)
- }
+ dumpData[[]scraping.Match](jsonPtr, "matches")
}
}
diff --git a/scouting/testing/scouting_test_servers.py b/scouting/testing/scouting_test_servers.py
index d1e4e32..40412c0 100644
--- a/scouting/testing/scouting_test_servers.py
+++ b/scouting/testing/scouting_test_servers.py
@@ -47,14 +47,15 @@
return config
-def create_tba_config(tmpdir: Path) -> Path:
- # Configure the scouting webserver to scrape data from our fake TBA
- # server.
+def create_tba_config(tmpdir: Path, year: int, event_code: str) -> Path:
+ # Configure the scouting webserver to scrape data from our fake TBA server.
config = tmpdir / "scouting_config.json"
config.write_text(
json.dumps({
"api_key": "dummy_key_that_is_not_actually_used_in_this_test",
"base_url": "http://localhost:7000",
+ "year": year,
+ "event_code": event_code,
}))
return config
@@ -72,7 +73,11 @@
class Runner:
"""Helps manage the services we need for testing the scouting app."""
- def start(self, port: int, notify_fd: int = 0):
+ def start(self,
+ port: int,
+ notify_fd: int = 0,
+ year: int = 2016,
+ event_code: str = "nytr"):
"""Starts the services needed for testing the scouting app.
if notify_fd is set to a non-zero value, the string "READY" is written
@@ -83,7 +88,9 @@
self.tmpdir.mkdir(exist_ok=True)
db_config = create_db_config(self.tmpdir)
- tba_config = create_tba_config(self.tmpdir)
+ tba_config = create_tba_config(self.tmpdir,
+ year=year,
+ event_code=event_code)
# The database needs to be running and addressable before the scouting
# webserver can start.
@@ -102,8 +109,7 @@
])
# Create a fake TBA server to serve the static match list.
- set_up_tba_api_dir(self.tmpdir, year=2016, event_code="nytr")
- set_up_tba_api_dir(self.tmpdir, year=2020, event_code="fake")
+ set_up_tba_api_dir(self.tmpdir, year, event_code)
self.fake_tba_api = subprocess.Popen(
["python3", "-m", "http.server", "7000"],
cwd=self.tmpdir,
diff --git a/scouting/webserver/BUILD b/scouting/webserver/BUILD
index 3df423e..934aff1 100644
--- a/scouting/webserver/BUILD
+++ b/scouting/webserver/BUILD
@@ -8,7 +8,8 @@
visibility = ["//visibility:private"],
deps = [
"//scouting/db",
- "//scouting/scraping",
+ "//scouting/scraping/background",
+ "//scouting/webserver/match_list",
"//scouting/webserver/rankings",
"//scouting/webserver/requests",
"//scouting/webserver/server",
diff --git a/scouting/webserver/main.go b/scouting/webserver/main.go
index d2fbdfe..1811b7f 100644
--- a/scouting/webserver/main.go
+++ b/scouting/webserver/main.go
@@ -14,7 +14,8 @@
"time"
"github.com/frc971/971-Robot-Code/scouting/db"
- "github.com/frc971/971-Robot-Code/scouting/scraping"
+ "github.com/frc971/971-Robot-Code/scouting/scraping/background"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/match_list"
"github.com/frc971/971-Robot-Code/scouting/webserver/rankings"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests"
"github.com/frc971/971-Robot-Code/scouting/webserver/server"
@@ -119,21 +120,24 @@
}
defer database.Delete()
- scrapeMatchList := func(year int32, eventCode string) ([]scraping.Match, error) {
- if *blueAllianceConfigPtr == "" {
- return nil, errors.New("Cannot scrape TBA's match list without a config file.")
- }
- return scraping.AllMatches(year, eventCode, *blueAllianceConfigPtr)
- }
-
scoutingServer := server.NewScoutingServer()
static.ServePages(scoutingServer, *dirPtr)
- requests.HandleRequests(database, scrapeMatchList, scoutingServer)
+ requests.HandleRequests(database, scoutingServer)
scoutingServer.Start(*portPtr)
fmt.Println("Serving", *dirPtr, "on port", *portPtr)
- scraper := rankings.RankingScraper{}
- scraper.Start(database, 0, "", *blueAllianceConfigPtr)
+ // Since Go doesn't support default arguments, we use 0 and "" to
+ // indicate that we want to source the values from the config.
+
+ matchListScraper := background.BackgroundScraper{}
+ matchListScraper.Start(func() {
+ match_list.GetMatchList(database, 0, "", *blueAllianceConfigPtr)
+ })
+
+ rankingsScraper := background.BackgroundScraper{}
+ rankingsScraper.Start(func() {
+ rankings.GetRankings(database, 0, "", *blueAllianceConfigPtr)
+ })
// Block until the user hits Ctrl-C.
sigint := make(chan os.Signal, 1)
@@ -144,6 +148,7 @@
fmt.Println("Shutting down.")
scoutingServer.Stop()
- scraper.Stop()
+ rankingsScraper.Stop()
+ matchListScraper.Stop()
fmt.Println("Successfully shut down.")
}
diff --git a/scouting/webserver/match_list/BUILD b/scouting/webserver/match_list/BUILD
new file mode 100644
index 0000000..e32b93c
--- /dev/null
+++ b/scouting/webserver/match_list/BUILD
@@ -0,0 +1,12 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_library")
+
+go_library(
+ name = "match_list",
+ srcs = ["match_list.go"],
+ importpath = "github.com/frc971/971-Robot-Code/scouting/webserver/match_list",
+ visibility = ["//visibility:public"],
+ deps = [
+ "//scouting/db",
+ "//scouting/scraping",
+ ],
+)
diff --git a/scouting/webserver/match_list/match_list.go b/scouting/webserver/match_list/match_list.go
new file mode 100644
index 0000000..9029438
--- /dev/null
+++ b/scouting/webserver/match_list/match_list.go
@@ -0,0 +1,138 @@
+package match_list
+
+import (
+ "errors"
+ "fmt"
+ "github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping"
+ "log"
+ "strconv"
+ "strings"
+)
+
+type Database interface {
+ AddToMatch(db.TeamMatch) error
+}
+
+func parseTeamKey(teamKey string) (int, error) {
+ // TBA prefixes teams with "frc". Not sure why. Get rid of that.
+ teamKey = strings.TrimPrefix(teamKey, "frc")
+ magnitude := 0
+ if strings.HasSuffix(teamKey, "A") {
+ magnitude = 0
+ teamKey = strings.TrimSuffix(teamKey, "A")
+ } else if strings.HasSuffix(teamKey, "B") {
+ magnitude = 9
+ teamKey = strings.TrimSuffix(teamKey, "B")
+ } else if strings.HasSuffix(teamKey, "C") {
+ magnitude = 8
+ teamKey = strings.TrimSuffix(teamKey, "C")
+ } else if strings.HasSuffix(teamKey, "D") {
+ magnitude = 7
+ teamKey = strings.TrimSuffix(teamKey, "D")
+ } else if strings.HasSuffix(teamKey, "E") {
+ magnitude = 6
+ teamKey = strings.TrimSuffix(teamKey, "E")
+ } else if strings.HasSuffix(teamKey, "F") {
+ magnitude = 5
+ teamKey = strings.TrimSuffix(teamKey, "F")
+ }
+
+ if magnitude != 0 {
+ teamKey = strconv.Itoa(magnitude) + teamKey
+ }
+
+ result, err := strconv.Atoi(teamKey)
+ return result, err
+}
+
+// Parses the alliance data from the specified match and returns the three red
+// teams and the three blue teams.
+func parseTeamKeys(match *scraping.Match) ([3]int32, [3]int32, error) {
+ redKeys := match.Alliances.Red.TeamKeys
+ blueKeys := match.Alliances.Blue.TeamKeys
+
+ if len(redKeys) != 3 || len(blueKeys) != 3 {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Found %d red teams and %d blue teams.", len(redKeys), len(blueKeys)))
+ }
+
+ var red [3]int32
+ for i, key := range redKeys {
+ team, err := parseTeamKey(key)
+ if err != nil {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Failed to parse red %d team '%s' as integer: %v", i+1, key, err))
+ }
+ red[i] = int32(team)
+ }
+ var blue [3]int32
+ for i, key := range blueKeys {
+ team, err := parseTeamKey(key)
+ if err != nil {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Failed to parse blue %d team '%s' as integer: %v", i+1, key, err))
+ }
+ blue[i] = int32(team)
+ }
+ return red, blue, nil
+}
+
+func GetMatchList(database Database, year int32, eventCode string, blueAllianceConfig string) {
+ matches, err := scraping.GetAllData[[]scraping.Match](year, eventCode, blueAllianceConfig, "matches")
+ if err != nil {
+ log.Println("Failed to scrape match list: ", err)
+ return
+ }
+
+ for _, match := range matches {
+ // Make sure the data is valid.
+ red, blue, err := parseTeamKeys(&match)
+ if err != nil {
+ log.Println("TheBlueAlliance data for match %d is malformed: %v", match.MatchNumber, err)
+ return
+ }
+
+ team_matches := []db.TeamMatch{
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "R", AlliancePosition: 1, TeamNumber: red[0],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "R", AlliancePosition: 2, TeamNumber: red[1],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "R", AlliancePosition: 3, TeamNumber: red[2],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "B", AlliancePosition: 1, TeamNumber: blue[0],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "B", AlliancePosition: 2, TeamNumber: blue[1],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "B", AlliancePosition: 3, TeamNumber: blue[2],
+ },
+ }
+
+ for _, match := range team_matches {
+ // Iterate through matches to check they can be added to database.
+ err = database.AddToMatch(match)
+ if err != nil {
+ log.Println("Failed to add team %d from match %d to the database: %v", match.TeamNumber, match.MatchNumber, err)
+ return
+ }
+ }
+ }
+}
diff --git a/scouting/webserver/rankings/BUILD b/scouting/webserver/rankings/BUILD
index c74f88f..4696d26 100644
--- a/scouting/webserver/rankings/BUILD
+++ b/scouting/webserver/rankings/BUILD
@@ -21,6 +21,7 @@
embed = [":rankings"],
deps = [
"//scouting/db",
+ "//scouting/scraping/background",
"//scouting/webserver/server",
],
)
diff --git a/scouting/webserver/rankings/rankings.go b/scouting/webserver/rankings/rankings.go
index 6e63c0a..0d20b54 100644
--- a/scouting/webserver/rankings/rankings.go
+++ b/scouting/webserver/rankings/rankings.go
@@ -6,14 +6,8 @@
"log"
"strconv"
"strings"
- "time"
)
-type RankingScraper struct {
- doneChan chan<- bool
- checkStopped chan<- bool
-}
-
type Database interface {
AddOrUpdateRankings(db.Ranking) error
}
@@ -24,8 +18,8 @@
return strconv.Atoi(teamKey)
}
-func getRankings(database Database, year int32, eventCode string, blueAllianceConfig string) {
- rankings, err := scraping.AllRankings(year, eventCode, blueAllianceConfig)
+func GetRankings(database Database, year int32, eventCode string, blueAllianceConfig string) {
+ rankings, err := scraping.GetAllData[scraping.EventRanking](year, eventCode, blueAllianceConfig, "rankings")
if err != nil {
log.Println("Failed to scrape ranking list: ", err)
return
@@ -51,42 +45,3 @@
}
}
}
-
-func (scraper *RankingScraper) Start(database Database, year int32, eventCode string, blueAllianceConfig string) {
- scraper.doneChan = make(chan bool, 1)
- scraper.checkStopped = make(chan bool, 1)
-
- go func(database Database, year int32, eventCode string) {
- // Setting start time to 11 minutes prior so getRankings called instantly when Start() called
- startTime := time.Now().Add(-11 * time.Minute)
- for {
- curTime := time.Now()
- diff := curTime.Sub(startTime)
-
- if diff.Minutes() > 10 {
- getRankings(database, year, eventCode, blueAllianceConfig)
- startTime = curTime
- }
-
- if len(scraper.doneChan) != 0 {
- break
- }
-
- time.Sleep(time.Second)
- }
-
- scraper.checkStopped <- true
- }(database, year, eventCode)
-}
-
-func (scraper *RankingScraper) Stop() {
- scraper.doneChan <- true
-
- for {
- if len(scraper.checkStopped) != 0 {
- close(scraper.doneChan)
- close(scraper.checkStopped)
- break
- }
- }
-}
diff --git a/scouting/webserver/rankings/rankings_test.go b/scouting/webserver/rankings/rankings_test.go
index aa23c76..6f8af3b 100644
--- a/scouting/webserver/rankings/rankings_test.go
+++ b/scouting/webserver/rankings/rankings_test.go
@@ -2,9 +2,11 @@
import (
"github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping/background"
"github.com/frc971/971-Robot-Code/scouting/webserver/server"
"net/http"
"reflect"
+ "strings"
"testing"
"time"
)
@@ -18,8 +20,13 @@
return nil
}
-func ServeRankings(h http.Handler) http.Handler {
+func ServeRankings(t *testing.T, h http.Handler) http.Handler {
fn := func(w http.ResponseWriter, r *http.Request) {
+ // Make sure that the rankings are requested properly.
+ if !strings.HasSuffix(r.URL.Path, "/2016nytr/rankings") {
+ t.Error("Got unexpected URL: ", r.URL.Path)
+ }
+
r.URL.Path = "scraping/test_data/2016_nytr_rankings.json"
h.ServeHTTP(w, r)
@@ -30,13 +37,15 @@
func TestGetRankings(t *testing.T) {
database := MockDatabase{}
- scraper := RankingScraper{}
+ scraper := background.BackgroundScraper{}
tbaServer := server.NewScoutingServer()
- tbaServer.Handle("/", ServeRankings(http.FileServer(http.Dir("../../"))))
+ tbaServer.Handle("/", ServeRankings(t, http.FileServer(http.Dir("../../"))))
tbaServer.Start(8000)
defer tbaServer.Stop()
- scraper.Start(&database, 0, "", "scouting_test_config.json")
+ scraper.Start(func() {
+ GetRankings(&database, 0, "", "scouting_test_config.json")
+ })
defer scraper.Stop()
for {
diff --git a/scouting/webserver/rankings/scouting_test_config.json b/scouting/webserver/rankings/scouting_test_config.json
index 40a7747..6bc4fec 100644
--- a/scouting/webserver/rankings/scouting_test_config.json
+++ b/scouting/webserver/rankings/scouting_test_config.json
@@ -1,6 +1,6 @@
{
"api_key": "dummy_key_that_is_not_actually_used_in_this_test",
"base_url": "http://localhost:8000",
- "year": 2022,
- "event_code": "CMPTX"
-}
\ No newline at end of file
+ "year": 2016,
+ "event_code": "nytr"
+}
diff --git a/scouting/webserver/requests/BUILD b/scouting/webserver/requests/BUILD
index 9eb207d..e0d3e87 100644
--- a/scouting/webserver/requests/BUILD
+++ b/scouting/webserver/requests/BUILD
@@ -8,10 +8,7 @@
visibility = ["//visibility:public"],
deps = [
"//scouting/db",
- "//scouting/scraping",
"//scouting/webserver/requests/messages:error_response_go_fbs",
- "//scouting/webserver/requests/messages:refresh_match_list_go_fbs",
- "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
"//scouting/webserver/requests/messages:request_all_driver_rankings_go_fbs",
"//scouting/webserver/requests/messages:request_all_driver_rankings_response_go_fbs",
"//scouting/webserver/requests/messages:request_all_matches_go_fbs",
@@ -46,11 +43,8 @@
target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
"//scouting/db",
- "//scouting/scraping",
"//scouting/webserver/requests/debug",
"//scouting/webserver/requests/messages:error_response_go_fbs",
- "//scouting/webserver/requests/messages:refresh_match_list_go_fbs",
- "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
"//scouting/webserver/requests/messages:request_all_driver_rankings_go_fbs",
"//scouting/webserver/requests/messages:request_all_driver_rankings_response_go_fbs",
"//scouting/webserver/requests/messages:request_all_matches_go_fbs",
diff --git a/scouting/webserver/requests/debug/BUILD b/scouting/webserver/requests/debug/BUILD
index 650ba82..1473b3c 100644
--- a/scouting/webserver/requests/debug/BUILD
+++ b/scouting/webserver/requests/debug/BUILD
@@ -8,7 +8,6 @@
visibility = ["//visibility:public"],
deps = [
"//scouting/webserver/requests/messages:error_response_go_fbs",
- "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
"//scouting/webserver/requests/messages:request_all_driver_rankings_response_go_fbs",
"//scouting/webserver/requests/messages:request_all_matches_response_go_fbs",
"//scouting/webserver/requests/messages:request_all_notes_response_go_fbs",
diff --git a/scouting/webserver/requests/debug/cli/cli_test.py b/scouting/webserver/requests/debug/cli/cli_test.py
index 6d33082..4e47b2d 100644
--- a/scouting/webserver/requests/debug/cli/cli_test.py
+++ b/scouting/webserver/requests/debug/cli/cli_test.py
@@ -13,8 +13,19 @@
from typing import Any, Dict, List
import unittest
+from rules_python.python.runfiles import runfiles
+
import scouting.testing.scouting_test_servers
+RUNFILES = runfiles.Create()
+
+# This regex finds the number of matches that the web server has imported. This
+# is intended to parse the output of the debug cli's `-requestAllMatches`
+# option.
+MATCH_LIST_LENGTH_EXTRACTION_RE = re.compile(
+ r"MatchList: \(\[\]\*request_all_matches_response.MatchT\) \(len=(\d+) cap=.*\) \{"
+)
+
def write_json_request(content: Dict[str, Any]):
"""Writes a JSON file with the specified dict content."""
@@ -37,29 +48,52 @@
)
+def find_num_matches_for_event(year, event_code):
+ with open(
+ RUNFILES.Rlocation(
+ f"org_frc971/scouting/scraping/test_data/{year}_{event_code}.json"
+ ), "r") as file:
+ raw_match_list = json.load(file)
+ return len(raw_match_list)
+
+
class TestDebugCli(unittest.TestCase):
def setUp(self):
self.servers = scouting.testing.scouting_test_servers.Runner()
- self.servers.start(8080)
def tearDown(self):
self.servers.stop()
- def refresh_match_list(self, year=2016, event_code="nytr"):
- """Triggers the webserver to fetch the match list."""
- json_path = write_json_request({
- "year": year,
- "event_code": event_code,
- })
- exit_code, stdout, stderr = run_debug_cli(
- ["-refreshMatchList", json_path])
- self.assertEqual(exit_code, 0, f"{year}{event_code}: {stderr}")
- self.assertIn(
- "(refresh_match_list_response.RefreshMatchListResponseT)", stdout)
+ def start_servers(self, year=2016, event_code="nytr"):
+ self.servers.start(8080, year=year, event_code=event_code)
+
+ expected_num_matches = find_num_matches_for_event(year, event_code)
+ json_path = write_json_request({})
+
+ # Wait until the match list is imported. This is done automatically
+ # when the web server starts up.
+ sys.stderr.write("Waiting for match list to be imported.\n")
+ while True:
+ exit_code, stdout, stderr = run_debug_cli(
+ ["-requestAllMatches", json_path])
+ self.assertEqual(exit_code, 0, stderr)
+
+ match = MATCH_LIST_LENGTH_EXTRACTION_RE.search(stdout)
+ if match:
+ num_matches_imported = int(match.group(1))
+
+ if num_matches_imported == expected_num_matches:
+ break
+ else:
+ sys.stderr.write(
+ f"Waiting until {expected_num_matches} are imported. "
+ f"Currently at {num_matches_imported}.\n")
+
+ time.sleep(0.25)
def test_submit_and_request_data_scouting(self):
- self.refresh_match_list(year=2020, event_code="fake")
+ self.start_servers(year=2020, event_code="fake")
# First submit some data to be added to the database.
json_path = write_json_request({
@@ -142,7 +176,7 @@
}"""), stdout)
def test_submit_and_request_notes(self):
- self.refresh_match_list(year=2020, event_code="fake")
+ self.start_servers(year=2020, event_code="fake")
# First submit some data to be added to the database.
json_path = write_json_request({
@@ -179,7 +213,7 @@
}"""), stdout)
def test_submit_and_request_driver_ranking(self):
- self.refresh_match_list(year=2020, event_code="fake")
+ self.start_servers(year=2020, event_code="fake")
# First submit some data to be added to the database.
json_path = write_json_request({
@@ -209,7 +243,7 @@
}"""), stdout)
def test_request_all_matches(self):
- self.refresh_match_list()
+ self.start_servers()
# RequestAllMatches has no fields.
json_path = write_json_request({})
@@ -222,24 +256,6 @@
stdout)
self.assertEqual(stdout.count("MatchNumber:"), 90)
- def test_request_all_matches(self):
- """Makes sure that we can import the match list multiple times without problems."""
- request_all_matches_outputs = []
- for _ in range(2):
- self.refresh_match_list()
-
- # RequestAllMatches has no fields.
- json_path = write_json_request({})
- exit_code, stdout, stderr = run_debug_cli(
- ["-requestAllMatches", json_path])
-
- self.assertEqual(exit_code, 0, stderr)
- request_all_matches_outputs.append(stdout)
-
- self.maxDiff = None
- self.assertEqual(request_all_matches_outputs[0],
- request_all_matches_outputs[1])
-
if __name__ == "__main__":
unittest.main()
diff --git a/scouting/webserver/requests/debug/cli/main.go b/scouting/webserver/requests/debug/cli/main.go
index 066dec5..9279dba 100644
--- a/scouting/webserver/requests/debug/cli/main.go
+++ b/scouting/webserver/requests/debug/cli/main.go
@@ -97,8 +97,6 @@
"If specified, parse the file as a requestAllDriverRankings JSON request.")
requestAllNotesPtr := flag.String("requestAllNotes", "",
"If specified, parse the file as a requestAllNotes JSON request.")
- refreshMatchListPtr := flag.String("refreshMatchList", "",
- "If specified, parse the file as a RefreshMatchList JSON request.")
flag.Parse()
spew.Config.Indent = *indentPtr
@@ -155,11 +153,4 @@
*requestAllNotesPtr,
*addressPtr,
debug.RequestAllNotes)
-
- maybePerformRequest(
- "RefreshMatchList",
- "scouting/webserver/requests/messages/refresh_match_list.fbs",
- *refreshMatchListPtr,
- *addressPtr,
- debug.RefreshMatchList)
}
diff --git a/scouting/webserver/requests/debug/debug.go b/scouting/webserver/requests/debug/debug.go
index 130850c..1f215f7 100644
--- a/scouting/webserver/requests/debug/debug.go
+++ b/scouting/webserver/requests/debug/debug.go
@@ -10,7 +10,6 @@
"net/http"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
- "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_driver_rankings_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_notes_response"
@@ -130,12 +129,6 @@
request_data_scouting_response.GetRootAsRequestDataScoutingResponse)
}
-func RefreshMatchList(server string, requestBytes []byte) (*refresh_match_list_response.RefreshMatchListResponseT, error) {
- return sendMessage[refresh_match_list_response.RefreshMatchListResponseT](
- server+"/requests/refresh_match_list", requestBytes,
- refresh_match_list_response.GetRootAsRefreshMatchListResponse)
-}
-
func SubmitNotes(server string, requestBytes []byte) (*submit_notes_response.SubmitNotesResponseT, error) {
return sendMessage[submit_notes_response.SubmitNotesResponseT](
server+"/requests/submit/submit_notes", requestBytes,
diff --git a/scouting/webserver/requests/messages/BUILD b/scouting/webserver/requests/messages/BUILD
index 2e118d5..124613c 100644
--- a/scouting/webserver/requests/messages/BUILD
+++ b/scouting/webserver/requests/messages/BUILD
@@ -13,8 +13,6 @@
"request_all_notes_response",
"request_data_scouting",
"request_data_scouting_response",
- "refresh_match_list",
- "refresh_match_list_response",
"submit_notes",
"submit_notes_response",
"request_notes_for_team",
diff --git a/scouting/webserver/requests/messages/refresh_match_list.fbs b/scouting/webserver/requests/messages/refresh_match_list.fbs
deleted file mode 100644
index c4384c7..0000000
--- a/scouting/webserver/requests/messages/refresh_match_list.fbs
+++ /dev/null
@@ -1,8 +0,0 @@
-namespace scouting.webserver.requests;
-
-table RefreshMatchList {
- year: int (id: 0);
- event_code: string (id: 1);
-}
-
-root_type RefreshMatchList;
diff --git a/scouting/webserver/requests/messages/refresh_match_list_response.fbs b/scouting/webserver/requests/messages/refresh_match_list_response.fbs
deleted file mode 100644
index ba80272..0000000
--- a/scouting/webserver/requests/messages/refresh_match_list_response.fbs
+++ /dev/null
@@ -1,6 +0,0 @@
-namespace scouting.webserver.requests;
-
-table RefreshMatchListResponse {
-}
-
-root_type RefreshMatchListResponse;
diff --git a/scouting/webserver/requests/messages/submit_actions.fbs b/scouting/webserver/requests/messages/submit_actions.fbs
index 863e2fc..dfb980f 100644
--- a/scouting/webserver/requests/messages/submit_actions.fbs
+++ b/scouting/webserver/requests/messages/submit_actions.fbs
@@ -15,6 +15,11 @@
kHigh
}
+table AutoBalanceAction {
+ docked:bool (id:0);
+ engaged:bool (id:1);
+}
+
table PickupObjectAction {
object_type:ObjectType (id:0);
auto:bool (id:1);
@@ -36,6 +41,7 @@
}
union ActionType {
+ AutoBalanceAction,
StartMatchAction,
PickupObjectAction,
PlaceObjectAction,
diff --git a/scouting/webserver/requests/requests.go b/scouting/webserver/requests/requests.go
index d56f380..fab725c 100644
--- a/scouting/webserver/requests/requests.go
+++ b/scouting/webserver/requests/requests.go
@@ -12,10 +12,7 @@
"strings"
"github.com/frc971/971-Robot-Code/scouting/db"
- "github.com/frc971/971-Robot-Code/scouting/scraping"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
- "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list"
- "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_driver_rankings"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_driver_rankings_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches"
@@ -52,8 +49,6 @@
type RequestAllNotesResponseT = request_all_notes_response.RequestAllNotesResponseT
type RequestDataScouting = request_data_scouting.RequestDataScouting
type RequestDataScoutingResponseT = request_data_scouting_response.RequestDataScoutingResponseT
-type RefreshMatchList = refresh_match_list.RefreshMatchList
-type RefreshMatchListResponseT = refresh_match_list_response.RefreshMatchListResponseT
type SubmitNotes = submit_notes.SubmitNotes
type SubmitNotesResponseT = submit_notes_response.SubmitNotesResponseT
type RequestNotesForTeam = request_notes_for_team.RequestNotesForTeam
@@ -85,8 +80,6 @@
AddDriverRanking(db.DriverRankingData) error
}
-type ScrapeMatchList func(int32, string) ([]scraping.Match, error)
-
// Handles unknown requests. Just returns a 404.
func unknown(w http.ResponseWriter, req *http.Request) {
w.WriteHeader(http.StatusNotFound)
@@ -417,152 +410,6 @@
w.Write(builder.FinishedBytes())
}
-func parseTeamKey(teamKey string) (int, error) {
- // TBA prefixes teams with "frc". Not sure why. Get rid of that.
- teamKey = strings.TrimPrefix(teamKey, "frc")
- magnitude := 0
- if strings.HasSuffix(teamKey, "A") {
- magnitude = 0
- teamKey = strings.TrimSuffix(teamKey, "A")
- } else if strings.HasSuffix(teamKey, "B") {
- magnitude = 9
- teamKey = strings.TrimSuffix(teamKey, "B")
- } else if strings.HasSuffix(teamKey, "C") {
- magnitude = 8
- teamKey = strings.TrimSuffix(teamKey, "C")
- } else if strings.HasSuffix(teamKey, "D") {
- magnitude = 7
- teamKey = strings.TrimSuffix(teamKey, "D")
- } else if strings.HasSuffix(teamKey, "E") {
- magnitude = 6
- teamKey = strings.TrimSuffix(teamKey, "E")
- } else if strings.HasSuffix(teamKey, "F") {
- magnitude = 5
- teamKey = strings.TrimSuffix(teamKey, "F")
- }
-
- if magnitude != 0 {
- teamKey = strconv.Itoa(magnitude) + teamKey
- }
-
- result, err := strconv.Atoi(teamKey)
- return result, err
-}
-
-// Parses the alliance data from the specified match and returns the three red
-// teams and the three blue teams.
-func parseTeamKeys(match *scraping.Match) ([3]int32, [3]int32, error) {
- redKeys := match.Alliances.Red.TeamKeys
- blueKeys := match.Alliances.Blue.TeamKeys
-
- if len(redKeys) != 3 || len(blueKeys) != 3 {
- return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
- "Found %d red teams and %d blue teams.", len(redKeys), len(blueKeys)))
- }
-
- var red [3]int32
- for i, key := range redKeys {
- team, err := parseTeamKey(key)
- if err != nil {
- return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
- "Failed to parse red %d team '%s' as integer: %v", i+1, key, err))
- }
- red[i] = int32(team)
- }
- var blue [3]int32
- for i, key := range blueKeys {
- team, err := parseTeamKey(key)
- if err != nil {
- return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
- "Failed to parse blue %d team '%s' as integer: %v", i+1, key, err))
- }
- blue[i] = int32(team)
- }
- return red, blue, nil
-}
-
-type refreshMatchListHandler struct {
- db Database
- scrape ScrapeMatchList
-}
-
-func (handler refreshMatchListHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
- requestBytes, err := io.ReadAll(req.Body)
- if err != nil {
- respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
- return
- }
-
- request, success := parseRequest(w, requestBytes, "RefreshMatchList", refresh_match_list.GetRootAsRefreshMatchList)
- if !success {
- return
- }
-
- matches, err := handler.scrape(request.Year(), string(request.EventCode()))
- if err != nil {
- respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to scrape match list: ", err))
- return
- }
-
- for _, match := range matches {
- // Make sure the data is valid.
- red, blue, err := parseTeamKeys(&match)
- if err != nil {
- respondWithError(w, http.StatusInternalServerError, fmt.Sprintf(
- "TheBlueAlliance data for match %d is malformed: %v", match.MatchNumber, err))
- return
- }
-
- team_matches := []db.TeamMatch{
- {
- MatchNumber: int32(match.MatchNumber),
- SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
- Alliance: "R", AlliancePosition: 1, TeamNumber: red[0],
- },
- {
- MatchNumber: int32(match.MatchNumber),
- SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
- Alliance: "R", AlliancePosition: 2, TeamNumber: red[1],
- },
- {
- MatchNumber: int32(match.MatchNumber),
- SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
- Alliance: "R", AlliancePosition: 3, TeamNumber: red[2],
- },
- {
- MatchNumber: int32(match.MatchNumber),
- SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
- Alliance: "B", AlliancePosition: 1, TeamNumber: blue[0],
- },
- {
- MatchNumber: int32(match.MatchNumber),
- SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
- Alliance: "B", AlliancePosition: 2, TeamNumber: blue[1],
- },
- {
- MatchNumber: int32(match.MatchNumber),
- SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
- Alliance: "B", AlliancePosition: 3, TeamNumber: blue[2],
- },
- }
-
- for _, match := range team_matches {
- // Iterate through matches to check they can be added to database.
- err = handler.db.AddToMatch(match)
- if err != nil {
- respondWithError(w, http.StatusInternalServerError, fmt.Sprintf(
- "Failed to add team %d from match %d to the database: %v", match.TeamNumber, match.MatchNumber, err))
- return
- }
- }
- }
-
- var response RefreshMatchListResponseT
- builder := flatbuffers.NewBuilder(1024)
- builder.Finish((&response).Pack(builder))
- w.Write(builder.FinishedBytes())
-}
-
type submitNoteScoutingHandler struct {
db Database
}
@@ -829,14 +676,13 @@
w.Write(builder.FinishedBytes())
}
-func HandleRequests(db Database, scrape ScrapeMatchList, scoutingServer server.ScoutingServer) {
+func HandleRequests(db Database, scoutingServer server.ScoutingServer) {
scoutingServer.HandleFunc("/requests", unknown)
scoutingServer.Handle("/requests/submit/data_scouting", submitDataScoutingHandler{db})
scoutingServer.Handle("/requests/request/all_matches", requestAllMatchesHandler{db})
scoutingServer.Handle("/requests/request/all_notes", requestAllNotesHandler{db})
scoutingServer.Handle("/requests/request/all_driver_rankings", requestAllDriverRankingsHandler{db})
scoutingServer.Handle("/requests/request/data_scouting", requestDataScoutingHandler{db})
- scoutingServer.Handle("/requests/refresh_match_list", refreshMatchListHandler{db, scrape})
scoutingServer.Handle("/requests/submit/submit_notes", submitNoteScoutingHandler{db})
scoutingServer.Handle("/requests/request/notes_for_team", requestNotesForTeamHandler{db})
scoutingServer.Handle("/requests/submit/shift_schedule", submitShiftScheduleHandler{db})
diff --git a/scouting/webserver/requests/requests_test.go b/scouting/webserver/requests/requests_test.go
index 27a45e6..ee22022 100644
--- a/scouting/webserver/requests/requests_test.go
+++ b/scouting/webserver/requests/requests_test.go
@@ -8,11 +8,8 @@
"testing"
"github.com/frc971/971-Robot-Code/scouting/db"
- "github.com/frc971/971-Robot-Code/scouting/scraping"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/debug"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
- "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list"
- "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_driver_rankings"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_driver_rankings_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches"
@@ -37,7 +34,7 @@
func Test404(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&db, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -54,7 +51,7 @@
func TestSubmitDataScoutingError(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&db, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -82,7 +79,7 @@
func TestSubmitDataScouting(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&db, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -201,7 +198,7 @@
},
}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&db, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -267,7 +264,7 @@
},
}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&db, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -322,7 +319,7 @@
func TestSubmitNotes(t *testing.T) {
database := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&database, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&database, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -375,7 +372,7 @@
}},
}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&database, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&database, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -417,7 +414,7 @@
},
}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&db, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -464,7 +461,7 @@
func TestSubmitShiftSchedule(t *testing.T) {
database := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&database, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&database, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -500,98 +497,10 @@
}
}
-// Validates that we can download the schedule from The Blue Alliance.
-func TestRefreshMatchList(t *testing.T) {
- scrapeMockSchedule := func(int32, string) ([]scraping.Match, error) {
- return []scraping.Match{
- {
- CompLevel: "qual",
- MatchNumber: 1,
- SetNumber: 2,
- Alliances: scraping.Alliances{
- Red: scraping.Alliance{
- TeamKeys: []string{
- "100",
- "200",
- "300",
- },
- },
- Blue: scraping.Alliance{
- TeamKeys: []string{
- "101",
- "201",
- "301",
- },
- },
- },
- WinningAlliance: "",
- EventKey: "",
- Time: 0,
- PredictedTime: 0,
- ActualTime: 0,
- PostResultTime: 0,
- ScoreBreakdowns: scraping.ScoreBreakdowns{},
- },
- }, nil
- }
-
- database := MockDatabase{}
- scoutingServer := server.NewScoutingServer()
- HandleRequests(&database, scrapeMockSchedule, scoutingServer)
- scoutingServer.Start(8080)
- defer scoutingServer.Stop()
-
- builder := flatbuffers.NewBuilder(1024)
- builder.Finish((&refresh_match_list.RefreshMatchListT{}).Pack(builder))
-
- response, err := debug.RefreshMatchList("http://localhost:8080", builder.FinishedBytes())
- if err != nil {
- t.Fatal("Failed to request all matches: ", err)
- }
-
- // Validate the response.
- expected := refresh_match_list_response.RefreshMatchListResponseT{}
- if !reflect.DeepEqual(expected, *response) {
- t.Fatal("Expected ", expected, ", but got ", *response)
- }
-
- // Make sure that the data made it into the database.
- expectedMatches := []db.TeamMatch{
- {
- MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
- Alliance: "R", AlliancePosition: 1, TeamNumber: 100,
- },
- {
- MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
- Alliance: "R", AlliancePosition: 2, TeamNumber: 200,
- },
- {
- MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
- Alliance: "R", AlliancePosition: 3, TeamNumber: 300,
- },
- {
- MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
- Alliance: "B", AlliancePosition: 1, TeamNumber: 101,
- },
- {
- MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
- Alliance: "B", AlliancePosition: 2, TeamNumber: 201,
- },
- {
- MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
- Alliance: "B", AlliancePosition: 3, TeamNumber: 301,
- },
- }
-
- if !reflect.DeepEqual(expectedMatches, database.matches) {
- t.Fatal("Expected ", expectedMatches, ", but got ", database.matches)
- }
-}
-
func TestSubmitDriverRanking(t *testing.T) {
database := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&database, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&database, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -636,7 +545,7 @@
},
}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&db, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -701,7 +610,7 @@
},
}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ HandleRequests(&db, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -820,8 +729,3 @@
func (database *MockDatabase) ReturnAllDriverRankings() ([]db.DriverRankingData, error) {
return database.driver_ranking, nil
}
-
-// Returns an empty match list from the fake The Blue Alliance scraping.
-func scrapeEmtpyMatchList(int32, string) ([]scraping.Match, error) {
- return nil, nil
-}
diff --git a/scouting/www/BUILD b/scouting/www/BUILD
index cbcecc3..93bcbb2 100644
--- a/scouting/www/BUILD
+++ b/scouting/www/BUILD
@@ -17,7 +17,6 @@
"//:node_modules/@angular/animations",
"//scouting/www/driver_ranking:_lib",
"//scouting/www/entry:_lib",
- "//scouting/www/import_match_list:_lib",
"//scouting/www/match_list:_lib",
"//scouting/www/notes:_lib",
"//scouting/www/shift_schedule:_lib",
diff --git a/scouting/www/app/app.module.ts b/scouting/www/app/app.module.ts
index ead8b37..7b200d0 100644
--- a/scouting/www/app/app.module.ts
+++ b/scouting/www/app/app.module.ts
@@ -4,7 +4,6 @@
import {App} from './app';
import {EntryModule} from '../entry';
-import {ImportMatchListModule} from '../import_match_list';
import {MatchListModule} from '../match_list';
import {NotesModule} from '../notes';
import {ShiftScheduleModule} from '../shift_schedule';
@@ -18,7 +17,6 @@
BrowserAnimationsModule,
EntryModule,
NotesModule,
- ImportMatchListModule,
MatchListModule,
ShiftScheduleModule,
DriverRankingModule,
diff --git a/scouting/www/app/app.ng.html b/scouting/www/app/app.ng.html
index d9dbead..526cd61 100644
--- a/scouting/www/app/app.ng.html
+++ b/scouting/www/app/app.ng.html
@@ -49,15 +49,6 @@
<li class="nav-item">
<a
class="nav-link"
- [class.active]="tabIs('ImportMatchList')"
- (click)="switchTabToGuarded('ImportMatchList')"
- >
- Import Match List
- </a>
- </li>
- <li class="nav-item">
- <a
- class="nav-link"
[class.active]="tabIs('ShiftSchedule')"
(click)="switchTabToGuarded('ShiftSchedule')"
>
@@ -90,9 +81,6 @@
></app-entry>
<frc971-notes *ngSwitchCase="'Notes'"></frc971-notes>
<app-driver-ranking *ngSwitchCase="'DriverRanking'"></app-driver-ranking>
- <app-import-match-list
- *ngSwitchCase="'ImportMatchList'"
- ></app-import-match-list>
<shift-schedule *ngSwitchCase="'ShiftSchedule'"></shift-schedule>
<app-view
(switchTabsEvent)="switchTabTo($event)"
diff --git a/scouting/www/app/app.ts b/scouting/www/app/app.ts
index 7e81d84..f7d2770 100644
--- a/scouting/www/app/app.ts
+++ b/scouting/www/app/app.ts
@@ -5,12 +5,11 @@
| 'Notes'
| 'Entry'
| 'DriverRanking'
- | 'ImportMatchList'
| 'ShiftSchedule'
| 'View';
// Ignore the guard for tabs that don't require the user to enter any data.
-const unguardedTabs: Tab[] = ['MatchList', 'ImportMatchList'];
+const unguardedTabs: Tab[] = ['MatchList'];
type TeamInMatch = {
teamNumber: number;
diff --git a/scouting/www/entry/entry.component.css b/scouting/www/entry/entry.component.css
index a78a00a..b41cb22 100644
--- a/scouting/www/entry/entry.component.css
+++ b/scouting/www/entry/entry.component.css
@@ -2,11 +2,6 @@
padding: 10px;
}
-.buttons {
- display: flex;
- justify-content: space-between;
-}
-
textarea {
width: 350px;
height: 180px;
diff --git a/scouting/www/entry/entry.component.ts b/scouting/www/entry/entry.component.ts
index 9aae0d1..6ecc95d 100644
--- a/scouting/www/entry/entry.component.ts
+++ b/scouting/www/entry/entry.component.ts
@@ -15,6 +15,7 @@
ScoreLevel,
SubmitActions,
StartMatchAction,
+ AutoBalanceAction,
PickupObjectAction,
PlaceObjectAction,
RobotDeathAction,
@@ -53,6 +54,12 @@
position: number;
}
| {
+ type: 'autoBalanceAction';
+ timestamp?: number;
+ docked: boolean;
+ engaged: boolean;
+ }
+ | {
type: 'pickupObjectAction';
timestamp?: number;
objectType: ObjectType;
@@ -201,6 +208,21 @@
);
break;
+ case 'autoBalanceAction':
+ const autoBalanceActionOffset =
+ AutoBalanceAction.createAutoBalanceAction(
+ builder,
+ action.docked,
+ action.engaged
+ );
+ actionOffset = Action.createAction(
+ builder,
+ action.timestamp || 0,
+ ActionType.AutoBalanceAction,
+ autoBalanceActionOffset
+ );
+ break;
+
case 'placeObjectAction':
const placeObjectActionOffset =
PlaceObjectAction.createPlaceObjectAction(
diff --git a/scouting/www/entry/entry.ng.html b/scouting/www/entry/entry.ng.html
index ec95f39..72fc140 100644
--- a/scouting/www/entry/entry.ng.html
+++ b/scouting/www/entry/entry.ng.html
@@ -69,110 +69,163 @@
</label>
</div>
<div class="buttons">
- <button
- class="btn btn-primary"
- [disabled]="!selectedValue"
- (click)="changeSectionTo('Pickup'); addAction({type: 'startMatchAction', position: selectedValue});"
- >
- Start Match
- </button>
+ <!-- Creates a responsive stack of full-width, "block buttons". -->
+ <div class="d-grid gap-5">
+ <button
+ class="btn btn-primary"
+ [disabled]="!selectedValue"
+ (click)="changeSectionTo('Pickup'); addAction({type: 'startMatchAction', position: selectedValue});"
+ >
+ Start Match
+ </button>
+ </div>
</div>
</div>
<div *ngSwitchCase="'Pickup'" id="PickUp" class="container-fluid">
- <button class="btn btn-danger" (click)="undoLastAction()">UNDO</button>
- <button
- class="btn btn-warning"
- (click)="changeSectionTo('Place'); addAction({type: 'pickupObjectAction', objectType: ObjectType.kCone});"
- >
- CONE
- </button>
- <button
- class="btn btn-primary"
- (click)="changeSectionTo('Place'); addAction({type: 'pickupObjectAction', objectType: ObjectType.kCube});"
- >
- CUBE
- </button>
- <button
- *ngIf="autoPhase"
- class="btn btn-info"
- (click)="autoPhase = false; addAction({type: 'endAutoPhase'});"
- >
- Start Teleop
- </button>
- <button
- *ngIf="!autoPhase"
- class="btn btn-info"
- (click)="changeSectionTo('Endgame')"
- >
- Endgame
- </button>
+ <div class="d-grid gap-5">
+ <button class="btn btn-danger" (click)="undoLastAction()">UNDO</button>
+ <button
+ class="btn btn-warning"
+ (click)="changeSectionTo('Place'); addAction({type: 'pickupObjectAction', objectType: ObjectType.kCone});"
+ >
+ CONE
+ </button>
+ <button
+ class="btn btn-primary"
+ (click)="changeSectionTo('Place'); addAction({type: 'pickupObjectAction', objectType: ObjectType.kCube});"
+ >
+ CUBE
+ </button>
+ <!-- 'Balancing' during auto. -->
+ <div *ngIf="autoPhase" class="d-grid gap-2">
+ <label>
+ <input type="checkbox" (change)="dockedValue = $event.target.value" />
+ Docked
+ </label>
+ <label>
+ <input
+ type="checkbox"
+ (change)="engagedValue = $event.target.value"
+ />
+ Engaged
+ </label>
+ <br />
+ <button
+ class="btn btn-info"
+ (click)="addAction({type: 'autoBalanceAction', docked: dockedValue, engaged: engagedValue});"
+ >
+ Submit Balancing
+ </button>
+ </div>
+ <button
+ *ngIf="autoPhase"
+ class="btn btn-info"
+ (click)="autoPhase = false; addAction({type: 'endAutoPhase'});"
+ >
+ Start Teleop
+ </button>
+ <button
+ *ngIf="!autoPhase"
+ class="btn btn-info"
+ (click)="changeSectionTo('Endgame')"
+ >
+ Endgame
+ </button>
+ </div>
</div>
<div *ngSwitchCase="'Place'" id="Place" class="container-fluid">
- <button class="btn btn-danger" (click)="undoLastAction()">UNDO</button>
- <button
- class="btn btn-success"
- (click)="changeSectionTo('Pickup'); addAction({type: 'placeObjectAction', scoreLevel: ScoreLevel.kHigh});"
- >
- HIGH
- </button>
- <button
- class="btn btn-warning"
- (click)="changeSectionTo('Pickup'); addAction({type: 'placeObjectAction', scoreLevel: ScoreLevel.kMiddle});"
- >
- MID
- </button>
- <button
- class="btn btn-danger"
- (click)="changeSectionTo('Pickup'); addAction({type: 'placeObjectAction', scoreLevel: ScoreLevel.kLow});"
- >
- LOW
- </button>
- <button
- *ngIf="autoPhase"
- class="btn btn-info"
- (click)="autoPhase = false; addAction({type: 'endAutoPhase'});"
- >
- Start Teleop
- </button>
- <button
- *ngIf="!autoPhase"
- class="btn btn-info"
- (click)="changeSectionTo('Endgame')"
- >
- Endgame
- </button>
+ <div class="d-grid gap-5">
+ <button class="btn btn-danger" (click)="undoLastAction()">UNDO</button>
+ <button
+ class="btn btn-success"
+ (click)="changeSectionTo('Pickup'); addAction({type: 'placeObjectAction', scoreLevel: ScoreLevel.kHigh});"
+ >
+ HIGH
+ </button>
+ <button
+ class="btn btn-warning"
+ (click)="changeSectionTo('Pickup'); addAction({type: 'placeObjectAction', scoreLevel: ScoreLevel.kMiddle});"
+ >
+ MID
+ </button>
+ <button
+ class="btn btn-danger"
+ (click)="changeSectionTo('Pickup'); addAction({type: 'placeObjectAction', scoreLevel: ScoreLevel.kLow});"
+ >
+ LOW
+ </button>
+ <!-- 'Balancing' during auto. -->
+ <div *ngIf="autoPhase" class="d-grid gap-2">
+ <label>
+ <input type="checkbox" (change)="dockedValue = $event.target.value" />
+ Docked
+ </label>
+ <label>
+ <input
+ type="checkbox"
+ (change)="engagedValue = $event.target.value"
+ />
+ Engaged
+ </label>
+ <br />
+ <button
+ class="btn btn-info"
+ (click)="addAction({type: 'autoBalanceAction', docked: dockedValue, engaged: engagedValue});"
+ >
+ Submit Balancing
+ </button>
+ </div>
+ <button
+ *ngIf="autoPhase"
+ class="btn btn-info"
+ (click)="autoPhase = false; addAction({type: 'endAutoPhase'});"
+ >
+ Start Teleop
+ </button>
+ <button
+ *ngIf="!autoPhase"
+ class="btn btn-info"
+ (click)="changeSectionTo('Endgame')"
+ >
+ Endgame
+ </button>
+ </div>
</div>
<div *ngSwitchCase="'Endgame'" id="Endgame" class="container-fluid">
- <button class="btn btn-danger" (click)="undoLastAction()">UNDO</button>
- <label>
- <input type="checkbox" (change)="dockedValue = $event.target.value" />
- Docked
- </label>
- <label>
- <input type="checkbox" (change)="engagedValue = $event.target.value" />
- Engaged
- </label>
- <button
- *ngIf="!autoPhase"
- class="btn btn-info"
- (click)="changeSectionTo('Review and Submit'); addAction({type: 'endMatchAction', docked: dockedValue, engaged: engagedValue});"
- >
- End Match
- </button>
+ <div class="d-grid gap-5">
+ <button class="btn btn-danger" (click)="undoLastAction()">UNDO</button>
+ <label>
+ <input type="checkbox" (change)="dockedValue = $event.target.value" />
+ Docked
+ </label>
+ <label>
+ <input type="checkbox" (change)="engagedValue = $event.target.value" />
+ Engaged
+ </label>
+ <button
+ *ngIf="!autoPhase"
+ class="btn btn-info"
+ (click)="changeSectionTo('Review and Submit'); addAction({type: 'endMatchAction', docked: dockedValue, engaged: engagedValue});"
+ >
+ End Match
+ </button>
+ </div>
</div>
<div *ngSwitchCase="'Review and Submit'" id="Review" class="container-fluid">
- <button class="btn btn-danger" (click)="undoLastAction()">UNDO</button>
- <button
- *ngIf="!autoPhase"
- class="btn btn-warning"
- (click)="submitActions();"
- >
- Submit
- </button>
+ <div class="d-grid gap-5">
+ <button class="btn btn-danger" (click)="undoLastAction()">UNDO</button>
+ <button
+ *ngIf="!autoPhase"
+ class="btn btn-warning"
+ (click)="submitActions();"
+ >
+ Submit
+ </button>
+ </div>
</div>
<div *ngSwitchCase="'Success'" id="Success" class="container-fluid">
diff --git a/scouting/www/import_match_list/BUILD b/scouting/www/import_match_list/BUILD
deleted file mode 100644
index bc1d5d5..0000000
--- a/scouting/www/import_match_list/BUILD
+++ /dev/null
@@ -1,18 +0,0 @@
-load("@npm//:defs.bzl", "npm_link_all_packages")
-load("//tools/build_rules:js.bzl", "ng_pkg")
-
-npm_link_all_packages(name = "node_modules")
-
-ng_pkg(
- name = "import_match_list",
- extra_srcs = [
- "//scouting/www:app_common_css",
- ],
- deps = [
- ":node_modules/@angular/forms",
- "//scouting/webserver/requests/messages:error_response_ts_fbs",
- "//scouting/webserver/requests/messages:refresh_match_list_response_ts_fbs",
- "//scouting/webserver/requests/messages:refresh_match_list_ts_fbs",
- "@com_github_google_flatbuffers//ts:flatbuffers_ts",
- ],
-)
diff --git a/scouting/www/import_match_list/import_match_list.component.css b/scouting/www/import_match_list/import_match_list.component.css
deleted file mode 100644
index e220645..0000000
--- a/scouting/www/import_match_list/import_match_list.component.css
+++ /dev/null
@@ -1,3 +0,0 @@
-* {
- padding: 10px;
-}
diff --git a/scouting/www/import_match_list/import_match_list.component.ts b/scouting/www/import_match_list/import_match_list.component.ts
deleted file mode 100644
index 526a636..0000000
--- a/scouting/www/import_match_list/import_match_list.component.ts
+++ /dev/null
@@ -1,60 +0,0 @@
-import {Component, OnInit} from '@angular/core';
-
-import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
-import {RefreshMatchListResponse} from '../../webserver/requests/messages/refresh_match_list_response_generated';
-import {RefreshMatchList} from '../../webserver/requests/messages/refresh_match_list_generated';
-
-@Component({
- selector: 'app-import-match-list',
- templateUrl: './import_match_list.ng.html',
- styleUrls: ['../app/common.css', './import_match_list.component.css'],
-})
-export class ImportMatchListComponent {
- year: number = new Date().getFullYear();
- eventCode: string = '';
- progressMessage: string = '';
- errorMessage: string = '';
-
- async importMatchList() {
- const block_alerts = document.getElementById(
- 'block_alerts'
- ) as HTMLInputElement;
- console.log(block_alerts.checked);
- if (!block_alerts.checked) {
- if (!window.confirm('Actually import new matches?')) {
- return;
- }
- }
-
- this.errorMessage = '';
-
- const builder = new Builder();
- const eventCode = builder.createString(this.eventCode);
- RefreshMatchList.startRefreshMatchList(builder);
- RefreshMatchList.addYear(builder, this.year);
- RefreshMatchList.addEventCode(builder, eventCode);
- builder.finish(RefreshMatchList.endRefreshMatchList(builder));
-
- this.progressMessage = 'Importing match list. Please be patient.';
-
- const buffer = builder.asUint8Array();
- const res = await fetch('/requests/refresh_match_list', {
- method: 'POST',
- body: buffer,
- });
-
- if (res.ok) {
- // We successfully submitted the data.
- this.progressMessage = 'Successfully imported match list.';
- } else {
- this.progressMessage = '';
- const resBuffer = await res.arrayBuffer();
- const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
- const parsedResponse = ErrorResponse.getRootAsErrorResponse(fbBuffer);
-
- const errorMessage = parsedResponse.errorMessage();
- this.errorMessage = `Received ${res.status} ${res.statusText}: "${errorMessage}"`;
- }
- }
-}
diff --git a/scouting/www/import_match_list/import_match_list.module.ts b/scouting/www/import_match_list/import_match_list.module.ts
deleted file mode 100644
index cdb6fea..0000000
--- a/scouting/www/import_match_list/import_match_list.module.ts
+++ /dev/null
@@ -1,11 +0,0 @@
-import {NgModule} from '@angular/core';
-import {CommonModule} from '@angular/common';
-import {ImportMatchListComponent} from './import_match_list.component';
-import {FormsModule} from '@angular/forms';
-
-@NgModule({
- declarations: [ImportMatchListComponent],
- exports: [ImportMatchListComponent],
- imports: [CommonModule, FormsModule],
-})
-export class ImportMatchListModule {}
diff --git a/scouting/www/import_match_list/import_match_list.ng.html b/scouting/www/import_match_list/import_match_list.ng.html
deleted file mode 100644
index fdd7687..0000000
--- a/scouting/www/import_match_list/import_match_list.ng.html
+++ /dev/null
@@ -1,20 +0,0 @@
-<div class="header">
- <h2>Import Match List</h2>
-</div>
-
-<div class="container-fluid">
- <div class="row">
- <label for="year">Year</label>
- <input [(ngModel)]="year" type="number" id="year" min="1970" max="2500" />
- </div>
- <div class="row">
- <label for="event_code">Event Code</label>
- <input [(ngModel)]="eventCode" type="text" id="event_code" />
- </div>
-
- <span class="progress_message">{{ progressMessage }}</span>
- <span class="error_message">{{ errorMessage }}</span>
- <div class="text-right">
- <button class="btn btn-primary" (click)="importMatchList()">Import</button>
- </div>
-</div>
diff --git a/scouting/www/import_match_list/package.json b/scouting/www/import_match_list/package.json
deleted file mode 100644
index 05aa790..0000000
--- a/scouting/www/import_match_list/package.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "name": "@org_frc971/scouting/www/import_match_list",
- "private": true,
- "dependencies": {
- "@angular/forms": "15.1.5"
- }
-}
diff --git a/y2019/control_loops/drivetrain/target_selector.h b/y2019/control_loops/drivetrain/target_selector.h
index fdc183f..19ac52e 100644
--- a/y2019/control_loops/drivetrain/target_selector.h
+++ b/y2019/control_loops/drivetrain/target_selector.h
@@ -32,6 +32,7 @@
/*num_obstacles=*/0, double> FakeCamera;
TargetSelector(::aos::EventLoop *event_loop);
+ virtual ~TargetSelector() {}
bool UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &state,
double command_speed) override;
diff --git a/y2023/BUILD b/y2023/BUILD
index f055fe4..fa53462 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -2,6 +2,12 @@
load("//aos:config.bzl", "aos_config")
load("//tools/build_rules:template.bzl", "jinja2_template")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("//aos/util:config_validator_macro.bzl", "config_validator_rule")
+
+config_validator_rule(
+ name = "config_validator_test",
+ config = "//y2023:aos_config",
+)
robot_downloader(
binaries = [
@@ -308,6 +314,7 @@
"//frc971/input:drivetrain_input",
"//frc971/input:joystick_input",
"//y2023/control_loops/drivetrain:drivetrain_base",
+ "//y2023/control_loops/drivetrain:target_selector_hint_fbs",
"//y2023/control_loops/superstructure:superstructure_goal_fbs",
"//y2023/control_loops/superstructure:superstructure_status_fbs",
"//y2023/control_loops/superstructure/arm:generated_graph",
diff --git a/y2023/constants.cc b/y2023/constants.cc
index 8908811..7e30898 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -87,41 +87,43 @@
0.931355973012855 + 8.6743197253382 - 0.101200335326309 -
0.0820901660993467 - 0.0703733798337964;
- arm_distal->zeroing.measured_absolute_position = 0.617279923658987;
+ arm_distal->zeroing.measured_absolute_position = 0.58478872393942;
arm_distal->potentiometer_offset =
0.436664933370656 + 0.49457213779426 + 6.78213223139724 -
0.0220711555235029 - 0.0162945074111813 + 0.00630344935527365 -
- 0.0164398318919943 - 0.145833494945215;
+ 0.0164398318919943 - 0.145833494945215 + 0.234878799868491;
- roll_joint->zeroing.measured_absolute_position = 1.12525305971909;
+ roll_joint->zeroing.measured_absolute_position = 1.7229611246564;
roll_joint->potentiometer_offset =
- 3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
- 0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
- 0.0208958996127179 - 0.186395903925026 + 0.45801689548395 -
- 0.5935210745062 + 0.166256655718334 - 0.12591438680483 +
- 0.11972765117321;
+ -(3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
+ 0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
+ 0.0208958996127179 - 0.186395903925026 + 0.45801689548395 -
+ 0.5935210745062 + 0.166256655718334 - 0.12591438680483 +
+ 0.11972765117321 - 0.318724743041507) +
+ 0.0201047336425017;
wrist->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.420104471500763;
+ 0.85247856535298;
break;
case kPracticeTeamNumber:
- arm_proximal->zeroing.measured_absolute_position = 0.254437958024658;
+ arm_proximal->zeroing.measured_absolute_position = 0.261970010788946;
arm_proximal->potentiometer_offset =
- 10.5178592988554 + 0.0944609125285876;
+ 10.5178592988554 + 0.0944609125285876 - 0.00826532984625095;
- arm_distal->zeroing.measured_absolute_position = 0.51986178669514;
- arm_distal->potentiometer_offset = 7.673132586937 - 0.0799284644472573 -
- 0.0323574039310657 +
- 0.0143810684138064;
+ arm_distal->zeroing.measured_absolute_position = 0.507166003869875;
+ arm_distal->potentiometer_offset =
+ 7.673132586937 - 0.0799284644472573 - 0.0323574039310657 +
+ 0.0143810684138064 + 0.00945555248207735;
- roll_joint->zeroing.measured_absolute_position = 1.86685853969852;
+ roll_joint->zeroing.measured_absolute_position = 1.88759815823151;
roll_joint->potentiometer_offset =
- 0.624713611895747 + 3.10458504917251 - 0.0966407797407789;
+ 0.624713611895747 + 3.10458504917251 - 0.0966407797407789 +
+ 0.0257708772364788 - 0.0395076737853459;
wrist->subsystem_params.zeroing_constants.measured_absolute_position =
- -0.607792293122026;
+ 0.627578012126286;
break;
diff --git a/y2023/constants/test_data/scoring_map.json b/y2023/constants/test_data/scoring_map.json
new file mode 100644
index 0000000..ebb9b38
--- /dev/null
+++ b/y2023/constants/test_data/scoring_map.json
@@ -0,0 +1,348 @@
+{
+ "red": {
+ "substation": {
+ "left": {
+ "x": -8.068,
+ "y": 1.74,
+ "z": 0.95
+ },
+ "right": {
+ "x": -8.068,
+ "y": 3.74,
+ "z": 0.95
+ }
+ },
+ "left_grid": {
+ "bottom": {
+ "left_cone": {
+ "x": 6.99,
+ "y": 0.973,
+ "z": 0.0
+ },
+ "cube": {
+ "x": 6.99,
+ "y": 0.414,
+ "z": 0.0
+ },
+ "right_cone": {
+ "x": 6.99,
+ "y": -0.145,
+ "z": 0.0
+ }
+ },
+ "middle": {
+ "left_cone": {
+ "x": 7.461,
+ "y": 0.973,
+ "z": 0.87
+ },
+ "cube": {
+ "x": 7.461,
+ "y": 0.414,
+ "z": 0.87
+ },
+ "right_cone": {
+ "x": 7.461,
+ "y": -0.145,
+ "z": 0.87
+ }
+ },
+ "top": {
+ "left_cone": {
+ "x": 7.891,
+ "y": 0.973,
+ "z": 1.17
+ },
+ "cube": {
+ "x": 7.891,
+ "y": 0.414,
+ "z": 1.17
+ },
+ "right_cone": {
+ "x": 7.891,
+ "y": -0.145,
+ "z": 1.17
+ }
+ }
+ },
+ "middle_grid": {
+ "bottom": {
+ "left_cone": {
+ "x": 6.99,
+ "y": -0.703,
+ "z": 0.0
+ },
+ "cube": {
+ "x": 6.99,
+ "y": -1.262,
+ "z": 0.0
+ },
+ "right_cone": {
+ "x": 6.99,
+ "y": -1.821,
+ "z": 0.0
+ }
+ },
+ "middle": {
+ "left_cone": {
+ "x": 7.461,
+ "y": -0.703,
+ "z": 0.87
+ },
+ "cube": {
+ "x": 7.461,
+ "y": -1.262,
+ "z": 0.87
+ },
+ "right_cone": {
+ "x": 7.461,
+ "y": -1.821,
+ "z": 0.87
+ }
+ },
+ "top": {
+ "left_cone": {
+ "x": 7.891,
+ "y": -0.703,
+ "z": 1.17
+ },
+ "cube": {
+ "x": 7.891,
+ "y": -1.262,
+ "z": 1.17
+ },
+ "right_cone": {
+ "x": 7.891,
+ "y": -1.821,
+ "z": 1.17
+ }
+ }
+ },
+ "right_grid": {
+ "bottom": {
+ "left_cone": {
+ "x": 6.99,
+ "y": -2.379,
+ "z": 0.0
+ },
+ "cube": {
+ "x": 6.99,
+ "y": -2.938,
+ "z": 0.0
+ },
+ "right_cone": {
+ "x": 6.99,
+ "y": -3.497,
+ "z": 0.0
+ }
+ },
+ "middle": {
+ "left_cone": {
+ "x": 7.461,
+ "y": -2.379,
+ "z": 0.87
+ },
+ "cube": {
+ "x": 7.461,
+ "y": -2.938,
+ "z": 0.87
+ },
+ "right_cone": {
+ "x": 7.461,
+ "y": -3.497,
+ "z": 0.87
+ }
+ },
+ "top": {
+ "left_cone": {
+ "x": 7.891,
+ "y": -2.379,
+ "z": 1.17
+ },
+ "cube": {
+ "x": 7.891,
+ "y": -2.938,
+ "z": 1.17
+ },
+ "right_cone": {
+ "x": 7.891,
+ "y": -3.497,
+ "z": 1.17
+ }
+ }
+ }
+ },
+ "blue": {
+ "substation": {
+ "left": {
+ "x": 8.069,
+ "y": 3.74,
+ "z": 0.95
+ },
+ "right": {
+ "x": 8.069,
+ "y": 1.74,
+ "z": 0.95
+ }
+ },
+ "left_grid": {
+ "bottom": {
+ "left_cone": {
+ "x": -6.989,
+ "y": -0.145,
+ "z": 0.0
+ },
+ "cube": {
+ "x": -6.989,
+ "y": 0.414,
+ "z": 0.0
+ },
+ "right_cone": {
+ "x": -6.989,
+ "y": 0.973,
+ "z": 0.0
+ }
+ },
+ "middle": {
+ "left_cone": {
+ "x": -7.46,
+ "y": -0.145,
+ "z": 0.87
+ },
+ "cube": {
+ "x": -7.46,
+ "y": 0.414,
+ "z": 0.87
+ },
+ "right_cone": {
+ "x": -7.46,
+ "y": 0.973,
+ "z": 0.87
+ }
+ },
+ "top": {
+ "left_cone": {
+ "x": -7.89,
+ "y": -0.145,
+ "z": 1.17
+ },
+ "cube": {
+ "x": -7.89,
+ "y": 0.414,
+ "z": 1.17
+ },
+ "right_cone": {
+ "x": -7.89,
+ "y": 0.973,
+ "z": 1.17
+ }
+ }
+ },
+ "middle_grid": {
+ "bottom": {
+ "left_cone": {
+ "x": -6.989,
+ "y": -1.821,
+ "z": 0.0
+ },
+ "cube": {
+ "x": -6.989,
+ "y": -1.262,
+ "z": 0.0
+ },
+ "right_cone": {
+ "x": -6.989,
+ "y": -0.703,
+ "z": 0.0
+ }
+ },
+ "middle": {
+ "left_cone": {
+ "x": -7.46,
+ "y": -1.821,
+ "z": 0.87
+ },
+ "cube": {
+ "x": -7.46,
+ "y": -1.262,
+ "z": 0.87
+ },
+ "right_cone": {
+ "x": -7.46,
+ "y": -0.703,
+ "z": 0.87
+ }
+ },
+ "top": {
+ "left_cone": {
+ "x": -7.89,
+ "y": -1.821,
+ "z": 1.17
+ },
+ "cube": {
+ "x": -7.89,
+ "y": -1.262,
+ "z": 1.17
+ },
+ "right_cone": {
+ "x": -7.89,
+ "y": -0.703,
+ "z": 1.17
+ }
+ }
+ },
+ "right_grid": {
+ "bottom": {
+ "left_cone": {
+ "x": -6.989,
+ "y": -3.497,
+ "z": 0.0
+ },
+ "cube": {
+ "x": -6.989,
+ "y": -2.938,
+ "z": 0.0
+ },
+ "right_cone": {
+ "x": -6.989,
+ "y": -2.379,
+ "z": 0.0
+ }
+ },
+ "middle": {
+ "left_cone": {
+ "x": -7.46,
+ "y": -3.497,
+ "z": 0.87
+ },
+ "cube": {
+ "x": -7.46,
+ "y": -2.938,
+ "z": 0.87
+ },
+ "right_cone": {
+ "x": -7.46,
+ "y": -2.379,
+ "z": 0.87
+ }
+ },
+ "top": {
+ "left_cone": {
+ "x": -7.89,
+ "y": -3.497,
+ "z": 1.17
+ },
+ "cube": {
+ "x": -7.89,
+ "y": -2.938,
+ "z": 1.17
+ },
+ "right_cone": {
+ "x": -7.89,
+ "y": -2.379,
+ "z": 1.17
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/y2023/constants/test_data/test_team.json b/y2023/constants/test_data/test_team.json
index adc9eae..f09b23e 100644
--- a/y2023/constants/test_data/test_team.json
+++ b/y2023/constants/test_data/test_team.json
@@ -13,5 +13,6 @@
"calibration": {% include 'y2023/constants/test_data/calibration_pi-4.json' %}
}
],
- "target_map": {% include 'y2023/constants/test_data/target_map.json' %}
+ "target_map": {% include 'y2023/constants/test_data/target_map.json' %},
+ "scoring_map": {% include 'y2023/constants/test_data/scoring_map.json' %}
}
diff --git a/y2023/control_loops/drivetrain/BUILD b/y2023/control_loops/drivetrain/BUILD
index 416d6d9..32b8c15 100644
--- a/y2023/control_loops/drivetrain/BUILD
+++ b/y2023/control_loops/drivetrain/BUILD
@@ -81,6 +81,7 @@
visibility = ["//visibility:public"],
deps = [
":drivetrain_base",
+ ":target_selector",
"//aos:init",
"//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:drivetrain_lib",
@@ -131,3 +132,32 @@
gen_reflections = 1,
visibility = ["//visibility:public"],
)
+
+cc_library(
+ name = "target_selector",
+ srcs = ["target_selector.cc"],
+ hdrs = ["target_selector.h"],
+ deps = [
+ ":target_selector_hint_fbs",
+ "//aos/containers:sized_array",
+ "//aos/events:event_loop",
+ "//frc971/constants:constants_sender_lib",
+ "//frc971/control_loops:pose",
+ "//frc971/control_loops/drivetrain:localizer",
+ "//frc971/input:joystick_state_fbs",
+ "//y2023/constants:constants_fbs",
+ ],
+)
+
+cc_test(
+ name = "target_selector_test",
+ srcs = ["target_selector_test.cc"],
+ data = ["//y2023:aos_config"],
+ deps = [
+ ":target_selector",
+ "//aos/events:simulated_event_loop",
+ "//aos/testing:googletest",
+ "//frc971/input:joystick_state_fbs",
+ "//y2023/constants:simulated_constants_sender",
+ ],
+)
diff --git a/y2023/control_loops/drivetrain/drivetrain_base.cc b/y2023/control_loops/drivetrain/drivetrain_base.cc
index cdb5a61..e8fdb3c 100644
--- a/y2023/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2023/control_loops/drivetrain/drivetrain_base.cc
@@ -11,6 +11,7 @@
using ::frc971::control_loops::drivetrain::DownEstimatorConfig;
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+using ::frc971::control_loops::drivetrain::LineFollowConfig;
namespace chrono = ::std::chrono;
@@ -61,7 +62,20 @@
.finished(),
false /*is_simulated*/,
DownEstimatorConfig{.gravity_threshold = 0.015,
- .do_accel_corrections = 1000}};
+ .do_accel_corrections = 1000},
+ LineFollowConfig{
+ .Q = Eigen::Matrix3d((::Eigen::DiagonalMatrix<double, 3>().diagonal()
+ << 1.0 / ::std::pow(0.1, 2),
+ 1.0 / ::std::pow(1.0, 2),
+ 1.0 / ::std::pow(1.0, 2))
+ .finished()
+ .asDiagonal()),
+ .R = Eigen::Matrix2d((::Eigen::DiagonalMatrix<double, 2>().diagonal()
+ << 10.0 / ::std::pow(12.0, 2),
+ 10.0 / ::std::pow(12.0, 2))
+ .finished()
+ .asDiagonal()),
+ .max_controllable_offset = 0.5}};
return kDrivetrainConfig;
};
diff --git a/y2023/control_loops/drivetrain/drivetrain_main.cc b/y2023/control_loops/drivetrain/drivetrain_main.cc
index 32b2455..b13e76f 100644
--- a/y2023/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2023/control_loops/drivetrain/drivetrain_main.cc
@@ -5,6 +5,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+#include "y2023/control_loops/drivetrain/target_selector.h"
using ::frc971::control_loops::drivetrain::DrivetrainLoop;
@@ -19,7 +20,9 @@
localizer = std::make_unique<
::frc971::control_loops::drivetrain::PuppetLocalizer>(
&event_loop,
- ::y2023::control_loops::drivetrain::GetDrivetrainConfig());
+ ::y2023::control_loops::drivetrain::GetDrivetrainConfig(),
+ std::make_unique<::y2023::control_loops::drivetrain::TargetSelector>(
+ &event_loop));
std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
y2023::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
localizer.get());
diff --git a/y2023/control_loops/drivetrain/target_selector.cc b/y2023/control_loops/drivetrain/target_selector.cc
new file mode 100644
index 0000000..99805cb
--- /dev/null
+++ b/y2023/control_loops/drivetrain/target_selector.cc
@@ -0,0 +1,120 @@
+#include "y2023/control_loops/drivetrain/target_selector.h"
+
+#include "aos/containers/sized_array.h"
+
+namespace y2023::control_loops::drivetrain {
+TargetSelector::TargetSelector(aos::EventLoop *event_loop)
+ : joystick_state_fetcher_(
+ event_loop->MakeFetcher<aos::JoystickState>("/aos")),
+ hint_fetcher_(event_loop->MakeFetcher<TargetSelectorHint>("/drivetrain")),
+ constants_fetcher_(event_loop) {
+ CHECK(constants_fetcher_.constants().has_scoring_map());
+ CHECK(constants_fetcher_.constants().scoring_map()->has_red());
+ CHECK(constants_fetcher_.constants().scoring_map()->has_blue());
+}
+
+void TargetSelector::UpdateAlliance() {
+ joystick_state_fetcher_.Fetch();
+ if (joystick_state_fetcher_.get() != nullptr &&
+ joystick_state_fetcher_->has_alliance()) {
+ switch (joystick_state_fetcher_->alliance()) {
+ case aos::Alliance::kRed:
+ scoring_map_ = constants_fetcher_.constants().scoring_map()->red();
+ break;
+ case aos::Alliance::kBlue:
+ scoring_map_ = constants_fetcher_.constants().scoring_map()->blue();
+ break;
+ case aos::Alliance::kInvalid:
+ // Do nothing.
+ break;
+ }
+ }
+}
+
+bool TargetSelector::UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &state,
+ double /*command_speed*/) {
+ UpdateAlliance();
+ if (scoring_map_ == nullptr) {
+ // We don't know which alliance we are on yet; wait on a JoystickState
+ // message.
+ return false;
+ }
+ hint_fetcher_.Fetch();
+ if (hint_fetcher_.get() == nullptr) {
+ // We don't know where to go, wait on a hint.
+ return false;
+ }
+ aos::SizedArray<const localizer::ScoringGrid *, 3> possible_grids;
+ if (hint_fetcher_->has_grid()) {
+ possible_grids = {[this]() -> const localizer::ScoringGrid * {
+ switch (hint_fetcher_->grid()) {
+ case GridSelectionHint::LEFT:
+ return scoring_map_->left_grid();
+ case GridSelectionHint::MIDDLE:
+ return scoring_map_->middle_grid();
+ case GridSelectionHint::RIGHT:
+ return scoring_map_->right_grid();
+ }
+ // Make roborio compiler happy...
+ return nullptr;
+ }()};
+ } else {
+ possible_grids = {scoring_map_->left_grid(), scoring_map_->middle_grid(),
+ scoring_map_->right_grid()};
+ }
+
+ aos::SizedArray<const localizer::ScoringRow *, 3> possible_rows =
+ [this, possible_grids]() {
+ aos::SizedArray<const localizer::ScoringRow *, 3> rows;
+ for (const localizer::ScoringGrid *grid : possible_grids) {
+ CHECK_NOTNULL(grid);
+ switch (hint_fetcher_->row()) {
+ case RowSelectionHint::BOTTOM:
+ rows.push_back(grid->bottom());
+ break;
+ case RowSelectionHint::MIDDLE:
+ rows.push_back(grid->middle());
+ break;
+ case RowSelectionHint::TOP:
+ rows.push_back(grid->top());
+ break;
+ }
+ }
+ return rows;
+ }();
+ aos::SizedArray<const frc971::vision::Position *, 3> possible_positions =
+ [this, possible_rows]() {
+ aos::SizedArray<const frc971::vision::Position *, 3> positions;
+ for (const localizer::ScoringRow *row : possible_rows) {
+ CHECK_NOTNULL(row);
+ switch (hint_fetcher_->spot()) {
+ case SpotSelectionHint::LEFT:
+ positions.push_back(row->left_cone());
+ break;
+ case SpotSelectionHint::MIDDLE:
+ positions.push_back(row->cube());
+ break;
+ case SpotSelectionHint::RIGHT:
+ positions.push_back(row->right_cone());
+ break;
+ }
+ }
+ return positions;
+ }();
+ CHECK_LT(0u, possible_positions.size());
+ std::optional<double> closest_distance;
+ std::optional<Eigen::Vector3d> closest_position;
+ const Eigen::Vector3d robot_position(state.x(), state.y(), 0.0);
+ for (const frc971::vision::Position *position : possible_positions) {
+ const Eigen::Vector3d target(position->x(), position->y(), position->z());
+ double distance = (target - robot_position).norm();
+ if (!closest_distance.has_value() || distance < closest_distance.value()) {
+ closest_distance = distance;
+ closest_position = target;
+ }
+ }
+ CHECK(closest_position.has_value());
+ target_pose_ = Pose(closest_position.value(), /*theta=*/0.0);
+ return true;
+}
+} // namespace y2023::control_loops::drivetrain
diff --git a/y2023/control_loops/drivetrain/target_selector.h b/y2023/control_loops/drivetrain/target_selector.h
new file mode 100644
index 0000000..0290425
--- /dev/null
+++ b/y2023/control_loops/drivetrain/target_selector.h
@@ -0,0 +1,49 @@
+#ifndef Y2023_CONTROL_LOOPS_DRIVETRAIN_TARGET_SELECTOR_H_
+#define Y2023_CONTROL_LOOPS_DRIVETRAIN_TARGET_SELECTOR_H_
+#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/control_loops/drivetrain/localizer.h"
+#include "frc971/control_loops/pose.h"
+#include "frc971/input/joystick_state_generated.h"
+#include "y2023/constants/constants_generated.h"
+#include "y2023/control_loops/drivetrain/target_selector_hint_generated.h"
+
+namespace y2023::control_loops::drivetrain {
+// This target selector provides the logic to choose which position to try to
+// guide the robot to (primarily for game piece placement; but also for game
+// piece pickup).
+// Currently, this works by:
+// 1. Relying on the constants + JoystickState message to figure out which set
+// of targets are relevant to us given the alliance that we are on).
+// 2. If the TargetSelectorHint message fully specifies where to score the game
+// piece, go there.
+// 3. If the exact grid to score in is unpopulated, score in the closest grid.
+// In the future, the code could readily be expanded to score in the nearest
+// valid position or resolve any other set of extra ambiguity.
+class TargetSelector
+ : public frc971::control_loops::drivetrain::TargetSelectorInterface {
+ public:
+ typedef frc971::control_loops::TypedPose<double> Pose;
+
+ TargetSelector(aos::EventLoop *event_loop);
+
+ bool UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &state,
+ double command_speed) override;
+
+ Pose TargetPose() const override {
+ CHECK(target_pose_.has_value())
+ << "Did you check the return value of UpdateSelection()?";
+ return target_pose_.value();
+ }
+
+ double TargetRadius() const override { return 0.0; }
+
+ private:
+ void UpdateAlliance();
+ std::optional<Pose> target_pose_;
+ aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+ aos::Fetcher<TargetSelectorHint> hint_fetcher_;
+ frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;
+ const localizer::HalfField *scoring_map_ = nullptr;
+};
+} // namespace y2023::control_loops::drivetrain
+#endif // Y2023_CONTROL_LOOPS_DRIVETRAIN_TARGET_SELECTOR_H_
diff --git a/y2023/control_loops/drivetrain/target_selector_hint.fbs b/y2023/control_loops/drivetrain/target_selector_hint.fbs
index 0a16a59..518d302 100644
--- a/y2023/control_loops/drivetrain/target_selector_hint.fbs
+++ b/y2023/control_loops/drivetrain/target_selector_hint.fbs
@@ -28,6 +28,8 @@
grid:GridSelectionHint (id: 0);
row:RowSelectionHint (id: 1);
spot:SpotSelectionHint (id: 2);
+ // TODO: support human player pickup auto-align?
+ // TODO: add flag for forwards vs. backwards.
}
root_type TargetSelectorHint;
diff --git a/y2023/control_loops/drivetrain/target_selector_test.cc b/y2023/control_loops/drivetrain/target_selector_test.cc
new file mode 100644
index 0000000..fdbd904
--- /dev/null
+++ b/y2023/control_loops/drivetrain/target_selector_test.cc
@@ -0,0 +1,137 @@
+#include "y2023/control_loops/drivetrain/target_selector.h"
+
+#include "frc971/input/joystick_state_generated.h"
+#include "gtest/gtest.h"
+#include "y2023/constants/simulated_constants_sender.h"
+
+namespace y2023::control_loops::drivetrain {
+class TargetSelectorTest : public ::testing::Test {
+ protected:
+ TargetSelectorTest()
+ : configuration_(aos::configuration::ReadConfig("y2023/aos_config.json")),
+ event_loop_factory_(&configuration_.message()),
+ roborio_node_([this]() {
+ // Get the constants sent before anything else happens.
+ // It has nothing to do with the roborio node.
+ SendSimulationConstants(&event_loop_factory_, 7971,
+ "y2023/constants/test_constants.json");
+ return aos::configuration::GetNode(&configuration_.message(),
+ "roborio");
+ }()),
+ selector_event_loop_(
+ event_loop_factory_.MakeEventLoop("drivetrain", roborio_node_)),
+ target_selector_(selector_event_loop_.get()),
+ test_event_loop_(
+ event_loop_factory_.MakeEventLoop("test", roborio_node_)),
+ constants_fetcher_(test_event_loop_.get()),
+ joystick_state_sender_(
+ test_event_loop_->MakeSender<aos::JoystickState>("/aos")),
+ hint_sender_(
+ test_event_loop_->MakeSender<TargetSelectorHint>("/drivetrain")) {}
+
+ void SendJoystickState() {
+ auto builder = joystick_state_sender_.MakeBuilder();
+ aos::JoystickState::Builder state_builder =
+ builder.MakeBuilder<aos::JoystickState>();
+ state_builder.add_alliance(aos::Alliance::kRed);
+ builder.CheckOk(builder.Send(state_builder.Finish()));
+ }
+
+ void SendHint(GridSelectionHint grid, RowSelectionHint row,
+ SpotSelectionHint spot) {
+ auto builder = hint_sender_.MakeBuilder();
+ builder.CheckOk(builder.Send(
+ CreateTargetSelectorHint(*builder.fbb(), grid, row, spot)));
+ }
+ void SendHint(RowSelectionHint row, SpotSelectionHint spot) {
+ auto builder = hint_sender_.MakeBuilder();
+ TargetSelectorHint::Builder hint_builder =
+ builder.MakeBuilder<TargetSelectorHint>();
+ hint_builder.add_row(row);
+ hint_builder.add_spot(spot);
+ builder.CheckOk(builder.Send(hint_builder.Finish()));
+ }
+
+ const localizer::HalfField *scoring_map() const {
+ return constants_fetcher_.constants().scoring_map()->red();
+ }
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> configuration_;
+ aos::SimulatedEventLoopFactory event_loop_factory_;
+ const aos::Node *const roborio_node_;
+ std::unique_ptr<aos::EventLoop> selector_event_loop_;
+ TargetSelector target_selector_;
+ std::unique_ptr<aos::EventLoop> test_event_loop_;
+ frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;
+ aos::Sender<aos::JoystickState> joystick_state_sender_;
+ aos::Sender<TargetSelectorHint> hint_sender_;
+};
+
+// Tests that no target is available if no input messages have been sent.
+TEST_F(TargetSelectorTest, NoTargetWithoutInputs) {
+ EXPECT_FALSE(target_selector_.UpdateSelection(
+ Eigen::Matrix<double, 5, 1>::Zero(), 0.0));
+ EXPECT_DEATH(target_selector_.TargetPose(), "Did you check the return value");
+ EXPECT_EQ(0.0, target_selector_.TargetRadius());
+}
+
+// Tests that if we fully specify which target to go to that we always will do
+// so.
+TEST_F(TargetSelectorTest, FullySpecifiedTarget) {
+ SendJoystickState();
+ // Iterate over every available target.
+ for (const auto &[grid, grid_hint] : std::vector<
+ std::pair<const localizer::ScoringGrid *, GridSelectionHint>>{
+ {scoring_map()->left_grid(), GridSelectionHint::LEFT},
+ {scoring_map()->middle_grid(), GridSelectionHint::MIDDLE},
+ {scoring_map()->right_grid(), GridSelectionHint::RIGHT}}) {
+ for (const auto &[row, row_hint] : std::vector<
+ std::pair<const localizer::ScoringRow *, RowSelectionHint>>{
+ {grid->bottom(), RowSelectionHint::BOTTOM},
+ {grid->middle(), RowSelectionHint::MIDDLE},
+ {grid->top(), RowSelectionHint::TOP}}) {
+ for (const auto &[spot, spot_hint] : std::vector<
+ std::pair<const frc971::vision::Position *, SpotSelectionHint>>{
+ {row->left_cone(), SpotSelectionHint::LEFT},
+ {row->cube(), SpotSelectionHint::MIDDLE},
+ {row->right_cone(), SpotSelectionHint::RIGHT}}) {
+ SendHint(grid_hint, row_hint, spot_hint);
+ EXPECT_TRUE(target_selector_.UpdateSelection(
+ Eigen::Matrix<double, 5, 1>::Zero(), 0.0));
+ EXPECT_EQ(0.0, target_selector_.TargetRadius());
+ EXPECT_EQ(spot->x(), target_selector_.TargetPose().abs_pos().x());
+ EXPECT_EQ(spot->y(), target_selector_.TargetPose().abs_pos().y());
+ EXPECT_EQ(spot->z(), target_selector_.TargetPose().abs_pos().z());
+ }
+ }
+ }
+}
+
+// Tests that if we leave the grid setting ambiguous that we select the
+// nearest possible target given the other settings.
+TEST_F(TargetSelectorTest, NoGridSpecified) {
+ SendJoystickState();
+ // We will leave the robot at (0, 0). This means that if we are going for the
+ // left cone we should go for the middle grid, and if we are going for the
+ // cube (middle) or right cone positions we should prefer the left grid.
+ // Note that the grids are not centered on the field (hence the middle isn't
+ // always preferred when at (0, 0)).
+
+ for (const auto &[spot, spot_hint] : std::vector<
+ std::pair<const frc971::vision::Position *, SpotSelectionHint>>{
+ {scoring_map()->middle_grid()->bottom()->left_cone(),
+ SpotSelectionHint::LEFT},
+ {scoring_map()->left_grid()->bottom()->cube(),
+ SpotSelectionHint::MIDDLE},
+ {scoring_map()->left_grid()->bottom()->right_cone(),
+ SpotSelectionHint::RIGHT}}) {
+ SendHint(RowSelectionHint::BOTTOM, spot_hint);
+ EXPECT_TRUE(target_selector_.UpdateSelection(
+ Eigen::Matrix<double, 5, 1>::Zero(), 0.0));
+ EXPECT_EQ(spot->x(), target_selector_.TargetPose().abs_pos().x());
+ EXPECT_EQ(spot->y(), target_selector_.TargetPose().abs_pos().y());
+ EXPECT_EQ(spot->z(), target_selector_.TargetPose().abs_pos().z());
+ }
+}
+
+} // namespace y2023::control_loops::drivetrain
diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index 489934b..a7fed8f 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -19,6 +19,7 @@
#include "frc971/zeroing/wrap.h"
#include "y2023/constants.h"
#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+#include "y2023/control_loops/drivetrain/target_selector_hint_generated.h"
#include "y2023/control_loops/superstructure/arm/generated_graph.h"
#include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2023/control_loops/superstructure/superstructure_status_generated.h"
@@ -31,6 +32,10 @@
using frc971::input::driver_station::JoystickAxis;
using frc971::input::driver_station::POVLocation;
using y2023::control_loops::superstructure::RollerGoal;
+using y2023::control_loops::drivetrain::RowSelectionHint;
+using y2023::control_loops::drivetrain::GridSelectionHint;
+using y2023::control_loops::drivetrain::SpotSelectionHint;
+using y2023::control_loops::drivetrain::TargetSelectorHint;
namespace y2023 {
namespace input {
@@ -81,6 +86,8 @@
GamePiece game_piece;
std::vector<ButtonLocation> buttons;
Side side;
+ std::optional<RowSelectionHint> row_hint = std::nullopt;
+ std::optional<SpotSelectionHint> spot_hint = std::nullopt;
};
const std::vector<ArmSetpoint> setpoints = {
@@ -104,6 +111,8 @@
.game_piece = GamePiece::CONE_UP,
.buttons = {kMidConeScoreRight},
.side = Side::BACK,
+ .row_hint = RowSelectionHint::MIDDLE,
+ .spot_hint = SpotSelectionHint::RIGHT,
},
{
.index = arm::ScoreBackMidConeDownPosIndex(),
@@ -112,6 +121,8 @@
.game_piece = GamePiece::CONE_DOWN,
.buttons = {kMidConeScoreRight},
.side = Side::BACK,
+ .row_hint = RowSelectionHint::MIDDLE,
+ .spot_hint = SpotSelectionHint::RIGHT,
},
{
.index = arm::HPPickupBackConeUpIndex(),
@@ -126,6 +137,8 @@
.game_piece = GamePiece::CONE_UP,
.buttons = {kHighConeScoreLeft, kHighConeScoreRight},
.side = Side::FRONT,
+ .row_hint = RowSelectionHint::TOP,
+ .spot_hint = SpotSelectionHint::LEFT,
},
{
.index = arm::ScoreFrontMidConeUpPosIndex(),
@@ -133,6 +146,8 @@
.game_piece = GamePiece::CONE_UP,
.buttons = {kMidConeScoreLeft, kMidConeScoreRight},
.side = Side::FRONT,
+ .row_hint = RowSelectionHint::MIDDLE,
+ .spot_hint = SpotSelectionHint::LEFT,
},
{
.index = arm::GroundPickupBackCubeIndex(),
@@ -147,6 +162,8 @@
.game_piece = GamePiece::CUBE,
.buttons = {kMidCube},
.side = Side::FRONT,
+ .row_hint = RowSelectionHint::MIDDLE,
+ .spot_hint = SpotSelectionHint::MIDDLE,
},
{
.index = arm::ScoreBackMidCubeIndex(),
@@ -155,6 +172,8 @@
.game_piece = GamePiece::CUBE,
.buttons = {kMidCube},
.side = Side::BACK,
+ .row_hint = RowSelectionHint::MIDDLE,
+ .spot_hint = SpotSelectionHint::MIDDLE,
},
{
.index = arm::ScoreFrontLowCubeIndex(),
@@ -162,6 +181,8 @@
.game_piece = GamePiece::CUBE,
.buttons = {kLowCube},
.side = Side::FRONT,
+ .row_hint = RowSelectionHint::BOTTOM,
+ .spot_hint = SpotSelectionHint::MIDDLE,
},
{
.index = arm::ScoreBackLowCubeIndex(),
@@ -169,6 +190,8 @@
.game_piece = GamePiece::CUBE,
.buttons = {kLowCube},
.side = Side::BACK,
+ .row_hint = RowSelectionHint::BOTTOM,
+ .spot_hint = SpotSelectionHint::MIDDLE,
},
{
.index = arm::ScoreFrontHighCubeIndex(),
@@ -176,6 +199,8 @@
.game_piece = GamePiece::CUBE,
.buttons = {kHighCube},
.side = Side::FRONT,
+ .row_hint = RowSelectionHint::TOP,
+ .spot_hint = SpotSelectionHint::MIDDLE,
},
{
.index = arm::ScoreBackHighCubeIndex(),
@@ -184,6 +209,8 @@
.game_piece = GamePiece::CUBE,
.buttons = {kHighCube},
.side = Side::BACK,
+ .row_hint = RowSelectionHint::TOP,
+ .spot_hint = SpotSelectionHint::MIDDLE,
},
{
.index = arm::GroundPickupFrontCubeIndex(),
@@ -203,6 +230,8 @@
::frc971::input::DrivetrainInputReader::InputType::kPistol, {}),
superstructure_goal_sender_(
event_loop->MakeSender<superstructure::Goal>("/superstructure")),
+ target_selector_hint_sender_(
+ event_loop->MakeSender<TargetSelectorHint>("/drivetrain")),
superstructure_status_fetcher_(
event_loop->MakeFetcher<superstructure::Status>(
"/superstructure")) {}
@@ -245,6 +274,8 @@
}
const Side current_side = data.IsPressed(kBack) ? Side::BACK : Side::FRONT;
+ std::optional<RowSelectionHint> placing_row;
+ std::optional<SpotSelectionHint> placing_spot;
// Search for the active setpoint.
for (const ArmSetpoint &setpoint : setpoints) {
@@ -255,11 +286,14 @@
wrist_goal = setpoint.wrist_goal;
arm_goal_position_ = setpoint.index;
score_wrist_goal = setpoint.score_wrist_goal;
+ placing_row = setpoint.row_hint;
+ placing_spot = setpoint.spot_hint;
break;
}
}
}
}
+ CHECK_EQ(placing_row.has_value(), placing_spot.has_value());
if (data.IsPressed(kSuck)) {
roller_goal = RollerGoal::INTAKE_LAST;
@@ -297,10 +331,22 @@
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
+ if (placing_row.has_value()) {
+ auto builder = target_selector_hint_sender_.MakeBuilder();
+ auto hint_builder = builder.MakeBuilder<TargetSelectorHint>();
+ hint_builder.add_row(placing_row.value());
+ hint_builder.add_spot(placing_spot.value());
+ // TODO: Add field to TargetSelector hint for forwards vs. backwards
+ // placement.
+ if (builder.Send(hint_builder.Finish()) != aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Sending target selector hint failed.\n");
+ }
+ }
}
private:
::aos::Sender<superstructure::Goal> superstructure_goal_sender_;
+ ::aos::Sender<TargetSelectorHint> target_selector_hint_sender_;
::aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index a1a60ba..12a1779 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -463,7 +463,7 @@
CopyPosition(roll_joint_encoder_, &roll_joint,
Values::kRollJointEncoderCountsPerRevolution(),
Values::kRollJointEncoderRatio(), roll_joint_pot_translate,
- true, values_->roll_joint.potentiometer_offset);
+ false, values_->roll_joint.potentiometer_offset);
frc971::AbsolutePositionT wrist;
CopyPosition(wrist_encoder_, &wrist,
Values::kWristEncoderCountsPerRevolution(),
@@ -786,7 +786,9 @@
void Stop() override {
AOS_LOG(WARNING, "Superstructure CAN output too old.\n");
- ctre::phoenixpro::controls::NeutralOut stop_command;
+ ctre::phoenixpro::controls::DutyCycleOut stop_command(0.0);
+ stop_command.UpdateFreqHz = 0_Hz;
+ stop_command.EnableFOC = true;
roller_falcon_->talon()->SetControl(stop_command);
}
@@ -893,7 +895,10 @@
void Stop() override {
AOS_LOG(WARNING, "drivetrain output too old\n");
- ctre::phoenixpro::controls::NeutralOut stop_command;
+ ctre::phoenixpro::controls::DutyCycleOut stop_command(0.0);
+ stop_command.UpdateFreqHz = 0_Hz;
+ stop_command.EnableFOC = true;
+
for (auto falcon :
{right_front_.get(), right_back_.get(), right_under_.get(),
left_front_.get(), left_back_.get(), left_under_.get()}) {
diff --git a/y2023/y2023_logger.json b/y2023/y2023_logger.json
index 387915d..641b1da 100644
--- a/y2023/y2023_logger.json
+++ b/y2023/y2023_logger.json
@@ -493,7 +493,11 @@
"name": "logger_camera_reader",
"executable_name": "camera_reader",
"user": "pi",
- "args": ["--enable_ftrace", "--send_downsized_images"],
+ "args": [
+ "--enable_ftrace",
+ "--send_downsized_images",
+ "--exposure=650"
+ ],
"nodes": [
"logger"
]