Merge "Track separate reliable and unreliable timestamps for sorting"
diff --git a/aos/network/www/reflection.ts b/aos/network/www/reflection.ts
index a765eea..328ee58 100644
--- a/aos/network/www/reflection.ts
+++ b/aos/network/www/reflection.ts
@@ -6,8 +6,8 @@
// constructed flatbuffers.
// See reflection_test_main.ts for sample usage.
-import * as aos from 'org_frc971/aos/configuration_generated';
-import * as reflection from '../../../external/com_github_google_flatbuffers/reflection/reflection_generated';
+import * as aos from '../../configuration_generated';
+import * as reflection from 'flatbuffers_reflection/reflection_generated';
import {ByteBuffer} from 'flatbuffers';
// Returns the size, in bytes, of the given type. For vectors/strings/etc.
diff --git a/aos/util/top.cc b/aos/util/top.cc
index 8a0019d..22d67c8 100644
--- a/aos/util/top.cc
+++ b/aos/util/top.cc
@@ -151,6 +151,11 @@
aos::monotonic_clock::time_point now = event_loop_->monotonic_now();
// Get all the processes that we *might* care about.
std::set<pid_t> pids = pids_to_track_;
+ // Ensure that we check on the status of every process that we are already
+ // tracking.
+ for (const auto & reading : readings_) {
+ pids.insert(reading.first);
+ }
if (track_all_) {
DIR *const dir = opendir("/proc");
if (dir == nullptr) {
diff --git a/frc971/control_loops/control_loop_test.h b/frc971/control_loops/control_loop_test.h
index a820215..576d476 100644
--- a/frc971/control_loops/control_loop_test.h
+++ b/frc971/control_loops/control_loop_test.h
@@ -61,6 +61,9 @@
void set_team_id(uint16_t team_id) { team_id_ = team_id; }
uint16_t team_id() const { return team_id_; }
+ void set_alliance(aos::Alliance alliance) { alliance_ = alliance; }
+ aos::Alliance alliance() const { return alliance_; }
+
// Sets the enabled/disabled bit and (potentially) rebroadcasts the robot
// state messages.
void SetEnabled(bool enabled) {
@@ -123,9 +126,9 @@
builder.add_enabled(enabled_);
builder.add_autonomous(false);
builder.add_team_id(team_id_);
+ builder.add_alliance(alliance_);
- CHECK_EQ(new_state.Send(builder.Finish()),
- aos::RawSender::Error::kOk);
+ CHECK_EQ(new_state.Send(builder.Finish()), aos::RawSender::Error::kOk);
last_ds_time_ = monotonic_now();
last_enabled_ = enabled_;
@@ -165,6 +168,7 @@
const ::std::chrono::nanoseconds dt_;
uint16_t team_id_ = 971;
+ aos::Alliance alliance_ = aos::Alliance::kInvalid;
int32_t reader_pid_ = 1;
double battery_voltage_ = 12.4;
diff --git a/scouting/db/db.go b/scouting/db/db.go
index d3faa58..3d514e3 100644
--- a/scouting/db/db.go
+++ b/scouting/db/db.go
@@ -13,17 +13,21 @@
}
type Match struct {
- MatchNumber, Round int32
+ MatchNumber, SetNumber int32
CompLevel string
R1, R2, R3, B1, B2, B3 int32
- // Each of these variables holds the matchID of the corresponding Stats row
- r1ID, r2ID, r3ID, b1ID, b2ID, b3ID int
+}
+
+type Shift struct {
+ MatchNumber int32
+ R1scouter, R2scouter, R3scouter, B1scouter, B2scouter, B3scouter string
}
type Stats struct {
- TeamNumber, MatchNumber int32
- StartingQuadrant int32
- AutoBallPickedUp [5]bool
+ TeamNumber, MatchNumber, SetNumber int32
+ CompLevel string
+ StartingQuadrant int32
+ AutoBallPickedUp [5]bool
// TODO(phil): Re-order auto and teleop fields so auto comes first.
ShotsMissed, UpperGoalShots, LowerGoalShots int32
ShotsMissedAuto, UpperGoalAuto, LowerGoalAuto int32
@@ -35,7 +39,7 @@
// 3 -> "Low"
// 4 -> "Medium"
// 5 -> "High"
- // 6 -> "Transversal"
+ // 6 -> "Traversal"
Climbing int32
// Some non-numerical data that the scout felt worth noting.
Comment string
@@ -69,9 +73,8 @@
}
statement, err := database.Prepare("CREATE TABLE IF NOT EXISTS matches (" +
- "id SERIAL PRIMARY KEY, " +
"MatchNumber INTEGER, " +
- "Round INTEGER, " +
+ "SetNumber INTEGER, " +
"CompLevel VARCHAR, " +
"R1 INTEGER, " +
"R2 INTEGER, " +
@@ -79,12 +82,7 @@
"B1 INTEGER, " +
"B2 INTEGER, " +
"B3 INTEGER, " +
- "r1ID INTEGER, " +
- "r2ID INTEGER, " +
- "r3ID INTEGER, " +
- "b1ID INTEGER, " +
- "b2ID INTEGER, " +
- "b3ID INTEGER)")
+ "PRIMARY KEY (MatchNumber, SetNumber, CompLevel))")
if err != nil {
database.Close()
return nil, errors.New(fmt.Sprint("Failed to prepare matches table creation: ", err))
@@ -97,10 +95,32 @@
return nil, errors.New(fmt.Sprint("Failed to create matches table: ", err))
}
- statement, err = database.Prepare("CREATE TABLE IF NOT EXISTS team_match_stats (" +
+ statement, err = database.Prepare("CREATE TABLE IF NOT EXISTS shift_schedule (" +
"id SERIAL PRIMARY KEY, " +
+ "MatchNumber INTEGER, " +
+ "R1Scouter VARCHAR, " +
+ "R2Scouter VARCHAR, " +
+ "R3Scouter VARCHAR, " +
+ "B1Scouter VARCHAR, " +
+ "B2Scouter VARCHAR, " +
+ "B3scouter VARCHAR)")
+ if err != nil {
+ database.Close()
+ return nil, errors.New(fmt.Sprint("Failed to prepare shift schedule table creation: ", err))
+ }
+ defer statement.Close()
+
+ _, err = statement.Exec()
+ if err != nil {
+ database.Close()
+ return nil, errors.New(fmt.Sprint("Failed to create shift schedule table: ", err))
+ }
+
+ statement, err = database.Prepare("CREATE TABLE IF NOT EXISTS team_match_stats (" +
"TeamNumber INTEGER, " +
"MatchNumber INTEGER, " +
+ "SetNumber INTEGER, " +
+ "CompLevel VARCHAR, " +
"StartingQuadrant INTEGER, " +
"AutoBall1PickedUp BOOLEAN, " +
"AutoBall2PickedUp BOOLEAN, " +
@@ -117,7 +137,8 @@
"DefenseReceivedScore INTEGER, " +
"Climbing INTEGER, " +
"Comment VARCHAR, " +
- "CollectedBy VARCHAR)")
+ "CollectedBy VARCHAR, " +
+ "PRIMARY KEY (TeamNumber, MatchNumber, SetNumber, CompLevel))")
if err != nil {
database.Close()
return nil, errors.New(fmt.Sprint("Failed to prepare stats table creation: ", err))
@@ -175,6 +196,15 @@
return errors.New(fmt.Sprint("Failed to drop matches table: ", err))
}
+ statement, err = database.Prepare("DROP TABLE IF EXISTS shift_schedule")
+ if err != nil {
+ return errors.New(fmt.Sprint("Failed to prepare dropping shifts table: ", err))
+ }
+ _, err = statement.Exec()
+ if err != nil {
+ return errors.New(fmt.Sprint("Failed to drop shifts table: ", err))
+ }
+
statement, err = database.Prepare("DROP TABLE IF EXISTS team_match_stats")
if err != nil {
return errors.New(fmt.Sprint("Failed to prepare dropping stats table: ", err))
@@ -207,8 +237,68 @@
// This function will also populate the Stats table with six empty rows every time a match is added
func (database *Database) AddToMatch(m Match) error {
+ statement, err := database.Prepare("INSERT INTO matches(" +
+ "MatchNumber, SetNumber, CompLevel, " +
+ "R1, R2, R3, B1, B2, B3) " +
+ "VALUES (" +
+ "$1, $2, $3, " +
+ "$4, $5, $6, $7, $8, $9) " +
+ "ON CONFLICT (MatchNumber, SetNumber, CompLevel) DO UPDATE SET " +
+ "R1 = EXCLUDED.R1, R2 = EXCLUDED.R2, R3 = EXCLUDED.R3, " +
+ "B1 = EXCLUDED.B1, B2 = EXCLUDED.B2, B3 = EXCLUDED.B3")
+ if err != nil {
+ return errors.New(fmt.Sprint("Failed to prepare insertion into match database: ", err))
+ }
+ defer statement.Close()
+
+ _, err = statement.Exec(m.MatchNumber, m.SetNumber, m.CompLevel,
+ m.R1, m.R2, m.R3, m.B1, m.B2, m.B3)
+ if err != nil {
+ return errors.New(fmt.Sprint("Failed to insert into match database: ", err))
+ }
+ return nil
+}
+
+func (database *Database) AddToShift(sh Shift) error {
+ statement, err := database.Prepare("INSERT INTO shift_schedule(" +
+ "MatchNumber, " +
+ "R1scouter, R2scouter, R3scouter, B1scouter, B2scouter, B3scouter) " +
+ "VALUES (" +
+ "$1, " +
+ "$2, $3, $4, $5, $6, $7)")
+ if err != nil {
+ return errors.New(fmt.Sprint("Failed to prepare insertion into shift database: ", err))
+ }
+ defer statement.Close()
+
+ _, err = statement.Exec(sh.MatchNumber,
+ sh.R1scouter, sh.R2scouter, sh.R3scouter, sh.B1scouter, sh.B2scouter, sh.B3scouter)
+ if err != nil {
+ return errors.New(fmt.Sprint("Failed to insert into shift database: ", err))
+ }
+ return nil
+}
+
+func (database *Database) AddToStats(s Stats) error {
+ matches, err := database.QueryMatches(s.TeamNumber)
+ if err != nil {
+ return err
+ }
+ foundMatch := false
+ for _, match := range matches {
+ if match.MatchNumber == s.MatchNumber {
+ foundMatch = true
+ break
+ }
+ }
+ if !foundMatch {
+ return errors.New(fmt.Sprint(
+ "Failed to find team ", s.TeamNumber,
+ " in match ", s.MatchNumber, " in the schedule."))
+ }
+
statement, err := database.Prepare("INSERT INTO team_match_stats(" +
- "TeamNumber, MatchNumber, " +
+ "TeamNumber, MatchNumber, SetNumber, CompLevel, " +
"StartingQuadrant, " +
"AutoBall1PickedUp, AutoBall2PickedUp, AutoBall3PickedUp, " +
"AutoBall4PickedUp, AutoBall5PickedUp, " +
@@ -217,98 +307,32 @@
"PlayedDefense, DefenseReceivedScore, Climbing, " +
"Comment, CollectedBy) " +
"VALUES (" +
- "$1, $2, " +
- "$3, " +
- "$4, $5, $6, " +
- "$7, $8, " +
- "$9, $10, $11, " +
- "$12, $13, $14, " +
- "$15, $16, $17, " +
- "$18, $19) " +
- "RETURNING id")
- if err != nil {
- return errors.New(fmt.Sprint("Failed to prepare insertion into stats database: ", err))
- }
- defer statement.Close()
-
- var rowIds [6]int64
- for i, TeamNumber := range []int32{m.R1, m.R2, m.R3, m.B1, m.B2, m.B3} {
- row := statement.QueryRow(
- TeamNumber, m.MatchNumber,
- 0,
- false, false, false,
- false, false,
- 0, 0, 0,
- 0, 0, 0,
- 0, 0, 0,
- "", "")
- err = row.Scan(&rowIds[i])
- if err != nil {
- return errors.New(fmt.Sprint("Failed to insert stats: ", err))
- }
- }
-
- statement, err = database.Prepare("INSERT INTO matches(" +
- "MatchNumber, Round, CompLevel, " +
- "R1, R2, R3, B1, B2, B3, " +
- "r1ID, r2ID, r3ID, b1ID, b2ID, b3ID) " +
- "VALUES (" +
- "$1, $2, $3, " +
- "$4, $5, $6, $7, $8, $9, " +
- "$10, $11, $12, $13, $14, $15)")
- if err != nil {
- return errors.New(fmt.Sprint("Failed to prepare insertion into match database: ", err))
- }
- defer statement.Close()
-
- _, err = statement.Exec(m.MatchNumber, m.Round, m.CompLevel,
- m.R1, m.R2, m.R3, m.B1, m.B2, m.B3,
- rowIds[0], rowIds[1], rowIds[2], rowIds[3], rowIds[4], rowIds[5])
- if err != nil {
- return errors.New(fmt.Sprint("Failed to insert into match database: ", err))
- }
- return nil
-}
-
-func (database *Database) AddToStats(s Stats) error {
- statement, err := database.Prepare("UPDATE team_match_stats SET " +
- "TeamNumber = $1, MatchNumber = $2, " +
- "StartingQuadrant = $3, " +
- "AutoBall1PickedUp = $4, AutoBall2PickedUp = $5, AutoBall3PickedUp = $6, " +
- "AutoBall4PickedUp = $7, AutoBall5PickedUp = $8, " +
- "ShotsMissed = $9, UpperGoalShots = $10, LowerGoalShots = $11, " +
- "ShotsMissedAuto = $12, UpperGoalAuto = $13, LowerGoalAuto = $14, " +
- "PlayedDefense = $15, DefenseReceivedScore = $16, Climbing = $17, " +
- "Comment = $18, CollectedBy = $19 " +
- "WHERE MatchNumber = $20 AND TeamNumber = $21")
+ "$1, $2, $3, $4, " +
+ "$5, " +
+ "$6, $7, $8, " +
+ "$9, $10, " +
+ "$11, $12, $13, " +
+ "$14, $15, $16, " +
+ "$17, $18, $19, " +
+ "$20, $21)")
if err != nil {
return errors.New(fmt.Sprint("Failed to prepare stats update statement: ", err))
}
defer statement.Close()
- result, err := statement.Exec(
- s.TeamNumber, s.MatchNumber,
+ _, err = statement.Exec(
+ s.TeamNumber, s.MatchNumber, s.SetNumber, s.CompLevel,
s.StartingQuadrant,
s.AutoBallPickedUp[0], s.AutoBallPickedUp[1], s.AutoBallPickedUp[2],
s.AutoBallPickedUp[3], s.AutoBallPickedUp[4],
s.ShotsMissed, s.UpperGoalShots, s.LowerGoalShots,
s.ShotsMissedAuto, s.UpperGoalAuto, s.LowerGoalAuto,
s.PlayedDefense, s.DefenseReceivedScore, s.Climbing,
- s.Comment, s.CollectedBy,
- s.MatchNumber, s.TeamNumber)
+ s.Comment, s.CollectedBy)
if err != nil {
return errors.New(fmt.Sprint("Failed to update stats database: ", err))
}
- numRowsAffected, err := result.RowsAffected()
- if err != nil {
- return errors.New(fmt.Sprint("Failed to query rows affected: ", err))
- }
- if numRowsAffected == 0 {
- return errors.New(fmt.Sprint(
- "Failed to find team ", s.TeamNumber,
- " in match ", s.MatchNumber, " in the schedule."))
- }
return nil
}
@@ -364,10 +388,8 @@
matches := make([]Match, 0)
for rows.Next() {
var match Match
- var id int
- err := rows.Scan(&id, &match.MatchNumber, &match.Round, &match.CompLevel,
- &match.R1, &match.R2, &match.R3, &match.B1, &match.B2, &match.B3,
- &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
+ err := rows.Scan(&match.MatchNumber, &match.SetNumber, &match.CompLevel,
+ &match.R1, &match.R2, &match.R3, &match.B1, &match.B2, &match.B3)
if err != nil {
return nil, errors.New(fmt.Sprint("Failed to scan from matches: ", err))
}
@@ -376,6 +398,27 @@
return matches, nil
}
+func (database *Database) ReturnAllShifts() ([]Shift, error) {
+ rows, err := database.Query("SELECT * FROM shift_schedule")
+ if err != nil {
+ return nil, errors.New(fmt.Sprint("Failed to select from shift: ", err))
+ }
+ defer rows.Close()
+
+ shifts := make([]Shift, 0)
+ for rows.Next() {
+ var shift Shift
+ var id int
+ err := rows.Scan(&id, &shift.MatchNumber,
+ &shift.R1scouter, &shift.R2scouter, &shift.R3scouter, &shift.B1scouter, &shift.B2scouter, &shift.B3scouter)
+ if err != nil {
+ return nil, errors.New(fmt.Sprint("Failed to scan from shift: ", err))
+ }
+ shifts = append(shifts, shift)
+ }
+ return shifts, nil
+}
+
func (database *Database) ReturnStats() ([]Stats, error) {
rows, err := database.Query("SELECT * FROM team_match_stats")
if err != nil {
@@ -386,9 +429,8 @@
teams := make([]Stats, 0)
for rows.Next() {
var team Stats
- var id int
- err = rows.Scan(&id,
- &team.TeamNumber, &team.MatchNumber,
+ err = rows.Scan(
+ &team.TeamNumber, &team.MatchNumber, &team.SetNumber, &team.CompLevel,
&team.StartingQuadrant,
&team.AutoBallPickedUp[0], &team.AutoBallPickedUp[1], &team.AutoBallPickedUp[2],
&team.AutoBallPickedUp[3], &team.AutoBallPickedUp[4],
@@ -438,10 +480,8 @@
var matches []Match
for rows.Next() {
var match Match
- var id int
- err = rows.Scan(&id, &match.MatchNumber, &match.Round, &match.CompLevel,
- &match.R1, &match.R2, &match.R3, &match.B1, &match.B2, &match.B3,
- &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
+ err = rows.Scan(&match.MatchNumber, &match.SetNumber, &match.CompLevel,
+ &match.R1, &match.R2, &match.R3, &match.B1, &match.B2, &match.B3)
if err != nil {
return nil, errors.New(fmt.Sprint("Failed to scan from matches: ", err))
}
@@ -450,6 +490,27 @@
return matches, nil
}
+func (database *Database) QueryAllShifts(matchNumber_ int) ([]Shift, error) {
+ rows, err := database.Query("SELECT * FROM shift_schedule WHERE MatchNumber = $1", matchNumber_)
+ if err != nil {
+ return nil, errors.New(fmt.Sprint("Failed to select from shift for team: ", err))
+ }
+ defer rows.Close()
+
+ var shifts []Shift
+ for rows.Next() {
+ var shift Shift
+ var id int
+ err = rows.Scan(&id, &shift.MatchNumber,
+ &shift.R1scouter, &shift.R2scouter, &shift.R3scouter, &shift.B1scouter, &shift.B2scouter, &shift.B3scouter)
+ if err != nil {
+ return nil, errors.New(fmt.Sprint("Failed to scan from matches: ", err))
+ }
+ shifts = append(shifts, shift)
+ }
+ return shifts, nil
+}
+
func (database *Database) QueryStats(teamNumber_ int) ([]Stats, error) {
rows, err := database.Query("SELECT * FROM team_match_stats WHERE TeamNumber = $1", teamNumber_)
if err != nil {
@@ -460,9 +521,8 @@
var teams []Stats
for rows.Next() {
var team Stats
- var id int
- err = rows.Scan(&id,
- &team.TeamNumber, &team.MatchNumber,
+ err = rows.Scan(
+ &team.TeamNumber, &team.MatchNumber, &team.SetNumber, &team.CompLevel,
&team.StartingQuadrant,
&team.AutoBallPickedUp[0], &team.AutoBallPickedUp[1], &team.AutoBallPickedUp[2],
&team.AutoBallPickedUp[3], &team.AutoBallPickedUp[4],
diff --git a/scouting/db/db_test.go b/scouting/db/db_test.go
index 5725dcb..438e52e 100644
--- a/scouting/db/db_test.go
+++ b/scouting/db/db_test.go
@@ -6,6 +6,7 @@
"os"
"os/exec"
"reflect"
+ "strings"
"testing"
"time"
)
@@ -64,10 +65,9 @@
correct := []Match{
Match{
MatchNumber: 7,
- Round: 1,
+ SetNumber: 1,
CompLevel: "quals",
R1: 9999, R2: 1000, R3: 777, B1: 0000, B2: 4321, B3: 1234,
- r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6,
},
}
@@ -174,9 +174,8 @@
}
err := fixture.db.AddToMatch(Match{
- MatchNumber: 7, Round: 1, CompLevel: "quals",
+ MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
R1: 1236, R2: 1001, R3: 777, B1: 1000, B2: 4321, B3: 1234,
- r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6,
})
check(t, err, "Failed to add match")
@@ -193,15 +192,49 @@
}
}
+func TestAddDuplicateStats(t *testing.T) {
+ fixture := createDatabase(t)
+ defer fixture.TearDown()
+
+ stats := Stats{
+ TeamNumber: 1236, MatchNumber: 7,
+ StartingQuadrant: 2,
+ AutoBallPickedUp: [5]bool{false, false, false, true, false},
+ ShotsMissed: 9, UpperGoalShots: 5, LowerGoalShots: 4,
+ ShotsMissedAuto: 3, UpperGoalAuto: 2, LowerGoalAuto: 1,
+ PlayedDefense: 2, DefenseReceivedScore: 0, Climbing: 3,
+ Comment: "this is a comment", CollectedBy: "josh",
+ }
+
+ err := fixture.db.AddToMatch(Match{
+ MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ R1: 1236, R2: 1001, R3: 777, B1: 1000, B2: 4321, B3: 1234,
+ })
+ check(t, err, "Failed to add match")
+
+ // Add stats. This should succeed.
+ err = fixture.db.AddToStats(stats)
+ check(t, err, "Failed to add stats to DB")
+
+ // Try again. It should fail this time.
+ err = fixture.db.AddToStats(stats)
+ if err == nil {
+ t.Fatal("Failed to get error when adding duplicate stats.")
+ }
+ if !strings.Contains(err.Error(), "ERROR: duplicate key value violates unique constraint") {
+ t.Fatal("Expected error message to be complain about duplicate key value, but got ", err)
+ }
+}
+
func TestQueryMatchDB(t *testing.T) {
fixture := createDatabase(t)
defer fixture.TearDown()
testDatabase := []Match{
- Match{MatchNumber: 2, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149},
- Match{MatchNumber: 4, Round: 1, CompLevel: "quals", R1: 198, R2: 135, R3: 777, B1: 999, B2: 434, B3: 698},
- Match{MatchNumber: 3, Round: 1, CompLevel: "quals", R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262},
- Match{MatchNumber: 6, Round: 1, CompLevel: "quals", R1: 191, R2: 132, R3: 773, B1: 994, B2: 435, B3: 696},
+ Match{MatchNumber: 2, SetNumber: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149},
+ Match{MatchNumber: 4, SetNumber: 1, CompLevel: "quals", R1: 198, R2: 135, R3: 777, B1: 999, B2: 434, B3: 698},
+ Match{MatchNumber: 3, SetNumber: 1, CompLevel: "quals", R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262},
+ Match{MatchNumber: 6, SetNumber: 1, CompLevel: "quals", R1: 191, R2: 132, R3: 773, B1: 994, B2: 435, B3: 696},
}
for i := 0; i < len(testDatabase); i++ {
@@ -211,14 +244,12 @@
correct := []Match{
Match{
- MatchNumber: 2, Round: 1, CompLevel: "quals",
+ MatchNumber: 2, SetNumber: 1, CompLevel: "quals",
R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149,
- r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6,
},
Match{
- MatchNumber: 3, Round: 1, CompLevel: "quals",
+ MatchNumber: 3, SetNumber: 1, CompLevel: "quals",
R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262,
- r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18,
},
}
@@ -230,20 +261,55 @@
}
}
+func TestQueryShiftDB(t *testing.T) {
+ fixture := createDatabase(t)
+ defer fixture.TearDown()
+
+ testDatabase := []Shift{
+ Shift{
+ MatchNumber: 1,
+ R1scouter: "Bob1", R2scouter: "Bob2", R3scouter: "Bob3", B1scouter: "Alice1", B2scouter: "Alice2", B3scouter: "Alice3",
+ },
+ Shift{
+ MatchNumber: 2,
+ R1scouter: "Bob1", R2scouter: "Bob2", R3scouter: "Bob3", B1scouter: "Alice1", B2scouter: "Alice2", B3scouter: "Alice3",
+ },
+ }
+
+ for i := 0; i < len(testDatabase); i++ {
+ err := fixture.db.AddToShift(testDatabase[i])
+ check(t, err, fmt.Sprint("Failed to add shift", i))
+ }
+
+ correct := []Shift{
+ Shift{
+ MatchNumber: 1,
+ R1scouter: "Bob1", R2scouter: "Bob2", R3scouter: "Bob3", B1scouter: "Alice1", B2scouter: "Alice2", B3scouter: "Alice3",
+ },
+ }
+
+ got, err := fixture.db.QueryAllShifts(1)
+ check(t, err, "Failed to query shift for match 1")
+
+ if !reflect.DeepEqual(correct, got) {
+ t.Fatalf("Got %#v,\nbut expected %#v.", got, correct)
+ }
+}
+
func TestQueryStatsDB(t *testing.T) {
fixture := createDatabase(t)
defer fixture.TearDown()
testDatabase := []Stats{
Stats{
- TeamNumber: 1235, MatchNumber: 94,
+ TeamNumber: 1235, MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
StartingQuadrant: 1,
AutoBallPickedUp: [5]bool{false, false, false, false, false},
ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2,
ShotsMissedAuto: 2, UpperGoalAuto: 2, LowerGoalAuto: 2,
PlayedDefense: 2, DefenseReceivedScore: 1, Climbing: 2},
Stats{
- TeamNumber: 1234, MatchNumber: 94,
+ TeamNumber: 1234, MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
StartingQuadrant: 2,
AutoBallPickedUp: [5]bool{false, false, false, false, true},
ShotsMissed: 4, UpperGoalShots: 4, LowerGoalShots: 4,
@@ -251,7 +317,7 @@
PlayedDefense: 7, DefenseReceivedScore: 1, Climbing: 2,
},
Stats{
- TeamNumber: 1233, MatchNumber: 94,
+ TeamNumber: 1233, MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
StartingQuadrant: 3,
AutoBallPickedUp: [5]bool{false, false, false, false, false},
ShotsMissed: 3, UpperGoalShots: 3, LowerGoalShots: 3,
@@ -259,7 +325,7 @@
PlayedDefense: 3, DefenseReceivedScore: 0, Climbing: 3,
},
Stats{
- TeamNumber: 1232, MatchNumber: 94,
+ TeamNumber: 1232, MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
StartingQuadrant: 2,
AutoBallPickedUp: [5]bool{true, false, false, false, true},
ShotsMissed: 5, UpperGoalShots: 5, LowerGoalShots: 5,
@@ -267,7 +333,7 @@
PlayedDefense: 7, DefenseReceivedScore: 2, Climbing: 1,
},
Stats{
- TeamNumber: 1231, MatchNumber: 94,
+ TeamNumber: 1231, MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
StartingQuadrant: 3,
AutoBallPickedUp: [5]bool{false, false, true, false, false},
ShotsMissed: 6, UpperGoalShots: 6, LowerGoalShots: 6,
@@ -275,7 +341,7 @@
PlayedDefense: 7, DefenseReceivedScore: 3, Climbing: 1,
},
Stats{
- TeamNumber: 1239, MatchNumber: 94,
+ TeamNumber: 1239, MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
StartingQuadrant: 4,
AutoBallPickedUp: [5]bool{false, true, true, false, false},
ShotsMissed: 7, UpperGoalShots: 7, LowerGoalShots: 7,
@@ -285,7 +351,7 @@
}
err := fixture.db.AddToMatch(Match{
- MatchNumber: 94, Round: 1, CompLevel: "quals",
+ MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
R1: 1235, R2: 1234, R3: 1233, B1: 1232, B2: 1231, B3: 1239})
check(t, err, "Failed to add match")
@@ -296,7 +362,7 @@
correct := []Stats{
Stats{
- TeamNumber: 1235, MatchNumber: 94,
+ TeamNumber: 1235, MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
StartingQuadrant: 1,
AutoBallPickedUp: [5]bool{false, false, false, false, false},
ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2,
@@ -367,29 +433,24 @@
correct := []Match{
Match{
- MatchNumber: 2, Round: 1, CompLevel: "quals",
+ MatchNumber: 2, SetNumber: 1, CompLevel: "quals",
R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149,
- r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6,
},
Match{
- MatchNumber: 3, Round: 1, CompLevel: "quals",
+ MatchNumber: 3, SetNumber: 1, CompLevel: "quals",
R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262,
- r1ID: 7, r2ID: 8, r3ID: 9, b1ID: 10, b2ID: 11, b3ID: 12,
},
Match{
- MatchNumber: 4, Round: 1, CompLevel: "quals",
+ MatchNumber: 4, SetNumber: 1, CompLevel: "quals",
R1: 251, R2: 169, R3: 286, B1: 653, B2: 538, B3: 149,
- r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18,
},
Match{
- MatchNumber: 5, Round: 1, CompLevel: "quals",
+ MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
R1: 198, R2: 1421, R3: 538, B1: 26, B2: 448, B3: 262,
- r1ID: 19, r2ID: 20, r3ID: 21, b1ID: 22, b2ID: 23, b3ID: 24,
},
Match{
- MatchNumber: 6, Round: 1, CompLevel: "quals",
+ MatchNumber: 6, SetNumber: 1, CompLevel: "quals",
R1: 251, R2: 188, R3: 286, B1: 555, B2: 538, B3: 149,
- r1ID: 25, r2ID: 26, r3ID: 27, b1ID: 28, b2ID: 29, b3ID: 30,
},
}
@@ -406,6 +467,77 @@
}
}
+func TestOverwriteNewMatchData(t *testing.T) {
+ fixture := createDatabase(t)
+ defer fixture.TearDown()
+
+ testDatabase := []Match{
+ Match{
+ MatchNumber: 1, SetNumber: 1, CompLevel: "quals",
+ R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149,
+ },
+ Match{
+ MatchNumber: 2, SetNumber: 1, CompLevel: "quals",
+ R1: 198, R2: 135, R3: 777, B1: 999, B2: 434, B3: 698,
+ },
+ Match{
+ MatchNumber: 1, SetNumber: 1, CompLevel: "quals",
+ R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262,
+ },
+ }
+
+ for i := 0; i < len(testDatabase); i++ {
+ err := fixture.db.AddToMatch(testDatabase[i])
+ check(t, err, fmt.Sprint("Failed to add match", i))
+ }
+
+ correct := []Match{
+ Match{
+ MatchNumber: 2, SetNumber: 1, CompLevel: "quals",
+ R1: 198, R2: 135, R3: 777, B1: 999, B2: 434, B3: 698,
+ },
+ Match{
+ MatchNumber: 1, SetNumber: 1, CompLevel: "quals",
+ R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262,
+ },
+ }
+
+ got, err := fixture.db.ReturnMatches()
+ check(t, err, "Failed to get match list")
+
+ if !reflect.DeepEqual(correct, got) {
+ t.Fatalf("Got %#v,\nbut expected %#v.", got, correct)
+ }
+}
+
+func TestAddReturnShiftDB(t *testing.T) {
+ fixture := createDatabase(t)
+ defer fixture.TearDown()
+
+ correct := []Shift{
+ Shift{
+ MatchNumber: 1,
+ R1scouter: "Bob1", R2scouter: "Bob2", R3scouter: "Bob3", B1scouter: "Alice1", B2scouter: "Alice2", B3scouter: "Alice3",
+ },
+ Shift{
+ MatchNumber: 2,
+ R1scouter: "Bob1", R2scouter: "Bob2", R3scouter: "Bob3", B1scouter: "Alice1", B2scouter: "Alice2", B3scouter: "Alice3",
+ },
+ }
+
+ for i := 0; i < len(correct); i++ {
+ err := fixture.db.AddToShift(correct[i])
+ check(t, err, fmt.Sprint("Failed to add shift", i))
+ }
+
+ got, err := fixture.db.ReturnAllShifts()
+ check(t, err, "Failed ReturnAllShifts()")
+
+ if !reflect.DeepEqual(correct, got) {
+ t.Errorf("Got %#v,\nbut expected %#v.", got, correct)
+ }
+}
+
func TestReturnRankingsDB(t *testing.T) {
fixture := createDatabase(t)
defer fixture.TearDown()
@@ -452,14 +584,14 @@
correct := []Stats{
Stats{
- TeamNumber: 1235, MatchNumber: 94,
+ TeamNumber: 1235, MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
StartingQuadrant: 1,
AutoBallPickedUp: [5]bool{false, false, false, false, false},
ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2,
ShotsMissedAuto: 2, UpperGoalAuto: 2, LowerGoalAuto: 2,
PlayedDefense: 2, DefenseReceivedScore: 3, Climbing: 2},
Stats{
- TeamNumber: 1236, MatchNumber: 94,
+ TeamNumber: 1236, MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
StartingQuadrant: 2,
AutoBallPickedUp: [5]bool{false, false, false, false, true},
ShotsMissed: 4, UpperGoalShots: 4, LowerGoalShots: 4,
@@ -467,7 +599,7 @@
PlayedDefense: 7, DefenseReceivedScore: 1, Climbing: 2,
},
Stats{
- TeamNumber: 1237, MatchNumber: 94,
+ TeamNumber: 1237, MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
StartingQuadrant: 3,
AutoBallPickedUp: [5]bool{false, false, false, false, false},
ShotsMissed: 3, UpperGoalShots: 3, LowerGoalShots: 3,
@@ -475,7 +607,7 @@
PlayedDefense: 3, DefenseReceivedScore: 0, Climbing: 3,
},
Stats{
- TeamNumber: 1238, MatchNumber: 94,
+ TeamNumber: 1238, MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
StartingQuadrant: 2,
AutoBallPickedUp: [5]bool{true, false, false, false, true},
ShotsMissed: 5, UpperGoalShots: 5, LowerGoalShots: 5,
@@ -483,7 +615,7 @@
PlayedDefense: 7, DefenseReceivedScore: 4, Climbing: 1,
},
Stats{
- TeamNumber: 1239, MatchNumber: 94,
+ TeamNumber: 1239, MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
StartingQuadrant: 3,
AutoBallPickedUp: [5]bool{false, false, true, false, false},
ShotsMissed: 6, UpperGoalShots: 6, LowerGoalShots: 6,
@@ -491,7 +623,7 @@
PlayedDefense: 7, DefenseReceivedScore: 4, Climbing: 1,
},
Stats{
- TeamNumber: 1233, MatchNumber: 94,
+ TeamNumber: 1233, MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
StartingQuadrant: 4,
AutoBallPickedUp: [5]bool{false, true, true, false, false},
ShotsMissed: 7, UpperGoalShots: 7, LowerGoalShots: 7,
@@ -501,7 +633,7 @@
}
err := fixture.db.AddToMatch(Match{
- MatchNumber: 94, Round: 1, CompLevel: "quals",
+ MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
R1: 1235, R2: 1236, R3: 1237, B1: 1238, B2: 1239, B3: 1233})
check(t, err, "Failed to add match")
diff --git a/scouting/scouting_test.ts b/scouting/scouting_test.ts
index 98e1d00..e983a86 100644
--- a/scouting/scouting_test.ts
+++ b/scouting/scouting_test.ts
@@ -41,6 +41,12 @@
return element(by.css('.error_message')).getText();
}
+// Returns the currently displayed error message on the screen. This only
+// exists on screens where the web page interacts with the web server.
+function getValueOfInputById(id: string) {
+ return element(by.id(id)).getAttribute('value');
+}
+
// Asserts that the field on the "Submit and Review" screen has a specific
// value.
function expectReviewFieldToBe(fieldName: string, expectedValue: string) {
@@ -120,14 +126,39 @@
it('should: show matches in chronological order.', async () => {
await loadPage();
- expect(await getNthMatchLabel(0)).toEqual('Quals 1');
- expect(await getNthMatchLabel(1)).toEqual('Quals 2');
- expect(await getNthMatchLabel(2)).toEqual('Quals 3');
- expect(await getNthMatchLabel(9)).toEqual('Quals 10');
- // TODO(phil): Validate quarter finals and friends. Right now we don't
- // distinguish between "sets". I.e. we display 4 "Quarter Final 1" matches
- // without being able to distinguish between them.
- expect(await getNthMatchLabel(87)).toEqual('Final 1');
+ expect(await getNthMatchLabel(0)).toEqual('Quals Match 1');
+ expect(await getNthMatchLabel(1)).toEqual('Quals Match 2');
+ expect(await getNthMatchLabel(2)).toEqual('Quals Match 3');
+ expect(await getNthMatchLabel(9)).toEqual('Quals Match 10');
+ expect(await getNthMatchLabel(72)).toEqual('Quarter Final 1 Match 1');
+ expect(await getNthMatchLabel(73)).toEqual('Quarter Final 2 Match 1');
+ expect(await getNthMatchLabel(74)).toEqual('Quarter Final 3 Match 1');
+ expect(await getNthMatchLabel(75)).toEqual('Quarter Final 4 Match 1');
+ expect(await getNthMatchLabel(76)).toEqual('Quarter Final 1 Match 2');
+ expect(await getNthMatchLabel(82)).toEqual('Semi Final 1 Match 1');
+ expect(await getNthMatchLabel(83)).toEqual('Semi Final 2 Match 1');
+ expect(await getNthMatchLabel(84)).toEqual('Semi Final 1 Match 2');
+ expect(await getNthMatchLabel(85)).toEqual('Semi Final 2 Match 2');
+ expect(await getNthMatchLabel(89)).toEqual('Final 1 Match 3');
+ });
+
+ it('should: prefill the match information.', async () => {
+ await loadPage();
+
+ expect(await getHeadingText()).toEqual('Matches');
+
+ // On the 87th row of matches (index 86) click on the second team
+ // (index 1) which resolves to team 5254 in semi final 2 match 3.
+ await element
+ .all(by.css('button.match-item'))
+ .get(86 * 6 + 1)
+ .click();
+
+ expect(await getHeadingText()).toEqual('Team Selection');
+ expect(await getValueOfInputById('match_number')).toEqual('3');
+ expect(await getValueOfInputById('team_number')).toEqual('5254');
+ expect(await getValueOfInputById('set_number')).toEqual('2');
+ expect(await getValueOfInputById('comp_level')).toEqual('3: sf');
});
it('should: error on unknown match.', async () => {
@@ -197,6 +228,8 @@
expect(await getHeadingText()).toEqual('Team Selection');
await setTextboxByIdTo('match_number', '2');
await setTextboxByIdTo('team_number', '5254');
+ await setTextboxByIdTo('set_number', '42');
+ await element(by.cssContainingText('option', 'Semi Finals')).click();
await element(by.buttonText('Next')).click();
expect(await getHeadingText()).toEqual('Auto');
@@ -224,6 +257,8 @@
// Validate Team Selection.
await expectReviewFieldToBe('Match number', '2');
await expectReviewFieldToBe('Team number', '5254');
+ await expectReviewFieldToBe('SetNumber', '42');
+ await expectReviewFieldToBe('Comp Level', 'Semi Finals');
// Validate Auto.
await expectNthReviewFieldToBe('Upper Shots Made', 0, '0');
@@ -237,7 +272,7 @@
await expectNthReviewFieldToBe('Missed Shots', 1, '0');
// Validate Climb.
- await expectReviewFieldToBe('Level', 'High');
+ await expectReviewFieldToBe('Climb Level', 'High');
await expectReviewFieldToBe('Comments', 'A very useful comment here.');
// Validate Other.
diff --git a/scouting/scraping/BUILD b/scouting/scraping/BUILD
index c643192..ed21433 100644
--- a/scouting/scraping/BUILD
+++ b/scouting/scraping/BUILD
@@ -6,6 +6,8 @@
# Generated with: bazel run //scouting/scraping:scraping_demo -- --json
"test_data/2016_nytr.json",
"test_data/2020_fake.json",
+ # Generated with: bazel run scouting/scraping:scraping_demo -- -category rankings -json >scouting/scraping/test_data/2016_nytr_rankings.json
+ "test_data/2016_nytr_rankings.json",
],
visibility = ["//visibility:public"],
)
diff --git a/scouting/scraping/scrape.go b/scouting/scraping/scrape.go
index 19426cf..625157a 100644
--- a/scouting/scraping/scrape.go
+++ b/scouting/scraping/scrape.go
@@ -13,8 +13,10 @@
// Stores the TBA API key to access the API.
type scrapingConfig struct {
- ApiKey string `json:"api_key"`
- BaseUrl string `json:"base_url"`
+ ApiKey string `json:"api_key"`
+ BaseUrl string `json:"base_url"`
+ Year int32 `json:"year"`
+ EventCode string `json:"event_code"`
}
// Takes in year and FIRST event code and returns requested information according to TBA.
@@ -47,9 +49,15 @@
if config.BaseUrl == "" {
config.BaseUrl = "https://www.thebluealliance.com"
}
+ if config.Year == 0 {
+ config.Year = year
+ }
+ if config.EventCode == "" {
+ config.EventCode = eventCode
+ }
// Create the TBA event key for the year and event code.
- eventKey := strconv.Itoa(int(year)) + eventCode
+ eventKey := strconv.Itoa(int(config.Year)) + config.EventCode
// Create a get request for the match info.
req, err := http.NewRequest("GET", config.BaseUrl+"/api/v3/event/"+eventKey+"/"+category, nil)
diff --git a/scouting/scraping/test_data/2016_nytr_rankings.json b/scouting/scraping/test_data/2016_nytr_rankings.json
new file mode 100644
index 0000000..dc7ba1a
--- /dev/null
+++ b/scouting/scraping/test_data/2016_nytr_rankings.json
@@ -0,0 +1,796 @@
+{
+ "rankings": [
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 3.25
+ ],
+ "sort_orders": [
+ 39,
+ 310,
+ 165,
+ 448,
+ 600
+ ],
+ "record": {
+ "losses": 1,
+ "wins": 11,
+ "ties": 0
+ },
+ "rank": 1,
+ "dq": 0,
+ "team_key": "frc359"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 3.0833333333333335
+ ],
+ "sort_orders": [
+ 37,
+ 288,
+ 145,
+ 298,
+ 615
+ ],
+ "record": {
+ "losses": 1,
+ "wins": 11,
+ "ties": 0
+ },
+ "rank": 2,
+ "dq": 0,
+ "team_key": "frc5254"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2.8333333333333335
+ ],
+ "sort_orders": [
+ 34,
+ 252,
+ 205,
+ 311,
+ 590
+ ],
+ "record": {
+ "losses": 1,
+ "wins": 11,
+ "ties": 0
+ },
+ "rank": 3,
+ "dq": 0,
+ "team_key": "frc3990"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2.5833333333333335
+ ],
+ "sort_orders": [
+ 31,
+ 180,
+ 145,
+ 236,
+ 550
+ ],
+ "record": {
+ "losses": 4,
+ "wins": 8,
+ "ties": 0
+ },
+ "rank": 4,
+ "dq": 0,
+ "team_key": "frc5236"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2.5
+ ],
+ "sort_orders": [
+ 30,
+ 304,
+ 140,
+ 284,
+ 615
+ ],
+ "record": {
+ "losses": 4,
+ "wins": 8,
+ "ties": 0
+ },
+ "rank": 5,
+ "dq": 0,
+ "team_key": "frc3419"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2.3333333333333335
+ ],
+ "sort_orders": [
+ 28,
+ 260,
+ 150,
+ 191,
+ 575
+ ],
+ "record": {
+ "losses": 3,
+ "wins": 9,
+ "ties": 0
+ },
+ "rank": 6,
+ "dq": 0,
+ "team_key": "frc5240"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2.3333333333333335
+ ],
+ "sort_orders": [
+ 28,
+ 254,
+ 125,
+ 208,
+ 595
+ ],
+ "record": {
+ "losses": 4,
+ "wins": 8,
+ "ties": 0
+ },
+ "rank": 7,
+ "dq": 0,
+ "team_key": "frc20"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2.0833333333333335
+ ],
+ "sort_orders": [
+ 25,
+ 266,
+ 125,
+ 272,
+ 575
+ ],
+ "record": {
+ "losses": 5,
+ "wins": 7,
+ "ties": 0
+ },
+ "rank": 8,
+ "dq": 0,
+ "team_key": "frc48"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2.0833333333333335
+ ],
+ "sort_orders": [
+ 25,
+ 260,
+ 140,
+ 155,
+ 550
+ ],
+ "record": {
+ "losses": 4,
+ "wins": 8,
+ "ties": 0
+ },
+ "rank": 9,
+ "dq": 0,
+ "team_key": "frc250"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2
+ ],
+ "sort_orders": [
+ 24,
+ 200,
+ 145,
+ 227,
+ 560
+ ],
+ "record": {
+ "losses": 5,
+ "wins": 7,
+ "ties": 0
+ },
+ "rank": 10,
+ "dq": 0,
+ "team_key": "frc2791"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 2
+ ],
+ "sort_orders": [
+ 24,
+ 166,
+ 155,
+ 119,
+ 510
+ ],
+ "record": {
+ "losses": 5,
+ "wins": 7,
+ "ties": 0
+ },
+ "rank": 11,
+ "dq": 0,
+ "team_key": "frc358"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.9166666666666667
+ ],
+ "sort_orders": [
+ 23,
+ 278,
+ 120,
+ 160,
+ 585
+ ],
+ "record": {
+ "losses": 5,
+ "wins": 7,
+ "ties": 0
+ },
+ "rank": 12,
+ "dq": 0,
+ "team_key": "frc4930"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.9166666666666667
+ ],
+ "sort_orders": [
+ 23,
+ 268,
+ 120,
+ 131,
+ 655
+ ],
+ "record": {
+ "losses": 6,
+ "wins": 6,
+ "ties": 0
+ },
+ "rank": 13,
+ "dq": 0,
+ "team_key": "frc3044"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.9166666666666667
+ ],
+ "sort_orders": [
+ 23,
+ 262,
+ 120,
+ 176,
+ 550
+ ],
+ "record": {
+ "losses": 5,
+ "wins": 7,
+ "ties": 0
+ },
+ "rank": 14,
+ "dq": 0,
+ "team_key": "frc527"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.8333333333333333
+ ],
+ "sort_orders": [
+ 22,
+ 192,
+ 140,
+ 212,
+ 515
+ ],
+ "record": {
+ "losses": 6,
+ "wins": 6,
+ "ties": 0
+ },
+ "rank": 15,
+ "dq": 0,
+ "team_key": "frc3003"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.75
+ ],
+ "sort_orders": [
+ 21,
+ 300,
+ 120,
+ 275,
+ 560
+ ],
+ "record": {
+ "losses": 6,
+ "wins": 6,
+ "ties": 0
+ },
+ "rank": 16,
+ "dq": 0,
+ "team_key": "frc333"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.6666666666666667
+ ],
+ "sort_orders": [
+ 20,
+ 196,
+ 160,
+ 144,
+ 530
+ ],
+ "record": {
+ "losses": 7,
+ "wins": 5,
+ "ties": 0
+ },
+ "rank": 17,
+ "dq": 0,
+ "team_key": "frc1551"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.6666666666666667
+ ],
+ "sort_orders": [
+ 20,
+ 192,
+ 105,
+ 146,
+ 525
+ ],
+ "record": {
+ "losses": 6,
+ "wins": 6,
+ "ties": 0
+ },
+ "rank": 18,
+ "dq": 0,
+ "team_key": "frc1665"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.6666666666666667
+ ],
+ "sort_orders": [
+ 20,
+ 166,
+ 125,
+ 187,
+ 555
+ ],
+ "record": {
+ "losses": 8,
+ "wins": 4,
+ "ties": 0
+ },
+ "rank": 19,
+ "dq": 0,
+ "team_key": "frc663"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.6666666666666667
+ ],
+ "sort_orders": [
+ 20,
+ 156,
+ 130,
+ 119,
+ 525
+ ],
+ "record": {
+ "losses": 6,
+ "wins": 6,
+ "ties": 0
+ },
+ "rank": 20,
+ "dq": 0,
+ "team_key": "frc229"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.5833333333333333
+ ],
+ "sort_orders": [
+ 19,
+ 316,
+ 115,
+ 167,
+ 570
+ ],
+ "record": {
+ "losses": 7,
+ "wins": 5,
+ "ties": 0
+ },
+ "rank": 21,
+ "dq": 0,
+ "team_key": "frc4093"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.5833333333333333
+ ],
+ "sort_orders": [
+ 19,
+ 236,
+ 155,
+ 148,
+ 575
+ ],
+ "record": {
+ "losses": 7,
+ "wins": 5,
+ "ties": 0
+ },
+ "rank": 22,
+ "dq": 0,
+ "team_key": "frc1493"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.5833333333333333
+ ],
+ "sort_orders": [
+ 19,
+ 218,
+ 110,
+ 159,
+ 520
+ ],
+ "record": {
+ "losses": 6,
+ "wins": 6,
+ "ties": 0
+ },
+ "rank": 23,
+ "dq": 0,
+ "team_key": "frc5964"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.5833333333333333
+ ],
+ "sort_orders": [
+ 19,
+ 214,
+ 130,
+ 246,
+ 485
+ ],
+ "record": {
+ "losses": 6,
+ "wins": 6,
+ "ties": 0
+ },
+ "rank": 24,
+ "dq": 0,
+ "team_key": "frc145"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.4166666666666667
+ ],
+ "sort_orders": [
+ 17,
+ 184,
+ 110,
+ 122,
+ 440
+ ],
+ "record": {
+ "losses": 6,
+ "wins": 6,
+ "ties": 0
+ },
+ "rank": 25,
+ "dq": 0,
+ "team_key": "frc371"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.3333333333333333
+ ],
+ "sort_orders": [
+ 16,
+ 224,
+ 145,
+ 160,
+ 550
+ ],
+ "record": {
+ "losses": 8,
+ "wins": 4,
+ "ties": 0
+ },
+ "rank": 26,
+ "dq": 0,
+ "team_key": "frc5881"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.3333333333333333
+ ],
+ "sort_orders": [
+ 16,
+ 188,
+ 105,
+ 170,
+ 385
+ ],
+ "record": {
+ "losses": 4,
+ "wins": 5,
+ "ties": 0
+ },
+ "rank": 27,
+ "dq": 0,
+ "team_key": "frc3624"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.25
+ ],
+ "sort_orders": [
+ 15,
+ 224,
+ 95,
+ 141,
+ 525
+ ],
+ "record": {
+ "losses": 8,
+ "wins": 4,
+ "ties": 0
+ },
+ "rank": 28,
+ "dq": 0,
+ "team_key": "frc4508"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.25
+ ],
+ "sort_orders": [
+ 15,
+ 224,
+ 75,
+ 113,
+ 515
+ ],
+ "record": {
+ "losses": 7,
+ "wins": 5,
+ "ties": 0
+ },
+ "rank": 29,
+ "dq": 0,
+ "team_key": "frc5585"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.25
+ ],
+ "sort_orders": [
+ 15,
+ 214,
+ 130,
+ 203,
+ 505
+ ],
+ "record": {
+ "losses": 8,
+ "wins": 4,
+ "ties": 0
+ },
+ "rank": 30,
+ "dq": 0,
+ "team_key": "frc4481"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.25
+ ],
+ "sort_orders": [
+ 15,
+ 156,
+ 115,
+ 101,
+ 485
+ ],
+ "record": {
+ "losses": 7,
+ "wins": 4,
+ "ties": 0
+ },
+ "rank": 31,
+ "dq": 0,
+ "team_key": "frc4856"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 1.0833333333333333
+ ],
+ "sort_orders": [
+ 13,
+ 204,
+ 110,
+ 92,
+ 480
+ ],
+ "record": {
+ "losses": 7,
+ "wins": 4,
+ "ties": 0
+ },
+ "rank": 32,
+ "dq": 0,
+ "team_key": "frc5879"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 0.9166666666666666
+ ],
+ "sort_orders": [
+ 11,
+ 228,
+ 110,
+ 115,
+ 500
+ ],
+ "record": {
+ "losses": 9,
+ "wins": 3,
+ "ties": 0
+ },
+ "rank": 33,
+ "dq": 0,
+ "team_key": "frc1450"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 0.8333333333333334
+ ],
+ "sort_orders": [
+ 10,
+ 160,
+ 90,
+ 131,
+ 490
+ ],
+ "record": {
+ "losses": 10,
+ "wins": 2,
+ "ties": 0
+ },
+ "rank": 34,
+ "dq": 0,
+ "team_key": "frc5943"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 0.6666666666666666
+ ],
+ "sort_orders": [
+ 8,
+ 162,
+ 60,
+ 121,
+ 430
+ ],
+ "record": {
+ "losses": 10,
+ "wins": 2,
+ "ties": 0
+ },
+ "rank": 35,
+ "dq": 0,
+ "team_key": "frc4203"
+ },
+ {
+ "matches_played": 12,
+ "qual_average": 0,
+ "extra_stats": [
+ 0.6666666666666666
+ ],
+ "sort_orders": [
+ 8,
+ 144,
+ 65,
+ 140,
+ 430
+ ],
+ "record": {
+ "losses": 10,
+ "wins": 2,
+ "ties": 0
+ },
+ "rank": 36,
+ "dq": 0,
+ "team_key": "frc5149"
+ }
+ ]
+}
diff --git a/scouting/webserver/BUILD b/scouting/webserver/BUILD
index 745852a..3df423e 100644
--- a/scouting/webserver/BUILD
+++ b/scouting/webserver/BUILD
@@ -9,6 +9,7 @@
deps = [
"//scouting/db",
"//scouting/scraping",
+ "//scouting/webserver/rankings",
"//scouting/webserver/requests",
"//scouting/webserver/server",
"//scouting/webserver/static",
diff --git a/scouting/webserver/main.go b/scouting/webserver/main.go
index 8f4298b..5d4ab01 100644
--- a/scouting/webserver/main.go
+++ b/scouting/webserver/main.go
@@ -15,6 +15,7 @@
"github.com/frc971/971-Robot-Code/scouting/db"
"github.com/frc971/971-Robot-Code/scouting/scraping"
+ "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"
"github.com/frc971/971-Robot-Code/scouting/webserver/static"
@@ -131,6 +132,9 @@
scoutingServer.Start(*portPtr)
fmt.Println("Serving", *dirPtr, "on port", *portPtr)
+ scraper := rankings.RankingScraper{}
+ scraper.Start(database, 0, "", *blueAllianceConfigPtr)
+
// Block until the user hits Ctrl-C.
sigint := make(chan os.Signal, 1)
signal.Notify(sigint, syscall.SIGINT)
@@ -140,5 +144,6 @@
fmt.Println("Shutting down.")
scoutingServer.Stop()
+ scraper.Stop()
fmt.Println("Successfully shut down.")
}
diff --git a/scouting/webserver/rankings/BUILD b/scouting/webserver/rankings/BUILD
new file mode 100644
index 0000000..c74f88f
--- /dev/null
+++ b/scouting/webserver/rankings/BUILD
@@ -0,0 +1,26 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_library", "go_test")
+
+go_library(
+ name = "rankings",
+ srcs = ["rankings.go"],
+ importpath = "github.com/frc971/971-Robot-Code/scouting/webserver/rankings",
+ visibility = ["//visibility:public"],
+ deps = [
+ "//scouting/db",
+ "//scouting/scraping",
+ ],
+)
+
+go_test(
+ name = "rankings_test",
+ srcs = ["rankings_test.go"],
+ data = [
+ "scouting_test_config.json",
+ "//scouting/scraping:test_data",
+ ],
+ embed = [":rankings"],
+ deps = [
+ "//scouting/db",
+ "//scouting/webserver/server",
+ ],
+)
diff --git a/scouting/webserver/rankings/rankings.go b/scouting/webserver/rankings/rankings.go
new file mode 100644
index 0000000..6e63c0a
--- /dev/null
+++ b/scouting/webserver/rankings/rankings.go
@@ -0,0 +1,92 @@
+package rankings
+
+import (
+ "github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping"
+ "log"
+ "strconv"
+ "strings"
+ "time"
+)
+
+type RankingScraper struct {
+ doneChan chan<- bool
+ checkStopped chan<- bool
+}
+
+type Database interface {
+ AddOrUpdateRankings(db.Ranking) error
+}
+
+func parseTeamKey(teamKey string) (int, error) {
+ // TBA prefixes teams with "frc". Not sure why. Get rid of that.
+ teamKey = strings.TrimPrefix(teamKey, "frc")
+ return strconv.Atoi(teamKey)
+}
+
+func getRankings(database Database, year int32, eventCode string, blueAllianceConfig string) {
+ rankings, err := scraping.AllRankings(year, eventCode, blueAllianceConfig)
+ if err != nil {
+ log.Println("Failed to scrape ranking list: ", err)
+ return
+ }
+
+ for _, rank := range rankings.Rankings {
+ teamKey, err := parseTeamKey(rank.TeamKey)
+
+ if err != nil {
+ log.Println("Failed to parse team key: ", err)
+ continue
+ }
+
+ rankingInfo := db.Ranking{
+ TeamNumber: teamKey,
+ Losses: rank.Records.Losses, Wins: rank.Records.Wins, Ties: rank.Records.Ties,
+ Rank: rank.Rank, Dq: rank.Dq,
+ }
+ err = database.AddOrUpdateRankings(rankingInfo)
+
+ if err != nil {
+ log.Println("Failed to add or update database: ", err)
+ }
+ }
+}
+
+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
new file mode 100644
index 0000000..aa23c76
--- /dev/null
+++ b/scouting/webserver/rankings/rankings_test.go
@@ -0,0 +1,69 @@
+package rankings
+
+import (
+ "github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/server"
+ "net/http"
+ "reflect"
+ "testing"
+ "time"
+)
+
+type MockDatabase struct {
+ rankings []db.Ranking
+}
+
+func (database *MockDatabase) AddOrUpdateRankings(data db.Ranking) error {
+ database.rankings = append(database.rankings, data)
+ return nil
+}
+
+func ServeRankings(h http.Handler) http.Handler {
+ fn := func(w http.ResponseWriter, r *http.Request) {
+ r.URL.Path = "scraping/test_data/2016_nytr_rankings.json"
+
+ h.ServeHTTP(w, r)
+ }
+
+ return http.HandlerFunc(fn)
+}
+
+func TestGetRankings(t *testing.T) {
+ database := MockDatabase{}
+ scraper := RankingScraper{}
+ tbaServer := server.NewScoutingServer()
+ tbaServer.Handle("/", ServeRankings(http.FileServer(http.Dir("../../"))))
+ tbaServer.Start(8000)
+ defer tbaServer.Stop()
+
+ scraper.Start(&database, 0, "", "scouting_test_config.json")
+ defer scraper.Stop()
+
+ for {
+ if len(database.rankings) > 0 {
+ break
+ }
+
+ time.Sleep(time.Second)
+ }
+
+ beginningThreeExpected := []db.Ranking{
+ {TeamNumber: 359, Losses: 1, Wins: 11, Ties: 0, Rank: 1, Dq: 0},
+ {TeamNumber: 5254, Losses: 1, Wins: 11, Ties: 0, Rank: 2, Dq: 0},
+ {TeamNumber: 3990, Losses: 1, Wins: 11, Ties: 0, Rank: 3, Dq: 0},
+ }
+
+ endThreeExpected := []db.Ranking{
+ {TeamNumber: 5943, Losses: 10, Wins: 2, Ties: 0, Rank: 34, Dq: 0},
+ {TeamNumber: 4203, Losses: 10, Wins: 2, Ties: 0, Rank: 35, Dq: 0},
+ {TeamNumber: 5149, Losses: 10, Wins: 2, Ties: 0, Rank: 36, Dq: 0},
+ }
+
+ if !reflect.DeepEqual(beginningThreeExpected, database.rankings[0:3]) {
+ t.Fatal("Got %#v, but expected %#v.", database.rankings[0:3], beginningThreeExpected)
+ }
+
+ if !reflect.DeepEqual(endThreeExpected, database.rankings[33:]) {
+ t.Fatal("Got %#v, but expected %#v.", database.rankings[33:], beginningThreeExpected)
+ }
+}
diff --git a/scouting/webserver/rankings/scouting_test_config.json b/scouting/webserver/rankings/scouting_test_config.json
new file mode 100644
index 0000000..40a7747
--- /dev/null
+++ b/scouting/webserver/rankings/scouting_test_config.json
@@ -0,0 +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
diff --git a/scouting/webserver/requests/debug/cli/cli_test.py b/scouting/webserver/requests/debug/cli/cli_test.py
index 5b0c749..2bcd75b 100644
--- a/scouting/webserver/requests/debug/cli/cli_test.py
+++ b/scouting/webserver/requests/debug/cli/cli_test.py
@@ -52,7 +52,7 @@
"event_code": event_code,
})
exit_code, stdout, stderr = run_debug_cli(["-refreshMatchList", json_path])
- self.assertEqual(exit_code, 0, stderr)
+ self.assertEqual(exit_code, 0, f"{year}{event_code}: {stderr}")
self.assertIn("(refresh_match_list_response.RefreshMatchListResponseT)", stdout)
def test_submit_and_request_data_scouting(self):
@@ -62,6 +62,8 @@
json_path = write_json_request({
"team": 100,
"match": 1,
+ "set_number": 2,
+ "comp_level": "quals",
"starting_quadrant": 3,
"auto_ball_1": True,
"auto_ball_2": False,
@@ -108,7 +110,9 @@
StartingQuadrant: (int32) 3,
ClimbLevel: (request_data_scouting_response.ClimbLevel) Medium,
DefenseReceivedRating: (int32) 4,
- Comment: (string) (len=35) "A very inspiring and useful comment"
+ Comment: (string) (len=35) "A very inspiring and useful comment",
+ SetNumber: (int32) 2,
+ CompLevel: (string) (len=5) "quals"
}"""), stdout)
def test_request_all_matches(self):
@@ -136,5 +140,21 @@
self.assertEqual(stdout.count("MatchNumber:"), 12)
self.assertEqual(len(re.findall(r": \(int32\) 4856[,\n]", stdout)), 12)
+ 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 f6fb38a..d338b5f 100644
--- a/scouting/webserver/requests/debug/cli/main.go
+++ b/scouting/webserver/requests/debug/cli/main.go
@@ -97,6 +97,9 @@
spew.Config.Indent = *indentPtr
+ // Disable pointer addresses. They're not useful for our purposes.
+ spew.Config.DisablePointerAddresses = true
+
// Handle the actual arguments.
maybePerformRequest(
"SubmitDataScouting",
diff --git a/scouting/webserver/requests/messages/request_all_matches_response.fbs b/scouting/webserver/requests/messages/request_all_matches_response.fbs
index 90401e3..9d3be62 100644
--- a/scouting/webserver/requests/messages/request_all_matches_response.fbs
+++ b/scouting/webserver/requests/messages/request_all_matches_response.fbs
@@ -2,7 +2,7 @@
table Match {
match_number:int (id: 0);
- round:int (id: 1);
+ set_number:int (id: 1);
comp_level:string (id: 2);
r1:int (id: 3);
r2:int (id: 4);
diff --git a/scouting/webserver/requests/messages/request_data_scouting_response.fbs b/scouting/webserver/requests/messages/request_data_scouting_response.fbs
index 3987d7e..071a848 100644
--- a/scouting/webserver/requests/messages/request_data_scouting_response.fbs
+++ b/scouting/webserver/requests/messages/request_data_scouting_response.fbs
@@ -10,12 +10,14 @@
Low,
Medium,
High,
- Transversal,
+ Traversal,
}
table Stats {
team:int (id: 0);
match:int (id: 1);
+ set_number:int (id: 20);
+ comp_level:string (id: 21);
missed_shots_auto:int (id: 2);
upper_goal_auto:int (id:3);
diff --git a/scouting/webserver/requests/messages/request_matches_for_team_response.fbs b/scouting/webserver/requests/messages/request_matches_for_team_response.fbs
index cbb1895..dcfec52 100644
--- a/scouting/webserver/requests/messages/request_matches_for_team_response.fbs
+++ b/scouting/webserver/requests/messages/request_matches_for_team_response.fbs
@@ -2,7 +2,7 @@
table Match {
match_number:int (id: 0);
- round:int (id: 1);
+ set_number:int (id: 1);
comp_level:string (id: 2);
r1:int (id: 3);
r2:int (id: 4);
diff --git a/scouting/webserver/requests/messages/submit_data_scouting.fbs b/scouting/webserver/requests/messages/submit_data_scouting.fbs
index e136e71..36990f5 100644
--- a/scouting/webserver/requests/messages/submit_data_scouting.fbs
+++ b/scouting/webserver/requests/messages/submit_data_scouting.fbs
@@ -10,12 +10,15 @@
Low,
Medium,
High,
- Transversal,
+ Traversal,
}
table SubmitDataScouting {
team:int (id: 0);
match:int (id: 1);
+ set_number:int (id: 19);
+ comp_level:string (id: 20);
+
missed_shots_auto:int (id: 2);
upper_goal_auto:int (id:3);
lower_goal_auto:int (id:4);
diff --git a/scouting/webserver/requests/requests.go b/scouting/webserver/requests/requests.go
index d67f5e9..cef87aa 100644
--- a/scouting/webserver/requests/requests.go
+++ b/scouting/webserver/requests/requests.go
@@ -144,6 +144,8 @@
stats := db.Stats{
TeamNumber: request.Team(),
MatchNumber: request.Match(),
+ SetNumber: request.SetNumber(),
+ CompLevel: string(request.CompLevel()),
StartingQuadrant: request.StartingQuadrant(),
AutoBallPickedUp: [5]bool{
request.AutoBall1(), request.AutoBall2(), request.AutoBall3(),
@@ -207,7 +209,7 @@
for _, match := range matches {
response.MatchList = append(response.MatchList, &request_all_matches_response.MatchT{
MatchNumber: match.MatchNumber,
- Round: match.Round,
+ SetNumber: match.SetNumber,
CompLevel: match.CompLevel,
R1: match.R1,
R2: match.R2,
@@ -250,7 +252,7 @@
for _, match := range matches {
response.MatchList = append(response.MatchList, &request_all_matches_response.MatchT{
MatchNumber: match.MatchNumber,
- Round: match.Round,
+ SetNumber: match.SetNumber,
CompLevel: match.CompLevel,
R1: match.R1,
R2: match.R2,
@@ -294,6 +296,8 @@
response.StatsList = append(response.StatsList, &request_data_scouting_response.StatsT{
Team: stat.TeamNumber,
Match: stat.MatchNumber,
+ SetNumber: stat.SetNumber,
+ CompLevel: stat.CompLevel,
StartingQuadrant: stat.StartingQuadrant,
AutoBall1: stat.AutoBallPickedUp[0],
AutoBall2: stat.AutoBallPickedUp[1],
@@ -391,15 +395,14 @@
// Add the match to the database.
err = handler.db.AddToMatch(db.Match{
MatchNumber: int32(match.MatchNumber),
- // TODO(phil): What does Round mean?
- Round: 1,
- CompLevel: match.CompLevel,
- R1: red[0],
- R2: red[1],
- R3: red[2],
- B1: blue[0],
- B2: blue[1],
- B3: blue[2],
+ SetNumber: int32(match.SetNumber),
+ CompLevel: match.CompLevel,
+ R1: red[0],
+ R2: red[1],
+ R3: red[2],
+ B1: blue[0],
+ B2: blue[1],
+ B3: blue[2],
})
if err != nil {
respondWithError(w, http.StatusInternalServerError, fmt.Sprintf(
diff --git a/scouting/webserver/requests/requests_test.go b/scouting/webserver/requests/requests_test.go
index b864cf3..4dda143 100644
--- a/scouting/webserver/requests/requests_test.go
+++ b/scouting/webserver/requests/requests_test.go
@@ -84,6 +84,8 @@
builder.Finish((&submit_data_scouting.SubmitDataScoutingT{
Team: 971,
Match: 1,
+ SetNumber: 8,
+ CompLevel: "quals",
StartingQuadrant: 2,
AutoBall1: true,
AutoBall2: false,
@@ -119,15 +121,15 @@
db := MockDatabase{
matches: []db.Match{
{
- MatchNumber: 1, Round: 1, CompLevel: "qual",
+ MatchNumber: 1, SetNumber: 1, CompLevel: "qual",
R1: 5, R2: 42, R3: 600, B1: 971, B2: 400, B3: 200,
},
{
- MatchNumber: 2, Round: 1, CompLevel: "qual",
+ MatchNumber: 2, SetNumber: 1, CompLevel: "qual",
R1: 6, R2: 43, R3: 601, B1: 972, B2: 401, B3: 201,
},
{
- MatchNumber: 3, Round: 1, CompLevel: "qual",
+ MatchNumber: 3, SetNumber: 1, CompLevel: "qual",
R1: 7, R2: 44, R3: 602, B1: 973, B2: 402, B3: 202,
},
},
@@ -147,7 +149,7 @@
expected := request_all_matches_response.RequestAllMatchesResponseT{
MatchList: []*request_all_matches_response.MatchT{
- // MatchNumber, Round, CompLevel
+ // MatchNumber, SetNumber, CompLevel
// R1, R2, R3, B1, B2, B3
{
1, 1, "qual",
@@ -179,11 +181,11 @@
db := MockDatabase{
matches: []db.Match{
{
- MatchNumber: 1, Round: 1, CompLevel: "qual",
+ MatchNumber: 1, SetNumber: 1, CompLevel: "qual",
R1: 5, R2: 42, R3: 600, B1: 971, B2: 400, B3: 200,
},
{
- MatchNumber: 2, Round: 1, CompLevel: "qual",
+ MatchNumber: 2, SetNumber: 1, CompLevel: "qual",
R1: 6, R2: 43, R3: 601, B1: 972, B2: 401, B3: 201,
},
},
@@ -205,7 +207,7 @@
expected := request_matches_for_team_response.RequestMatchesForTeamResponseT{
MatchList: []*request_matches_for_team_response.MatchT{
- // MatchNumber, Round, CompLevel
+ // MatchNumber, SetNumber, CompLevel
// R1, R2, R3, B1, B2, B3
{
1, 1, "qual",
@@ -228,7 +230,7 @@
db := MockDatabase{
stats: []db.Stats{
{
- TeamNumber: 971, MatchNumber: 1,
+ TeamNumber: 971, MatchNumber: 1, SetNumber: 2, CompLevel: "quals",
StartingQuadrant: 1,
AutoBallPickedUp: [5]bool{true, false, false, false, true},
ShotsMissed: 1, UpperGoalShots: 2, LowerGoalShots: 3,
@@ -237,7 +239,7 @@
Comment: "a lovely comment", CollectedBy: "john",
},
{
- TeamNumber: 972, MatchNumber: 1,
+ TeamNumber: 972, MatchNumber: 1, SetNumber: 4, CompLevel: "extra",
StartingQuadrant: 2,
AutoBallPickedUp: [5]bool{false, false, true, false, false},
ShotsMissed: 2, UpperGoalShots: 3, LowerGoalShots: 4,
@@ -263,7 +265,7 @@
expected := request_data_scouting_response.RequestDataScoutingResponseT{
StatsList: []*request_data_scouting_response.StatsT{
{
- Team: 971, Match: 1,
+ Team: 971, Match: 1, SetNumber: 2, CompLevel: "quals",
MissedShotsAuto: 4, UpperGoalAuto: 5, LowerGoalAuto: 6,
MissedShotsTele: 1, UpperGoalTele: 2, LowerGoalTele: 3,
DefenseRating: 7,
@@ -276,7 +278,7 @@
Comment: "a lovely comment",
},
{
- Team: 972, Match: 1,
+ Team: 972, Match: 1, SetNumber: 4, CompLevel: "extra",
MissedShotsAuto: 5, UpperGoalAuto: 6, LowerGoalAuto: 7,
MissedShotsTele: 2, UpperGoalTele: 3, LowerGoalTele: 4,
DefenseRating: 8,
@@ -360,6 +362,7 @@
{
CompLevel: "qual",
MatchNumber: 1,
+ SetNumber: 2,
Alliances: scraping.Alliances{
Red: scraping.Alliance{
TeamKeys: []string{
@@ -411,7 +414,7 @@
expectedMatches := []db.Match{
{
MatchNumber: 1,
- Round: 1,
+ SetNumber: 2,
CompLevel: "qual",
R1: 100,
R2: 200,
diff --git a/scouting/www/app.ng.html b/scouting/www/app.ng.html
index 3c9c2c2..297fd39 100644
--- a/scouting/www/app.ng.html
+++ b/scouting/www/app.ng.html
@@ -75,6 +75,8 @@
(switchTabsEvent)="switchTabTo($event)"
[teamNumber]="selectedTeamInMatch.teamNumber"
[matchNumber]="selectedTeamInMatch.matchNumber"
+ [setNumber]="selectedTeamInMatch.setNumber"
+ [compLevel]="selectedTeamInMatch.compLevel"
*ngSwitchCase="'Entry'"
></app-entry>
<frc971-notes *ngSwitchCase="'Notes'"></frc971-notes>
diff --git a/scouting/www/app.ts b/scouting/www/app.ts
index 9d6c539..4f95c90 100644
--- a/scouting/www/app.ts
+++ b/scouting/www/app.ts
@@ -14,6 +14,7 @@
type TeamInMatch = {
teamNumber: number;
matchNumber: number;
+ setNumber: number;
compLevel: string;
};
@@ -26,6 +27,7 @@
selectedTeamInMatch: TeamInMatch = {
teamNumber: 1,
matchNumber: 1,
+ setNumber: 1,
compLevel: 'qm',
};
tab: Tab = 'MatchList';
diff --git a/scouting/www/entry/entry.component.ts b/scouting/www/entry/entry.component.ts
index c90e3d0..d6829c5 100644
--- a/scouting/www/entry/entry.component.ts
+++ b/scouting/www/entry/entry.component.ts
@@ -25,6 +25,19 @@
| 'Review and Submit'
| 'Success';
+// TODO(phil): Deduplicate with match_list.component.ts.
+const COMP_LEVELS = ['qm', 'ef', 'qf', 'sf', 'f'] as const;
+type CompLevel = typeof COMP_LEVELS[number];
+
+// TODO(phil): Deduplicate with match_list.component.ts.
+const COMP_LEVEL_LABELS: Record<CompLevel, string> = {
+ qm: 'Qualifications',
+ ef: 'Eighth Finals',
+ qf: 'Quarter Finals',
+ sf: 'Semi Finals',
+ f: 'Finals',
+};
+
@Component({
selector: 'app-entry',
templateUrl: './entry.ng.html',
@@ -34,11 +47,15 @@
// Re-export the type here so that we can use it in the `[value]` attribute
// of radio buttons.
readonly ClimbLevel = ClimbLevel;
+ readonly COMP_LEVELS = COMP_LEVELS;
+ readonly COMP_LEVEL_LABELS = COMP_LEVEL_LABELS;
section: Section = 'Team Selection';
@Output() switchTabsEvent = new EventEmitter<string>();
@Input() matchNumber: number = 1;
@Input() teamNumber: number = 1;
+ @Input() setNumber: number = 1;
+ @Input() compLevel: CompLevel = 'qm';
autoUpperShotsMade: number = 0;
autoLowerShotsMade: number = 0;
autoShotsMissed: number = 0;
@@ -113,10 +130,13 @@
this.errorMessage = '';
const builder = new Builder();
+ const compLevel = builder.createString(this.compLevel);
const comment = builder.createString(this.comment);
SubmitDataScouting.startSubmitDataScouting(builder);
SubmitDataScouting.addTeam(builder, this.teamNumber);
SubmitDataScouting.addMatch(builder, this.matchNumber);
+ SubmitDataScouting.addSetNumber(builder, this.setNumber);
+ SubmitDataScouting.addCompLevel(builder, compLevel);
SubmitDataScouting.addMissedShotsAuto(builder, this.autoShotsMissed);
SubmitDataScouting.addUpperGoalAuto(builder, this.autoUpperShotsMade);
SubmitDataScouting.addLowerGoalAuto(builder, this.autoLowerShotsMade);
diff --git a/scouting/www/entry/entry.ng.html b/scouting/www/entry/entry.ng.html
index b8eaa78..6dab39b 100644
--- a/scouting/www/entry/entry.ng.html
+++ b/scouting/www/entry/entry.ng.html
@@ -28,6 +28,24 @@
max="9999"
/>
</div>
+ <div class="row">
+ <label for="set_number">Set Number</label>
+ <input
+ [(ngModel)]="setNumber"
+ type="number"
+ id="set_number"
+ min="1"
+ max="10"
+ />
+ </div>
+ <div class="row">
+ <label for="comp_level">Comp Level</label>
+ <select [(ngModel)]="compLevel" type="number" id="comp_level">
+ <option *ngFor="let level of COMP_LEVELS" [ngValue]="level">
+ {{COMP_LEVEL_LABELS[level]}}
+ </option>
+ </select>
+ </div>
<div class="buttons">
<!-- hack to right align the next button -->
<div></div>
@@ -205,10 +223,10 @@
[(ngModel)]="level"
type="radio"
name="level"
- id="transversal"
- [value]="ClimbLevel.Transversal"
+ id="traversal"
+ [value]="ClimbLevel.Traversal"
/>
- <label for="transversal">Transversal</label>
+ <label for="traversal">Traversal</label>
<br />
<input
[(ngModel)]="level"
@@ -348,6 +366,8 @@
<ul>
<li>Match number: {{matchNumber}}</li>
<li>Team number: {{teamNumber}}</li>
+ <li>SetNumber: {{setNumber}}</li>
+ <li>Comp Level: {{COMP_LEVEL_LABELS[compLevel]}}</li>
</ul>
<h4>Auto</h4>
@@ -372,7 +392,7 @@
<h4>Climb</h4>
<ul>
- <li>Level: {{level | levelToString}}</li>
+ <li>Climb Level: {{level | levelToString}}</li>
<li>Comments: {{comment}}</li>
</ul>
diff --git a/scouting/www/match_list/BUILD b/scouting/www/match_list/BUILD
index a33caf8..10c0a22 100644
--- a/scouting/www/match_list/BUILD
+++ b/scouting/www/match_list/BUILD
@@ -19,6 +19,7 @@
"//scouting/webserver/requests/messages:error_response_ts_fbs",
"//scouting/webserver/requests/messages:request_all_matches_response_ts_fbs",
"//scouting/webserver/requests/messages:request_all_matches_ts_fbs",
+ "//scouting/www/rpc",
"@com_github_google_flatbuffers//ts:flatbuffers_ts",
"@npm//@angular/common",
"@npm//@angular/core",
diff --git a/scouting/www/match_list/match_list.component.ts b/scouting/www/match_list/match_list.component.ts
index b2a2731..ab54e3e 100644
--- a/scouting/www/match_list/match_list.component.ts
+++ b/scouting/www/match_list/match_list.component.ts
@@ -1,5 +1,5 @@
import {Component, EventEmitter, OnInit, Output} from '@angular/core';
-import {ByteBuffer, Builder} from 'flatbuffers';
+import {Builder, ByteBuffer} from 'flatbuffers';
import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
import {RequestAllMatches} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_generated';
import {
@@ -7,14 +7,15 @@
RequestAllMatchesResponse,
} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_response_generated';
+import {MatchListRequestor} from '../rpc/match_list_requestor';
+
type TeamInMatch = {
teamNumber: number;
matchNumber: number;
+ setNumber: number;
compLevel: string;
};
-const MATCH_TYPE_ORDERING = ['qm', 'ef', 'qf', 'sf', 'f'];
-
@Component({
selector: 'app-match-list',
templateUrl: './match_list.ng.html',
@@ -26,6 +27,8 @@
errorMessage: string = '';
matchList: Match[] = [];
+ constructor(private readonly matchListRequestor: MatchListRequestor) {}
+
setTeamInMatch(teamInMatch: TeamInMatch) {
this.selectedTeamEvent.emit(teamInMatch);
}
@@ -59,7 +62,9 @@
}
displayMatchNumber(match: Match): string {
- return `${this.matchType(match)} ${match.matchNumber()}`;
+ // Only display the set number for eliminations matches.
+ const setNumber = match.compLevel() == 'qm' ? '' : `${match.setNumber()}`;
+ return `${this.matchType(match)} ${setNumber} Match ${match.matchNumber()}`;
}
ngOnInit() {
@@ -67,62 +72,15 @@
}
async fetchMatchList() {
+ this.progressMessage = 'Fetching match list. Please be patient.';
this.errorMessage = '';
- const builder = new Builder();
- RequestAllMatches.startRequestAllMatches(builder);
- builder.finish(RequestAllMatches.endRequestAllMatches(builder));
-
- this.progressMessage = 'Fetching match list. Please be patient.';
-
- const buffer = builder.asUint8Array();
- const res = await fetch('/requests/request/all_matches', {
- method: 'POST',
- body: buffer,
- });
-
- if (res.ok) {
- const resBuffer = await res.arrayBuffer();
- const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
- const parsedResponse =
- RequestAllMatchesResponse.getRootAsRequestAllMatchesResponse(fbBuffer);
-
- // Convert the flatbuffer list into an array. That's more useful.
- this.matchList = [];
- for (let i = 0; i < parsedResponse.matchListLength(); i++) {
- this.matchList.push(parsedResponse.matchList(i));
- }
-
- // Sort the list so it is in chronological order.
- this.matchList.sort((a, b) => {
- const aMatchTypeIndex = MATCH_TYPE_ORDERING.indexOf(a.compLevel());
- const bMatchTypeIndex = MATCH_TYPE_ORDERING.indexOf(b.compLevel());
- if (aMatchTypeIndex < bMatchTypeIndex) {
- return -1;
- }
- if (aMatchTypeIndex > bMatchTypeIndex) {
- return 1;
- }
- const aMatchNumber = a.matchNumber();
- const bMatchNumber = b.matchNumber();
- if (aMatchNumber < bMatchNumber) {
- return -1;
- }
- if (aMatchNumber > bMatchNumber) {
- return 1;
- }
- return 0;
- });
-
+ try {
+ this.matchList = await this.matchListRequestor.fetchMatchList();
this.progressMessage = 'Successfully fetched match list.';
- } else {
+ } catch (e) {
+ this.errorMessage = e;
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/match_list/match_list.ng.html b/scouting/www/match_list/match_list.ng.html
index 2f77198..e890faf 100644
--- a/scouting/www/match_list/match_list.ng.html
+++ b/scouting/www/match_list/match_list.ng.html
@@ -13,6 +13,7 @@
(click)="setTeamInMatch({
teamNumber: team.teamNumber,
matchNumber: match.matchNumber(),
+ setNumber: match.setNumber(),
compLevel: match.compLevel()
})"
class="match-item"
diff --git a/scouting/www/rpc/BUILD b/scouting/www/rpc/BUILD
new file mode 100644
index 0000000..581a7b8
--- /dev/null
+++ b/scouting/www/rpc/BUILD
@@ -0,0 +1,19 @@
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+
+ts_library(
+ name = "rpc",
+ srcs = [
+ "match_list_requestor.ts",
+ ],
+ compiler = "//tools:tsc_wrapped_with_angular",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ use_angular_plugin = True,
+ visibility = ["//visibility:public"],
+ deps = [
+ "//scouting/webserver/requests/messages:error_response_ts_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_response_ts_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_ts_fbs",
+ "@com_github_google_flatbuffers//ts:flatbuffers_ts",
+ "@npm//@angular/core",
+ ],
+)
diff --git a/scouting/www/rpc/match_list_requestor.ts b/scouting/www/rpc/match_list_requestor.ts
new file mode 100644
index 0000000..f97b1ca
--- /dev/null
+++ b/scouting/www/rpc/match_list_requestor.ts
@@ -0,0 +1,83 @@
+import {Injectable} from '@angular/core';
+import {Builder, ByteBuffer} from 'flatbuffers';
+import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import {RequestAllMatches} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_generated';
+import {
+ Match,
+ RequestAllMatchesResponse,
+} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_response_generated';
+
+const MATCH_TYPE_ORDERING = ['qm', 'ef', 'qf', 'sf', 'f'];
+
+@Injectable({providedIn: 'root'})
+export class MatchListRequestor {
+ async fetchMatchList(): Promise<Match[]> {
+ const builder = new Builder();
+ RequestAllMatches.startRequestAllMatches(builder);
+ builder.finish(RequestAllMatches.endRequestAllMatches(builder));
+
+ const buffer = builder.asUint8Array();
+ const res = await fetch('/requests/request/all_matches', {
+ method: 'POST',
+ body: buffer,
+ });
+
+ if (res.ok) {
+ const resBuffer = await res.arrayBuffer();
+ const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
+ const parsedResponse =
+ RequestAllMatchesResponse.getRootAsRequestAllMatchesResponse(fbBuffer);
+
+ // Convert the flatbuffer list into an array. That's more useful.
+ const matchList = [];
+ for (let i = 0; i < parsedResponse.matchListLength(); i++) {
+ matchList.push(parsedResponse.matchList(i));
+ }
+
+ // Sort the list so it is in chronological order.
+ matchList.sort((a, b) => {
+ // First sort by match type. E.g. finals are last.
+ const aMatchTypeIndex = MATCH_TYPE_ORDERING.indexOf(a.compLevel());
+ const bMatchTypeIndex = MATCH_TYPE_ORDERING.indexOf(b.compLevel());
+ if (aMatchTypeIndex < bMatchTypeIndex) {
+ return -1;
+ }
+ if (aMatchTypeIndex > bMatchTypeIndex) {
+ return 1;
+ }
+ // Then sort by match number. E.g. in semi finals, all match 1 rounds
+ // are done first. Then come match 2 rounds. And then, if necessary,
+ // the match 3 rounds.
+ const aMatchNumber = a.matchNumber();
+ const bMatchNumber = b.matchNumber();
+ if (aMatchNumber < bMatchNumber) {
+ return -1;
+ }
+ if (aMatchNumber > bMatchNumber) {
+ return 1;
+ }
+ // Lastly, sort by set number. I.e. Semi Final 1 Match 1 happens first.
+ // Then comes Semi Final 2 Match 1. Then comes Semi Final 1 Match 2. Then
+ // Semi Final 2 Match 2.
+ const aSetNumber = a.setNumber();
+ const bSetNumber = b.setNumber();
+ if (aSetNumber < bSetNumber) {
+ return -1;
+ }
+ if (aSetNumber > bSetNumber) {
+ return 1;
+ }
+ return 0;
+ });
+
+ return matchList;
+ } else {
+ const resBuffer = await res.arrayBuffer();
+ const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
+ const parsedResponse = ErrorResponse.getRootAsErrorResponse(fbBuffer);
+
+ const errorMessage = parsedResponse.errorMessage();
+ throw `Received ${res.status} ${res.statusText}: "${errorMessage}"`;
+ }
+ }
+}
diff --git a/y2020/www/field_handler.ts b/y2020/www/field_handler.ts
index c165bcc..28c35aa 100644
--- a/y2020/www/field_handler.ts
+++ b/y2020/www/field_handler.ts
@@ -1,10 +1,9 @@
import {ByteBuffer} from 'flatbuffers';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import * as flatbuffers_builder from 'org_frc971/external/com_github_google_flatbuffers/ts/builder';
-import {Status as DrivetrainStatus} from 'org_frc971/frc971/control_loops/drivetrain/drivetrain_status_generated';
-import {LocalizerDebug, RejectionReason, ImageMatchDebug} from 'org_frc971/y2020/control_loops/drivetrain/localizer_debug_generated';
-import {Status as SuperstructureStatus, FlywheelControllerStatus} from 'org_frc971/y2020/control_loops/superstructure/superstructure_status_generated'
-import {ImageMatchResult} from 'org_frc971/y2020/vision/sift/sift_generated';
+import {Connection} from '../../aos/network/www/proxy';
+import {Status as DrivetrainStatus} from '../../frc971/control_loops/drivetrain/drivetrain_status_generated';
+import {LocalizerDebug, RejectionReason, ImageMatchDebug} from '../control_loops/drivetrain/localizer_debug_generated';
+import {Status as SuperstructureStatus, FlywheelControllerStatus} from '../control_loops/superstructure/superstructure_status_generated'
+import {ImageMatchResult} from '../vision/sift/sift_generated';
import {FIELD_LENGTH, FIELD_WIDTH, FT_TO_M, IN_TO_M} from './constants';
diff --git a/y2022/actors/auto_splines.cc b/y2022/actors/auto_splines.cc
index 9dd1860..e674dc4 100644
--- a/y2022/actors/auto_splines.cc
+++ b/y2022/actors/auto_splines.cc
@@ -80,5 +80,25 @@
alliance);
}
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::SplineTwoBall1(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(spline_two1_, builder->fbb()),
+ alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::SplineTwoBall2(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(spline_two2_, builder->fbb()),
+ alliance);
+}
+
} // namespace actors
} // namespace y2022
diff --git a/y2022/actors/auto_splines.h b/y2022/actors/auto_splines.h
index 546710c..2f5c399 100644
--- a/y2022/actors/auto_splines.h
+++ b/y2022/actors/auto_splines.h
@@ -26,7 +26,11 @@
spline_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
"splines/spline_5_ball_2.json")),
spline_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/spline_5_ball_3.json")){}
+ "splines/spline_5_ball_3.json")),
+ spline_two1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_2_ball.json")),
+ spline_two2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_2_ball_2.json")) {}
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
@@ -51,11 +55,22 @@
*builder,
aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> SplineTwoBall1(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> SplineTwoBall2(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+
private:
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_1_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_2_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_3_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_two1_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_two2_;
};
} // namespace actors
diff --git a/y2022/actors/autonomous_actor.cc b/y2022/actors/autonomous_actor.cc
index a8a2905..4f49f81 100644
--- a/y2022/actors/autonomous_actor.cc
+++ b/y2022/actors/autonomous_actor.cc
@@ -13,13 +13,15 @@
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
DEFINE_bool(spline_auto, false, "If true, define a spline autonomous mode");
-DEFINE_bool(rapid_react, true,
+DEFINE_bool(rapid_react, false,
"If true, run the main rapid react autonomous mode");
+DEFINE_bool(rapid_react_two, true,
+ "If true, run the two ball rapid react autonomous mode");
namespace y2022 {
namespace actors {
namespace {
-constexpr double kExtendIntakeGoal = -0.02;
+constexpr double kExtendIntakeGoal = -0.10;
constexpr double kRetractIntakeGoal = 1.47;
constexpr double kIntakeRollerVoltage = 12.0;
constexpr double kRollerVoltage = 12.0;
@@ -107,12 +109,22 @@
SplineDirection::kBackward),
PlanSpline(std::bind(&AutonomousSplines::Spline2, &auto_splines_,
std::placeholders::_1, alliance_),
- SplineDirection::kForward),
+ SplineDirection::kBackward),
PlanSpline(std::bind(&AutonomousSplines::Spline3, &auto_splines_,
std::placeholders::_1, alliance_),
- SplineDirection::kBackward)};
+ SplineDirection::kForward)};
starting_position_ = rapid_react_splines_.value()[0].starting_position();
CHECK(starting_position_);
+ } else if (FLAGS_rapid_react_two) {
+ rapid_react_two_spline_ = {
+ PlanSpline(std::bind(&AutonomousSplines::SplineTwoBall1, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kBackward),
+ PlanSpline(std::bind(&AutonomousSplines::SplineTwoBall2, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kForward)};
+ starting_position_ = rapid_react_two_spline_.value()[0].starting_position();
+ CHECK(starting_position_);
}
is_planned_ = true;
@@ -163,6 +175,8 @@
SplineAuto();
} else if (FLAGS_rapid_react) {
RapidReact();
+ } else if (FLAGS_rapid_react_two) {
+ RapidReactTwo();
}
return true;
@@ -208,8 +222,7 @@
// Tell the superstructure a ball was preloaded
if (!WaitForPreloaded()) return;
- // Fire preloaded ball
- set_turret_goal(constants::Values::kTurretBackIntakePos());
+ // Fire preloaded ball while driving
set_fire_at_will(true);
SendSuperstructureGoal();
if (!WaitForBallsShot()) return;
@@ -221,33 +234,44 @@
set_fire_at_will(false);
SendSuperstructureGoal();
- // Drive and intake the 2 balls in nearest to the starting zonei
- set_turret_goal(constants::Values::kTurretFrontIntakePos());
+ // Drive and intake the ball nearest to the starting zone.
+ // Fire while moving.
ExtendBackIntake();
if (!splines[0].WaitForPlan()) return;
splines[0].Start();
- if (!splines[0].WaitForSplineDistanceRemaining(0.02)) return;
+ // Distance before we don't shoot while moving.
+ if (!splines[0].WaitForSplineDistanceRemaining(0.25)) return;
- // Fire the two balls once we stopped
- RetractBackIntake();
set_fire_at_will(true);
SendSuperstructureGoal();
+
+ if (!splines[0].WaitForSplineDistanceRemaining(0.02)) return;
+
+ std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+ // Fire the last ball we picked up when stopped.
+ SendSuperstructureGoal();
+ LOG(INFO) << "Close";
if (!WaitForBallsShot()) return;
LOG(INFO) << "Shot first 3 balls "
<< chrono::duration<double>(aos::monotonic_clock::now() -
start_time)
.count()
<< 's';
- set_fire_at_will(false);
- SendSuperstructureGoal();
// Drive to the human player station while intaking two balls.
// Once is already placed down,
// and one will be rolled to the robot by the human player
- ExtendFrontIntake();
if (!splines[1].WaitForPlan()) return;
splines[1].Start();
+
+ std::this_thread::sleep_for(std::chrono::milliseconds(1500));
+
+ set_fire_at_will(false);
+ SendSuperstructureGoal();
+
if (!splines[1].WaitForSplineDistanceRemaining(0.02)) return;
+ std::this_thread::sleep_for(std::chrono::milliseconds(500));
LOG(INFO) << "At balls 4/5 "
<< chrono::duration<double>(aos::monotonic_clock::now() -
start_time)
@@ -281,6 +305,53 @@
<< 's';
}
+// Rapid React Two Ball Autonomous.
+void AutonomousActor::RapidReactTwo() {
+ aos::monotonic_clock::time_point start_time = aos::monotonic_clock::now();
+
+ CHECK(rapid_react_two_spline_);
+
+ auto &splines = *rapid_react_two_spline_;
+
+ // Tell the superstructure a ball was preloaded
+ if (!WaitForPreloaded()) return;
+ set_fire_at_will(true);
+ SendSuperstructureGoal();
+ if (!WaitForBallsShot()) return;
+ LOG(INFO) << "Shot first ball "
+ << chrono::duration<double>(aos::monotonic_clock::now() -
+ start_time)
+ .count()
+ << 's';
+ set_fire_at_will(false);
+ SendSuperstructureGoal();
+
+ ExtendBackIntake();
+ if (!splines[0].WaitForPlan()) return;
+ splines[0].Start();
+ if (!splines[0].WaitForSplineDistanceRemaining(0.02)) return;
+
+ std::this_thread::sleep_for(std::chrono::milliseconds(300));
+
+ if (!splines[1].WaitForPlan()) return;
+ splines[1].Start();
+ if (!splines[1].WaitForSplineDistanceRemaining(0.02)) return;
+ std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+ // Fire the ball once we stopped
+ set_fire_at_will(true);
+ SendSuperstructureGoal();
+ if (!WaitForBallsShot()) return;
+ LOG(INFO) << "Shot last ball "
+ << chrono::duration<double>(aos::monotonic_clock::now() -
+ start_time)
+ .count()
+ << 's';
+ set_fire_at_will(false);
+ RetractBackIntake();
+ SendSuperstructureGoal();
+}
+
[[nodiscard]] bool AutonomousActor::WaitForPreloaded() {
set_preloaded(true);
SendSuperstructureGoal();
@@ -323,11 +394,6 @@
CreateProfileParameters(*builder.fbb(), 20.0, 60.0));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
- turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), turret_goal_,
- CreateProfileParameters(*builder.fbb(), 12.0, 20.0));
-
- flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
catapult_return_position_offset =
CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*builder.fbb(), kCatapultReturnPosition,
@@ -352,7 +418,6 @@
superstructure_builder.add_turret_intake(*requested_intake_);
}
superstructure_builder.add_transfer_roller_speed(transfer_roller_voltage_);
- superstructure_builder.add_turret(turret_offset);
superstructure_builder.add_catapult(catapult_goal_offset);
superstructure_builder.add_fire(fire_);
superstructure_builder.add_preloaded(preloaded_);
@@ -400,31 +465,12 @@
superstructure_status_fetcher_.Fetch();
CHECK(superstructure_status_fetcher_.get());
- // Don't do anything if we aren't loaded
- if (superstructure_status_fetcher_->state() !=
- control_loops::superstructure::SuperstructureState::LOADED &&
- superstructure_status_fetcher_->state() !=
- control_loops::superstructure::SuperstructureState::SHOOTING) {
- LOG(WARNING) << "No balls to shoot";
- return true;
- }
-
- // Since we're loaded, there will atleast be 1 ball to shoot
- int num_wanted = 1;
-
- // If we have another ball, we will shoot 2
- if (superstructure_status_fetcher_->front_intake_has_ball() ||
- superstructure_status_fetcher_->back_intake_has_ball()) {
- num_wanted++;
- }
-
::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
ActorBase::kLoopOffset);
superstructure_status_fetcher_.Fetch();
CHECK(superstructure_status_fetcher_.get() != nullptr);
- int initial_balls = superstructure_status_fetcher_->shot_count();
- LOG(INFO) << "Waiting for balls, started with " << initial_balls;
+
while (true) {
if (ShouldCancel()) {
return false;
@@ -432,8 +478,11 @@
phased_loop.SleepUntilNext();
superstructure_status_fetcher_.Fetch();
CHECK(superstructure_status_fetcher_.get() != nullptr);
- if (superstructure_status_fetcher_->shot_count() - initial_balls >=
- num_wanted) {
+
+ if (!superstructure_status_fetcher_->front_intake_has_ball() &&
+ !superstructure_status_fetcher_->back_intake_has_ball() &&
+ superstructure_status_fetcher_->state() ==
+ control_loops::superstructure::SuperstructureState::IDLE) {
return true;
}
}
diff --git a/y2022/actors/autonomous_actor.h b/y2022/actors/autonomous_actor.h
index ec66fb3..b36e010 100644
--- a/y2022/actors/autonomous_actor.h
+++ b/y2022/actors/autonomous_actor.h
@@ -47,7 +47,6 @@
void set_requested_intake(std::optional<RequestedIntake> requested_intake) {
requested_intake_ = requested_intake;
}
- void set_turret_goal(double turret_goal) { turret_goal_ = turret_goal; }
void set_fire_at_will(bool fire) { fire_ = fire; }
void set_preloaded(bool preloaded) { preloaded_ = preloaded; }
@@ -68,6 +67,7 @@
void SplineAuto();
void RapidReact();
+ void RapidReactTwo();
void Replan();
@@ -77,7 +77,6 @@
double roller_back_voltage_ = 0.0;
double transfer_roller_voltage_ = 0.0;
std::optional<RequestedIntake> requested_intake_ = std::nullopt;
- double turret_goal_ = 0.0;
bool fire_ = false;
bool preloaded_ = false;
@@ -95,6 +94,7 @@
std::optional<SplineHandle> test_spline_;
std::optional<std::array<SplineHandle, 3>> rapid_react_splines_;
+ std::optional<std::array<SplineHandle, 2>> rapid_react_two_spline_;
aos::Alliance alliance_ = aos::Alliance::kInvalid;
AutonomousSplines auto_splines_;
diff --git a/y2022/actors/splines/spline_2_ball.json b/y2022/actors/splines/spline_2_ball.json
new file mode 100644
index 0000000..bf7e8be
--- /dev/null
+++ b/y2022/actors/splines/spline_2_ball.json
@@ -0,0 +1 @@
+{"spline_count": 1, "spline_x": [1.6215960591132994, 2.0441299469203753, 2.136217765021257, 2.309583831291792, 2.6666670621941027, 2.9165660756303344], "spline_y": [-1.5742995073891626, -1.9839794486639044, -1.8796132548162379, -2.130555402472591, -2.15722202774562, -2.1959456607795707], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 10.0}]}
\ No newline at end of file
diff --git a/y2022/actors/splines/spline_5_ball_1.json b/y2022/actors/splines/spline_5_ball_1.json
index da3e4cf..46fddbb 100644
--- a/y2022/actors/splines/spline_5_ball_1.json
+++ b/y2022/actors/splines/spline_5_ball_1.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [-0.18145693702491972, -0.1806686149879133, -0.05595918014581436, 5.762204620882601, 2.7805678460726355, 1.6146169804687496], "spline_y": [2.346189480782648, 3.6925675615333544, 4.41262134323365, 2.4753395126953124, 2.2341888067461992, 1.3005395681218328], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 0.8, "start_distance": 1.0, "end_distance": 1.15}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [0.009329753853116074, -0.014583556392633312, 1.086141950245409, 1.3463506181539948, 1.8252560302734366, 2.7940085985321357], "spline_y": [2.2499321755598816, 3.695204931543886, 3.9907963594941256, 3.2671894020316525, 2.3428532547468994, 2.267936657588998], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 0.5, "start_distance": 1.0, "end_distance": 1.20}, {"constraint_type": "VELOCITY", "value": 1.0, "start_distance": 2.8, "end_distance": 10}]}
diff --git a/y2022/actors/splines/spline_5_ball_2.json b/y2022/actors/splines/spline_5_ball_2.json
index 3efd1ee..3ccf4d4 100644
--- a/y2022/actors/splines/spline_5_ball_2.json
+++ b/y2022/actors/splines/spline_5_ball_2.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [1.6037446032516893, 2.2055167265625, 2.8212725389450344, 6.148134261553881, 5.92062789622044, 6.7046250148859805], "spline_y": [1.2861465107685808, 1.7993420469805743, 1.286805497714088, 2.0935212995201415, 1.9849658141364017, 2.755576908889358], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 3.0}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [2.8029000394337356, 3.598701010385372, 3.592928864987311, 5.716241105891047, 6.058409698241228, 6.836921351984797], "spline_y": [2.2659592486204163, 2.2235586475607194, 1.3732945972518653, 1.187231336623733, 1.965522252857657, 2.7153394202517944], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 3.0}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2022/actors/splines/spline_5_ball_3.json b/y2022/actors/splines/spline_5_ball_3.json
index 6b239fc..7c288ca 100644
--- a/y2022/actors/splines/spline_5_ball_3.json
+++ b/y2022/actors/splines/spline_5_ball_3.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [6.702231375950168, 6.373881457031249, 5.758688966174009, 3.1788453508620487, 2.273453592205448, 1.6114305300886826], "spline_y": [2.7438724869219806, 2.4293757261929896, 2.0768880836927197, 1.7809922274871859, 1.852294682145808, 1.2821724076488596], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 4.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 3}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [6.853097963576857, 6.385098954905726, 4.82969339985708, 2.83784620575764, 1.5541577889609748, 1.0363839414488067], "spline_y": [2.714615301031989, 2.2383835427652135, 1.708398624422522, 2.517585062352501, 2.5751182100225627, 2.1689745582854774], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 4.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 3.0}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2022/constants.cc b/y2022/constants.cc
index a6b9a28..3fbe27b 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -34,7 +34,6 @@
Values r;
- // TODO(Yash): Set constants
// Intake constants.
auto *const intake_front = &r.intake_front;
auto *const intake_back = &r.intake_back;
@@ -62,16 +61,24 @@
intake_front->subsystem_params = intake_params;
intake_back->subsystem_params = intake_params;
- // TODO(Yash): Set constants
// Turret constants.
auto *const turret = &r.turret;
auto *const turret_params = &turret->subsystem_params;
+ auto *turret_range = &r.turret_range;
+
+ *turret_range = ::frc971::constants::Range{
+ .lower_hard = -7.0, // Back Hard
+ .upper_hard = 3.4, // Front Hard
+ .lower = -6.5, // Back Soft
+ .upper = 3.15 // Front Soft
+ };
turret_params->zeroing_voltage = 4.0;
turret_params->operating_voltage = 12.0;
turret_params->zeroing_profile_params = {0.5, 2.0};
+ turret_params->default_profile_params = {10.0, 20.0};
turret_params->default_profile_params = {15.0, 20.0};
- turret_params->range = Values::kTurretRange();
+ turret_params->range = *turret_range;
turret_params->make_integral_loop =
control_loops::superstructure::turret::MakeIntegralTurretLoop;
turret_params->zeroing_constants.average_filter_size =
@@ -132,21 +139,23 @@
// Interpolation table for comp and practice robots
r.shot_interpolation_table = InterpolationTable<Values::ShotParams>({
- {1.0, {0.0, 19.0}},
- {1.6, {0.0, 19.0}},
- {1.9, {0.1, 19.0}},
- {2.12, {0.15, 18.8}},
- {2.9, {0.25, 19.2}},
- {3.2, {0.28, 20.5}},
+ {1.0, {0.05, 19.4}},
+ {1.6, {0.05, 19.4}},
+ {1.9, {0.1, 19.4}},
+ {2.12, {0.13, 19.4}},
+ {2.9, {0.24, 19.9}},
- {3.86, {0.35, 20.9}},
- {4.9, {0.4, 21.9}},
+ {3.2, {0.26, 20.7}},
+
+ {3.60, {0.33, 20.9}},
+ {4.50, {0.38, 22.5}},
+ {4.9, {0.4, 22.9}},
{5.4, {0.4, 23.9}},
- {6.0, {0.40, 25.0}},
- {7.0, {0.37, 27.1}},
- {7.8, {0.35, 28.0}},
- {10.0, {0.35, 28.0}},
+ {6.0, {0.40, 25.4}},
+ {7.0, {0.37, 28.1}},
+
+ {10.0, {0.37, 28.1}},
});
if (false) {
@@ -207,24 +216,26 @@
case kCompTeamNumber:
climber->potentiometer_offset = -0.0463847608752 - 0.0376876182111 +
0.0629263851579 - 0.00682128836400001 +
- 0.0172237531191;
+ 0.0172237531191 - 0.0172237531191;
intake_front->potentiometer_offset =
- 2.79628370453323 - 0.0250288114832881 + 0.577152542437606;
+ 2.79628370453323 - 0.0250288114832881 + 0.577152542437606 + 0.476513825677792;
intake_front->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.26963366701647;
+ .measured_absolute_position = 0.205422145836751;
intake_back->potentiometer_offset =
- 3.1409576474047 + 0.278653334013286 + 0.00879137908308503;
+ 3.1409576474047 + 0.278653334013286 + 0.00879137908308503 +
+ 0.0837134053818833 + 0.832945730100298 - 0.00759895654985426 - 2.03114758819475;
intake_back->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.242434593996789;
+ .measured_absolute_position = 0.352050723370449;
- turret->potentiometer_offset = -9.99970387166721 + 0.06415943 +
- 0.073290115367682 - 0.0634440443622909 +
- 0.213601224728352 + 0.0657973101027296 -
- 0.114726411377978;
+ turret->potentiometer_offset =
+ -9.99970387166721 + 0.06415943 + 0.073290115367682 -
+ 0.0634440443622909 + 0.213601224728352 + 0.0657973101027296 -
+ 0.114726411377978 - 0.980314029089968 - 0.0266013159299456 +
+ 0.0631240002215899 + 0.222882504808653;
turret->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.39190961531060;
+ 1.14081767944401;
flipper_arm_left->potentiometer_offset = -6.4;
flipper_arm_right->potentiometer_offset = 5.56;
@@ -235,21 +246,26 @@
break;
case kPracticeTeamNumber:
+ // TODO(milind): calibrate once mounted
climber->potentiometer_offset = 0.0;
- intake_front->potentiometer_offset = 0.0;
+ intake_front->potentiometer_offset = 3.06604378582351;
intake_front->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.0;
- intake_back->potentiometer_offset = 0.0;
+ .measured_absolute_position = 0.318042402595181;
+ intake_back->potentiometer_offset = 3.10861174832838;
intake_back->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.0;
- turret->potentiometer_offset = 0.0;
+ .measured_absolute_position = 0.140554083520329;
+ turret->potentiometer_offset =
+ -8.14418207451834 + 0.342635491808218 - 0.944807955598189;
turret->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.0;
- flipper_arm_left->potentiometer_offset = 0.0;
- flipper_arm_right->potentiometer_offset = 0.0;
+ 0.524976896930003;
+ turret_range->upper = 3.0;
+ turret_params->range = *turret_range;
+ flipper_arm_left->potentiometer_offset = -4.39536583413615;
+ flipper_arm_right->potentiometer_offset = 4.36264091401229;
- catapult_params->zeroing_constants.measured_absolute_position = 0.0;
- catapult->potentiometer_offset = 0.0;
+ catapult_params->zeroing_constants.measured_absolute_position =
+ 1.62909518684227;
+ catapult->potentiometer_offset = -1.52951814169821 - 0.0200812009850977;
break;
case kCodingRobotTeamNumber:
diff --git a/y2022/constants.h b/y2022/constants.h
index 4b5351e..f410014 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -44,8 +44,10 @@
// Climber
static constexpr ::frc971::constants::Range kClimberRange() {
- return ::frc971::constants::Range{
- .lower_hard = -0.01, .upper_hard = 0.59, .lower = 0.003, .upper = 0.555};
+ return ::frc971::constants::Range{.lower_hard = -0.01,
+ .upper_hard = 0.59,
+ .lower = 0.003,
+ .upper = 0.555};
}
static constexpr double kClimberPotMetersPerRevolution() {
return 22 * 0.25 * 0.0254;
@@ -109,16 +111,7 @@
// Turret
PotAndAbsEncoderConstants turret;
-
- // TODO (Yash): Constants need to be tuned
- static constexpr ::frc971::constants::Range kTurretRange() {
- return ::frc971::constants::Range{
- .lower_hard = -7.0, // Back Hard
- .upper_hard = 3.4, // Front Hard
- .lower = -6.5, // Back Soft
- .upper = 3.15 // Front Soft
- };
- }
+ frc971::constants::Range turret_range;
static constexpr double kTurretBackIntakePos() { return -M_PI; }
static constexpr double kTurretFrontIntakePos() { return 0; }
diff --git a/y2022/control_loops/drivetrain/localizer.cc b/y2022/control_loops/drivetrain/localizer.cc
index 65df654..79ced2d 100644
--- a/y2022/control_loops/drivetrain/localizer.cc
+++ b/y2022/control_loops/drivetrain/localizer.cc
@@ -48,7 +48,7 @@
joystick_state_fetcher_->autonomous()) {
// TODO(james): This is an inelegant way to avoid having the localizer mess
// up splines. Do better.
- return;
+ //return;
}
if (localizer_output_fetcher_.Fetch()) {
clock_offset_fetcher_.Fetch();
diff --git a/y2022/control_loops/python/turret.py b/y2022/control_loops/python/turret.py
index 83ba4b3..fead853 100644
--- a/y2022/control_loops/python/turret.py
+++ b/y2022/control_loops/python/turret.py
@@ -17,18 +17,18 @@
except gflags.DuplicateFlagError:
pass
-kTurret = angular_system.AngularSystemParams(
- name='Turret',
- motor=control_loop.Falcon(),
- G=0.01,
- J=2.0,
- q_pos=0.40,
- q_vel=20.0,
- kalman_q_pos=0.12,
- kalman_q_vel=2.0,
- kalman_q_voltage=4.0,
- kalman_r_position=0.05,
- radius=24 * 0.0254)
+kTurret = angular_system.AngularSystemParams(name='Turret',
+ motor=control_loop.Falcon(),
+ G=(14.0 / 66.0) * (24.0 / 58.0) *
+ (18.0 / 110.0),
+ J=2.0,
+ q_pos=0.40,
+ q_vel=20.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05,
+ radius=24 * 0.0254)
def main(argv):
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index ebd9ace..fabc871 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -88,6 +88,7 @@
"//y2022:constants",
"//y2022/control_loops/superstructure/catapult",
"//y2022/control_loops/superstructure/turret:aiming",
+ "//y2022/vision:ball_color_fbs",
],
)
@@ -129,6 +130,19 @@
],
)
+cc_binary(
+ name = "superstructure_replay",
+ srcs = ["superstructure_replay.cc"],
+ deps = [
+ ":superstructure_lib",
+ "//aos:configuration",
+ "//aos:init",
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_reader",
+ "//aos/network:team_number",
+ ],
+)
+
cc_library(
name = "collision_avoidance_lib",
srcs = ["collision_avoidance.cc"],
@@ -180,6 +194,7 @@
"//frc971/queues:gyro_fbs",
"//third_party:phoenix",
"//third_party:wpilib",
+ "//y2022/localizer:localizer_output_fbs",
],
)
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index a04d8c9..612a17a 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -390,6 +390,9 @@
} else {
// TODO(austin): Voltage error?
CHECK_NOTNULL(catapult_voltage);
+ if (current_horizon_ == 1) {
+ battery_voltage = 12.0;
+ }
*catapult_voltage = std::max(
0.0, std::min(12.0, (*solution - 0.0 * next_X(2, 0)) * 12.0 /
std::max(battery_voltage, 8.0)));
diff --git a/y2022/control_loops/superstructure/collision_avoidance.h b/y2022/control_loops/superstructure/collision_avoidance.h
index 04b8e8a..1d6f89c 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.h
+++ b/y2022/control_loops/superstructure/collision_avoidance.h
@@ -61,7 +61,7 @@
static constexpr double kMaxCollisionZoneBackTurret = kCollisionZoneTurret;
// Maximum position of the intake to avoid collisions
- static constexpr double kCollisionZoneIntake = 1.33;
+ static constexpr double kCollisionZoneIntake = 1.30;
// Tolerances for the subsystems
static constexpr double kEpsTurret = 0.05;
diff --git a/y2022/control_loops/superstructure/led_indicator.cc b/y2022/control_loops/superstructure/led_indicator.cc
index 94d0506..b636250 100644
--- a/y2022/control_loops/superstructure/led_indicator.cc
+++ b/y2022/control_loops/superstructure/led_indicator.cc
@@ -17,6 +17,9 @@
client_statistics_fetcher_(
event_loop_->MakeFetcher<aos::message_bridge::ClientStatistics>(
"/roborio/aos")),
+ localizer_output_fetcher_(
+ event_loop_->MakeFetcher<frc971::controls::LocalizerOutput>(
+ "/localizer")),
gyro_reading_fetcher_(
event_loop_->MakeFetcher<frc971::sensors::GyroReading>(
"/drivetrain")) {
@@ -58,12 +61,6 @@
}
return false;
}
-
-bool DrivingFast(
- const frc971::control_loops::drivetrain::Output &drivetrain_out) {
- return (drivetrain_out.left_voltage() >= 11.5 ||
- drivetrain_out.right_voltage() >= 11.5);
-}
} // namespace
void LedIndicator::DecideColor() {
@@ -72,6 +69,15 @@
drivetrain_output_fetcher_.Fetch();
client_statistics_fetcher_.Fetch();
gyro_reading_fetcher_.Fetch();
+ localizer_output_fetcher_.Fetch();
+
+ if (localizer_output_fetcher_.get()) {
+ if (localizer_output_fetcher_->image_accepted_count() !=
+ last_accepted_count_) {
+ last_accepted_count_ = localizer_output_fetcher_->image_accepted_count();
+ last_accepted_time_ = event_loop_->monotonic_now();
+ }
+ }
// Estopped
if (superstructure_status_fetcher_.get() &&
@@ -90,7 +96,8 @@
// If the imu gyro readings are not being sent/updated recently
if (!gyro_reading_fetcher_.get() ||
gyro_reading_fetcher_.context().monotonic_event_time <
- event_loop_->monotonic_now() - frc971::controls::kLoopFrequency * 10) {
+ event_loop_->monotonic_now() -
+ frc971::controls::kLoopFrequency * 10) {
if (imu_flash_) {
DisplayLed(255, 0, 0);
} else {
@@ -122,13 +129,6 @@
return;
}
- // Driving fast
- if (drivetrain_output_fetcher_.get() &&
- DrivingFast(*drivetrain_output_fetcher_)) {
- DisplayLed(138, 43, 226);
- return;
- }
-
// Statemachine
if (superstructure_status_fetcher_.get()) {
switch (superstructure_status_fetcher_->state()) {
@@ -147,18 +147,16 @@
} else if (superstructure_status_fetcher_->front_intake_has_ball() ||
superstructure_status_fetcher_->back_intake_has_ball()) {
DisplayLed(165, 42, 42);
- } else {
- DisplayLed(0, 255, 0);
}
break;
case (SuperstructureState::SHOOTING):
- if (!superstructure_status_fetcher_->flippers_open()) {
- DisplayLed(255, 105, 180);
- } else {
- DisplayLed(0, 255, 255);
- }
break;
}
+
+ if (event_loop_->monotonic_now() <
+ last_accepted_time_ + std::chrono::seconds(2)) {
+ DisplayLed(255, 0, 255);
+ }
return;
}
}
diff --git a/y2022/control_loops/superstructure/led_indicator.h b/y2022/control_loops/superstructure/led_indicator.h
index 0f44788..c058254 100644
--- a/y2022/control_loops/superstructure/led_indicator.h
+++ b/y2022/control_loops/superstructure/led_indicator.h
@@ -12,6 +12,7 @@
#include "frc971/queues/gyro_generated.h"
#include "y2022/control_loops/superstructure/superstructure_output_generated.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/localizer/localizer_output_generated.h"
namespace y2022::control_loops::superstructure {
@@ -58,8 +59,12 @@
server_statistics_fetcher_;
aos::Fetcher<aos::message_bridge::ClientStatistics>
client_statistics_fetcher_;
+ aos::Fetcher<frc971::controls::LocalizerOutput> localizer_output_fetcher_;
aos::Fetcher<frc971::sensors::GyroReading> gyro_reading_fetcher_;
+ size_t last_accepted_count_ = 0;
+ aos::monotonic_clock::time_point last_accepted_time_ =
+ aos::monotonic_clock::min_time;
size_t imu_counter_ = 0;
bool imu_flash_ = false;
size_t disconnected_counter_ = 0;
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 15f9c2a..abf3aef 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -32,6 +32,10 @@
"/drivetrain")),
can_position_fetcher_(
event_loop->MakeFetcher<CANPosition>("/superstructure")),
+ joystick_state_fetcher_(
+ event_loop->MakeFetcher<aos::JoystickState>("/aos")),
+ ball_color_fetcher_(
+ event_loop->MakeFetcher<y2022::vision::BallColor>("/superstructure")),
aimer_(values) {
event_loop->SetRuntimeRealtimePriority(30);
}
@@ -55,10 +59,43 @@
frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal, 512>
turret_loading_goal_buffer;
aos::FlatbufferFixedAllocatorArray<CatapultGoal, 512> catapult_goal_buffer;
+ aos::FlatbufferFixedAllocatorArray<CatapultGoal, 512>
+ catapult_discarding_goal_buffer;
const aos::monotonic_clock::time_point timestamp =
event_loop()->context().monotonic_event_time;
+ if (joystick_state_fetcher_.Fetch() &&
+ joystick_state_fetcher_->has_alliance()) {
+ alliance_ = joystick_state_fetcher_->alliance();
+ }
+
+ if (ball_color_fetcher_.Fetch() && ball_color_fetcher_->has_ball_color()) {
+ ball_color_ = ball_color_fetcher_->ball_color();
+ }
+
+ if (alliance_ != aos::Alliance::kInvalid &&
+ ball_color_ != aos::Alliance::kInvalid && alliance_ != ball_color_) {
+ switch (state_) {
+ case SuperstructureState::IDLE:
+ break;
+ case SuperstructureState::TRANSFERRING:
+ break;
+ case SuperstructureState::LOADING:
+ break;
+ case SuperstructureState::LOADED:
+ discarding_ball_ = true;
+ break;
+ case SuperstructureState::SHOOTING:
+ if (!fire_) {
+ // we can still tell it not to shoot into the hub
+ // and change the turret and catapult goals
+ discarding_ball_ = true;
+ }
+ break;
+ }
+ }
+
drivetrain_status_fetcher_.Fetch();
const float velocity = robot_velocity();
@@ -92,8 +129,9 @@
climber_servo = unsafe_goal->climber_servo();
- turret_goal =
- unsafe_goal->auto_aim() ? auto_aim_goal : unsafe_goal->turret();
+ turret_goal = unsafe_goal->auto_aim() && !discarding_ball_
+ ? auto_aim_goal
+ : unsafe_goal->turret();
catapult_goal = unsafe_goal->catapult();
@@ -107,7 +145,7 @@
std::optional<flatbuffers::Offset<
frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal>>
return_position_offset;
- if (unsafe_goal != nullptr && unsafe_goal->has_catapult() &&
+ if (unsafe_goal->has_catapult() &&
unsafe_goal->catapult()->has_return_position()) {
return_position_offset = {aos::CopyFlatBuffer(
unsafe_goal->catapult()->return_position(), catapult_goal_fbb)};
@@ -122,6 +160,27 @@
catapult_goal = &catapult_goal_buffer.message();
}
+ if (discarding_ball_) {
+ flatbuffers::FlatBufferBuilder *catapult_goal_fbb =
+ catapult_discarding_goal_buffer.fbb();
+ std::optional<flatbuffers::Offset<
+ frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal>>
+ return_position_offset;
+ if (unsafe_goal->has_catapult() &&
+ unsafe_goal->catapult()->has_return_position()) {
+ return_position_offset = {aos::CopyFlatBuffer(
+ unsafe_goal->catapult()->return_position(), catapult_goal_fbb)};
+ }
+ CatapultGoal::Builder builder(*catapult_goal_fbb);
+ builder.add_shot_position(kDiscardingPosition);
+ builder.add_shot_velocity(kDiscardingVelocity);
+ if (return_position_offset.has_value()) {
+ builder.add_return_position(return_position_offset.value());
+ }
+ catapult_discarding_goal_buffer.Finish(builder.Finish());
+ catapult_goal = &catapult_discarding_goal_buffer.message();
+ }
+
if (unsafe_goal->has_turret_intake()) {
have_active_intake_request = true;
}
@@ -180,7 +239,7 @@
back_intake_beambreak_timer_ = timestamp;
}
- // Check if we're either spitting of have lost the ball.
+ // Check if we're either spitting or have lost the ball.
if ((transfer_roller_speed < 0.0 && front_intake_has_ball_) ||
timestamp >
front_intake_beambreak_timer_ + constants::Values::kBallLostTime()) {
@@ -222,17 +281,24 @@
(turret_intake_state_ == RequestedIntake::kFront
? constants::Values::kTurretFrontIntakePos()
: constants::Values::kTurretBackIntakePos());
- // Turn to the loading position as close to the current position as
- // possible.
- turret_loading_position =
- turret_.estimated_position() +
- aos::math::NormalizeAngle(turret_loading_position -
- turret_.estimated_position());
- // if out of range, reset back to within +/- pi of zero.
- if (turret_loading_position > constants::Values::kTurretRange().upper ||
- turret_loading_position < constants::Values::kTurretRange().lower) {
+ if (transitioning_second_ball_) {
+ // Turn to the loading position as close to the current position as
+ // possible since we just aimed.
turret_loading_position =
- frc971::zeroing::Wrap(constants::Values::kTurretRange().middle_soft(),
+ turret_.estimated_position() +
+ aos::math::NormalizeAngle(turret_loading_position -
+ turret_.estimated_position());
+ }
+
+ if (!transitioning_second_ball_ ||
+ (turret_loading_position > values_->turret_range.upper ||
+ turret_loading_position < values_->turret_range.lower)) {
+ // Turn to the loading position as close to the middle of the range as
+ // possible. Do the unwraping before we have a ball so we don't have to
+ // unwrap to shoot if we aren't transitioning a second ball. If we are doing
+ // the second ball, we need to reset back to the middle of the range
+ turret_loading_position =
+ frc971::zeroing::Wrap(values_->turret_range.middle_soft(),
turret_loading_position, 2.0 * M_PI);
}
@@ -240,6 +306,12 @@
frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*turret_loading_goal_buffer.fbb(), turret_loading_position));
+ const bool catapult_near_return_position =
+ (unsafe_goal != nullptr && unsafe_goal->has_catapult() &&
+ unsafe_goal->catapult()->has_return_position() &&
+ std::abs(unsafe_goal->catapult()->return_position()->unsafe_goal() -
+ catapult_.estimated_position()) < kCatapultGoalThreshold);
+
const bool turret_near_goal =
turret_goal != nullptr &&
std::abs(turret_goal->unsafe_goal() - turret_.position()) <
@@ -288,15 +360,17 @@
(turret_intake_state_ == RequestedIntake::kBack &&
!back_intake_has_ball_)) {
state_ = SuperstructureState::IDLE;
+ transitioning_second_ball_ = false;
break;
}
turret_goal = &turret_loading_goal_buffer.message();
+ aimer_.UpdateTurretGoal(turret_loading_position);
const bool turret_near_goal =
std::abs(turret_.estimated_position() - turret_loading_position) <
- kTurretGoalThreshold;
- if (!turret_near_goal) {
+ kTurretGoalLoadingThreshold;
+ if (!turret_near_goal || !catapult_near_return_position) {
break; // Wait for turret to reach the chosen intake
}
@@ -333,6 +407,8 @@
} else if (timestamp >
loading_timer_ + constants::Values::kExtraLoadingTime()) {
state_ = SuperstructureState::LOADED;
+ // reset color and wait for a new one once we know the ball is in place
+ ball_color_ = aos::Alliance::kInvalid;
reseating_in_catapult_ = false;
}
break;
@@ -346,16 +422,18 @@
}
turret_goal = &turret_loading_goal_buffer.message();
}
+
if (unsafe_goal->cancel_shot()) {
// Cancel the shot process
state_ = SuperstructureState::IDLE;
- } else if (unsafe_goal->fire()) {
+ } else if (unsafe_goal->fire() || discarding_ball_) {
// Start if we were asked to and the turret is at goal
state_ = SuperstructureState::SHOOTING;
prev_shot_count_ = catapult_.shot_count();
// Reset opening timeout
flipper_opening_start_time_ = timestamp;
+ loading_timer_ = timestamp;
}
}
break;
@@ -424,18 +502,15 @@
fire_ = true;
}
- const bool near_return_position =
- (unsafe_goal != nullptr && unsafe_goal->has_catapult() &&
- unsafe_goal->catapult()->has_return_position() &&
- std::abs(unsafe_goal->catapult()->return_position()->unsafe_goal() -
- catapult_.estimated_position()) < kCatapultGoalThreshold);
-
// Once the shot is complete and the catapult is back to its return
// position, go back to IDLE
- if (catapult_.shot_count() > prev_shot_count_ && near_return_position) {
+ if (catapult_.shot_count() > prev_shot_count_) {
prev_shot_count_ = catapult_.shot_count();
fire_ = false;
+ discarding_ball_ = false;
state_ = SuperstructureState::IDLE;
+ transitioning_second_ball_ =
+ (front_intake_has_ball_ || back_intake_has_ball_);
}
break;
@@ -446,7 +521,8 @@
{.intake_front_position = intake_front_.estimated_position(),
.intake_back_position = intake_back_.estimated_position(),
.turret_position = turret_.estimated_position(),
- .shooting = state_ == SuperstructureState::SHOOTING},
+ .shooting = (state_ == SuperstructureState::SHOOTING) ||
+ !catapult_near_return_position},
turret_goal);
turret_.set_min_position(collision_avoidance_.min_turret_goal());
@@ -502,7 +578,7 @@
output_struct.transfer_roller_voltage = transfer_roller_speed;
output_struct.flipper_arms_voltage = flipper_arms_voltage;
if (climber_servo) {
- output_struct.climber_servo_left = 0.0;
+ output_struct.climber_servo_left = 0.5;
output_struct.climber_servo_right = 1.0;
} else {
output_struct.climber_servo_left = 1.0;
@@ -542,6 +618,8 @@
status_builder.add_reseating_in_catapult(reseating_in_catapult_);
status_builder.add_fire(fire_);
status_builder.add_moving_too_fast(moving_too_fast);
+ status_builder.add_discarding_ball(discarding_ball_);
+ status_builder.add_collided(collided);
status_builder.add_ready_to_fire(state_ == SuperstructureState::LOADED &&
turret_near_goal && !collided);
status_builder.add_state(state_);
@@ -559,6 +637,7 @@
}
status_builder.add_front_intake_has_ball(front_intake_has_ball_);
status_builder.add_back_intake_has_ball(back_intake_has_ball_);
+ status_builder.add_transitioning_second_ball(transitioning_second_ball_);
status_builder.add_aimer(aimer_offset);
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 14fa8ab..5e3415c 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -13,6 +13,7 @@
#include "y2022/control_loops/superstructure/superstructure_position_generated.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
#include "y2022/control_loops/superstructure/turret/aiming.h"
+#include "y2022/vision/ball_color_generated.h"
namespace y2022 {
namespace control_loops {
@@ -32,9 +33,12 @@
::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
static constexpr double kTurretGoalThreshold = 0.05;
+ static constexpr double kTurretGoalLoadingThreshold = 0.70;
static constexpr double kCatapultGoalThreshold = 0.05;
// potentiometer will be more noisy
static constexpr double kFlipperGoalThreshold = 0.05;
+ static constexpr double kDiscardingPosition = 0.35;
+ static constexpr double kDiscardingVelocity = 6.0;
explicit Superstructure(::aos::EventLoop *event_loop,
std::shared_ptr<const constants::Values> values,
@@ -72,6 +76,8 @@
aos::Fetcher<frc971::control_loops::drivetrain::Status>
drivetrain_status_fetcher_;
aos::Fetcher<CANPosition> can_position_fetcher_;
+ aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+ aos::Fetcher<y2022::vision::BallColor> ball_color_fetcher_;
int prev_shot_count_ = 0;
@@ -80,6 +86,9 @@
bool flippers_open_ = false;
bool reseating_in_catapult_ = false;
bool fire_ = false;
+ bool discarding_ball_ = false;
+ aos::Alliance alliance_ = aos::Alliance::kInvalid;
+ aos::Alliance ball_color_ = aos::Alliance::kInvalid;
aos::monotonic_clock::time_point front_intake_beambreak_timer_ =
aos::monotonic_clock::min_time;
@@ -94,6 +103,7 @@
SuperstructureState state_ = SuperstructureState::IDLE;
bool front_intake_has_ball_ = false;
bool back_intake_has_ball_ = false;
+ bool transitioning_second_ball_ = false;
std::optional<double> last_shot_angle_ = std::nullopt;
RequestedIntake turret_intake_state_ = RequestedIntake::kFront;
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 7123a47..e582d9e 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -158,7 +158,7 @@
PositionSensorSimulator(
values->turret.subsystem_params.zeroing_constants
.one_revolution_distance),
- values->turret, constants::Values::kTurretRange(),
+ values->turret, values->turret_range,
values->turret.subsystem_params.zeroing_constants
.measured_absolute_position,
dt_),
@@ -178,7 +178,7 @@
intake_front_.InitializePosition(
constants::Values::kIntakeRange().middle());
intake_back_.InitializePosition(constants::Values::kIntakeRange().middle());
- turret_.InitializePosition(constants::Values::kTurretRange().middle());
+ turret_.InitializePosition(values->turret_range.middle());
catapult_.InitializePosition(constants::Values::kCatapultRange().middle());
climber_.InitializePosition(constants::Values::kClimberRange().middle());
@@ -328,9 +328,11 @@
values_(std::make_shared<constants::Values>(constants::MakeValues(
frc971::control_loops::testing::kTeamNumber))),
roborio_(aos::configuration::GetNode(configuration(), "roborio")),
+ logger_pi_(aos::configuration::GetNode(configuration(), "logger")),
superstructure_event_loop(MakeEventLoop("Superstructure", roborio_)),
superstructure_(superstructure_event_loop.get(), values_),
test_event_loop_(MakeEventLoop("test", roborio_)),
+ ball_color_event_loop_(MakeEventLoop("ball color test", logger_pi_)),
superstructure_goal_fetcher_(
test_event_loop_->MakeFetcher<Goal>("/superstructure")),
superstructure_goal_sender_(
@@ -345,6 +347,9 @@
test_event_loop_->MakeSender<Position>("/superstructure")),
drivetrain_status_sender_(
test_event_loop_->MakeSender<DrivetrainStatus>("/drivetrain")),
+ ball_color_sender_(
+ ball_color_event_loop_->MakeSender<y2022::vision::BallColor>(
+ "/superstructure")),
superstructure_plant_event_loop_(MakeEventLoop("plant", roborio_)),
superstructure_plant_(superstructure_plant_event_loop_.get(), values_,
dt()) {
@@ -476,10 +481,12 @@
std::shared_ptr<const constants::Values> values_;
const aos::Node *const roborio_;
+ const aos::Node *const logger_pi_;
::std::unique_ptr<::aos::EventLoop> superstructure_event_loop;
::y2022::control_loops::superstructure::Superstructure superstructure_;
::std::unique_ptr<::aos::EventLoop> test_event_loop_;
+ ::std::unique_ptr<aos::EventLoop> ball_color_event_loop_;
::aos::PhasedLoopHandler *phased_loop_handle_ = nullptr;
::aos::Fetcher<Goal> superstructure_goal_fetcher_;
@@ -489,6 +496,7 @@
::aos::Fetcher<Position> superstructure_position_fetcher_;
::aos::Sender<Position> superstructure_position_sender_;
::aos::Sender<DrivetrainStatus> drivetrain_status_sender_;
+ ::aos::Sender<y2022::vision::BallColor> ball_color_sender_;
::std::unique_ptr<::aos::EventLoop> superstructure_plant_event_loop_;
SuperstructureSimulation superstructure_plant_;
@@ -558,7 +566,7 @@
superstructure_plant_.intake_back()->InitializePosition(
constants::Values::kIntakeRange().middle());
superstructure_plant_.turret()->InitializePosition(
- constants::Values::kTurretRange().middle());
+ values_->turret_range.middle());
superstructure_plant_.climber()->InitializePosition(
constants::Values::kClimberRange().middle());
WaitUntilZeroed();
@@ -576,7 +584,7 @@
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kTurretRange().lower,
+ *builder.fbb(), values_->turret_range.lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
@@ -663,7 +671,7 @@
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kTurretRange().lower,
+ *builder.fbb(), values_->turret_range.lower,
CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
@@ -756,17 +764,26 @@
SendRobotVelocity(1.0);
constexpr double kTurretGoal = 2.0;
+ constexpr double kCatapultReturnPosition = -0.87;
{
auto builder = superstructure_goal_sender_.MakeBuilder();
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*builder.fbb(), kTurretGoal);
+ const auto catapult_return_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), kCatapultReturnPosition);
+ auto catapult_builder = builder.MakeBuilder<CatapultGoal>();
+ catapult_builder.add_return_position(catapult_return_offset);
+ const auto catapult_offset = catapult_builder.Finish();
+
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_roller_speed_front(12.0);
goal_builder.add_roller_speed_back(12.0);
goal_builder.add_roller_speed_compensation(0.0);
goal_builder.add_turret(turret_offset);
goal_builder.add_turret_intake(RequestedIntake::kFront);
+ goal_builder.add_catapult(catapult_offset);
builder.CheckOk(builder.Send(goal_builder.Finish()));
}
RunFor(std::chrono::seconds(2));
@@ -916,8 +933,8 @@
*builder.fbb(), kTurretGoal);
const auto catapult_return_offset =
- CreateStaticZeroingSingleDOFProfiledSubsystemGoal(*builder.fbb(),
- -0.87);
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), kCatapultReturnPosition);
auto catapult_builder = builder.MakeBuilder<CatapultGoal>();
catapult_builder.add_shot_position(0.3);
catapult_builder.add_shot_velocity(15.0);
@@ -980,6 +997,7 @@
SuperstructureState::TRANSFERRING);
EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
IntakeState::INTAKE_BACK_BALL);
+ EXPECT_TRUE(superstructure_status_fetcher_->transitioning_second_ball());
EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
-constants::Values::kTurretBackIntakePos(), 0.001);
@@ -989,11 +1007,12 @@
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+ EXPECT_FALSE(superstructure_status_fetcher_->transitioning_second_ball());
EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
IntakeState::NO_BALL);
}
-TEST_F(SuperstructureTest, TestTurretWrapsWhenLoading) {
+TEST_F(SuperstructureTest, TestTurretUnWrapsWhenLoading) {
SetEnabled(true);
WaitUntilZeroed();
@@ -1015,21 +1034,22 @@
EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
0.001);
- superstructure_plant_.set_intake_beambreak_front(true);
+ superstructure_plant_.set_intake_beambreak_back(true);
RunFor(dt() * 2);
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
EXPECT_EQ(superstructure_status_fetcher_->state(),
SuperstructureState::TRANSFERRING);
EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
- IntakeState::INTAKE_FRONT_BALL);
+ IntakeState::INTAKE_BACK_BALL);
RunFor(std::chrono::seconds(3));
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
- -constants::Values::kTurretFrontIntakePos() - 2.0 * M_PI, 0.001);
- // it chooses -pi because -pi is closer to -4 than positive pi
+ constants::Values::kTurretBackIntakePos(), 0.001);
+ // It goes to -pi instead of +pi because -pi is closest to the center of the
+ // range at -1.675.
}
// Make sure that the front and back intakes are never switched
@@ -1285,6 +1305,80 @@
shot_params.shot_angle);
}
+// Tests that balls get discarded when they are the wrong color.
+TEST_F(SuperstructureTest, BallDiscarding) {
+ set_alliance(aos::Alliance::kInvalid);
+ SetEnabled(true);
+ WaitUntilZeroed();
+
+ // Set ourselves up 5m from the target--the turret goal should be 90 deg (we
+ // need to shoot out the right of the robot, and we shoot out of the back of
+ // the turret).
+ SendDrivetrainStatus(0.0, {0.0, 5.0}, 0.0);
+
+ RunFor(chrono::milliseconds(500));
+ set_alliance(aos::Alliance::kBlue);
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+ goal_builder.add_auto_aim(true);
+ goal_builder.add_preloaded(true);
+ goal_builder.add_turret_intake(RequestedIntake::kFront);
+
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ // Give it time to stabilize.
+ RunFor(chrono::seconds(2));
+
+ superstructure_status_fetcher_.Fetch();
+ EXPECT_NEAR(M_PI_2, superstructure_status_fetcher_->turret()->position(),
+ 5e-4);
+
+ {
+ auto builder = ball_color_sender_.MakeBuilder();
+
+ y2022::vision::BallColor::Builder ball_color_builder =
+ builder.MakeBuilder<y2022::vision::BallColor>();
+
+ ball_color_builder.add_ball_color(aos::Alliance::kBlue);
+
+ ASSERT_EQ(builder.Send(ball_color_builder.Finish()),
+ aos::RawSender::Error::kOk);
+ }
+
+ RunFor(chrono::milliseconds(100));
+ superstructure_status_fetcher_.Fetch();
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADED);
+
+ {
+ auto builder = ball_color_sender_.MakeBuilder();
+
+ y2022::vision::BallColor::Builder ball_color_builder =
+ builder.MakeBuilder<y2022::vision::BallColor>();
+
+ ball_color_builder.add_ball_color(aos::Alliance::kRed);
+
+ ASSERT_EQ(builder.Send(ball_color_builder.Finish()),
+ aos::RawSender::Error::kOk);
+ }
+
+ RunFor(dt());
+
+ superstructure_status_fetcher_.Fetch();
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::SHOOTING);
+
+ RunFor(chrono::milliseconds(2000));
+ superstructure_status_fetcher_.Fetch();
+ EXPECT_NEAR(constants::Values::kTurretFrontIntakePos(),
+ superstructure_status_fetcher_->turret()->position(), 5e-4);
+}
+
} // namespace testing
} // namespace superstructure
} // namespace control_loops
diff --git a/y2022/control_loops/superstructure/superstructure_plotter.ts b/y2022/control_loops/superstructure/superstructure_plotter.ts
index f8c3a7c..5a1537e 100644
--- a/y2022/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2022/control_loops/superstructure/superstructure_plotter.ts
@@ -32,8 +32,8 @@
.setColor(RED)
.setPointSize(4.0);
positionPlot.addMessageLine(status, ['state'])
- .setColor(CYAN)
- .setPointSize(1.0);
+ .setColor(PINK)
+ .setPointSize(4.0);
positionPlot.addMessageLine(status, ['flippers_open'])
.setColor(WHITE)
.setPointSize(1.0);
@@ -41,9 +41,24 @@
.setColor(BLUE)
.setPointSize(1.0);
positionPlot.addMessageLine(status, ['fire'])
- .setColor(CYAN)
+ .setColor(BROWN)
+ .setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['ready_to_fire'])
+ .setColor(GREEN)
+ .setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['collided'])
+ .setColor(PINK)
.setPointSize(1.0);
+ const shotCountPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ shotCountPlot.plot.getAxisLabels().setTitle('Shot Count');
+ shotCountPlot.plot.getAxisLabels().setXLabel(TIME);
+ shotCountPlot.plot.getAxisLabels().setYLabel('balls');
+ shotCountPlot.plot.setDefaultYRange([-1.0, 2.0]);
+ shotCountPlot.addMessageLine(status, ['shot_count'])
+ .setColor(RED)
+ .setPointSize(1.0);
const intakePlot =
aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
@@ -60,6 +75,9 @@
intakePlot.addMessageLine(position, ['intake_beambreak_back'])
.setColor(PINK)
.setPointSize(1.0);
+ intakePlot.addMessageLine(output, ['transfer_roller_voltage'])
+ .setColor(BROWN)
+ .setPointSize(3.0);
const otherPlot =
@@ -72,6 +90,9 @@
otherPlot.addMessageLine(status, ['catapult', 'position'])
.setColor(PINK)
.setPointSize(4.0);
+ otherPlot.addMessageLine(status, ['turret', 'position'])
+ .setColor(WHITE)
+ .setPointSize(4.0);
otherPlot.addMessageLine(position, ['flipper_arm_left', 'encoder'])
.setColor(BLUE)
.setPointSize(4.0);
diff --git a/y2022/control_loops/superstructure/superstructure_replay.cc b/y2022/control_loops/superstructure/superstructure_replay.cc
new file mode 100644
index 0000000..b05cdb9
--- /dev/null
+++ b/y2022/control_loops/superstructure/superstructure_replay.cc
@@ -0,0 +1,74 @@
+// This binary allows us to replay the superstructure code over existing logfile.
+// When you run this code, it generates a new logfile with the data all
+// replayed, so that it can then be run through the plotting tool or analyzed
+// in some other way. The original superstructure status data will be on the
+// /original/superstructure channel.
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/log_writer.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/logging/log_message_generated.h"
+#include "aos/network/team_number.h"
+#include "gflags/gflags.h"
+#include "y2022/constants.h"
+#include "y2022/control_loops/superstructure/superstructure.h"
+
+DEFINE_int32(team, 971, "Team number to use for logfile replay.");
+DEFINE_string(output_folder, "/tmp/superstructure_replay/",
+ "Logs all channels to the provided logfile.");
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::network::OverrideTeamNumber(FLAGS_team);
+
+ // open logfiles
+ aos::logger::LogReader reader(
+ aos::logger::SortParts(aos::logger::FindLogs(argc, argv)));
+ // TODO(james): Actually enforce not sending on the same buses as the logfile
+ // spews out.
+ reader.RemapLoggedChannel("/superstructure",
+ "y2022.control_loops.superstructure.Status");
+ reader.RemapLoggedChannel("/superstructure",
+ "y2022.control_loops.superstructure.Output");
+
+ aos::SimulatedEventLoopFactory factory(reader.configuration());
+ reader.Register(&factory);
+
+ aos::NodeEventLoopFactory *roborio =
+ factory.GetNodeEventLoopFactory("roborio");
+
+ unlink(FLAGS_output_folder.c_str());
+ std::unique_ptr<aos::EventLoop> logger_event_loop =
+ roborio->MakeEventLoop("logger");
+ auto logger = std::make_unique<aos::logger::Logger>(logger_event_loop.get());
+ logger->StartLoggingOnRun(FLAGS_output_folder);
+
+ roborio->OnStartup([roborio]() {
+ roborio->AlwaysStart<y2022::control_loops::superstructure::Superstructure>(
+ "superstructure", std::make_shared<y2022::constants::Values>(
+ y2022::constants::MakeValues()));
+ });
+
+ std::unique_ptr<aos::EventLoop> print_loop = roborio->MakeEventLoop("print");
+ print_loop->SkipAosLog();
+ print_loop->MakeWatcher(
+ "/aos", [&print_loop](const aos::logging::LogMessageFbs &msg) {
+ LOG(INFO) << print_loop->context().monotonic_event_time << " "
+ << aos::FlatbufferToJson(&msg);
+ });
+ print_loop->MakeWatcher(
+ "/superstructure",
+ [&](const y2022::control_loops::superstructure::Status &status) {
+ if (status.estopped()) {
+ LOG(ERROR) << "Estopped";
+ }
+ });
+
+ factory.Run();
+
+ reader.Deregister();
+
+ return 0;
+}
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 9cf9a5f..bfa8f3f 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -51,14 +51,21 @@
// Whether the front/rear intakes currently are holding balls.
front_intake_has_ball:bool (id: 18);
back_intake_has_ball:bool (id: 19);
+ // Whether we just shot a ball and are transitioning a second one
+ transitioning_second_ball:bool (id: 24);
// Whether the flippers are open for shooting
flippers_open:bool (id: 12);
// Whether the flippers failed to open and we are retrying
reseating_in_catapult:bool (id: 13);
+ // Whether the turret/catapult is collided with the intake
+ collided:bool(id: 23);
// Whether the turret is ready for firing
ready_to_fire:bool (id: 20);
// Whether the robot is moving too fast to shoot
moving_too_fast:bool (id: 21);
+ // True if the robot has detected that it is holding
+ // the wrong color ball and is now discarding it.
+ discarding_ball:bool (id: 22);
// Whether the catapult was told to fire,
// meaning that the turret and flippers are ready for firing
// and we were asked to fire. Different from fire flag in goal.
diff --git a/y2022/control_loops/superstructure/turret/aiming.cc b/y2022/control_loops/superstructure/turret/aiming.cc
index 5fe8a2c..6320cb7 100644
--- a/y2022/control_loops/superstructure/turret/aiming.cc
+++ b/y2022/control_loops/superstructure/turret/aiming.cc
@@ -8,8 +8,8 @@
namespace turret {
using frc971::control_loops::Pose;
-using frc971::control_loops::aiming::ShotConfig;
using frc971::control_loops::aiming::RobotState;
+using frc971::control_loops::aiming::ShotConfig;
namespace {
// If the turret is at zero, then it will be at this angle at which the shot
@@ -55,7 +55,7 @@
// Use the previous shot distance to estimate the speed-over-ground of the
// ball.
current_goal_ = frc971::control_loops::aiming::AimerGoal(
- ShotConfig{goal, shot_mode, constants_->kTurretRange(),
+ ShotConfig{goal, shot_mode, constants_->turret_range,
constants_->shot_velocity_interpolation_table
.Get(current_goal_.target_distance)
.shot_speed_over_ground,
diff --git a/y2022/control_loops/superstructure/turret/aiming.h b/y2022/control_loops/superstructure/turret/aiming.h
index 4eabe3e..a762298 100644
--- a/y2022/control_loops/superstructure/turret/aiming.h
+++ b/y2022/control_loops/superstructure/turret/aiming.h
@@ -24,6 +24,9 @@
void Update(const Status *status, ShotMode shot_mode);
+ void UpdateTurretGoal(double turret_goal) {
+ goal_.mutable_message()->mutate_unsafe_goal(turret_goal);
+ }
const Goal *TurretGoal() const { return &goal_.message(); }
// Returns the distance to the goal, in meters.
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 05f3008..26c7f33 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -64,8 +64,9 @@
const ButtonLocation kIntakeFrontOut(4, 10);
const ButtonLocation kIntakeBackOut(4, 9);
-const ButtonLocation kSpitFront(3, 3);
-const ButtonLocation kSpitBack(3, 1);
+const ButtonLocation kSpitFront(4, 8);
+const ButtonLocation kSpitBack(4, 7);
+const ButtonLocation kSpit(3, 3);
const ButtonLocation kRedLocalizerReset(4, 14);
const ButtonLocation kBlueLocalizerReset(4, 13);
@@ -232,6 +233,13 @@
constexpr double kIntakePosition = -0.12;
constexpr size_t kIntakeCounterIterations = 25;
+ if (data.PosEdge(kSpit)) {
+ last_front_intake_has_ball_ =
+ superstructure_status_fetcher_->front_intake_has_ball();
+ last_back_intake_has_ball_ =
+ superstructure_status_fetcher_->back_intake_has_ball();
+ }
+
// Extend the intakes and spin the rollers.
// Don't let this happen if there is a ball in the other intake, because
// that would spit this one out.
@@ -249,10 +257,12 @@
intake_back_counter_ = kIntakeCounterIterations;
intake_front_counter_ = 0;
- } else if (data.IsPressed(kSpitFront)) {
+ } else if (data.IsPressed(kSpitFront) ||
+ (data.IsPressed(kSpit) && last_front_intake_has_ball_)) {
transfer_roller_speed = -kTransferRollerSpeed;
intake_front_counter_ = 0;
- } else if (data.IsPressed(kSpitBack)) {
+ } else if (data.IsPressed(kSpitBack) ||
+ (data.IsPressed(kSpit) && last_back_intake_has_ball_)) {
transfer_roller_speed = kTransferRollerSpeed;
intake_back_counter_ = 0;
}
@@ -298,7 +308,7 @@
if (turret_pos.has_value()) {
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*builder.fbb(), turret_pos.value(),
- CreateProfileParameters(*builder.fbb(), 12.0, 20.0));
+ CreateProfileParameters(*builder.fbb(), 10.0, 20.0));
}
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
@@ -361,6 +371,9 @@
size_t intake_front_counter_ = 0;
size_t intake_back_counter_ = 0;
+
+ bool last_front_intake_has_ball_ = false;
+ bool last_back_intake_has_ball_ = false;
};
} // namespace joysticks
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index edc3791..243259a 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -105,6 +105,7 @@
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//frc971/control_loops/drivetrain:improved_down_estimator",
"//frc971/control_loops/drivetrain:localizer_fbs",
+ "//frc971/input:joystick_state_fbs",
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
"//frc971/zeroing:imu_zeroer",
diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index 783d368..4b0588c 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -642,7 +642,11 @@
H_model(1, kY) = 1.0;
H_accel(0, kX) = 1.0;
H_accel(1, kY) = 1.0;
- R.diagonal() << 1e-2, 1e-2;
+ if (aggressive_corrections_) {
+ R.diagonal() << 1e-2, 1e-2;
+ } else {
+ R.diagonal() << 1e-0, 1e-0;
+ }
const Eigen::Matrix<double, kNModelStates, 2> K_model =
P_model_ * H_model.transpose() *
@@ -886,6 +890,8 @@
event_loop_
->MakeFetcher<y2022::control_loops::superstructure::Status>(
"/superstructure")),
+ joystick_state_fetcher_(
+ event_loop_->MakeFetcher<aos::JoystickState>("/roborio/aos")),
zeroer_(zeroing::ImuZeroer::FaultBehavior::kTemporary),
left_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()),
right_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()) {
@@ -926,39 +932,44 @@
absl::StrCat("/", kPisToUse[camera_index], "/camera"));
}
aos::TimerHandler *estimate_timer = event_loop_->AddTimer([this]() {
- for (size_t camera_index = 0; camera_index < kPisToUse.size();
- ++camera_index) {
- if (model_based_.NumQueuedImageDebugs() ==
- ModelBasedLocalizer::kDebugBufferSize ||
- (last_visualization_send_ + kMinVisualizationPeriod <
- event_loop_->monotonic_now())) {
- auto builder = visualization_sender_.MakeBuilder();
- visualization_sender_.CheckOk(
- builder.Send(model_based_.PopulateVisualization(builder.fbb())));
- }
- if (target_estimate_fetchers_[camera_index].Fetch()) {
- const std::optional<aos::monotonic_clock::duration> monotonic_offset =
- ClockOffset(kPisToUse[camera_index]);
- if (!monotonic_offset.has_value()) {
- continue;
+ joystick_state_fetcher_.Fetch();
+ const bool maybe_in_auto = (joystick_state_fetcher_.get() != nullptr)
+ ? joystick_state_fetcher_->autonomous()
+ : true;
+ model_based_.set_use_aggressive_image_corrections(!maybe_in_auto);
+ for (size_t camera_index = 0; camera_index < kPisToUse.size();
+ ++camera_index) {
+ if (model_based_.NumQueuedImageDebugs() ==
+ ModelBasedLocalizer::kDebugBufferSize ||
+ (last_visualization_send_ + kMinVisualizationPeriod <
+ event_loop_->monotonic_now())) {
+ auto builder = visualization_sender_.MakeBuilder();
+ visualization_sender_.CheckOk(
+ builder.Send(model_based_.PopulateVisualization(builder.fbb())));
}
- // TODO(james): Get timestamp from message contents.
- aos::monotonic_clock::time_point capture_time(
- target_estimate_fetchers_[camera_index]
- .context()
- .monotonic_remote_time -
- monotonic_offset.value());
- if (capture_time > target_estimate_fetchers_[camera_index]
- .context()
- .monotonic_event_time) {
- model_based_.TallyRejection(RejectionReason::IMAGE_FROM_FUTURE);
- continue;
+ if (target_estimate_fetchers_[camera_index].Fetch()) {
+ const std::optional<aos::monotonic_clock::duration> monotonic_offset =
+ ClockOffset(kPisToUse[camera_index]);
+ if (!monotonic_offset.has_value()) {
+ continue;
+ }
+ // TODO(james): Get timestamp from message contents.
+ aos::monotonic_clock::time_point capture_time(
+ target_estimate_fetchers_[camera_index]
+ .context()
+ .monotonic_remote_time -
+ monotonic_offset.value());
+ if (capture_time > target_estimate_fetchers_[camera_index]
+ .context()
+ .monotonic_event_time) {
+ model_based_.TallyRejection(RejectionReason::IMAGE_FROM_FUTURE);
+ continue;
+ }
+ capture_time -= pico_offset_error_;
+ model_based_.HandleImageMatch(
+ capture_time, target_estimate_fetchers_[camera_index].get(),
+ camera_index);
}
- capture_time -= pico_offset_error_;
- model_based_.HandleImageMatch(
- capture_time, target_estimate_fetchers_[camera_index].get(),
- camera_index);
- }
}
});
event_loop_->OnRun([this, estimate_timer]() {
@@ -1098,6 +1109,7 @@
output_builder.add_y(model_based_.xytheta()(1));
output_builder.add_theta(model_based_.xytheta()(2));
output_builder.add_zeroed(zeroer_.Zeroed());
+ output_builder.add_image_accepted_count(model_based_.total_accepted());
const Eigen::Quaterniond &orientation = model_based_.orientation();
Quaternion quaternion;
quaternion.mutate_x(orientation.x());
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index f8205d7..fc15e9f 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -9,6 +9,7 @@
#include "aos/network/message_bridge_server_generated.h"
#include "aos/time/time.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/input/joystick_state_generated.h"
#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/zeroing/imu_zeroer.h"
@@ -136,6 +137,9 @@
AccelState accel_state() const { return current_state_.accel_state; };
void set_longitudinal_offset(double offset) { long_offset_ = offset; }
+ void set_use_aggressive_image_corrections(bool aggressive) {
+ aggressive_corrections_ = aggressive;
+ }
void TallyRejection(const RejectionReason reason);
@@ -146,6 +150,8 @@
std::array<LedOutput, kNumPis> led_outputs() const { return led_outputs_; }
+ int total_accepted() const { return statistics_.total_accepted; }
+
private:
struct CombinedState {
AccelState accel_state = AccelState::Zero();
@@ -267,6 +273,10 @@
// center, negative = behind center.
double long_offset_ = -0.15;
+ // Whether to use more aggressive corrections on the localizer. Only do this
+ // in teleop, since it can make spline control really jumpy.
+ bool aggressive_corrections_ = false;
+
double last_residual_ = 0.0;
double filtered_residual_ = 0.0;
Eigen::Vector2d filtered_residual_accel_ = Eigen::Vector2d::Zero();
@@ -334,6 +344,7 @@
target_estimate_fetchers_;
aos::Fetcher<y2022::control_loops::superstructure::Status>
superstructure_fetcher_;
+ aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
zeroing::ImuZeroer zeroer_;
aos::monotonic_clock::time_point last_output_send_ =
aos::monotonic_clock::min_time;
diff --git a/y2022/localizer/localizer_output.fbs b/y2022/localizer/localizer_output.fbs
index ec3302a..ff25c31 100644
--- a/y2022/localizer/localizer_output.fbs
+++ b/y2022/localizer/localizer_output.fbs
@@ -34,6 +34,9 @@
// Whether each led should be on.
// Indices correspond to pi number.
led_outputs:[LedOutput] (id: 6);
+
+ // Cumulative number of accepted images.
+ image_accepted_count:uint (id: 7);
}
root_type LocalizerOutput;
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index 65ab20c..6325234 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -317,6 +317,7 @@
deps = [
":blob_detector_lib",
":calibration_data",
+ ":camera_reader_lib",
":target_estimator_lib",
"//aos:init",
"//aos/events:shm_event_loop",
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 93c72d7..2f90513 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -133,7 +133,7 @@
}
// Threshold for mean distance from a blob centroid to a circle.
- constexpr double kCircleDistanceThreshold = 1.0;
+ constexpr double kCircleDistanceThreshold = 2.0;
// We should only expect to see blobs between these angles on a circle.
constexpr double kDegToRad = M_PI / 180.0;
constexpr double kMinBlobAngle = 50.0 * kDegToRad;
diff --git a/y2022/vision/calib_files/calibration_pi-9971-7_cam-22-07_2022-02-16_21-20-00.000000000.json b/y2022/vision/calib_files/calibration_pi-9971-4_cam-22-07_2022-02-16_21-20-00.000000000.json
similarity index 93%
rename from y2022/vision/calib_files/calibration_pi-9971-7_cam-22-07_2022-02-16_21-20-00.000000000.json
rename to y2022/vision/calib_files/calibration_pi-9971-4_cam-22-07_2022-02-16_21-20-00.000000000.json
index 6dbd3b2..fbc23f9 100755
--- a/y2022/vision/calib_files/calibration_pi-9971-7_cam-22-07_2022-02-16_21-20-00.000000000.json
+++ b/y2022/vision/calib_files/calibration_pi-9971-4_cam-22-07_2022-02-16_21-20-00.000000000.json
@@ -1,5 +1,5 @@
{
- "node_name": "pi7",
+ "node_name": "pi4",
"team_number": 9971,
"intrinsics": [
388.062378,
diff --git a/y2022/vision/calib_files/calibration_pi-9971-4_cam-22-04_2022-01-28_05-26-43.135661745.json b/y2022/vision/calib_files/calibration_pi-9971-7_cam-22-04_2022-01-28_05-26-43.135661745.json
similarity index 93%
rename from y2022/vision/calib_files/calibration_pi-9971-4_cam-22-04_2022-01-28_05-26-43.135661745.json
rename to y2022/vision/calib_files/calibration_pi-9971-7_cam-22-04_2022-01-28_05-26-43.135661745.json
index 5466224..3a964fc 100755
--- a/y2022/vision/calib_files/calibration_pi-9971-4_cam-22-04_2022-01-28_05-26-43.135661745.json
+++ b/y2022/vision/calib_files/calibration_pi-9971-7_cam-22-04_2022-01-28_05-26-43.135661745.json
@@ -1,5 +1,5 @@
{
- "node_name": "pi4",
+ "node_name": "pi7",
"team_number": 9971,
"intrinsics": [
386.619232,
diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index f59f2cf..dbb23ad 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -90,7 +90,7 @@
return base_cam_ext, turret_cam_ext
-def compute_extrinsic_by_pi(pi_number):
+def compute_extrinsic_by_pi(pi_number, team_number):
# Defaults for all cameras
camera_pitch = -35.0 * np.pi / 180.0
camera_yaw = 0.0
@@ -98,18 +98,31 @@
# Default camera location to robot origin
T = np.array([0.0, 0.0, 0.0])
- if pi_number == "pi1":
- camera_yaw = 90.0 * np.pi / 180.0
- T = np.array([-8.25 * 0.0254, 3.25 * 0.0254, 32.0 * 0.0254])
- elif pi_number == "pi2":
- camera_yaw = 0.0
- T = np.array([-7.5 * 0.0254, -3.5 * 0.0254, 34.0 * 0.0254])
- elif pi_number == "pi3":
- camera_yaw = 178.5 * np.pi / 180.0
- T = np.array([-1.0 * 0.0254, 8.5 * 0.0254, 34.25 * 0.0254])
- elif pi_number == "pi4":
- camera_yaw = -90.0 * np.pi / 180.0
- T = np.array([-9.0 * 0.0254, -5 * 0.0254, 27.5 * 0.0254])
+ if team_number == 971:
+ if pi_number == "pi1":
+ camera_yaw = 90.0 * np.pi / 180.0
+ T = np.array([-11.0 * 0.0254, 5.5 * 0.0254, 29.5 * 0.0254])
+ elif pi_number == "pi2":
+ camera_yaw = 0.0
+ T = np.array([-9.5 * 0.0254, -3.5 * 0.0254, 34.5 * 0.0254])
+ elif pi_number == "pi3":
+ camera_yaw = 179.0 * np.pi / 180.0
+ T = np.array([-9.5 * 0.0254, 3.5 * 0.0254, 34.5 * 0.0254])
+ elif pi_number == "pi4":
+ camera_yaw = -90.0 * np.pi / 180.0
+ T = np.array([-10.25 * 0.0254, -5.0 * 0.0254, 27.5 * 0.0254])
+ elif team_number == 9971:
+ if pi_number == "pi1":
+ camera_yaw = 178.0 * np.pi / 180.0
+ T = np.array([0.0 * 0.0254, 8.5 * 0.0254, 34.0 * 0.0254])
+ elif pi_number == "pi2":
+ camera_yaw = 0.0
+ T = np.array([-9.0 * 0.0254, -3.5 * 0.0254, 35.5 * 0.0254])
+ elif pi_number == "pi3":
+ camera_yaw = 90.0 * np.pi / 180.0
+ T = np.array([-8.0 * 0.0254, 3.0 * 0.0254, 32.0 * 0.0254])
+ else:
+ glog.fatal("Unknown team number for extrinsics")
return compute_extrinsic(camera_pitch, camera_yaw, T, is_turret)
@@ -155,7 +168,7 @@
camera_params = CameraParameters()
# TODO: Need to add reading in extrinsic camera parameters from json
camera_params.camera_ext, camera_params.turret_ext = compute_extrinsic_by_pi(
- node_name)
+ node_name, team_number)
camera_params.node_name = node_name
camera_params.team_number = team_number
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index 92d3727..0af4afc 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -21,12 +21,11 @@
using namespace frc971::vision;
-const calibration::CameraCalibration *CameraReader::FindCameraCalibration()
- const {
- const std::string_view node_name = event_loop_->node()->name()->string_view();
- const int team_number = aos::network::GetTeamNumber();
+const calibration::CameraCalibration *CameraReader::FindCameraCalibration(
+ const calibration::CalibrationData *calibration_data,
+ std::string_view node_name, int team_number) {
for (const calibration::CameraCalibration *candidate :
- *calibration_data_->camera_calibrations()) {
+ *calibration_data->camera_calibrations()) {
if (candidate->node_name()->string_view() != node_name) {
continue;
}
@@ -92,9 +91,7 @@
void CameraReader::ProcessImage(cv::Mat image_mat_distorted,
int64_t image_monotonic_timestamp_ns) {
- cv::Mat image_mat;
- cv::undistort(image_mat_distorted, image_mat, CameraIntrinsics(),
- CameraDistCoeffs());
+ cv::Mat image_mat = UndistortImage(image_mat_distorted, undistort_maps_);
BlobDetector::BlobResult blob_result;
BlobDetector::ExtractBlobs(image_mat, &blob_result);
diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index 7128890..8317c09 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -29,12 +29,73 @@
// TODO<jim>: Probably need to break out LED control to separate process
class CameraReader {
public:
+ static const calibration::CameraCalibration *FindCameraCalibration(
+ const calibration::CalibrationData *calibration_data,
+ std::string_view node_name, int team_number);
+
+ static cv::Mat CameraIntrinsics(
+ const calibration::CameraCalibration *camera_calibration) {
+ cv::Mat result(3, 3, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration->intrinsics()->data())));
+ result.convertTo(result, CV_64F);
+ CHECK_EQ(result.total(), camera_calibration->intrinsics()->size());
+ return result;
+ }
+
+ static cv::Mat CameraExtrinsics(
+ const calibration::CameraCalibration *camera_calibration) {
+ // TODO(james): What's the principled way to handle non-z-axis turrets?
+ const frc971::vision::calibration::TransformationMatrix *transform =
+ camera_calibration->has_turret_extrinsics()
+ ? camera_calibration->turret_extrinsics()
+ : camera_calibration->fixed_extrinsics();
+
+ cv::Mat result(4, 4, CV_32F,
+ const_cast<void *>(
+ static_cast<const void *>(transform->data()->data())));
+ result.convertTo(result, CV_64F);
+ CHECK_EQ(result.total(), transform->data()->size());
+ return result;
+ }
+
+ static cv::Mat CameraDistCoeffs(
+ const calibration::CameraCalibration *camera_calibration) {
+ const cv::Mat result(5, 1, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration->dist_coeffs()->data())));
+ CHECK_EQ(result.total(), camera_calibration->dist_coeffs()->size());
+ return result;
+ }
+
+ static std::pair<cv::Mat, cv::Mat> ComputeUndistortMaps(
+ const cv::Mat intrinsics, const cv::Mat dist_coeffs) {
+ std::pair<cv::Mat, cv::Mat> undistort_maps;
+ static const cv::Size kImageSize = {640, 480};
+ cv::initUndistortRectifyMap(intrinsics, dist_coeffs, cv::Mat(), intrinsics,
+ kImageSize, CV_16SC2, undistort_maps.first,
+ undistort_maps.second);
+ return undistort_maps;
+ }
+
+ static cv::Mat UndistortImage(cv::Mat image_distorted,
+ std::pair<cv::Mat, cv::Mat> undistort_maps) {
+ cv::Mat image;
+ cv::remap(image_distorted, image, undistort_maps.first,
+ undistort_maps.second, cv::INTER_LINEAR);
+ return image;
+ }
+
CameraReader(aos::ShmEventLoop *event_loop,
const calibration::CalibrationData *calibration_data,
V4L2Reader *reader)
: event_loop_(event_loop),
calibration_data_(calibration_data),
- camera_calibration_(FindCameraCalibration()),
+ camera_calibration_(FindCameraCalibration(
+ calibration_data_, event_loop_->node()->name()->string_view(),
+ aos::network::GetTeamNumber())),
+ undistort_maps_(
+ ComputeUndistortMaps(CameraIntrinsics(), CameraDistCoeffs())),
reader_(reader),
image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
target_estimator_(CameraIntrinsics(), CameraExtrinsics()),
@@ -60,8 +121,6 @@
double GetDutyCycle() { return duty_cycle_; }
private:
- const calibration::CameraCalibration *FindCameraCalibration() const;
-
// Processes an image (including sending the results).
void ProcessImage(cv::Mat image_mat_distorted,
int64_t image_monotonic_timestamp_ns);
@@ -70,40 +129,21 @@
void ReadImage();
cv::Mat CameraIntrinsics() const {
- cv::Mat result(3, 3, CV_32F,
- const_cast<void *>(static_cast<const void *>(
- camera_calibration_->intrinsics()->data())));
- result.convertTo(result, CV_64F);
- CHECK_EQ(result.total(), camera_calibration_->intrinsics()->size());
- return result;
+ return CameraIntrinsics(camera_calibration_);
}
cv::Mat CameraExtrinsics() const {
- // TODO(james): What's the principled way to handle non-z-axis turrets?
- const frc971::vision::calibration::TransformationMatrix *transform =
- camera_calibration_->has_turret_extrinsics()
- ? camera_calibration_->turret_extrinsics()
- : camera_calibration_->fixed_extrinsics();
-
- cv::Mat result(4, 4, CV_32F,
- const_cast<void *>(
- static_cast<const void *>(transform->data()->data())));
- result.convertTo(result, CV_64F);
- CHECK_EQ(result.total(), transform->data()->size());
- return result;
+ return CameraExtrinsics(camera_calibration_);
}
cv::Mat CameraDistCoeffs() const {
- const cv::Mat result(5, 1, CV_32F,
- const_cast<void *>(static_cast<const void *>(
- camera_calibration_->dist_coeffs()->data())));
- CHECK_EQ(result.total(), camera_calibration_->dist_coeffs()->size());
- return result;
+ return CameraDistCoeffs(camera_calibration_);
}
aos::ShmEventLoop *const event_loop_;
const calibration::CalibrationData *const calibration_data_;
const calibration::CameraCalibration *const camera_calibration_;
+ std::pair<cv::Mat, cv::Mat> undistort_maps_;
V4L2Reader *const reader_;
aos::Sender<CameraImage> image_sender_;
TargetEstimator target_estimator_;
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index 9320152..bfd1c7d 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -7,10 +7,10 @@
// --override_hostname pi-7971-1 --ignore_timestamps true
DECLARE_bool(use_outdoors);
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
-DEFINE_double(duty_cycle, 0.6, "Duty cycle of the LEDs");
+DEFINE_double(duty_cycle, 0.65, "Duty cycle of the LEDs");
DEFINE_uint32(exposure, 5,
"Exposure time, in 100us increments; 0 implies auto exposure");
-DEFINE_uint32(outdoors_exposure, 20,
+DEFINE_uint32(outdoors_exposure, 4,
"Exposure time when using --use_outdoors, in 100us increments; 0 "
"implies auto exposure");
diff --git a/y2022/vision/target_estimator.cc b/y2022/vision/target_estimator.cc
index 9eef390..1447d81 100644
--- a/y2022/vision/target_estimator.cc
+++ b/y2022/vision/target_estimator.cc
@@ -378,16 +378,16 @@
[](const std::pair<size_t, size_t> &a,
const std::pair<size_t, size_t> &b) { return a.first < b.first; });
- size_t middle_tape_index = 1000;
+ std::optional<size_t> middle_tape_index = std::nullopt;
for (size_t i = 0; i < tape_indices.size(); ++i) {
if (tape_indices[i].second == middle_blob_index_) {
middle_tape_index = i;
}
}
- CHECK_NE(middle_tape_index, 1000) << "Failed to find middle tape";
+ CHECK(middle_tape_index.has_value()) << "Failed to find middle tape";
if (VLOG_IS_ON(2)) {
- LOG(INFO) << "Middle tape is " << middle_tape_index << ", blob "
+ LOG(INFO) << "Middle tape is " << *middle_tape_index << ", blob "
<< middle_blob_index_;
for (size_t i = 0; i < tape_indices.size(); ++i) {
const auto distance = DistanceFromTapeIndex(
@@ -400,7 +400,7 @@
{
size_t offset = 0;
- for (size_t i = middle_tape_index + 1; i < tape_indices.size(); ++i) {
+ for (size_t i = *middle_tape_index + 1; i < tape_indices.size(); ++i) {
tape_indices[i].first -= offset;
if (tape_indices[i].first > tape_indices[i - 1].first + 1) {
@@ -412,7 +412,7 @@
}
if (VLOG_IS_ON(2)) {
- LOG(INFO) << "Middle tape is " << middle_tape_index << ", blob "
+ LOG(INFO) << "Middle tape is " << *middle_tape_index << ", blob "
<< middle_blob_index_;
for (size_t i = 0; i < tape_indices.size(); ++i) {
const auto distance = DistanceFromTapeIndex(
@@ -425,7 +425,7 @@
{
size_t offset = 0;
- for (size_t i = middle_tape_index; i > 0; --i) {
+ for (size_t i = *middle_tape_index; i > 0; --i) {
tape_indices[i - 1].first -= offset;
if (tape_indices[i - 1].first + 1 < tape_indices[i].first) {
@@ -440,7 +440,7 @@
}
if (VLOG_IS_ON(2)) {
- LOG(INFO) << "Middle tape is " << middle_tape_index << ", blob "
+ LOG(INFO) << "Middle tape is " << *middle_tape_index << ", blob "
<< middle_blob_index_;
for (size_t i = 0; i < tape_indices.size(); ++i) {
const auto distance = DistanceFromTapeIndex(
@@ -566,11 +566,11 @@
size_t blob_index, const std::vector<cv::Point_<S>> &tape_points) const {
auto distance = cv::Point_<S>(std::numeric_limits<S>::infinity(),
std::numeric_limits<S>::infinity());
- size_t final_match = 255;
+ std::optional<size_t> final_match = std::nullopt;
if (blob_index == middle_blob_index_) {
// Fix the middle blob so the solver can't go too far off
final_match = tape_points.size() / 2;
- distance = DistanceFromTapeIndex(blob_index, final_match, tape_points);
+ distance = DistanceFromTapeIndex(blob_index, *final_match, tape_points);
} else {
// Give the other blob_stats some freedom in case some are split into pieces
for (auto it = tape_points.begin(); it < tape_points.end(); it++) {
@@ -585,11 +585,11 @@
}
}
- VLOG(2) << "Matched index " << blob_index << " to " << final_match
+ CHECK(final_match.has_value());
+ VLOG(2) << "Matched index " << blob_index << " to " << *final_match
<< " distance " << distance.x << " " << distance.y;
- CHECK_NE(final_match, 255);
- return final_match;
+ return *final_match;
}
void TargetEstimator::DrawProjectedHub(
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index 446f1f6..e455f66 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -13,6 +13,7 @@
#include "frc971/vision/vision_generated.h"
#include "y2022/vision/blob_detector.h"
#include "y2022/vision/calibration_data.h"
+#include "y2022/vision/camera_reader.h"
#include "y2022/vision/target_estimate_generated.h"
#include "y2022/vision/target_estimator.h"
@@ -213,51 +214,24 @@
const aos::FlatbufferSpan<calibration::CalibrationData> calibration_data(
CalibrationData());
- const calibration::CameraCalibration *calibration = nullptr;
- for (const calibration::CameraCalibration *candidate :
- *calibration_data.message().camera_calibrations()) {
- if ((candidate->node_name()->string_view() == FLAGS_calibration_node) &&
- (candidate->team_number() == FLAGS_calibration_team_number)) {
- calibration = candidate;
- break;
- }
- }
+ const calibration::CameraCalibration *calibration =
+ CameraReader::FindCameraCalibration(&calibration_data.message(),
+ FLAGS_calibration_node,
+ FLAGS_calibration_team_number);
+ const auto intrinsics = CameraReader::CameraIntrinsics(calibration);
+ const auto extrinsics = CameraReader::CameraExtrinsics(calibration);
+ const auto dist_coeffs = CameraReader::CameraDistCoeffs(calibration);
- CHECK(calibration) << "No calibration data found for node \""
- << FLAGS_calibration_node << "\" with team number "
- << FLAGS_calibration_team_number;
-
- const auto intrinsics_float = cv::Mat(
- 3, 3, CV_32F,
- const_cast<void *>(
- static_cast<const void *>(calibration->intrinsics()->data())));
- cv::Mat intrinsics;
- intrinsics_float.convertTo(intrinsics, CV_64F);
-
- const frc971::vision::calibration::TransformationMatrix *transform =
- calibration->has_turret_extrinsics() ? calibration->turret_extrinsics()
- : calibration->fixed_extrinsics();
-
- const auto extrinsics_float = cv::Mat(
- 4, 4, CV_32F,
- const_cast<void *>(static_cast<const void *>(transform->data()->data())));
- cv::Mat extrinsics;
- extrinsics_float.convertTo(extrinsics, CV_64F);
-
- const auto dist_coeffs_float = cv::Mat(
- 5, 1, CV_32F,
- const_cast<void *>(
- static_cast<const void *>(calibration->dist_coeffs()->data())));
- cv::Mat dist_coeffs;
- dist_coeffs_float.convertTo(dist_coeffs, CV_64F);
+ // Compute undistortion map once for efficiency
+ const auto undistort_maps =
+ CameraReader::ComputeUndistortMaps(intrinsics, dist_coeffs);
TargetEstimator estimator(intrinsics, extrinsics);
for (auto it = file_list.begin() + FLAGS_skip; it < file_list.end(); it++) {
LOG(INFO) << "Reading file " << (it - file_list.begin()) << ": " << *it;
- cv::Mat image_mat_distorted = cv::imread(it->c_str());
- cv::Mat image_mat;
- cv::undistort(image_mat_distorted, image_mat, intrinsics, dist_coeffs);
+ cv::Mat image_mat =
+ CameraReader::UndistortImage(cv::imread(it->c_str()), undistort_maps);
BlobDetector::BlobResult blob_result;
blob_result.binarized_image =
diff --git a/y2022/vision/viewer_replay.cc b/y2022/vision/viewer_replay.cc
index b2d3464..5d09d55 100644
--- a/y2022/vision/viewer_replay.cc
+++ b/y2022/vision/viewer_replay.cc
@@ -194,6 +194,8 @@
bool use_image = true;
if (FLAGS_detected_only || FLAGS_filtered_only) {
+ // TODO(milind): if adding target estimation here in the future,
+ // undistortion is needed
BlobDetector::BlobResult blob_result;
BlobDetector::ExtractBlobs(image_mat, &blob_result);
diff --git a/y2022/www/BUILD b/y2022/www/BUILD
index 88e54a5..957045d 100644
--- a/y2022/www/BUILD
+++ b/y2022/www/BUILD
@@ -24,6 +24,7 @@
"//aos/network:connect_ts_fbs",
"//aos/network:web_proxy_ts_fbs",
"//aos/network/www:proxy",
+ "//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
"//y2022/control_loops/superstructure:superstructure_status_ts_fbs",
"//y2022/localizer:localizer_output_ts_fbs",
"//y2022/localizer:localizer_status_ts_fbs",
diff --git a/y2022/www/field_handler.ts b/y2022/www/field_handler.ts
index 22989be..a9aab6a 100644
--- a/y2022/www/field_handler.ts
+++ b/y2022/www/field_handler.ts
@@ -1,9 +1,10 @@
import {ByteBuffer} from 'flatbuffers';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {IntakeState, Status as SuperstructureStatus, SuperstructureState} from 'org_frc971/y2022/control_loops/superstructure/superstructure_status_generated'
-import {LocalizerOutput} from 'org_frc971/y2022/localizer/localizer_output_generated';
-import {RejectionReason} from 'org_frc971/y2022/localizer/localizer_status_generated';
-import {LocalizerVisualization, TargetEstimateDebug} from 'org_frc971/y2022/localizer/localizer_visualization_generated';
+import {Connection} from '../../aos/network/www/proxy';
+import {IntakeState, Status as SuperstructureStatus, SuperstructureState} from '../control_loops/superstructure/superstructure_status_generated'
+import {LocalizerOutput} from '../localizer/localizer_output_generated';
+import {RejectionReason} from '../localizer/localizer_status_generated';
+import {Status as DrivetrainStatus} from '../../frc971/control_loops/drivetrain/drivetrain_status_generated';
+import {LocalizerVisualization, TargetEstimateDebug} from '../localizer/localizer_visualization_generated';
import {FIELD_LENGTH, FIELD_WIDTH, FT_TO_M, IN_TO_M} from './constants';
@@ -19,6 +20,7 @@
export class FieldHandler {
private canvas = document.createElement('canvas');
private localizerOutput: LocalizerOutput|null = null;
+ private drivetrainStatus: DrivetrainStatus|null = null;
private superstructureStatus: SuperstructureStatus|null = null;
// Image information indexed by timestamp (seconds since the epoch), so that
@@ -105,6 +107,10 @@
this.handleLocalizerDebug(data);
});
this.connection.addHandler(
+ '/drivetrain', DrivetrainStatus.getFullyQualifiedName(), (data) => {
+ this.handleDrivetrainStatus(data);
+ });
+ this.connection.addHandler(
'/localizer', LocalizerOutput.getFullyQualifiedName(), (data) => {
this.handleLocalizerOutput(data);
});
@@ -154,6 +160,11 @@
this.localizerOutput = LocalizerOutput.getRootAsLocalizerOutput(fbBuffer);
}
+ private handleDrivetrainStatus(data: Uint8Array): void {
+ const fbBuffer = new ByteBuffer(data);
+ this.drivetrainStatus = DrivetrainStatus.getRootAsStatus(fbBuffer);
+ }
+
private handleSuperstructureStatus(data: Uint8Array): void {
const fbBuffer = new ByteBuffer(data);
this.superstructureStatus = SuperstructureStatus.getRootAsStatus(fbBuffer);
@@ -161,9 +172,12 @@
drawField(): void {
const ctx = this.canvas.getContext('2d');
+ ctx.save();
+ ctx.scale(-1.0, 1.0);
ctx.drawImage(
this.fieldImage, 0, 0, this.fieldImage.width, this.fieldImage.height,
-FIELD_EDGE_X, -FIELD_SIDE_Y, FIELD_LENGTH, FIELD_WIDTH);
+ ctx.restore();
}
drawCamera(
@@ -377,6 +391,14 @@
}
}
+ if (this.drivetrainStatus && this.drivetrainStatus.trajectoryLogging()) {
+ this.drawRobot(
+ this.drivetrainStatus.trajectoryLogging().x(),
+ this.drivetrainStatus.trajectoryLogging().y(),
+ this.drivetrainStatus.trajectoryLogging().theta(), null, "#000000FF",
+ false);
+ }
+
if (this.localizerOutput) {
if (!this.localizerOutput.zeroed()) {
this.setZeroing(this.x);
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
index f54ccd7..6c33eec 100644
--- a/y2022/y2022_logger.json
+++ b/y2022/y2022_logger.json
@@ -42,7 +42,7 @@
]
},
{
- "name": "/aos/remote_timestamps/roborio/superstructure/y2022-vision-BallColor",
+ "name": "/logger/aos/remote_timestamps/roborio/superstructure/y2022-vision-BallColor",
"type": "aos.message_bridge.RemoteMessage",
"source_node": "logger",
"logger": "NOT_LOGGED",
@@ -391,12 +391,22 @@
{
"name": "/logger/camera",
"type": "frc971.vision.CameraImage",
+ "logger": "NOT_LOGGED",
"source_node": "logger",
"frequency": 100,
"max_size": 620000,
"num_senders": 1
},
{
+ "name": "/logger/camera/decimated",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "logger",
+ "logger": "LOCAL_LOGGER",
+ "frequency": 2,
+ "max_size": 620000,
+ "num_senders": 2
+ },
+ {
"name": "/pi1/camera/decimated",
"type": "frc971.vision.CameraImage",
"source_node": "pi1",
@@ -473,7 +483,7 @@
},
{
"match": {
- "name": "/camera",
+ "name": "/camera*",
"source_node": "logger"
},
"rename": {
@@ -520,6 +530,13 @@
"nodes": [
"logger"
]
+ },
+ {
+ "name": "image_decimator",
+ "executable_name": "image_decimator",
+ "nodes": [
+ "logger"
+ ]
}
],
"nodes": [
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index bcd3f6b..a2c4b88 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -156,7 +156,7 @@
"name": "/pi{{ NUM }}/camera",
"type": "frc971.vision.CameraImage",
"source_node": "pi{{ NUM }}",
- "frequency": 25,
+ "frequency": 40,
"max_size": 620000,
"num_senders": 18
},
@@ -166,7 +166,7 @@
"source_node": "pi{{ NUM }}",
"frequency": 2,
"max_size": 620000,
- "num_senders": 18
+ "num_senders": 2
},
{
"name": "/pi{{ NUM }}/camera",
@@ -179,7 +179,7 @@
"name": "/pi{{ NUM }}/camera",
"type": "y2022.vision.TargetEstimate",
"source_node": "pi{{ NUM }}",
- "frequency": 25,
+ "frequency": 40,
"num_senders": 2,
"max_size": 40000,
"logger": "LOCAL_AND_REMOTE_LOGGER",
@@ -211,14 +211,14 @@
{
"name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
"type": "aos.message_bridge.RemoteMessage",
- "frequency": 40,
+ "frequency": 50,
"source_node": "pi{{ NUM }}",
"max_size": 208
},
{
"name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
"type": "aos.message_bridge.RemoteMessage",
- "frequency": 40,
+ "frequency": 50,
"source_node": "pi{{ NUM }}",
"max_size": 208
},
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
index 8651923..1a5a1aa 100644
--- a/y2022/y2022_roborio.json
+++ b/y2022/y2022_roborio.json
@@ -7,7 +7,8 @@
"frequency": 100,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes" : [
- "imu"
+ "imu",
+ "logger"
],
"destination_nodes": [
{
@@ -18,6 +19,15 @@
"timestamp_logger_nodes": [
"roborio"
]
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 50000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
}
]
},
@@ -31,6 +41,15 @@
"max_size": 200
},
{
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-JoystickState",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
"name": "/roborio/aos",
"type": "aos.RobotState",
"source_node": "roborio",