scouting/www/entry/entry.component.ts - RealtimeRoboticsGroup/test - Gitiles

 import {
   Component,
   ElementRef,
   EventEmitter,
   Input,
   OnInit,
   Output,
   ViewChild,
 } from '@angular/core';
 import {FormsModule} from '@angular/forms';
 import {Builder, ByteBuffer} from 'flatbuffers';
 import {ErrorResponse} from '@org_frc971/scouting/webserver/requests/messages/error_response_generated';
 import {
   StartMatchAction,
   StartMatchActionT,
   NoShowActionT,
   NoShowAction,
   ScoreType,
   StageType,
   Submit2024Actions,
   MobilityAction,
   MobilityActionT,
   PenaltyAction,
   PenaltyActionT,
   PickupNoteAction,
   PickupNoteActionT,
   PlaceNoteAction,
   PlaceNoteActionT,
   RobotDeathAction,
   RobotDeathActionT,
   EndMatchAction,
   EndMatchActionT,
   ActionType,
   Action,
   ActionT,
 } from '@org_frc971/scouting/webserver/requests/messages/submit_2024_actions_generated';
 import {Match} from '@org_frc971/scouting/webserver/requests/messages/request_all_matches_response_generated';
 import {
   MatchListRequestor,
   ActionsSubmitter,
 } from '@org_frc971/scouting/www/rpc';
 import {RequestCurrentScouting} from '@org_frc971/scouting/webserver/requests/messages/request_current_scouting_generated';
 import {RequestCurrentScoutingResponse} from '@org_frc971/scouting/webserver/requests/messages/request_current_scouting_response_generated';
 import {ActionHelper, ConcreteAction} from './action_helper';
 import * as pako from 'pako';

 type Section =
   | 'Team Selection'
   | 'Init'
   | 'Pickup'
   | 'Place'
   | 'Endgame'
   | 'Dead'
   | 'Review and Submit'
   | 'QR Code'
   | 'Success';

 type CompType = 'PreScouting' | 'Practice' | 'Regular';

 // TODO(phil): Deduplicate with match_list.component.ts.
 const COMP_LEVELS = ['qm', 'ef', 'qf', 'sf', 'f'] as const;
 export 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',
 };

 // The maximum number of bytes per QR code. The user can adjust this value to
 // make the QR code contain less information, but easier to scan.
 const QR_CODE_PIECE_SIZES = [150, 300, 450, 600, 750, 900];

 // The default index into QR_CODE_PIECE_SIZES.
 const DEFAULT_QR_CODE_PIECE_SIZE_INDEX = QR_CODE_PIECE_SIZES.indexOf(450);

 // The actions that are purely used for tracking state. They don't actually
 // have any permanent meaning and will not be saved in the database.
 const STATE_ACTIONS: ActionType[] = [
   ActionType.EndAutoPhaseAction,
   ActionType.EndTeleopPhaseAction,
 ];

 @Component({
   selector: 'app-entry',
   templateUrl: './entry.ng.html',
   styleUrls: ['../app/common.css', './entry.component.css'],
 })
 export class EntryComponent implements OnInit {
   // Re-export the type here so that we can use it in the `[value]` attribute
   // of radio buttons.
   readonly COMP_LEVELS = COMP_LEVELS;
   readonly COMP_LEVEL_LABELS = COMP_LEVEL_LABELS;
   readonly QR_CODE_PIECE_SIZES = QR_CODE_PIECE_SIZES;
   readonly ScoreType = ScoreType;
   readonly StageType = StageType;
   readonly ActionT = ActionT;
   readonly ActionType = ActionType;
   readonly NoShowActionT = NoShowActionT;
   readonly StartMatchActionT = StartMatchActionT;
   readonly MobilityActionT = MobilityActionT;
   readonly PickupNoteActionT = PickupNoteActionT;
   readonly PlaceNoteActionT = PlaceNoteActionT;
   readonly RobotDeathActionT = RobotDeathActionT;
   readonly PenaltyActionT = PenaltyActionT;
   readonly EndMatchActionT = EndMatchActionT;

   section: Section = 'Team Selection';
   @Input() matchNumber: number = 1;
   @Input() teamNumber: string = '1';
   @Input() setNumber: number = 1;
   @Input() compLevel: CompLevel = 'qm';
   @Input() compType: CompType = 'Regular';
   @Input() skipTeamSelection = false;

   @ViewChild('header') header: ElementRef;

   matchList: Match[] = [];

   actionHelper: ActionHelper;
   actionList: ActionT[] = [];
   progressMessage: string = '';
   errorMessage: string = '';
   autoPhase: boolean = true;
   mobilityCompleted: boolean = false;
   // TODO(phil): Come up with a better name here.
   selectedValue = 0;
   endGameAction: StageType = StageType.kMISSING;
   noteIsTrapped: boolean = false;
   endGameSpotlight: boolean = false;

   nextTeamNumber = '';

   matchStartTimestamp: number = 0;
   penalties: number = 0;

   teamSelectionIsValid = false;
   searchForDuplicateScouting: boolean = false;
   duplicateSearchTimer: ReturnType<typeof setTimeout> | null = null;

   // When the user chooses to generate QR codes, we convert the flatbuffer into
   // a long string. Since we frequently have more data than we can display in a
   // single QR code, we break the data into multiple QR codes. The data for
   // each QR code ("pieces") is stored in the `qrCodeValuePieces` list below.
   // The `qrCodeValueIndex` keeps track of which QR code we're currently
   // displaying.
   qrCodeValuePieceSize = QR_CODE_PIECE_SIZES[DEFAULT_QR_CODE_PIECE_SIZE_INDEX];
   qrCodeValuePieces: string[] = [];
   qrCodeValueIndex: number = 0;

   constructor(
     private readonly matchListRequestor: MatchListRequestor,
     private readonly actionsSubmitter: ActionsSubmitter
   ) {}

   ngOnInit() {
     this.actionHelper = new ActionHelper(
       (actionType: ActionType, action: ConcreteAction) => {
         this.addAction(actionType, action);
       }
     );

     // When the user navigated from the match list, we can skip the team
     // selection. I.e. we trust that the user clicked the correct button.
     this.section = this.skipTeamSelection ? 'Init' : 'Team Selection';
     this.fetchMatchList();
   }

   ngOnDestroy() {
     clearInterval(this.duplicateSearchTimer);
   }

   goToNextTeam() {
     this.ngOnInit();
     this.ngOnDestroy();
     this.teamNumber = this.nextTeamNumber;
     this.nextTeamNumber = '';
   }

   async fetchMatchList() {
     this.progressMessage = 'Fetching match list. Please be patient.';
     this.errorMessage = '';

     try {
       this.matchList = await this.matchListRequestor.fetchMatchList();
       this.progressMessage = 'Successfully fetched match list.';
     } catch (e) {
       this.errorMessage = e;
       this.progressMessage = '';
     }
   }

   async findOthersScoutingThisRobot() {
     const builder = new Builder();
     const teamNumber = builder.createString(this.teamNumber);

     builder.finish(
       RequestCurrentScouting.createRequestCurrentScouting(builder, teamNumber)
     );

     const buffer = builder.asUint8Array();
     const res = await fetch('/requests/request/current_scouting', {
       method: 'POST',
       body: buffer,
     });

     if (!res.ok) {
       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}"`;
     } else {
       const resBuffer = await res.arrayBuffer();
       const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
       const parsedResponse =
         RequestCurrentScoutingResponse.getRootAsRequestCurrentScoutingResponse(
           fbBuffer
         );
       const collectedBy = [];
       for (let i = 0; i < parsedResponse.collectedByLength(); i++) {
         collectedBy.push(parsedResponse.collectedBy(i).name());
       }
       this.duplicateSearchTimer = setInterval(() => {
         if (this.searchForDuplicateScouting && collectedBy.length != 0) {
           if (
             confirm(
               'This team is currently being scouted by ' +
                 collectedBy +
                 '. Would you like to receive more alerts?'
             ) != true
           ) {
             this.searchForDuplicateScouting = false;
           }
         }
       }, 10000);
     }
   }

   // This gets called when the user changes something on the Init screen.
   // It makes sure that the user can't click "Next" until the information is
   // valid, or this is for pre-scouting or practice matches.
   updateTeamSelectionValidity(): void {
     this.teamSelectionIsValid =
       this.compType != 'Regular' || this.matchIsInMatchList();
   }

   matchIsInMatchList(): boolean {
     // If the user deletes the content of the teamNumber field, the value here
     // is undefined. Guard against that.
     if (this.teamNumber == null) {
       return false;
     }

     for (const match of this.matchList) {
       if (
         this.matchNumber == match.matchNumber() &&
         this.setNumber == match.setNumber() &&
         this.compLevel == match.compLevel() &&
         (this.teamNumber === match.r1() ||
           this.teamNumber === match.r2() ||
           this.teamNumber === match.r3() ||
           this.teamNumber === match.b1() ||
           this.teamNumber === match.b2() ||
           this.teamNumber === match.b3())
       ) {
         return true;
       }
     }
     return false;
   }

   addPenalty(): void {
     this.penalties += 1;
   }

   removePenalty(): void {
     if (this.penalties > 0) {
       this.penalties -= 1;
     }
   }

   addPenalties(): void {
     this.actionHelper.addPenaltyAction({penalties: this.penalties});
   }

   addAction(actionType: ActionType, action: ConcreteAction): void {
     let timestamp: number = 0;

     if (actionType == ActionType.StartMatchAction) {
       // Unix nanosecond timestamp.
       this.matchStartTimestamp = Date.now() * 1e6;
     } else {
       // Unix nanosecond timestamp relative to match start.
       timestamp = Date.now() * 1e6 - this.matchStartTimestamp;
     }

     if (actionType == ActionType.EndMatchAction) {
       // endMatchAction occurs at the same time as penaltyAction so add to its
       // timestamp to make it unique.
       timestamp += 1;
     }

     if (actionType == ActionType.MobilityAction) {
       this.mobilityCompleted = true;
     }

     this.actionList.push(new ActionT(BigInt(timestamp), actionType, action));
   }

   undoLastAction() {
     if (this.actionList.length > 0) {
       let lastAction = this.actionList.pop();
       switch (lastAction?.actionTakenType) {
         case ActionType.EndAutoPhaseAction:
           this.autoPhase = true;
           this.section = 'Pickup';
           break;
         case ActionType.NoShowAction:
           this.autoPhase = true;
           this.section = 'Init';
           break;
         case ActionType.PickupNoteAction:
           this.section = 'Pickup';
           break;
         case ActionType.EndTeleopPhaseAction:
           this.section = 'Pickup';
           break;
         case ActionType.PlaceNoteAction:
           this.section = 'Place';
           break;
         case ActionType.EndMatchAction:
           this.section = 'Endgame';
         case ActionType.MobilityAction:
           this.mobilityCompleted = false;
           break;
         case ActionType.StartMatchAction:
           this.section = 'Init';
           break;
         case ActionType.RobotDeathAction:
           // TODO(FILIP): Return user to the screen they
           // clicked dead robot on. Pickup is fine for now but
           // might cause confusion.
           this.section = 'Pickup';
           break;
         default:
           break;
       }
     }
   }

   stringifyScoreType(scoreType: ScoreType): String {
     return ScoreType[scoreType];
   }

   stringifyStageType(stageType: StageType): String {
     return StageType[stageType];
   }

   changeSectionTo(target: Section) {
     // Clear the messages since they won't be relevant in the next section.
     this.errorMessage = '';
     this.progressMessage = '';

     // For the QR code screen, we need to make the value to encode available.
     if (target == 'QR Code') {
       this.updateQrCodeValuePieceSize();
     }

     if (target == 'Init') {
       this.searchForDuplicateScouting = true;
       this.findOthersScoutingThisRobot();
     }

     this.section = target;
   }

   private scrollToTop() {
     this.header.nativeElement.scrollIntoView();
   }

   createActionsBuffer() {
     const builder = new Builder();
     const actionOffsets: number[] = [];

     for (const action of this.actionList) {
       if (STATE_ACTIONS.includes(action.actionTakenType)) {
         // Actions only used for undo purposes are not submitted.
         continue;
       }
       actionOffsets.push(action.pack(builder));
     }
     const teamNumberFb = builder.createString(this.teamNumber);
     const compLevelFb = builder.createString(this.compLevel);
     const compTypeFb = builder.createString(this.compType);

     const actionsVector = Submit2024Actions.createActionsListVector(
       builder,
       actionOffsets
     );
     Submit2024Actions.startSubmit2024Actions(builder);
     Submit2024Actions.addTeamNumber(builder, teamNumberFb);
     Submit2024Actions.addMatchNumber(builder, this.matchNumber);
     Submit2024Actions.addSetNumber(builder, this.setNumber);
     Submit2024Actions.addCompLevel(builder, compLevelFb);
     Submit2024Actions.addActionsList(builder, actionsVector);
     Submit2024Actions.addCompType(builder, compTypeFb);
     builder.finish(Submit2024Actions.endSubmit2024Actions(builder));

     return builder.asUint8Array();
   }

   // Same as createActionsBuffer, but encoded as Base64. It's also split into
   // a number of pieces so that each piece is roughly limited to
   // `qrCodeValuePieceSize` bytes.
   createBase64ActionsBuffers(): string[] {
     const originalBuffer = this.createActionsBuffer();
     const deflatedData = pako.deflate(originalBuffer, {level: 9});

     const pieceSize = this.qrCodeValuePieceSize;
     const fullValue = btoa(String.fromCharCode(...deflatedData));
     const numPieces = Math.ceil(fullValue.length / pieceSize);

     let splitData: string[] = [];
     for (let i = 0; i < numPieces; i++) {
       const splitPiece = fullValue.slice(i * pieceSize, (i + 1) * pieceSize);
       splitData.push(`${i}_${numPieces}_${pieceSize}_${splitPiece}`);
     }
     return splitData;
   }

   setQrCodeValueIndex(index: number) {
     this.qrCodeValueIndex = Math.max(
       0,
       Math.min(index, this.qrCodeValuePieces.length - 1)
     );
   }

   updateQrCodeValuePieceSize() {
     this.qrCodeValuePieces = this.createBase64ActionsBuffers();
     this.qrCodeValueIndex = 0;
   }

   async submit2024Actions() {
     const res = await this.actionsSubmitter.submit(this.createActionsBuffer());

     if (res.ok) {
       // We successfully submitted the data. Report success.
       this.section = 'Success';
       this.actionList = [];

       // Keep track of the position of the last robot, use to figure out what
       // the next robot in the same position is.
       let lastTeamPos = '0';
       for (const match of this.matchList) {
         if (
           this.matchNumber === match.matchNumber() &&
           this.setNumber === match.setNumber() &&
           this.compLevel === match.compLevel()
         ) {
           this.teamNumber = this.teamNumber;
           if (this.teamNumber == match.r1()) {
             lastTeamPos = 'r1';
           } else if (this.teamNumber == match.r2()) {
             lastTeamPos = 'r2';
           } else if (this.teamNumber == match.r3()) {
             lastTeamPos = 'r3';
           } else if (this.teamNumber == match.b1()) {
             lastTeamPos = 'b1';
           } else if (this.teamNumber == match.b2()) {
             lastTeamPos = 'b2';
           } else if (this.teamNumber == match.b3()) {
             lastTeamPos = 'b3';
           } else {
             console.log('Position of scouted team not found.');
           }
           break;
         }
       }
       if (lastTeamPos != '0') {
         this.matchNumber += 1;
         for (const match of this.matchList) {
           if (
             this.matchNumber == match.matchNumber() &&
             this.setNumber == match.setNumber() &&
             this.compLevel == match.compLevel()
           ) {
             if (lastTeamPos == 'r1') {
               this.nextTeamNumber = match.r1();
             } else if (lastTeamPos == 'r2') {
               this.nextTeamNumber = match.r2();
             } else if (lastTeamPos == 'r3') {
               this.nextTeamNumber = match.r3();
             } else if (lastTeamPos == 'b1') {
               this.nextTeamNumber = match.b1();
             } else if (lastTeamPos == 'b2') {
               this.nextTeamNumber = match.b2();
             } else if (lastTeamPos == 'b3') {
               this.nextTeamNumber = match.b3();
             } else {
               console.log('Position of last team not found.');
             }
             break;
           }
         }
       } else {
         console.log('Last team position not found.');
       }
       this.matchList = [];
       this.progressMessage = '';
       this.errorMessage = '';
       this.autoPhase = true;
       this.actionList = [];
       this.mobilityCompleted = false;
       this.compType = 'Regular';
       this.matchStartTimestamp = 0;
       this.selectedValue = 0;
       this.searchForDuplicateScouting = false;
     } else {
       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}"`;
     }
   }
 }
	import {
	Component,
	ElementRef,
	EventEmitter,
	Input,
	OnInit,
	Output,
	ViewChild,
	} from '@angular/core';
	import {FormsModule} from '@angular/forms';
	import {Builder, ByteBuffer} from 'flatbuffers';
	import {ErrorResponse} from '@org_frc971/scouting/webserver/requests/messages/error_response_generated';
	import {
	StartMatchAction,
	StartMatchActionT,
	NoShowActionT,
	NoShowAction,
	ScoreType,
	StageType,
	Submit2024Actions,
	MobilityAction,
	MobilityActionT,
	PenaltyAction,
	PenaltyActionT,
	PickupNoteAction,
	PickupNoteActionT,
	PlaceNoteAction,
	PlaceNoteActionT,
	RobotDeathAction,
	RobotDeathActionT,
	EndMatchAction,
	EndMatchActionT,
	ActionType,
	Action,
	ActionT,
	} from '@org_frc971/scouting/webserver/requests/messages/submit_2024_actions_generated';
	import {Match} from '@org_frc971/scouting/webserver/requests/messages/request_all_matches_response_generated';
	import {
	MatchListRequestor,
	ActionsSubmitter,
	} from '@org_frc971/scouting/www/rpc';
	import {RequestCurrentScouting} from '@org_frc971/scouting/webserver/requests/messages/request_current_scouting_generated';
	import {RequestCurrentScoutingResponse} from '@org_frc971/scouting/webserver/requests/messages/request_current_scouting_response_generated';
	import {ActionHelper, ConcreteAction} from './action_helper';
	import * as pako from 'pako';

	type Section =
	\| 'Team Selection'
	\| 'Init'
	\| 'Pickup'
	\| 'Place'
	\| 'Endgame'
	\| 'Dead'
	\| 'Review and Submit'
	\| 'QR Code'
	\| 'Success';

	type CompType = 'PreScouting' \| 'Practice' \| 'Regular';

	// TODO(phil): Deduplicate with match_list.component.ts.
	const COMP_LEVELS = ['qm', 'ef', 'qf', 'sf', 'f'] as const;
	export 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',
	};

	// The maximum number of bytes per QR code. The user can adjust this value to
	// make the QR code contain less information, but easier to scan.
	const QR_CODE_PIECE_SIZES = [150, 300, 450, 600, 750, 900];

	// The default index into QR_CODE_PIECE_SIZES.
	const DEFAULT_QR_CODE_PIECE_SIZE_INDEX = QR_CODE_PIECE_SIZES.indexOf(450);

	// The actions that are purely used for tracking state. They don't actually
	// have any permanent meaning and will not be saved in the database.
	const STATE_ACTIONS: ActionType[] = [
	ActionType.EndAutoPhaseAction,
	ActionType.EndTeleopPhaseAction,
	];

	@Component({
	selector: 'app-entry',
	templateUrl: './entry.ng.html',
	styleUrls: ['../app/common.css', './entry.component.css'],
	})
	export class EntryComponent implements OnInit {
	// Re-export the type here so that we can use it in the `[value]` attribute
	// of radio buttons.
	readonly COMP_LEVELS = COMP_LEVELS;
	readonly COMP_LEVEL_LABELS = COMP_LEVEL_LABELS;
	readonly QR_CODE_PIECE_SIZES = QR_CODE_PIECE_SIZES;
	readonly ScoreType = ScoreType;
	readonly StageType = StageType;
	readonly ActionT = ActionT;
	readonly ActionType = ActionType;
	readonly NoShowActionT = NoShowActionT;
	readonly StartMatchActionT = StartMatchActionT;
	readonly MobilityActionT = MobilityActionT;
	readonly PickupNoteActionT = PickupNoteActionT;
	readonly PlaceNoteActionT = PlaceNoteActionT;
	readonly RobotDeathActionT = RobotDeathActionT;
	readonly PenaltyActionT = PenaltyActionT;
	readonly EndMatchActionT = EndMatchActionT;

	section: Section = 'Team Selection';
	@Input() matchNumber: number = 1;
	@Input() teamNumber: string = '1';
	@Input() setNumber: number = 1;
	@Input() compLevel: CompLevel = 'qm';
	@Input() compType: CompType = 'Regular';
	@Input() skipTeamSelection = false;

	@ViewChild('header') header: ElementRef;

	matchList: Match[] = [];

	actionHelper: ActionHelper;
	actionList: ActionT[] = [];
	progressMessage: string = '';
	errorMessage: string = '';
	autoPhase: boolean = true;
	mobilityCompleted: boolean = false;
	// TODO(phil): Come up with a better name here.
	selectedValue = 0;
	endGameAction: StageType = StageType.kMISSING;
	noteIsTrapped: boolean = false;
	endGameSpotlight: boolean = false;

	nextTeamNumber = '';

	matchStartTimestamp: number = 0;
	penalties: number = 0;

	teamSelectionIsValid = false;
	searchForDuplicateScouting: boolean = false;
	duplicateSearchTimer: ReturnType<typeof setTimeout> \| null = null;

	// When the user chooses to generate QR codes, we convert the flatbuffer into
	// a long string. Since we frequently have more data than we can display in a
	// single QR code, we break the data into multiple QR codes. The data for
	// each QR code ("pieces") is stored in the `qrCodeValuePieces` list below.
	// The `qrCodeValueIndex` keeps track of which QR code we're currently
	// displaying.
	qrCodeValuePieceSize = QR_CODE_PIECE_SIZES[DEFAULT_QR_CODE_PIECE_SIZE_INDEX];
	qrCodeValuePieces: string[] = [];
	qrCodeValueIndex: number = 0;

	constructor(
	private readonly matchListRequestor: MatchListRequestor,
	private readonly actionsSubmitter: ActionsSubmitter
	) {}

	ngOnInit() {
	this.actionHelper = new ActionHelper(
	(actionType: ActionType, action: ConcreteAction) => {
	this.addAction(actionType, action);
	}
	);

	// When the user navigated from the match list, we can skip the team
	// selection. I.e. we trust that the user clicked the correct button.
	this.section = this.skipTeamSelection ? 'Init' : 'Team Selection';
	this.fetchMatchList();
	}

	ngOnDestroy() {
	clearInterval(this.duplicateSearchTimer);
	}

	goToNextTeam() {
	this.ngOnInit();
	this.ngOnDestroy();
	this.teamNumber = this.nextTeamNumber;
	this.nextTeamNumber = '';
	}

	async fetchMatchList() {
	this.progressMessage = 'Fetching match list. Please be patient.';
	this.errorMessage = '';

	try {
	this.matchList = await this.matchListRequestor.fetchMatchList();
	this.progressMessage = 'Successfully fetched match list.';
	} catch (e) {
	this.errorMessage = e;
	this.progressMessage = '';
	}
	}

	async findOthersScoutingThisRobot() {
	const builder = new Builder();
	const teamNumber = builder.createString(this.teamNumber);

	builder.finish(
	RequestCurrentScouting.createRequestCurrentScouting(builder, teamNumber)
	);

	const buffer = builder.asUint8Array();
	const res = await fetch('/requests/request/current_scouting', {
	method: 'POST',
	body: buffer,
	});

	if (!res.ok) {
	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}"`;
	} else {
	const resBuffer = await res.arrayBuffer();
	const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
	const parsedResponse =
	RequestCurrentScoutingResponse.getRootAsRequestCurrentScoutingResponse(
	fbBuffer
	);
	const collectedBy = [];
	for (let i = 0; i < parsedResponse.collectedByLength(); i++) {
	collectedBy.push(parsedResponse.collectedBy(i).name());
	}
	this.duplicateSearchTimer = setInterval(() => {
	if (this.searchForDuplicateScouting && collectedBy.length != 0) {
	if (
	confirm(
	'This team is currently being scouted by ' +
	collectedBy +
	'. Would you like to receive more alerts?'
	) != true
	) {
	this.searchForDuplicateScouting = false;
	}
	}
	}, 10000);
	}
	}

	// This gets called when the user changes something on the Init screen.
	// It makes sure that the user can't click "Next" until the information is
	// valid, or this is for pre-scouting or practice matches.
	updateTeamSelectionValidity(): void {
	this.teamSelectionIsValid =
	this.compType != 'Regular' \|\| this.matchIsInMatchList();
	}

	matchIsInMatchList(): boolean {
	// If the user deletes the content of the teamNumber field, the value here
	// is undefined. Guard against that.
	if (this.teamNumber == null) {
	return false;
	}

	for (const match of this.matchList) {
	if (
	this.matchNumber == match.matchNumber() &&
	this.setNumber == match.setNumber() &&
	this.compLevel == match.compLevel() &&
	(this.teamNumber === match.r1() \|\|
	this.teamNumber === match.r2() \|\|
	this.teamNumber === match.r3() \|\|
	this.teamNumber === match.b1() \|\|
	this.teamNumber === match.b2() \|\|
	this.teamNumber === match.b3())
	) {
	return true;
	}
	}
	return false;
	}

	addPenalty(): void {
	this.penalties += 1;
	}

	removePenalty(): void {
	if (this.penalties > 0) {
	this.penalties -= 1;
	}
	}

	addPenalties(): void {
	this.actionHelper.addPenaltyAction({penalties: this.penalties});
	}

	addAction(actionType: ActionType, action: ConcreteAction): void {
	let timestamp: number = 0;

	if (actionType == ActionType.StartMatchAction) {
	// Unix nanosecond timestamp.
	this.matchStartTimestamp = Date.now() * 1e6;
	} else {
	// Unix nanosecond timestamp relative to match start.
	timestamp = Date.now() * 1e6 - this.matchStartTimestamp;
	}

	if (actionType == ActionType.EndMatchAction) {
	// endMatchAction occurs at the same time as penaltyAction so add to its
	// timestamp to make it unique.
	timestamp += 1;
	}

	if (actionType == ActionType.MobilityAction) {
	this.mobilityCompleted = true;
	}

	this.actionList.push(new ActionT(BigInt(timestamp), actionType, action));
	}

	undoLastAction() {
	if (this.actionList.length > 0) {
	let lastAction = this.actionList.pop();
	switch (lastAction?.actionTakenType) {
	case ActionType.EndAutoPhaseAction:
	this.autoPhase = true;
	this.section = 'Pickup';
	break;
	case ActionType.NoShowAction:
	this.autoPhase = true;
	this.section = 'Init';
	break;
	case ActionType.PickupNoteAction:
	this.section = 'Pickup';
	break;
	case ActionType.EndTeleopPhaseAction:
	this.section = 'Pickup';
	break;
	case ActionType.PlaceNoteAction:
	this.section = 'Place';
	break;
	case ActionType.EndMatchAction:
	this.section = 'Endgame';
	case ActionType.MobilityAction:
	this.mobilityCompleted = false;
	break;
	case ActionType.StartMatchAction:
	this.section = 'Init';
	break;
	case ActionType.RobotDeathAction:
	// TODO(FILIP): Return user to the screen they
	// clicked dead robot on. Pickup is fine for now but
	// might cause confusion.
	this.section = 'Pickup';
	break;
	default:
	break;
	}
	}
	}

	stringifyScoreType(scoreType: ScoreType): String {
	return ScoreType[scoreType];
	}

	stringifyStageType(stageType: StageType): String {
	return StageType[stageType];
	}

	changeSectionTo(target: Section) {
	// Clear the messages since they won't be relevant in the next section.
	this.errorMessage = '';
	this.progressMessage = '';

	// For the QR code screen, we need to make the value to encode available.
	if (target == 'QR Code') {
	this.updateQrCodeValuePieceSize();
	}

	if (target == 'Init') {
	this.searchForDuplicateScouting = true;
	this.findOthersScoutingThisRobot();
	}

	this.section = target;
	}

	private scrollToTop() {
	this.header.nativeElement.scrollIntoView();
	}

	createActionsBuffer() {
	const builder = new Builder();
	const actionOffsets: number[] = [];

	for (const action of this.actionList) {
	if (STATE_ACTIONS.includes(action.actionTakenType)) {
	// Actions only used for undo purposes are not submitted.
	continue;
	}
	actionOffsets.push(action.pack(builder));
	}
	const teamNumberFb = builder.createString(this.teamNumber);
	const compLevelFb = builder.createString(this.compLevel);
	const compTypeFb = builder.createString(this.compType);

	const actionsVector = Submit2024Actions.createActionsListVector(
	builder,
	actionOffsets
	);
	Submit2024Actions.startSubmit2024Actions(builder);
	Submit2024Actions.addTeamNumber(builder, teamNumberFb);
	Submit2024Actions.addMatchNumber(builder, this.matchNumber);
	Submit2024Actions.addSetNumber(builder, this.setNumber);
	Submit2024Actions.addCompLevel(builder, compLevelFb);
	Submit2024Actions.addActionsList(builder, actionsVector);
	Submit2024Actions.addCompType(builder, compTypeFb);
	builder.finish(Submit2024Actions.endSubmit2024Actions(builder));

	return builder.asUint8Array();
	}

	// Same as createActionsBuffer, but encoded as Base64. It's also split into
	// a number of pieces so that each piece is roughly limited to
	// `qrCodeValuePieceSize` bytes.
	createBase64ActionsBuffers(): string[] {
	const originalBuffer = this.createActionsBuffer();
	const deflatedData = pako.deflate(originalBuffer, {level: 9});

	const pieceSize = this.qrCodeValuePieceSize;
	const fullValue = btoa(String.fromCharCode(...deflatedData));
	const numPieces = Math.ceil(fullValue.length / pieceSize);

	let splitData: string[] = [];
	for (let i = 0; i < numPieces; i++) {
	const splitPiece = fullValue.slice(i * pieceSize, (i + 1) * pieceSize);
	splitData.push(`${i}_${numPieces}_${pieceSize}_${splitPiece}`);
	}
	return splitData;
	}

	setQrCodeValueIndex(index: number) {
	this.qrCodeValueIndex = Math.max(
	0,
	Math.min(index, this.qrCodeValuePieces.length - 1)
	);
	}

	updateQrCodeValuePieceSize() {
	this.qrCodeValuePieces = this.createBase64ActionsBuffers();
	this.qrCodeValueIndex = 0;
	}

	async submit2024Actions() {
	const res = await this.actionsSubmitter.submit(this.createActionsBuffer());

	if (res.ok) {
	// We successfully submitted the data. Report success.
	this.section = 'Success';
	this.actionList = [];

	// Keep track of the position of the last robot, use to figure out what
	// the next robot in the same position is.
	let lastTeamPos = '0';
	for (const match of this.matchList) {
	if (
	this.matchNumber === match.matchNumber() &&
	this.setNumber === match.setNumber() &&
	this.compLevel === match.compLevel()
	) {
	this.teamNumber = this.teamNumber;
	if (this.teamNumber == match.r1()) {
	lastTeamPos = 'r1';
	} else if (this.teamNumber == match.r2()) {
	lastTeamPos = 'r2';
	} else if (this.teamNumber == match.r3()) {
	lastTeamPos = 'r3';
	} else if (this.teamNumber == match.b1()) {
	lastTeamPos = 'b1';
	} else if (this.teamNumber == match.b2()) {
	lastTeamPos = 'b2';
	} else if (this.teamNumber == match.b3()) {
	lastTeamPos = 'b3';
	} else {
	console.log('Position of scouted team not found.');
	}
	break;
	}
	}
	if (lastTeamPos != '0') {
	this.matchNumber += 1;
	for (const match of this.matchList) {
	if (
	this.matchNumber == match.matchNumber() &&
	this.setNumber == match.setNumber() &&
	this.compLevel == match.compLevel()
	) {
	if (lastTeamPos == 'r1') {
	this.nextTeamNumber = match.r1();
	} else if (lastTeamPos == 'r2') {
	this.nextTeamNumber = match.r2();
	} else if (lastTeamPos == 'r3') {
	this.nextTeamNumber = match.r3();
	} else if (lastTeamPos == 'b1') {
	this.nextTeamNumber = match.b1();
	} else if (lastTeamPos == 'b2') {
	this.nextTeamNumber = match.b2();
	} else if (lastTeamPos == 'b3') {
	this.nextTeamNumber = match.b3();
	} else {
	console.log('Position of last team not found.');
	}
	break;
	}
	}
	} else {
	console.log('Last team position not found.');
	}
	this.matchList = [];
	this.progressMessage = '';
	this.errorMessage = '';
	this.autoPhase = true;
	this.actionList = [];
	this.mobilityCompleted = false;
	this.compType = 'Regular';
	this.matchStartTimestamp = 0;
	this.selectedValue = 0;
	this.searchForDuplicateScouting = false;
	} else {
	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}"`;
	}
	}
	}