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 '../../webserver/requests/messages/error_response_generated';
 import {
   StartMatchAction,
   ScoreType,
   StageType,
   Submit2024Actions,
   MobilityAction,
   PenaltyAction,
   PickupNoteAction,
   PlaceNoteAction,
   RobotDeathAction,
   EndMatchAction,
   ActionType,
   Action,
 } from '../../webserver/requests/messages/submit_2024_actions_generated';
 import {Match} from '../../webserver/requests/messages/request_all_matches_response_generated';
 import {MatchListRequestor} from '../rpc';
 import * as pako from 'pako';

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

 // 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(750);

 type ActionT =
   | {
       type: 'startMatchAction';
       timestamp?: number;
       position: number;
     }
   | {
       type: 'mobilityAction';
       timestamp?: number;
       mobility: boolean;
     }
   | {
       type: 'pickupNoteAction';
       timestamp?: number;
       auto?: boolean;
     }
   | {
       type: 'placeNoteAction';
       timestamp?: number;
       scoreType: ScoreType;
       auto?: boolean;
     }
   | {
       type: 'robotDeathAction';
       timestamp?: number;
       robotDead: boolean;
     }
   | {
       type: 'penaltyAction';
       timestamp?: number;
       penalties: number;
     }
   | {
       type: 'endMatchAction';
       stageType: StageType;
       trapNote: boolean;
       spotlight: boolean;
       timestamp?: number;
     }
   | {
       // This is not a action that is submitted,
       // It is used for undoing purposes.
       type: 'endAutoPhase';
       timestamp?: number;
     }
   | {
       // This is not a action that is submitted,
       // It is used for undoing purposes.
       type: 'endTeleopPhase';
       timestamp?: number;
     };

 @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;

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

   matchList: Match[] = [];

   actionList: ActionT[] = [];
   progressMessage: string = '';
   errorMessage: string = '';
   autoPhase: boolean = true;
   mobilityCompleted: boolean = false;

   preScouting: boolean = false;
   matchStartTimestamp: number = 0;
   penalties: number = 0;

   teamSelectionIsValid = false;

   // 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) {}

   ngOnInit() {
     // 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';

     if (this.section == 'Team Selection') {
       this.fetchMatchList();
     }
   }

   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 = '';
     }
   }

   // 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.
   updateTeamSelectionValidity(): void {
     this.teamSelectionIsValid = this.preScouting || 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;
     }
     const teamNumber = this.teamNumber;

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

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

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

   addPenalties(): void {
     this.addAction({type: 'penaltyAction', penalties: this.penalties});
   }

   addAction(action: ActionT): void {
     if (action.type == 'startMatchAction') {
       // Unix nanosecond timestamp.
       this.matchStartTimestamp = Date.now() * 1e6;
       action.timestamp = 0;
     } else {
       // Unix nanosecond timestamp relative to match start.
       action.timestamp = Date.now() * 1e6 - this.matchStartTimestamp;
     }

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

     if (action.type == 'mobilityAction') {
       this.mobilityCompleted = true;
     }

     if (action.type == 'pickupNoteAction' || action.type == 'placeNoteAction') {
       action.auto = this.autoPhase;
     }
     this.actionList.push(action);
   }

   undoLastAction() {
     if (this.actionList.length > 0) {
       let lastAction = this.actionList.pop();
       switch (lastAction?.type) {
         case 'endAutoPhase':
           this.autoPhase = true;
           this.section = 'Pickup';
         case 'pickupNoteAction':
           this.section = 'Pickup';
           break;
         case 'endTeleopPhase':
           this.section = 'Pickup';
           break;
         case 'placeNoteAction':
           this.section = 'Place';
           break;
         case 'endMatchAction':
           this.section = 'Endgame';
         case 'mobilityAction':
           this.mobilityCompleted = false;
           break;
         case 'startMatchAction':
           this.section = 'Init';
           break;
         case '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();
     }

     this.section = target;
   }

   @ViewChild('header') header: ElementRef;

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

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

     for (const action of this.actionList) {
       let actionOffset: number | undefined;
       console.log(action.type);

       switch (action.type) {
         case 'startMatchAction':
           const startMatchActionOffset =
             StartMatchAction.createStartMatchAction(builder, action.position);
           actionOffset = Action.createAction(
             builder,
             BigInt(action.timestamp || 0),
             ActionType.StartMatchAction,
             startMatchActionOffset
           );
           break;
         case 'mobilityAction':
           const mobilityActionOffset = MobilityAction.createMobilityAction(
             builder,
             action.mobility
           );
           actionOffset = Action.createAction(
             builder,
             BigInt(action.timestamp || 0),
             ActionType.MobilityAction,
             mobilityActionOffset
           );
           break;
         case 'penaltyAction':
           const penaltyActionOffset = PenaltyAction.createPenaltyAction(
             builder,
             action.penalties
           );
           actionOffset = Action.createAction(
             builder,
             BigInt(action.timestamp || 0),
             ActionType.PenaltyAction,
             penaltyActionOffset
           );
           break;
         case 'pickupNoteAction':
           const pickupNoteActionOffset =
             PickupNoteAction.createPickupNoteAction(
               builder,
               action.auto || false
             );
           actionOffset = Action.createAction(
             builder,
             BigInt(action.timestamp || 0),
             ActionType.PickupNoteAction,
             pickupNoteActionOffset
           );
           break;
         case 'placeNoteAction':
           const placeNoteActionOffset = PlaceNoteAction.createPlaceNoteAction(
             builder,
             action.scoreType,
             action.auto || false
           );
           actionOffset = Action.createAction(
             builder,
             BigInt(action.timestamp || 0),
             ActionType.PlaceNoteAction,
             placeNoteActionOffset
           );
           break;

         case 'robotDeathAction':
           const robotDeathActionOffset =
             RobotDeathAction.createRobotDeathAction(builder, action.robotDead);
           actionOffset = Action.createAction(
             builder,
             BigInt(action.timestamp || 0),
             ActionType.RobotDeathAction,
             robotDeathActionOffset
           );
           break;

         case 'endMatchAction':
           const endMatchActionOffset = EndMatchAction.createEndMatchAction(
             builder,
             action.stageType,
             action.trapNote,
             action.spotlight
           );
           actionOffset = Action.createAction(
             builder,
             BigInt(action.timestamp || 0),
             ActionType.EndMatchAction,
             endMatchActionOffset
           );
           break;

         case 'endAutoPhase':
           // Not important action.
           break;

         case 'endTeleopPhase':
           // Not important action.
           break;

         default:
           throw new Error(`Unknown action type`);
       }

       if (actionOffset !== undefined) {
         actionOffsets.push(actionOffset);
       }
     }
     const teamNumberFb = builder.createString(this.teamNumber);
     const compLevelFb = builder.createString(this.compLevel);

     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.addPreScouting(builder, this.preScouting);
     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 fetch('/requests/submit/submit_2024_actions', {
       method: 'POST',
       body: this.createActionsBuffer(),
     });

     if (res.ok) {
       // We successfully submitted the data. Report success.
       this.section = 'Success';
       this.actionList = [];
     } 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 '../../webserver/requests/messages/error_response_generated';
	import {
	StartMatchAction,
	ScoreType,
	StageType,
	Submit2024Actions,
	MobilityAction,
	PenaltyAction,
	PickupNoteAction,
	PlaceNoteAction,
	RobotDeathAction,
	EndMatchAction,
	ActionType,
	Action,
	} from '../../webserver/requests/messages/submit_2024_actions_generated';
	import {Match} from '../../webserver/requests/messages/request_all_matches_response_generated';
	import {MatchListRequestor} from '../rpc';
	import * as pako from 'pako';

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

	// 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(750);

	type ActionT =
	\| {
	type: 'startMatchAction';
	timestamp?: number;
	position: number;
	}
	\| {
	type: 'mobilityAction';
	timestamp?: number;
	mobility: boolean;
	}
	\| {
	type: 'pickupNoteAction';
	timestamp?: number;
	auto?: boolean;
	}
	\| {
	type: 'placeNoteAction';
	timestamp?: number;
	scoreType: ScoreType;
	auto?: boolean;
	}
	\| {
	type: 'robotDeathAction';
	timestamp?: number;
	robotDead: boolean;
	}
	\| {
	type: 'penaltyAction';
	timestamp?: number;
	penalties: number;
	}
	\| {
	type: 'endMatchAction';
	stageType: StageType;
	trapNote: boolean;
	spotlight: boolean;
	timestamp?: number;
	}
	\| {
	// This is not a action that is submitted,
	// It is used for undoing purposes.
	type: 'endAutoPhase';
	timestamp?: number;
	}
	\| {
	// This is not a action that is submitted,
	// It is used for undoing purposes.
	type: 'endTeleopPhase';
	timestamp?: number;
	};

	@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;

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

	matchList: Match[] = [];

	actionList: ActionT[] = [];
	progressMessage: string = '';
	errorMessage: string = '';
	autoPhase: boolean = true;
	mobilityCompleted: boolean = false;

	preScouting: boolean = false;
	matchStartTimestamp: number = 0;
	penalties: number = 0;

	teamSelectionIsValid = false;

	// 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) {}

	ngOnInit() {
	// 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';

	if (this.section == 'Team Selection') {
	this.fetchMatchList();
	}
	}

	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 = '';
	}
	}

	// 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.
	updateTeamSelectionValidity(): void {
	this.teamSelectionIsValid = this.preScouting \|\| 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;
	}
	const teamNumber = this.teamNumber;

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

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

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

	addPenalties(): void {
	this.addAction({type: 'penaltyAction', penalties: this.penalties});
	}

	addAction(action: ActionT): void {
	if (action.type == 'startMatchAction') {
	// Unix nanosecond timestamp.
	this.matchStartTimestamp = Date.now() * 1e6;
	action.timestamp = 0;
	} else {
	// Unix nanosecond timestamp relative to match start.
	action.timestamp = Date.now() * 1e6 - this.matchStartTimestamp;
	}

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

	if (action.type == 'mobilityAction') {
	this.mobilityCompleted = true;
	}

	if (action.type == 'pickupNoteAction' \|\| action.type == 'placeNoteAction') {
	action.auto = this.autoPhase;
	}
	this.actionList.push(action);
	}

	undoLastAction() {
	if (this.actionList.length > 0) {
	let lastAction = this.actionList.pop();
	switch (lastAction?.type) {
	case 'endAutoPhase':
	this.autoPhase = true;
	this.section = 'Pickup';
	case 'pickupNoteAction':
	this.section = 'Pickup';
	break;
	case 'endTeleopPhase':
	this.section = 'Pickup';
	break;
	case 'placeNoteAction':
	this.section = 'Place';
	break;
	case 'endMatchAction':
	this.section = 'Endgame';
	case 'mobilityAction':
	this.mobilityCompleted = false;
	break;
	case 'startMatchAction':
	this.section = 'Init';
	break;
	case '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();
	}

	this.section = target;
	}

	@ViewChild('header') header: ElementRef;

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

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

	for (const action of this.actionList) {
	let actionOffset: number \| undefined;
	console.log(action.type);

	switch (action.type) {
	case 'startMatchAction':
	const startMatchActionOffset =
	StartMatchAction.createStartMatchAction(builder, action.position);
	actionOffset = Action.createAction(
	builder,
	BigInt(action.timestamp \|\| 0),
	ActionType.StartMatchAction,
	startMatchActionOffset
	);
	break;
	case 'mobilityAction':
	const mobilityActionOffset = MobilityAction.createMobilityAction(
	builder,
	action.mobility
	);
	actionOffset = Action.createAction(
	builder,
	BigInt(action.timestamp \|\| 0),
	ActionType.MobilityAction,
	mobilityActionOffset
	);
	break;
	case 'penaltyAction':
	const penaltyActionOffset = PenaltyAction.createPenaltyAction(
	builder,
	action.penalties
	);
	actionOffset = Action.createAction(
	builder,
	BigInt(action.timestamp \|\| 0),
	ActionType.PenaltyAction,
	penaltyActionOffset
	);
	break;
	case 'pickupNoteAction':
	const pickupNoteActionOffset =
	PickupNoteAction.createPickupNoteAction(
	builder,
	action.auto \|\| false
	);
	actionOffset = Action.createAction(
	builder,
	BigInt(action.timestamp \|\| 0),
	ActionType.PickupNoteAction,
	pickupNoteActionOffset
	);
	break;
	case 'placeNoteAction':
	const placeNoteActionOffset = PlaceNoteAction.createPlaceNoteAction(
	builder,
	action.scoreType,
	action.auto \|\| false
	);
	actionOffset = Action.createAction(
	builder,
	BigInt(action.timestamp \|\| 0),
	ActionType.PlaceNoteAction,
	placeNoteActionOffset
	);
	break;

	case 'robotDeathAction':
	const robotDeathActionOffset =
	RobotDeathAction.createRobotDeathAction(builder, action.robotDead);
	actionOffset = Action.createAction(
	builder,
	BigInt(action.timestamp \|\| 0),
	ActionType.RobotDeathAction,
	robotDeathActionOffset
	);
	break;

	case 'endMatchAction':
	const endMatchActionOffset = EndMatchAction.createEndMatchAction(
	builder,
	action.stageType,
	action.trapNote,
	action.spotlight
	);
	actionOffset = Action.createAction(
	builder,
	BigInt(action.timestamp \|\| 0),
	ActionType.EndMatchAction,
	endMatchActionOffset
	);
	break;

	case 'endAutoPhase':
	// Not important action.
	break;

	case 'endTeleopPhase':
	// Not important action.
	break;

	default:
	throw new Error(`Unknown action type`);
	}

	if (actionOffset !== undefined) {
	actionOffsets.push(actionOffset);
	}
	}
	const teamNumberFb = builder.createString(this.teamNumber);
	const compLevelFb = builder.createString(this.compLevel);

	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.addPreScouting(builder, this.preScouting);
	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 fetch('/requests/submit/submit_2024_actions', {
	method: 'POST',
	body: this.createActionsBuffer(),
	});

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