| import {ByteBuffer} from 'flatbuffers'; |
| import {Connection} from '../../aos/network/www/proxy'; |
| import {LocalizerOutput} from '../../frc971/control_loops/drivetrain/localization/localizer_output_generated'; |
| import {RejectionReason} from '../localizer/status_generated'; |
| import {Status as DrivetrainStatus} from '../../frc971/control_loops/drivetrain/drivetrain_status_generated'; |
| import {Status as SuperstructureStatus, EndEffectorState, ArmState, ArmStatus} from '../control_loops/superstructure/superstructure_status_generated' |
| import {Class} from '../vision/game_pieces_generated' |
| import {Visualization, TargetEstimateDebug} from '../localizer/visualization_generated'; |
| |
| import {FIELD_LENGTH, FIELD_WIDTH, FT_TO_M, IN_TO_M} from './constants'; |
| |
| // (0,0) is field center, +X is toward red DS |
| const FIELD_SIDE_Y = FIELD_WIDTH / 2; |
| const FIELD_EDGE_X = FIELD_LENGTH / 2; |
| |
| const ROBOT_WIDTH = 25 * IN_TO_M; |
| const ROBOT_LENGTH = 32 * IN_TO_M; |
| |
| const PI_COLORS = ['#ff00ff', '#ffff00', '#00ffff', '#ffa500']; |
| const PIS = ['pi1', 'pi2', 'pi3', 'pi4']; |
| |
| 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 |
| // we can stop displaying images after a certain amount of time. |
| private localizerImageMatches = new Map<number, Visualization>(); |
| private x: HTMLElement = (document.getElementById('x') as HTMLElement); |
| private y: HTMLElement = (document.getElementById('y') as HTMLElement); |
| private theta: HTMLElement = |
| (document.getElementById('theta') as HTMLElement); |
| private imagesAcceptedCounter: HTMLElement = |
| (document.getElementById('images_accepted') as HTMLElement); |
| private rejectionReasonCells: HTMLElement[] = []; |
| private fieldImage: HTMLImageElement = new Image(); |
| private endEffectorState: HTMLElement = |
| (document.getElementById('end_effector_state') as HTMLElement); |
| private wrist: HTMLElement = |
| (document.getElementById('wrist') as HTMLElement); |
| private armState: HTMLElement = |
| (document.getElementById('arm_state') as HTMLElement); |
| private gamePiece: HTMLElement = |
| (document.getElementById('game_piece') as HTMLElement); |
| private armX: HTMLElement = |
| (document.getElementById('arm_x') as HTMLElement); |
| private armY: HTMLElement = |
| (document.getElementById('arm_y') as HTMLElement); |
| private circularIndex: HTMLElement = |
| (document.getElementById('arm_circular_index') as HTMLElement); |
| private roll: HTMLElement = |
| (document.getElementById('arm_roll') as HTMLElement); |
| private proximal: HTMLElement = |
| (document.getElementById('arm_proximal') as HTMLElement); |
| private distal: HTMLElement = |
| (document.getElementById('arm_distal') as HTMLElement); |
| |
| constructor(private readonly connection: Connection) { |
| (document.getElementById('field') as HTMLElement).appendChild(this.canvas); |
| |
| this.fieldImage.src = "2023.png"; |
| |
| for (const value in RejectionReason) { |
| // Typescript generates an iterator that produces both numbers and |
| // strings... don't do anything on the string iterations. |
| if (isNaN(Number(value))) { |
| continue; |
| } |
| const row = document.createElement('div'); |
| const nameCell = document.createElement('div'); |
| nameCell.innerHTML = RejectionReason[value]; |
| row.appendChild(nameCell); |
| const valueCell = document.createElement('div'); |
| valueCell.innerHTML = 'NA'; |
| this.rejectionReasonCells.push(valueCell); |
| row.appendChild(valueCell); |
| document.getElementById('vision_readouts').appendChild(row); |
| } |
| |
| for (let ii = 0; ii < PI_COLORS.length; ++ii) { |
| const legendEntry = document.createElement('div'); |
| legendEntry.style.color = PI_COLORS[ii]; |
| legendEntry.innerHTML = 'PI' + (ii + 1).toString() |
| document.getElementById('legend').appendChild(legendEntry); |
| } |
| |
| this.connection.addConfigHandler(() => { |
| // Visualization message is reliable so that we can see *all* the vision |
| // matches. |
| for (const pi in PIS) { |
| this.connection.addReliableHandler( |
| '/' + PIS[pi] + '/camera', "y2023.localizer.Visualization", |
| (data) => { |
| this.handleLocalizerDebug(pi, data); |
| }); |
| } |
| this.connection.addHandler( |
| '/drivetrain', "frc971.control_loops.drivetrain.Status", (data) => { |
| this.handleDrivetrainStatus(data); |
| }); |
| this.connection.addHandler( |
| '/localizer', "frc971.controls.LocalizerOutput", (data) => { |
| this.handleLocalizerOutput(data); |
| }); |
| this.connection.addHandler( |
| '/superstructure', "y2023.control_loops.superstructure.Status", |
| (data) => { |
| this.handleSuperstructureStatus(data) |
| }); |
| }); |
| } |
| |
| private handleLocalizerDebug(pi: string, data: Uint8Array): void { |
| const now = Date.now() / 1000.0; |
| |
| const fbBuffer = new ByteBuffer(data); |
| this.localizerImageMatches.set( |
| now, Visualization.getRootAsVisualization(fbBuffer)); |
| |
| const debug = this.localizerImageMatches.get(now); |
| |
| if (debug.statistics()) { |
| if (debug.statistics().rejectionReasonsLength() == |
| this.rejectionReasonCells.length) { |
| for (let ii = 0; ii < debug.statistics().rejectionReasonsLength(); |
| ++ii) { |
| this.rejectionReasonCells[ii].innerHTML = |
| debug.statistics().rejectionReasons(ii).count().toString(); |
| } |
| } else { |
| console.error('Unexpected number of rejection reasons in counter.'); |
| } |
| } |
| } |
| |
| private handleLocalizerOutput(data: Uint8Array): void { |
| const fbBuffer = new ByteBuffer(data); |
| 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); |
| } |
| |
| 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( |
| x: number, y: number, theta: number, color: string = 'blue'): void { |
| const ctx = this.canvas.getContext('2d'); |
| ctx.save(); |
| ctx.translate(x, y); |
| ctx.rotate(theta); |
| ctx.strokeStyle = color; |
| ctx.beginPath(); |
| ctx.moveTo(0.5, 0.5); |
| ctx.lineTo(0, 0); |
| ctx.lineTo(0.5, -0.5); |
| ctx.stroke(); |
| ctx.beginPath(); |
| ctx.arc(0, 0, 0.25, -Math.PI / 4, Math.PI / 4); |
| ctx.stroke(); |
| ctx.restore(); |
| } |
| |
| drawRobot( |
| x: number, y: number, theta: number, |
| color: string = 'blue', dashed: boolean = false): void { |
| const ctx = this.canvas.getContext('2d'); |
| ctx.save(); |
| ctx.translate(x, y); |
| ctx.rotate(theta); |
| ctx.strokeStyle = color; |
| ctx.lineWidth = ROBOT_WIDTH / 10.0; |
| if (dashed) { |
| ctx.setLineDash([0.05, 0.05]); |
| } else { |
| // Empty array = solid line. |
| ctx.setLineDash([]); |
| } |
| ctx.rect(-ROBOT_LENGTH / 2, -ROBOT_WIDTH / 2, ROBOT_LENGTH, ROBOT_WIDTH); |
| ctx.stroke(); |
| |
| // Draw line indicating which direction is forwards on the robot. |
| ctx.beginPath(); |
| ctx.moveTo(0, 0); |
| ctx.lineTo(ROBOT_LENGTH / 2.0, 0); |
| ctx.stroke(); |
| |
| ctx.restore(); |
| } |
| |
| setZeroing(div: HTMLElement): void { |
| div.innerHTML = 'zeroing'; |
| div.classList.remove('faulted'); |
| div.classList.add('zeroing'); |
| div.classList.remove('near'); |
| } |
| |
| setEstopped(div: HTMLElement): void { |
| div.innerHTML = 'estopped'; |
| div.classList.add('faulted'); |
| div.classList.remove('zeroing'); |
| div.classList.remove('near'); |
| } |
| |
| setTargetValue( |
| div: HTMLElement, target: number, val: number, tolerance: number): void { |
| div.innerHTML = val.toFixed(4); |
| div.classList.remove('faulted'); |
| div.classList.remove('zeroing'); |
| if (Math.abs(target - val) < tolerance) { |
| div.classList.add('near'); |
| } else { |
| div.classList.remove('near'); |
| } |
| } |
| |
| setValue(div: HTMLElement, val: number): void { |
| div.innerHTML = val.toFixed(4); |
| div.classList.remove('faulted'); |
| div.classList.remove('zeroing'); |
| div.classList.remove('near'); |
| } |
| |
| draw(): void { |
| this.reset(); |
| this.drawField(); |
| |
| // Draw the matches with debugging information from the localizer. |
| const now = Date.now() / 1000.0; |
| |
| if (this.superstructureStatus) { |
| this.endEffectorState.innerHTML = |
| EndEffectorState[this.superstructureStatus.endEffectorState()]; |
| if (!this.superstructureStatus.wrist() || |
| !this.superstructureStatus.wrist().zeroed()) { |
| this.setZeroing(this.wrist); |
| } else if (this.superstructureStatus.wrist().estopped()) { |
| this.setEstopped(this.wrist); |
| } else { |
| this.setTargetValue( |
| this.wrist, |
| this.superstructureStatus.wrist().unprofiledGoalPosition(), |
| this.superstructureStatus.wrist().estimatorState().position(), |
| 1e-3); |
| } |
| this.armState.innerHTML = |
| ArmState[this.superstructureStatus.arm().state()]; |
| this.gamePiece.innerHTML = |
| Class[this.superstructureStatus.gamePiece()]; |
| this.armX.innerHTML = |
| this.superstructureStatus.arm().armX().toFixed(2); |
| this.armY.innerHTML = |
| this.superstructureStatus.arm().armY().toFixed(2); |
| this.circularIndex.innerHTML = |
| this.superstructureStatus.arm().armCircularIndex().toFixed(0); |
| this.roll.innerHTML = |
| this.superstructureStatus.arm().rollJointEstimatorState().position().toFixed(2); |
| this.proximal.innerHTML = |
| this.superstructureStatus.arm().proximalEstimatorState().position().toFixed(2); |
| this.distal.innerHTML = |
| this.superstructureStatus.arm().distalEstimatorState().position().toFixed(2); |
| } |
| |
| if (this.drivetrainStatus && this.drivetrainStatus.trajectoryLogging()) { |
| this.drawRobot( |
| this.drivetrainStatus.trajectoryLogging().x(), |
| this.drivetrainStatus.trajectoryLogging().y(), |
| this.drivetrainStatus.trajectoryLogging().theta(), "#000000FF", |
| false); |
| } |
| |
| if (this.localizerOutput) { |
| if (!this.localizerOutput.zeroed()) { |
| this.setZeroing(this.x); |
| this.setZeroing(this.y); |
| this.setZeroing(this.theta); |
| } else { |
| this.setValue(this.x, this.localizerOutput.x()); |
| this.setValue(this.y, this.localizerOutput.y()); |
| this.setValue(this.theta, this.localizerOutput.theta()); |
| } |
| |
| this.drawRobot( |
| this.localizerOutput.x(), this.localizerOutput.y(), |
| this.localizerOutput.theta()); |
| |
| this.imagesAcceptedCounter.innerHTML = |
| this.localizerOutput.imageAcceptedCount().toString(); |
| } |
| |
| for (const [time, value] of this.localizerImageMatches) { |
| const age = now - time; |
| const kRemovalAge = 1.0; |
| if (age > kRemovalAge) { |
| this.localizerImageMatches.delete(time); |
| continue; |
| } |
| const kMaxImageAlpha = 0.5; |
| const ageAlpha = kMaxImageAlpha * (kRemovalAge - age) / kRemovalAge |
| for (let i = 0; i < value.targetsLength(); i++) { |
| const imageDebug = value.targets(i); |
| const x = imageDebug.impliedRobotX(); |
| const y = imageDebug.impliedRobotY(); |
| const theta = imageDebug.impliedRobotTheta(); |
| const cameraX = imageDebug.cameraX(); |
| const cameraY = imageDebug.cameraY(); |
| const cameraTheta = imageDebug.cameraTheta(); |
| const accepted = imageDebug.accepted(); |
| // Make camera readings fade over time. |
| const alpha = Math.round(255 * ageAlpha).toString(16).padStart(2, '0'); |
| const dashed = false; |
| const cameraRgb = PI_COLORS[imageDebug.camera()]; |
| const cameraRgba = cameraRgb + alpha; |
| this.drawRobot(x, y, theta, cameraRgba, dashed); |
| this.drawCamera(cameraX, cameraY, cameraTheta, cameraRgba); |
| } |
| } |
| |
| window.requestAnimationFrame(() => this.draw()); |
| } |
| |
| reset(): void { |
| const ctx = this.canvas.getContext('2d'); |
| ctx.setTransform(1, 0, 0, 1, 0, 0); |
| const size = window.innerHeight * 0.9; |
| ctx.canvas.height = size; |
| const width = size / 2 + 20; |
| ctx.canvas.width = width; |
| ctx.clearRect(0, 0, size, width); |
| |
| // Translate to center of display. |
| ctx.translate(width / 2, size / 2); |
| // Coordinate system is: |
| // x -> forward. |
| // y -> to the left. |
| ctx.rotate(-Math.PI / 2); |
| ctx.scale(1, -1); |
| |
| const M_TO_PX = (size - 10) / FIELD_LENGTH; |
| ctx.scale(M_TO_PX, M_TO_PX); |
| ctx.lineWidth = 1 / M_TO_PX; |
| } |
| } |