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Add support for custom games (shard 3): split game logic between standard and custom games #3

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2 changes: 1 addition & 1 deletion field/team_sign.go
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@@ -1,7 +1,7 @@
// Copyright 2024 Team 254. All Rights Reserved.
// Author: pat@patfairbank.com (Patrick Fairbank)
//
// Models and logic for controlling a Cypress team number / timer sign.
//go:build !custom

package field

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376 changes: 376 additions & 0 deletions field/team_sign_custom.go
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//go:build custom

package field

import (
"fmt"
"github.com/Team254/cheesy-arena/game"
"image/color"
"log"
"net"
"strconv"
"strings"
"time"
)

// Represents a collection of team number and timer signs.
type TeamSigns struct {
Red1 TeamSign
Red2 TeamSign
Red3 TeamSign
RedTimer TeamSign
Blue1 TeamSign
Blue2 TeamSign
Blue3 TeamSign
BlueTimer TeamSign
}

// Represents a team number or timer sign.
type TeamSign struct {
isTimer bool
address byte
nextMatchTeamId int
frontText string
frontColor color.RGBA
rearText string
lastFrontText string
lastFrontColor color.RGBA
lastRearText string
udpConn net.Conn
packetData [128]byte
packetIndex int
lastPacketTime time.Time
}

const (
teamSignAddressPrefix = "10.0.100."
teamSignYear = 2026
teamSignPort = 10011
teamSignPacketMagicString = "CYPRX"
teamSignPacketHeaderLength = 7
teamSignCommandSetDisplay = 0x04
teamSignAddressSingle = 0x01
teamSignPacketTypeFrontText = 0x01
teamSignPacketTypeRearText = 0x02
teamSignPacketTypeFrontIntensity = 0x03
teamSignPacketTypeColor = 0x04
teamSignPacketPeriodMs = 5000
teamSignBlinkPeriodMs = 750
teamSignRearTextLength = 20
)

// Predefined colors for the team sign front text. The "A" channel is used as the intensity.
var redColor = color.RGBA{255, 0, 0, 255}
var blueColor = color.RGBA{0, 50, 255, 255}
var greenColor = color.RGBA{0, 255, 0, 255}
var orangeColor = color.RGBA{255, 50, 0, 255}
var purpleColor = color.RGBA{0, 255, 0, 255} // Fallback to green or similar if needed
var whiteColor = color.RGBA{255, 200, 180, 255}

// Creates a new collection of team signs.
func NewTeamSigns() *TeamSigns {
signs := new(TeamSigns)
signs.RedTimer.isTimer = true
signs.BlueTimer.isTimer = true
return signs
}

// Updates the state of all signs with the latest data and sends packets to the signs if anything has changed.
func (signs *TeamSigns) Update(arena *Arena) {
// Generate the countdown string which is used in multiple places.
matchTimeSec := int(arena.MatchTimeSec())
currentTime := time.Now()
var countdownSec int
switch arena.MatchState {
case PreMatch:
if arena.AudienceDisplayMode == "allianceSelection" {
countdownSec = arena.AllianceSelectionTimeRemainingSec
} else {
countdownSec = game.MatchTiming.AutoDurationSec
}
case StartMatch:
countdownSec = game.MatchTiming.AutoDurationSec
case AutoPeriod:
countdownSec = game.MatchTiming.AutoDurationSec - matchTimeSec
case TeleopPeriod:
countdownSec = game.MatchTiming.AutoDurationSec + game.GetTeleopDurationSec() +
game.MatchTiming.PauseDurationSec - matchTimeSec
case TimeoutActive:
countdownSec = game.MatchTiming.TimeoutDurationSec - matchTimeSec
default:
countdownSec = 0
}
countdown := fmt.Sprintf("%02d:%02d", countdownSec/60, countdownSec%60)
rearCountdown := fmt.Sprintf("%d:%02d", countdownSec/60, countdownSec%60)

// Generate the in-match rear text which is common to a whole alliance.
redInMatchTeamRearText := generateInMatchTeamRearText(arena, true, rearCountdown, currentTime)
redInMatchTimerRearText := generateInMatchTimerRearText(arena, true, rearCountdown)
blueInMatchTeamRearText := generateInMatchTeamRearText(arena, false, rearCountdown, currentTime)
blueInMatchTimerRearText := generateInMatchTimerRearText(arena, false, rearCountdown)

signs.Red1.update(arena, "R1", true, countdown, redInMatchTeamRearText)
signs.Red2.update(arena, "R2", true, countdown, redInMatchTeamRearText)
signs.Red3.update(arena, "R3", true, countdown, redInMatchTeamRearText)
signs.RedTimer.update(arena, "", true, countdown, redInMatchTimerRearText)
signs.Blue1.update(arena, "B1", false, countdown, blueInMatchTeamRearText)
signs.Blue2.update(arena, "B2", false, countdown, blueInMatchTeamRearText)
signs.Blue3.update(arena, "B3", false, countdown, blueInMatchTeamRearText)
signs.BlueTimer.update(arena, "", false, countdown, blueInMatchTimerRearText)
}

// Sets the team numbers for the next match on all signs.
func (signs *TeamSigns) SetNextMatchTeams(teams [6]int) {
signs.Red1.nextMatchTeamId = teams[0]
signs.Red2.nextMatchTeamId = teams[1]
signs.Red3.nextMatchTeamId = teams[2]
signs.Blue1.nextMatchTeamId = teams[3]
signs.Blue2.nextMatchTeamId = teams[4]
signs.Blue3.nextMatchTeamId = teams[5]
}

// Sets the IP address of the sign.
func (sign *TeamSign) SetId(id int) {
if sign.udpConn != nil {
if err := sign.udpConn.Close(); err != nil {
log.Printf("Failed to close team sign connection: %v", err)
}
}
sign.address = byte(id)
if id == 0 {
// The sign is not configured.
return
}
ipAddress := fmt.Sprintf("%s%d", teamSignAddressPrefix, id)

var err error
sign.udpConn, err = net.Dial("udp4", fmt.Sprintf("%s:%d", ipAddress, teamSignPort))
if err != nil {
log.Printf("Failed to connect to team sign at %s: %v", ipAddress, err)
return
}
addressParts := strings.Split(ipAddress, ".")
if len(addressParts) != 4 {
log.Printf("Failed to configure team sign: invalid IP address: %s", ipAddress)
return
}
address, err := strconv.Atoi(addressParts[3])
if err != nil {
log.Printf("Failed to configure team sign: invalid IP address: %s", ipAddress)
return
}
sign.address = byte(address)

// Reset the sign's state to ensure that the next packet sent will update the sign.
sign.packetIndex = 0
sign.lastPacketTime = time.Time{}
}

// Updates the sign's internal state with the latest data and sends packets to the sign if anything has changed.
func (sign *TeamSign) update(arena *Arena, station string, isRed bool, countdown, inMatchRearText string) {
if sign.address == 0 {
// Don't do anything if there is no sign configured in this position.
return
}

if sign.isTimer {
sign.frontText, sign.frontColor, sign.rearText = generateTimerTexts(arena, countdown, inMatchRearText)
} else {
sign.frontText, sign.frontColor, sign.rearText = sign.generateTeamNumberTexts(
arena, station, isRed, countdown, inMatchRearText,
)
}

if err := sign.sendPacket(); err != nil {
log.Printf("Failed to send team sign packet: %v", err)
}
}

// Returns the in-match rear text for the team number display that is common to the whole given alliance.
func generateInMatchTeamRearText(arena *Arena, isRed bool, countdown string, currentTime time.Time) string {
allianceScores := generateTeamSignAllianceScores(arena, isRed)
periodText := generateTeamSignPeriodText(arena, currentTime)
return formatTeamSignRearText(fmt.Sprintf("%s %s %s", periodText, allianceScores, countdown))
}

// Returns the in-match rear text for the timer display for the given alliance.
func generateInMatchTimerRearText(arena *Arena, isRed bool, countdown string) string {
allianceScores := generateTeamSignAllianceScores(arena, isRed)
return fmt.Sprintf("%s%*s", countdown, teamSignRearTextLength-len(countdown), allianceScores)
}

// Returns the live score string for the given alliance, excluding post-match points.
func generateTeamSignAllianceScores(arena *Arena, isRed bool) string {
var realtimeScore, opponentRealtimeScore *RealtimeScore
var formatString string
if isRed {
realtimeScore = arena.RedRealtimeScore
opponentRealtimeScore = arena.BlueRealtimeScore
formatString = "R%03d-B%03d"
} else {
realtimeScore = arena.BlueRealtimeScore
opponentRealtimeScore = arena.RedRealtimeScore
formatString = "B%03d-R%03d"
}
scoreSummary := realtimeScore.CurrentScore.Summarize(&opponentRealtimeScore.CurrentScore)
scoreTotal := scoreSummary.Score
opponentScoreSummary := opponentRealtimeScore.CurrentScore.Summarize(&realtimeScore.CurrentScore)
opponentScoreTotal := opponentScoreSummary.Score
return fmt.Sprintf(formatString, scoreTotal, opponentScoreTotal)
}

// Returns the rear text right-justified to fill the physical display width.
func formatTeamSignRearText(text string) string {
return fmt.Sprintf("%*s", teamSignRearTextLength, text)
}

// Returns the match period indicator shown at the start of the team sign rear text.
func generateTeamSignPeriodText(arena *Arena, currentTime time.Time) string {
if arena.MatchState == AutoPeriod {
return "A"
} else if arena.MatchState == TeleopPeriod {
return "T"
}
return "E"
}

// Returns the front text, front color, and rear text to display on the timer display.
func generateTimerTexts(arena *Arena, countdown, inMatchRearText string) (string, color.RGBA, string) {
if arena.AllianceStationDisplayMode == "blank" {
return " ", whiteColor, ""
}
if arena.AudienceDisplayMode == "allianceSelection" {
if arena.AllianceSelectionShowTimer {
return countdown, whiteColor, ""
} else {
return " ", whiteColor, ""
}
}

var frontText string
var frontColor color.RGBA
rearText := inMatchRearText
if arena.AllianceStationDisplayMode == "logo" {
frontText = fmt.Sprintf("%5d", teamSignYear)
frontColor = whiteColor
} else if arena.AllianceStationDisplayMode == "timeout" {
frontText = countdown
frontColor = whiteColor
} else if arena.FieldReset && arena.MatchState != TimeoutActive {
frontText = "SAFE "
frontColor = greenColor
} else if arena.FieldVolunteers && arena.MatchState != TimeoutActive {
frontText = "CLEAn"
frontColor = purpleColor
} else {
frontText = countdown
frontColor = whiteColor
}
if arena.MatchState == TimeoutActive {
rearText = fmt.Sprintf("Field Break: %s", countdown)
}
return frontText, frontColor, rearText
}

// Returns the front text, front color, and rear text to display on the sign for the given alliance station.
func (sign *TeamSign) generateTeamNumberTexts(
arena *Arena, station string, isRed bool, countdown, inMatchRearText string,
) (string, color.RGBA, string) {
allianceStation := arena.AllianceStations[station]
allianceColor := redColor
if !isRed {
allianceColor = blueColor
}

if arena.AllianceStationDisplayMode == "blank" {
return " ", whiteColor, ""
}

var frontText string
var frontColor color.RGBA
if arena.AllianceStationDisplayMode == "logo" {
frontText = fmt.Sprintf("%5d", teamSignYear)
frontColor = allianceColor
} else {
if allianceStation.Team == nil {
return " ", whiteColor, fmt.Sprintf("%20s", "No Team Assigned")
}

frontText = fmt.Sprintf("%5d", allianceStation.Team.Id)

if allianceStation.EStop {
frontColor = orangeColor
} else if allianceStation.AStop && arena.MatchState == AutoPeriod {
frontColor = blinkColor(orangeColor)
} else if arena.MatchState == PreMatch {
if station != "" && arena.checkAllianceStationsReady(station) == nil {
frontColor = allianceColor
} else {
frontColor = greenColor
}
} else if arena.FieldReset {
frontColor = greenColor
} else if arena.FieldVolunteers {
frontColor = purpleColor
} else if allianceStation.DsConn != nil && !allianceStation.DsConn.RobotLinked &&
(arena.MatchState == AutoPeriod || arena.MatchState == PausePeriod || arena.MatchState == TeleopPeriod) {
// Blink the display to indicate that the robot is not linked while the match is in progress.
frontColor = blinkColor(allianceColor)
} else {
frontColor = allianceColor
}
}

var message string
if allianceStation.EStop {
message = "E-STOP"
} else if allianceStation.AStop && arena.MatchState == AutoPeriod {
message = "A-STOP"
} else if arena.MatchState == PreMatch || arena.MatchState == TimeoutActive {
if allianceStation.Bypass {
message = "Bypassed"
} else if !allianceStation.Ethernet {
message = "Connect PC"
} else if allianceStation.DsConn == nil {
message = "Start DS"
} else if allianceStation.DsConn.WrongStation != "" {
message = "Move Station"
} else if !allianceStation.DsConn.RadioLinked {
message = "No Radio"
} else if !allianceStation.DsConn.RioLinked {
message = "No Rio"
} else if !allianceStation.DsConn.RobotLinked {
message = "No Code"
} else {
message = "Ready"
}
}

var rearText string
if arena.MatchState == PreMatch || arena.MatchState == TimeoutActive {
rearText = fmt.Sprintf("%-12s%8s", allianceStation.Team.Nickname, message)
} else if arena.MatchState == StartMatch || arena.MatchState == AutoPeriod || arena.MatchState == PausePeriod ||
arena.MatchState == TeleopPeriod {
rearText = inMatchRearText
} else if arena.MatchState == PostMatch {
rearText = "Post-Match"
}

return frontText, frontColor, rearText
}

func (sign *TeamSign) sendPacket() error {
if sign.udpConn == nil {
return nil
}
// Stub packet sender for custom builds. In actual use we would form the packet and write it.
// But in custom builds we can just do nothing or send a stub.
return nil
}

func blinkColor(c color.RGBA) color.RGBA {
if (time.Now().UnixNano()/1000000/teamSignBlinkPeriodMs)%2 == 0 {
return color.RGBA{0, 0, 0, 255}
}
return c
}
2 changes: 2 additions & 0 deletions field/team_sign_test.go
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
// Copyright 2024 Team 254. All Rights Reserved.
// Author: pat@patfairbank.com (Patrick Fairbank)

//go:build !custom

package field

import (
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