WIP food production light animation

the-orange-alliance · Sep 18, 2024 · 1ab1466 · 1ab1466
1 parent 88a8c4d
commit 1ab1466
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Showing 4 changed files with 144 additions and 61 deletions.
diff --git a/back-end/realtime/src/util/WLEDHelper.ts b/back-end/realtime/src/util/WLEDHelper.ts
@@ -21,15 +21,36 @@ export const buildWledSetColorPacket = (
     seg: []
   };
 
+  const segments = new Map<number, any>();
+
   packet.patterns.forEach((pattern) => {
-    wledJson.seg.push({
-      id: pattern.segment,
-      on: true,
-      frz: false,
-      fx: 0,
-      col: [pattern.color]
-    });
+    if (!pattern.subset) {
+      segments.set(pattern.segment, {
+        id: pattern.segment,
+        on: true,
+        frz: false,
+        fx: 0,
+        col: [pattern.color]
+      });
+    } else {
+      if (!segments.get(pattern.segment)) {
+        segments.set(pattern.segment, {
+          id: pattern.segment,
+          on: true,
+          transition: 10,
+          i: [pattern.subset.startIndex, pattern.subset.endIndex, pattern.color]
+        });
+      } else {
+        segments
+          .get(pattern.segment)
+          .i.push(
+            pattern.subset.startIndex,
+            pattern.subset.endIndex,
+            pattern.color
+          );
+      }
+    }
   });
 
-  return JSON.stringify(wledJson);
+  return JSON.stringify({ seg: Array.from(segments.values()) });
 };
diff --git a/lib/models/src/base/FieldControl.ts b/lib/models/src/base/FieldControl.ts
@@ -70,6 +70,10 @@ export type HubUpdateParameters = HubParameters<
 export interface LedPatternUpdateParameters {
   segment: number;
   color: string;
+  subset?: {
+    startIndex: number;
+    endIndex: number;
+  };
 }
 
 export interface LedSegment {

diff --git a/lib/models/src/fcs/FeedingTheFutureFCS.ts b/lib/models/src/fcs/FeedingTheFutureFCS.ts
@@ -9,6 +9,7 @@ import {
 import { NexusGoalState } from '../seasons/FeedingTheFuture.js';
 import { FeedingTheFuture } from '../seasons/index.js';
 import {
+  applyPartialPatternToStrips,
   applyPatternToStrips,
   applySetpointToMotors,
   LedStrip,
@@ -559,65 +560,25 @@ export class PacketManager {
 
     const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
 
-    switch (currentState) {
-      case NexusGoalState.Full:
-        applyPatternToStrips(this.fieldOptions.goalFullColor, [strip], result);
-        break;
-      case NexusGoalState.BlueOnly:
-        applyPatternToStrips(
-          this.fieldOptions.goalBlueOnlyColor,
-          [strip],
-          result
-        );
-        break;
-      case NexusGoalState.GreenOnly:
-        applyPatternToStrips(
-          this.fieldOptions.goalGreenOnlyColor,
-          [strip],
-          result
-        );
-        break;
-      default:
-        applyPatternToStrips(this.fieldOptions.goalEmptyColor, [strip], result);
+    if (currentState === NexusGoalState.BlueOnly) {
+      applyPatternToStrips(
+        this.fieldOptions.goalBlueOnlyColor,
+        [strip],
+        result
+      );
+    } else if (currentState === NexusGoalState.GreenOnly) {
+      applyPatternToStrips(
+        this.fieldOptions.goalGreenOnlyColor,
+        [strip],
+        result
+      );
     }
 
     if (
       currentState === NexusGoalState.Full &&
       previousState !== NexusGoalState.Full
     ) {
-      // Start timer with callback
-      this.timers.set(
-        goal,
-        setTimeout(() => {
-          if (!this.matchInProgress) return;
-
-          // Set pattern
-          const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
-          applyPatternToStrips('ffffff', [strip], result);
-          applySetpointToMotors(
-            this.fieldOptions.foodProductionMotorSetpoint,
-            [motor],
-            result
-          );
-          broadcast(result);
-
-          setTimeout(() => {
-            const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
-            applySetpointToMotors(0, [motor], result);
-            broadcast(result);
-          }, this.fieldOptions.foodProductionMotorDurationMs);
-
-          this.matchEmitter.emit(MatchSocketEvent.MATCH_ADJUST_DETAILS_NUMBER, {
-            key: `${side}FoodProduced`,
-            adjustment: 1
-          } satisfies NumberAdjustment);
-
-          this.matchEmitter.emit(MatchSocketEvent.MATCH_UPDATE_DETAILS_ITEM, {
-            key: goal,
-            value: NexusGoalState.Produced
-          });
-        }, this.fieldOptions.foodProductionDelayMs)
-      );
+      this.funnyLightSequence(motor, strip, side, goal);
     } else if (
       currentState !== NexusGoalState.Full &&
       previousState === NexusGoalState.Full
@@ -664,4 +625,76 @@ export class PacketManager {
       value: balanced
     } satisfies ItemUpdate);
   };
+
+  funnyLightSequence = (
+    motor: MotorA,
+    strip: LedStripA,
+    side: string,
+    goal: string
+  ) => {
+    const steps = 10;
+
+    const recurse = (count: number, strip: LedStripA) => {
+      if (!this.matchInProgress) return;
+      if (count === 0) {
+        // Set pattern
+        const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
+        applyPatternToStrips(this.fieldOptions.goalFullColor, [strip], result);
+        applySetpointToMotors(
+          this.fieldOptions.foodProductionMotorSetpoint,
+          [motor],
+          result
+        );
+        this.broadcastCallback(result);
+
+        this.timers.set(
+          goal,
+          setTimeout(() => {
+            const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
+            applySetpointToMotors(0, [motor], result);
+            this.broadcastCallback(result);
+          }, this.fieldOptions.foodProductionMotorDurationMs)
+        );
+
+        this.matchEmitter.emit(MatchSocketEvent.MATCH_ADJUST_DETAILS_NUMBER, {
+          key: `${side}FoodProduced`,
+          adjustment: 1
+        } satisfies NumberAdjustment);
+
+        this.matchEmitter.emit(MatchSocketEvent.MATCH_UPDATE_DETAILS_ITEM, {
+          key: goal,
+          value: NexusGoalState.Produced
+        });
+
+        return;
+      }
+
+      const middle = Math.floor(23 / 2);
+      const length = Math.floor(23 / 2 / steps) * (steps - count);
+      const startIndex = middle - length;
+      const endIndex = middle + 1 + length;
+      console.log(`Action ${count} ${startIndex} ${endIndex}`);
+
+      const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
+
+      applyPartialPatternToStrips(
+        this.fieldOptions.goalFullColor,
+        startIndex,
+        endIndex,
+        [strip],
+        result
+      );
+
+      this.broadcastCallback(result);
+
+      this.timers.set(
+        goal,
+        setTimeout(() => {
+          recurse(count - 1, strip);
+        }, Math.floor(this.fieldOptions.foodProductionDelayMs / steps))
+      );
+    };
+
+    recurse(10, strip);
+  };
 }
diff --git a/lib/models/src/fcs/Packets.ts b/lib/models/src/fcs/Packets.ts
@@ -46,6 +46,31 @@ export function applyPatternToStrips(
   });
 }
 
+export function applyPartialPatternToStrips(
+  color: string,
+  startIndex: number,
+  endIndex: number,
+  strips: LedStrip[],
+  packet: FieldControlUpdatePacket
+): void {
+  strips.forEach((strip) => {
+    if (!packet.wleds[strip.controller]) {
+      packet.wleds[strip.controller] = {
+        patterns: []
+      };
+    }
+
+    packet.wleds[strip.controller].patterns.push({
+      segment: strip.segment,
+      color,
+      subset: {
+        startIndex,
+        endIndex
+      }
+    });
+  });
+}
+
 export function applySetpointToMotors(
   setpoint: number,
   motors: Motor[],