Merge pull request #163 from the-orange-alliance/update-ramp-behavior

Update ramp behavior
the-orange-alliance · Sep 25, 2024 · 2b776d6 · 2b776d6
2 parents 7d5070b + d6a7fa9
commit 2b776d6
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Showing 3 changed files with 36 additions and 64 deletions.
diff --git a/front-end/src/seasons/fgc-2024/settings.tsx b/front-end/src/seasons/fgc-2024/settings.tsx
@@ -19,7 +19,6 @@ import {
   goalGreenOnlyColorAtom,
   goalLedLengthAtom,
   matchEndBlueNexusGoalColorAtom,
-  matchEndRampColorAtom,
   matchEndRedNexusGoalColorAtom,
   prepareFieldColorAtom,
   rampBalancedColorAtom,
@@ -49,9 +48,6 @@ export const Settings: FC = () => {
     useRecoilState(matchEndRedNexusGoalColorAtom);
   const [matchEndBlueNexusGoalColor, setMatchEndBlueNexusGoalColor] =
     useRecoilState(matchEndBlueNexusGoalColorAtom);
-  const [matchEndRampColor, setMatchEndRampColor] = useRecoilState(
-    matchEndRampColorAtom
-  );
   const [redWledWebSocketAddress, setRedWledWebSocketAddress] = useRecoilState(
     redWledWebSocketAddressAtom
   );
@@ -154,13 +150,6 @@ export const Settings: FC = () => {
         format='string'
         inline
       />
-      <ColorSetting
-        name='Match End Ramp Color'
-        value={matchEndRampColor}
-        onChange={setMatchEndRampColor}
-        format='string'
-        inline
-      />
       <TextSetting
         name='Red WLED WebSocket Address'
         value={redWledWebSocketAddress}

diff --git a/front-end/src/seasons/fgc-2024/stores/settings-store.tsx b/front-end/src/seasons/fgc-2024/stores/settings-store.tsx
@@ -44,12 +44,6 @@ export const matchEndBlueNexusGoalColorAtom = atom<string>({
   effects: [localStorageEffect('ftf.matchEndBlueNexusGoalColor')]
 });
 
-export const matchEndRampColorAtom = atom<string>({
-  key: 'ftf.matchEndRampColor',
-  default: FeedingTheFutureFCS.defaultFieldOptions.matchEndRampColor,
-  effects: [localStorageEffect('ftf.matchEndRampColor')]
-});
-
 export const redWledWebSocketAddressAtom = atom<string>({
   key: 'ftf.redWledWebSocketAddress',
   default: FeedingTheFutureFCS.defaultFieldOptions.redWledWebSocketAddress,
@@ -167,7 +161,6 @@ export const fieldOptionsSelector: RecoilValueReadOnly<FeedingTheFutureFCS.Field
         fieldFaultColor: get(fieldFaultColorAtom),
         matchEndRedNexusGoalColor: get(matchEndRedNexusGoalColorAtom),
         matchEndBlueNexusGoalColor: get(matchEndBlueNexusGoalColorAtom),
-        matchEndRampColor: get(matchEndRampColorAtom),
         redWledWebSocketAddress: get(redWledWebSocketAddressAtom),
         blueWledWebSocketAddress: get(blueWledWebSocketAddressAtom),
         centerWledWebSocketAddress: get(centerWledWebSocketAddressAtom),

diff --git a/lib/models/src/fcs/FeedingTheFutureFCS.ts b/lib/models/src/fcs/FeedingTheFutureFCS.ts
@@ -158,7 +158,10 @@ export class PacketManager {
   private broadcastCallback: (update: FieldControlUpdatePacket) => void;
   private matchEmitter: EventEmitter;
   private actionQueue = new Map<string, Action>();
-  private matchInProgress: boolean = false;
+  private matchState: 'prestart' | 'in progress' | 'ended' | 'aborted' =
+    'prestart';
+
+  private previousBalanced = true;
 
   public constructor(
     fieldOptions: FieldOptions,
@@ -247,7 +250,7 @@ export class PacketManager {
   };
 
   public handleAbort = (): void => {
-    this.matchInProgress = false;
+    this.matchState = 'aborted';
 
     const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
     applyPatternToStrips(
@@ -287,7 +290,7 @@ export class PacketManager {
   };
 
   public handleMatchStart = (): void => {
-    this.matchInProgress = true;
+    this.matchState = 'in progress';
 
     const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
     applyPatternToStrips(
@@ -309,7 +312,7 @@ export class PacketManager {
   };
 
   public handleMatchEnd = (): void => {
-    this.matchInProgress = false;
+    this.matchState = 'ended';
 
     const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
     applyPatternToStrips(
@@ -322,11 +325,10 @@ export class PacketManager {
       LedStripA.ALL_RED_GOALS,
       result
     );
-    applyPatternToStrips(
-      this.fieldOptions.matchEndRampColor,
-      [LedStripA.RAMP],
-      result
-    );
+
+    // Don't apply pattern to ramp. Keep current state and allow future updates
+    // directly from digital input
+
     applySetpointToMotors(0, MotorA.ALL_GOALS, result);
 
     this.broadcastCallback(result);
@@ -348,7 +350,7 @@ export class PacketManager {
     currentDetails: FeedingTheFuture.MatchDetails,
     broadcast: (update: FieldControlUpdatePacket) => void
   ) => {
-    if (!this.matchInProgress) return;
+    if (this.matchState !== 'in progress') return;
 
     this.handleGoalStateChange(
       previousDetails.redNexusState.CW1,
@@ -567,12 +569,6 @@ export class PacketManager {
       'blue',
       broadcast
     );
-
-    this.handleRampStateChange(
-      previousDetails.fieldBalanced,
-      currentDetails.fieldBalanced,
-      broadcast
-    );
   };
 
   private handleGoalStateChange = (
@@ -622,46 +618,42 @@ export class PacketManager {
     broadcast(result);
   };
 
-  private handleRampStateChange = (
-    previousBalanced: number,
-    currentBalanced: number,
-    broadcast: (update: FieldControlUpdatePacket) => void
-  ) => {
-    if (currentBalanced === previousBalanced) return;
+  public handleDigitalInputs = (packet: DigitalInputsResult) => {
+    const balanced = (packet.hubs[RevHub.CENTER_CONTROL_HUB] & 0x1) !== 1;
+
+    if (balanced === this.previousBalanced) return;
 
-    // clearTimeout(this.timers.get('ramp'));
     this.actionQueue.delete('ramp');
 
-    const hysteresisWindowMs = currentBalanced
+    const hysteresisWindowMs = balanced
       ? this.fieldOptions.rampBalancedHysteresisWindowMs
       : this.fieldOptions.rampUnbalancedHysteresisWindowMs;
 
     this.actionQueue.set('ramp', {
       timestamp: Date.now() + hysteresisWindowMs,
       callback: () => {
-        const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
-        applyPatternToStrips(
-          currentBalanced
-            ? this.fieldOptions.rampBalancedColor
-            : this.fieldOptions.rampUnbalancedColor,
-          [LedStripA.RAMP],
-          result
-        );
-        broadcast(result);
+        if (this.matchState === 'in progress') {
+          this.matchEmitter.emit(MatchSocketEvent.MATCH_UPDATE_DETAILS_ITEM, {
+            key: 'fieldBalanced',
+            value: balanced
+          } satisfies ItemUpdate);
+        }
+
+        if (this.matchState !== 'prestart' && this.matchState !== 'aborted') {
+          const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
+          applyPatternToStrips(
+            balanced
+              ? this.fieldOptions.rampBalancedColor
+              : this.fieldOptions.rampUnbalancedColor,
+            [LedStripA.RAMP],
+            result
+          );
+          this.broadcastCallback(result);
+        }
       }
     });
   };
 
-  public handleDigitalInputs = (packet: DigitalInputsResult) => {
-    if (!this.matchInProgress) return;
-
-    const balanced = (packet.hubs[RevHub.CENTER_CONTROL_HUB] & 0x1) !== 1;
-    this.matchEmitter.emit(MatchSocketEvent.MATCH_UPDATE_DETAILS_ITEM, {
-      key: 'fieldBalanced',
-      value: balanced
-    } satisfies ItemUpdate);
-  };
-
   runFoodProductionSequence = (
     motor: MotorA,
     strip: LedStripA,
@@ -671,7 +663,7 @@ export class PacketManager {
     const steps = 10;
 
     const recurse = (count: number) => {
-      if (!this.matchInProgress) return;
+      if (this.matchState !== 'in progress') return;
 
       // Base state. Food production is over, dispense food and update lights
       if (count === 0) {
@@ -761,7 +753,6 @@ export interface FieldOptions {
   fieldFaultColor: string;
   matchEndRedNexusGoalColor: string;
   matchEndBlueNexusGoalColor: string;
-  matchEndRampColor: string;
   redWledWebSocketAddress: string;
   blueWledWebSocketAddress: string;
   centerWledWebSocketAddress: string;
@@ -789,7 +780,6 @@ export const defaultFieldOptions: FieldOptions = {
   fieldFaultColor: 'ff0000',
   matchEndRedNexusGoalColor: 'ff0000',
   matchEndBlueNexusGoalColor: '0000ff',
-  matchEndRampColor: 'ff00ff',
   redWledWebSocketAddress: '',
   blueWledWebSocketAddress: '',
   centerWledWebSocketAddress: '',