Fix bug with amplified countdown not being propagated.

field/arena.go

@@ -8,6 +8,7 @@ package field
 import (
 	"fmt"
 	"log"
+	"math"
 	"reflect"
 	"time"
 
@@ -918,8 +919,10 @@ func (arena *Arena) handlePlcInputOutput() {
 	// Handle in-match PLC functions.
 	redScore := &arena.RedRealtimeScore.CurrentScore
 	oldRedScore := *redScore
+	oldRedAmplifiedTimeRemainingSec := arena.RedRealtimeScore.AmplifiedTimeRemainingSec
 	blueScore := &arena.BlueRealtimeScore.CurrentScore
 	oldBlueScore := *blueScore
+	oldBlueAmplifiedTimeRemainingSec := arena.BlueRealtimeScore.AmplifiedTimeRemainingSec
 	matchStartTime := arena.MatchStartTime
 	currentTime := time.Now()
 	teleopGracePeriod := matchStartTime.Add(
@@ -977,13 +980,17 @@ func (arena *Arena) handlePlcInputOutput() {
 	blueAmpSpeaker.UpdateState(
 		blueAmpNoteCount, blueSpeakerNoteCount, blueAmplifyButton, blueCoopButton, matchStartTime, currentTime,
 	)
-	if !oldRedScore.Equals(redScore) || !oldBlueScore.Equals(blueScore) {
+	if !oldRedScore.Equals(redScore) || !oldBlueScore.Equals(blueScore) ||
+		oldRedAmplifiedTimeRemainingSec != arena.RedRealtimeScore.AmplifiedTimeRemainingSec ||
+		oldBlueAmplifiedTimeRemainingSec != arena.BlueRealtimeScore.AmplifiedTimeRemainingSec {
 		arena.RealtimeScoreNotifier.Notify()
 	}
 
 	// Handle the amp outputs.
 	redAmplifiedTimeRemaining := redAmpSpeaker.AmplifiedTimeRemaining(currentTime)
+	arena.RedRealtimeScore.AmplifiedTimeRemainingSec = int(math.Ceil(redAmplifiedTimeRemaining))
 	blueAmplifiedTimeRemaining := blueAmpSpeaker.AmplifiedTimeRemaining(currentTime)
+	arena.BlueRealtimeScore.AmplifiedTimeRemainingSec = int(math.Ceil(blueAmplifiedTimeRemaining))
 	if arena.MatchState == AutoPeriod || arena.MatchState == PausePeriod || arena.MatchState == TeleopPeriod {
 		redLowAmpLight := redAmpSpeaker.BankedAmpNotes >= 1
 		redHighAmpLight := redAmpSpeaker.BankedAmpNotes >= 2

field/arena_test.go

@@ -1095,17 +1095,30 @@ func TestPlcMatchCycleGameSpecific(t *testing.T) {
 	arena.Update()
 	arena.MatchStartTime = time.Now().Add(-durationToTeleopStart - 10200*time.Millisecond)
 	arena.Update()
+	assert.Equal(t, 0, arena.RedRealtimeScore.AmplifiedTimeRemainingSec)
+	assert.Equal(t, 10, arena.BlueRealtimeScore.AmplifiedTimeRemainingSec)
 	assert.Equal(t, false, plc.redSpeakerLight)
 	assert.Equal(t, false, plc.redSubwooferCountdown)
 	assert.Equal(t, true, plc.blueSpeakerLight)
 	assert.Equal(t, true, plc.blueSubwooferCountdown)
+	assert.Equal(t, [3]bool{false, true, true}, plc.blueAmpLights)
+	blueAmpSpeaker.LastAmplifiedTime = time.Now().Add(-750 * time.Millisecond)
+	arena.Update()
+	assert.Equal(t, 0, arena.RedRealtimeScore.AmplifiedTimeRemainingSec)
+	assert.Equal(t, 10, arena.BlueRealtimeScore.AmplifiedTimeRemainingSec)
 	plc.blueAmpButtons = [2]bool{false, false}
 	plc.blueNoteCounts = [2]int{4, 9}
 	arena.Update()
 	assert.Equal(t, 2, blueAmpSpeaker.TeleopUnamplifiedSpeakerNotes)
 	assert.Equal(t, 3, blueAmpSpeaker.TeleopAmplifiedSpeakerNotes)
+	blueAmpSpeaker.LastAmplifiedTime = time.Now().Add(-9990 * time.Millisecond)
+	arena.Update()
+	assert.Equal(t, 0, arena.RedRealtimeScore.AmplifiedTimeRemainingSec)
+	assert.Equal(t, 1, arena.BlueRealtimeScore.AmplifiedTimeRemainingSec)
 	blueAmpSpeaker.LastAmplifiedTime = time.Now().Add(-11 * time.Second)
 	arena.Update()
+	assert.Equal(t, 0, arena.RedRealtimeScore.AmplifiedTimeRemainingSec)
+	assert.Equal(t, 0, arena.BlueRealtimeScore.AmplifiedTimeRemainingSec)
 	assert.Equal(t, false, plc.blueSpeakerLight)
 	assert.Equal(t, false, plc.blueSubwooferCountdown)
 	plc.blueNoteCounts = [2]int{4, 11}
@@ -1120,14 +1133,19 @@ func TestPlcMatchCycleGameSpecific(t *testing.T) {
 	arena.Update()
 	arena.MatchStartTime = time.Now().Add(-durationToTeleopStart - 20001*time.Millisecond)
 	arena.Update()
+	assert.Equal(t, 10, arena.RedRealtimeScore.AmplifiedTimeRemainingSec)
+	assert.Equal(t, 0, arena.BlueRealtimeScore.AmplifiedTimeRemainingSec)
 	assert.Equal(t, true, plc.redSpeakerLight)
 	assert.Equal(t, true, plc.redSubwooferCountdown)
+	assert.Equal(t, [3]bool{false, true, true}, plc.redAmpLights)
 	assert.Equal(t, false, plc.blueSpeakerLight)
 	assert.Equal(t, false, plc.blueSubwooferCountdown)
 	arena.MatchStartTime = time.Now().Add(-durationToTeleopStart - 23000*time.Millisecond)
 	plc.redNoteCounts = [2]int{3, 6}
 	plc.redAmpButtons = [2]bool{false, false}
 	arena.Update()
+	assert.Equal(t, 0, arena.RedRealtimeScore.AmplifiedTimeRemainingSec)
+	assert.Equal(t, 0, arena.BlueRealtimeScore.AmplifiedTimeRemainingSec)
 	assert.Equal(t, 4, redAmpSpeaker.TeleopAmplifiedSpeakerNotes)
 	assert.Equal(t, false, plc.redSpeakerLight)
 	assert.Equal(t, false, plc.redSubwooferCountdown)