diff --git a/.gitattributes b/.gitattributes index aaa1112c..973bc3ce 100644 --- a/.gitattributes +++ b/.gitattributes @@ -5,3 +5,8 @@ dawn/static/website-robot-api-master/assets/fonts/* linguist-vendored hibike/Arduino-Makefile/* linguist-vendored hibike/lib/* linguist-vendored hibike/lib/hibike/* linguist-vendored=false +shepherd/static/Spoiled_Candies.xcf filter=lfs diff=lfs merge=lfs -text +shepherd/static/Twisted.xcf filter=lfs diff=lfs merge=lfs -text +shepherd/static/BlueTwisted.xcf filter=lfs diff=lfs merge=lfs -text +shepherd/static/GoldTwisted.xcf filter=lfs diff=lfs merge=lfs -text +shepherd/static/icons[[:space:]]copy.ai filter=lfs diff=lfs merge=lfs -text diff --git a/.gitignore b/.gitignore index 2c3fff95..fa5a38b7 100644 --- a/.gitignore +++ b/.gitignore @@ -397,9 +397,8 @@ hibike/virtual_devices.txt # Webstorm project settings .idea -# Visual Studio Code config -.vscode - +# Visual Studio Code settings +.vscode/ ### Custom /dawn-* diff --git a/.travis.yml b/.travis.yml index 6ee8c139..34e74a7e 100644 --- a/.travis.yml +++ b/.travis.yml @@ -17,12 +17,13 @@ matrix: env: TEST_DIR=runtime - name: Shepherd language: python - python: 3.6 + python: 3.7 env: TEST_DIR=shepherd addons: apt: packages: - python3-pip + - libasound2-dev - socat env: global: diff --git a/DevOps/frankfurter/scripts/update/install_update b/DevOps/frankfurter/scripts/update/install_update index 2a8e509e..1039bae1 100755 --- a/DevOps/frankfurter/scripts/update/install_update +++ b/DevOps/frankfurter/scripts/update/install_update @@ -4,6 +4,8 @@ # # Usage: install_update [extracted-tarball-root] +sudo rm -rf /docs + piecentral="$HOME/PieCentral" piecentral_backup="$HOME/PieCentral-backup" systemd_units="/etc/systemd/system" @@ -37,6 +39,8 @@ replace_package "$1/runtime" "$piecentral/runtime" replace_package "$1/hibike" "$piecentral/hibike" replace_package "$1/docs" "$HOME/docs" +sudo pip3 install "$1/resources/"*.whl "$1/resources/"*.tar.gz + # Restore files that should persist cp "$piecentral_backup/runtime/studentCode.py" "$piecentral/runtime" cp "$piecentral_backup/runtime/namedPeripherals.csv" "$piecentral/runtime" diff --git a/ansible-protos/fieldcontrol.proto b/ansible-protos/fieldcontrol.proto deleted file mode 100644 index 96a0acab..00000000 --- a/ansible-protos/fieldcontrol.proto +++ /dev/null @@ -1,31 +0,0 @@ -syntax = "proto3"; - -message FieldControlToDawn { - enum TeamColor { - NONE = 0; - BLUE = 1; - GOLD = 2; - } - - enum StudentCodeStatus { - IDLE = 0; - TELEOP = 1; - AUTONOMOUS = 2; - ESTOP = 3; - } - - TeamColor team_color = 1; - StudentCodeStatus student_code_status = 2; -} - -message DawnToFieldControl { - enum DawnStatus { - STUDENT_DISCONNECT = 0; - IDLE = 1; - TELEOP = 2; - AUTO = 3; - ESTOP = 4; - } - - DawnStatus dawn_status = 1; -} diff --git a/dawn/Makefile b/dawn/Makefile index f854b557..730ce3e0 100644 --- a/dawn/Makefile +++ b/dawn/Makefile @@ -7,7 +7,7 @@ start: yarn start install: - yarn install --frozen-lockfile + yarn install artifacts-install: yarn add --no-lockfile electron-packager diff --git a/dawn/package.json b/dawn/package.json index b0c70430..d2cbba6f 100644 --- a/dawn/package.json +++ b/dawn/package.json @@ -41,7 +41,7 @@ "babel-preset-stage-3": "6.24.1", "better-npm-run": "0.1.0", "chai": "4.1.2", - "electron-devtools-installer": "2.2.3", + "electron-devtools-installer": "2.2.4", "electron-packager": "^10.1.1", "eslint": "4.18.1", "eslint-config-airbnb": "16.1.0", diff --git a/dawn/yarn.lock b/dawn/yarn.lock index e02cbba9..fa147062 100644 --- a/dawn/yarn.lock +++ b/dawn/yarn.lock @@ -5,16 +5,19 @@ "7zip@0.0.6": version "0.0.6" resolved "https://registry.yarnpkg.com/7zip/-/7zip-0.0.6.tgz#9cafb171af82329490353b4816f03347aa150a30" + integrity sha1-nK+xca+CMpSQNTtIFvAzR6oVCjA= "@babel/runtime@^7.1.2": version "7.4.3" resolved "https://registry.yarnpkg.com/@babel/runtime/-/runtime-7.4.3.tgz#79888e452034223ad9609187a0ad1fe0d2ad4bdc" + integrity 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sha1-upn7WYYUr2VwDBYZ/wbUVLDYTEU= dependencies: "@protobufjs/aspromise" "^1.1.1" "@protobufjs/inquire" "^1.1.0" @@ -49,76 +58,93 @@ "@protobufjs/float@^1.0.2": version "1.0.2" resolved "https://registry.yarnpkg.com/@protobufjs/float/-/float-1.0.2.tgz#5e9e1abdcb73fc0a7cb8b291df78c8cbd97b87d1" + integrity sha1-Xp4avctz/Ap8uLKR33jIy9l7h9E= "@protobufjs/inquire@^1.1.0": version "1.1.0" resolved "https://registry.yarnpkg.com/@protobufjs/inquire/-/inquire-1.1.0.tgz#ff200e3e7cf2429e2dcafc1140828e8cc638f089" + integrity sha1-/yAOPnzyQp4tyvwRQIKOjMY48Ik= "@protobufjs/path@^1.1.2": version "1.1.2" resolved "https://registry.yarnpkg.com/@protobufjs/path/-/path-1.1.2.tgz#6cc2b20c5c9ad6ad0dccfd21ca7673d8d7fbf68d" + integrity sha1-bMKyDFya1q0NzP0hynZz2Nf79o0= "@protobufjs/pool@^1.1.0": version "1.1.0" resolved "https://registry.yarnpkg.com/@protobufjs/pool/-/pool-1.1.0.tgz#09fd15f2d6d3abfa9b65bc366506d6ad7846ff54" + integrity sha1-Cf0V8tbTq/qbZbw2ZQbWrXhG/1Q= "@protobufjs/utf8@^1.1.0": version 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babel-runtime "^6.26.0" babel-template "^6.26.0" @@ -706,6 +825,7 @@ babel-plugin-transform-es2015-block-scoping@^6.23.0, babel-plugin-transform-es20 babel-plugin-transform-es2015-classes@^6.23.0, babel-plugin-transform-es2015-classes@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-classes/-/babel-plugin-transform-es2015-classes-6.24.1.tgz#5a4c58a50c9c9461e564b4b2a3bfabc97a2584db" + integrity sha1-WkxYpQyclGHlZLSyo7+ryXolhNs= dependencies: babel-helper-define-map "^6.24.1" babel-helper-function-name "^6.24.1" @@ -720,6 +840,7 @@ babel-plugin-transform-es2015-classes@^6.23.0, babel-plugin-transform-es2015-cla babel-plugin-transform-es2015-computed-properties@^6.22.0, babel-plugin-transform-es2015-computed-properties@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-computed-properties/-/babel-plugin-transform-es2015-computed-properties-6.24.1.tgz#6fe2a8d16895d5634f4cd999b6d3480a308159b3" + integrity sha1-b+Ko0WiV1WNPTNmZttNICjCBWbM= dependencies: babel-runtime "^6.22.0" babel-template "^6.24.1" @@ -727,12 +848,14 @@ babel-plugin-transform-es2015-computed-properties@^6.22.0, babel-plugin-transfor babel-plugin-transform-es2015-destructuring@^6.22.0, babel-plugin-transform-es2015-destructuring@^6.23.0: version "6.23.0" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-destructuring/-/babel-plugin-transform-es2015-destructuring-6.23.0.tgz#997bb1f1ab967f682d2b0876fe358d60e765c56d" + integrity sha1-mXux8auWf2gtKwh2/jWNYOdlxW0= dependencies: babel-runtime "^6.22.0" babel-plugin-transform-es2015-duplicate-keys@^6.22.0, babel-plugin-transform-es2015-duplicate-keys@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-duplicate-keys/-/babel-plugin-transform-es2015-duplicate-keys-6.24.1.tgz#73eb3d310ca969e3ef9ec91c53741a6f1576423e" + integrity sha1-c+s9MQypaePvnskcU3QabxV2Qj4= dependencies: babel-runtime "^6.22.0" babel-types "^6.24.1" @@ -740,12 +863,14 @@ babel-plugin-transform-es2015-duplicate-keys@^6.22.0, babel-plugin-transform-es2 babel-plugin-transform-es2015-for-of@^6.22.0, babel-plugin-transform-es2015-for-of@^6.23.0: version "6.23.0" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-for-of/-/babel-plugin-transform-es2015-for-of-6.23.0.tgz#f47c95b2b613df1d3ecc2fdb7573623c75248691" + integrity sha1-9HyVsrYT3x0+zC/bdXNiPHUkhpE= dependencies: babel-runtime "^6.22.0" babel-plugin-transform-es2015-function-name@^6.22.0, babel-plugin-transform-es2015-function-name@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-function-name/-/babel-plugin-transform-es2015-function-name-6.24.1.tgz#834c89853bc36b1af0f3a4c5dbaa94fd8eacaa8b" + integrity sha1-g0yJhTvDaxrw86TF26qU/Y6sqos= dependencies: babel-helper-function-name "^6.24.1" babel-runtime "^6.22.0" @@ -754,12 +879,14 @@ babel-plugin-transform-es2015-function-name@^6.22.0, babel-plugin-transform-es20 babel-plugin-transform-es2015-literals@^6.22.0: version "6.22.0" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-literals/-/babel-plugin-transform-es2015-literals-6.22.0.tgz#4f54a02d6cd66cf915280019a31d31925377ca2e" + integrity sha1-T1SgLWzWbPkVKAAZox0xklN3yi4= dependencies: babel-runtime "^6.22.0" babel-plugin-transform-es2015-modules-amd@^6.22.0, babel-plugin-transform-es2015-modules-amd@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-modules-amd/-/babel-plugin-transform-es2015-modules-amd-6.24.1.tgz#3b3e54017239842d6d19c3011c4bd2f00a00d154" + integrity sha1-Oz5UAXI5hC1tGcMBHEvS8AoA0VQ= dependencies: babel-plugin-transform-es2015-modules-commonjs "^6.24.1" babel-runtime "^6.22.0" @@ -768,6 +895,7 @@ babel-plugin-transform-es2015-modules-amd@^6.22.0, babel-plugin-transform-es2015 babel-plugin-transform-es2015-modules-commonjs@^6.23.0, babel-plugin-transform-es2015-modules-commonjs@^6.24.1: version "6.26.2" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-modules-commonjs/-/babel-plugin-transform-es2015-modules-commonjs-6.26.2.tgz#58a793863a9e7ca870bdc5a881117ffac27db6f3" + integrity sha512-CV9ROOHEdrjcwhIaJNBGMBCodN+1cfkwtM1SbUHmvyy35KGT7fohbpOxkE2uLz1o6odKK2Ck/tz47z+VqQfi9Q== dependencies: babel-plugin-transform-strict-mode "^6.24.1" babel-runtime "^6.26.0" @@ -777,6 +905,7 @@ babel-plugin-transform-es2015-modules-commonjs@^6.23.0, babel-plugin-transform-e babel-plugin-transform-es2015-modules-systemjs@^6.23.0, babel-plugin-transform-es2015-modules-systemjs@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-modules-systemjs/-/babel-plugin-transform-es2015-modules-systemjs-6.24.1.tgz#ff89a142b9119a906195f5f106ecf305d9407d23" + integrity sha1-/4mhQrkRmpBhlfXxBuzzBdlAfSM= dependencies: babel-helper-hoist-variables "^6.24.1" babel-runtime "^6.22.0" @@ -785,6 +914,7 @@ babel-plugin-transform-es2015-modules-systemjs@^6.23.0, babel-plugin-transform-e babel-plugin-transform-es2015-modules-umd@^6.23.0, babel-plugin-transform-es2015-modules-umd@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-modules-umd/-/babel-plugin-transform-es2015-modules-umd-6.24.1.tgz#ac997e6285cd18ed6176adb607d602344ad38468" + integrity sha1-rJl+YoXNGO1hdq22B9YCNErThGg= dependencies: babel-plugin-transform-es2015-modules-amd "^6.24.1" babel-runtime "^6.22.0" @@ -793,6 +923,7 @@ babel-plugin-transform-es2015-modules-umd@^6.23.0, babel-plugin-transform-es2015 babel-plugin-transform-es2015-object-super@^6.22.0, babel-plugin-transform-es2015-object-super@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-object-super/-/babel-plugin-transform-es2015-object-super-6.24.1.tgz#24cef69ae21cb83a7f8603dad021f572eb278f8d" + integrity sha1-JM72muIcuDp/hgPa0CH1cusnj40= dependencies: babel-helper-replace-supers "^6.24.1" babel-runtime "^6.22.0" @@ -800,6 +931,7 @@ babel-plugin-transform-es2015-object-super@^6.22.0, babel-plugin-transform-es201 babel-plugin-transform-es2015-parameters@^6.23.0, babel-plugin-transform-es2015-parameters@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-parameters/-/babel-plugin-transform-es2015-parameters-6.24.1.tgz#57ac351ab49caf14a97cd13b09f66fdf0a625f2b" + integrity sha1-V6w1GrScrxSpfNE7CfZv3wpiXys= dependencies: babel-helper-call-delegate "^6.24.1" babel-helper-get-function-arity "^6.24.1" @@ -811,6 +943,7 @@ babel-plugin-transform-es2015-parameters@^6.23.0, babel-plugin-transform-es2015- babel-plugin-transform-es2015-shorthand-properties@^6.22.0, babel-plugin-transform-es2015-shorthand-properties@^6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-shorthand-properties/-/babel-plugin-transform-es2015-shorthand-properties-6.24.1.tgz#24f875d6721c87661bbd99a4622e51f14de38aa0" + integrity sha1-JPh11nIch2YbvZmkYi5R8U3jiqA= dependencies: babel-runtime "^6.22.0" babel-types "^6.24.1" @@ -818,12 +951,14 @@ babel-plugin-transform-es2015-shorthand-properties@^6.22.0, babel-plugin-transfo babel-plugin-transform-es2015-spread@^6.22.0: version "6.22.0" resolved "https://registry.yarnpkg.com/babel-plugin-transform-es2015-spread/-/babel-plugin-transform-es2015-spread-6.22.0.tgz#d6d68a99f89aedc4536c81a542e8dd9f1746f8d1" + integrity sha1-1taKmfia7cRTbIGlQujdnxdG+NE= dependencies: babel-runtime "^6.22.0" babel-plugin-transform-es2015-sticky-regex@^6.22.0, babel-plugin-transform-es2015-sticky-regex@^6.24.1: version "6.24.1" resolved 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babel-plugin-check-es2015-constants "^6.22.0" babel-plugin-transform-es2015-arrow-functions "^6.22.0" @@ -986,12 +1136,14 @@ babel-preset-es2015@^6.9.0: babel-preset-flow@^6.23.0: version "6.23.0" resolved "https://registry.yarnpkg.com/babel-preset-flow/-/babel-preset-flow-6.23.0.tgz#e71218887085ae9a24b5be4169affb599816c49d" + integrity sha1-5xIYiHCFrpoktb5Baa/7WZgWxJ0= dependencies: babel-plugin-transform-flow-strip-types "^6.22.0" babel-preset-react@6.24.1: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-preset-react/-/babel-preset-react-6.24.1.tgz#ba69dfaea45fc3ec639b6a4ecea6e17702c91380" + integrity sha1-umnfrqRfw+xjm2pOzqbhdwLJE4A= dependencies: babel-plugin-syntax-jsx "^6.3.13" babel-plugin-transform-react-display-name "^6.23.0" @@ -1003,6 +1155,7 @@ babel-preset-react@6.24.1: babel-preset-stage-1@^6.5.0: version "6.24.1" resolved "https://registry.yarnpkg.com/babel-preset-stage-1/-/babel-preset-stage-1-6.24.1.tgz#7692cd7dcd6849907e6ae4a0a85589cfb9e2bfb0" + 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integrity sha1-uneWLhLf+WnWt2cR6RS3N4V79qc= dependencies: expand-range "^1.8.1" preserve "^0.2.0" @@ -1203,6 +1386,7 @@ braces@^1.8.2: braces@^2.3.1, braces@^2.3.2: version "2.3.2" resolved "https://registry.yarnpkg.com/braces/-/braces-2.3.2.tgz#5979fd3f14cd531565e5fa2df1abfff1dfaee729" + integrity sha512-aNdbnj9P8PjdXU4ybaWLK2IF3jc/EoDYbC7AazW6to3TRsfXxscC9UXOB5iDiEQrkyIbWp2SLQda4+QAa7nc3w== dependencies: arr-flatten "^1.1.0" array-unique "^0.3.2" @@ -1218,14 +1402,17 @@ braces@^2.3.1, braces@^2.3.2: brorand@^1.0.1: version "1.1.0" resolved "https://registry.yarnpkg.com/brorand/-/brorand-1.1.0.tgz#12c25efe40a45e3c323eb8675a0a0ce57b22371f" + integrity sha1-EsJe/kCkXjwyPrhnWgoM5XsiNx8= browser-stdout@1.3.0: version "1.3.0" resolved "https://registry.yarnpkg.com/browser-stdout/-/browser-stdout-1.3.0.tgz#f351d32969d32fa5d7a5567154263d928ae3bd1f" + integrity sha1-81HTKWnTL6XXpVZxVCY9korjvR8= browserify-aes@^1.0.0, browserify-aes@^1.0.4: version "1.2.0" resolved 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sha512-Z942RysHXmJrhqk88FmKBVq/v5tqmSkDz7p54G/MGyjMnCFFnC79XWNbg+Vta8W6Wb2qtSZTSxIGkJrRpCFEiA== dependencies: pako "~1.0.5" browserslist@^2.1.2: version "2.11.3" resolved "https://registry.yarnpkg.com/browserslist/-/browserslist-2.11.3.tgz#fe36167aed1bbcde4827ebfe71347a2cc70b99b2" + integrity sha512-yWu5cXT7Av6mVwzWc8lMsJMHWn4xyjSuGYi4IozbVTLUOEYPSagUB8kiMDUHA1fS3zjr8nkxkn9jdvug4BBRmA== dependencies: caniuse-lite "^1.0.30000792" electron-to-chromium "^1.3.30" @@ -1286,10 +1479,12 @@ browserslist@^2.1.2: buffer-alloc-unsafe@^1.1.0: version "1.1.0" resolved "https://registry.yarnpkg.com/buffer-alloc-unsafe/-/buffer-alloc-unsafe-1.1.0.tgz#bd7dc26ae2972d0eda253be061dba992349c19f0" + integrity sha512-TEM2iMIEQdJ2yjPJoSIsldnleVaAk1oW3DBVUykyOLsEsFmEc9kn+SFFPz+gl54KQNxlDnAwCXosOS9Okx2xAg== buffer-alloc@^1.2.0: version "1.2.0" resolved "https://registry.yarnpkg.com/buffer-alloc/-/buffer-alloc-1.2.0.tgz#890dd90d923a873e08e10e5fd51a57e5b7cce0ec" + integrity 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collection-visit "^1.0.0" component-emitter "^1.2.1" @@ -1371,6 +1577,7 @@ cache-base@^1.0.1: cacheable-request@^2.1.1: version "2.1.4" resolved "https://registry.yarnpkg.com/cacheable-request/-/cacheable-request-2.1.4.tgz#0d808801b6342ad33c91df9d0b44dc09b91e5c3d" + integrity sha1-DYCIAbY0KtM8kd+dC0TcCbkeXD0= dependencies: clone-response "1.0.2" get-stream "3.0.0" @@ -1383,24 +1590,29 @@ cacheable-request@^2.1.1: call-me-maybe@^1.0.1: version "1.0.1" resolved "https://registry.yarnpkg.com/call-me-maybe/-/call-me-maybe-1.0.1.tgz#26d208ea89e37b5cbde60250a15f031c16a4d66b" + integrity sha1-JtII6onje1y95gJQoV8DHBak1ms= caller-path@^0.1.0: version "0.1.0" resolved "https://registry.yarnpkg.com/caller-path/-/caller-path-0.1.0.tgz#94085ef63581ecd3daa92444a8fe94e82577751f" + integrity sha1-lAhe9jWB7NPaqSREqP6U6CV3dR8= dependencies: callsites "^0.2.0" callsite@1.0.0: version "1.0.0" resolved "https://registry.yarnpkg.com/callsite/-/callsite-1.0.0.tgz#280398e5d664bd74038b6f0905153e6e8af1bc20" + integrity sha1-KAOY5dZkvXQDi28JBRU+borxvCA= callsites@^0.2.0: version "0.2.0" resolved "https://registry.yarnpkg.com/callsites/-/callsites-0.2.0.tgz#afab96262910a7f33c19a5775825c69f34e350ca" + integrity sha1-r6uWJikQp/M8GaV3WCXGnzTjUMo= camelcase-keys@^2.0.0: version "2.1.0" resolved "https://registry.yarnpkg.com/camelcase-keys/-/camelcase-keys-2.1.0.tgz#308beeaffdf28119051efa1d932213c91b8f92e7" + integrity sha1-MIvur/3ygRkFHvodkyITyRuPkuc= dependencies: camelcase "^2.0.0" map-obj "^1.0.0" @@ -1408,22 +1620,27 @@ camelcase-keys@^2.0.0: camelcase@^2.0.0: version "2.1.1" resolved "https://registry.yarnpkg.com/camelcase/-/camelcase-2.1.1.tgz#7c1d16d679a1bbe59ca02cacecfb011e201f5a1f" + integrity sha1-fB0W1nmhu+WcoCys7PsBHiAfWh8= camelcase@^4.1.0: version "4.1.0" resolved "https://registry.yarnpkg.com/camelcase/-/camelcase-4.1.0.tgz#d545635be1e33c542649c69173e5de6acfae34dd" + integrity sha1-1UVjW+HjPFQmScaRc+Xeas+uNN0= caniuse-lite@^1.0.30000792: version "1.0.30000957" resolved 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core-js@^2.4.0, core-js@^2.4.1, core-js@^2.5.0: version "2.6.5" resolved "https://registry.yarnpkg.com/core-js/-/core-js-2.6.5.tgz#44bc8d249e7fb2ff5d00e0341a7ffb94fbf67895" + integrity sha512-klh/kDpwX8hryYL14M9w/xei6vrv6sE8gTHDG7/T/+SEovB/G4ejwcfE/CBzO6Edsu+OETZMZ3wcX/EjUkrl5A== core-js@~2.3.0: version "2.3.0" resolved "https://registry.yarnpkg.com/core-js/-/core-js-2.3.0.tgz#fab83fbb0b2d8dc85fa636c4b9d34c75420c6d65" + integrity sha1-+rg/uwstjchfpjbEudNMdUIMbWU= core-util-is@1.0.2, core-util-is@~1.0.0: version "1.0.2" resolved "https://registry.yarnpkg.com/core-util-is/-/core-util-is-1.0.2.tgz#b5fd54220aa2bc5ab57aab7140c940754503c1a7" + integrity sha1-tf1UIgqivFq1eqtxQMlAdUUDwac= create-ecdh@^4.0.0: version "4.0.3" resolved "https://registry.yarnpkg.com/create-ecdh/-/create-ecdh-4.0.3.tgz#c9111b6f33045c4697f144787f9254cdc77c45ff" + integrity sha512-GbEHQPMOswGpKXM9kCWVrremUcBmjteUaQ01T9rkKCPDXfUHX0IoP9LpHYo2NPFampa4e+/pFDc3jQdxrxQLaw== dependencies: bn.js "^4.1.0" elliptic "^6.0.0" @@ -1768,6 +2046,7 @@ create-ecdh@^4.0.0: create-hash@^1.1.0, create-hash@^1.1.2: version "1.2.0" resolved "https://registry.yarnpkg.com/create-hash/-/create-hash-1.2.0.tgz#889078af11a63756bcfb59bd221996be3a9ef196" + integrity sha512-z00bCGNHDG8mHAkP7CtT1qVu+bFQUPjYq/4Iv3C3kWjTFV10zIjfSoeqXo9Asws8gwSHDGj/hl2u4OGIjapeCg== dependencies: cipher-base "^1.0.1" inherits "^2.0.1" @@ -1778,6 +2057,7 @@ create-hash@^1.1.0, create-hash@^1.1.2: create-hmac@^1.1.0, create-hmac@^1.1.2, create-hmac@^1.1.4: version "1.1.7" resolved "https://registry.yarnpkg.com/create-hmac/-/create-hmac-1.1.7.tgz#69170c78b3ab957147b2b8b04572e47ead2243ff" + integrity sha512-MJG9liiZ+ogc4TzUwuvbER1JRdgvUFSB5+VR/g5h82fGaIRWMWddtKBHi7/sVhfjQZ6SehlyhvQYrcYkaUIpLg== dependencies: cipher-base "^1.0.3" create-hash "^1.1.0" @@ -1789,6 +2069,7 @@ create-hmac@^1.1.0, create-hmac@^1.1.2, create-hmac@^1.1.4: create-react-class@15.6.2: version "15.6.2" resolved 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dependencies: string-template "~0.2.1" xtend "~4.0.0" @@ -2262,6 +2615,7 @@ error@^7.0.2: es-abstract@^1.7.0: version "1.13.0" resolved "https://registry.yarnpkg.com/es-abstract/-/es-abstract-1.13.0.tgz#ac86145fdd5099d8dd49558ccba2eaf9b88e24e9" + integrity sha512-vDZfg/ykNxQVwup/8E1BZhVzFfBxs9NqMzGcvIJrqg5k2/5Za2bWo40dK2J1pgLngZ7c+Shh8lwYtLGyrwPutg== dependencies: es-to-primitive "^1.2.0" function-bind "^1.1.1" @@ -2273,6 +2627,7 @@ es-abstract@^1.7.0: es-to-primitive@^1.2.0: version "1.2.0" resolved "https://registry.yarnpkg.com/es-to-primitive/-/es-to-primitive-1.2.0.tgz#edf72478033456e8dda8ef09e00ad9650707f377" + integrity sha512-qZryBOJjV//LaxLTV6UC//WewneB3LcXOL9NP++ozKVXsIIIpm/2c13UDiD9Jp2eThsecw9m3jPqDwTyobcdbg== dependencies: is-callable "^1.1.4" is-date-object "^1.0.1" @@ -2281,36 +2636,43 @@ es-to-primitive@^1.2.0: es6-promise@^4.0.3, es6-promise@^4.1.1: version "4.2.6" resolved 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execa@^0.7.0: version "0.7.0" resolved "https://registry.yarnpkg.com/execa/-/execa-0.7.0.tgz#944becd34cc41ee32a63a9faf27ad5a65fc59777" + integrity sha1-lEvs00zEHuMqY6n68nrVpl/Fl3c= dependencies: cross-spawn "^5.0.1" get-stream "^3.0.0" @@ -2497,16 +2878,19 @@ execa@^0.7.0: exit-hook@^1.0.0: version "1.1.1" resolved "https://registry.yarnpkg.com/exit-hook/-/exit-hook-1.1.1.tgz#f05ca233b48c05d54fff07765df8507e95c02ff8" + integrity sha1-8FyiM7SMBdVP/wd2XfhQfpXAL/g= expand-brackets@^0.1.4: version "0.1.5" resolved "https://registry.yarnpkg.com/expand-brackets/-/expand-brackets-0.1.5.tgz#df07284e342a807cd733ac5af72411e581d1177b" + integrity sha1-3wcoTjQqgHzXM6xa9yQR5YHRF3s= dependencies: is-posix-bracket "^0.1.0" expand-brackets@^2.1.4: version "2.1.4" resolved "https://registry.yarnpkg.com/expand-brackets/-/expand-brackets-2.1.4.tgz#b77735e315ce30f6b6eff0f83b04151a22449622" + integrity sha1-t3c14xXOMPa27/D4OwQVGiJEliI= dependencies: debug "^2.3.3" define-property "^0.2.5" @@ -2519,28 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resolved "https://registry.yarnpkg.com/fast-json-stable-stringify/-/fast-json-stable-stringify-2.0.0.tgz#d5142c0caee6b1189f87d3a76111064f86c8bbf2" + integrity sha1-1RQsDK7msRifh9OnYREGT4bIu/I= fast-levenshtein@~2.0.4: version "2.0.6" resolved "https://registry.yarnpkg.com/fast-levenshtein/-/fast-levenshtein-2.0.6.tgz#3d8a5c66883a16a30ca8643e851f19baa7797917" + integrity sha1-PYpcZog6FqMMqGQ+hR8Zuqd5eRc= fbjs@^0.8.16, fbjs@^0.8.9: version "0.8.17" resolved "https://registry.yarnpkg.com/fbjs/-/fbjs-0.8.17.tgz#c4d598ead6949112653d6588b01a5cdcd9f90fdd" + integrity sha1-xNWY6taUkRJlPWWIsBpc3Nn5D90= dependencies: core-js "^1.0.0" isomorphic-fetch "^2.1.1" @@ -2651,12 +3055,14 @@ fbjs@^0.8.16, fbjs@^0.8.9: fd-slicer@~1.0.1: version "1.0.1" resolved "https://registry.yarnpkg.com/fd-slicer/-/fd-slicer-1.0.1.tgz#8b5bcbd9ec327c5041bf9ab023fd6750f1177e65" + integrity sha1-i1vL2ewyfFBBv5qwI/1nUPEXfmU= dependencies: pend "~1.2.0" figures@^1.3.5, figures@^1.7.0: version "1.7.0" resolved "https://registry.yarnpkg.com/figures/-/figures-1.7.0.tgz#cbe1e3affcf1cd44b80cadfed28dc793a9701d2e" + integrity sha1-y+Hjr/zxzUS4DK3+0o3Hk6lwHS4= dependencies: escape-string-regexp "^1.0.5" object-assign "^4.1.0" @@ -2664,12 +3070,14 @@ figures@^1.3.5, figures@^1.7.0: figures@^2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/figures/-/figures-2.0.0.tgz#3ab1a2d2a62c8bfb431a0c94cb797a2fce27c962" + integrity sha1-OrGi0qYsi/tDGgyUy3l6L84nyWI= dependencies: escape-string-regexp "^1.0.5" file-entry-cache@^2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/file-entry-cache/-/file-entry-cache-2.0.0.tgz#c392990c3e684783d838b8c84a45d8a048458361" + integrity sha1-w5KZDD5oR4PYOLjISkXYoEhFg2E= dependencies: flat-cache "^1.2.1" object-assign "^4.0.1" @@ -2677,10 +3085,12 @@ file-entry-cache@^2.0.0: filename-regex@^2.0.0: version "2.0.1" resolved "https://registry.yarnpkg.com/filename-regex/-/filename-regex-2.0.1.tgz#c1c4b9bee3e09725ddb106b75c1e301fe2f18b26" + integrity sha1-wcS5vuPglyXdsQa3XB4wH+LxiyY= fill-range@^2.1.0: version "2.2.4" resolved "https://registry.yarnpkg.com/fill-range/-/fill-range-2.2.4.tgz#eb1e773abb056dcd8df2bfdf6af59b8b3a936565" + integrity sha512-cnrcCbj01+j2gTG921VZPnHbjmdAf8oQV/iGeV2kZxGSyfYjjTyY79ErsK1WJWMpw6DaApEX72binqJE+/d+5Q== dependencies: is-number "^2.1.0" isobject "^2.0.0" @@ -2691,6 +3101,7 @@ fill-range@^2.1.0: fill-range@^4.0.0: version "4.0.0" resolved "https://registry.yarnpkg.com/fill-range/-/fill-range-4.0.0.tgz#d544811d428f98eb06a63dc402d2403c328c38f7" + integrity sha1-1USBHUKPmOsGpj3EAtJAPDKMOPc= dependencies: extend-shallow "^2.0.1" is-number "^3.0.0" @@ -2700,6 +3111,7 @@ fill-range@^4.0.0: find-cache-dir@^0.1.1: version "0.1.1" resolved "https://registry.yarnpkg.com/find-cache-dir/-/find-cache-dir-0.1.1.tgz#c8defae57c8a52a8a784f9e31c57c742e993a0b9" + integrity sha1-yN765XyKUqinhPnjHFfHQumToLk= dependencies: commondir "^1.0.1" mkdirp "^0.5.1" @@ -2708,6 +3120,7 @@ find-cache-dir@^0.1.1: find-cache-dir@^1.0.0: version "1.0.0" resolved "https://registry.yarnpkg.com/find-cache-dir/-/find-cache-dir-1.0.0.tgz#9288e3e9e3cc3748717d39eade17cf71fc30ee6f" + integrity sha1-kojj6ePMN0hxfTnq3hfPcfww7m8= dependencies: commondir "^1.0.1" make-dir "^1.0.0" @@ -2716,6 +3129,7 @@ find-cache-dir@^1.0.0: find-up@^1.0.0: version "1.1.2" resolved "https://registry.yarnpkg.com/find-up/-/find-up-1.1.2.tgz#6b2e9822b1a2ce0a60ab64d610eccad53cb24d0f" + integrity sha1-ay6YIrGizgpgq2TWEOzK1TyyTQ8= dependencies: path-exists "^2.0.0" pinkie-promise "^2.0.0" @@ -2723,18 +3137,21 @@ find-up@^1.0.0: find-up@^2.0.0, find-up@^2.1.0: version "2.1.0" resolved "https://registry.yarnpkg.com/find-up/-/find-up-2.1.0.tgz#45d1b7e506c717ddd482775a2b77920a3c0c57a7" + integrity sha1-RdG35QbHF93UgndaK3eSCjwMV6c= dependencies: locate-path "^2.0.0" first-chunk-stream@^2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/first-chunk-stream/-/first-chunk-stream-2.0.0.tgz#1bdecdb8e083c0664b91945581577a43a9f31d70" + integrity sha1-G97NuOCDwGZLkZRVgVd6Q6nzHXA= dependencies: readable-stream "^2.0.2" flat-cache@^1.2.1: version "1.3.4" resolved "https://registry.yarnpkg.com/flat-cache/-/flat-cache-1.3.4.tgz#2c2ef77525cc2929007dfffa1dd314aa9c9dee6f" + integrity sha512-VwyB3Lkgacfik2vhqR4uv2rvebqmDvFu4jlN/C1RzWoJEo8I7z4Q404oiqYCkq41mni8EzQnm95emU9seckwtg== dependencies: circular-json "^0.3.1" graceful-fs "^4.1.2" @@ -2744,10 +3161,12 @@ flat-cache@^1.2.1: flow-parser@^0.*: version "0.96.1" resolved "https://registry.yarnpkg.com/flow-parser/-/flow-parser-0.96.1.tgz#477affba976b7e22963aa9a76888c30c783f63bd" + integrity sha512-T8TZV/L7Iy8sp7eoF1G7OLmXGWL25/GflyAK4W1fc9/3ny7RE0cdpWT69nEIoHWsWZ8nFpQCN791hXTddfRKyg== flush-write-stream@^1.0.0: version "1.1.1" resolved "https://registry.yarnpkg.com/flush-write-stream/-/flush-write-stream-1.1.1.tgz#8dd7d873a1babc207d94ead0c2e0e44276ebf2e8" + integrity sha512-3Z4XhFZ3992uIq0XOqb9AreonueSYphE6oYbpt5+3u06JWklbsPkNv3ZKkP9Bz/r+1MWCaMoSQ28P85+1Yc77w== dependencies: inherits "^2.0.3" readable-stream "^2.3.6" @@ -2755,20 +3174,24 @@ flush-write-stream@^1.0.0: for-in@^1.0.1, for-in@^1.0.2: version "1.0.2" resolved "https://registry.yarnpkg.com/for-in/-/for-in-1.0.2.tgz#81068d295a8142ec0ac726c6e2200c30fb6d5e80" + integrity sha1-gQaNKVqBQuwKxybG4iAMMPttXoA= for-own@^0.1.4: version "0.1.5" resolved "https://registry.yarnpkg.com/for-own/-/for-own-0.1.5.tgz#5265c681a4f294dabbf17c9509b6763aa84510ce" + integrity sha1-UmXGgaTylNq78XyVCbZ2OqhFEM4= dependencies: for-in "^1.0.1" forever-agent@~0.6.1: version "0.6.1" resolved "https://registry.yarnpkg.com/forever-agent/-/forever-agent-0.6.1.tgz#fbc71f0c41adeb37f96c577ad1ed42d8fdacca91" + integrity sha1-+8cfDEGt6zf5bFd60e1C2P2sypE= form-data@^2.3.1, form-data@~2.3.2: version "2.3.3" resolved 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graceful-fs "^4.1.2" iferr "^0.1.5" @@ -2839,10 +3271,12 @@ fs-write-stream-atomic@^1.0.8: fs.realpath@^1.0.0: version "1.0.0" resolved "https://registry.yarnpkg.com/fs.realpath/-/fs.realpath-1.0.0.tgz#1504ad2523158caa40db4a2787cb01411994ea4f" + integrity sha1-FQStJSMVjKpA20onh8sBQRmU6k8= fsevents@^1.2.7: version "1.2.7" resolved "https://registry.yarnpkg.com/fsevents/-/fsevents-1.2.7.tgz#4851b664a3783e52003b3c66eb0eee1074933aa4" + integrity sha512-Pxm6sI2MeBD7RdD12RYsqaP0nMiwx8eZBXCa6z2L+mRHm2DYrOYwihmhjpkdjUHwQhslWQjRpEgNq4XvBmaAuw== dependencies: nan "^2.9.2" node-pre-gyp "^0.10.0" @@ -2850,18 +3284,22 @@ fsevents@^1.2.7: fullstore@^1.0.0: version "1.1.0" resolved "https://registry.yarnpkg.com/fullstore/-/fullstore-1.1.0.tgz#a7a8b00ca07d86faca05fb825c45e5d1c3bba97e" + integrity sha512-XNlCWr3KBIL97G8mTR+dZ/J648ECCffflfFRgZW3Zm7pO0PYnH/ZCbwZjV1Dw4LrrDdhV6gnayiIcmdIY4JTsw== function-bind@^1.1.1: version "1.1.1" resolved 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integrity sha1-uK6NLj/Lb10/kWXBLUVRoGXZicw= dependencies: through2 "^2.0.0" vinyl "^1.1.0" @@ -4111,12 +4750,14 @@ mem-fs@^1.1.0: mem@^1.1.0: version "1.1.0" resolved "https://registry.yarnpkg.com/mem/-/mem-1.1.0.tgz#5edd52b485ca1d900fe64895505399a0dfa45f76" + integrity sha1-Xt1StIXKHZAP5kiVUFOZoN+kX3Y= dependencies: mimic-fn "^1.0.0" memory-fs@^0.4.0, memory-fs@~0.4.1: version "0.4.1" resolved "https://registry.yarnpkg.com/memory-fs/-/memory-fs-0.4.1.tgz#3a9a20b8462523e447cfbc7e8bb80ed667bfc552" + integrity sha1-OpoguEYlI+RHz7x+i7gO1me/xVI= dependencies: errno "^0.1.3" readable-stream "^2.0.1" @@ -4124,6 +4765,7 @@ memory-fs@^0.4.0, memory-fs@~0.4.1: meow@^3.1.0: version "3.7.0" resolved "https://registry.yarnpkg.com/meow/-/meow-3.7.0.tgz#72cb668b425228290abbfa856892587308a801fb" + integrity sha1-cstmi0JSKCkKu/qFaJJYcwioAfs= dependencies: camelcase-keys "^2.0.0" decamelize "^1.1.2" @@ -4139,14 +4781,17 @@ meow@^3.1.0: merge2@^1.2.3: version "1.2.3" resolved 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arr-diff "^4.0.0" array-unique "^0.3.2" @@ -4183,6 +4829,7 @@ micromatch@^3.1.10, micromatch@^3.1.4, micromatch@^3.1.8: miller-rabin@^4.0.0: version "4.0.1" resolved "https://registry.yarnpkg.com/miller-rabin/-/miller-rabin-4.0.1.tgz#f080351c865b0dc562a8462966daa53543c78a4d" + integrity sha512-115fLhvZVqWwHPbClyntxEVfVDfl9DLLTuJvq3g2O/Oxi8AiNouAHvDSzHS0viUJc+V5vm3eq91Xwqn9dp4jRA== dependencies: bn.js "^4.0.0" brorand "^1.0.1" @@ -4190,60 +4837,73 @@ miller-rabin@^4.0.0: mime-db@~1.38.0: version "1.38.0" resolved "https://registry.yarnpkg.com/mime-db/-/mime-db-1.38.0.tgz#1a2aab16da9eb167b49c6e4df2d9c68d63d8e2ad" + integrity sha512-bqVioMFFzc2awcdJZIzR3HjZFX20QhilVS7hytkKrv7xFAn8bM1gzc/FOX2awLISvWe0PV8ptFKcon+wZ5qYkg== mime-types@^2.1.12, mime-types@~2.1.19: version "2.1.22" resolved "https://registry.yarnpkg.com/mime-types/-/mime-types-2.1.22.tgz#fe6b355a190926ab7698c9a0556a11199b2199bd" + integrity 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mocha@5.0.0: version "5.0.0" resolved "https://registry.yarnpkg.com/mocha/-/mocha-5.0.0.tgz#cccac988b0bc5477119cba0e43de7af6d6ad8f4e" + integrity sha512-ukB2dF+u4aeJjc6IGtPNnJXfeby5d4ZqySlIBT0OEyva/DrMjVm5HkQxKnHDLKEfEQBsEnwTg9HHhtPHJdTd8w== dependencies: browser-stdout "1.3.0" commander "2.11.0" @@ -4312,10 +4979,12 @@ mocha@5.0.0: mousetrap@1.6.1: version "1.6.1" resolved "https://registry.yarnpkg.com/mousetrap/-/mousetrap-1.6.1.tgz#2a085f5c751294c75e7e81f6ec2545b29cbf42d9" + integrity sha1-KghfXHUSlMdefoH27CVFspy/Qtk= move-concurrently@^1.0.1: version "1.0.1" resolved "https://registry.yarnpkg.com/move-concurrently/-/move-concurrently-1.0.1.tgz#be2c005fda32e0b29af1f05d7c4b33214c701f92" + integrity sha1-viwAX9oy4LKa8fBdfEszIUxwH5I= dependencies: aproba "^1.1.1" copy-concurrently "^1.0.0" @@ -4327,14 +4996,17 @@ move-concurrently@^1.0.1: ms@2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/ms/-/ms-2.0.0.tgz#5608aeadfc00be6c2901df5f9861788de0d597c8" + integrity 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eslint-plugin-import "^2.8.0" nested-property "^0.0.7" @@ -5280,10 +6107,12 @@ react-joyride@1.11.1: react-lifecycles-compat@^3.0.4: version "3.0.4" resolved "https://registry.yarnpkg.com/react-lifecycles-compat/-/react-lifecycles-compat-3.0.4.tgz#4f1a273afdfc8f3488a8c516bfda78f872352362" + integrity sha512-fBASbA6LnOU9dOU2eW7aQ8xmYBSXUIWr+UmF9b1efZBazGNO+rcXT/icdKnYm2pTwcRylVUYwW7H1PHfLekVzA== react-overlays@^0.8.0: version "0.8.3" resolved "https://registry.yarnpkg.com/react-overlays/-/react-overlays-0.8.3.tgz#fad65eea5b24301cca192a169f5dddb0b20d3ac5" + integrity sha512-h6GT3jgy90PgctleP39Yu3eK1v9vaJAW73GOA/UbN9dJ7aAN4BTZD6793eI1D5U+ukMk17qiqN/wl3diK1Z5LA== dependencies: classnames "^2.2.5" dom-helpers "^3.2.1" @@ -5295,12 +6124,14 @@ react-overlays@^0.8.0: react-prop-types@^0.4.0: version "0.4.0" resolved "https://registry.yarnpkg.com/react-prop-types/-/react-prop-types-0.4.0.tgz#f99b0bfb4006929c9af2051e7c1414a5c75b93d0" + integrity sha1-+ZsL+0AGkpya8gUefBQUpcdbk9A= dependencies: warning "^3.0.0" react-redux@5.0.6: version "5.0.6" resolved "https://registry.yarnpkg.com/react-redux/-/react-redux-5.0.6.tgz#23ed3a4f986359d68b5212eaaa681e60d6574946" + integrity sha512-8taaaGu+J7PMJQDJrk/xiWEYQmdo3mkXw6wPr3K3LxvXis3Fymiq7c13S+Tpls/AyNUAsoONkU81AP0RA6y6Vw== dependencies: hoist-non-react-statics "^2.2.1" invariant "^2.0.0" @@ -5312,6 +6143,7 @@ react-redux@5.0.6: react-transition-group@^2.0.0, react-transition-group@^2.2.0: version "2.8.0" resolved "https://registry.yarnpkg.com/react-transition-group/-/react-transition-group-2.8.0.tgz#d6d8f635d81a0955b67348be5d017cff77d6c75f" + integrity sha512-So23a1MPn8CGoW5WNU4l0tLiVkOFmeXSS1K4Roe+dxxqqHvI/2XBmj76jx+u96LHnQddWG7LX8QovPAainSmWQ== dependencies: dom-helpers "^3.3.1" loose-envify "^1.4.0" @@ -5321,6 +6153,7 @@ react-transition-group@^2.0.0, react-transition-group@^2.2.0: react@16.2.0: version "16.2.0" resolved "https://registry.yarnpkg.com/react/-/react-16.2.0.tgz#a31bd2dab89bff65d42134fa187f24d054c273ba" + integrity 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readdirp@^2.2.1: version "2.2.1" resolved "https://registry.yarnpkg.com/readdirp/-/readdirp-2.2.1.tgz#0e87622a3325aa33e892285caf8b4e846529a525" + integrity sha512-1JU/8q+VgFZyxwrJ+SVIOsh+KywWGpds3NTqikiKpDMZWScmAYyKIgqkO+ARvNWJfXeXR1zxz7aHF4u4CyH6vQ== dependencies: graceful-fs "^4.1.11" micromatch "^3.1.10" @@ -5407,6 +6249,7 @@ readdirp@^2.2.1: recast@^0.12.5: version "0.12.9" resolved "https://registry.yarnpkg.com/recast/-/recast-0.12.9.tgz#e8e52bdb9691af462ccbd7c15d5a5113647a15f1" + integrity sha512-y7ANxCWmMW8xLOaiopiRDlyjQ9ajKRENBH+2wjntIbk3A6ZR1+BLQttkmSHMY7Arl+AAZFwJ10grg2T6f1WI8A== dependencies: ast-types "0.10.1" core-js "^2.4.1" @@ -5417,6 +6260,7 @@ recast@^0.12.5: recast@^0.14.4: version "0.14.7" resolved "https://registry.yarnpkg.com/recast/-/recast-0.14.7.tgz#4f1497c2b5826d42a66e8e3c9d80c512983ff61d" + integrity sha512-/nwm9pkrcWagN40JeJhkPaRxiHXBRkXyRh/hgU088Z/v+qCy+zIHHY6bC6o7NaKAxPqtE6nD8zBH1LfU0/Wx6A== dependencies: ast-types "0.11.3" esprima "~4.0.0" @@ -5426,12 +6270,14 @@ recast@^0.14.4: rechoir@^0.6.2: version "0.6.2" resolved "https://registry.yarnpkg.com/rechoir/-/rechoir-0.6.2.tgz#85204b54dba82d5742e28c96756ef43af50e3384" + integrity sha1-hSBLVNuoLVdC4oyWdW70OvUOM4Q= dependencies: resolve "^1.1.6" redent@^1.0.0: version "1.0.0" resolved "https://registry.yarnpkg.com/redent/-/redent-1.0.0.tgz#cf916ab1fd5f1f16dfb20822dd6ec7f730c2afde" + integrity sha1-z5Fqsf1fHxbfsggi3W7H9zDCr94= dependencies: indent-string "^2.1.0" strip-indent "^1.0.1" @@ -5439,10 +6285,12 @@ redent@^1.0.0: redux-saga@0.16.0: version "0.16.0" resolved "https://registry.yarnpkg.com/redux-saga/-/redux-saga-0.16.0.tgz#0a231db0a1489301dd980f6f2f88d8ced418f724" + integrity sha1-CiMdsKFIkwHdmA9vL4jYztQY9yQ= redux@3.7.2: version "3.7.2" resolved "https://registry.yarnpkg.com/redux/-/redux-3.7.2.tgz#06b73123215901d25d065be342eb026bc1c8537b" + integrity sha512-pNqnf9q1hI5HHZRBkj3bAngGZW/JMCmexDlOxw4XagXY2o1327nHH54LoTjiPJ0gizoqPDRqWyX/00g0hD6w+A== dependencies: lodash "^4.2.1" 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dependencies: ansi-regex "^4.1.0" strip-ansi@~0.1.0: version "0.1.1" resolved "https://registry.yarnpkg.com/strip-ansi/-/strip-ansi-0.1.1.tgz#39e8a98d044d150660abe4a6808acf70bb7bc991" + integrity sha1-OeipjQRNFQZgq+SmgIrPcLt7yZE= strip-bom-stream@^2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/strip-bom-stream/-/strip-bom-stream-2.0.0.tgz#f87db5ef2613f6968aa545abfe1ec728b6a829ca" + integrity sha1-+H217yYT9paKpUWr/h7HKLaoKco= dependencies: first-chunk-stream "^2.0.0" strip-bom "^2.0.0" @@ -6120,36 +7079,43 @@ strip-bom-stream@^2.0.0: strip-bom@^2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/strip-bom/-/strip-bom-2.0.0.tgz#6219a85616520491f35788bdbf1447a99c7e6b0e" + integrity sha1-YhmoVhZSBJHzV4i9vxRHqZx+aw4= dependencies: is-utf8 "^0.2.0" strip-bom@^3.0.0: version "3.0.0" resolved "https://registry.yarnpkg.com/strip-bom/-/strip-bom-3.0.0.tgz#2334c18e9c759f7bdd56fdef7e9ae3d588e68ed3" + integrity sha1-IzTBjpx1n3vdVv3vfprj1YjmjtM= strip-eof@^1.0.0: version 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"https://registry.yarnpkg.com/verror/-/verror-1.10.0.tgz#3a105ca17053af55d6e270c1f8288682e18da400" + integrity sha1-OhBcoXBTr1XW4nDB+CiGguGNpAA= dependencies: assert-plus "^1.0.0" core-util-is "1.0.2" @@ -6607,6 +7651,7 @@ verror@1.10.0: vinyl-file@^2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/vinyl-file/-/vinyl-file-2.0.0.tgz#a7ebf5ffbefda1b7d18d140fcb07b223efb6751a" + integrity sha1-p+v1/779obfRjRQPyweyI++2dRo= dependencies: graceful-fs "^4.1.2" pify "^2.3.0" @@ -6618,6 +7663,7 @@ vinyl-file@^2.0.0: vinyl@^1.1.0: version "1.2.0" resolved "https://registry.yarnpkg.com/vinyl/-/vinyl-1.2.0.tgz#5c88036cf565e5df05558bfc911f8656df218884" + integrity sha1-XIgDbPVl5d8FVYv8kR+GVt8hiIQ= dependencies: clone "^1.0.0" clone-stats "^0.0.1" @@ -6626,6 +7672,7 @@ vinyl@^1.1.0: vinyl@^2.0.1: version "2.2.0" resolved "https://registry.yarnpkg.com/vinyl/-/vinyl-2.2.0.tgz#d85b07da96e458d25b2ffe19fece9f2caa13ed86" + integrity 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webpack-addons@^1.1.5: version "1.1.5" resolved "https://registry.yarnpkg.com/webpack-addons/-/webpack-addons-1.1.5.tgz#2b178dfe873fb6e75e40a819fa5c26e4a9bc837a" + integrity sha512-MGO0nVniCLFAQz1qv22zM02QPjcpAoJdy7ED0i3Zy7SY1IecgXCm460ib7H/Wq7e9oL5VL6S2BxaObxwIcag0g== dependencies: jscodeshift "^0.4.0" webpack-cli@2.0.10: version "2.0.10" resolved "https://registry.yarnpkg.com/webpack-cli/-/webpack-cli-2.0.10.tgz#09b888fbaa0b4288ba4b94c4462b6f559dfcf51e" + integrity sha512-PQWEOoXkhjBV4svPuESghZRc80VvDoSSRPaLiInWifDlRJgoPWpiLCFXyMLQTTaug7ApLrSEW7BcuwwY6DEv5w== dependencies: chalk "^2.3.1" codecov "^3.0.0" @@ -6697,6 +7749,7 @@ webpack-cli@2.0.10: webpack-sources@^1.0.1, webpack-sources@^1.1.0: version "1.3.0" resolved "https://registry.yarnpkg.com/webpack-sources/-/webpack-sources-1.3.0.tgz#2a28dcb9f1f45fe960d8f1493252b5ee6530fa85" + integrity sha512-OiVgSrbGu7NEnEvQJJgdSFPl2qWKkWq5lHMhgiToIiN9w34EBnjYzSYs+VbL5KoYiLNtFFa7BZIKxRED3I32pA== dependencies: source-list-map "^2.0.0" 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errno "~0.1.7" wrap-ansi@^2.0.0: version "2.1.0" resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-2.1.0.tgz#d8fc3d284dd05794fe84973caecdd1cf824fdd85" + integrity sha1-2Pw9KE3QV5T+hJc8rs3Rz4JP3YU= dependencies: string-width "^1.0.1" strip-ansi "^3.0.1" @@ -6765,10 +7826,12 @@ wrap-ansi@^2.0.0: wrappy@1: version "1.0.2" resolved "https://registry.yarnpkg.com/wrappy/-/wrappy-1.0.2.tgz#b5243d8f3ec1aa35f1364605bc0d1036e30ab69f" + integrity sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8= write-file-atomic@^1.2.0: version "1.3.4" resolved "https://registry.yarnpkg.com/write-file-atomic/-/write-file-atomic-1.3.4.tgz#f807a4f0b1d9e913ae7a48112e6cc3af1991b45f" + integrity sha1-+Aek8LHZ6ROuekgRLmzDrxmRtF8= dependencies: graceful-fs "^4.1.11" imurmurhash "^0.1.4" @@ -6777,12 +7840,14 @@ write-file-atomic@^1.2.0: write@^0.2.1: version "0.2.1" resolved "https://registry.yarnpkg.com/write/-/write-0.2.1.tgz#5fc03828e264cea3fe91455476f7a3c566cb0757" + integrity sha1-X8A4KOJkzqP+kUVUdvejxWbLB1c= dependencies: mkdirp "^0.5.1" ws@4.0.0: version "4.0.0" resolved "https://registry.yarnpkg.com/ws/-/ws-4.0.0.tgz#bfe1da4c08eeb9780b986e0e4d10eccd7345999f" + integrity sha512-QYslsH44bH8O7/W2815u5DpnCpXWpEK44FmaHffNwgJI4JMaSZONgPBTOfrxJ29mXKbXak+LsJ2uAkDTYq2ptQ== dependencies: async-limiter "~1.0.0" safe-buffer "~5.1.0" @@ -6791,66 +7856,80 @@ ws@4.0.0: ws@~6.1.0: version "6.1.4" resolved "https://registry.yarnpkg.com/ws/-/ws-6.1.4.tgz#5b5c8800afab925e94ccb29d153c8d02c1776ef9" + integrity sha512-eqZfL+NE/YQc1/ZynhojeV8q+H050oR8AZ2uIev7RU10svA9ZnJUddHcOUZTJLinZ9yEfdA2kSATS2qZK5fhJA== dependencies: async-limiter "~1.0.0" xmlbuilder@8.2.2: version "8.2.2" resolved "https://registry.yarnpkg.com/xmlbuilder/-/xmlbuilder-8.2.2.tgz#69248673410b4ba42e1a6136551d2922335aa773" + integrity sha1-aSSGc0ELS6QuGmE2VR0pIjNap3M= xmlbuilder@^9.0.7: version "9.0.7" resolved "https://registry.yarnpkg.com/xmlbuilder/-/xmlbuilder-9.0.7.tgz#132ee63d2ec5565c557e20f4c22df9aca686b10d" + integrity sha1-Ey7mPS7FVlxVfiD0wi35rKaGsQ0= xmldom@0.1.x: version "0.1.27" resolved "https://registry.yarnpkg.com/xmldom/-/xmldom-0.1.27.tgz#d501f97b3bdb403af8ef9ecc20573187aadac0e9" + integrity sha1-1QH5ezvbQDr4757MIFcxh6rawOk= xmlhttprequest-ssl@~1.5.4: version "1.5.5" resolved "https://registry.yarnpkg.com/xmlhttprequest-ssl/-/xmlhttprequest-ssl-1.5.5.tgz#c2876b06168aadc40e57d97e81191ac8f4398b3e" + integrity sha1-wodrBhaKrcQOV9l+gRkayPQ5iz4= xtend@4.0.1, xtend@^4.0.0, xtend@~4.0.0, xtend@~4.0.1: version "4.0.1" resolved "https://registry.yarnpkg.com/xtend/-/xtend-4.0.1.tgz#a5c6d532be656e23db820efb943a1f04998d63af" + integrity sha1-pcbVMr5lbiPbgg77lDofBJmNY68= xtend@~2.1.1: version "2.1.2" resolved "https://registry.yarnpkg.com/xtend/-/xtend-2.1.2.tgz#6efecc2a4dad8e6962c4901b337ce7ba87b5d28b" + integrity sha1-bv7MKk2tjmlixJAbM3znuoe10os= dependencies: object-keys "~0.4.0" y18n@^3.2.1: version "3.2.1" resolved 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sha1-jQrELxbqVd69MyyvTEA4s+P139k= dependencies: camelcase "^4.1.0" yargs-parser@^8.0.0: version "8.1.0" resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-8.1.0.tgz#f1376a33b6629a5d063782944da732631e966950" + integrity sha512-yP+6QqN8BmrgW2ggLtTbdrOyBNSI7zBa4IykmiV5R1wl1JWNxQvWhMfMdmzIYtKU7oP3OOInY/tl2ov3BDjnJQ== dependencies: camelcase "^4.1.0" yargs@9.0.1: version "9.0.1" resolved "https://registry.yarnpkg.com/yargs/-/yargs-9.0.1.tgz#52acc23feecac34042078ee78c0c007f5085db4c" + integrity sha1-UqzCP+7Kw0BCB47njAwAf1CF20w= dependencies: camelcase "^4.1.0" cliui "^3.2.0" @@ -6869,28 +7948,33 @@ yargs@9.0.1: yargs@~1.2.6: version "1.2.6" resolved "https://registry.yarnpkg.com/yargs/-/yargs-1.2.6.tgz#9c7b4a82fd5d595b2bf17ab6dcc43135432fe34b" + integrity sha1-nHtKgv1dWVsr8Xq23MQxNUMv40s= dependencies: minimist "^0.1.0" yauzl@2.4.1: version "2.4.1" resolved "https://registry.yarnpkg.com/yauzl/-/yauzl-2.4.1.tgz#9528f442dab1b2284e58b4379bb194e22e0c4005" + integrity sha1-lSj0QtqxsihOWLQ3m7GU4i4MQAU= dependencies: fd-slicer "~1.0.1" yazl@^2.4.3: version "2.5.1" resolved "https://registry.yarnpkg.com/yazl/-/yazl-2.5.1.tgz#a3d65d3dd659a5b0937850e8609f22fffa2b5c35" + integrity sha512-phENi2PLiHnHb6QBVot+dJnaAZ0xosj7p3fWl+znIjBDlnMI2PsZCJZ306BPTFOaHf5qdDEI8x5qFrSOBN5vrw== dependencies: buffer-crc32 "~0.2.3" yeast@0.1.2: version "0.1.2" resolved "https://registry.yarnpkg.com/yeast/-/yeast-0.1.2.tgz#008e06d8094320c372dbc2f8ed76a0ca6c8ac419" + integrity sha1-AI4G2AlDIMNy28L47XagymyKxBk= yeoman-environment@^1.1.0: version "1.6.6" resolved "https://registry.yarnpkg.com/yeoman-environment/-/yeoman-environment-1.6.6.tgz#cd85fa67d156060e440d7807d7ef7cf0d2d1d671" + integrity sha1-zYX6Z9FWBg5EDXgH1+988NLR1nE= dependencies: chalk "^1.0.0" debug "^2.0.0" @@ -6908,6 +7992,7 @@ yeoman-environment@^1.1.0: yeoman-environment@^2.0.0: version "2.3.4" resolved "https://registry.yarnpkg.com/yeoman-environment/-/yeoman-environment-2.3.4.tgz#ae156147a1b85de939366e5438b00cb3eb54c3e9" + integrity sha512-KLxE5ft/74Qj7h3AsQZv8G6MEEHYJwmD5F99nfOVaep3rBzCtbrJKkdqWc7bDV141Nr8UZZsIXmzc3IcCm6E2w== dependencies: chalk "^2.4.1" cross-spawn "^6.0.5" @@ -6958,6 +8043,7 @@ yeoman-environment@^2.0.0: zip-webpack-plugin@3.0.0: version "3.0.0" resolved "https://registry.yarnpkg.com/zip-webpack-plugin/-/zip-webpack-plugin-3.0.0.tgz#63b3c173f1a87a006915cd7328a3c40b44dc8e32" + integrity sha512-5kNvPv+TUP3JqKWQUXj0vTgXHIRQpYw5YyBUVXQ0pumTAK+a4OZ+eXDHnh44nyr9B1XJQZq9WtSSm5j6NQhjWQ== dependencies: webpack-sources "^1.1.0" yazl "^2.4.3" diff --git a/runtime/Makefile b/runtime/Makefile index 0f884af8..f693ae14 100644 --- a/runtime/Makefile +++ b/runtime/Makefile @@ -10,7 +10,7 @@ artifacts-install: $(nop) lint: - pylint --load-plugins=$(shell pwd)/lints ansible.py runtime.py statemanager.py studentapi.py runtimeUtil.py fakedawn.py hibikesimulator.py + pylint ansible.py runtime.py statemanager.py studentapi.py runtimeUtil.py fakedawn.py hibikesimulator.py test: cd ../DevOps/frankfurter/scripts/update && ./create_update -p diff --git a/runtime/Pipfile b/runtime/Pipfile index 68886ec2..654a3605 100644 --- a/runtime/Pipfile +++ b/runtime/Pipfile @@ -14,6 +14,7 @@ aioprocessing = "*" pyserial-asyncio = "*" aiofiles = "*" cobs = "*" +aio_msgpack_rpc = "*" [dev-packages] pylint = "==1.8.1" diff --git a/runtime/Pipfile.lock b/runtime/Pipfile.lock index b699c00d..f551ee39 100644 --- a/runtime/Pipfile.lock +++ b/runtime/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "b26c903fdded7f0e7f878a5576e12bea0f8f28abc8389bd7b81195d1062e56a2" + "sha256": "a0d340349df0c043be7c66e0f67da82f854514b212133150e1ac11f8be518b98" }, "pipfile-spec": 6, "requires": { @@ -15,6 +15,13 @@ ] }, "default": { + "aio-msgpack-rpc": { + "hashes": [ + "sha256:5215fa1d8057a02de06dd15cd063ccd92214160ad4354b3d07f6f45ce43dc9cc", + "sha256:7ab272f9b4724f953cdacfee4fb8780d246a718963226bbd86072a4913877d79" + ], + "version": "==0.1.0" + }, "aiofiles": { "hashes": [ "sha256:021ea0ba314a86027c166ecc4b4c07f2d40fc0f4b3a950d1868a0f2571c2bbee", @@ -96,6 +103,28 @@ ], "version": "==1.1.1" }, + "msgpack": { + "hashes": [ + "sha256:26cb40116111c232bc235ce131cc3b4e76549088cb154e66a2eb8ff6fcc907ec", + "sha256:300fd3f2c664a3bf473d6a952f843b4a71454f4c592ed7e74a36b205c1782d28", + "sha256:3129c355342853007de4a2a86e75eab966119733eb15748819b6554363d4e85c", + "sha256:31f6d645ee5a97d59d3263fab9e6be76f69fa131cddc0d94091a3c8aca30d67a", + "sha256:3ce7ef7ee2546c3903ca8c934d09250531b80c6127e6478781ae31ed835aac4c", + "sha256:4008c72f5ef2b7936447dcb83db41d97e9791c83221be13d5e19db0796df1972", + "sha256:62bd8e43d204580308d477a157b78d3fee2fb4c15d32578108dc5d89866036c8", + "sha256:70cebfe08fb32f83051971264466eadf183101e335d8107b80002e632f425511", + "sha256:72cb7cf85e9df5251abd7b61a1af1fb77add15f40fa7328e924a9c0b6bc7a533", + "sha256:7c55649965c35eb32c499d17dadfb8f53358b961582846e1bc06f66b9bccc556", + "sha256:86b963a5de11336ec26bc4f839327673c9796b398b9f1fe6bb6150c2a5d00f0f", + "sha256:8c73c9bcdfb526247c5e4f4f6cf581b9bb86b388df82cfcaffde0a6e7bf3b43a", + "sha256:8e68c76c6aff4849089962d25346d6784d38e02baa23ffa513cf46be72e3a540", + "sha256:97ac6b867a8f63debc64f44efdc695109d541ecc361ee2dce2c8884ab37360a1", + "sha256:9d4f546af72aa001241d74a79caec278bcc007b4bcde4099994732e98012c858", + "sha256:a28e69fe5468c9f5251c7e4e7232286d71b7dfadc74f312006ebe984433e9746", + "sha256:fd509d4aa95404ce8d86b4e32ce66d5d706fd6646c205e1c2a715d87078683a2" + ], + "version": "==0.6.1" + }, "protobuf": { "hashes": [ "sha256:3c1e93adccb6df731b003993e1f094221a18694cb767f9a31fa41cc8965c1f80", @@ -131,10 +160,10 @@ }, "werkzeug": { "hashes": [ - "sha256:c3fd7a7d41976d9f44db327260e263132466836cef6f91512889ed60ad26557c", - "sha256:d5da73735293558eb1651ee2fddc4d0dedcfa06538b8813a2e20011583c9e49b" + "sha256:0a73e8bb2ff2feecfc5d56e6f458f5b99290ef34f565ffb2665801ff7de6af7a", + "sha256:7fad9770a8778f9576693f0cc29c7dcc36964df916b83734f4431c0e612a7fbc" ], - "version": "==0.14.1" + "version": "==0.15.2" } }, "develop": { @@ -147,10 +176,10 @@ }, "isort": { "hashes": [ - "sha256:38a74a5ccf3a15a7a99f975071164f48d4d10eed4154879009c18e6e8933e5aa", - "sha256:abbb2684aa234d5eb8a67ef36d4aa62ea080d46c2eba36ad09e2990ae52e4305" + "sha256:08f8e3f0f0b7249e9fad7e5c41e2113aba44969798a26452ee790c06f155d4ec", + "sha256:4e9e9c4bd1acd66cf6c36973f29b031ec752cbfd991c69695e4e259f9a756927" ], - "version": "==4.3.13" + "version": "==4.3.16" }, "lazy-object-proxy": { "hashes": [ diff --git a/runtime/ansible.py b/runtime/ansible.py index 66408945..593dc6b6 100644 --- a/runtime/ansible.py +++ b/runtime/ansible.py @@ -1,11 +1,13 @@ """Functions and classes for communication with Dawn.""" +import asyncio import socket import threading import time import sys import selectors import csv +import aio_msgpack_rpc as rpc import runtime_pb2 import ansible_pb2 import notification_pb2 @@ -484,14 +486,6 @@ def unpackage(data): continue if unpackaged_data.header == notification_pb2.Notification.STUDENT_SENT: state_queue.put([SM_COMMANDS.STUDENT_UPLOAD, []]) - if unpackaged_data.header == notification_pb2.Notification.GAMECODE_TRANSMISSION: - state_queue.put([SM_COMMANDS.SET_VAL, - [list(unpackaged_data.gamecode_solutions), - ["gamecodes_check"], False]]) - state_queue.put([SM_COMMANDS.SET_VAL, - [list(unpackaged_data.gamecodes), ["gamecodes"], False]]) - state_queue.put([SM_COMMANDS.SET_VAL, - [list(unpackaged_data.rfids), ["rfids"], False]]) except ConnectionResetError: bad_things_queue.put( @@ -508,3 +502,96 @@ def unpackage(data): str(e), event=BAD_EVENTS.TCP_ERROR, printStackTrace=True)) + + +def load_coding_challenges(): + try: + import studentCode as student_code + except: + return [] + + def stub_out(funcname): + def stub(_): + if hasattr(student_code, 'print'): + # pylint: disable=no-member + student_code.print(f'"{funcname}" not defined.' + 'Unable to run the coding challenge.') + return None + return stub + + def get_or_stub_out(funcname): + try: + return getattr(student_code, funcname) + except AttributeError: + return stub_out(funcname) + + return [ + get_or_stub_out('tennis_ball'), + get_or_stub_out('remove_duplicates'), + get_or_stub_out('rotate'), + get_or_stub_out('next_fib'), + get_or_stub_out('most_common'), + get_or_stub_out('get_coins'), + ], getattr(student_code, 'print', lambda *args, **kwargs: None) + + +# pylint: disable=invalid-name,global-statement +solution = None + + +class FieldControlServer: + def __init__(self, state_queue): + self.state_queue = state_queue + self.access = asyncio.Lock() + + def set_alliance(self, alliance: str): + self.state_queue.put([SM_COMMANDS.SET_TEAM, [alliance]]) + + def set_starting_zone(self, zone: str): + pass # self.state_queue.put([SM_COMMANDS.SET_VAL, [zone, ['starting_zone']]]) + + def set_mode(self, mode: str): + modes = { + 'idle': SM_COMMANDS.ENTER_IDLE, + 'auto': SM_COMMANDS.ENTER_AUTO, + 'teleop': SM_COMMANDS.ENTER_TELEOP, + 'estop': SM_COMMANDS.EMERGENCY_STOP, + } + self.state_queue.put([modes[mode], []]) + + def set_master(self, master: bool): + pass # self.state_queue.put([SM_COMMANDS.SET_VAL, [master, ['master']]]) + + async def run_challenge_blocking(self, seed, timeout=1): + async with self.access: + coding_challenges, _print = load_coding_challenges() + try: + async def chain(): + global solution + solution = seed + for challenge in coding_challenges: + try: + solution = challenge(solution) + except Exception: + return + await asyncio.wait_for(chain(), timeout) + except asyncio.TimeoutError: + global solution + solution = None + + def run_challenge(self, seed, timeout=1): + asyncio.ensure_future(self.run_challenge_blocking(seed, timeout)) + + async def get_challenge_solution(self): + async with self.access: + return solution + + +async def run_field_control_server(server, host, port): + try: + server = await asyncio.start_server(rpc.Server(server), host=host, port=port) + async with server: + print('Starting field control server.') + await server.serve_forever() + except asyncio.CancelledError: + print('Gracefully shutting down field control server.') diff --git a/runtime/disable_CPUs.sh b/runtime/disable_CPUs.sh deleted file mode 100755 index 2b33c1dd..00000000 --- a/runtime/disable_CPUs.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash -#ask for root access -[ "$(whoami)" != "root" ] && exec sudo -- "$0" "$@" - -for x in /sys/devices/system/cpu/cpu*/online; do - echo 0 >"$x"; -done -echo "DONE" diff --git a/runtime/enable_CPUs.sh b/runtime/enable_CPUs.sh deleted file mode 100755 index c52a9cc9..00000000 --- a/runtime/enable_CPUs.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash -#ask for root access -[ "$(whoami)" != "root" ] && exec sudo -- "$0" "$@" - -for x in /sys/devices/system/cpu/cpu*/online; do - echo 1 >"$x"; -done -echo "DONE" diff --git a/runtime/fetchartifacts b/runtime/fetchartifacts deleted file mode 100644 index e3cb91a0..00000000 --- a/runtime/fetchartifacts +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/sh - -wget "https://github.com/pioneers/PieCentral" diff --git a/runtime/fieldcontrol_pb2.py b/runtime/fieldcontrol_pb2.py deleted file mode 100644 index a051a907..00000000 --- a/runtime/fieldcontrol_pb2.py +++ /dev/null @@ -1,214 +0,0 @@ -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: fieldcontrol.proto - -import sys -_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1')) -from google.protobuf import descriptor as _descriptor -from google.protobuf import message as _message -from google.protobuf import reflection as _reflection -from google.protobuf import symbol_database as _symbol_database -from google.protobuf import descriptor_pb2 -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - - - -DESCRIPTOR = _descriptor.FileDescriptor( - name='fieldcontrol.proto', - package='', - syntax='proto3', - serialized_pb=_b('\n\x12\x66ieldcontrol.proto\"\xfc\x01\n\x12\x46ieldControlToDawn\x12\x31\n\nteam_color\x18\x01 \x01(\x0e\x32\x1d.FieldControlToDawn.TeamColor\x12\x42\n\x13student_code_status\x18\x02 \x01(\x0e\x32%.FieldControlToDawn.StudentCodeStatus\")\n\tTeamColor\x12\x08\n\x04NONE\x10\x00\x12\x08\n\x04\x42LUE\x10\x01\x12\x08\n\x04GOLD\x10\x02\"D\n\x11StudentCodeStatus\x12\x08\n\x04IDLE\x10\x00\x12\n\n\x06TELEOP\x10\x01\x12\x0e\n\nAUTONOMOUS\x10\x02\x12\t\n\x05\x45STOP\x10\x03\"\x9a\x01\n\x12\x44\x61wnToFieldControl\x12\x33\n\x0b\x64\x61wn_status\x18\x01 \x01(\x0e\x32\x1e.DawnToFieldControl.DawnStatus\"O\n\nDawnStatus\x12\x16\n\x12STUDENT_DISCONNECT\x10\x00\x12\x08\n\x04IDLE\x10\x01\x12\n\n\x06TELEOP\x10\x02\x12\x08\n\x04\x41UTO\x10\x03\x12\t\n\x05\x45STOP\x10\x04\x62\x06proto3') -) -_sym_db.RegisterFileDescriptor(DESCRIPTOR) - - - -_FIELDCONTROLTODAWN_TEAMCOLOR = _descriptor.EnumDescriptor( - name='TeamColor', - full_name='FieldControlToDawn.TeamColor', - filename=None, - file=DESCRIPTOR, - values=[ - _descriptor.EnumValueDescriptor( - name='NONE', index=0, number=0, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='BLUE', index=1, number=1, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='GOLD', index=2, number=2, - options=None, - type=None), - ], - containing_type=None, - options=None, - serialized_start=164, - serialized_end=205, -) -_sym_db.RegisterEnumDescriptor(_FIELDCONTROLTODAWN_TEAMCOLOR) - -_FIELDCONTROLTODAWN_STUDENTCODESTATUS = _descriptor.EnumDescriptor( - name='StudentCodeStatus', - full_name='FieldControlToDawn.StudentCodeStatus', - filename=None, - file=DESCRIPTOR, - values=[ - _descriptor.EnumValueDescriptor( - name='IDLE', index=0, number=0, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='TELEOP', index=1, number=1, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='AUTONOMOUS', index=2, number=2, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='ESTOP', index=3, number=3, - options=None, - type=None), - ], - containing_type=None, - options=None, - serialized_start=207, - serialized_end=275, -) -_sym_db.RegisterEnumDescriptor(_FIELDCONTROLTODAWN_STUDENTCODESTATUS) - -_DAWNTOFIELDCONTROL_DAWNSTATUS = _descriptor.EnumDescriptor( - name='DawnStatus', - full_name='DawnToFieldControl.DawnStatus', - filename=None, - file=DESCRIPTOR, - values=[ - _descriptor.EnumValueDescriptor( - name='STUDENT_DISCONNECT', index=0, number=0, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='IDLE', index=1, number=1, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='TELEOP', index=2, number=2, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='AUTO', index=3, number=3, - options=None, - type=None), - _descriptor.EnumValueDescriptor( - name='ESTOP', index=4, number=4, - options=None, - type=None), - ], - containing_type=None, - options=None, - serialized_start=353, - serialized_end=432, -) -_sym_db.RegisterEnumDescriptor(_DAWNTOFIELDCONTROL_DAWNSTATUS) - - -_FIELDCONTROLTODAWN = _descriptor.Descriptor( - name='FieldControlToDawn', - full_name='FieldControlToDawn', - filename=None, - file=DESCRIPTOR, - containing_type=None, - fields=[ - _descriptor.FieldDescriptor( - name='team_color', full_name='FieldControlToDawn.team_color', index=0, - number=1, type=14, cpp_type=8, label=1, - has_default_value=False, default_value=0, - message_type=None, enum_type=None, containing_type=None, - is_extension=False, extension_scope=None, - options=None), - _descriptor.FieldDescriptor( - name='student_code_status', full_name='FieldControlToDawn.student_code_status', index=1, - number=2, type=14, cpp_type=8, label=1, - has_default_value=False, default_value=0, - message_type=None, enum_type=None, containing_type=None, - is_extension=False, extension_scope=None, - options=None), - ], - extensions=[ - ], - nested_types=[], - enum_types=[ - _FIELDCONTROLTODAWN_TEAMCOLOR, - _FIELDCONTROLTODAWN_STUDENTCODESTATUS, - ], - options=None, - is_extendable=False, - syntax='proto3', - extension_ranges=[], - oneofs=[ - ], - serialized_start=23, - serialized_end=275, -) - - -_DAWNTOFIELDCONTROL = _descriptor.Descriptor( - name='DawnToFieldControl', - full_name='DawnToFieldControl', - filename=None, - file=DESCRIPTOR, - containing_type=None, - fields=[ - _descriptor.FieldDescriptor( - name='dawn_status', full_name='DawnToFieldControl.dawn_status', index=0, - number=1, type=14, cpp_type=8, label=1, - has_default_value=False, default_value=0, - message_type=None, enum_type=None, containing_type=None, - is_extension=False, extension_scope=None, - options=None), - ], - extensions=[ - ], - nested_types=[], - enum_types=[ - _DAWNTOFIELDCONTROL_DAWNSTATUS, - ], - options=None, - is_extendable=False, - syntax='proto3', - extension_ranges=[], - oneofs=[ - ], - serialized_start=278, - serialized_end=432, -) - -_FIELDCONTROLTODAWN.fields_by_name['team_color'].enum_type = _FIELDCONTROLTODAWN_TEAMCOLOR -_FIELDCONTROLTODAWN.fields_by_name['student_code_status'].enum_type = _FIELDCONTROLTODAWN_STUDENTCODESTATUS -_FIELDCONTROLTODAWN_TEAMCOLOR.containing_type = _FIELDCONTROLTODAWN -_FIELDCONTROLTODAWN_STUDENTCODESTATUS.containing_type = _FIELDCONTROLTODAWN -_DAWNTOFIELDCONTROL.fields_by_name['dawn_status'].enum_type = _DAWNTOFIELDCONTROL_DAWNSTATUS -_DAWNTOFIELDCONTROL_DAWNSTATUS.containing_type = _DAWNTOFIELDCONTROL -DESCRIPTOR.message_types_by_name['FieldControlToDawn'] = _FIELDCONTROLTODAWN -DESCRIPTOR.message_types_by_name['DawnToFieldControl'] = _DAWNTOFIELDCONTROL - -FieldControlToDawn = _reflection.GeneratedProtocolMessageType('FieldControlToDawn', (_message.Message,), dict( - DESCRIPTOR = _FIELDCONTROLTODAWN, - __module__ = 'fieldcontrol_pb2' - # @@protoc_insertion_point(class_scope:FieldControlToDawn) - )) -_sym_db.RegisterMessage(FieldControlToDawn) - -DawnToFieldControl = _reflection.GeneratedProtocolMessageType('DawnToFieldControl', (_message.Message,), dict( - DESCRIPTOR = _DAWNTOFIELDCONTROL, - __module__ = 'fieldcontrol_pb2' - # @@protoc_insertion_point(class_scope:DawnToFieldControl) - )) -_sym_db.RegisterMessage(DawnToFieldControl) - - -# @@protoc_insertion_point(module_scope) diff --git a/runtime/runtime.py b/runtime/runtime.py index 30575bfc..92a63d5f 100644 --- a/runtime/runtime.py +++ b/runtime/runtime.py @@ -7,10 +7,17 @@ import re import signal import sys +import threading import traceback import warnings -from ansible import TCPClass, UDPRecvClass, UDPSendClass +from ansible import ( + TCPClass, + UDPRecvClass, + UDPSendClass, + FieldControlServer, + run_field_control_server, +) import runtime_pb2 from runtimeUtil import ( BAD_EVENTS, @@ -23,7 +30,7 @@ StudentAPIError, ) from statemanager import StateManager -from studentapi import Actions, Gamepad, Robot +from studentapi import Actions, Gamepad, Field, Robot COROUTINE_WARNING = """ The PiE API has upgraded the above RuntimeWarning to a runtime error! @@ -64,7 +71,7 @@ def print_version(): print('.'.join([str(n.value) for n in version_numbers])) -# pylint: disable=too-many-branches +# pylint: disable=too-many-branches,too-many-locals def runtime(test_name=""): # pylint: disable=too-many-statements test_mode = test_name != "" max_iter = 3 if test_mode else None @@ -84,6 +91,14 @@ def non_test_mode_print(*args): spawn_process(PROCESS_NAMES.STATE_MANAGER, start_state_manager) spawn_process(PROCESS_NAMES.UDP_RECEIVE_PROCESS, start_udp_receiver) spawn_process(PROCESS_NAMES.HIBIKE, start_hibike) + + def fc_server_target(): + fc_server = FieldControlServer(state_queue) + # pylint: disable=no-member + asyncio.run(run_field_control_server(fc_server, '0.0.0.0', 6020)) + + fc_thread = threading.Thread(target=fc_server_target, daemon=True) + fc_thread.start() control_state = "idle" dawn_connected = False @@ -162,7 +177,8 @@ def non_test_mode_print(*args): print("".join(traceback.format_tb(sys.exc_info()[2]))) -def run_student_code(bad_things_queue, state_queue, pipe, test_name="", max_iter=None): # pylint: disable=too-many-locals +# pylint: disable=too-many-locals +def run_student_code(bad_things_queue, state_queue, pipe, test_name="", max_iter=None): try: terminated = False @@ -204,64 +220,9 @@ def check_timed_out(func, *args): ensure_is_function(test_name + "main", main_fn) ensure_not_overridden(studentCode, "Robot") - # Solar Scramble specific handling - def stub_out(funcname): - def stub(_): - line1 = "Failed to generate power-up code: " - line2 = "you haven't defined {}".format(funcname) - raise AttributeError(line1 + line2) - return stub - - def get_or_stub_out(funcname): - try: - return getattr(studentCode, funcname) - except AttributeError: - return stub_out(funcname) - - def identity(value): - ''' - Used only in the (hopefully) rare event that none of the other - functions are bijections with a given domain of RFIDs - ''' - return value - - def limit_input_to(limit): - '''Generate a function to limit size of inputs''' - def retval(input_val): - while input_val > limit: - input_val = (input_val % limit) + (input_val // limit) - return input_val - return retval - - def compose_funcs(func_a, func_b): - ''' - Composes two single-input functions together, A(B(x)) - ''' - return lambda x: func_a(func_b(x)) - - next_power = get_or_stub_out("next_power") - reverse_digits = get_or_stub_out("reverse_digits") - smallest_prime_fact = get_or_stub_out("smallest_prime_fact") - double_caesar_cipher = get_or_stub_out("double_caesar_cipher") - silly_base_two = get_or_stub_out("silly_base_two") - most_common_digit = get_or_stub_out("most_common_digit") - valid_isbn_ten = get_or_stub_out("valid_isbn_ten") - simd_four_square = get_or_stub_out("simd_four_square") - - func_map = [ - identity, - next_power, - reverse_digits, - compose_funcs(smallest_prime_fact, limit_input_to(1000000)), - double_caesar_cipher, - silly_base_two, - most_common_digit, - valid_isbn_ten, - simd_four_square - ] - - studentCode.Robot = Robot(state_queue, pipe, func_map) + studentCode.Robot = Robot(state_queue, pipe) studentCode.Gamepad = Gamepad(state_queue, pipe) + studentCode.Field = Field(state_queue, pipe) studentCode.Actions = Actions studentCode.print = studentCode.Robot._print # pylint: disable=protected-access @@ -274,7 +235,6 @@ def compose_funcs(func_a, func_b): studentCode.sleep_duration = studentCode.Actions.sleep check_timed_out(setup_fn) - exception_cell = [None] clarify_coroutine_warnings(exception_cell) diff --git a/runtime/runtimeUtil.py b/runtime/runtimeUtil.py index bdacfd73..a5e28283 100644 --- a/runtime/runtimeUtil.py +++ b/runtime/runtimeUtil.py @@ -7,7 +7,7 @@ import os import json -__version__ = (1, 3, 1) +__version__ = (1, 4, 0) class AutoIntEnum(IntEnum): diff --git a/runtime/statemanager.py b/runtime/statemanager.py index fc8aa794..73a32441 100644 --- a/runtime/statemanager.py +++ b/runtime/statemanager.py @@ -121,10 +121,8 @@ def init_robot_state(self): "gamepads": [{0: {"axes": {0: 0.5, 1: -0.5, 2: 1, 3: -1}, "buttons": {0: True, 1: False, 2: True, 3: False, 4: True}}}, t], "team_flag_uid": [None, t], - # Solar Scramble Keys - "gamecodes": [[64314, 64314, 64314, 64314, 64314, 64314], t], - "gamecodes_check": [[1543, 3215, 2551, 5354, 1152, 2222], t], - "rfids": [[6, 1, 3, 5, 2, 4], t], + 'starting_zone': ['unknown', t], + 'master': [False, t], } def add_pipe(self, process_name, pipe): diff --git a/runtime/studentCode.py b/runtime/studentCode.py index 515bcd63..1e8d817e 100644 --- a/runtime/studentCode.py +++ b/runtime/studentCode.py @@ -1,316 +1,255 @@ -import time -import asyncio -from runtimeUtil import * +right_motor = "47257694863303572622996" +left_motor = "56692491028743135592595" +servo_controller = "33083708407374743778514" +rfid_sensor = "51967350706562744010830" +wrist_servo = "servo0" +elbow_servo = "servo1" +HIGH_FIVE_START_ANGLE = .8 +HIGH_FIVE_BACK_ANGLE = -1 -def autonomous_setup(): - pass +# Joystick input values less than this will be rounded to 0 +JOYSTICK_DEAD_ZONE = .15 +import math + +def autonomous_setup(): + print("Autonomous mode has started!") def autonomous_main(): pass -def teleop_setup(): - pass +async def autonomous_actions(): + print("Autonomous action sequence started") + await Actions.sleep(1.0) + print("1 second has passed in autonomous mode") +def teleop_setup(): + print("Tele-operated mode has started!") + set_elbow_servo(HIGH_FIVE_START_ANGLE) def teleop_main(): - pass - - -def setup(): - pass - - -def main(): - pass - - -def asyncawait_setup(): - Robot.create_key("right") - Robot.create_key("counter") - Robot._set_sm_value(3.0, "right") - Robot._set_sm_value(0.0, "counter") - Robot.run(asyncawait_helper) - - -def asyncawait_main(): - Robot._set_sm_value(Robot._get_sm_value("counter") + 1, "counter") - if Robot._get_sm_value("right") == 4 and Robot._get_sm_value("counter") == 3: - print("Async Success") - - -async def asyncawait_helper(): - Robot._set_sm_value(Robot._get_sm_value("right") + 1, "right") - - -def test0_setup(): - print("test0_setup") - - -def test0_main(): - print("test0_main") - - -def mainTest_setup(): - pass - - -def mainTest_main(): - response = Robot._get_sm_value("incrementer") - print("Get Info:", response) - response -= 1 - - Robot._set_sm_value(response, "incrementer") - - print("Saying hello to the other side") - print("DAT:", 1.0 / response) - - -async def sleepDurationHelper(): - await sleep_duration(1) - -def sleepDuration_setup(): - print("Doing sleep test") - run_async(sleepDurationHelper) - print(is_robot_running(sleepDurationHelper)) - -def sleepDuration_main(): - pass - - -def newAPI_setup(): - print("running test") - print(get_gamepad_value("button_a")) - print(get_gamepad_value("joystick_left_x")) - -def newAPI_main(): - pass - -def nestedDict_setup(): - pass - - -def nestedDict_main(): - print("CODE LOOP") - response = Robot._get_sm_value("dict1", "inner_dict1_int") - print("Get Info:", response) - - response = 1 - Robot._set_sm_value(response, "dict1", "inner_dict1_int") - response = Robot._get_sm_value("dict1", "inner_dict1_int") - print("Get Info2:", response) - - -def studentCodeMainCount_setup(): - pass - - -def studentCodeMainCount_main(): - print(Robot._get_sm_value("runtime_meta", "studentCode_main_count")) - - -def createKey_setup(): - Robot.create_key("Restarts") - Robot._set_sm_value(0, "Restarts") - if Robot._get_sm_value("Restarts") != 0: - print("Either getValue or setValue is not working correctly") - pass - - -def createKey_main(): - Robot.create_key("Restarts") - if Robot._get_sm_value("Restarts") == 0: - try: - print("Making sure setValue can't create new key") - Robot._set_sm_value(707, "Klefki") - except StudentAPIKeyError: - print("Success!") + deadzone = lambda val : val if abs(val) > JOYSTICK_DEAD_ZONE else 0 + left_joystick = deadzone(Gamepad.get_value("joystick_left_y")) + right_joystick = deadzone(Gamepad.get_value("joystick_right_y")) + bound = lambda x : max(-1, min( 1, x)) + left_motor_power = left_joystick + right_motor_power = right_joystick + set_right_motor(right_motor_power) + set_left_motor(left_motor_power) + if Gamepad.get_value("l_bumper"): + Robot.run(wave) + if Gamepad.get_value("r_bumper"): + Robot.run(high_five) + if Gamepad.get_value("r_trigger"): + reset_elbow() + if (Robot.get_value(rfid_sensor, "tag_detect")): + if (Robot.get_value(rfid_sensor, "id") % 100 == 25): + Robot.run(wave) else: - print("ERROR: setValue can create keys :(") - - print("Creating key 'Klefki' and setting to value 707") - Robot.create_key("Klefki") - Robot._set_sm_value(707, "Klefki") - print("Success!") - - print("Creating nested keys") - Robot.create_key("Mankey", "EVOLUTION") - Robot._set_sm_value("Primeape", "Mankey", "EVOLUTION") - print("Success!") - restarts = Robot._get_sm_value("Restarts") - Robot._set_sm_value(restarts + 1, "Restarts") - - -def timestamp_setup(): - pass - - -def timestamp_main(): - path = ["dict1", "inner_dict_1_string"] - - print("Getting timestamp") - initialTime = Robot.get_timestamp(*path) - print("Success!") - - print("Setting timestamp") - Robot._set_sm_value("bye", *path) - print("Success!") - - print("Getting new timestamp") - newTime = Robot.get_timestamp(*path) - if newTime > initialTime and time.time() - newTime < 1: - print("Success!") - else: - print("Timestamp did not update correctly") - - print("Testing nested timestamps") - if newTime == Robot.get_timestamp(*path[:-1]): - print("Success!") - else: - print("Nested timestamps did not update correctly") - - -def infiniteSetupLoop_setup(): - print("setup") - while True: - time.sleep(.1) - - -def infiniteSetupLoop_main(): - print("main") - - -def infiniteMainLoop_setup(): - print("setup") - - -def infiniteMainLoop_main(): - print("main") - while True: - time.sleep(.1) - - -def optionalhibikeSensorMappings_setup(): - pass - - -def optionalhibikeSensorMappings_main(): - print(Robot._hibike_get_uid('zero')) - print(Robot._hibike_get_uid('one')) - print(Robot._hibike_get_uid('two')) - print(Robot._hibike_get_uid('three')) - - -def gamepadGetVal_setup(): - pass - - -def gamepadGetVal_main(): - print("running test") - print(Gamepad.get_value("button_a")) - print(Gamepad.get_value("joystick_left_x")) - - -def asyncIsRunning_setup(): - pass - - -def asyncIsRunning_main(): - Robot.run(asyncIsRunningHelper) - print(Robot.is_running(asyncIsRunningHelper)) - - -async def asyncIsRunningHelper(): + Robot.run(high_five) + +def set_left_motor(power): + """Sets the power of the left motor""" + Robot.set_value(left_motor, "duty_cycle", -1 *power) + +def set_right_motor(power): + """Sets the power of the right motor""" + Robot.set_value(right_motor, "duty_cycle", 1 * power) + +def set_wrist_servo(angle): + Robot.set_value(servo_controller, wrist_servo, angle) + +def set_elbow_servo(angle): + Robot.set_value(servo_controller, elbow_servo, angle) + +def reset_elbow(): + Robot.set_value(servo_controller, elbow_servo, HIGH_FIVE_START_ANGLE) + +async def wave(): + set_wrist_servo(0) + for _ in range(3): + set_wrist_servo(-1) + await Actions.sleep(.5) + set_wrist_servo(1) + await Actions.sleep(.5) + set_wrist_servo(0) + + +async def high_five(): + set_elbow_servo(HIGH_FIVE_START_ANGLE) + await Actions.sleep(.75) + set_elbow_servo(HIGH_FIVE_BACK_ANGLE) + await Actions.sleep(.75) + set_elbow_servo(HIGH_FIVE_START_ANGLE) + print("resetting elbow servo") await Actions.sleep(1) - -def optionalapiGetVal_setup(): - Robot.create_key("hibike", "devices", 47223664828696452136960, "duty_cycle") - Robot._set_sm_value(0.5, "hibike", "devices", - 47223664828696452136960, "duty_cycle") - - -def optionalapiGetVal_main(): - print(Robot.get_value("motor1", "duty_cycle")) - - -def optionalTestsDisabled_setup(): - assert False, "This optional test should never be run" - - -def optionalTestsDisabled_main(): - assert False, "This optional test should never be run" - - -def optionalTestsWork_setup(): - pass - - -def optionalTestsWork_main(): - pass - - -def asyncSleep_setup(): - loop = asyncio.get_event_loop() - loop.run_until_complete(asyncSleepHelper()) - - -def asyncSleep_main(): - pass - - -async def asyncSleepHelper(): - sleepTestVal = {'test': False} - Robot.run(asyncSleepHelper2, sleepTestVal) - - await Actions.sleep(.1) - print('Testing sleep part 1') - if sleepTestVal['test']: - print('Success!') - else: - print('Failed to sleep for the correct amount of time') - +async def wave_and_high_five(): + set_wrist_servo(0) + for _ in range(2): + set_elbow_servo(0) + await Actions.sleep(1) + set_elbow_servo(-1) + await Actions.sleep(1) + + set_elbow_servo(.1) + await Actions.sleep(.3) + set_elbow_servo(.05) + await Actions.sleep(.3) + set_elbow_servo(0) + await Actions.sleep(1) + + for _ in range(3): + set_wrist_servo(-1) + await Actions.sleep(1) + set_wrist_servo(1) + await Actions.sleep(1) + +async def jiggle(power): + set_right_motor(power) + set_left_motor(power) await Actions.sleep(.5) - print('Testing sleep part 2') - if not sleepTestVal['test']: - print('Success!') - else: - print('Failed to sleep for the correct amount of time') - - -async def asyncSleepHelper2(sleepTestVal): - sleepTestVal['test'] = True + set_right_motor(0) + set_left_motor(0) + await Actions.sleep(1) + set_right_motor(-power) + set_left_motor(-power) + await Actions.sleep(.9) + set_right_motor(0) + set_left_motor(0) await Actions.sleep(.5) - sleepTestVal['test'] = False - -########################### -# Solar Scramble Functions -########################### -def next_power(num): - return num - -def reverse_digits(num): - return num - -def smallest_prime_fact(num): - return num - -def prime_factor(num): - return num -def silly_base_two(num): - return num - -def most_common_digit(num): - return num - -def valid_isbn_ten(num): - return num - -def simd_four_square(num): +""" +def tennis_ball(n): + return 1 + +def remove_duplicates(n): + return 1 + +def rotate(n): + return 1 + +def next_fib(n): + return 1 + +def most_common(n): + return 1 + +def get_coins(n): + return 1 +""" + + +def rotate(numbers): + copy = numbers + max_num = 0 + while copy: + num = copy % 10 + copy = copy // 10 + size = math.log(numbers)//math.log(10) + max_num = num if num > max_num else max_num + for i in range(max_num): + lsd = numbers % 10 + numbers = numbers // 10 + msd = (lsd) * 10**(size) + numbers = numbers + msd + return int(numbers) + +def tennis_ball(num): + index = 5 + while index > 0: + if num % 3 == 0: + num = num // 3 + elif num % 2 == 1: + num = num * 4 + 2 + else: + num += 1 + index -= 1 return num -def double_caesar_cipher(key): - return key +def most_common(num): + parse = [] + while num != 0: + parse.append(num % 10) + num = num // 10 + parse.reverse() + l = list(set(parse)) + if len(l) <= 4: + l = sorted(l, reverse=True) + else: + ret = [] + d = {} + for n in parse: + if n in d.keys(): + d[n] += 1 + else: + d[n] = 1 + final = [] + boolean = {} + for key, value in sorted(d.items(), key=lambda kv: kv[1], reverse = True): + final.append(key) + boolean[key] = False + boolean[final[3]] = True + for key in final: + if d[key] == d[final[3]]: + boolean[key] = True + for i in range(4): + if boolean[final[i]] == False: + ret.append(final[i]) + left = 4 - len(ret) + if left != 0: + for i in range(len(parse)): + if boolean[parse[i]] == True and parse[i] not in ret: + print(parse[i]) + ret.append(parse[i]) + left -= 1 + if left == 0: + break + l = sorted(ret, reverse=True) + final_num = 0 + while l != []: + final_num = final_num * 10 + l[0] + l = l[1:] + return final_num + +def remove_duplicates(num): + l = [] + while num > 0: + l = [num % 10] + l + num = num // 10 + final = [] + for i in range(len(l)): + y = 0 + exist = False + while y < i: + if l[i] == l[y]: + exist = True + y += 1 + if not exist: + final = [l[i]] + final + n = 0 + while final != []: + n = 10 * n + final[-1] + final = final[:-1] + return n + +def next_fib(num): + first = 0 + second = 1 + sum = 0 + if num == 0: + return 0 + for i in range(num): + sum = first + second + if sum >= num: + return sum + first = second + second = sum + +def get_coins(num): + quarters = num // 25 + nickels = (num - 25 * quarters) // 5 + pennies = num - nickels * 5 - quarters * 25 + return int(str(quarters) + str(nickels) + str(pennies)) diff --git a/runtime/studentapi.py b/runtime/studentapi.py index 99606f27..949cc8b8 100644 --- a/runtime/studentapi.py +++ b/runtime/studentapi.py @@ -4,6 +4,7 @@ import csv import inspect import io +import time from runtimeUtil import * @@ -13,6 +14,7 @@ class Actions: async def sleep(seconds): await asyncio.sleep(seconds) + class StudentAPI: """Hidden interface with State Manager.""" def __init__(self, toManager, fromManager): @@ -40,6 +42,20 @@ def _set_sm_value(self, value, key, *args): return message +class Field(StudentAPI): + @property + def starting_zone(self): + return self._get_sm_value('starting_zone') + + @property + def master(self): + return self._get_sm_value('master') + + @property + def time(self): + return time.time() + + class Gamepad(StudentAPI): """Software interface for accessing a gamepad.""" buttons = { @@ -120,15 +136,14 @@ class Robot(StudentAPI): "led4": [(bool,)], } - def __init__(self, to_manager, from_manager, func_map): + def __init__(self, to_manager, from_manager): super().__init__(to_manager, from_manager) - self.func_map = func_map self._create_sensor_mapping() self._coroutines_running = set() self._stdout_buffer = io.StringIO() self._get_all_sensors() - + self.nonexistent_sensors = [] self.student_code_writes = {} def _get_all_sensors(self): @@ -144,18 +159,24 @@ def get_value(self, device_name, param): def set_value(self, device_name, param, value): """Set a parameter value for device.""" uid = self._hibike_get_uid(device_name) + if uid is None: + return self._check_write_params(uid, param) self._check_value(param, value) self.hibike_write_value(uid, [(param, value)]) def set_motor(self, device_name, value): uid = self._hibike_get_uid(device_name) + if uid is None: + return self._check_write_params(uid, "duty_cycle") self._check_value("duty_cycle", value) self.hibike_write_value(uid, [("duty_cycle", value)]) def stop_motor(self, device_name): uid = self._hibike_get_uid(device_name) + if uid is None: + return self._check_write_params(uid, "duty_cycle") self._check_value("duty_cycle", 0) self.hibike_write_value(uid, [("duty_cycle", 0)]) @@ -255,13 +276,21 @@ def get_timestamp(self, key, *args): raise message return message + # pylint: disable=inconsistent-return-statements def _hibike_get_uid(self, name): + # TODO: Implement sensor mappings, right now uid is the number (or string of number) try: - # TODO: Implement sensor mappings, right now uid is the number (or string of number) device = int(name) + except ValueError: + self._print(f'Device UID must be an integer. Found: "{str(name)}".') + return + if device in self.peripherals: return device - except (ValueError, KeyError) as exc: - raise StudentAPIKeyError('Device not found: ' + str(name)) from exc + if device in self.nonexistent_sensors: + return + self.nonexistent_sensors += [device] + self.to_manager.put([SM_COMMANDS.SEND_CONSOLE, + ['Warning: device not found: ' + str(name) + '\n']]) def emergency_stop(self): """Stop the robot.""" diff --git a/shepherd/.gitattributes b/shepherd/.gitattributes new file mode 100644 index 00000000..9c2f3cd2 --- /dev/null +++ b/shepherd/.gitattributes @@ -0,0 +1 @@ +static/AIRHORNMLG.wav filter=lfs diff=lfs merge=lfs -text diff --git a/shepherd/Alliance.py b/shepherd/Alliance.py index 9bee96bc..2382c6e6 100644 --- a/shepherd/Alliance.py +++ b/shepherd/Alliance.py @@ -16,7 +16,7 @@ class Alliance: def __init__(self, name, team_1_name, team_1_number, team_2_name, team_2_number, perk_1=PERKS.EMPTY, perk_2=PERKS.EMPTY, - perk_3=PERKS.EMPTY): + perk_3=PERKS.EMPTY, team_1_custom_ip=None, team_2_custom_ip=None): self.name = name self.team_1_name = team_1_name self.team_2_name = team_2_name @@ -26,6 +26,11 @@ def __init__(self, name, team_1_name, team_1_number, team_2_name, self.perk_1 = 0 self.perk_2 = 0 self.perk_3 = 0 + self.can_twist = True + self.team_1_connection = False + self.team_2_connection = False + self.team_1_custom_ip = team_1_custom_ip + self.team_2_custom_ip = team_2_custom_ip def change_score(self, amount): """ changes score of this alliance by Amount, @@ -37,8 +42,20 @@ def change_score(self, amount): def reset(self): self.score = 0 + self.perk_1 = 0 + self.perk_2 = 0 + self.perk_3 = 0 + self.can_twist = True + self.team_1_connection = False + self.team_2_connection = False lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.SCORE, {"alliance" : self.name, "score" : math.floor(self.score)}) #TODO: Send info to sensors about reset #TODO: Send info to UI about reset #TODO: Move score sends to shepherd.py + + def __str__(self): + return (" ") diff --git a/shepherd/Code.py b/shepherd/Code.py index bb67cdfe..5319290c 100644 --- a/shepherd/Code.py +++ b/shepherd/Code.py @@ -1,19 +1,40 @@ import random +import math +import numpy as np from Utils import * codes = [] solutions = [] code_solution = {} code_effect = {} -effect_list = list(EFFECTS.ALL_EFFECTS) def generate_code(code_list): - ##: TODO - pass + ''' + Take a list of codes that return a new random code + ''' + temp = np.random.permutation(10) + num = 0 + for a in temp: + num = num * 10 + a + while num in code_list: + temp = np.random.permutation(10) + num = 0 + for a in temp: + temp = temp * 10 + a + return num + def decode(code): - ##: TODO - pass + ''' + Call all functions + ''' + one = tennis_ball(code) + two = remove_duplicates(one) + three = rotate(two) + four = next_fib(three) + five = most_common(four) + final = get_coins(five) + return final def assign_code_solution(): ''' @@ -21,6 +42,8 @@ def assign_code_solution(): ''' codes.clear() solutions.clear() + code_solution.clear() + code_effect.clear() for i in range(16): # pylint: disable=assignment-from-no-return new_code = generate_code(codes) @@ -36,5 +59,124 @@ def assign_code_effect(): Assign each code to a random effect ''' for i in range(16): - code_effect[codes[i]] = random.choice(effect_list) + code_effect[codes[i]] = (EFFECTS.TWIST if random.random() < + CONSTANTS.TWIST_CHANCE else + EFFECTS.SPOILED_CANDY) return code_effect + +def rotate(numbers): + copy = numbers + max_num = 0 + while copy: + num = copy % 10 + copy = copy // 10 + size = math.log(numbers)//math.log(10) + max_num = num if num > max_num else max_num + for _ in range(max_num): + lsd = numbers % 10 + numbers = numbers // 10 + msd = (lsd) * 10**(size) + numbers = numbers + msd + return int(numbers) + +def tennis_ball(num): + index = 5 + while index > 0: + if num % 3 == 0: + num = num // 3 + elif num % 2 == 1: + num = num * 4 + 2 + else: + num += 1 + index -= 1 + return num + +def most_common(num): + parse = [] + while num != 0: + parse.append(num % 10) + num = num // 10 + parse.reverse() + l = list(set(parse)) + if len(l) <= 4: + l = sorted(l, reverse=True) + else: + ret = [] + d = {} + for n in parse: + if n in d.keys(): + d[n] += 1 + else: + d[n] = 1 + final = [] + boolean = {} + print(d) + for key, _ in sorted(d.items(), key=lambda kv: kv[1], reverse=True): + final.append(key) + boolean[key] = False + print(final) + boolean[final[3]] = True + for key in final: + if d[key] == d[final[3]]: + boolean[key] = True + for i in range(4): + if not boolean[final[i]]: + ret.append(final[i]) + print(ret) + left = 4 - len(ret) + print(left) + if left != 0: + for i in range(len(parse)): + if boolean[parse[i]] and parse[i] not in ret: + print(parse[i]) + ret.append(parse[i]) + left -= 1 + if left == 0: + break + l = sorted(ret, reverse=True) + final_num = 0 + while l != []: + final_num = final_num * 10 + l[0] + l = l[1:] + return final_num + +def remove_duplicates(num): + l = [] + while num > 0: + l = [num % 10] + l + num = num // 10 + final = [] + for i in range(len(l)): + y = 0 + exist = False + while y < i: + if l[i] == l[y]: + exist = True + y += 1 + if not exist: + final = [l[i]] + final + n = 0 + while final != []: + n = 10 * n + final[-1] + final = final[:-1] + return n + +def next_fib(num): + first = 0 + second = 1 + total = 0 + if num == 0: + return 0 + for _ in range(num): + total = first + second + if total >= num: + return total + first = second + second = total + return total + +def get_coins(num): + quarters = num // 25 + nickels = (num - 25 * quarters) // 5 + pennies = num - nickels * 5 - quarters * 25 + return int(str(quarters) + str(nickels) + str(pennies)) diff --git a/shepherd/DummyRuntime_client_manager.py b/shepherd/DummyRuntime_client_manager.py new file mode 100644 index 00000000..3f640c82 --- /dev/null +++ b/shepherd/DummyRuntime_client_manager.py @@ -0,0 +1,46 @@ +from Code import * +def connect_to_robots(team1, team2, team3, team4): + return Runtime_client_manager(team1, team2, team3, team4) + +class Runtime_client_manager: + + class connection: + def __init__(self, num): + self.num = num + + def set_mode(self, mode): + pass + + def __init__(self, team_1, team_2, team_3, team_4): + self.team_1 = team_1 + self.team_2 = team_2 + self.team_3 = team_3 + self.team_4 = team_4 + self.clients = {team_1: self.connection(1111), team_2: self.connection(2222), + team_3: self.connection(3333), team_4: self.connection(4444)} + self.team_1_code = None + self.team_2_code = None + self.team_3_code = None + self.team_4_code = None + + def set_mode(self, mode): + pass + + def get_student_solutions(self): + thingy = {self.team_1: self.team_1_code, self.team_2: self.team_2_code, + self.team_3: self.team_3_code, self.team_4: self.team_4_code} + self.team_1_code = None + self.team_2_code = None + self.team_3_code = None + self.team_4_code = None + return thingy + + def run_coding_challenge(self, team, code): + if team == self.team_1: + self.team_1_code = decode(code) + if team == self.team_2: + self.team_2_code = decode(code) + if team == self.team_3: + self.team_3_code = decode(code) + if team == self.team_4: + self.team_4_code = decode(code) diff --git a/shepherd/DummyScoreboard.py b/shepherd/DummyScoreboard.py new file mode 100755 index 00000000..345bb51a --- /dev/null +++ b/shepherd/DummyScoreboard.py @@ -0,0 +1,9 @@ +import queue +import LCM +from Utils import * + +if __name__ == "__main__": + events = queue.Queue() + LCM.lcm_start_read(LCM_TARGETS.SCOREBOARD, events) + while True: + print(events.get(True)) diff --git a/shepherd/DummySensors.py b/shepherd/DummySensors.py new file mode 100755 index 00000000..beea3835 --- /dev/null +++ b/shepherd/DummySensors.py @@ -0,0 +1,111 @@ +import threading +import queue +from LCM import * +from Utils import * + +def sender(): + input_to_header = { + "launch" : SHEPHERD_HEADER.LAUNCH_BUTTON_TRIGGERED, + "code" : SHEPHERD_HEADER.CODE_RETRIEVAL, + "overdrive" : SCOREBOARD_HEADER.OVERDRIVE_START, + "effect" : SCOREBOARD_HEADER.APPLIED_EFFECT, + "timer" : SCOREBOARD_HEADER.STAGE_TIMER_START, + "perk" : SCOREBOARD_HEADER.PERKS_SELECTED + } + + input_to_alliance = { + "gold" : ALLIANCE_COLOR.GOLD, + "blue" : ALLIANCE_COLOR.BLUE, + } + + input_to_launch = { + "1" : 1, + "2" : 2, + } + + input_to_effect = { + "twist" : EFFECTS.TWIST, + "spoil" : EFFECTS.SPOILED_CANDY + } + + input_to_size = { + "fun" : "fun", + "full" : "full", + "king" : "king" + } + + while True: + new_input = input_to_header.get(input("Command: {launch, code, effect, " + "overdrive, timer, perk} ")) + if new_input == SHEPHERD_HEADER.LAUNCH_BUTTON_TRIGGERED: + alliance = input_to_alliance.get(input("Alliance: blue gold ")) + button_num = input_to_launch.get(input("Launch button: 1 2 ")) + if button_num is None or alliance is None: + print("Invalid input") + continue + lcm_send(LCM_TARGETS.SHEPHERD, new_input, {"alliance" : alliance, + "button" : button_num}) + + elif new_input == SHEPHERD_HEADER.CODE_RETRIEVAL: # {alliance, result} + alliance = input_to_alliance.get(input("Alliance: blue gold ")) + code = input("Code: ") + if alliance is None or code is None: + print("Invalid input") + continue + lcm_send(LCM_TARGETS.SHEPHERD, new_input, {"alliance" : alliance, + "result" : code}) + + elif new_input == SCOREBOARD_HEADER.APPLIED_EFFECT: # {alliance, result} + alliance = input_to_alliance.get(input("Alliance: blue gold ")) + effect = input_to_effect.get(input("Effect: twist spoil ")) + if alliance is None or effect is None: + print("Invalid input") + continue + lcm_send(LCM_TARGETS.SCOREBOARD, new_input, {"alliance" : alliance, "effect" : effect}) + + elif new_input == SCOREBOARD_HEADER.OVERDRIVE_START: + size = input_to_size.get(input("Size: fun full king ")) + if size is None: + print("Invalid input") + continue + lcm_send(LCM_TARGETS.SCOREBOARD, new_input, {"size": size}) + + elif new_input == SCOREBOARD_HEADER.STAGE_TIMER_START: + try: + time = int(input("Time (s): ")) + except (ValueError, TypeError): + print("Invalid input") + continue + lcm_send(LCM_TARGETS.SCOREBOARD, new_input, {"time": time}) + + elif new_input == SCOREBOARD_HEADER.PERKS_SELECTED: + msg_blue = {"alliance": "blue", "perk_1": "bubblegum", + "perk_2": "minty fresh start", "perk_3": "jawbreaker"} + msg_gold = {"alliance": "gold", "perk_1": "taffy", + "perk_2": "chocolate-covered espresso beans", "perk_3": "sour gummy worms"} + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.PERKS_SELECTED, msg_blue) + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.PERKS_SELECTED, msg_gold) + + # elif new_input == SCOREBOARD_HEADER.APPLIED_EFFECT + # alliance = input_to_alliance.get(input("Alliance: blue gold ")) + # button_num = input_to_launch.get(input("Launch button: 1 2")) + # if button_num is None or alliance is None: + # print("Invalid input") + # continue + # lcm_send(LCM_TARGETS.SHEPHERD, new_input, {"alliance" : alliance, + # "button" : button_num}) + else: + print("Invalid input") + +def receiver(): + events = queue.Queue() + lcm_start_read(LCM_TARGETS.SENSORS, events) + while True: + event = events.get(True) + print(event) + +if __name__ == "__main__": + sender_thread = threading.Thread(target=sender, name="DummySensorSender") + recv_thread = threading.Thread(target=receiver, name="DummySensorReceiver") + sender_thread.start() + recv_thread.start() diff --git a/shepherd/DummyShepherd.py b/shepherd/DummyShepherd.py new file mode 100755 index 00000000..eaab5710 --- /dev/null +++ b/shepherd/DummyShepherd.py @@ -0,0 +1,18 @@ +import queue +import time +from LCM import * +from Utils import * + +if __name__ == '__main__': + while True: + msg = {"autonomous": True, "enabled": True} + lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.ROBOT_STATE, msg) + + time.sleep(1) + msg2 = {"autonomous": False, "enabled": False} + lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.ROBOT_STATE, msg2) + time.sleep(1) + + # lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.CODES, {"rfids" : [1, 2, 3, 4, 5, 6], + # "codes" : [1, 2, 3, 4, 5, 6], + # "solutions" : [1, 2, 3, 4, 5, 6]}) diff --git a/shepherd/DummyShepherdReceiver.py b/shepherd/DummyShepherdReceiver.py new file mode 100755 index 00000000..d44fb1ac --- /dev/null +++ b/shepherd/DummyShepherdReceiver.py @@ -0,0 +1,52 @@ +import queue +# import random as rand +from LCM import * +from Utils import * + +def receiver(): + #pylint: disable=undefined-variable + events = queue.Queue() + lcm_start_read(LCM_TARGETS.SHEPHERD, events) + while True: + event = events.get(True) + print("got event") + # if event[0] == SHEPHERD_HEADER.GENERATE_RFID: + # s = [] + # for _ in range(6): + # s.append(rand.randrange(10)) + # x = {"RFID_list": s} + # lcm_send(LCM_TARGETS.UI, UI_HEADER.RFID_LIST, x) + # print("Sent RFIDs") + if event[0] == SHEPHERD_HEADER.GET_SCORES: + x = {"blue_score": rand.randrange(100), "gold_score": rand.randrange(100)} + lcm_send(LCM_TARGETS.UI, UI_HEADER.SCORES, x) + print("Sent scores") + elif event[0] == SHEPHERD_HEADER.SCORE_ADJUST: + print(event[1]) + elif event[0] == SHEPHERD_HEADER.GET_MATCH_INFO: + x = {"match_num": rand.randrange(100), "b1name": "- a string1", + "b1num": rand.randrange(10), "b2name": "- a string2", + "b2num": rand.randrange(10), "g1name": "- a string3", + "g1num": rand.randrange(10), "g2name": "- a string4", "g2num": rand.randrange(10)} + lcm_send(LCM_TARGETS.UI, UI_HEADER.TEAMS_INFO, x) + print("Sent Team Info") + elif event[0] == SHEPHERD_HEADER.SETUP_MATCH: + print(event[1]) + elif event[0] == SHEPHERD_HEADER.START_NEXT_STAGE: + print("starting stage") + elif event[0] == SHEPHERD_HEADER.RESET_CURRENT_STAGE: + print("reset stage") + elif event[0] == SHEPHERD_HEADER.RESET_MATCH: + print("reset match") + if event[0] == SHEPHERD_HEADER.LAUNCH_BUTTON_TRIGGERED: + alliance = event[1]["alliance"] + button = event[1]["button"] + msg = {"alliance": alliance, "button": button} + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.LAUNCH_BUTTON_TIMER_START, msg) + if event[0] == SHEPHERD_HEADER.APPLY_PERKS: + msg = {"alliance": event[1]["alliance"], "perk_1": event[1]["perk1"], + "perk_2": event[1]["perk2"], "perk_3": event[1]["perk3"]} + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.PERKS_SELECTED, msg) + +if __name__ == "__main__": + receiver() diff --git a/shepherd/Log.py b/shepherd/Log.py new file mode 100644 index 00000000..3ae057fc --- /dev/null +++ b/shepherd/Log.py @@ -0,0 +1,36 @@ +import datetime +import Shepherd +from Utils import * + +last_header = None +#pylint: disable=redefined-builtin, no-member +def log(Exception): + global last_header + # if Shepherd.match_number <= 0: + # return + now = datetime.datetime.now() + filename = str(now.month) + "-" + str(now.day) + "-" + str(now.year) +\ + "-match-"+ str(Shepherd.match_number) +".txt" + print("a normally fatal exception occured, but Shepherd will continue to run") + print("all known details are logged to logs/"+filename) + file = open("logs/"+filename, "a+") + file.write("\n========================================\n") + file.write("a normally fatal exception occured.\n") + file.write("all relevant data may be found below.\n") + file.write("match: " + str(Shepherd.match_number)+"\n") + file.write("game state: " + str(Shepherd.game_state)+"\n") + file.write("gold alliance: " + str(Shepherd.alliances[ALLIANCE_COLOR.GOLD])+"\n") + file.write("blue alliance: " + str(Shepherd.alliances[ALLIANCE_COLOR.BLUE])+"\n") + file.write("game timer running?: " + str(Shepherd.game_timer.is_running())+"\n") + file.write("extended teleop timer running?: " + + str(Shepherd.extended_teleop_timer.is_running())+"\n") + file.write("launch button timers running(g1 g2 b1 b2)?: " + + str(Shepherd.launch_button_timer_gold_1.is_running()) + " " + + str(Shepherd.launch_button_timer_gold_2.is_running()) + " " + + str(Shepherd.launch_button_timer_blue_1.is_running()) + " " + + str(Shepherd.launch_button_timer_blue_2.is_running())+"\n") + file.write("overdrive timer active?: " + str(Shepherd.overdrive_timer.is_running())+"\n") + file.write("the last received header was:" + str(last_header)+"\n") + file.write("a stacktrace of the error may be found below\n") + file.write(str(Exception)) + file.close() diff --git a/shepherd/Pipfile b/shepherd/Pipfile index 07386910..eb9225db 100644 --- a/shepherd/Pipfile +++ b/shepherd/Pipfile @@ -14,3 +14,6 @@ click = "*" httplib2 = "*" google-auth-httplib2 = "*" google-auth-oauthlib = "*" +msgpack-rpc-python = "*" +numpy = "*" +simpleaudio = "*" diff --git a/shepherd/Pipfile.lock b/shepherd/Pipfile.lock index dab33107..ad2a0570 100644 --- a/shepherd/Pipfile.lock +++ b/shepherd/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "c7aa14c75608be492b0fe995d62fb88f4a403193e89ddf388463d6388ff7fcf9" + "sha256": "d1a49ad664993006ad1310d0b91c672d58358ab4eb7c9e2fdc06ff6e4d29bdbe" }, "pipfile-spec": 6, "requires": { @@ -17,10 +17,10 @@ "default": { "astroid": { "hashes": [ - "sha256:35b032003d6a863f5dcd7ec11abd5cd5893428beaa31ab164982403bcb311f22", - "sha256:6a5d668d7dc69110de01cdf7aeec69a679ef486862a0850cc0fd5571505b6b7e" + "sha256:6560e1e1749f68c64a4b5dee4e091fce798d2f0d84ebe638cf0e0585a343acf4", + "sha256:b65db1bbaac9f9f4d190199bb8680af6f6f84fd3769a5ea883df8a91fe68b4c4" ], - "version": "==2.1.0" + "version": "==2.2.5" }, "cachetools": { "hashes": [ @@ -31,10 +31,10 @@ }, "certifi": { "hashes": [ - "sha256:47f9c83ef4c0c621eaef743f133f09fa8a74a9b75f037e8624f83bd1b6626cb7", - "sha256:993f830721089fef441cdfeb4b2c8c9df86f0c63239f06bd025a76a7daddb033" + "sha256:59b7658e26ca9c7339e00f8f4636cdfe59d34fa37b9b04f6f9e9926b3cece1a5", + "sha256:b26104d6835d1f5e49452a26eb2ff87fe7090b89dfcaee5ea2212697e1e1d7ae" ], - "version": "==2018.11.29" + "version": "==2019.3.9" }, "chardet": { "hashes": [ @@ -59,10 +59,10 @@ }, "google-auth": { "hashes": [ - "sha256:b6081ba9946828d6417c15ecdc723fdb7c007cdd74e140747d3876a7440f0be5", - "sha256:e8d64e9bc8cb6f0fc5360c693f86dc9ee6964081ee702e3b5ddc937f99efc950" + "sha256:0f7c6a64927d34c1a474da92cfc59e552a5d3b940d3266606c6a28b72888b9e4", + "sha256:20705f6803fd2c4d1cc2dcb0df09d4dfcb9a7d51fd59e94a3a28231fd93119ed" ], - "version": "==1.6.2" + "version": "==1.6.3" }, "google-auth-httplib2": { "hashes": [ @@ -73,16 +73,17 @@ }, "google-auth-oauthlib": { "hashes": [ - "sha256:226d1d0960f86ba5d9efd426a70b291eaba96f47d071657e0254ea969025728a", - "sha256:81ba22acada4d13b1d83f9371ab19fd61f1250a542d21cf49e4dcf0637a7344a" + "sha256:a0470c19130ddf90c2b07c0c701d72890a7335090903aeb709f003a66416380f", + "sha256:c57303d85199fdba00bc7b8fb21ccf6c2b9d3e69d6830fd69ff951c64cf2c1d6" ], - "version": "==0.2.0" + "version": "==0.3.0" }, "httplib2": { "hashes": [ - "sha256:f61fb838a94ce3b349aa32c92fd8430f7e3511afdb18bf9640d647e30c90a6d6" + "sha256:23914b5487dfe8ef09db6656d6d63afb0cf3054ad9ebc50868ddc8e166b5f8e8", + "sha256:a18121c7c72a56689efbf1aef990139ad940fee1e64c6f2458831736cd593600" ], - "version": "==0.12.0" + "version": "==0.12.3" }, "idna": { "hashes": [ @@ -93,11 +94,10 @@ }, "isort": { "hashes": [ - "sha256:1153601da39a25b14ddc54955dbbacbb6b2d19135386699e2ad58517953b34af", - "sha256:b9c40e9750f3d77e6e4d441d8b0266cf555e7cdabdcff33c4fd06366ca761ef8", - "sha256:ec9ef8f4a9bc6f71eec99e1806bfa2de401650d996c59330782b89a5555c1497" + "sha256:01cb7e1ca5e6c5b3f235f0385057f70558b70d2f00320208825fa62887292f43", + "sha256:268067462aed7eb2a1e237fcb287852f22077de3fb07964e87e00f829eea2d1a" ], - "version": "==4.3.4" + "version": "==4.3.17" }, "lazy-object-proxy": { "hashes": [ @@ -140,6 +140,46 @@ ], "version": "==0.6.1" }, + "msgpack-python": { + "hashes": [ + "sha256:378cc8a6d3545b532dfd149da715abae4fda2a3adb6d74e525d0d5e51f46909b" + ], + "version": "==0.5.6" + }, + "msgpack-rpc-python": { + "hashes": [ + "sha256:ba7188129f2ba95fb9731f906aa82a5abd5827dd54ecfc715008f5ce2314535f" + ], + "version": "==0.4.1" + }, + "numpy": { + "hashes": [ + "sha256:0e2eed77804b2a6a88741f8fcac02c5499bba3953ec9c71e8b217fad4912c56c", + "sha256:1c666f04553ef70fda54adf097dbae7080645435fc273e2397f26bbf1d127bbb", + "sha256:1f46532afa7b2903bfb1b79becca2954c0a04389d19e03dc73f06b039048ac40", + "sha256:315fa1b1dfc16ae0f03f8fd1c55f23fd15368710f641d570236f3d78af55e340", + "sha256:3d5fcea4f5ed40c3280791d54da3ad2ecf896f4c87c877b113576b8280c59441", + "sha256:48241759b99d60aba63b0e590332c600fc4b46ad597c9b0a53f350b871ef0634", + "sha256:4b4f2924b36d857cf302aec369caac61e43500c17eeef0d7baacad1084c0ee84", + "sha256:54fe3b7ed9e7eb928bbc4318f954d133851865f062fa4bbb02ef8940bc67b5d2", + "sha256:5a8f021c70e6206c317974c93eaaf9bc2b56295b6b1cacccf88846e44a1f33fc", + "sha256:754a6be26d938e6ca91942804eb209307b73f806a1721176278a6038869a1686", + "sha256:771147e654e8b95eea1293174a94f34e2e77d5729ad44aefb62fbf8a79747a15", + "sha256:78a6f89da87eeb48014ec652a65c4ffde370c036d780a995edaeb121d3625621", + "sha256:7fde5c2a3a682a9e101e61d97696687ebdba47637611378b4127fe7e47fdf2bf", + "sha256:80d99399c97f646e873dd8ce87c38cfdbb668956bbc39bc1e6cac4b515bba2a0", + "sha256:88a72c1e45a0ae24d1f249a529d9f71fe82e6fa6a3fd61414b829396ec585900", + "sha256:a4f4460877a16ac73302a9c077ca545498d9fe64e6a81398d8e1a67e4695e3df", + "sha256:a61255a765b3ac73ee4b110b28fccfbf758c985677f526c2b4b39c48cc4b509d", + "sha256:ab4896a8c910b9a04c0142871d8800c76c8a2e5ff44763513e1dd9d9631ce897", + "sha256:abbd6b1c2ef6199f4b7ca9f818eb6b31f17b73a6110aadc4e4298c3f00fab24e", + "sha256:b16d88da290334e33ea992c56492326ea3b06233a00a1855414360b77ca72f26", + "sha256:b78a1defedb0e8f6ae1eb55fa6ac74ab42acc4569c3a2eacc2a407ee5d42ebcb", + "sha256:cfef82c43b8b29ca436560d51b2251d5117818a8d1fb74a8384a83c096745dad", + "sha256:d160e57731fcdec2beda807ebcabf39823c47e9409485b5a3a1db3a8c6ce763e" + ], + "version": "==1.16.3" + }, "oauth2client": { "hashes": [ "sha256:b8a81cc5d60e2d364f0b1b98f958dbd472887acaf1a5b05e21c28c31a2d6d3ac", @@ -163,17 +203,17 @@ }, "pyasn1-modules": { "hashes": [ - "sha256:79580acf813e3b7d6e69783884e6e83ac94bf4617b36a135b85c599d8a818a7b", - "sha256:a52090e8c5841ebbf08ae455146792d9ef3e8445b21055d3a3b7ed9c712b7c7c" + "sha256:ef721f68f7951fab9b0404d42590f479e30d9005daccb1699b0a51bb4177db96", + "sha256:f309b6c94724aeaf7ca583feb1cc70430e10d7551de5e36edfc1ae6909bcfb3c" ], - "version": "==0.2.4" + "version": "==0.2.5" }, "pylint": { "hashes": [ - "sha256:689de29ae747642ab230c6d37be2b969bf75663176658851f456619aacf27492", - "sha256:771467c434d0d9f081741fec1d64dfb011ed26e65e12a28fe06ca2f61c4d556c" + "sha256:5d77031694a5fb97ea95e828c8d10fc770a1df6eb3906067aaed42201a8a6a09", + "sha256:723e3db49555abaf9bf79dc474c6b9e2935ad82230b10c1138a71ea41ac0fff1" ], - "version": "==2.2.2" + "version": "==2.3.1" }, "pyserial": { "hashes": [ @@ -203,6 +243,21 @@ ], "version": "==4.0" }, + "simpleaudio": { + "hashes": [ + "sha256:3a6a56d45d7c113522a5e33073b405296e58cd2006e1e31df4be437175572e06", + "sha256:3b72b3d07fba29079119a99203fe9d1bacf13d0f36cc9ce7b218af28d96123df", + "sha256:4e0e4c0359f153408e9b8a65342ec0c1d014f36fbe9cdb594e9b6e5348916af8", + "sha256:5d191a1db01c5ce1c5e2e62bf130908881c84fb3b3b77bd191c6ca00b75f1715", + "sha256:80cbebce76a0d1992c29d60e528e4061a61a88415aa1a06cf7b3af6a9633fed4", + "sha256:9ee4e2e40ff5b0d1e5cf831563893296d2ca6b5953b5b7082316fae9d7e4f532", + "sha256:a0e29eae2cfb2e7e69a60072464cb82d1d87f32816aff652cab0315a0d07976d", + "sha256:c80b04aadc7aa0da23ad1ab669819e38e46123a84f2b310dfe1eb2d27daa5c1b", + "sha256:c8edd2019fea20afad93a938f0e42ca8d9b2c5dfe9569de7bce91d33a2a5b73f", + "sha256:fb5300b7b7d1cf93667f37f25bc7efddeea3df18afd742eb9b9a4afe55eea8b2" + ], + "version": "==1.0.2" + }, "six": { "hashes": [ "sha256:3350809f0555b11f552448330d0b52d5f24c91a322ea4a15ef22629740f3761c", @@ -210,6 +265,42 @@ ], "version": "==1.12.0" }, + "tornado": { + "hashes": [ + "sha256:5ef073ac6180038ccf99411fe05ae9aafb675952a2c8db60592d5daf8401f803", + "sha256:6d14e47eab0e15799cf3cdcc86b0b98279da68522caace2bd7ce644287685f0a", + 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"sha256:01c69f4fe8ed503b2951bef85d996a9d22434d2431584b5b107b2981ff416fbd", @@ -220,10 +311,10 @@ }, "urllib3": { "hashes": [ - "sha256:61bf29cada3fc2fbefad4fdf059ea4bd1b4a86d2b6d15e1c7c0b582b9752fe39", - "sha256:de9529817c93f27c8ccbfead6985011db27bd0ddfcdb2d86f3f663385c6a9c22" + "sha256:4c291ca23bbb55c76518905869ef34bdd5f0e46af7afe6861e8375643ffee1a0", + "sha256:9a247273df709c4fedb38c711e44292304f73f39ab01beda9f6b9fc375669ac3" ], - "version": "==1.24.1" + "version": "==1.24.2" }, "wrapt": { "hashes": [ diff --git a/shepherd/Sensors.py b/shepherd/Sensors.py index 73aace5f..73493999 100644 --- a/shepherd/Sensors.py +++ b/shepherd/Sensors.py @@ -6,10 +6,11 @@ from LCM import * from Utils import * -linebreak_port_one = "/dev/ttyACM0" # change to correct port -linebreak_port_two = "/dev/ttyACM0" # change to correct port -bidding_port_blue = "/dev/ttyACM0" # change to correct port -bidding_port_gold = "/dev/ttyACM0" # change to correct port + +# run "ls /dev/tty*" to obtain the two ACM ports. + +buttons_gold_port = "/dev/ttyACM1" #change to correct port +buttons_blue_port = "/dev/ttyACM5" # change to correct port alliance_mapping = { "gold": ALLIANCE_COLOR.GOLD, @@ -24,6 +25,7 @@ def get_working_serial_ports(excludes: set): """ import glob maybe_ports = set(glob.glob("/dev/ttyACM*")) + # maybe_ports = set(glob.glob("/dev/tty.usb*")) maybe_ports.difference_update(excludes) working = [] @@ -53,10 +55,8 @@ def maybe_identify_sensor(serial_port, timeout, msg_q): serial_port.timeout = timeout try: msg = serial_port.readline().decode("utf-8") - if is_linebreak_sensor(msg) or is_bidding_station(msg): - object_type = msg[0:2] - object_alliance = msg[2:3] - msg_q.put((object_type, object_alliance, serial_port)) + object_alliance = msg[0:1] + msg_q.put((object_alliance, serial_port)) except serial.SerialTimeoutException: pass serial_port.timeout = prev_timeout @@ -79,20 +79,54 @@ def maybe_identify_sensor(serial_port, timeout, msg_q): return sensor_ports -def is_linebreak_sensor(sensor_msg): - """Check whether a message is sent from a linebreak sensor.""" - return sensor_msg[0:2] == "lb" +def recv_from_btn(ser, alliance_enum): + print("<1> Starting Button Receive Thread", flush=True) + while True: + sensor_msg = ser.readline().decode("utf-8") + sensor_msg.lower() + payload_list = sensor_msg.split(",") + if len(payload_list) == 1: + continue + payload_list[1] = payload_list[1][:-2] + print("<2> Message Received: ", payload_list, flush=True) + button_num = payload_list[1] + send_dictionary = {"alliance" : alliance_enum, "button" : button_num} + lcm_send(LCM_TARGETS.SHEPHERD, SHEPHERD_HEADER.LAUNCH_BUTTON_TRIGGERED, send_dictionary) + print("sent dictionary:" + str(send_dictionary), flush=True) + time.sleep(0.01) -def is_bidding_station(sensor_msg): - """Check whether a message is sent from a linebreak sensor.""" - return sensor_msg[0:2] == "bs" def main(): - working_ports = get_working_serial_ports(set()) - print("working ports: ", working_ports) - relevant_ports = identify_relevant_ports(working_ports) - print("relevant ports: ", relevant_ports) + # working_ports = get_working_serial_ports(set()) + # print("working ports: ", working_ports) + # relevant_ports = identify_relevant_ports(working_ports) + # print("relevant ports: ", relevant_ports) + + # button_serial_blue = None + # button_serial_gold = None + + button_serial_gold = serial.Serial(buttons_gold_port, baudrate=115200) + button_serial_blue = serial.Serial(buttons_blue_port, baudrate=115200) + + # for alliance, port in relevant_ports: + # if alliance == 'b': + # button_serial_blue = port + # elif alliance == 'g': + # button_serial_gold = port + + + button_thread_blue = threading.Thread( + target=recv_from_btn, name="button blue", args=([button_serial_blue, ALLIANCE_COLOR.BLUE]) + ) + button_thread_gold = threading.Thread( + target=recv_from_btn, name="buttons gold", args=([button_serial_gold, ALLIANCE_COLOR.GOLD]) + ) + + button_thread_blue.daemon = True + button_thread_gold.daemon = True + button_thread_blue.start() + button_thread_gold.start() while True: time.sleep(100) diff --git a/shepherd/Shepherd.py b/shepherd/Shepherd.py index 1e7d48a4..3fbbf709 100644 --- a/shepherd/Shepherd.py +++ b/shepherd/Shepherd.py @@ -2,12 +2,20 @@ import queue import random import time +import datetime +import traceback from Alliance import * from LCM import * from Timer import * from Utils import * -import Code +from Code import * +from runtimeclient import RuntimeClientManager import Sheet +import bot +import audio + + +clients = RuntimeClientManager((), ()) __version__ = (1, 0, 0) @@ -16,94 +24,139 @@ # Evergreen Methods ########################################### +#pylint: disable=broad-except def start(): ''' Main loop which processes the event queue and calls the appropriate function based on game state and the dictionary of available functions ''' - global events - events = queue.Queue() - lcm_start_read(LCM_TARGETS.SHEPHERD, events) + global LAST_HEADER + global EVENTS + EVENTS = queue.Queue() + lcm_start_read(LCM_TARGETS.SHEPHERD, EVENTS) while True: - print("GAME STATE OUTSIDE: ", game_state) + print("GAME STATE OUTSIDE: ", GAME_STATE) time.sleep(0.1) - payload = events.get(True) + payload = EVENTS.get(True) + LAST_HEADER = payload print(payload) - if game_state == STATE.SETUP: - func = setup_functions.get(payload[0]) + if GAME_STATE == STATE.SETUP: + func = SETUP_FUNCTIONS.get(payload[0]) if func is not None: func(payload[1]) else: print("Invalid Event in Setup") - elif game_state == STATE.AUTO: - func = auto_functions.get(payload[0]) + elif GAME_STATE == STATE.PERK_SELCTION: + func = PERK_SELECTION_FUNCTIONS.get(payload[0]) + if func is not None: + func(payload[1]) + else: + print("Invalid Event in Perk_selection") + elif GAME_STATE == STATE.AUTO_WAIT: + func = AUTO_WAIT_FUNCTIONS.get(payload[0]) + if func is not None: + func(payload[1]) + else: + print("Invalid Event in Auto_wait") + elif GAME_STATE == STATE.AUTO: + func = AUTO_FUNCTIONS.get(payload[0]) if func is not None: func(payload[1]) else: print("Invalid Event in Auto") - elif game_state == STATE.WAIT: - func = wait_functions.get(payload[0]) + elif GAME_STATE == STATE.WAIT: + func = WAIT_FUNCTIONS.get(payload[0]) if func is not None: func(payload[1]) else: print("Invalid Event in Wait") - elif game_state == STATE.TELEOP: - func = teleop_functions.get(payload[0]) + elif GAME_STATE == STATE.TELEOP: + func = TELEOP_FUNCTIONS.get(payload[0]) if func is not None: func(payload[1]) else: print("Invalid Event in Teleop") - elif game_state == STATE.END: - func = end_functions.get(payload[0]) + elif GAME_STATE == STATE.END: + func = END_FUNCTIONS.get(payload[0]) if func is not None: func(payload[1]) else: print("Invalid Event in End") +#pylint: disable=too-many-locals def to_setup(args): ''' Move to the setup stage which is should push scores from previous game to spreadsheet, load the teams for the upcoming match, reset all state, and send information to scoreboard. By the end, should be ready to start match. ''' - global match_number - global game_state + global MATCH_NUMBER + global GAME_STATE + global STARTING_SPOTS + + b1_name, b1_num, b1_starting_spot = args["b1name"], args["b1num"], args["b1_starting_spot"] + b2_name, b2_num, b2_starting_spot = args["b2name"], args["b2num"], args["b2_starting_spot"] + g1_name, g1_num, g1_starting_spot = args["g1name"], args["g1num"], args["g1_starting_spot"] + g2_name, g2_num, g2_starting_spot = args["g2name"], args["g2num"], args["g2_starting_spot"] - b1_name, b1_num = args["b1name"], args["b1num"] - b2_name, b2_num = args["b2name"], args["b2num"] - g1_name, g1_num = args["g1name"], args["g1num"] - g2_name, g2_num = args["g2name"], args["g2num"] + g1_custom_ip = args["g1_custom_ip"] or None + g2_custom_ip = args["g2_custom_ip"] or None + b1_custom_ip = args["b1_custom_ip"] or None + b2_custom_ip = args["b2_custom_ip"] or None - if game_state == STATE.END: + STARTING_SPOTS = [b1_starting_spot, b2_starting_spot, g1_starting_spot, g2_starting_spot] + + if GAME_STATE == STATE.END: flush_scores() - match_number = args["match_num"] + MATCH_NUMBER = args["match_num"] - if alliances[ALLIANCE_COLOR.BLUE] is not None: + if ALLIANCES[ALLIANCE_COLOR.BLUE] is not None: reset() - alliances[ALLIANCE_COLOR.BLUE] = Alliance(ALLIANCE_COLOR.BLUE, b1_name, - b1_num, b2_name, b2_num) - alliances[ALLIANCE_COLOR.GOLD] = Alliance(ALLIANCE_COLOR.GOLD, g1_name, - g1_num, g2_name, g2_num) + code_setup() + + ALLIANCES[ALLIANCE_COLOR.BLUE] = Alliance(ALLIANCE_COLOR.BLUE, b1_name, + b1_num, b2_name, b2_num, b1_custom_ip, b2_custom_ip) + ALLIANCES[ALLIANCE_COLOR.GOLD] = Alliance(ALLIANCE_COLOR.GOLD, g1_name, + g1_num, g2_name, g2_num, g1_custom_ip, g2_custom_ip) + + msg = {"b1num":b1_num, "b2num": b2_num, "g1num":g1_num, "g2num":g2_num} + lcm_send(LCM_TARGETS.TABLET, TABLET_HEADER.TEAMS, msg) lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.TEAMS, { "b1name" : b1_name, "b1num" : b1_num, "b2name" : b2_name, "b2num" : b2_num, "g1name" : g1_name, "g1num" : g1_num, "g2name" : g2_name, "g2num" : g2_num, - "match_num" : match_number}) + "match_num" : MATCH_NUMBER}) - game_state = STATE.SETUP + GAME_STATE = STATE.SETUP + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE, {"stage": GAME_STATE}) print("ENTERING SETUP STATE") - print({"blue_score" : alliances[ALLIANCE_COLOR.BLUE].score, - "gold_score" : alliances[ALLIANCE_COLOR.GOLD].score}) + print({"blue_score" : ALLIANCES[ALLIANCE_COLOR.BLUE].score, + "gold_score" : ALLIANCES[ALLIANCE_COLOR.GOLD].score}) + def to_perk_selection(args): - global game_state - game_timer.start_timer(CONSTANTS.PERK_SELECTION_TIME) - game_state = STATE.PERK_SELCTION + bot.announce_next_match(int(MATCH_NUMBER)) + + global GAME_STATE + GAME_TIMER.start_timer(CONSTANTS.PERK_SELECTION_TIME + 2) + GAME_STATE = STATE.PERK_SELCTION + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE, {"stage": GAME_STATE}) + lcm_send(LCM_TARGETS.TABLET, TABLET_HEADER.COLLECT_PERKS) + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE_TIMER_START, + {"time" : CONSTANTS.PERK_SELECTION_TIME}) print("ENTERING PERK SELECTION STATE") + # audio.play_perk_music() + +def to_auto_wait(args): + global GAME_STATE + GAME_STATE = STATE.AUTO_WAIT + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE, {"stage": GAME_STATE}) + lcm_send(LCM_TARGETS.TABLET, TABLET_HEADER.COLLECT_CODES) + print("ENTERING AUTO_WAIT STATE") def to_auto(args): ''' @@ -111,9 +164,31 @@ def to_auto(args): By the end, should be in autonomous state, allowing any function from this stage to be called and autonomous match timer should have begun. ''' - global game_state - game_timer.start_timer(CONSTANTS.AUTO_TIME) - game_state = STATE.AUTO + #pylint: disable= no-member + global GAME_STATE + global clients + try: + alternate_connections = (ALLIANCES[ALLIANCE_COLOR.BLUE].team_1_custom_ip, + ALLIANCES[ALLIANCE_COLOR.BLUE].team_2_custom_ip, + ALLIANCES[ALLIANCE_COLOR.GOLD].team_1_custom_ip, + ALLIANCES[ALLIANCE_COLOR.GOLD].team_2_custom_ip) + + clients = RuntimeClientManager(( + int(ALLIANCES[ALLIANCE_COLOR.BLUE].team_1_number), + int(ALLIANCES[ALLIANCE_COLOR.BLUE].team_2_number), + ), ( + int(ALLIANCES[ALLIANCE_COLOR.GOLD].team_1_number), + int(ALLIANCES[ALLIANCE_COLOR.GOLD].team_2_number), + ), *alternate_connections) + clients.set_MASTER_ROBOTS(MASTER_ROBOTS[ALLIANCE_COLOR.BLUE], + MASTER_ROBOTS[ALLIANCE_COLOR.GOLD]) + clients.set_starting_zones(STARTING_SPOTS) + except Exception as exc: + log(exc) + return + GAME_TIMER.start_timer(CONSTANTS.AUTO_TIME + 2) + GAME_STATE = STATE.AUTO + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE, {"stage": GAME_STATE}) enable_robots(True) lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE_TIMER_START, {"time" : CONSTANTS.AUTO_TIME}) @@ -125,8 +200,9 @@ def to_wait(args): By the end, should be in wait state and the robots should be disabled. Some years, there might be methods that can be called once in the wait stage ''' - global game_state - game_state = STATE.WAIT + global GAME_STATE + GAME_STATE = STATE.WAIT + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE, {"stage": GAME_STATE}) disable_robots() print("ENTERING WAIT STATE") @@ -135,11 +211,19 @@ def to_teleop(args): Move to teleoperated stage where robots are enabled and controlled manually. By the end, should be in teleop state and the teleop match timer should be started. ''' - global game_state - game_state = STATE.TELEOP + global GAME_STATE + GAME_STATE = STATE.TELEOP + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE, {"stage": GAME_STATE}) Timer.reset_all() - game_timer.start_timer(CONSTANTS.TELEOP_TIME) + GAME_TIMER.start_timer(CONSTANTS.TELEOP_TIME + 2) + overdrive_time = random.randint(0, CONSTANTS.TELEOP_TIME - + CONSTANTS.OVERDRIVE_TIME) + OVERDRIVE_TIMER.start_timer(overdrive_time) + overdrive_time = CONSTANTS.TELEOP_TIME - overdrive_time + print("overdrive will happen at " + str(overdrive_time // 60) + ":" + + str(overdrive_time % 60)) + enable_robots(False) lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE_TIMER_START, {"time" : CONSTANTS.TELEOP_TIME}) @@ -150,11 +234,12 @@ def to_end(args): Move to end stage after the match ends. Robots should be disabled here and final score adjustments can be made. ''' - global game_state + global GAME_STATE lcm_send(LCM_TARGETS.UI, UI_HEADER.SCORES, - {"blue_score" : math.floor(alliances[ALLIANCE_COLOR.BLUE].score), - "gold_score" : math.floor(alliances[ALLIANCE_COLOR.GOLD].score)}) - game_state = STATE.END + {"blue_score" : math.floor(ALLIANCES[ALLIANCE_COLOR.BLUE].score), + "gold_score" : math.floor(ALLIANCES[ALLIANCE_COLOR.GOLD].score)}) + GAME_STATE = STATE.END + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE, {"stage": GAME_STATE}) disable_robots() print("ENTERING END STATE") @@ -164,16 +249,25 @@ def reset(args=None): Should reset all state being tracked by Shepherd. ****THIS METHOD MIGHT NEED UPDATING EVERY YEAR BUT SHOULD ALWAYS EXIST**** ''' - global game_state, events - game_state = STATE.SETUP + global GAME_STATE, EVENTS, clients + GAME_STATE = STATE.SETUP Timer.reset_all() - events = queue.Queue() - lcm_start_read(LCM_TARGETS.SHEPHERD, events) + EVENTS = queue.Queue() + lcm_start_read(LCM_TARGETS.SHEPHERD, EVENTS) lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.RESET_TIMERS) - for alliance in alliances.values(): + for alliance in ALLIANCES.values(): if alliance is not None: alliance.reset() + send_connections(None) + #STARTING_SPOTS = ["unknown", "unknown", "unknown", "unknown"] + clients = RuntimeClientManager((), ()) disable_robots() + BUTTONS['gold_1'] = False + BUTTONS['gold_2'] = False + BUTTONS['blue_1'] = False + BUTTONS['blue_2'] = False + lcm_send(LCM_TARGETS.TABLET, TABLET_HEADER.RESET) + lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.RESET) print("RESET MATCH, MOVE TO SETUP") def get_match(args): @@ -190,35 +284,35 @@ def score_adjust(args): Allow for score to be changed based on referee decisions ''' blue_score, gold_score = args["blue_score"], args["gold_score"] - alliances[ALLIANCE_COLOR.BLUE].score = blue_score - alliances[ALLIANCE_COLOR.GOLD].score = gold_score + ALLIANCES[ALLIANCE_COLOR.BLUE].score = blue_score + ALLIANCES[ALLIANCE_COLOR.GOLD].score = gold_score lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.SCORE, - {"alliance" : alliances[ALLIANCE_COLOR.BLUE].name, - "score" : math.floor(alliances[ALLIANCE_COLOR.BLUE].score)}) + {"alliance" : ALLIANCES[ALLIANCE_COLOR.BLUE].name, + "score" : math.floor(ALLIANCES[ALLIANCE_COLOR.BLUE].score)}) lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.SCORE, - {"alliance" : alliances[ALLIANCE_COLOR.GOLD].name, - "score" : math.floor(alliances[ALLIANCE_COLOR.GOLD].score)}) + {"alliance" : ALLIANCES[ALLIANCE_COLOR.GOLD].name, + "score" : math.floor(ALLIANCES[ALLIANCE_COLOR.GOLD].score)}) def get_score(args): ''' Send the current blue and gold score to the UI ''' - if alliances[ALLIANCE_COLOR.BLUE] is None: + if ALLIANCES[ALLIANCE_COLOR.BLUE] is None: lcm_send(LCM_TARGETS.UI, UI_HEADER.SCORES, {"blue_score" : None, "gold_score" : None}) else: lcm_send(LCM_TARGETS.UI, UI_HEADER.SCORES, - {"blue_score" : math.floor(alliances[ALLIANCE_COLOR.BLUE].score), - "gold_score" : math.floor(alliances[ALLIANCE_COLOR.GOLD].score)}) + {"blue_score" : math.floor(ALLIANCES[ALLIANCE_COLOR.BLUE].score), + "gold_score" : math.floor(ALLIANCES[ALLIANCE_COLOR.GOLD].score)}) def flush_scores(): ''' Sends the most recent match score to the spreadsheet if connected to the internet ''' - if alliances[ALLIANCE_COLOR.BLUE] is not None: - Sheet.write_scores(match_number, alliances[ALLIANCE_COLOR.BLUE].score, - alliances[ALLIANCE_COLOR.GOLD].score) + if ALLIANCES[ALLIANCE_COLOR.BLUE] is not None: + Sheet.write_scores(MATCH_NUMBER, ALLIANCES[ALLIANCE_COLOR.BLUE].score, + ALLIANCES[ALLIANCE_COLOR.GOLD].score) return -1 def enable_robots(autonomous): @@ -226,190 +320,406 @@ def enable_robots(autonomous): Sends message to Dawn to enable all robots. The argument should be a boolean which is true if we are entering autonomous mode ''' - msg = {"autonomous": autonomous, "enabled": True} - - lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.ROBOT_STATE, msg) - - + try: + clients.set_mode("auto" if autonomous else "teleop") + except Exception as exc: + for client in clients.clients: + try: + client.set_mode("auto" if autonomous else "teleop") + except Exception as exc: + print("A robot failed to be enabled! Big sad :(") + log(exc) def disable_robots(): ''' Sends message to Dawn to disable all robots ''' - msg = {"autonomous": False, "enabled": False} - lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.ROBOT_STATE, msg) - - + try: + clients.set_mode("idle") + except Exception as exc: + for client in clients.clients: + try: + client.set_mode("idle") + except Exception as exc: + print("a client has disconnected") + log(exc) + print(exc) + +#pylint: disable=redefined-builtin +def log(Exception): + global LAST_HEADER + # if Shepherd.MATCH_NUMBER <= 0: + # return + now = datetime.datetime.now() + filename = str(now.month) + "-" + str(now.day) + "-" + str(now.year) +\ + "-match-" + str(MATCH_NUMBER) + ".txt" + print("a normally fatal exception occured, but Shepherd will continue to run") + print("all known details are logged to logs/"+filename) + file = open("logs/"+filename, "a+") + file.write("\n========================================\n") + file.write("a normally fatal exception occured.\n") + file.write("all relevant data may be found below.\n") + file.write("match: " + str(MATCH_NUMBER)+"\n") + file.write("game state: " + str(GAME_STATE)+"\n") + file.write("gold alliance: " + str(ALLIANCES[ALLIANCE_COLOR.GOLD])+"\n") + file.write("blue alliance: " + str(ALLIANCES[ALLIANCE_COLOR.BLUE])+"\n") + file.write("game timer running?: " + str(GAME_TIMER.is_running())+"\n") + file.write("extended teleop timer running?: " + str(EXTENDED_TELEOP_TIMER.is_running())+"\n") + file.write("launch button timers running(g1 g2 b1 b2)?: " + + str(LAUNCH_BUTTON_TIMER_GOLD_1.is_running()) + " " + + str(LAUNCH_BUTTON_TIMER_GOLD_2.is_running()) + " " + + str(LAUNCH_BUTTON_TIMER_BLUE_1.is_running()) + " " + + str(LAUNCH_BUTTON_TIMER_BLUE_2.is_running())+"\n") + file.write("overdrive timer active?: " + str(OVERDRIVE_TIMER.is_running())+"\n") + file.write("the last received header was:" + str(LAST_HEADER)+"\n") + file.write("a stacktrace of the error may be found below\n") + file.write(str(Exception)) + file.write(str(traceback.format_exc())) + file.close() ########################################### # Game Specific Methods ########################################### -code_solution = {} -code_effect = {} - def disable_robot(args): ''' Send message to Dawn to disable the robots of team ''' - team_number = args["team_number"] - msg = {"team_number": team_number, "autonomous": False, "enabled": False} - lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.SPECIFIC_ROBOT_STATE, msg) + try: + team_number = args["team_number"] + client = clients.clients[int(team_number)] + if client: + client.set_mode("idle") + except Exception as exc: + log(exc) + def set_master_robot(args): ''' Set the master robot of the alliance ''' alliance = args["alliance"] - team_name = args["team_name"] - if team_name == alliance.team_1_name: - team_number = alliance.team_1_number - else: - team_number = alliance.team_2_number - msg = {"alliance": alliance, "master": team_number} + team_number = args["team_num"] + MASTER_ROBOTS[alliance] = team_number + msg = {"alliance": alliance, "team_number": int(team_number)} lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.MASTER, msg) +def next_code(): + if CODES_USED == []: + CODES_USED.append(codes[0]) + return codes[0] + index = len(CODES_USED) + CODES_USED.append(codes[index]) + return codes[index] + def code_setup(): ''' Set up code_solution and code_effect dictionaries and send code_solution to Dawn ''' global code_solution global code_effect - - code_solution = Code.assign_code_solution() - code_effect = Code.assign_code_effect() - msg = {"codes_solutions": code_solution} - lcm_send(LCM_TARGETS.DAWN, DAWN_HEADER.CODES, msg) - -def apply_code(args): + code_solution = assign_code_solution() + code_effect = assign_code_effect() + +def bounce_code(args): + """bounce the code""" + try: + student_solutions = clients.get_challenge_solutions() + print(student_solutions) + for ss in student_solutions.keys(): + if student_solutions[ss] is not None: + alliance = None + if int(ALLIANCES[ALLIANCE_COLOR.BLUE].team_1_number) == int(ss): + alliance = ALLIANCE_COLOR.BLUE + if int(ALLIANCES[ALLIANCE_COLOR.GOLD].team_1_number) == int(ss): + alliance = ALLIANCE_COLOR.GOLD + if int(ALLIANCES[ALLIANCE_COLOR.BLUE].team_2_number) == int(ss): + alliance = ALLIANCE_COLOR.BLUE + if int(ALLIANCES[ALLIANCE_COLOR.GOLD].team_2_number) == int(ss): + alliance = ALLIANCE_COLOR.GOLD + msg = {"alliance": alliance, "result": student_solutions[ss]} + lcm_send(LCM_TARGETS.TABLET, TABLET_HEADER.CODE, msg) + except Exception as exc: + log(exc) + +def auto_apply_code(args): ''' Send Scoreboard the effect if the answer is correct ''' - alliance = args["alliance"] - answer = args["answer"] + alliance = ALLIANCES[args["alliance"]] + answer = int(args["answer"]) + print('Codegen answers:', answer, code_solution) + if (answer is not None and answer in code_solution.values()): + #code = [k for k, v in code_solution.items() if v == answer][0] + alliance.change_score(10) + else: + msg = {"alliance": alliance.name} + lcm_send(LCM_TARGETS.SENSORS, SENSORS_HEADER.FAILED_POWERUP, msg) + # msg2 = {"alliance": alliance.name, "feedback": False} + # lcm_send(LCM_TARGETS.TABLET, TABLET_HEADER.CODE_FEEDBACK, msg2) +def apply_code(args): + ''' + Send Scoreboard the new score if the answer is correct #TODO + ''' + alliance = ALLIANCES[args["alliance"]] + answer = int(args["answer"]) if (answer is not None and answer in code_solution.values()): code = [k for k, v in code_solution.items() if v == answer][0] - msg = {"alliance": alliance, "effect": code_effect[code]} + if code_effect[code] == EFFECTS.TWIST: + if alliance.name == ALLIANCE_COLOR.BLUE: + msg = {"alliance": ALLIANCE_COLOR.GOLD, "effect": code_effect[code]} + else: + msg = {"alliance": ALLIANCE_COLOR.BLUE, "effect": code_effect[code]} + else: + msg = {"alliance": alliance.name, "effect": code_effect[code]} lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.APPLIED_EFFECT, msg) else: - msg = {"alliance": alliance} + msg = {"alliance": alliance.name} + # msg2 = {"alliance": alliance.name, "feedback": False} lcm_send(LCM_TARGETS.SENSORS, SENSORS_HEADER.FAILED_POWERUP, msg) + # lcm_send(LCM_TARGETS.TABLET, TABLET_HEADER.CODE_FEEDBACK, msg2) def end_teleop(args): + """Ending teleop""" blue_robots_disabled = False gold_robots_disabled = False - if PERKS.TAFFY in alliance_perks(alliances[ALLIANCE_COLOR.BLUE]): - extended_teleop_timer.start_timer(CONSTANTS.TAFFY_TIME) + if PERKS.TAFFY not in alliance_perks(ALLIANCES[ALLIANCE_COLOR.BLUE]): blue_robots_disabled = True - elif PERKS.TAFFY in alliance_perks(alliances[ALLIANCE_COLOR.GOLD]): - extended_teleop_timer.start_timer(CONSTANTS.TAFFY_TIME) - gold_robots_disabled = False + if PERKS.TAFFY not in alliance_perks(ALLIANCES[ALLIANCE_COLOR.GOLD]): + gold_robots_disabled = True + if (PERKS.TAFFY in alliance_perks(ALLIANCES[ALLIANCE_COLOR.BLUE]) or PERKS.TAFFY + in alliance_perks(ALLIANCES[ALLIANCE_COLOR.GOLD])): + EXTENDED_TELEOP_TIMER.start_timer(CONSTANTS.TAFFY_TIME) + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.STAGE_TIMER_START, + {"time" : CONSTANTS.TAFFY_TIME}) else: to_end(args) if gold_robots_disabled: - disable_robot({"team_number":alliances[ALLIANCE_COLOR.GOLD].team_1_number}) - disable_robot({"team_number":alliances[ALLIANCE_COLOR.GOLD].team_2_number}) + disable_robot({"team_number":ALLIANCES[ALLIANCE_COLOR.GOLD].team_1_number}) + disable_robot({"team_number":ALLIANCES[ALLIANCE_COLOR.GOLD].team_2_number}) if blue_robots_disabled: - disable_robot({"team_number":alliances[ALLIANCE_COLOR.BLUE].team_1_number}) - disable_robot({"team_number":alliances[ALLIANCE_COLOR.BLUE].team_2_number}) + disable_robot({"team_number":ALLIANCES[ALLIANCE_COLOR.BLUE].team_1_number}) + disable_robot({"team_number":ALLIANCES[ALLIANCE_COLOR.BLUE].team_2_number}) def alliance_perks(alliance): return (alliance.perk_1, alliance.perk_2, alliance.perk_3) def apply_perks(args): - alliance = args['alliance'] + alliance = ALLIANCES[args['alliance']] alliance.perk_1 = args['perk_1'] alliance.perk_2 = args['perk_2'] alliance.perk_3 = args['perk_3'] + msg = {"alliance": args['alliance'], "perk_1":args['perk_1'], + "perk_2":args['perk_2'], "perk_3":args['perk_3']} + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.PERKS_SELECTED, msg) def launch_button_triggered(args): - ## TODO: This - pass + ''' + check if allowed once every 30 seconds, give one of the codes to the correct + alliance through Dawn, update scoreboard + ''' + try: + alliance = ALLIANCES[args['alliance']] + button = args["button"] + l_b = alliance.name + "_" + str(button) + if not TIMER_DICTIONARY[l_b].is_running(): + msg = {"alliance": alliance.name, "button": button} + code = next_code() + client = clients.clients[int(MASTER_ROBOTS[alliance.name])] + if client: + client.run_challenge(code) + STUDENT_DECODE_TIMER.start_timer(CONSTANTS.STUDENT_DECODE_TIME) + TIMER_DICTIONARY[l_b].start_timer(CONSTANTS.COOLDOWN) + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.LAUNCH_BUTTON_TIMER_START, msg) + except Exception as exc: + log(exc) + +def auto_launch_button_triggered(args): + """trigger automatic launch button""" + ## mark button as dirty, sent to sc (both things) + ## Isn't this already done in auto_apply_code? + try: + alliance = ALLIANCES[args['alliance']] + button = args["button"] + temp_str = alliance.name + "_" + str(button) + if not BUTTONS[temp_str]: + msg = {"alliance": alliance.name, "button": button} + code = next_code() + client = clients.clients[int(MASTER_ROBOTS[alliance.name])] + if client: + client.run_challenge(code, timeout=1) + + STUDENT_DECODE_TIMER.start_timer(CONSTANTS.STUDENT_DECODE_TIME) + BUTTONS[temp_str] = True + msg = {"alliance": alliance.name, "button": button} + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.LAUNCH_BUTTON_TIMER_START, msg) + except Exception as exc: + log(exc) -def final_score(args): - ## TODO: This - pass -def game_perks(args): - ## TODO: This - pass +def final_score(args): + ''' + send shepherd the final score, send score to scoreboard + ''' + blue_final = args['blue_score'] + gold_final = args['gold_score'] + ALLIANCES[ALLIANCE_COLOR.GOLD].score = gold_final + ALLIANCES[ALLIANCE_COLOR.BLUE].score = blue_final + msg = {"alliance": ALLIANCE_COLOR.GOLD, "amount": gold_final} + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.SCORE, msg) + msg = {"alliance": ALLIANCE_COLOR.BLUE, "amount": blue_final} + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.SCORE, msg) + + +def overdrive_triggered(args): + """Trigger Overdrive""" + size = random.choice(CONSTANTS.CRATE_SIZES) + msg = {"size": size} + lcm_send(LCM_TARGETS.SCOREBOARD, SCOREBOARD_HEADER.OVERDRIVE_START, msg) + print("overdrive is active for the next 30 seconds for "+size+" size crates.") + audio.play_horn() + +def set_connections(args): + """Set connections""" + #pylint: disable=undefined-variable, not-an-iterable + team = args["team_number"] + connection = boolean(args["connection"]) + dirty = False + for alliance in ALLIANCES.values: + if team == alliance.team_1_number: + if alliance.team_1_connection != connection: + alliance.team_1_connection = connection + dirty = True + if team == alliance.team_2_number: + if alliance.team_2_connection != connection: + alliance.team_2_connection = connection + dirty = True + if dirty: + send_connections(None) + +def send_connections(args): + """Send connections""" + pass #pylint: disable=unnecessary-pass + # msg = {"g_1_connection" : ALLIANCES[ALLIANCE_COLOR.GOLD].team_1_connection, + # "g_2_connection" : ALLIANCES[ALLIANCE_COLOR.GOLD].team_2_connection, + # "b_1_connection" : ALLIANCES[ALLIANCE_COLOR.BLUE].team_1_connection, + # "b_2_connection" : ALLIANCES[ALLIANCE_COLOR.BLUE].team_2_connection} + # lcm_send(LCM_TARGETS.UI, UI_HEADER.CONNECTIONS, msg) ########################################### # Event to Function Mappings for each Stage ########################################### -setup_functions = { +SETUP_FUNCTIONS = { SHEPHERD_HEADER.SETUP_MATCH: to_setup, + SHEPHERD_HEADER.SCORE_ADJUST : score_adjust, SHEPHERD_HEADER.GET_MATCH_INFO : get_match, SHEPHERD_HEADER.START_NEXT_STAGE: to_perk_selection } -perk_selection_functions = { +PERK_SELECTION_FUNCTIONS = { SHEPHERD_HEADER.RESET_MATCH : reset, SHEPHERD_HEADER.APPLY_PERKS: apply_perks, - SHEPHERD_HEADER.START_NEXT_STAGE: to_auto + SHEPHERD_HEADER.MASTER_ROBOT: set_master_robot, + SHEPHERD_HEADER.STAGE_TIMER_END: to_auto_wait, + SHEPHERD_HEADER.ROBOT_CONNECTION_STATUS: set_connections, + SHEPHERD_HEADER.REQUEST_CONNECTIONS: send_connections } -auto_functions = { +AUTO_WAIT_FUNCTIONS = { + SHEPHERD_HEADER.RESET_MATCH : reset, + SHEPHERD_HEADER.SCORE_ADJUST : score_adjust, + SHEPHERD_HEADER.APPLY_PERKS: apply_perks, + SHEPHERD_HEADER.MASTER_ROBOT: set_master_robot, + SHEPHERD_HEADER.CODE_APPLICATION : auto_apply_code, + SHEPHERD_HEADER.GET_SCORES : get_score, + SHEPHERD_HEADER.START_NEXT_STAGE : to_auto, + SHEPHERD_HEADER.ROBOT_CONNECTION_STATUS: set_connections, + SHEPHERD_HEADER.REQUEST_CONNECTIONS: send_connections +} + +AUTO_FUNCTIONS = { SHEPHERD_HEADER.RESET_MATCH : reset, SHEPHERD_HEADER.STAGE_TIMER_END : to_wait, - SHEPHERD_HEADER.LAUNCH_BUTTON_TRIGGERED : launch_button_triggered, - SHEPHERD_HEADER.CODE_APPLICATION : apply_code, - SHEPHERD_HEADER.ROBOT_OFF : disable_robot + SHEPHERD_HEADER.LAUNCH_BUTTON_TRIGGERED : auto_launch_button_triggered, + SHEPHERD_HEADER.CODE_APPLICATION : auto_apply_code, + SHEPHERD_HEADER.ROBOT_OFF : disable_robot, + SHEPHERD_HEADER.CODE_RETRIEVAL : bounce_code, + SHEPHERD_HEADER.ROBOT_CONNECTION_STATUS: set_connections, + SHEPHERD_HEADER.REQUEST_CONNECTIONS: send_connections } -wait_functions = { +WAIT_FUNCTIONS = { SHEPHERD_HEADER.RESET_MATCH : reset, SHEPHERD_HEADER.SCORE_ADJUST : score_adjust, SHEPHERD_HEADER.GET_SCORES : get_score, - SHEPHERD_HEADER.START_NEXT_STAGE : to_teleop + SHEPHERD_HEADER.START_NEXT_STAGE : to_teleop, + SHEPHERD_HEADER.ROBOT_CONNECTION_STATUS: set_connections, + SHEPHERD_HEADER.REQUEST_CONNECTIONS: send_connections } -teleop_functions = { +TELEOP_FUNCTIONS = { SHEPHERD_HEADER.RESET_MATCH : reset, - SHEPHERD_HEADER.STAGE_TIMER_END : to_end, + SHEPHERD_HEADER.STAGE_TIMER_END : end_teleop, SHEPHERD_HEADER.LAUNCH_BUTTON_TRIGGERED : launch_button_triggered, SHEPHERD_HEADER.CODE_APPLICATION : apply_code, SHEPHERD_HEADER.ROBOT_OFF : disable_robot, - SHEPHERD_HEADER.END_EXTENDED_TELEOP: to_end + SHEPHERD_HEADER.END_EXTENDED_TELEOP : to_end, + SHEPHERD_HEADER.TRIGGER_OVERDRIVE : overdrive_triggered, + SHEPHERD_HEADER.CODE_RETRIEVAL : bounce_code, + SHEPHERD_HEADER.ROBOT_CONNECTION_STATUS: set_connections, + SHEPHERD_HEADER.REQUEST_CONNECTIONS: send_connections } -end_functions = { +END_FUNCTIONS = { SHEPHERD_HEADER.RESET_MATCH : reset, SHEPHERD_HEADER.SCORE_ADJUST : score_adjust, SHEPHERD_HEADER.GET_SCORES : get_score, SHEPHERD_HEADER.SETUP_MATCH : to_setup, SHEPHERD_HEADER.GET_MATCH_INFO : get_match, - SHEPHERD_HEADER.FINAL_SCORE : final_score -} - -perk_selection_functions = { - SHEPHERD_HEADER.GAME_PERKS : game_perks + SHEPHERD_HEADER.FINAL_SCORE : final_score, + SHEPHERD_HEADER.ROBOT_CONNECTION_STATUS: set_connections, + SHEPHERD_HEADER.REQUEST_CONNECTIONS: send_connections } ########################################### # Evergreen Variables ########################################### -game_state = STATE.END -game_timer = Timer(TIMER_TYPES.MATCH) -extended_teleop_timer = Timer(TIMER_TYPES.EXTENDED_TELEOP) +GAME_STATE = STATE.END +GAME_TIMER = Timer(TIMER_TYPES.MATCH) +EXTENDED_TELEOP_TIMER = Timer(TIMER_TYPES.EXTENDED_TELEOP) -match_number = -1 -alliances = {ALLIANCE_COLOR.GOLD: None, ALLIANCE_COLOR.BLUE: None} -events = None +MATCH_NUMBER = -1 +ALLIANCES = {ALLIANCE_COLOR.GOLD: None, ALLIANCE_COLOR.BLUE: None} +EVENTS = None + +LAST_HEADER = None ########################################### # Game Specific Variables ########################################### +BUTTONS = {'gold_1': False, 'gold_2': False, 'blue_1': False, 'blue_2': False} +STARTING_SPOTS = ["unknown", "unknown", "unknown", "unknown"] +LAUNCH_BUTTON_TIMER_GOLD_1 = Timer(TIMER_TYPES.LAUNCH_BUTTON) +LAUNCH_BUTTON_TIMER_GOLD_2 = Timer(TIMER_TYPES.LAUNCH_BUTTON) +LAUNCH_BUTTON_TIMER_BLUE_1 = Timer(TIMER_TYPES.LAUNCH_BUTTON) +LAUNCH_BUTTON_TIMER_BLUE_2 = Timer(TIMER_TYPES.LAUNCH_BUTTON) +TIMER_DICTIONARY = {'gold_1': LAUNCH_BUTTON_TIMER_GOLD_1, 'gold_2': LAUNCH_BUTTON_TIMER_GOLD_2, + 'blue_1': LAUNCH_BUTTON_TIMER_BLUE_1, 'blue_2': LAUNCH_BUTTON_TIMER_BLUE_2} +MASTER_ROBOTS = {ALLIANCE_COLOR.BLUE: None, ALLIANCE_COLOR.GOLD: None} +STUDENT_DECODE_TIMER = Timer(TIMER_TYPES.STUDENT_DECODE) -#nothing +OVERDRIVE_TIMER = Timer(TIMER_TYPES.OVERDRIVE_DELAY) +CODES_USED = [] +#nothing def main(): + """Main function""" parser = argparse.ArgumentParser(description='PiE field control') parser.add_argument('--version', help='Prints out the Shepherd version number.', action='store_true') diff --git a/shepherd/Timer.py b/shepherd/Timer.py index 0ae809b7..26a9fc8d 100644 --- a/shepherd/Timer.py +++ b/shepherd/Timer.py @@ -24,10 +24,8 @@ def run(self): if self.queue and self.queue[0].end_time < time.time(): Timer.queueLock.acquire() event = heapq.heappop(self.queue) - if event.timer_type == TIMER_TYPES.MATCH: - LCM.lcm_send(LCM_TARGETS.SHEPHERD, SHEPHERD_HEADER.STAGE_TIMER_END) - if event.timer_type == TIMER_TYPES.EXTENDED_TELEOP: - LCM.lcm_send(LCM_TARGETS.SHEPHERD, SHEPHERD_HEADER.END_EXTENDED_TELEOP) + if event.timer_type is not None and event.timer_type["NEEDS_FUNCTION"]: + LCM.lcm_send(LCM_TARGETS.SHEPHERD, event.timer_type["FUNCTION"]) event.active = False Timer.queueLock.release() for timer in self.queue: @@ -81,7 +79,6 @@ def start_timer(self, duration): self.active = True Timer.queueLock.release() - def reset(self): """Stops the current timer (if any) and sets timer to inactive""" if self.active and self.reset_all_count == Timer.globalResetCount: diff --git a/shepherd/Utils.py b/shepherd/Utils.py index 8dd64a0c..b2b29a46 100644 --- a/shepherd/Utils.py +++ b/shepherd/Utils.py @@ -1,28 +1,55 @@ # pylint: disable=invalid-name class SHEPHERD_HEADER(): START_NEXT_STAGE = "start_next_stage" + # START_NEXT_STAGE{}: starts the next stage + RESET_CURRENT_STAGE = "reset_current_stage" + # RESET_CURRENT_STAGE{}: resets the current stage + RESET_MATCH = "reset_match" + # RESET_MATCH{}: resets the current match GET_MATCH_INFO = "get_match_info" + # GET_MATCH_INFO{match_number}: gets match info for given match number + SETUP_MATCH = "setup_match" + # SETUP_MATCH{b1name, b1#, b2name, b2#, g1name, g1#, g2name, g2#, match#}: + # sets up the match given the corresponding info about the teams and match number + # also has {g1_custom_ip, g2_custom_ip, b1_custom_ip, b2_custom_ip} - STOP_ROBOT = "stop_robot" + GET_CONNECTION_STATUS = "get_connection_status" + # GET_CONNECTION_STATUS{}: requested from the Staff UI to check robot + # connection statuses GET_SCORES = "get_scores" + # GET_SCORES{}: gets scores of the match + SCORE_ADJUST = "score_adjust" + # SCORE_ADJUST{blue_score, gold_score}: adjusts the current scores to the input scores STAGE_TIMER_END = "stage_timer_end" + # STAGE_TIMER_END{}: ends the stage's timer ROBOT_OFF = "robot_off" + # ROBOT_OFF{team_number}: takes in team number and disables their robot END_EXTENDED_TELEOP = "end_extended_teleop" + # END_EXTENDED_TELEOP{}: ends the extended teloperated period LAUNCH_BUTTON_TRIGGERED = "launch_button_triggered" + # LAUNCH_BUTTON_TRIGGERED{alliance, button}: takes in an alliance color and button number + # and activates the corresponding launch button timer + + CODE_RETRIEVAL = "code_retrieval" + # CODE_RETRIEVAL{alliance, result}: retrieves code (from sensors.py) + CODE_APPLICATION = "code_application" + # CODE_APPLICATION{alliance, result}: applies code (from sensors.py) APPLY_PERKS = "apply_perks" - GAME_PERKS = "game_perks" + # APPLY_PERKS{alliance, perk_1, perk_2, perk_3}: applies the chosen perks + # to the given alliance + MASTER_ROBOT = "master_robot" FINAL_SCORE = "final_score" @@ -30,6 +57,14 @@ class SHEPHERD_HEADER(): # ASSIGN_TEAMS{g1num, g2num, b1num, b2num} TEAM_RETRIEVAL = "team_retrieval" # TEAM_RETRIEVAL{} + TRIGGER_OVERDRIVE = "trigger_overdrive" + #TRIGGER_OVERDRIVE{size} + + ROBOT_CONNECTION_STATUS = "robot_connection_status" + #ROBOT_CONNECTION_STATUS{team_number, connection[True/False]} + + REQUEST_CONNECTIONS = "request_connections" + #REQUEST_CONNECTIONS{} # pylint: disable=invalid-name class SENSORS_HEADER(): @@ -37,22 +72,30 @@ class SENSORS_HEADER(): # pylint: disable=invalid-name class DAWN_HEADER(): - ROBOT_STATE = "robot_state" CODES = "codes" - # CODES{codes_solutions} - HEARTBEAT = "heartbeat" DECODE = "decode" - # DECODE{alliance, tag} - SPECIFIC_ROBOT_STATE = "specific_robot_state" - # SPECIFIC_ROBOT_STATE{team_number, autonomous, enabled} + SPECIFIC_ROBOT_STATE = "srt" MASTER = "master" - # MASTER{alliance, team_number} + IP_ADDRESS = "ip_address" + ROBOT_STATE = "rs" + HEARTBEAT = "heartbeat" + RESET = "reset" + #TODO this^ +class RUNTIME_HEADER(): + SPECIFIC_ROBOT_STATE = "specific_robot_state" + # SPECIFIC_ROBOT_STATE{team_number, autonomous, enabled} + # robot ip is 192.168.128.teamnumber + DECODE = "decode" + # DECODE{team_number, seed} # pylint: disable=invalid-name class UI_HEADER(): TEAMS_INFO = "teams_info" SCORES = "scores" + CONNECTIONS = "connections" + #CONNECTIONS{g_1_connection[True/False], g_2_connection[True/False], + # b_1_connection[True/False], b_2_connection[True/False]} # pylint: disable=invalid-name class SCOREBOARD_HEADER(): @@ -69,15 +112,34 @@ class SCOREBOARD_HEADER(): # PERKS_SELECTED{alliance, perk_1, perk_2, perk_3} APPLIED_EFFECT = "applied_effect" # APPLIED_EFFECT{alliance, effect} + OVERDRIVE_START = "overdrive_start" + # OVERDRIVE_START{} + +class TABLET_HEADER(): + TEAMS = "teams" + #{b1num, b2num, g1num, g2num} + CODE = "code" + #{alliance, code} + COLLECT_PERKS = "collect_perks" + #{} + COLLECT_CODES = "collect_codes" + #{} + RESET = "reset" + #{} # pylint: disable=invalid-name class CONSTANTS(): - PERK_SELECTION_TIME = 15 - AUTO_TIME = 30 - TELEOP_TIME = 180 - SPREADSHEET_ID = "1F_fRPZ2Whe3f8ssniqh1uWFfc8dU8LfElY51R4EtJDY" - CSV_FILE_NAME = "Sheets/schedule.csv" + PERK_SELECTION_TIME = 30 # actually supposed to be 30 + AUTO_TIME = 30 # 30 + TELEOP_TIME = 180 # 180 + OVERDRIVE_TIME = 30 + SPREADSHEET_ID = "1vurNOrlIIeCHEtK5aJVDfHrRM1AC2qWvIbtWqUgnmLk" + CSV_FILE_NAME = "Sheets/fc2019.csv" TAFFY_TIME = 15 + TWIST_CHANCE = .3 #a value 0= 1023 && button1Pressed == false) { + Serial.println("b,1"); + button1Pressed = true; + } + if (buttonState2 >= 1023 && button2Pressed == false){ + Serial.println("b,2"); + button2Pressed = true; + } + + if(button1Pressed && buttonState1 == 0){ + button1Pressed = false; + } + + if(button2Pressed && buttonState2 == 0){ + button2Pressed = false; + } + +} diff --git a/shepherd/buttons/buttons_gold.ino b/shepherd/buttons/buttons_gold.ino new file mode 100644 index 00000000..917e035d --- /dev/null +++ b/shepherd/buttons/buttons_gold.ino @@ -0,0 +1,45 @@ +// buttons for gold side + +// constants won't change. They're used here to set pin numbers: +const int buttonPin1 = 10; // the number of the pushbutton pin +const int buttonPin2 = 9; +const int ledPin = 13; // the number of the LED pin + +// variables will change: +int buttonState1 = 0; // variable for reading the pushbutton status +int buttonState2 = 0; + +bool button1Pressed = false; +bool button2Pressed = false; + +void setup() { + // initialize the LED pin as an output: + // pinMode(ledPin, OUTPUT); + // initialize the pushbutton pin as an input: + pinMode(buttonPin1, INPUT); + pinMode(buttonPin2, INPUT); + Serial.begin(9600); +} + +void loop() { + // read the state of the pushbutton value: + buttonState1 = analogRead(buttonPin1); + buttonState2 = analogRead(buttonPin2); + if (buttonState1 >= 1023 && button1Pressed == false) { + Serial.println("g,1"); + button1Pressed = true; + } + if (buttonState2 >= 1023 && button2Pressed == false){ + Serial.println("g,2"); + button2Pressed = true; + } + + if(button1Pressed && buttonState1 == 0){ + button1Pressed = false; + } + + if(button2Pressed && buttonState2 == 0){ + button2Pressed = false; + } + +} diff --git a/shepherd/dawn_server.py b/shepherd/dawn_server.py index 21ed2bb6..fff7994b 100644 --- a/shepherd/dawn_server.py +++ b/shepherd/dawn_server.py @@ -8,12 +8,19 @@ from Utils import * from LCM import * -HOST_URL = "0.0.0.0" +HOST_URL = "192.168.128.64" # "0.0.0.0" PORT = 7000 +#TODO work on this, new headers and deprecated headers. + app = Flask(__name__) app.config['SECRET_KEY'] = 'omegalul!' socketio = SocketIO(app) +master_robots = {ALLIANCE_COLOR.BLUE: 0, ALLIANCE_COLOR.GOLD:0} + +@socketio.on('dawn-to-server-alliance-codes') +def ui_to_server_setup_match(alliance_codes): + lcm_send(LCM_TARGETS.SHEPHERD, SHEPHERD_HEADER.CODE_APPLICATION, json.loads(alliance_codes)) def receiver(): events = gevent.queue.Queue() @@ -26,8 +33,24 @@ def receiver(): print("RECEIVED:", event) if eventDict["header"] == DAWN_HEADER.ROBOT_STATE: socketio.emit(DAWN_HEADER.ROBOT_STATE, event) - # else: - # socketio.emit(DAWN_HEADER.CODES, event) + elif eventDict["header"] == DAWN_HEADER.CODES: + socketio.emit(DAWN_HEADER.CODES, event) + elif eventDict["header"] == DAWN_HEADER.RESET: + master_robots[ALLIANCE_COLOR.BLUE] = 0 + master_robots[ALLIANCE_COLOR.GOLD] = 0 + elif eventDict["header"] == DAWN_HEADER.MASTER: + master_robots[eventDict["alliance"]] = int(eventDict["team_number"]) + # socketio.emit(DAWN_HEADER.MASTER, event) + print(master_robots) + # print({"alliance": ALLIANCE_COLOR.BLUE, + # "team_number": master_robots[ALLIANCE_COLOR.BLUE]}) + # print({"alliance": ALLIANCE_COLOR.GOLD, + # "team_number": master_robots[ALLIANCE_COLOR.GOLD]}) + socketio.emit(DAWN_HEADER.MASTER, json.dumps(master_robots)) + # socketio.emit(DAWN_HEADER.MASTER, json.dumps({"alliance": ALLIANCE_COLOR.BLUE, + # "team_number": master_robots[ALLIANCE_COLOR.BLUE]})) + # socketio.emit(DAWN_HEADER.MASTER, json.dumps({"alliance": ALLIANCE_COLOR.GOLD, + # "team_number": master_robots[ALLIANCE_COLOR.GOLD]})) socketio.emit(DAWN_HEADER.HEARTBEAT, json.dumps({"heartbeat" : 1})) socketio.sleep(1) diff --git a/shepherd/installlcm b/shepherd/installlcm index e2feb483..ae325fb9 100755 --- a/shepherd/installlcm +++ b/shepherd/installlcm @@ -16,6 +16,11 @@ make sudo make install sudo ldconfig +cd lcm-python +python3 setup.py build +python3 setup.py install +cd .. + # Cleanup cd .. rm -rf "lcm-$lcm_version" diff --git a/shepherd/perks_server.py b/shepherd/perks_server.py new file mode 100644 index 00000000..03a08e7d --- /dev/null +++ b/shepherd/perks_server.py @@ -0,0 +1,71 @@ +import json +import threading +import time +import queue +import gevent # pylint: disable=import-error +from flask import Flask, render_template # pylint: disable=import-error +from flask_socketio import SocketIO, emit, join_room, leave_room, send # pylint: disable=import-error +from Utils import * +from LCM import * + +HOST_URL = "192.168.128.129" +PORT = 5001 + +app = Flask(__name__) +app.config['SECRET_KEY'] = 'omegalul!' +socketio = SocketIO(app, async_mode='gevent') + +@app.route('/') +def hello(): + return "go to /reset.html" + +@app.route('/perksUI.html/') +def perksUI(): + return render_template('perksUI.html') + +@app.route('/submit.html/') +def submit(): + return render_template('submit.html') + +@app.route('/reset.html/') +def reset(): + return render_template('reset.html') + +@socketio.on('ui-to-server-selected-perks') +def ui_to_server_perks(perks): + lcm_send(LCM_TARGETS.SHEPHERD, SHEPHERD_HEADER.APPLY_PERKS, json.loads(perks)) + print("sending perks:", perks) + +@socketio.on('ui-to-server-master-robot') +#pylint: disable=function-redefined +def ui_to_server_perks(data): + lcm_send(LCM_TARGETS.SHEPHERD, SHEPHERD_HEADER.MASTER_ROBOT, json.loads(data)) + +@socketio.on('ui-to-server-code') +def ui_to_server_code(data): + lcm_send(LCM_TARGETS.SHEPHERD, SHEPHERD_HEADER.CODE_APPLICATION, json.loads(data)) + +def receiver(): + + events = gevent.queue.Queue() + lcm_start_read(str.encode(LCM_TARGETS.TABLET), events) + + while True: + if not events.empty(): + event = events.get_nowait() + print("RECEIVED:", event) + if event[0] == TABLET_HEADER.TEAMS: + socketio.emit(TABLET_HEADER.TEAMS, json.dumps(event[1], ensure_ascii=False)) + if event[0] == TABLET_HEADER.RESET: + socketio.emit(TABLET_HEADER.RESET, json.dumps(event[1], ensure_ascii=False)) + if event[0] == TABLET_HEADER.COLLECT_CODES: + socketio.emit(TABLET_HEADER.COLLECT_CODES, json.dumps(event[1], ensure_ascii=False)) + if event[0] == TABLET_HEADER.COLLECT_PERKS: + socketio.emit(TABLET_HEADER.COLLECT_PERKS, json.dumps(event[1], ensure_ascii=False)) + if event[0] == TABLET_HEADER.CODE: + socketio.emit(TABLET_HEADER.CODE, json.dumps(event[1], ensure_ascii=False)) + + socketio.sleep(0.1) + +socketio.start_background_task(receiver) +socketio.run(app, host=HOST_URL, port=PORT) diff --git a/shepherd/runtimeclient.py b/shepherd/runtimeclient.py new file mode 100644 index 00000000..28f3304d --- /dev/null +++ b/shepherd/runtimeclient.py @@ -0,0 +1,115 @@ +import msgpackrpc #pylint: disable=import-error + + +class RuntimeClient: + def __init__(self, host, port): + self.host, self.port, self.client = host, port, None + + def connect(self): + self.client = msgpackrpc.Client(msgpackrpc.Address(self.host, self.port)) + + def disconnect(self): + self.client.close() + self.client = None + + @property + def connected(self): + return self.client is not None + + def set_mode(self, mode=True): + self.client.call('set_mode', mode) + + def set_alliance(self, alliance): + self.client.call('set_alliance', alliance) + + def set_master(self, master): + self.client.call('set_master', master) + + def set_starting_zone(self, zone): + self.client.call('set_starting_zone', zone) + + def run_challenge(self, seed, timeout=1): + self.client.notify('run_challenge', int(seed), timeout) + + def get_challenge_solution(self): + return self.client.call('get_challenge_solution') + + +class RuntimeClientManager: + def __init__(self, blue_alliance, gold_alliance, b1_custom_ip=None, b2_custom_ip=None, + g1_custom_ip=None, g2_custom_ip=None): + custom_ips = (b1_custom_ip, b2_custom_ip, g1_custom_ip, g2_custom_ip) + self.blue_alliance, self.gold_alliance = blue_alliance, gold_alliance + self.clients = {} + for i in range(len(self.blue_alliance+self.gold_alliance)): + if custom_ips[i]: + self.clients[(self.blue_alliance+self.gold_alliance)[i]] =\ + (RuntimeClient(f'{custom_ips[i]}', 6020)) + elif (self.blue_alliance + self.gold_alliance)[i] >= -100: + self.clients[(self.blue_alliance+self.gold_alliance)[i]] =\ + (RuntimeClient(f'192.168.128.{200 +(self.blue_alliance + self.gold_alliance)[i]}', 6020)) #pylint: disable=line-too-long + else: + self.clients[(self.blue_alliance+self.gold_alliance)[i]] = None + for client in self.clients.values(): + if client is not None: + print(client.host) + client.connect() + for team in self.blue_alliance: + client = self.clients[team] + if client: + client.set_alliance('blue') + for team in self.gold_alliance: + client = self.clients[team] + if client: + client.set_alliance('gold') + + def set_starting_zones(self, zones): + for team, zone in zip(self.blue_alliance + self.gold_alliance, zones): + if self.clients[team]: + self.clients[team].set_starting_zone(zone) + + def set_mode(self, mode): + for client in self.clients.values(): + if client: + print('Setting mode for client:', client.host) + client.set_mode(mode) + + def get_challenge_solutions(self): + return {team: (client.get_challenge_solution() if client else None) for team, + client in self.clients.items()} + + def set_master_robots(self, blue_team, gold_team): + """ + blue_master = self.clients[blue_team] + if blue_master: + blue_master.set_master() + gold_master = self.clients[gold_team] + if gold_master: + gold_master.set_master()""" + + +""" +client = RuntimeClient('192.168.128.107', 6020) +client.connect() +import time +from Code import decode +x = 1 +client.run_challenge(x) +time.sleep(0.2) +print('Robot answer:', client.get_challenge_solution()) +print('Authoritative answer:', decode(x)) +""" #pylint: disable=pointless-string-statement + +# client = RuntimeClient('192.168.128.115', 6020) +# client.connect() +# client.set_mode('idle') + +# print('OK!') +# client.set_alliance('blue') +# client.set_starting_zone('left') +# client.run_challenge(123) +# time.sleep(0.2) +# print(client.get_challenge_solution()) +# time.sleep(1) +# client.run_challenge(123) +# print(client.get_challenge_solution()) diff --git a/shepherd/scoreboard_server.py b/shepherd/scoreboard_server.py index 871cd53e..22581053 100644 --- a/shepherd/scoreboard_server.py +++ b/shepherd/scoreboard_server.py @@ -1,19 +1,19 @@ import json import threading import time -import queue -import gevent # pylint: disable=import-error +import gevent #pylint: disable=import-error +import gevent.queue # pylint: disable=import-error from flask import Flask, render_template # pylint: disable=import-error from flask_socketio import SocketIO, emit, join_room, leave_room, send # pylint: disable=import-error from Utils import * from LCM import * -HOST_URL = "0.0.0.0" +HOST_URL = "192.168.128.129" # "127.0.0.1" PORT = 5500 app = Flask(__name__) app.config['SECRET_KEY'] = 'omegalul!' -socketio = SocketIO(app) +socketio = SocketIO(app, async_mode='gevent') @app.route('/') def hello(): @@ -45,6 +45,26 @@ def receiver(): elif event[0] == SCOREBOARD_HEADER.STAGE_TIMER_START: socketio.emit(SCOREBOARD_HEADER.STAGE_TIMER_START, json.dumps(event[1], ensure_ascii=False)) + + elif event[0] == SCOREBOARD_HEADER.STAGE: + socketio.emit(SCOREBOARD_HEADER.STAGE, + json.dumps(event[1], ensure_ascii=False)) + + elif event[0] == SCOREBOARD_HEADER.LAUNCH_BUTTON_TIMER_START: + socketio.emit(SCOREBOARD_HEADER.LAUNCH_BUTTON_TIMER_START, + json.dumps(event[1], ensure_ascii=False)) + + elif event[0] == SCOREBOARD_HEADER.PERKS_SELECTED: + socketio.emit(SCOREBOARD_HEADER.PERKS_SELECTED, + json.dumps(event[1], ensure_ascii=False)) + + elif event[0] == SCOREBOARD_HEADER.APPLIED_EFFECT: + socketio.emit(SCOREBOARD_HEADER.APPLIED_EFFECT, + json.dumps(event[1], ensure_ascii=False)) + + elif event[0] == SCOREBOARD_HEADER.OVERDRIVE_START: + socketio.emit(SCOREBOARD_HEADER.OVERDRIVE_START, + json.dumps(event[1], ensure_ascii=False)) #if event[0] == SCOREBOARD_HEADER.ALL_INFO): # socketio.emit('server-to-gui-all-info', json.dumps(event[1], ensure_ascii=False)) socketio.sleep(0.1) diff --git a/shepherd/server.py b/shepherd/server.py index d620a4a9..6b60c1a6 100644 --- a/shepherd/server.py +++ b/shepherd/server.py @@ -13,7 +13,7 @@ app = Flask(__name__) app.config['SECRET_KEY'] = 'omegalul!' -socketio = SocketIO(app) +socketio = SocketIO(app, async_mode="gevent") @app.route('/') def hello_world(): @@ -27,9 +27,14 @@ def score_adjustment(): def staff_gui(): return render_template('staff_gui.html') +@app.route('/stage_control.html/') +def stage_control(): + return render_template('stage_control.html') + @socketio.on('join') def handle_join(client_name): print('confirmed join: ' + client_name) + lcm_send(LCM_TARGETS.SHEPHERD, SHEPHERD_HEADER.REQUEST_CONNECTIONS) #Score Adjustment @socketio.on('ui-to-server-scores') @@ -71,6 +76,8 @@ def receiver(): socketio.emit('server-to-ui-teamsinfo', json.dumps(event[1], ensure_ascii=False)) elif event[0] == UI_HEADER.SCORES: socketio.emit('server-to-ui-scores', json.dumps(event[1], ensure_ascii=False)) + elif event[0] == UI_HEADER.CONNECTIONS: + socketio.emit('server-to-ui-connections', json.dumps(event[1], ensure_ascii=False)) socketio.sleep(0.1) socketio.start_background_task(receiver) diff --git a/shepherd/static/AIRHORNMLG.wav b/shepherd/static/AIRHORNMLG.wav new file mode 100644 index 00000000..7c64266e --- /dev/null +++ b/shepherd/static/AIRHORNMLG.wav @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dc7674f6ebe9b55a9b1aed555c255d11b8a4d09132c81191ea5d7efc7f60237 +size 885002 diff --git a/shepherd/static/Bar.png b/shepherd/static/Bar.png new file mode 100644 index 00000000..932083b5 Binary files /dev/null and b/shepherd/static/Bar.png differ diff --git a/shepherd/static/Blank.png b/shepherd/static/Blank.png new file mode 100644 index 00000000..f6cbf9e2 Binary files /dev/null and b/shepherd/static/Blank.png differ diff --git a/shepherd/static/Blank300x100.png b/shepherd/static/Blank300x100.png new file mode 100644 index 00000000..2cc9fabf Binary files /dev/null and b/shepherd/static/Blank300x100.png differ diff --git a/shepherd/static/BlueLeft.png b/shepherd/static/BlueLeft.png new file mode 100644 index 00000000..2cd6a058 Binary files /dev/null and b/shepherd/static/BlueLeft.png differ diff --git a/shepherd/static/BlueRight.png b/shepherd/static/BlueRight.png new file mode 100644 index 00000000..bb0182ec Binary files /dev/null and b/shepherd/static/BlueRight.png differ diff --git a/shepherd/static/BlueTwisted.png b/shepherd/static/BlueTwisted.png new file mode 100644 index 00000000..5e3b17b7 Binary files /dev/null and b/shepherd/static/BlueTwisted.png differ diff --git a/shepherd/static/BlueTwisted.xcf b/shepherd/static/BlueTwisted.xcf new file mode 100644 index 00000000..fb1d6a3a --- /dev/null +++ b/shepherd/static/BlueTwisted.xcf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a87059f4d6771c2d36113688d9a965892c5bf288ae21ffb1b9ac499ea0c3f9ce +size 98794 diff --git a/shepherd/static/BlueUp.png b/shepherd/static/BlueUp.png new file mode 100644 index 00000000..b5881940 Binary files /dev/null and b/shepherd/static/BlueUp.png differ diff --git a/shepherd/static/Filling Circle.jpg b/shepherd/static/Filling Circle.jpg new file mode 100644 index 00000000..333a952b Binary files /dev/null and b/shepherd/static/Filling Circle.jpg differ diff --git a/shepherd/static/GoldTwisted.png b/shepherd/static/GoldTwisted.png new file mode 100644 index 00000000..7a50d1d5 Binary files /dev/null and b/shepherd/static/GoldTwisted.png differ diff --git a/shepherd/static/GoldTwisted.xcf b/shepherd/static/GoldTwisted.xcf new file mode 100644 index 00000000..d107b95e --- /dev/null +++ b/shepherd/static/GoldTwisted.xcf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b7daac7ba5965b161ab31c6b397755c82b4932aa773fbea99a384129ca5c443 +size 99645 diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/artificial_sweetener.png b/shepherd/static/PerkSelection/assets/DummyPerks/artificial_sweetener.png new file mode 100644 index 00000000..0cd267ea Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/artificial_sweetener.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/bubblegum.png b/shepherd/static/PerkSelection/assets/DummyPerks/bubblegum.png new file mode 100644 index 00000000..b0bb4e3a Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/bubblegum.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/chocolate_covered_espresso_beans.png b/shepherd/static/PerkSelection/assets/DummyPerks/chocolate_covered_espresso_beans.png new file mode 100644 index 00000000..05115d01 Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/chocolate_covered_espresso_beans.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/diet.png b/shepherd/static/PerkSelection/assets/DummyPerks/diet.png new file mode 100644 index 00000000..157a61b1 Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/diet.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/jawbreaker.png b/shepherd/static/PerkSelection/assets/DummyPerks/jawbreaker.png new file mode 100644 index 00000000..6edb9d24 Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/jawbreaker.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/minty_fresh_start.png b/shepherd/static/PerkSelection/assets/DummyPerks/minty_fresh_start.png new file mode 100644 index 00000000..3bfe8ac0 Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/minty_fresh_start.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/raspberry_cotton_candy.png b/shepherd/static/PerkSelection/assets/DummyPerks/raspberry_cotton_candy.png new file mode 100644 index 00000000..9949242d Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/raspberry_cotton_candy.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/sour_gummy_worms.png b/shepherd/static/PerkSelection/assets/DummyPerks/sour_gummy_worms.png new file mode 100644 index 00000000..6650b8fc Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/sour_gummy_worms.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/sweet_spot.png b/shepherd/static/PerkSelection/assets/DummyPerks/sweet_spot.png new file mode 100644 index 00000000..19d7715b Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/sweet_spot.png differ diff --git a/shepherd/static/PerkSelection/assets/DummyPerks/taffy.png b/shepherd/static/PerkSelection/assets/DummyPerks/taffy.png new file mode 100644 index 00000000..d9d0cff6 Binary files /dev/null and b/shepherd/static/PerkSelection/assets/DummyPerks/taffy.png differ diff --git a/shepherd/static/PerkSelection/assets/icons/BlueTwisted.png b/shepherd/static/PerkSelection/assets/icons/BlueTwisted.png new file mode 100644 index 00000000..5e3b17b7 Binary files /dev/null and b/shepherd/static/PerkSelection/assets/icons/BlueTwisted.png differ diff --git a/shepherd/static/PerkSelection/css/perksUI.css b/shepherd/static/PerkSelection/css/perksUI.css new file mode 100644 index 00000000..70a739fc --- /dev/null +++ b/shepherd/static/PerkSelection/css/perksUI.css @@ -0,0 +1,103 @@ +ul { + list-style-type: none; +} + +li { + display: inline; +} + +input[type="radio"]:not(.Alliance) { + display: none; +} + +label { + border: 1px solid #fff; + padding: 10px; + display: block; + position: relative; + margin: 10px; + cursor: pointer; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +label::before { + background-color: white; + color: white; + content: " "; + display: block; + border-radius: 50%; + border: 1px solid grey; + position: absolute; + top: -5px; + left: -5px; + width: 25px; + height: 25px; + text-align: center; + line-height: 28px; + transition-duration: 0.4s; + transform: scale(0); +} + +label img { + height: 100px; + width: 150px; + transition-duration: 0.2s; + transform-origin: 50% 50%; +} + +:checked+label { + border-color: white; +} + +:checked+label::before { + content: "\2713"; + background-color: grey; + transform: scale(1); +} + +:checked+label img { + transform: scale(0.9); + box-shadow: 0 0 5px #333; + z-index: -1; +} + +#div_top_hypers { + background-color:#eeeeee; + display:inline; +} +#ul_top_hypers { + display: flex; + justify-content:space-around; + list-style-type:none; +} + +input[type="radio"][id^="mr1"] { + display: none; + } + input[type="radio"][id^="mr2"] { + display: none; + } + + #masterrobot { + display: flex; + justify-content:center; + list-style-type:none; + } + + #masterrobot :checked+label { + transform: scale(0.9); + box-shadow: 0 0 5px #333; + z-index: -1; + transition-duration: 0.2s; + transform-origin: 50% 50%; + border-style:solid; + border-color: black; + border-width: 0.2mm; + } + + \ No newline at end of file diff --git a/shepherd/static/PerkSelection/css/submit.css b/shepherd/static/PerkSelection/css/submit.css new file mode 100644 index 00000000..561fd406 --- /dev/null +++ b/shepherd/static/PerkSelection/css/submit.css @@ -0,0 +1,48 @@ +body { + margin-top: 0px; + margin-bottom: 0px; + font-family: sans-serif; +} + +html { + margin-top: 0px; + margin-bottom: 0px; +} + +#submit-button { + padding: 5px 30px 5px 30px; + background: #008000; + color: #F8F8FF; + border-radius: 50%; + font-size: 28px; + + position: absolute; + top: 420px; + left: 50%; + margin-left: -70px; +} + +#submit-button:active { + opacity: 0.80; +} + +#submit-button { + cursor: pointer; +} + +#feedback { + color: black; + font-size: 48pt; +} + +#text-area { + position: absolute; + top: 150px; + left: 50%; + margin-left: -150px; + font-size: 40pt; + text-align: center; + font-family: helvetica; + height:200px; + width:400px; +} \ No newline at end of file diff --git a/shepherd/static/PerkSelection/js/perksUI.js b/shepherd/static/PerkSelection/js/perksUI.js new file mode 100644 index 00000000..d226572e --- /dev/null +++ b/shepherd/static/PerkSelection/js/perksUI.js @@ -0,0 +1,228 @@ +// image gallery +// init the state from the input +$(".image-checkbox").each(function () { + count = false; + if ($(this).find('input[type="checkbox"]').first().attr("checked") && (count == false)) { + $(this).addClass('image-checkbox-checked'); + } + else { + $(this).removeClass('image-checkbox-checked'); + count = true; + } +}); + +$(":input").hover(function() { + console.log('string') + $(this).prop('checked', true); +}); + +function select(id) { + document.getElementById(id).checked = true +} + +// sync the state to the input +$(".image-checkbox").on("click", function (e) { + console.log('test string') + $(this).toggleClass('image-checkbox-checked'); + var $checkbox = $(this).find('input[type="checkbox"]'); + $checkbox.prop("checked",!$checkbox.prop("checked")) + + e.preventDefault(); +}); + +var socket = io('http://192.168.128.129:5001'); +var t1_name, t1_num, t2_name, t2_num +var cur_code = null +var master_robot + + +socket.on('connect', function(data) { + socket.emit('join', 'perks'); +}); + +function getCookie(cname) { + var name = cname + "="; + var ca = document.cookie.split(';'); + for (var i = 0; i < ca.length; i++) { + var c = ca[i]; + while (c.charAt(0) == ' ') c = c.substring(1); + if (c.indexOf(name) == 0) return c.substring(name.length, c.length); + } + return ""; +} + +function checkCookie() { + if (getCookie('alliance') != '') { + hideButtons() + } + t1_num = getCookie('t1') + t2_num = getCookie('t2') + setTeams(t1_num, t2_num) +} + +function storeTeams(t1, t2) { + var ca = document.cookie.split(';') + document.cookie = "t1="+t1+";path=/;" + document.cookie = "t2="+t2+";path=/;" +} + +window.onload = checkCookie + +socket.on('teams', function(data) { + dictionary = JSON.parse(data) + if (getCookie('alliance') == 'gold') { + // t1_name = JSON.parse(data).g1name + t1_num = JSON.parse(data).g1num + // t2_name = JSON.parse(data).g2name + t2_num = JSON.parse(data).g2num + } else if (getCookie('alliance') == 'blue') { + // t1_name = JSON.parse(data).b1name + t1_num = JSON.parse(data).b1num + // t2_name = JSON.parse(data).b2name + t2_num = JSON.parse(data).b2num + } + storeTeams(t1_num, t2_num) +}) + +socket.on('collect_perks', function(data) { + var origin = window.location.origin + window.location.href = origin + "/perksUI.html" + setTimeout(function() { + setTeams(getCookie('t1'), getCookie('t2')) + }, 500) +}) + +socket.on('collect_codes', function(data){ + submitPerks() + //Change to next UI + var origin = window.location.origin + setTimeout(function() { + window.location.href = origin + "/submit.html" + }, 500) +}) + +socket.on('reset', function(data){ + var origin = window.location.origin + window.location.href = origin + "/reset.html" +}) + +socket.on('code', function(data) { + console.log("got code") + console.log(JSON.parse(data).alliance) + console.log(JSON.parse(data).result) + console.log(getCookie('alliance')) + if (getCookie('alliance') == JSON.parse(data).alliance) { + console.log("setting text area value") + cur_code = JSON.parse(data).result + $("#text-area").attr("value", cur_code) + } +}) + +socket.on('code_feedback', function(data) { + alliance = JSON.parse(data).alliance + feedback = JSON.parse(data).feedback + if (getCookie('alliance') == alliance) { + if (feedback) { + $('#feedback').text("You solved the coding challenge! :)") + } else { + $('#feedback').text("You got the coding challenge wrong :(") + } + } + setTimeout(function() { + $('#feedback').text("") + }, 10000) +}) + +function submitCode() { + if (cur_code != null) { + msg = {"alliance": getCookie('alliance'), "answer": cur_code} + socket.emit('ui-to-server-code', JSON.stringify(msg)) + cur_code = null + $("#text-area").attr("value", "") + } +} + +function setTeams(t1_num, t2_num) { + $("#mr1label").text('Team Number ' + t1_num); + $("#mr2label").text('Team Number ' + t2_num); +} + +function blueClick() { + hideButtons() + document.cookie = "alliance=blue;path=/" +} + +function goldClick() { + hideButtons() + document.cookie = "alliance=gold;path=/" +} + +function murderCookie() { + document.cookie = "alliance=;path=/" + showButtons() +} + +function hideButtons() { + //TODO: $("gold element") set button style to hidden + //TODO: $("blue element") set button style to hidden + $("#gold_button").css("display", "none") + $("#blue_button").css("display", "none") + $("#as_button").css("display", "none") + // document.getElementById("gold_button").style.display = "none" + // document.getElementById("blue_button").style.display = "none" + // document.getElementById("as_button").style.display = "none" +} + +function showButtons() { + $("#gold_button").css("display", "block") + $("#blue_button").css("display", "block") + $("#as_button").css("display", "block") + // document.getElementById("gold_button").style.display = "block" + // document.getElementById("blue_button").style.display = "block" + // document.getElementById("as_button").style.display = "block" +} + +function setMasterRobot() { + //TODO: set master_robot + //TODO: set clicked robot number prominently +} + +//onclick +function submitPerks() { + team_color = getCookie('alliance') + //TODO: Gather list of selected perks + //TODO: data = {'alliance' : team_color, 'master_robot' : 1000, 'perk_1' : '' ...} + //TODO: socket.emit('ui-to-server-selected-perks', JSON.stringify(data)) + console.log(t1_num) + var robot = document.getElementsByName('master_robot'); + if (robot[1].checked) { + master_robot = t2_num; + } else { + master_robot = t1_num; + } + perk_1 = getPerk('tier1'); + perk_2 = getPerk('tier2'); + perk_3 = getPerk('tier3'); + perks_data = {'alliance' : team_color, 'perk_1' : perk_1, 'perk_2' : perk_2, 'perk_3' : perk_3} + master_robot_data = {'alliance' : team_color, 'team_num' : master_robot} + console.log("sending perks") + console.log(perks_data) + socket.emit('ui-to-server-master-robot', JSON.stringify(master_robot_data)) + socket.emit('ui-to-server-selected-perks', JSON.stringify(perks_data)) +} + +perk_dict = {"cb1": "bubblegum", "cb2": "diet", "cb3": "sweet_spot", "cb4": "taffy", "cb5": "chocolate_covered_espresso_beans", + "cb6": "minty_fresh_start", "cb7": "raspberry_cotton_candy", "cb8": "artificial_sweetener", "cb9": "jawbreaker", "cb10": "sour_gummy_worms"} + +function getPerk(name) { + var tier = document.getElementsByName(name); + console.log(tier) + var perk = "empty"; + for (var i = 0; i < tier.length; i++) { + if (tier[i].checked) { + perk = perk_dict[tier[i].id] + break; + } + } + return perk; +} diff --git a/shepherd/static/PerkSelection/perksUI.html b/shepherd/static/PerkSelection/perksUI.html new file mode 100644 index 00000000..4f5d25f5 --- /dev/null +++ b/shepherd/static/PerkSelection/perksUI.html @@ -0,0 +1,94 @@ + + + + + + + + + + + +
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Perk Selection

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Master Robot Selection: +
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  Perk 1

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 Perk 2

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 Perk 3

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+ + + diff --git a/shepherd/static/PerkSelection/reset.html b/shepherd/static/PerkSelection/reset.html new file mode 100644 index 00000000..687fd945 --- /dev/null +++ b/shepherd/static/PerkSelection/reset.html @@ -0,0 +1,6 @@ + + + + + + diff --git a/shepherd/static/PerkSelection/submit.html b/shepherd/static/PerkSelection/submit.html new file mode 100644 index 00000000..51290d7b --- /dev/null +++ b/shepherd/static/PerkSelection/submit.html @@ -0,0 +1,11 @@ + + + + + + + +
Submit
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10

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Blue 1

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104

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Bar
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Autonomous Period +

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104

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10

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Blue 1

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Blue 2

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Blue is Twisted
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Bar
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Blue is Twisted
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Bar
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Blue is Twisted
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OVERDRIVE
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30

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30

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30

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30

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+ Blue is Twisted + +

x

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+
+
+
+
+ Blue is Twisted + +

x

+ +
+
+
+ + + + + + \ No newline at end of file diff --git a/shepherd/static/scoreboard.js b/shepherd/static/scoreboard.js new file mode 100644 index 00000000..3200f2c7 --- /dev/null +++ b/shepherd/static/scoreboard.js @@ -0,0 +1,472 @@ +var socket = io('http://192.168.128.129:5500'); // io('http://127.0.0.1:5500') +var overTimer = true; +var stageTimer = true; +var timerA = true; +var timerB = true; +var timerC = true; +var timerD = true; +var goldSpoiledNumber = 0; +var blueSpoiledNumber = 0; +var isBlueTwisted = false; +var isGoldTwisted = false; + +socket.on('connect', function(data) { + socket.emit('join', 'scoreboard'); + }); + +socket.on('teams', function(match_info) { + b1_name = JSON.parse(match_info).b1name + b1_num = JSON.parse(match_info).b1num + b2_name = JSON.parse(match_info).b2name + b2_num = JSON.parse(match_info).b2num + g1_name = JSON.parse(match_info).g1name + g1_num = JSON.parse(match_info).g1num + g2_name = JSON.parse(match_info).g2name + g2_num = JSON.parse(match_info).g2num + match_number = JSON.parse(match_info).match_number + nextMatch(b1_name, b1_num, b2_name, b2_num, g1_name, g1_num, g2_name, g2_num, match_number) +}) + +socket.on('stage_timer_start', function(secondsInStage) { + time = JSON.parse(secondsInStage).time + stageTimerStart(time) +}) + +socket.on('stage', function(stage_name) { + stage = JSON.parse(stage_name).stage + console.log("got stage header") + console.log(stage) + setStageName(stage) +}) + +socket.on('launch_button_timer_start', function(allianceButton) { + alliance = JSON.parse(allianceButton).alliance + button = JSON.parse(allianceButton).button + console.log("launch button timer start") + if (alliance == "blue"){ + if (button == 1) { + runTimer1(); + } else { + runTimer2(); + } + } else { + if (button == 1) { + runTimer3(); + } else { + runTimer4(); + } + } + }); + +socket.on("reset_timers", function() { + resetTimers(); +}) + +socket.on("overdrive_start", function(data) { + block = JSON.parse(data).size + overTimer = true; + startOverdrive(30, block); +}) + + + +socket.on("applied_effect", function(data) { + console.log('?') + alliance = JSON.parse(data).alliance + effect = JSON.parse(data).effect + if (alliance == "blue"){ + if (effect == "twist") { + blueTwist(); + } else { + var spoiledTimeBlue = 15 + setImageVisible('#blueSpoiled', true) + var spoiledIntervalB = setInterval(function() { + if (spoiledTimeBlue == 0) { + clearInterval(spoiledIntervalB) + setImageVisible('#blueSpoiled', false) + } + else { + spoiledTimeBlue -= 1 + setImageVisible('#blueSpoiled', true) + } + }, 1000) + } + } else { + if (effect == "twist") { + goldTwist(); + } else { + var spoiledTimeGold = 15 + setImageVisible('#goldSpoiled', true) + var spoiledIntervalG = setInterval(function() { + if (spoiledTimeGold == 0) { + clearInterval(spoiledIntervalG) + setImageVisible('#goldSpoiled', false) + } + else { + spoiledTimeGold -= 1 + setImageVisible('#goldSpoiled', true) + } + }, 1000) + } + } +}) + +socket.on("perks_selected", function(data) { + alliance = JSON.parse(data).alliance + perk1 = JSON.parse(data).perk_1 + perk2 = JSON.parse(data).perk_2 + perk3 = JSON.parse(data).perk_3 + + selectPerk(alliance, 1, perk1) + selectPerk(alliance, 2, perk2) + selectPerk(alliance, 3, perk3) +}) + +function selectPerk(alliance, perk_num, perk) { + id = '#' + alliance + "Perk" + perk_num.toString() + if (perk == "empty") { + $(id).attr('src', "/static/Perk_" + perk_num + ".png" ); + } else { + $(id).attr('src', "/static/PerkSelection/assets/DummyPerks/" + perk + ".png" ); + // $(id).attr('src', "{{url_for( 'static', filename='PerkSelection/assets/DummyPerks/" + perk + ".png' )}}" ); + } +} + +function setScore(alliance, score) { + $('#' + alliance + '-score').html(score); +} + +socket.on("score", function(scores) { + alliance = JSON.parse(scores).alliance; + score = JSON.parse(scores).score; + setScore(alliance, score) +}) + +function testScore(blueScore, goldScore) { + $('#blue-score').html(blueScore); + $('#gold-score').html(goldScore); +} + +function testing() { + resetTimers() +} + +function resetTimers(){ + overTimer = false; + stageTimer = false; + timerA = false; + timerB = false; + timerC = false; + timerD = false; +} + +SETUP = "setup" +PERK_SELCTION = "perk_selection" +AUTO_WAIT = "auto_wait" +AUTO = "auto" +WAIT = "wait" +TELEOP = "teleop" +END = "end" + +stage_names = {"setup": "Setup", "perk_selection": "Perk Selection", + "auto_wait": "Perk Selection", "auto": "Autonomous Period", "wait": "Autonomousse Period", + "teleop": "Teleop Period", "end": "Post-Match"} + +function setStageName(stage) { + $('#stage').html(stage_names[stage]) +} + +function nextMatch(b1_name, b1_num, b2_name, b2_num, g1_name, g1_num, g2_name, g2_num, match_number){ + //set the names of all the teams and the match number + $('#blue-1-name').html(b1_name) + $('#blue-1-num').html(b1_num) + $('#blue-2-name').html(b2_name) + $('#blue-2-num').html(b2_num) + $('#gold-1-name').html(g1_name) + $('#gold-1-num').html(g1_num) + $('#gold-2-name').html(g2_name) + $('#gold-2-num').html(g2_num) + + selectPerk("blue", 1, "empty") + selectPerk("blue", 2, "empty") + selectPerk("blue", 3, "empty") + selectPerk("gold", 1, "empty") + selectPerk("gold", 2, "empty") + selectPerk("gold", 3, "empty") + + setImageVisible('#blueTwist', false) + setImageVisible('#goldTwist', false) + + setScore("blue", 0) + setScore("gold", 0) +} + +function stageTimerStart(timeleft) { + // timerA = false; + // timerB = false; + // timerC = false; + // timerD = false; + stageTimer = true; + runStageTimer(timeleft); +} + +function runStageTimer(timeleft) { + if(timeleft >= 0){ + setTimeout(function() { + $('#stage-timer').html(Math.floor(timeleft/60) + ":"+ pad(timeleft%60)) + if(stageTimer) { + stageTimerStart(timeleft - 1); + } else { + stageTimerStart(0) + $('#stage-timer').html("0:00") + } + }, 1000); + } +} + +function pad(number) { + return (number < 10 ? '0' : '') + number +} + +function setImageVisible(id, visible) { + $(id).css("visibility", (visible ? 'visible' : 'hidden')); +} + +function progress(timeleft, timetotal, $element) { + var progressBarWidth = timeleft * $element.width() / timetotal; + if (timeleft == timetotal) { + $element.find('div').animate({ width: progressBarWidth }, 0, 'linear').html(Math.floor(timeleft/60) + ":"+ pad(timeleft%60)); + } else { + $element.find('div').animate({ width: progressBarWidth }, 1000, 'linear').html(Math.floor(timeleft/60) + ":"+ pad(timeleft%60)); + } + if (timeleft > 0) { + setTimeout(function() { + if(overTimer) { + progress(timeleft - 1, timetotal, $element); + } else { + progress(0, 0, $element) + } + }, 1000); + } else { + $element.find('div').animate({ width: 0 }, 1000, 'linear').html("") + $('#overdriveText').css('color', 'white'); + // $('#overdriveText').html("OVERDRIVE!!! " + block + " size!!!"); + } +}; + +function startOverdrive(time, block) { + overTimer = true; + if (block == "fun") { + $('#overdriveText').html("OVERDRIVE - Fun Size!!!"); + } + if (block == "full") { + $('#overdriveText').html("OVERDRIVE - Full Size!!!"); + } + if (block == "king") { + $('#overdriveText').html("OVERDRIVE - King Size!!!"); + } + $('#overdriveText').css('color', 'DarkGreen'); + progress(time, time, $('#progressBar')); +} + +var a = 0 + , pi = Math.PI + , t = 30 + +var counter = t; + +console.log($("textbox").text() + "x") +console.log(t) + +function draw() { + // a should depend on the amount of time left + a++; + a %= 360; + var r = ( a * pi / 180 ) + , x = Math.sin( r ) * 15000 + , y = Math.cos( r ) * - 15000 + , mid = ( a > 180 ) ? 1 : 0 + , anim = + 'M 0 0 v -15000 A 15000 15000 1 ' + + mid + ' 1 ' + + x + ' ' + + y + ' z'; + //[x,y].forEach(function( d ){ + // d = Math.round( d * 1e3 ) / 1e3; + //}); + $("#loader").attr( 'd', anim ); + console.log(counter); + + // time left should be calculated using a timer that runs separately + if (a % (360 / t) == 0){ + counter -= 1; + if (counter <= 9) { + $("#textbox").css("left = '85px';") + } + $("#textbox").html(counter); + } + if (a == 0){ + return; + } + setTimeout(draw, 20); // Redraw +}; + +function blueTwist() { + // $('#blueTwist').attr('src', '../static/Twisted.png'); + setImageVisible('#blueTwist', true) +} + +function goldTwist() { + // $('#goldTwist').attr('src', '../static/Twisted.png'); + setImageVisible('#goldTwist', true) +} + +function runTimer1() { + timerA = true; + console.log("timerA set to true") + console.log(timerA) + //setTimeout(timer1, 0) + launchButtonTimer('.timer1', '.circle_animation1', timerA); +} + + +function runTimer2() { + timerB = true; + launchButtonTimer('.timer2', '.circle_animation2', timerB); +} + +function runTimer3() { + timerC = true; + launchButtonTimer('.timer3', '.circle_animation3', timerC); +} + +function runTimer4() { + timerD = true; + launchButtonTimer('.timer4', '.circle_animation4', timerC); +} + +function launchButtonTimer(timerNum, circleNum, timerStatus) { + /* how long the timer will run (seconds) */ + + var time = 30; + var initialOffset = '440'; + var i = 1; + + /* Need initial run as interval hasn't yet occured... */ + $(timerNum).css('stroke-dashoffset', initialOffset-(1*(initialOffset/time))); + + var interval = setInterval(function() { + $(timerNum).text(time - i); + if (timerNum == '.timer1') { + timerStatus = timerA; + } else if (timerNum == '.timer2') { + timerStatus = timerB; + } else if (timerNum == '.timer3') { + timerStatus = timerC; + } else { + timerStatus = timerD; + } + if (i == time||!timerStatus) { + clearInterval(interval); + $(timerNum).text(0); + $(circleNum).css('stroke-dashoffset', '0') + return; + } + $(circleNum).css('stroke-dashoffset', initialOffset-((i+1)*(initialOffset/time))); + i++; + }, 1000); + +} + +function timer1() { + /* how long the timer will run (seconds) */ + + var time = 30; + var initialOffset = '440'; + var i = 1; + + /* Need initial run as interval hasn't yet occured... */ + $('.circle_animation1').css('stroke-dashoffset', initialOffset-(1*(initialOffset/time))); + + var interval = setInterval(function() { + $('.timer1').text(time - i); + if (i == time||!timerA) { + clearInterval(interval); + $('.timer1').text(30); + $('.circle_animation1').css('stroke-dashoffset', '0') + return; + } + $('.circle_animation1').css('stroke-dashoffset', initialOffset-((i+1)*(initialOffset/time))); + i++; + }, 1000); + +} + +function timer2() { + /* how long the timer will run (seconds) */ + var time = 30; + var initialOffset = '440'; + var i = 1; + + /* Need initial run as interval hasn't yet occured... */ + $('.circle_animation2').css('stroke-dashoffset', initialOffset-(1*(initialOffset/time))); + + var interval = setInterval(function() { + $('.timer2').text(time - i); + if (i == time || !timerB) { + clearInterval(interval); + $('.timer2').text(30); + $('.circle_animation2').css('stroke-dashoffset', '0') + return; + } + $('.circle_animation2').css('stroke-dashoffset', initialOffset-((i+1)*(initialOffset/time))); + i++; + }, 1000); + +} + +function timer3() { + /* how long the timer will run (seconds) */ + var time = 30; + var initialOffset = '440'; + var i = 1; + + /* Need initial run as interval hasn't yet occured... */ + $('.circle_animation3').css('stroke-dashoffset', initialOffset-(1*(initialOffset/time))); + + var interval = setInterval(function() { + $('.timer3').text(time - i); + if (i == time||!timerC) { + clearInterval(interval); + $('.timer3').text(30); + $('.circle_animation3').css('stroke-dashoffset', '0') + return; + } + $('.circle_animation3').css('stroke-dashoffset', initialOffset-((i+1)*(initialOffset/time))); + i++; + }, 1000); + +} + +function timer4() { + /* how long the timer will run (seconds) */ + var time = 30; + var initialOffset = '440'; + var i = 1; + + /* Need initial run as interval hasn't yet occured... */ + $('.circle_animation4').css('stroke-dashoffset', initialOffset-(1*(initialOffset/time))); + + var interval = setInterval(function() { + $('.timer4').text(time - i); + if (i == time || !timerD) { + clearInterval(interval); + $('.timer4').text(30); + $('.circle_animation4').css('stroke-dashoffset', '0') + return; + } + $('.circle_animation4').css('stroke-dashoffset', initialOffset-((i+1)*(initialOffset/time))); + i++; + }, 1000); + +} diff --git a/shepherd/static/tempName.js b/shepherd/static/tempName.js new file mode 100644 index 00000000..146553f6 --- /dev/null +++ b/shepherd/static/tempName.js @@ -0,0 +1,28 @@ +var socket = io('http://127.0.0.1:5000'); + +socket.on('connect', function(data) { + socket.emit('join', 'scoreboard'); + }); + +socket.on('launch_button_timer_start', function(allianceButton) { + alliance = JSON.parse(allianceButton).alliance + button = JSON.parse(allianceButton).button + if (alliance == "blue"){ + if (button == 1) { + timer1() + } else { + timer2() + } + } else { + if (button == 1) { + timer3() + } else { + timer4() + } + } + }); + +socket.on('stage_timer_start', function(secondsInStage) { + time = JSON.parse(secondsInStage.time) + startOverdrive(time) +}) \ No newline at end of file diff --git a/shepherd/templates/RFID_control.html b/shepherd/templates/RFID_control.html new file mode 100644 index 00000000..ea0c4631 --- /dev/null +++ b/shepherd/templates/RFID_control.html @@ -0,0 +1,161 @@ + + + + RFID Control + + + + + + + + + + + + + + + + + + + +
+
+

RFID Control

+
+ +
+
+

~

+
+
+

~

+
+
+

~

+
+
+
+
+

~

+
+
+

~

+
+
+

~

+
+
+ +
+ + +
+ +
+ + + + diff --git a/shepherd/templates/Scoreboard.html b/shepherd/templates/Scoreboard.html new file mode 100644 index 00000000..3e411d46 --- /dev/null +++ b/shepherd/templates/Scoreboard.html @@ -0,0 +1,257 @@ + + + + Scoreboard + + + + + + + + + + + + + + + + + +
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+
+
+
+
+
+

10

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+
+

Blue 1

+
+
+
+

24

+
+
+

Blue 2

+
+
+ +
+ +
+

0

+
+ +
+
+
Blue perk 1
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Bar
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Blue perk 2
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Bar
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Blue perk 3
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+
+
+
+
+

Setup +

+

+
+

0:00

+
+
+
+
+
+
+

0

+
+
+
+
+

10

+
+
+

Blue 1

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+
+
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24

+
+
+

Blue 2

+
+
+
+
+
+
Gold perk 1
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Bar
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Gold perk 2
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Bar
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Gold perk 3
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+
+
+
+
OVERDRIVE
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+
+
+
+
+ + +
+
+
+
+

0

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+
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0

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0

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0

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x

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0

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x

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0

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Perk Selection

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Master Robot Selection: +
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  Perk 1

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 Perk 2

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 Perk 3

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+ + + diff --git a/shepherd/templates/reset.html b/shepherd/templates/reset.html new file mode 100644 index 00000000..526dcc01 --- /dev/null +++ b/shepherd/templates/reset.html @@ -0,0 +1,10 @@ + + + + Waiting + + + + + + diff --git a/shepherd/templates/score_adjustment.html b/shepherd/templates/score_adjustment.html new file mode 100644 index 00000000..f049b896 --- /dev/null +++ b/shepherd/templates/score_adjustment.html @@ -0,0 +1,162 @@ + + + + Score Adjustment + + + + + + + + + + + + + + + + + + + + +
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Score Adjustment

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Blue Score

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Gold Score

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+ + + + diff --git a/shepherd/templates/staff_gui.html b/shepherd/templates/staff_gui.html new file mode 100644 index 00000000..60596d13 --- /dev/null +++ b/shepherd/templates/staff_gui.html @@ -0,0 +1,381 @@ + + + + Staff UI + + + + + + + + + + + + + + + + + + + +
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Match Creator

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+ + + diff --git a/shepherd/templates/stage_control.html b/shepherd/templates/stage_control.html new file mode 100644 index 00000000..8afb3c2c --- /dev/null +++ b/shepherd/templates/stage_control.html @@ -0,0 +1,384 @@ + + + + Stage Control + + + + + + + + + + + + + + + + + + + +
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Stage Control

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+ + + diff --git a/shepherd/templates/submit.html b/shepherd/templates/submit.html new file mode 100644 index 00000000..42168c42 --- /dev/null +++ b/shepherd/templates/submit.html @@ -0,0 +1,15 @@ + + + + Code Submission + + + + + + + + +
Submit
+ + diff --git a/staff-bots/dpad_controls-gpio_auto-motorpath.py b/staff-bots/dpad_controls-gpio_auto-motorpath.py new file mode 100644 index 00000000..b4539120 --- /dev/null +++ b/staff-bots/dpad_controls-gpio_auto-motorpath.py @@ -0,0 +1,361 @@ +import time +import os +import sys +import json +import threading +from multiprocessing import Process +import pigpio #pylint: disable=import-error + + +sys.path.insert(0, '/home/pi/.local/lib/python2.7/site-packages/') + + +gpio = pigpio.pi() + +class setInterval: + def __init__(self, action, interval): + self.interval = interval + self.action = action + self.stopEvent = threading.Event() + thread = threading.Thread(target=self.__setInterval) + thread.start() + + def __setInterval(self): + nextTime = time.time() + self.interval + while not self.stopEvent.wait(nextTime-time.time()): + nextTime += self.interval + self.action() + + def cancel(self): + self.stopEvent.set() + + +class led: + def __init__(self, rgbPins): + self.rgb = rgbPins + def reset(self): + for color in self.rgb: + gpio.write(color, 1) + def strobe(self, speed): + flag = False + print("Strobe") + def action(self, flag): + print("Strobing, flag: ", flag) + setRgb([flag, flag, flag]) #pylint: disable=undefined-variable + flag = not flag + return setInterval(action(self, flag), 1 / speed) + def setRgb(self, vals): + for i in range(len(vals)): + if vals[i] % 1 == 0: + gpio.write(self.rgb[i], not vals[i]) + else: + gpio.set_PWM_dutycycle(self.rgb[i], 255 * (1 - vals[i])) + +strip = led([2, 3, 4]) +currentAnimation = None + +motor = { + "config": { + "drive": 0.5, + "lift": 1 + }, + "right": { + "name": "right", + "pins": [12, 16], + "value": 0 + }, + "left": { + "name": "left", + "pins": [21, 20], + "value": 0 + }, + "lift": { + "name": "lift", + "pins": [19, 26], + "value": 0 + } +} + + +auto = { + "file": "/home/pi/Autonomous/autonomous_motor-paths.json", + "recording": False, + "motor": {}, + "foot": 0.73469387748, + "rotation": 2.45 +} + + +startTime = 0 +switchID = "18851477588195929070" +switch0 = False +switch1 = False +switch2 = False +stop_down = 1 +stop_up = 1 +start_pos_up = 1 +def setM(m, speed): + global startTime + global motor + global auto + if speed != motor[m["name"]]["value"]: + motor[m["name"]]["value"] = speed + if auto["recording"]: + auto["motor"][m["name"]]["path"].append({ + "time": time.time() - startTime, + "value": speed + }) + if speed >= 0: + gpio.write(m["pins"][1], 0) + gpio.set_PWM_dutycycle(m["pins"][0], 255 * speed) + else: + gpio.write(m["pins"][0], 0) + gpio.set_PWM_dutycycle(m["pins"][1], 255 * -speed) + # setM(motor, speed) + +def resetMotors(): + for m in motor: + if "pins" in motor[m]: + gpio.write(motor[m]["pins"][0], 0) + gpio.write(motor[m]["pins"][1], 0) +resetMotors() + +def autonomous_setup(): + print("Autonomous mode has started!") + Robot.run(autonomous_play) #pylint: disable=undefined-variable + +def autonomous_main(): + pass + +async def autonomous_actions(): + #Tells robot to move forward: + Robot.run(autonomous_move()) #pylint: disable=undefined-variable + +async def autonomous_play(): + data = json.load(open(auto["file"], 'r')) + startTime = time.time() #pylint: disable=redefined-outer-name + mPath = data[len(data) - 1] + for m in mPath["motor"]: + mPath["motor"][m]["step"] = 0 + while time.time() - startTime < mPath["time"]: + for m in mPath["motor"]: + m = mPath["motor"][m] + currentTime = time.time() - startTime + if m["step"] < len(m["path"]) - 1 and currentTime > m["path"][m["step"] + 1]["time"]: + print('m["step"]: ' + str(m["step"])) + m["step"] += 1 + setM(m, m["path"][m["step"]]["value"]) + +#pylint: disable=redefined-outer-name +async def auto_action(motor, time): + setM(motor, motor["value"]) + await Actions.sleep(time) #pylint: disable=undefined-variable +async def autonomous_move(): + pass + +def teleop_setup(): + print("Tele-operated mode has started!") + +def teleop_main(): + #pylint: disable=too-many-statements + global stop_up + global stop_down + global start_pos_up + global auto + global startTime + global motor + global currentAnimation + # pylint: disable=undefined-variable + dup = Gamepad.get_value("dpad_up") + ddown = Gamepad.get_value("dpad_down") + dleft = Gamepad.get_value("dpad_left") + dright = Gamepad.get_value("dpad_right") + if Gamepad.get_value("button_start"): + if not auto["recording"]: + print("Recording") + auto["recording"] = True + startTime = time.time() + for m in motor: + if "name" in motor[m]: + auto["motor"][motor[m]["name"]] = motor[m] + auto["motor"][motor[m]["name"]]["path"] = [{ + "time": 0, + "value": 0 + }] + strip.setRgb([0.5, 0, 0]) + else: + print("Already recording") + if Gamepad.get_value("button_back"): + if auto["recording"]: + print("Logging Record") + auto["recording"] = False + data = json.load(open(auto["file"], 'r')) + data.append({ + "title": "Untitled", + "time": time.time() - startTime, + "motor": auto["motor"] + }) + # print(json.dumps(data, indent=2)) + json.dump(data, open(auto["file"], 'w'), indent=2) + for i in range(0, 7): + strip.setRgb([0, i % 2, 0]) + time.sleep(0.1) + else: + print("Not recording") + if Gamepad.get_value("button_b"): + #currentAnimation and \ + currentAnimation.cancel() + currentAnimation = strip.strobe(10) + if Gamepad.get_value("r_bumper"): + motor["config"]["drive"] = 1 + if Gamepad.get_value("l_bumper"): + motor["config"]["drive"] = 0.5 + if dup: + if dleft: + setM(motor["left"], 0) + setM(motor["right"], motor["config"]["drive"]) + elif dright: + setM(motor["left"], motor["config"]["drive"]) + setM(motor["right"], 0) + else: + setM(motor["left"], motor["config"]["drive"]) + setM(motor["right"], motor["config"]["drive"]) + elif ddown: + if dleft: + setM(motor["left"], 0) + setM(motor["right"], -motor["config"]["drive"]) + elif dright: + setM(motor["left"], -motor["config"]["drive"]) + setM(motor["right"], 0) + else: + setM(motor["left"], -motor["config"]["drive"]) + setM(motor["right"], -motor["config"]["drive"]) + elif dright: + setM(motor["right"], -motor["config"]["drive"]) + setM(motor["left"], motor["config"]["drive"]) + elif dleft: + setM(motor["right"], motor["config"]["drive"]) + setM(motor["left"], -motor["config"]["drive"]) + else: + setM(motor["right"], 0) + setM(motor["left"], 0) + # setM(motor["left"], (Gamepad.get_value("dpad_up") - Gamepad.get_value("dpad_down") + + # Gamepad.get_value("dpad_right") - Gamepad.get_value("dpad_left")) * motor["config"]["drive"]) + # setM(motor["right"], (Gamepad.get_value("dpad_up") - Gamepad.get_value("dpad_down") - + # Gamepad.get_value("dpad_right") + Gamepad.get_value("dpad_left")) * motor["config"]["drive"]) + if Gamepad.get_value("r_bumper"): + motor["config"]["drive"] = 1 + if Gamepad.get_value("l_bumper"): + motor["config"]["drive"] = 0.5 + if Gamepad.get_value("r_trigger") == 1: + stop_down = 1 # clear stop value + start_pos_up = 1 + if Robot.get_value(switchID, "switch0") and stop_up: + setM(motor["lift"], motor["config"]["lift"])# keep going UP + else: # hit top limit switch, stop and reverse motor + setM(motor["lift"], 0.0) # stop motor for now + elif Gamepad.get_value("l_trigger") == 1: + start_pos_up = 1 + stop_up = 1 # clear stop value + if Robot.get_value(switchID, "switch2") and stop_down: + setM(motor["lift"], -motor["config"]["lift"])# keeping going DOWN + else: # hit bottom limit switch, stop and reverse motor + setM(motor["lift"], 0.0) # stop motor for now + elif Gamepad.get_value("button_a") == 1: + if Robot.get_value(switchID, "switch1") and start_pos_up: + setM(motor["lift"], motor["config"]["lift"]) # go up + elif Robot.get_value(switchID, "switch1") == 0: + setM(motor["lift"], 0.0)# stop + start_pos_up = 0 + else: + start_pos_up = 1 + setM(motor["lift"], 0.0) + + + + +# Problem 1 +def tennis_balls2(num): + #pylint: disable=no-else-return + if num % 3 == 0: + return num / 3 + elif not num % 2 == 0: + return num * 4 + 2 + else: + return num + 1 +def tennis_ball(num): + for _ in range(0, 5): + num = tennis_balls2(num) + return num + +# Problem 2 +def remove_duplicates(num): + num2 = str(num) + array = "" + i = 0 + while i < len(num2): + #print("I"+str(i)) + if i < len(num2): + #print("I"+str(i)) + if num2[i] in array: + #print("in"+num2[i]) + #print(num2) + if i < len(num2): + num2 = num2[:i]+num2[i+1:] + else: + num2 = num2[:i-1] + #num2 = num2.split(num2[i]) + #print(num2) + i -= 1 + else: + #print("Array"+array) + array += num2[i] + i += 1 + return int(num2) + +# Problem 3 +def rotate(num): + num = str(num) + big = 0 + for i in num: + if int(i) > big: + big = int(i) + for i in range(big): + lastnum = num[-1:] + num = num[:-1] + num = lastnum + num + return int(num) + +#Problem 4 +def next_fib(num): + i = 0 + j = 1 + #pylint: disable=no-else-return + if num == 0: + return 0 + elif num == 1: + return 1 + while j < num: + temp = j + j = i + j + i = temp + return j + +# Problem 5 +def most_common(inputnum): + outs = [] + zeroArr = [] + for i in range(10): + outs.append(0) + zeroArr.append(0) + + for i in str(inputnum): + outs[int(i)] += 1 + +# Problem 6 +def get_coins(num): + q = (int)(num / 25) + num = num % 25 + n = (int)(num / 5) + num = num % 5 + return int(str(q)+str(n)+str(num))