Indicate role using LED eye colors

crates/control/src/led_status.rs

@@ -3,7 +3,7 @@ use std::time::{Duration, SystemTime, UNIX_EPOCH};
 use color_eyre::Result;
 use context_attribute::context;
 use framework::{MainOutput, PerceptionInput};
-use types::{Ball, CycleTime, Eye, FilteredWhistle, Leds, PrimaryState, Rgb};
+use types::{Ball, CycleTime, Eye, FilteredWhistle, Leds, PrimaryState, Rgb, Role};
 
 pub struct LedStatus {
     blink_state: bool,
@@ -20,6 +20,7 @@ pub struct CycleContext {
     pub primary_state: Input<PrimaryState, "primary_state">,
     pub cycle_time: Input<CycleTime, "cycle_time">,
     pub filtered_whistle: Input<FilteredWhistle, "filtered_whistle">,
+    pub role: Input<Role, "role">,
 
     pub balls_bottom: PerceptionInput<Option<Vec<Ball>>, "VisionBottom", "balls?">,
     pub balls_top: PerceptionInput<Option<Vec<Ball>>, "VisionTop", "balls?">,
@@ -147,6 +148,7 @@ impl LedStatus {
             at_least_one_ball_data_bottom,
             last_ball_data_top_too_old,
             last_ball_data_bottom_too_old,
+            *context.role,
         );
 
         let ears = if context.filtered_whistle.is_detected {
@@ -176,6 +178,7 @@ impl LedStatus {
         at_least_one_ball_data_bottom: bool,
         last_ball_data_top_too_old: bool,
         last_ball_data_bottom_too_old: bool,
+        role: Role,
     ) -> (Eye, Eye) {
         match primary_state {
             PrimaryState::Unstiff => {
@@ -199,6 +202,17 @@ impl LedStatus {
                 } else {
                     None
                 };
+                let right_eye = match role {
+                    Role::Loser => Self::loser_eye(),
+                    Role::Striker => Eye::from(Rgb::RED),
+                    Role::StrikerSupporter => Eye::from(Rgb::ORANGE),
+                    Role::DefenderLeft => Self::defender_eye_left(),
+                    Role::DefenderRight => Self::defender_eye_right(),
+                    Role::Keeper => Eye::from(Rgb::BLUE),
+                    Role::ReplacementKeeper => Self::replacement_keeper_eye(),
+                    Role::Searcher => Self::searcher_eye(),
+                    _ => Eye::default(),
+                };
                 (
                     Eye {
                         color_at_0: ball_color_top
@@ -216,12 +230,77 @@ impl LedStatus {
                         color_at_315: ball_color_top
                             .unwrap_or_else(|| ball_background_color.unwrap_or(Rgb::BLACK)),
                     },
-                    Eye::default(),
+                    right_eye,
                 )
             }
         }
     }
 
+    fn loser_eye() -> Eye {
+        Eye {
+            color_at_0: Rgb::new(255, 150, 255),
+            color_at_45: Rgb::new(25, 0, 25),
+            color_at_90: Rgb::new(255, 200, 25),
+            color_at_135: Rgb::new(55, 0, 255),
+            color_at_180: Rgb::new(255, 0, 25),
+            color_at_225: Rgb::new(25, 30, 255),
+            color_at_270: Rgb::new(255, 0, 255),
+            color_at_315: Rgb::new(255, 10, 5),
+        }
+    }
+
+    fn defender_eye_right() -> Eye {
+        Eye {
+            color_at_0: Rgb::new(0, 0, 0),
+            color_at_45: Rgb::new(0, 0, 0),
+            color_at_90: Rgb::new(0, 0, 0),
+            color_at_135: Rgb::new(0, 0, 0),
+            color_at_180: Rgb::new(0, 0, 0),
+            color_at_225: Rgb::new(255, 255, 255),
+            color_at_270: Rgb::new(255, 255, 255),
+            color_at_315: Rgb::new(255, 255, 255),
+        }
+    }
+
+    fn defender_eye_left() -> Eye {
+        Eye {
+            color_at_0: Rgb::new(0, 0, 0),
+            color_at_45: Rgb::new(255, 255, 255),
+            color_at_90: Rgb::new(255, 255, 255),
+            color_at_135: Rgb::new(255, 255, 255),
+            color_at_180: Rgb::new(0, 0, 0),
+            color_at_225: Rgb::new(0, 0, 0),
+            color_at_270: Rgb::new(0, 0, 0),
+            color_at_315: Rgb::new(0, 0, 0),
+        }
+    }
+
+    fn replacement_keeper_eye() -> Eye {
+        Eye {
+            color_at_0: Rgb::new(0, 220, 255),
+            color_at_45: Rgb::new(0, 220, 255),
+            color_at_90: Rgb::new(0, 220, 255),
+            color_at_135: Rgb::new(0, 220, 255),
+            color_at_180: Rgb::new(0, 220, 255),
+            color_at_225: Rgb::new(0, 220, 255),
+            color_at_270: Rgb::new(0, 220, 255),
+            color_at_315: Rgb::new(0, 220, 255),
+        }
+    }
+
+    fn searcher_eye() -> Eye {
+        Eye {
+            color_at_0: Rgb::new(255, 255, 0),
+            color_at_45: Rgb::new(0, 0, 255),
+            color_at_90: Rgb::new(255, 255, 0),
+            color_at_135: Rgb::new(0, 0, 255),
+            color_at_180: Rgb::new(255, 255, 0),
+            color_at_225: Rgb::new(0, 0, 255),
+            color_at_270: Rgb::new(255, 255, 0),
+            color_at_315: Rgb::new(0, 0, 255),
+        }
+    }
+
     fn get_dnt_eye_dynamic(cycle_start_time: SystemTime) -> Eye {
         let seconds = cycle_start_time
             .duration_since(UNIX_EPOCH)

crates/types/src/color.rs

@@ -124,6 +124,7 @@ pub struct Rgb {
 impl Rgb {
     pub const BLACK: Rgb = Rgb::new(0, 0, 0);
     pub const RED: Rgb = Rgb::new(255, 0, 0);
+    pub const ORANGE: Rgb = Rgb::new(255, 120, 0);
     pub const GREEN: Rgb = Rgb::new(0, 255, 0);
     pub const BLUE: Rgb = Rgb::new(0, 0, 255);
     pub const YELLOW: Rgb = Rgb::new(255, 220, 0);