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Indicate role using LED eye colors #119

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merged 3 commits into from
Jul 8, 2023
Merged

Indicate role using LED eye colors #119

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8be05a7
Non ball indicating eye should have messed up colors at all but initi…
Lasse-van-Iterson Jul 7, 2023
90dcf8d
Added eye colors that change based on the role of the NAO
Lasse-van-Iterson Jul 7, 2023
8fa1136
Added difference left and right defender and incorperated the PR comm…
Lasse-van-Iterson Jul 8, 2023
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17 changes: 15 additions & 2 deletions crates/control/src/led_status.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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?">,
Expand Down Expand Up @@ -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 {
Expand Down Expand Up @@ -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 => {
Expand All @@ -199,6 +202,16 @@ impl LedStatus {
} else {
None
};
let right_eye = match role {
Role::Loser => Eye::loser_eye(),
Role::Striker => Eye::striker_eye(),
Role::StrikerSupporter => Eye::striker_support_eye(),
Role::DefenderLeft | Role::DefenderRight => Eye::defender_eye(),
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Could we maybe split this up, and split the colours in the eye based on the defender side? Might be useful!

Role::Keeper => Eye::keeper_eye(),
Role::ReplacementKeeper => Eye::keeper_replacement_eye(),
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Suggested change
Role::ReplacementKeeper => Eye::keeper_replacement_eye(),
Role::ReplacementKeeper => Eye::replacement_keeper_eye(),

Role::Searcher => Eye::searcher_eye(),
_ => Eye::default()
};
(
Eye {
color_at_0: ball_color_top
Expand All @@ -216,7 +229,7 @@ impl LedStatus {
color_at_315: ball_color_top
.unwrap_or_else(|| ball_background_color.unwrap_or(Rgb::BLACK)),
},
Eye::default(),
right_eye,
)
}
}
Expand Down
93 changes: 93 additions & 0 deletions crates/types/src/led.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,99 @@ pub struct Eye {
pub color_at_315: Rgb,
}

impl Eye {
pub 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),
}
}

pub fn striker_eye() -> Eye {
Eye {
color_at_0: Rgb::new(255, 0, 0),
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User Rgb::Red

color_at_45: Rgb::new(255, 0, 0),
color_at_90: Rgb::new(255, 0, 0),
color_at_135: Rgb::new(255, 0, 0),
color_at_180: Rgb::new(255, 0, 0),
color_at_225: Rgb::new(255, 0, 0),
color_at_270: Rgb::new(255, 0, 0),
color_at_315: Rgb::new(255, 0, 0),
}
}

pub fn striker_support_eye() -> Eye {
Eye {
color_at_0: Rgb::new(255, 255, 0),
color_at_45: Rgb::new(255, 255, 0),
color_at_90: Rgb::new(255, 255, 0),
color_at_135: Rgb::new(255, 255, 0),
color_at_180: Rgb::new(255, 255, 0),
color_at_225: Rgb::new(255, 255, 0),
color_at_270: Rgb::new(255, 255, 0),
color_at_315: Rgb::new(255, 255, 0),
}
}

pub fn defender_eye() -> Eye {
Eye {
color_at_0: Rgb::new(255, 255, 255),
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Use rgb::white.

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(255, 255, 255),
color_at_225: Rgb::new(255, 255, 255),
color_at_270: Rgb::new(255, 255, 255),
color_at_315: Rgb::new(255, 255, 255),
}
}

pub fn keeper_eye() -> Eye {
Eye {
color_at_0: Rgb::new(0, 0, 255),
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See comments above

color_at_45: Rgb::new(0, 0, 255),
color_at_90: Rgb::new(0, 0, 255),
color_at_135: Rgb::new(0, 0, 255),
color_at_180: Rgb::new(0, 0, 255),
color_at_225: Rgb::new(0, 0, 255),
color_at_270: Rgb::new(0, 0, 255),
color_at_315: Rgb::new(0, 0, 255),
}
}

pub fn keeper_replacement_eye() -> Eye {
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Suggested change
pub fn keeper_replacement_eye() -> Eye {
pub 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),
}
}

pub 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),
}
}
}

impl From<Rgb> for Eye {
fn from(rgb: Rgb) -> Self {
Self {
Expand Down