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Commit 9b90f94

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FallnFalln
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Added in IndexStatus, its layout and its NT connections
Added in new field image for AL and cleaned up overall look of AL Added Cargo Position tracking to AL and finished the NT behind it Added in Auto Selections to AL and binded it to the DriveTime Auto Selections
1 parent b208388 commit 9b90f94

11 files changed

+196
-31
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‎Blue_Cargo.png‎

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‎CommandoDash.csproj‎

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@@ -8,11 +8,13 @@
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</PropertyGroup>
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<ItemGroup>
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<None Remove="Blue_Cargo.png" />
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<None Remove="close.png" />
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<None Remove="CommandoLogov1.png" />
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<None Remove="CommandoLogov1_preview_rev_1.png" />
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<None Remove="favicon-16x16.png" />
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<None Remove="favicon-32x32.png" />
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<None Remove="FRC 2022 Offical Field.png" />
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<None Remove="FRC 2022 PathPlanner Field - Ideal.png" />
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<None Remove="FRC 2022 PathPlanner Field.png" />
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<None Remove="FRC 2022 PathPlanner Half-Field - Ideal.png" />
@@ -23,12 +25,16 @@
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<None Remove="Images\5889-Index-Robot-PNG %283%29.png" />
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<None Remove="Images\5889-Index-Robot-PNG.png" />
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<None Remove="Images\5889-Index-Robot.png" />
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<None Remove="Images\Blue_Cargo.png" />
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<None Remove="Images\FRC 2022 Offical Field.png" />
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<None Remove="Images\FRC 2022 PathPlanner Field.png" />
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<None Remove="Images\FRC 2022 PathPlanner Half-Field - Ideal.png" />
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<None Remove="Images\Logo_Square_WhiteBackground_CommandoRobotics.png" />
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<None Remove="Images\Red_Cargo.png" />
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<None Remove="Images\refresh_icon.png" />
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<None Remove="Logo_Square_DarkBackground_CommandoRobotics.png" />
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<None Remove="Logo_Square_WhiteBackground_CommandoRobotics.png" />
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<None Remove="Red_Cargo.png" />
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<None Remove="refresh_icon.png" />
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<None Remove="restore-down.png" />
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<None Remove="subtract.png" />
@@ -45,11 +51,13 @@
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</ItemGroup>
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<ItemGroup>
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<Resource Include="Blue_Cargo.png" />
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<Resource Include="close.png" />
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<Resource Include="CommandoLogov1.png" />
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<Resource Include="CommandoLogov1_preview_rev_1.png" />
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<Resource Include="favicon-16x16.png" />
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<Resource Include="favicon-32x32.png" />
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<Resource Include="FRC 2022 Offical Field.png" />
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<Resource Include="FRC 2022 PathPlanner Field - Ideal.png" />
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<Resource Include="FRC 2022 PathPlanner Field.png" />
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<Resource Include="FRC 2022 PathPlanner Half-Field - Ideal.png" />
@@ -68,6 +76,12 @@
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<Content Include="Images\5889-Index-Robot.png">
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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</Content>
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<Content Include="Images\Blue_Cargo.png">
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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</Content>
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<Content Include="Images\FRC 2022 Offical Field.png">
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<CopyToOutputDirectory>Always</CopyToOutputDirectory>
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</Content>
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<Content Include="Images\FRC 2022 PathPlanner Field.png">
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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</Content>
@@ -77,11 +91,15 @@
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<Content Include="Images\Logo_Square_WhiteBackground_CommandoRobotics.png">
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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</Content>
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<Content Include="Images\Red_Cargo.png">
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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</Content>
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<Content Include="Images\refresh_icon.png">
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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</Content>
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<Resource Include="Logo_Square_DarkBackground_CommandoRobotics.png" />
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<Resource Include="Logo_Square_WhiteBackground_CommandoRobotics.png" />
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<Resource Include="Red_Cargo.png" />
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<Resource Include="refresh_icon.png" />
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<Resource Include="restore-down.png" />
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<Resource Include="subtract.png" />

‎FRC 2022 Offical Field.png‎

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‎FRC 2022 PathPlanner Field.png‎

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‎Images/Blue_Cargo.png‎

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‎Images/FRC 2022 Offical Field.png‎

402 KB
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‎Images/FRC 2022 PathPlanner Field.png‎

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‎Images/Red_Cargo.png‎

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‎MainWindow.xaml‎

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‎MainWindow.xaml.cs‎

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@@ -127,9 +127,22 @@ public MainWindow()
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AddSimpleEntryListener(CommandoDashNT.GetSubTable("SensorData").GetEntry("isCentric"), new Action(() =>
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IsCentricSB.IsActive = CommandoDashNT.GetSubTable("SensorData").GetEntry("isCentric").GetBoolean(true)));
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//Update Index Spot 1
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AddSimpleEntryListener(CommandoDashNT.GetSubTable("SensorData").GetEntry("indexSpot1HasCargo"), new Action(() => updateIndexSpot1()));
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//Update Index Spot 2
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AddSimpleEntryListener(CommandoDashNT.GetSubTable("SensorData").GetEntry("indexSpot2HasCargo"), new Action(() => updateIndexSpot2()));
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//Update Intake Spot
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AddSimpleEntryListener(CommandoDashNT.GetSubTable("SensorData").GetEntry("intakeSpotHasCargo"), new Action(() => updateIntakeSpot()));
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//AutoLayouts
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//Update Robot Field2d position
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AddSimpleEntryListener(ntInst.GetTable("SmartDashboard").GetSubTable("Field").GetEntry("Robot"), new Action(() => updateRobotPosition()));
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//Update Cargo Field2d position
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AddSimpleEntryListener(ntInst.GetTable("SmartDashboard").GetSubTable("Field").GetEntry("SeenCargo"), new Action(() => updateCargoPosition()));
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}
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public void defaultStates()
@@ -252,6 +265,18 @@ private void alliance_Update()
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HoundSeesTargetSB.ActiveBrush = (Brush) this.Resources["HoundRedHounding"];
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HoundSeesTargetSB.InactiveBrush = (Brush) this.Resources["HoundRedDefault"];
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HoundSeesTargetSB.BorderBrush = (Brush)this.Resources["HoundRedBorder"];
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FieldCargo.ImageSource = new BitmapImage(new Uri("Images/Red_Cargo.png", UriKind.Relative));
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FieldImageScale.ScaleX = -1;
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FieldImageScale.ScaleY = 1;
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IndexCargo1Image.Source = new BitmapImage(new Uri("Images/Red_Cargo.png", UriKind.Relative));
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IndexCargo2Image.Source = new BitmapImage(new Uri("Images/Red_Cargo.png", UriKind.Relative));
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IntakeCargoImage.Source = new BitmapImage(new Uri("Images/Red_Cargo.png", UriKind.Relative));
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IndexSpot1SB.ActiveBrush = (Brush)this.Resources["IndexRedEnabled"];
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IndexSpot2SB.ActiveBrush = (Brush)this.Resources["IndexRedEnabled"];
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IntakeSpotSB.ActiveBrush = (Brush)this.Resources["IndexRedEnabled"];
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} else
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{
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HoundHoundingTargetSB.ActiveBrush = (Brush)this.Resources["HoundBlueHounding"];
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HoundSeesTargetSB.ActiveBrush = (Brush)this.Resources["HoundBlueHounding"];
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HoundSeesTargetSB.InactiveBrush = (Brush)this.Resources["HoundBlueDefault"];
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HoundSeesTargetSB.BorderBrush = (Brush)this.Resources["HoundBlueBorder"];
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FieldCargo.ImageSource = new BitmapImage(new Uri("Images/Blue_Cargo.png", UriKind.Relative));
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FieldImageScale.ScaleX = 1;
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FieldImageScale.ScaleY = -1;
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IndexCargo1Image.Source = new BitmapImage(new Uri("Images/Blue_Cargo.png", UriKind.Relative));
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IndexCargo2Image.Source = new BitmapImage(new Uri("Images/Blue_Cargo.png", UriKind.Relative));
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IntakeCargoImage.Source = new BitmapImage(new Uri("Images/Blue_Cargo.png", UriKind.Relative));
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IndexSpot1SB.ActiveBrush = (Brush)this.Resources["IndexBlueEnabled"];
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IndexSpot2SB.ActiveBrush = (Brush)this.Resources["IndexBlueEnabled"];
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IntakeSpotSB.ActiveBrush = (Brush)this.Resources["IndexBlueEnabled"];
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}
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}
@@ -343,7 +380,60 @@ private void updateRobotPosition()
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RobotXText.Text = Math.Round(robotXMeters,4).ToString() + "m";
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RobotYText.Text = Math.Round(robotYMeters,4).ToString() + "m";
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RobotRText.Text = Math.Round(robotRDegrees,4).ToString() + "°";
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}
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private void updateCargoPosition()
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{
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Thickness cargoMargin = CargoRectangle.Margin;
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double cargoXMeters = ntInst.GetTable("SmartDashboard").GetSubTable("Field").GetEntry("SeenCargo").GetDoubleArray(new double[3] { 0, 0, 0 })[0];
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double cargoYMeters = ntInst.GetTable("SmartDashboard").GetSubTable("Field").GetEntry("SeenCargo").GetDoubleArray(new double[3] { 0, 0, 0 })[1];
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cargoMargin.Left = (cargoXMeters * (Field.Width / 16.4592)) - 15;
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cargoMargin.Top = (cargoYMeters * (Field.Height / 8.2296)) - 15;
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CargoRectangle.Margin = cargoMargin;
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CargoXText.Text = Math.Round(cargoXMeters, 4).ToString() + "m";
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CargoYText.Text = Math.Round(cargoYMeters, 4).ToString() + "m";
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}
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private void updateIndexSpot1()
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{
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Boolean spotHasCargo = CommandoDashNT.GetSubTable("SensorData").GetEntry("indexSpot1HasCargo").GetBoolean(false);
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if (spotHasCargo)
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{
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IndexCargo1Image.Visibility = Visibility.Visible;
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} else
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{
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IndexCargo1Image.Visibility = Visibility.Hidden;
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}
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IndexSpot1SB.IsActive = spotHasCargo;
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}
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private void updateIndexSpot2()
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{
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Boolean spotHasCargo = CommandoDashNT.GetSubTable("SensorData").GetEntry("indexSpot2HasCargo").GetBoolean(false);
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if (spotHasCargo)
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{
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IndexCargo2Image.Visibility = Visibility.Visible;
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}
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else
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{
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IndexCargo2Image.Visibility = Visibility.Hidden;
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}
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IndexSpot2SB.IsActive = spotHasCargo;
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}
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private void updateIntakeSpot()
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{
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Boolean spotHasCargo = CommandoDashNT.GetSubTable("SensorData").GetEntry("intakeSpotHasCargo").GetBoolean(false);
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if (spotHasCargo)
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{
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IntakeCargoImage.Visibility = Visibility.Visible;
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}
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else
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{
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IntakeCargoImage.Visibility = Visibility.Hidden;
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}
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IntakeSpotSB.IsActive = spotHasCargo;
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}
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