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robot: Reduce prematch status lights code nesting #430

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robot: Reduce prematch status lights code nesting #430

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57 changes: 32 additions & 25 deletions robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -376,31 +376,9 @@ def disabledPeriodic(self) -> None:
if self.gamepad.getBackButtonPressed():
self._display_auto_trajectory()

if (
self.starboard_vision.sees_multi_tag_target()
or self.port_vision.sees_multi_tag_target()
):
selected_auto = self._automodes.chooser.getSelected()
if isinstance(selected_auto, AutoBase):
intended_start_pose = selected_auto.get_starting_pose()
current_pose = self.chassis.get_pose()
if intended_start_pose is not None:
self.field.getObject("Intended start pos").setPose(
intended_start_pose
)
relative_translation = intended_start_pose.relativeTo(
current_pose
).translation()
if relative_translation.norm() > self.START_POS_TOLERANCE:
self.status_lights.invalid_start(
relative_translation, self.START_POS_TOLERANCE
)
else:
self.status_lights.rainbow()
else:
self.status_lights.no_auto()
else:
self.status_lights.vision_timeout()
# Technically this also happens after autonomous and the end of
# the match but close enough
self._set_prematch_status_lights()

self.status_lights.execute()

Expand All @@ -413,6 +391,35 @@ def _display_auto_trajectory(self) -> None:
if isinstance(selected_auto, AutoBase):
selected_auto.display_trajectory()

def _set_prematch_status_lights(self) -> None:
if not (
self.starboard_vision.sees_multi_tag_target()
or self.port_vision.sees_multi_tag_target()
):
self.status_lights.vision_timeout()
return

selected_auto = self._automodes.chooser.getSelected()
if not isinstance(selected_auto, AutoBase):
self.status_lights.no_auto()
return

intended_start_pose = selected_auto.get_starting_pose()
current_pose = self.chassis.get_pose()
if intended_start_pose is not None:
self.field.getObject("Intended start pos").setPose(intended_start_pose)
relative_translation = intended_start_pose.relativeTo(
current_pose
).translation()
if relative_translation.norm() > self.START_POS_TOLERANCE:
self.status_lights.invalid_start(
relative_translation, self.START_POS_TOLERANCE
)
else:
self.status_lights.rainbow()
else:
self.status_lights.no_auto()
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@auscompgeek auscompgeek Jun 24, 2025

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This adds an additional no_auto call if we somehow have no starting pose. Unless we somehow commit a broken path or path name, this should be impossible. It's probably better to not gaslight the drive team into thinking the vision system is completely broken if it's actually our code though, if we somehow get into this impossible situation.


def robotPeriodic(self) -> None:
super().robotPeriodic()
self.intake_component.periodic()
Expand Down