forseti2

forseti2 (Named after the Norse god of justice) is PiE's third* iteration of a Field Control software. It has been in use from 2014-2017, with substantial changes along the way.

Deploying Driver Stations

Driver Stations can be downloaded from PieCentral's Releases section, or built locally using the dawn/fieldcontrol branch.

Installing for MacOS and GNU/Linux

1. Download the darwin-x64 or linux-x64 release anywhere (preferably desktop)
2. In Terminal, run driver_station.sh
3. Run Field Control Dawn

Installing for Windows

1. Download the win32-ia32 release anywhere
2. On the Desktop:

• Create the file bridge_address.txt and write the Controller's IP address
• Create the file station_number.txt and write the station number you want to be (0, 1, 2, 3 => blue1, blue2, gold1, gold2)

3. Run Field Control Dawn

Deploying Field Controller

forseti2 is dependent on external libraries, so there will be some OS-dependent instructions.

Lightweight Communications and Marshalling (LCM)

1. Follow Online instructions on how to build it on your system.
2. Once LCM is built, move lcm.jar into the forseti2 directory to take advantage of lcm-spy.sh packet introspection.

Installing for Ubuntu and MacOS

1. Install LCM as detailed above
2. If Ubuntu, also run:

sudo apt-get install arduino;
sudo pip install pyfirmata;

Nodes

timer.py

Maintains match state (timer and robot states)

Inputs

• Match/Init: Match
  • Resets match timer when a new match is initialized
• Timer/Control: TimeControl
  • Receives commands for the match timer (start, pause, reset)
• Robot[0-3]/Estop: Estop
  • Uses current emergency stop state and overrides all robot state if in estop mode
• Robot[0-3]/Override: Override
  • Determines whether or not robot is in manual override mode (overrides timers for manual operation)
• Robot[0-3]/RobotState: RobotState
  • Sets robot state using manual override only if in override mode

Outputs

• Timer/Time: Time
  • Publishes (every .3 secs) time elapsed in current match and stage, as well as the current stage name
• Robot[0-3]/RobotControl: RobotControl
  • Publishes (every .3 secs) the state of the robot (estop?, autonomous?, enabled?)

lcm_ws_bridge.py

Bridges LCM to Websockets so JavaScript applications can access the network

field_control.py

Manages electronics on the field

Inputs

• GameObjectTimer/LighthouseTime: LighthouseTime
  • Uses timer info to determine when to dump balls onto field
• Timer/Time: Time
  • Only dumps balls onto field during teleop and autonomous phases

Outputs

• Game_Button[0-1]/Button: Button
  • Publishes (every .3 secs) the state of a button
• Game_Motor[0-1]/Motor: Motor
  • Publishes (every .3 secs) the state of a motor

heartbeat.py

Heartbeat for clients to confirm they are connected to the field network

Outputs

• Heartbeat/Beat: Heartbeat
  • Oscillates between True and False every second?

Modifications to Dawn

• Listens to a specific Robot[0-3]/RobotControl channel and sends messages to robot accordingly
• Give meaningful feedback to field and students about robot connection status
• Display Field Information
  • Match state and timer
  • Heartbeat
• Manual start disabled in match

Field Controller Information

Network Monitor

• Displays live plots of messages/second on each channel

Judge Console

• Allow score input for current match

Field Console

• View robot states and allow for manual overriding and estop
• Allow control of match timer and robot enumeration (telling dawn to connect to robots)

Stream Overlay

• Display field info (like dawn), scores, and upcoming matches

Audience UI

• Like the stream overlay but as standalone webpage