diff --git a/scripts/main.py b/scripts/main.py
index a2c59efab6c445c502346934cbc268253eae8a89..3468b2e192dfc2ef53832ad87ac27f9a15509d3d 100755
--- a/scripts/main.py
+++ b/scripts/main.py
@@ -7,6 +7,7 @@ This is the main class for running the entire game framework
#import from libraries
import enum
import random
+import time
#import from ros
import rospy
@@ -38,6 +39,14 @@ class Game(object):
self.picked = False
self.placed = False
self.moved_back = False
+ self.react_time_per_token_t0 = 0
+ self.react_time_per_token_t1 = 0.0
+ self.elapsed_time_per_token_t0 = 0.0
+ self.elapsed_time_per_token_t1 = 0.0
+ self.total_elapsed_time = 0
+ self.move_info = {'token_id':'', 'from':'', 'to':'', 'robot_assistance':'', 'react_time':'', 'elapsed_time':''}
+ self.move_info_vect = list()
+ #log info
def get_board_event_callback(self, msg):
'''callback from the topic board_status to get the status of the current_board'''
@@ -60,7 +69,6 @@ class Game(object):
def set_objective(self, n_token):
'''The method return a list with the tokens ordered based on the solution of the exercise'''
- rospy.sleep(0.1)
board_ = self.current_board[:]
#remove the empty cells from the current_board
board_filtered = list(filter(lambda x: x!="0", board_))
@@ -137,12 +145,13 @@ class StateMachine(enum.Enum):
b_robot_moved_correct_token = False
b_user_reached_max_attempt = False
- def robot_provide_assistance(self):
+ def robot_provide_assistance(self, game):
'''
Robot action of assistance combining speech and gesture
:return: True when the action has been completed
'''
print("R_ASSISTANCE")
+ game.move_info['robot_assistance'] = random.randint(0,4)
rospy.sleep(2.0)
self.b_robot_assist_finished = True
self.CURRENT_STATE = self.S_USER_ACTION
@@ -154,7 +163,6 @@ class StateMachine(enum.Enum):
:return:
'''
print("R_FEEDBACK")
- rospy.sleep(2.0)
self.b_robot_feedback_finished = True
self.CURRENT_STATE = self.S_USER_PLACE
return self.b_robot_feedback_finished
@@ -166,7 +174,6 @@ class StateMachine(enum.Enum):
:return:
'''
print("R_OUTCOME")
- rospy.sleep(2.0)
outcome = 0
#get current move and check if it is the one expeceted in the solution list
if game.detected_token[0] == game.solution[game.n_correct_move] \
@@ -224,9 +231,10 @@ class StateMachine(enum.Enum):
#get the current solution
token = game.solution[game.n_correct_move]
_from = game.initial_board.index(token)
- _to = game.solution.index(token)
- press_key = input("Please move the token {} at loc {}".format(token, _to))
-
+ _to = game.solution.index(token)+1
+ press_key = raw_input("Please move the token {} at loc {}".format(token, _to))
+ game.set_n_correct_move(game.get_n_correct_move()+1)
+ game.set_n_attempt_per_token(1)
def user_move_back(self, game):
#user moved the token in an incorrect location
@@ -235,7 +243,7 @@ class StateMachine(enum.Enum):
#get the initial location of the placed token and move back there
token, _to, _from = game.detected_token
while(game.detected_token!=[token, _from, _to]):
- print("Wait until the user doesn move the token back")
+ pass
self.CURRENT_STATE = self.S_ROBOT_ASSIST
self.b_user_moved_token_back = True
return self.b_user_moved_token_back
@@ -245,17 +253,21 @@ class StateMachine(enum.Enum):
'''We wait until the user pick a token'''
print("U_ACTION")
def user_pick_token(sm, game):
+ game.react_time_per_token_t0 = time.time()
print("U_PICK")
sm.CURRENT_STATE = sm.S_ROBOT_FEEDBACK
detected_token, picked, _, _ = game.get_move_event()
while(not picked):
detected_token, picked, _, _ = game.get_move_event()
+ game.elapsed_time_per_token_t0 = time.time()
+ game.react_time_per_token_t1 = time.time()-game.react_time_per_token_t0
+ game.move_info['react_time'] = game.react_time_per_token_t1
+ game.move_info['token_id'], game.move_info['from'] = game.detected_token[0], game.detected_token[1]
sm.user_picked_token = True
user_picked = detected_token
return sm.user_picked_token
def robot_provide_feedback(sm):
print("R_FEEDBACK")
- rospy.sleep(2.0)
sm.CURRENT_STATE = sm.S_USER_PLACE
sm.robot_provided_feeback_finished = True
return sm.robot_provided_feeback_finished
@@ -268,12 +280,18 @@ class StateMachine(enum.Enum):
print("U_PLACE_BACK")
sm.CURRENT_STATE = sm.S_USER_ACTION
sm.b_user_placed_token_back = True
+ game.elapsed_time_per_token_t1 = time.time()-game.elapsed_time_per_token_t0
+ game.move_info['to'] = game.detected_token[2]
+ game.move_info['elapsed_time'] = game.elapsed_time_per_token_t1
return sm.b_user_placed_token_back
'''or they can place it in the solution row'''
def user_place_token_sol(sm):
print("U_PLACE_SOL")
sm.CURRENT_STATE = sm.S_ROBOT_OUTCOME
sm.b_user_placed_token_sol = True
+ game.elapsed_time_per_token_t1 = time.time() - game.elapsed_time_per_token_t0
+ game.move_info['to'] = game.detected_token[2]
+ game.move_info['elapsed_time'] = game.elapsed_time_per_token_t1
return sm.b_user_placed_token_sol
'''return where the user placed the token'''
#here we get the token that has been placed and trigger one or the other action
@@ -325,25 +343,30 @@ def main():
game = Game()
game.set_n_solution(5)
- game.set_n_max_attempt_per_token(2)
- rospy.sleep(0.1)
+ game.set_n_max_attempt_per_token(4)
current_board = game.get_board_event()
#game.solution = game.set_objective(n_solution)
sm = StateMachine(1)
while game.get_n_correct_move()<game.n_solution:
if sm.CURRENT_STATE.value == sm.S_ROBOT_ASSIST.value:
- sm.robot_provide_assistance()
+ sm.robot_provide_assistance(game)
elif sm.CURRENT_STATE.value == sm.S_USER_ACTION.value:
+ time_to_act = time.time()
sm.user_action(game)
+ game.total_elapsed_time += time.time()-time_to_act
elif sm.CURRENT_STATE.value == sm.S_ROBOT_OUTCOME.value:
sm.robot_provide_outcome(game)
print("game_state:", game.get_n_correct_move(), "n_attempt_token:", game.get_n_attempt_per_token())
-
+ print("react time: ", game.react_time_per_token_t1, "elapsed time: ", game.elapsed_time_per_token_t1)
+ game.move_info_vect.append(game.move_info.copy())
+ print(game.move_info)
print("correct_move ", game.get_n_correct_move,
" n_mistakes ", game.n_mistakes)
+ for instance in game.move_info_vect:
+ print(instance)