diff --git a/scripts/main.py b/scripts/main.py
index 8154274a4ff737995ffa6f5b284a353e96f1c926..9e671e4c40f117edb2ba22e72fe06371ea1f3b7f 100755
--- a/scripts/main.py
+++ b/scripts/main.py
@@ -38,8 +38,10 @@ class Game(object):
self.timeout = timeout
self.robot_assistance = 0
self.avg_robot_assistance_per_move = 0
+ self.outcome = 0
#counters
self.n_attempt_per_token = 1
+ self.n_attempt_per_feedback = 0
self.n_mistakes = 0
self.n_correct_move = 0
#subscriber variables from detect_move
@@ -60,8 +62,10 @@ class Game(object):
self.move_info_gen = {'token_id':'', 'from':'', 'to':'', 'avg_robot_assistance_per_move':'', 'cum_react_time':'', 'cum_elapsed_time':'', 'attempt':''}
self.move_info_spec = {'token_id': '', 'from': '', 'to': '', 'robot_assistance': '', 'react_time': '',
'elapsed_time': '', 'attempt': ''}
+ self.move_info_summary ={'attempt':'', 'avg_lev_assistance':'', 'react_time':'', 'elapsed_time':''}
self.move_info_gen_vect = list()
self.move_info_spec_vect = list()
+ self.move_info_summary_vect = list()
def get_board_event_callback(self, msg):
'''callback from the topic board_status to get the status of the current_board'''
@@ -129,6 +133,12 @@ class Game(object):
def set_n_max_attempt_per_token(self, value):
self.n_max_attempt_per_token = value
+ def add_info_gen_vect(self, dict):
+ self.move_info_gen_vect.append(dict.copy())
+
+ def add_info_spec_vect(self, dict):
+ self.move_info_spec_vect.append(dict.copy())
+
class StateMachine(enum.Enum):
@@ -174,7 +184,7 @@ class StateMachine(enum.Enum):
else:
print("R_ASSISTANCE")
game.robot_assistance = random.randint(0,4)
- rospy.sleep(2.0)
+ rospy.sleep(1.0)
self.b_robot_assist_finished = True
self.CURRENT_STATE = self.S_USER_ACTION
return self.b_robot_assist_finished
@@ -203,10 +213,13 @@ class StateMachine(enum.Enum):
'''
print("R_OUTCOME")
outcome = 0
+ attempt = 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] \
and game.detected_token[2] == str(game.solution.index(game.detected_token[0])+1):
- outcome = 1
+ #get the values from attempt and mistakes before resetting them
+ attempt = game.n_attempt_per_token
+ game.outcome = 1
game.n_correct_move += 1
game.n_attempt_per_token = 1
game.set_n_correct_move(game.n_correct_move)
@@ -214,12 +227,14 @@ class StateMachine(enum.Enum):
print("correct_solution ", game.get_n_correct_move())
self.CURRENT_STATE = self.S_ROBOT_ASSIST
elif game.detected_token[0] == []:
- outcome = 0
+ game.outcome = 0
print("timeout")
+ attempt = game.n_attempt_per_token
game.n_mistakes += 1
game.n_attempt_per_token += 1
game.set_attempt_per_token(game.n_attempt_per_token)
game.set_n_mistakes(game.n_mistakes)
+ attempt = game.n_attempt_per_token
self.CURRENT_STATE = self.S_ROBOT_ASSIST
# check if the user reached his max number of attempts
@@ -230,12 +245,13 @@ class StateMachine(enum.Enum):
elif game.detected_token[0] != game.solution[game.n_correct_move] \
or game.detected_token[2] != game.solution.index(game.detected_token[0])+1:
- outcome = -1
+ game.outcome = -1
print("wrong_solution")
game.n_mistakes += 1
game.n_attempt_per_token += 1
game.set_n_attempt_per_token(game.n_attempt_per_token)
game.set_n_mistakes(game.n_mistakes)
+ attempt = game.n_attempt_per_token
self.CURRENT_STATE = self.S_ROBOT_MOVE_TOKEN_BACK
self.user_move_back(game)
@@ -246,7 +262,7 @@ class StateMachine(enum.Enum):
self.robot_move_correct_token(game)
self.b_robot_outcome_finished = True
- return self.b_robot_outcome_finished, outcome
+ return self.b_robot_outcome_finished, attempt
def robot_move_back(self):
#user moved the token in an incorrect location
@@ -344,6 +360,10 @@ class StateMachine(enum.Enum):
sm.b_user_placed_token_back = True
game.elapsed_time_per_token_spec_t1 = time.time()-game.elapsed_time_per_token_spec_t0
game.elapsed_time_per_token_gen_t1 += game.elapsed_time_per_token_spec_t1
+ game.n_mistakes += 1
+ game.n_attempt_per_feedback += 1
+ game.set_n_attempt_per_token(game.n_attempt_per_token)
+ game.set_n_mistakes(game.n_mistakes)
return sm.b_user_placed_token_back
'''or they can place it in the solution row'''
def user_place_token_sol(sm):
@@ -401,19 +421,23 @@ class StateMachine(enum.Enum):
def main():
game = Game(task_length=5, n_max_attempt_per_token=4, timeout=15)
- input = raw_input("please, insert the id of the user")
- path_name = os.getcwd() + "/log/" + input
+ input = raw_input("please, insert the id of the user:")
+ path = os.path.abspath(__file__)
+ dir_path = os.path.dirname(path)
+ parent_dir_of_file = os.path.dirname(dir_path)
+ path_name = parent_dir_of_file + "/log/" + input
+ print(path_name)
if not os.path.exists(path_name):
os.makedirs(path_name)
else:
- input = raw_input("The folder already exists, please remove it or create a new one")
+ input = raw_input("The folder already exists, please remove it or create a new one:")
path_name = os.getcwd() + "/log/" + input
if not os.path.exists(path_name):
os.makedirs(path_name)
file_spec = path_name + "/log_spec.txt"
-
file_gen = path_name + "/log_gen.txt"
+ file_summary = path_name + "/log_summary.txt"
log_spec = Log(file_spec)
game.move_info_spec['token_id'] = "token_id"
@@ -437,6 +461,12 @@ def main():
game.move_info_gen_vect.append(game.move_info_gen)
log_gen.add_row_entry(game.move_info_gen)
+ log_summary = Log(file_summary)
+ game.move_info_summary["attempt"] = "n_attempt"
+ game.move_info_summary["avg_lev_assistance"] = "lev_assistance"
+ game.move_info_summary["react_time"] = "react_time"
+ game.move_info_summary["elapsed_time"] = "elapsed_time"
+ log_summary.add_row_entry(game.move_info_summary)
sm = StateMachine(1)
while game.get_n_correct_move()<game.task_length:
@@ -444,41 +474,58 @@ def main():
sm.robot_provide_assistance(game)
game.avg_robot_assistance_per_move += game.robot_assistance
elif sm.CURRENT_STATE.value == sm.S_USER_ACTION.value:
+ print("Expected token ", game.solution[game.get_n_correct_move()])
time_to_act = time.time()
sm.user_action(game)
if game.detected_token:
+ print("Moved token ", game.detected_token[0])
game.move_info_spec['token_id'] = game.detected_token[0]
game.move_info_spec['from'] = game.detected_token[1]
game.move_info_spec['to'] = game.detected_token[2]
game.move_info_spec['robot_assistance'] = game.robot_assistance
- game.move_info_spec['react_time'] = round(game.react_time_per_token_spec_t1, 2)
- game.move_info_spec['elapsed_time'] = round(game.elapsed_time_per_token_spec_t1)
+ game.move_info_spec['react_time'] = round(game.react_time_per_token_spec_t1, 3)
+ game.move_info_spec['elapsed_time'] = round(game.elapsed_time_per_token_spec_t1, 3)
game.move_info_spec['attempt'] = game.n_attempt_per_token
game.total_elapsed_time += time.time()-time_to_act
- game.move_info_spec_vect.append(game.move_info_spec)
+ game.add_info_spec_vect(game.move_info_spec)
log_spec.add_row_entry(game.move_info_spec)
elif sm.CURRENT_STATE.value == sm.S_ROBOT_OUTCOME.value:
- sm.robot_provide_outcome(game)
+ #these are reported only because the variables are already reset when a correct move occurred
+ done, attempt = sm.robot_provide_outcome(game)
#{'token_id':'', 'from':'', 'to':'', 'robot_assistance':'', 'react_time':'', 'elapsed_time':'', 'attempt':''}
- game.move_info_gen['token_id'] = game.detected_token[0]
- game.move_info_gen['from'] = game.detected_token[1]
- game.move_info_gen['to'] = game.detected_token[2]
- game.move_info_gen['avg_robot_assistance_per_move'] = game.avg_robot_assistance_per_move/game.n_attempt_per_token
- game.move_info_gen['cum_react_time'] = game.react_time_per_token_gen_t1
- game.move_info_gen['cum_elapsed_time'] = game.elapsed_time_per_token_gen_t1
- game.move_info_gen['attempt'] = game.n_attempt_per_token
- game.move_info_gen_vect.append(game.move_info_gen)
- log_gen.add_row_entry(game.move_info_gen)
- game.react_time_per_token_spec_t1 = 0
- game.react_time_per_token_gen_t1 = 0
- game.react_time_per_token_spec_t0 = 0
- game.react_time_per_token_gen_t0 = 0
- game.elapsed_time_per_token_spec_t1 = 0
- game.elapsed_time_per_token_gen_t1 = 0
- game.elapsed_time_per_token_spec_t0 = 0
- game.elapsed_time_per_token_gen_t0 = 0
- game.avg_robot_assistance_per_move = 0
+ if (game.outcome == 1 or (game.outcome==0 and game.n_attempt_per_token==game.n_max_attempt_per_token)
+ or (game.outcome==-1 and game.n_attempt_per_token==game.n_max_attempt_per_token)):
+ game.move_info_gen['token_id'] = game.detected_token[0]
+ game.move_info_gen['from'] = game.detected_token[1]
+ game.move_info_gen['to'] = game.detected_token[2]
+ game.move_info_gen['avg_robot_assistance_per_move'] = (game.avg_robot_assistance_per_move/attempt)
+ game.move_info_gen['cum_react_time'] = round(game.react_time_per_token_gen_t1, 3)
+ game.move_info_gen['cum_elapsed_time'] = round(game.elapsed_time_per_token_gen_t1, 3)
+ game.move_info_gen['attempt'] = attempt
+ game.add_info_gen_vect(game.move_info_gen)
+ log_gen.add_row_entry(game.move_info_gen)
+ game.react_time_per_token_spec_t1 = 0
+ game.react_time_per_token_gen_t1 = 0
+ game.react_time_per_token_spec_t0 = 0
+ game.react_time_per_token_gen_t0 = 0
+ game.elapsed_time_per_token_spec_t1 = 0
+ game.elapsed_time_per_token_gen_t1 = 0
+ game.elapsed_time_per_token_spec_t0 = 0
+ game.elapsed_time_per_token_gen_t0 = 0
+ game.avg_robot_assistance_per_move = 0
+
+ game.move_info_summary["attempt"] = "n_attempt"
+ game.move_info_summary["avg_lev_assistance"] = "lev_assistance"
+ game.move_info_summary["react_time"] = "react_time"
+ game.move_info_summary["elapsed_time"] = "elapsed_time"
+
+
+ game.move_info_summary["attempt"] = sum([elem['attempt'] for elem in game.move_info_gen_vect])
+ game.move_info_summary["avg_lev_assistance"] = sum([elem['avg_robot_assistance_per_move'] for elem in game.move_info_gen_vect])/game.task_length
+ game.move_info_summary["react_time"] = sum([elem['cum_react_time'] for elem in game.move_info_gen_vect])
+ game.move_info_summary["elapsed_time"] = sum([elem['cum_elapsed_time'] for elem in game.move_info_gen_vect])
+ log_summary.add_row_entry(game.move_info_summary)
for instance_spec in game.move_info_spec_vect:
print(instance_spec)