diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c34b0070f919fe2751f4c8f3b59bbfad33087b5c
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,200 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(board_status)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+ message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+ FILES
+ StrList.msg
+# Message2.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+ DEPENDENCIES
+ std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES rl_environment
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/rl_environment.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/rl_environment_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_rl_environment.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/launch/board_status.launch b/launch/board_status.launch
new file mode 100644
index 0000000000000000000000000000000000000000..96400f8ffe6b637ec14d7461b1427a2da0349543
--- /dev/null
+++ b/launch/board_status.launch
@@ -0,0 +1,31 @@
+<launch>
+ <node pkg="board_state" type="main.py" name="board_state" output="screen"/>
+
+ <!-- Initial tokens locations -->
+ <rosparam param="initial_board">
+ {'1': '0', "2": '0', "3": '0', "4": '0', "5": '0',
+ "6": '0', "7": '0', "8": '0', "9": '0', "10": '0',
+ "11": '0', "12": '0', "13": '0', "14": '0', "15": '0',
+ "16": '1', "17": '2', "18": '3', "19": '4', "20": '5'}
+ </rosparam>
+ <!-- Final tokens locations -->
+ <rosparam param="solution_board">
+ {"1": '1', "2": '2', "3": '3', "4": '4', "5": '5',
+ "6": '0', "7": '0', "8": '0', "9": '0', "10": '0',
+ "11": '0', "12": '0', "13": '0', "14": '0', "15": '0',
+ "16": '0', "17": '0', "18": '0', "19": '0', "20": '0'}
+ </rosparam>
+
+ <!-- Tokens to play -->
+ <rosparam param="tokens_number">
+ [ '1', '2', '3', '4', '5']
+ </rosparam>
+
+ <!-- RFID IDs for the board -->
+ <rosparam param="rfid_id">
+ [ "4117136895", "2509992703", "88436991", "1972340735", "2504166399"]
+ </rosparam>
+
+
+
+</launch>
diff --git a/msg/StrList.msg b/msg/StrList.msg
new file mode 100644
index 0000000000000000000000000000000000000000..b225c05940dc14097edea2697b2a1b77b097e5bf
--- /dev/null
+++ b/msg/StrList.msg
@@ -0,0 +1 @@
+string[] data
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a1d2f03261bfd604617a6c59098036ded4abf6b0
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>board_status</name>
+ <version>0.0.0</version>
+ <description>The board_status package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="aandriella@todo.todo">aandriella</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/rl_environment</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <build_export_depend>roscpp</build_export_depend>
+ <build_export_depend>rospy</build_export_depend>
+ <build_export_depend>std_msgs</build_export_depend>
+ <build_depend>message_generation</build_depend>
+
+ <exec_depend>roscpp</exec_depend>
+ <exec_depend>rospy</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+ <exec_depend>message_runtime</exec_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/scripts/main.py b/scripts/main.py
new file mode 100755
index 0000000000000000000000000000000000000000..8e6359108c1b7c21fa6eedc942bebf4b748ab09a
--- /dev/null
+++ b/scripts/main.py
@@ -0,0 +1,207 @@
+#!/usr/bin/python
+import os, sys
+#This is necessary to import code that is not rosbased in the main.py
+path = os.path.abspath(__file__)
+dir_path = os.path.dirname(path)
+parent_dir_of_file = os.path.dirname(dir_path)
+parent_parent_dir_of_file = os.path.dirname(parent_dir_of_file)
+
+from datetime import datetime
+import csv
+
+#ros import
+import time
+import rospy
+from std_msgs.msg import String, Int8
+
+from iri_rfid_board_scanner.msg import BoardIds
+from board_state.msg import StrList
+class GameFramework():
+
+ def __init__(self):
+ rospy.init_node('big_hero', anonymous=True)
+ # subscriber for getting info from the board
+ rospy.Subscriber("/rfid_board_scanner/board_ids", BoardIds, self.get_electro_board_callback)
+
+ self.current_board_state = ()
+ self.electro_board = list()
+ self.electro_board_with_tokens = dict()
+ self.previous_board_state = dict()
+ self.current_board_state = dict()
+
+ #getting the ids from the rfids sensors
+ self.ids = rospy.get_param('/rfid_id')
+ self.ids = [ int(self.ids[i]) for i in range(len(self.ids))]
+
+ #get the numbers for playing the game
+ self.tokens = rospy.get_param('tokens_number')
+ #coupling ids with numbers
+ self.electro_board_from_ids_to_tokens = self.convert_electro_board_ids_to_tokens(self.ids, self.tokens)
+
+
+ initial_board_from_launch = rospy.get_param('/initial_board')
+ solution_board_from_launch = rospy.get_param('/solution_board')
+
+ self.initial_board = {int(k): str(v) for k, v in initial_board_from_launch.items()}
+ self.solution_board = {int(k): str(v) for k, v in solution_board_from_launch.items()}
+
+ def get_tokens_id(self):
+ return self.tokens
+
+ def get_initial_board(self):
+ return self.initial_board
+
+ def get_solution_board(self):
+ return self.solution_board
+
+ #get value from the topic
+ def get_electro_board_ids(self):
+ return self.electro_board
+
+ #topic subscriber
+ def get_electro_board_callback(self, msg):
+ self.electro_board = (msg.id)
+
+ def get_electro_board(self):
+ return self.get_tokens_by_ids(self.electro_board_from_ids_to_tokens, self.electro_board)
+
+ def convert_electro_board_ids_to_tokens(self, ids, tokens):
+ '''
+ :param ids:
+ :param tokens:
+ :return: this method creates a dic where the ids are the keys and the values are the tokens
+ '''
+ from_ids_to_tokens = dict()
+ for i in range(len(ids)):
+ from_ids_to_tokens[ids[i]] = tokens[i]
+ return from_ids_to_tokens
+
+
+ def get_tokens_by_ids(self, from_ids_to_tokens_dict, msg):
+ '''
+ :param electro_board:
+ :param msg:
+ :return: given a dictionary where key is the id and value is the token change the msg according (0 empty !0 a token id)
+ '''
+ for i in range(len(msg)):
+ if msg[i] == 0:
+ # i+1 because the id start
+ self.electro_board_with_tokens[i+1] = '0'
+ else:
+ self.electro_board_with_tokens[i+1] = from_ids_to_tokens_dict.get(msg[i])
+ return self.electro_board_with_tokens
+
+ def get_token_location_from_board_state(self, previous_board, token):
+ '''
+ :param: token
+ :return: the location of the token given as input
+ '''
+ for key, val in previous_board.items():
+ if val == token:
+ return key
+
+
+ def detect_move(self, old_board_state, new_board_state):
+ movements = list()
+ new_location = 0
+ for x1 in old_board_state.keys():
+ z = new_board_state.get(x1) == old_board_state.get(x1)
+ if not z:
+ #print('location', x1)
+ if (new_board_state.get(x1))!='0':
+ token = (new_board_state.get(x1))
+ #check where the token is in the new configuration
+ prev_location = self.get_token_location_from_board_state(old_board_state, token)
+ for key, value in new_board_state.items():
+ if token == value and prev_location !=key:
+ new_location = key
+ #print("token ", token, " previous location ", prev_location, "new location ", new_location)
+ movements.append((token, prev_location, new_location))
+ return movements
+
+ def get_current_board(self):
+ return self.current_board_state
+
+ def update_board(self, token_id, location):
+ '''
+ :param token_id: the number
+ :param location: its location
+ :return:
+ '''
+ if type(token_id)!=str:
+ token_id = str(token_id)
+
+
+ for loc, token in self.current_board.items():
+ if token == (token_id):
+ self.current_board[loc] = '0'
+
+ for key in self.current_board.keys():
+ if location == key:
+ self.current_board[key] = (token_id)
+ else:
+ pass
+
+
+
+
+
+
+
+
+
+def main():
+
+
+ m = GameFramework()
+ initial_board = m.get_initial_board()
+ current_board = initial_board.copy()
+ ###############################################################
+
+ pub = rospy.Publisher('board_status', StrList, queue_size=10)
+ rospy.init_node('big_hero', anonymous=True)
+ rate = rospy.Rate(10) # 10hz
+ while not rospy.is_shutdown():
+ detected_board = m.get_electro_board()
+ detected_movement = m.detect_move(current_board, detected_board)
+
+ if (len(detected_movement)) >= 1 and detected_movement[0][0] != None:
+ board_state_msg = detected_board.values()
+ pub.publish(board_state_msg)
+ rate.sleep()
+ current_board = detected_board.copy()
+ print("Movement detected")
+ else:
+ print("No movement detected")
+
+ # a.data = [3250, 2682, 6832, 2296, 8865, 7796, 6955, 8236]
+ # pub.publish(a)
+ # rate.sleep()
+ # while(True):
+ #
+ # a = IntList()
+ # a.data = [3250, 2682, 6832, 2296, 8865, 7796, 6955, 8236]
+ # pub.publish(a)
+ # detected_board = m.get_electro_board()
+ # detected_movement = m.detect_move(current_board, detected_board)
+ #
+ # if (len(detected_movement)) >= 1 and detected_movement[0][0] != None:
+ # print("Movement detected")
+ # break
+ # else:
+ # print("No movement detected")
+
+
+
+if __name__ == '__main__':
+ try:
+ main()
+ except rospy.ROSInterruptException:
+ pass
+
+
+
+
+
+
+