diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 8cb3c6082d8004c30a687f1214c70ec21b730bb5..0000000000000000000000000000000000000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,201 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(socrates_workshop)
-
-## 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 run_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 run_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
-# Message1.msg
-# Message2.msg
-)
-
-## Generate services in the 'srv' folder
-add_service_files(
- FILES
- MiniMax.srv
- IntInt.srv
- Board.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 run_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 you 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 socrates_workshop
- CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
-# 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/${PROJECT_NAME}/socrates_workshop.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${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/socrates_workshop_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_socrates_workshop.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/tic_tac_toe.launch b/launch/tic_tac_toe.launch
deleted file mode 100644
index a80850177a54289be7dcb53b5cd7c7ac5e2ad39d..0000000000000000000000000000000000000000
--- a/launch/tic_tac_toe.launch
+++ /dev/null
@@ -1,27 +0,0 @@
-<launch>
- <param name="application_name" value="tic_tac_toe" type="string" />
- <param name="topic_minimax_service" value="call_minimax" type="string" />
- <param name="topic_perform_robot_action" value="perform_action" type="string" />
- <param name="topic_difficulty" value="set_difficulty" type="string" />
- <param name="topic_ask_help" value="help_user" type="string" />
- <param name="topic_board_state" value="board_state" type="string" />
- <param name="topic_gripper_callback" value="gripper_action_callback" type="string" />
- <param name="topic_gripper_action" value="gripper_action" type="string" />
-
- <param name="param_difficulty" value="1" type="int" />
- <param name="param_difficulty_min" value="1" type="int" />
- <param name="param_difficulty_max" value="4" type="int" />
-
- <param name="param_human_player_id" value="1" type="int" />
- <param name="param_ai_player_id" value="-1" type="int" />
-
- <node name="node_minimax_server" pkg="socrates_workshop" type="node_minimax.py" />
- <node name="node_main" pkg="socrates_workshop" type="node_main.py" />
- <node name="node_difficulty" pkg="socrates_workshop" type="node_difficulty.py" />
- <node name="node_human_helper" pkg="socrates_workshop" type="node_human_helper.py" />
-</launch>
-
-
-<!--
- <param name="" value="" type="" />
--->
diff --git a/package.xml b/package.xml
deleted file mode 100644
index 980d2d6049df28dfd1917856dbb911099601064f..0000000000000000000000000000000000000000
--- a/package.xml
+++ /dev/null
@@ -1,66 +0,0 @@
-<?xml version="1.0"?>
-<package>
- <name>socrates_workshop</name>
- <version>0.0.2</version>
- <description>The socrates_workshop package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="michelep@cs.umu.se">michele</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/socrates_workshop</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 build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>roscpp</build_depend>
- <build_depend>rospy</build_depend>
- <build_depend>std_msgs</build_depend>
- <build_depend>message_generation</build_depend>
-
- <build_depend>sensor_msgs</build_depend>
- <build_depend>opencv2</build_depend>
- <build_depend>cv_bridge</build_depend>
-
- <run_depend>roscpp</run_depend>
- <run_depend>rospy</run_depend>
- <run_depend>std_msgs</run_depend>
- <run_depend>message_runtime</run_depend>
-
- <run_depend>sensor_msgs</run_depend>
- <run_depend>opencv2</run_depend>
- <run_depend>cv_bridge</run_depend>
-
- <!-- The export tag contains other, unspecified, tags -->
- <export>
- <!-- Other tools can request additional information be placed here -->
-
- </export>
-</package>
diff --git a/scripts/node_difficulty.py b/scripts/node_difficulty.py
deleted file mode 100755
index a59f7eb23e0500166b733a1f75993ec4d5eacbe7..0000000000000000000000000000000000000000
--- a/scripts/node_difficulty.py
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/usr/bin/env python
-import rospy
-import tic_tac_toe_common as ttt
-
-from std_msgs.msg import Int16
-from socrates_workshop.srv import *
-
-NODE_NAME = "node_difficulty"
-
-
-PARAM_DIFFICULTY = "param_difficulty"
-PARAM_DIFFICULTY_MIN = "param_difficulty_min"
-PARAM_DIFFICULTY_MAX = "param_difficulty_max"
-
-TOPIC_DIFFICULTY = "topic_difficulty"
-
-
-def setCurrentDifficulty(value):
-
- min_diff = rospy.get_param(PARAM_DIFFICULTY_MIN)
- max_diff = rospy.get_param(PARAM_DIFFICULTY_MAX)
-
- value = max(min_diff, min(value, max_diff))
-
- rospy.set_param(PARAM_DIFFICULTY, value)
- return value
-
-def difficultyCallback(msg):
- value = msg.data
-
- value = setCurrentDifficulty(value)
-
- return IntIntResponse(value)
-
-def init_this_node():
-
- rospy.init_node(NODE_NAME, anonymous=True)
-
-
- s = rospy.Service(ttt.concatTopicName(TOPIC_DIFFICULTY), IntInt, difficultyCallback)
-
-
- rospy.spin()
-
-if __name__ == '__main__':
- init_this_node()
diff --git a/scripts/node_human_helper.py b/scripts/node_human_helper.py
deleted file mode 100755
index 81e612ce3d954fc1039c8c2926f9668d32a63dcd..0000000000000000000000000000000000000000
--- a/scripts/node_human_helper.py
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/usr/bin/env python
-import rospy
-import tic_tac_toe_common as ttt
-from std_msgs.msg import *
-
-from socrates_workshop.srv import MiniMax, Board, IntInt
-
-NODE_NAME = "node_main"
-
-
-TOPIC_ASK_HELP = "topic_ask_help"
-TOPIC_BOARD_STATE = "topic_board_state"
-TOPIC_MINIMAX = "topic_minimax_service"
-TOPIC_DIFFICULTY = "topic_difficulty"
-
-TOPIC_ACTION_CALLBACK = "topic_gripper_callback"
-
-
-this = sys.modules[__name__]
-
-this.board_service_proxy = None
-this.minimax_service_proxy = None
-this.gripper_subscriber = None
-this.difficulty_service_proxy = None
-
-
-
-def helpUser(nextAction, board):
- rospy.loginfo("I suggest action %s for board %s", nextAction, board)
-
-def helpCallback(msg):
- id_human = ttt.getUserId()
- id_ai = ttt.getAiId()
-
- msg_board = this.board_service_proxy(id_human, id_ai)
-
- depth = 10
- msg_action = this.minimax_service_proxy(msg_board.board, depth, id_human, id_ai)
-
- helpUser(msg_action.action, msg_board.board)
-
-
-"""
-Callback function for the gripper movement
-Depending of current difficulty we execute different routines
-"""
-def callbackGripperActionExecuted(msg):
- success = msg.data
-
- # We query the current difficulty level
- msg_difficulty = this.difficulty_service_proxy(0)
- difficulty = msg_difficulty.data
-
- if difficulty == 1:
- helpCallback(None)
-
- if difficulty == 4:
- # countdown
- pass
-
-
-def init_this_node():
-
- rospy.init_node(NODE_NAME, anonymous=True)
-
- topic = ttt.concatTopicName(TOPIC_ASK_HELP)
- s = rospy.Subscriber(topic, Empty, helpCallback)
-
- topic = ttt.concatTopicName(TOPIC_BOARD_STATE)
- this.board_service_proxy = rospy.ServiceProxy(topic, Board)
-
- topic = ttt.concatTopicName(TOPIC_MINIMAX)
- this.minimax_service_proxy = rospy.ServiceProxy(topic, MiniMax)
-
-
-
- # Difficulty service to query the current level of difficulty
- topic = ttt.concatTopicName(TOPIC_DIFFICULTY)
- this.difficulty_service_proxy = rospy.ServiceProxy(topic, IntInt)
-
- # Subscriber on the gripper callback invoked each time the gipper concludes an action
- topic = ttt.concatTopicName(TOPIC_ACTION_CALLBACK)
- this.gripper_subscriber = rospy.Subscriber(topic, Bool, callbackGripperActionExecuted)
-
-
- rospy.spin()
-
-if __name__ == '__main__':
- init_this_node()
diff --git a/scripts/node_main.py b/scripts/node_main.py
deleted file mode 100755
index 0ee7ecfbb5643ca9361dcb9183acbda84a3abcb6..0000000000000000000000000000000000000000
--- a/scripts/node_main.py
+++ /dev/null
@@ -1,113 +0,0 @@
-#!/usr/bin/env python
-import rospy
-import tic_tac_toe_common as ttt
-from std_msgs.msg import *
-from std_srvs.srv import *
-from socrates_workshop.srv import *
-
-NODE_NAME = "node_main"
-
-
-TOPIC_BOARD_STATE = "topic_board_state"
-TOPIC_PERFORM_ACTION = "topic_perform_robot_action"
-TOPIC_MINIMAX = "topic_minimax_service"
-
-TOPIC_ACTION_CALLBACK = "topic_gripper_callback"
-TOPIC_GRIPPER_ACTION = "topic_gripper_action"
-
-
-this = sys.modules[__name__]
-
-# Services
-this.action_service = None
-
-# Service proxies
-this.board_service_proxy = None
-this.minimax_service_proxy = None
-
-this.gripper_action_publisher = None
-
-# Other variables
-this.gripper_moving = False
-
-
-"""
-Helper function to call the minimax service
-"""
-def callMinimax():
- id_h = ttt.getUserId()
- id_ai = ttt.getAiId()
-
- resp = this.board_service_proxy(id_h,id_ai)
- current_state = resp.board
-
- depth = 10
- resp = this.minimax_service_proxy(current_state, depth, id_ai, id_h)
-
- return resp.action
-
-
-"""
-Callback function for the gripper movement
-"""
-def callbackGripperActionExecuted(msg):
- success = msg.data
-
- # The gripper stopped moving
- this.gripper_moving = False
-
-
-"""
-Invoked each time service on TOPIC_PERFORM_ACTION is called
-
-"""
-def actionCallback(msg):
-
- # If gripper is still performing the previous action
- # we do nothing
- if this.gripper_moving:
- pass
-
- else:
- # We set the gripper as moving
- this.gripper_moving = True
-
- # We find the correct action to perform
- action = callMinimax()
-
- # The action id (between 1 and 9) is published
- # for the gripper node
- this.gripper_action_publisher.publish(action)
-
- return EmptyResponse()
-
-
-def init_this_node():
-
- rospy.init_node(NODE_NAME, anonymous=True)
-
- # Service that provides the action execution
- topic = ttt.concatTopicName(TOPIC_PERFORM_ACTION)
- this.action_service = rospy.Service(topic, Empty, actionCallback)
-
- # Board service to query the state of the board
- topic = ttt.concatTopicName(TOPIC_BOARD_STATE)
- this.board_service_proxy = rospy.ServiceProxy(topic, Board)
-
- # Minimax service
- topic = ttt.concatTopicName(TOPIC_MINIMAX)
- this.minimax_service_proxy = rospy.ServiceProxy(topic, MiniMax)
-
- # We will publish on the gripper topic the action to execute (actions have ids 1 to 9)
- topic = ttt.concatTopicName(TOPIC_GRIPPER_ACTION)
- this.gripper_action_publisher = rospy.Publisher(topic, Int16, queue_size=10)
-
-
- # Subscriber on the gripper callback invoked each time the gipper concludes an action
- topic = ttt.concatTopicName(TOPIC_ACTION_CALLBACK)
- this.gripper_subscriber = rospy.Subscriber(topic, Bool, callbackGripperActionExecuted)
-
- rospy.spin()
-
-if __name__ == '__main__':
- init_this_node()
diff --git a/scripts/node_minimax.py b/scripts/node_minimax.py
deleted file mode 100755
index 49b8aa5c64e8bfae92b7348100b17046d1e0121c..0000000000000000000000000000000000000000
--- a/scripts/node_minimax.py
+++ /dev/null
@@ -1,91 +0,0 @@
-#!/usr/bin/env python
-import rospy
-import tic_tac_toe_common as ttt
-
-from socrates_workshop.srv import *
-
-Inf = +999999
-
-NODE_NAME = 'minimax_server'
-
-
-TOPIC_MINIMAX = "topic_minimax_service"
-
-
-
-def h1(s, player, indeces):
- return all([s[i] == player for i in indeces])
-
-def h2(s,p):
- return h1(s,p,[0,1,2]) or h1(s,p,[3,4,5]) or h1(s,p,[6,7,8]) or h1(s,p,[0,3,6]) or h1(s,p,[1,4,7]) or h1(s,p,[2,5,8]) or h1(s,p,[0,4,8]) or h1(s,p,[2,4,6])
-
-
-def getOpponent(player, p1, p2):
- if player == p1:
- return p2
- if player == p2:
- return p1
- return 0
-
-def getHeuristicValue(s, player, p1, p2):
- opp = getOpponent(player, p1, p2)
- return 10*h2(s, player) + sum(1 for x in range(len(s)) if s[x] == 0) - 10 * h2(s, opp)
-
-
-def isTerminal(s, player, p1, p2):
- opp = getOpponent(player, p1, p2)
- return all([cell != 0 for cell in s]) or h2(s, player) or h2(s, opp)
-
-def possibleActions(s, player):
- return [x+1 for x in range(len(s)) if s[x] == 0]
-
-
-def executeAction(s, action, player):
- s[action-1] = player
- return s
-
-def minimax(state, player, p1, p2, depth):
- selectedAction = None
- opp = getOpponent(player, p1, p2)
-
- if isTerminal(state, player, p1, p2) or depth == 0:
- h = getHeuristicValue(state, p1, p1, p2)
- return [h, selectedAction]
-
- if player == p1:
- alpha = -Inf
- for action in possibleActions(state, player):
- s1 = executeAction([x for x in state], action, player)
- childScore = minimax(s1, opp, p1, p2, depth - 1)[0]
- if childScore > alpha:
- alpha = childScore
- selectedAction = action
- else:
- alpha = Inf
- for action in possibleActions(state, player):
- s1 = executeAction([x for x in state], action, player)
- childScore = minimax(s1, opp, p1, p2, depth - 1)[0]
- if childScore < alpha:
- alpha = childScore
- selectedAction = action
-
- return [alpha, selectedAction]
-
-def handleComputeMiniMax(req):
- cells = [x for x in req.board]
- depth = req.max_depth
- p1 = req.id_player
- p2 = req.id_opponent
-
- alpha, selectedAction = minimax(cells, p1, p1, p2, depth)
-
- return MiniMaxResponse(selectedAction)
-
-def minimaxServer():
- rospy.init_node(NODE_NAME)
-
- s = rospy.Service(ttt.concatTopicName(TOPIC_MINIMAX), MiniMax, handleComputeMiniMax)
- rospy.spin()
-
-if __name__ == "__main__":
- minimaxServer()
diff --git a/scripts/tic_tac_toe.py b/scripts/tic_tac_toe.py
deleted file mode 100755
index 82b486ab0798e2ef385c59e6cdc21f2a9994bde0..0000000000000000000000000000000000000000
--- a/scripts/tic_tac_toe.py
+++ /dev/null
@@ -1,138 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import os
-import tic_tac_toe_common as ttt
-
-from socrates_workshop.srv import *
-from std_msgs.msg import Bool, Int16
-from std_srvs.srv import Empty
-
-
-
-TOPIC_BOARD_STATE = "topic_board_state"
-TOPIC_PERFORM_ACTION = "topic_perform_robot_action"
-
-TOPIC_GRIPPER_ACTION = "topic_gripper_action"
-TOPIC_ACTION_CALLBACK = "topic_gripper_callback"
-
-clearTerminal = lambda: os.system('clear')
-
-this = sys.modules[__name__]
-
-this.callback_publisher = None
-this.robot_action_proxy = None
-
-this.refreshing = False
-this.board = [0,0,0,0,0,0,0,0,0]
-this.last_move = 0
-
-def h1(s, player, indeces):
- return all([s[i] == player for i in indeces])
-
-def h2(s,p):
- return h1(s,p,[0,1,2]) or h1(s,p,[3,4,5]) or h1(s,p,[6,7,8]) or h1(s,p,[0,3,6]) or h1(s,p,[1,4,7]) or h1(s,p,[2,5,8]) or h1(s,p,[0,4,8]) or h1(s,p,[2,4,6])
-
-def gameFinished():
-
- id_human = ttt.getUserId()
- id_ai = ttt.getAiId()
- indeces = [0,1,2,3,4,5,6,7,8]
-
- s = this.board
-
- if h2(s, id_human) or h2(s, id_ai) or all( [s[i] != 0 for i in indeces] ):
- return True
- else:
- return False
-
-
-def newGame():
- this.board = [0,0,0,0,0,0,0,0,0]
- this.last_move = 0
- return this.board
-
-def getPiece(p):
- if p == 0:
- return ' '
- elif p == 1:
- return 'X'
- else:
- return 'O'
-
-
-def refreshView():
- if not this.refreshing:
- this.refreshing = True
- s = this.board
- clearTerminal()
- print "let's play tic tac toe!!"
- print " %s | %s | %s" % (getPiece(s[0]), getPiece(s[1]), getPiece(s[2]))
- print "-----------"
- print " %s | %s | %s" % (getPiece(s[3]), getPiece(s[4]), getPiece(s[5]))
- print "-----------"
- print " %s | %s | %s" % (getPiece(s[6]), getPiece(s[7]), getPiece(s[8]))
- print "Enter your desired piece position in range [1..9]"
- this.refreshing = False
-
-
-def setPiece(player, position):
- if this.board[position-1] != 0:
- return False
- this.board[position-1] = player
- this.last_move = player
- if gameFinished():
- newGame()
-
- refreshView()
- return True
-
-def callbackBoardRequest(req):
- return BoardResponse(this.board)
-
-def callbackOnGripperAction(msg):
- action = msg.data
- setPiece(ttt.getAiId(), action)
- this.callback_publisher.publish(True)
-
-
-def tic_tac_toe_node():
- rospy.init_node("tic_tac_toe")
-
-
- id_human = ttt.getUserId()
-
- exit = False
-
- topic = ttt.concatTopicName(TOPIC_BOARD_STATE)
- s = rospy.Service(topic, Board, callbackBoardRequest)
-
- topic = ttt.concatTopicName(TOPIC_GRIPPER_ACTION)
- s = rospy.Subscriber(topic, Int16, callbackOnGripperAction)
-
- topic = ttt.concatTopicName(TOPIC_ACTION_CALLBACK)
- this.callback_publisher = rospy.Publisher(topic, Bool, queue_size=10)
-
- topic = ttt.concatTopicName(TOPIC_PERFORM_ACTION)
- this.robot_action_proxy = rospy.ServiceProxy(topic, Empty)
-
-
- clearTerminal()
- newGame()
- while not rospy.is_shutdown() and not exit:
- refreshView()
- while this.last_move == id_human:
- pass
- user_input = input()
-
- if user_input not in range(1, 10):
- exit = True
-
- if setPiece(id_human, user_input):
- this.robot_action_proxy()
-
- print exit
-
-
-if __name__ == "__main__":
- tic_tac_toe_node()
diff --git a/scripts/tic_tac_toe_common.py b/scripts/tic_tac_toe_common.py
deleted file mode 100644
index d00d7b6fe2b8215c925a460e70d67d05374671b8..0000000000000000000000000000000000000000
--- a/scripts/tic_tac_toe_common.py
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-
-from std_srvs.srv import Empty
-
-PARAM_APPLICATION_NAME = "application_name"
-
-
-PARAM_USER_ID = "param_human_player_id"
-PARAM_AI_ID = "param_ai_player_id"
-
-
-def getApplicationName():
- return rospy.get_param(PARAM_APPLICATION_NAME)
-
-
-def concatTopicName(topicNameParam):
- application_name = getApplicationName()
-
- topic_name = rospy.get_param(topicNameParam)
- topic_name = application_name + "/" + topic_name
-
- return topic_name
-
-def getUserId():
- return rospy.get_param(PARAM_USER_ID)
-
-def getAiId():
- return rospy.get_param(PARAM_AI_ID)
-
diff --git a/scripts/tic_tac_toe_common.pyc b/scripts/tic_tac_toe_common.pyc
deleted file mode 100644
index 8972205a838900ad9964aa1da348081568d95798..0000000000000000000000000000000000000000
Binary files a/scripts/tic_tac_toe_common.pyc and /dev/null differ
diff --git a/srv/Board.srv b/srv/Board.srv
deleted file mode 100644
index e28698101ccc759deee12d2c64c4fb2d3b07c1aa..0000000000000000000000000000000000000000
--- a/srv/Board.srv
+++ /dev/null
@@ -1,4 +0,0 @@
-int32 id_human
-int32 id_ai
----
-int32[] board
diff --git a/srv/IntInt.srv b/srv/IntInt.srv
deleted file mode 100644
index 71badf76326020cf84e15257e43f3fb7063518ae..0000000000000000000000000000000000000000
--- a/srv/IntInt.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-int32 data
----
-int32 data
diff --git a/srv/MiniMax.srv b/srv/MiniMax.srv
deleted file mode 100644
index 1f63c70bff754bb2c120baa8067592d637b1e9c2..0000000000000000000000000000000000000000
--- a/srv/MiniMax.srv
+++ /dev/null
@@ -1,6 +0,0 @@
-int32[] board
-int32 max_depth
-int32 id_player
-int32 id_opponent
----
-int32 action