def maze_move(self, direction):
if self._curr == 2:
if direction == 'LEFT':
self._line = LEFT_LINE
elif direction == 'RIGHT':
self._line = RIGHT_LINE
else:
pass #bad move
info = self._line[self._curr]
if info['move'] == direction:
#make move
ugm_helper.send_config(self.conn,
str([{'id':'1986',
'maze_user_color':'#00FFFF',
'maze_user_direction': info['dir'],
'maze_user_x':info['x'],
'maze_user_y':info['y']}
]), 1)
#add tooltip
self._message = info['tooltip']
self._update_letters()
#send to robot
self.robot(info['robot'])
ugm_helper.send_config_for(self.conn, '1986', 'maze_user_color', '#222777')
if len(self._line) > 4 and self._curr == len(self._line) - 2:
self._maze_success = True
self._curr = self._curr + 1
else:
ugm_helper.send_config_for(self.conn, '1986', 'maze_user_color', '#FF0000')
time.sleep(0.5)
ugm_helper.send_config_for(self.conn, '1986', 'maze_user_color', '#222777')
def blinking_stopped(self):
time.sleep(1)
ugm_helper.send_text(self.conn, self.break_text)
time.sleep(self.break_duration)
ugm_helper.send_config(self.conn, self.blinking_ugm)
time.sleep(1)
ugm_helper.send_start_blinking(self.conn)
def _send_fancy_target(self, target_ind):
t = time.time()
target_config = str([self.raw_ugm.get_config_for(self.text_ids[target_ind])])
while time.time() - t < self.target_time:
self._curr_fancy_x += (random.random()-0.5)/25.0
self._curr_fancy_y += (random.random()-0.5)/25.0
if self._curr_fancy_x < 0.4:
self._curr_fancy_x = 0.4
elif self._curr_fancy_x > 0.6:
self._curr_fancy_x = 0.6
if self._curr_fancy_y < 0.4:
self._curr_fancy_y = 0.4
elif self._curr_fancy_y > 0.6:
self._curr_fancy_y = 0.6
l_str_config = str([
{'id':self.text_ids[target_ind],
'message':self.feed_text,
'position_horizontal_type':'relative',
'position_vertical_type':'relative',
'position_horizontal':self._curr_fancy_x,
'position_vertical':self._curr_fancy_y,
#'font_size':15,
'message':self.feed_text
}
])
ugm_helper.send_config(self.conn, l_str_config, 1)
time.sleep(0.1)
ugm_helper.send_config(self.conn, target_config, 1)
def blinking_stopped(self):
time.sleep(1)
ugm_helper.send_text(self.conn, self.break_text)
time.sleep(self.break_duration)
ugm_helper.send_config(self.conn, self.blinking_ugm)
time.sleep(1)
ugm_helper.send_start_blinking(self.conn)
def _send_fancy_target(self, target_ind):
t = time.time()
target_config = str([self.raw_ugm.get_config_for(self.text_ids[target_ind])])
while time.time() - t < self.target_time:
self._curr_fancy_x += (random.random()-0.5)/25.0
self._curr_fancy_y += (random.random()-0.5)/25.0
if self._curr_fancy_x < 0.4:
self._curr_fancy_x = 0.4
elif self._curr_fancy_x > 0.6:
self._curr_fancy_x = 0.6
if self._curr_fancy_y < 0.4:
self._curr_fancy_y = 0.4
elif self._curr_fancy_y > 0.6:
self._curr_fancy_y = 0.6
l_str_config = str([
{'id':self.text_ids[target_ind],
'message':self.feed_text,
'position_horizontal_type':'relative',
'position_vertical_type':'relative',
'position_horizontal':self._curr_fancy_x,
'position_vertical':self._curr_fancy_y,
#'font_size':15,
'message':self.feed_text
}
])
ugm_helper.send_config(self.conn, l_str_config, 1)
time.sleep(0.1)
ugm_helper.send_config(self.conn, target_config, 1)
def handle_message(self, mxmsg):
if mxmsg.type == types.ETR_CALIBRATION_RESULTS:
res = variables_pb2.Sample()
res.ParseFromString(mxmsg.message)
data = res.channels
self.logger.debug("GOT ETR CALIBRATION RESULTS: "+str(data))
self.handle_calibration_mesage(data)
elif mxmsg.type == types.ETR_SIGNAL_MESSAGE:
l_msg = variables_pb2.Sample2D()
l_msg.ParseFromString(mxmsg.message)
self.logger.debug("GOT MESSAGE: "+str(l_msg))
dec, ugm = self.handle_etr_message(l_msg)
if dec >= 0:
self.logger.debug("Sending dec message...")
self.conn.send_message(message = str(dec), type = types.DECISION_MESSAGE, flush=True)
elif ugm is not None:
self.logger.debug("Sending ugm message...")
ugm_helper.send_config(self.conn, ugm, 1)
else:
self.logger.info("Got notihing from manager...")
self.no_response()
def handle_message(self, mxmsg):
if mxmsg.type == types.ETR_CALIBRATION_RESULTS:
res = variables_pb2.Sample()
res.ParseFromString(mxmsg.message)
data = res.channels
self.logger.debug("GOT ETR CALIBRATION RESULTS: " + str(data))
self.handle_calibration_mesage(data)
elif mxmsg.type == types.ETR_SIGNAL_MESSAGE:
l_msg = variables_pb2.Sample2D()
l_msg.ParseFromString(mxmsg.message)
self.logger.debug("GOT MESSAGE: " + str(l_msg))
dec, ugm = self.handle_etr_message(l_msg)
if dec >= 0:
self.logger.debug("Sending dec message...")
self.conn.send_message(message=str(dec),
type=types.DECISION_MESSAGE,
flush=True)
elif ugm is not None:
self.logger.debug("Sending ugm message...")
ugm_helper.send_config(self.conn, ugm, 1)
else:
self.logger.info("Got notihing from manager...")
self.no_response()
def begin(self):
ugm_helper.send_text(self.conn, self.hi_text)
#keystroke.wait([" "])
time.sleep(5)
self.logger.info("Send begin config ...")
ugm_helper.send_config(self.conn, self.blinking_ugm)
self.logger.info("Send start blinking on begin ...")
ugm_helper.send_start_blinking(self.conn)
def begin(self):
ugm_helper.send_text(self.conn, self.hi_text)
#keystroke.wait([" "])
time.sleep(5)
self.logger.info("Send begin config ...")
ugm_helper.send_config(self.conn, self.blinking_ugm)
self.logger.info("Send start blinking on begin ...")
ugm_helper.send_start_blinking(self.conn)
def handle_message(self, mxmsg):
#~ self.logger.info("EtrAnalysis\n")
if mxmsg.type == types.ETR_CALIBRATION_RESULTS:
#### What to do when receive ETR_MATRIX information
res = variables_pb2.Sample()
res.ParseFromString(mxmsg.message)
self.logger.debug("GOT ETR CALIBRATION RESULTS: "+str(res.channels))
#process blinks only when hold_time passed
if self._last_dec_time > 0:
t = time.time() - self._last_dec_time
if t > self.hold_after_dec:
self._last_dec_time = 0
else:
self.no_response()
return
# What to do after everything is done...
if mxmsg.type == types.DECISION_MESSAGE:
self._last_dec_time = time.time()
if mxmsg.type == types.ETR_SIGNAL_MESSAGE:
#### What to do when receive ETR_SIGNAL information
msg = variables_pb2.Sample2D()
msg.ParseFromString(mxmsg.message)
self.logger.debug("GOT MESSAGE: "+str(msg))
# Save positions
x, y = msg.x, msg.y
self._update_buffor(np.array([[x],[y]]))
# Turn position into heatmap
m = self._calc_metric(x,y)
self._update_heatmap(m)
ugm = self.ugm_mgr.get_ugm_updates(self.feeds, msg)
ugm_helper.send_config(self.conn, ugm, 1)
self.nCount += 1
if self.nCount % self.nRefresh == 0:
# Calc heatmap as probabilty density
pdf = self._calc_pdf()
# Send results to decision modul
self._send_results()
#~ elif mxmsg.type == types.BLINK_MESSAGE:
#### What to do when receive BLINK_NO information
#~ blink = variables_pb2.Blink()
#~ blink.ParseFromString(mxmsg.message)
#~ self.logger.debug("GOT BLINK: "+str(blink.index)+" / "+str(blink.timestamp))
self.no_response()
def _update_letters(self):
l_config = []
l_letters = self._curr_letters
for i, i_letters in enumerate(l_letters):
l_conf = {'id': self.text_ids[i], 'message': i_letters}
l_config.append(l_conf)
l_config.append({'id': self.text_id, 'message': self._message})
l_str_config = str(l_config)
self.logger.info("UPDATE: " + l_str_config)
ugm_helper.send_config(self.conn, l_str_config, 1)
def _update_letters(self):
l_config = []
l_letters = self._curr_letters
for i, i_letters in enumerate(l_letters):
l_conf = {'id':self.text_ids[i],
'message':i_letters}
l_config.append(l_conf)
l_config.append({'id':self.text_id,
'message':self._message})
l_str_config = str(l_config)
self.logger.info("UPDATE: "+l_str_config)
ugm_helper.send_config(self.conn, l_str_config, 1)
def _send_feedback(self, dec, dec_time):
while True:
t = time.time() - dec_time
if t > self.feed_time:
ugm_config = self.feed_manager.update_ugm(dec, -1)
ugm_helper.send_config(self.conn, ugm_config, 1)
break
else:
self.logger.debug("t="+str(t)+"FEED: "+str(t/self.feed_time))
ugm_config = self.feed_manager.update_ugm(dec, 1-(t/self.feed_time))
ugm_helper.send_config(self.conn, ugm_config, 1)
time.sleep(0.05)
def _send_feedback(self, dec, dec_time):
while True:
t = time.time() - dec_time
if t > self.feed_time:
ugm_config = self.feed_manager.update_ugm(dec, -1)
ugm_helper.send_config(self.conn, ugm_config, 1)
break
else:
self.logger.debug("t=" + str(t) + "FEED: " +
str(t / self.feed_time))
ugm_config = self.feed_manager.update_ugm(
dec, 1 - (t / self.feed_time))
ugm_helper.send_config(self.conn, ugm_config, 1)
time.sleep(0.05)
def begin(self):
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.hi_text)
time.sleep(5)
ugm_helper.send_status(self.conn, self.hi_text_2)
time.sleep(8)
ugm_helper.send_status(self.conn, self.hi_text_3)
time.sleep(3)
ugm_helper.send_status(self.conn, "")
self.logger.info("Send begin config ...")
ugm_helper.send_config(self.conn, self.blinking_ugm)
self.logger.info("Send start blinking on begin ...")
ugm_helper.send_start_blinking(self.conn)
def begin(self):
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.hi_text)
time.sleep(5)
ugm_helper.send_status(self.conn, self.hi_text_2)
time.sleep(8)
ugm_helper.send_status(self.conn, self.hi_text_3)
time.sleep(3)
ugm_helper.send_status(self.conn, "")
self.logger.info("Send begin config ...")
ugm_helper.send_config(self.conn, self.blinking_ugm)
self.logger.info("Send start blinking on begin ...")
ugm_helper.send_start_blinking(self.conn)
def _update_letters(self):
"""Sent to self._server current logic data:
- current message,
"""
self.logger.info("UPDATE MESSAGE: " + self._message)
l_config = []
l_letters = self._compute_current_letters()
for i, i_letters in enumerate(l_letters):
l_conf = {'id': self.text_ids[i], 'message': i_letters}
l_config.append(l_conf)
l_config.append({'id': self.text_id, 'message': self._message})
l_str_config = str(l_config)
self.logger.info("UPDATE: " + l_str_config)
ugm_helper.send_config(self.conn, l_str_config, 1)
def _send_feed(self, target_ind):
if self.feed_time <= 0:
return
# prepare and send feed text
l_config = [{"id": self.text_ids[target_ind], "message": self.feed_text}]
l_str_config = str(l_config)
ugm_helper.send_config(self.conn, l_str_config, 1)
t = time.time()
tags_helper.send_tag(self.conn, t, t, "feedback", {"field": target_ind, "duration": self.feed_time})
# wait
time.sleep(self.feed_time)
# remove feed
l_config[0]["message"] = ""
l_str_config = str(l_config)
ugm_helper.send_config(self.conn, l_str_config, 1)
def _update_letters(self):
"""Sent to self._server current logic data:
- current message,
"""
self.logger.info("UPDATE MESSAGE: "+self._message)
l_config = []
l_letters = self._compute_current_letters()
for i, i_letters in enumerate(l_letters):
l_conf = {'id':self.text_ids[i],
'message':i_letters}
l_config.append(l_conf)
l_config.append({'id':self.text_id,
'message':self._message})
l_str_config = str(l_config)
self.logger.info("UPDATE: "+l_str_config)
ugm_helper.send_config(self.conn, l_str_config, 1)
def _send_feed(self, target_ind):
if self.feed_time <= 0:
return
#prepare and send feed text
l_config = [{'id':self.text_ids[target_ind],
'message':self.feed_text}]
l_str_config = str(l_config)
ugm_helper.send_config(self.conn, l_str_config, 1)
t = time.time()
tags_helper.send_tag(self.conn, t, t, "feedback",
{'field':target_ind,
'duration':self.feed_time
})
#wait
time.sleep(self.feed_time)
#remove feed
l_config[0]['message'] = ""
l_str_config = str(l_config)
ugm_helper.send_config(self.conn, l_str_config, 1)
def maze_move(self, direction):
if self._curr == 2:
if direction == 'LEFT':
self._line = LEFT_LINE
elif direction == 'RIGHT':
self._line = RIGHT_LINE
else:
pass #bad move
info = self._line[self._curr]
if info['move'] == direction:
#make move
ugm_helper.send_config(
self.conn,
str([{
'id': '1986',
'maze_user_color': '#00FFFF',
'maze_user_direction': info['dir'],
'maze_user_x': info['x'],
'maze_user_y': info['y']
}]), 1)
#add tooltip
self._message = info['tooltip']
self._update_letters()
#send to robot
self.robot(info['robot'])
ugm_helper.send_config_for(self.conn, '1986', 'maze_user_color',
'#222777')
if len(self._line) > 4 and self._curr == len(self._line) - 2:
self._maze_success = True
self._curr = self._curr + 1
else:
ugm_helper.send_config_for(self.conn, '1986', 'maze_user_color',
'#FF0000')
time.sleep(0.5)
ugm_helper.send_config_for(self.conn, '1986', 'maze_user_color',
'#222777')
def run(self):
#process intro
ugm_helper.send_text(self.conn, self.hi_text)
#keystroke.wait([" "])
time.sleep(90)
ugm_helper.send_config(self.conn, self.ugm)
time.sleep(3)
"""
#keystroke.wait([" "])
#ugm_helper.send_text(self.conn, self.trial_text)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.trial_text)
#keystroke.wait([" "])
time.sleep(3)
ugm_helper.send_config(self.conn, self.ugm)
appliance_helper.send_freqs(self.conn, self.all_freqs[:int(self.config.get_param("fields_count"))])
#ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_ids[1], 'message', self.feed_text)
time.sleep(self.target_time)
appliance_helper.send_stop(self.conn)
#ugm_helper.send_text(self.conn, self.ready_text)
ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.ready_text)
time.sleep(3)
#keystroke.wait([" "])
self.logger.info("Send begin config ...")
#ugm_helper.send_config(self.conn, self.ugm)
"""
#process trials
self._run()
#process good bye
appliance_helper.send_stop(self.conn)
#ugm_helper.send_text(self.conn, self.bye_text)
ugm_helper.send_config_for(self.conn, self.text_id, 'message',
self.bye_text)
def run(self):
# process intro
ugm_helper.send_text(self.conn, self.hi_text)
# keystroke.wait([" "])
time.sleep(90)
ugm_helper.send_config(self.conn, self.ugm)
time.sleep(3)
"""
#keystroke.wait([" "])
#ugm_helper.send_text(self.conn, self.trial_text)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.trial_text)
#keystroke.wait([" "])
time.sleep(3)
ugm_helper.send_config(self.conn, self.ugm)
appliance_helper.send_freqs(self.conn, self.all_freqs[:int(self.config.get_param("fields_count"))])
#ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_ids[1], 'message', self.feed_text)
time.sleep(self.target_time)
appliance_helper.send_stop(self.conn)
#ugm_helper.send_text(self.conn, self.ready_text)
ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.ready_text)
time.sleep(3)
#keystroke.wait([" "])
self.logger.info("Send begin config ...")
#ugm_helper.send_config(self.conn, self.ugm)
"""
# process trials
self._run()
# process good bye
appliance_helper.send_stop(self.conn)
# ugm_helper.send_text(self.conn, self.bye_text)
ugm_helper.send_config_for(self.conn, self.text_id, "message", self.bye_text)
def run(self):
self.logger.info("RUN!!!")
#process intro
#ugm_helper.send_text(self.conn, self.hi_text)
ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.hi_text)
#keystroke.wait([" "])
time.sleep(15)
#ugm_helper.send_text(self.conn, self.trial_text)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.trial_text)
time.sleep(15)
#keystroke.wait([" "])
ugm_helper.send_config(self.conn, self.ugm)
appliance_helper.send_freqs(self.conn, self.all_freqs[:int(self.config.get_param("fields_count"))])
#ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_ids[1], 'message', self.feed_text)
time.sleep(self.target_time)
appliance_helper.send_stop(self.conn)
#ugm_helper.send_text(self.conn, self.ready_text)
ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.ready_text)
time.sleep(15)
#keystroke.wait([" "])
self.logger.info("Send begin config ...")
#ugm_helper.send_config(self.conn, self.ugm)
#process trials
self._run()
#process good bye
appliance_helper.send_stop(self.conn)
#ugm_helper.send_text(self.conn, self.bye_text)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.bye_text)
#acquire some more data
time.sleep(2)
self.logger.info("Send finish saving and finish ...")
acquisition_helper.send_finish_saving(self.conn)
def run(self):
self.logger.info("RUN!!!")
#process intro
#ugm_helper.send_text(self.conn, self.hi_text)
ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.hi_text)
#keystroke.wait([" "])
time.sleep(15)
#ugm_helper.send_text(self.conn, self.trial_text)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.trial_text)
time.sleep(15)
#keystroke.wait([" "])
ugm_helper.send_config(self.conn, self.ugm)
appliance_helper.send_freqs(self.conn, self.all_freqs[:int(self.config.get_param("fields_count"))])
#ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_ids[1], 'message', self.feed_text)
time.sleep(self.target_time)
appliance_helper.send_stop(self.conn)
#ugm_helper.send_text(self.conn, self.ready_text)
ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.ready_text)
time.sleep(15)
#keystroke.wait([" "])
self.logger.info("Send begin config ...")
#ugm_helper.send_config(self.conn, self.ugm)
#process trials
self._run()
#process good bye
appliance_helper.send_stop(self.conn)
#ugm_helper.send_text(self.conn, self.bye_text)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.bye_text)
#acquire some more data
time.sleep(2)
self.logger.info("Send finish saving and finish ...")
acquisition_helper.send_finish_saving(self.conn)
def run(self):
ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_id, 'message', self.ID)
def _send_ugm(self):
ugm_helper.send_config(self.conn, self.ugm)
t = time.time()
tags_helper.send_tag(self.conn, t, t, "trial",{'duration':self.feed_time+self.target_time})
def end(self):
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.bye_text)
#acquire some more data
time.sleep(2)
acquisition_helper.send_finish_saving(self.conn)
def run(self):
ugm_helper.send_config(self.conn, self.ugm)
ugm_helper.send_config_for(self.conn, self.text_id, 'message',
self.text)
def end(self):
ugm_helper.send_config(self.conn, self.status_ugm)
ugm_helper.send_status(self.conn, self.bye_text)
#acquire some more data
time.sleep(2)
acquisition_helper.send_finish_saving(self.conn)
def _send_ugm(self):
ugm_helper.send_config(self.conn, self.ugm)
t = time.time()
tags_helper.send_tag(self.conn, t, t, "trial",{'duration':self.feed_time+self.target_time})