// Copyright 2022 HarvestX Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #include "p9n_test/workflow_handler.hpp" namespace p9n_test { void WorkflowHandler::goNextTask() { this->trial_ = 0; this->current_task_idx_ += 1; if (this->current_task_idx_ == static_cast<size_t>(Task::END)) { this->done_ = true; } else { this->explainNextTask(); } } bool WorkflowHandler::execCurrentTask( std::reference_wrapper<std::unique_ptr<p9n_interface::PlayStationInterface>> ref_if) { this->trial_ += 1; bool trial_result = false; switch (this->current_task_idx_) { case static_cast<int>(Task::CROSS): trial_result = ref_if.get()->pressedCross(); break; case static_cast<int>(Task::CIRCLE): trial_result = ref_if.get()->pressedCircle(); break; case static_cast<int>(Task::TRIANGLE): trial_result = ref_if.get()->pressedTriangle(); break; case static_cast<int>(Task::SQUARE): trial_result = ref_if.get()->pressedSquare(); break; case static_cast<int>(Task::L1): trial_result = ref_if.get()->pressedL1(); break; case static_cast<int>(Task::R1): trial_result = ref_if.get()->pressedR1(); break; case static_cast<int>(Task::L2): trial_result = ref_if.get()->pressedL2(); break; case static_cast<int>(Task::R2): trial_result = ref_if.get()->pressedR2(); break; case static_cast<int>(Task::SELECT): trial_result = ref_if.get()->pressedSelect(); break; case static_cast<int>(Task::START): trial_result = ref_if.get()->pressedStart(); break; case static_cast<int>(Task::PS): trial_result = ref_if.get()->pressedPS(); break; case static_cast<int>(Task::DPAD_UP): trial_result = ref_if.get()->pressedDPadUp(); break; case static_cast<int>(Task::DPAD_DOWN): trial_result = ref_if.get()->pressedDPadDown(); break; case static_cast<int>(Task::DPAD_RIGHT): trial_result = ref_if.get()->pressedDPadRight(); break; case static_cast<int>(Task::DPAD_LEFT): trial_result = ref_if.get()->pressedDPadLeft(); break; case static_cast<int>(Task::STICK_L_LEFT): trial_result = ref_if.get()->tiltedStickLX() > 1e-1; break; case static_cast<int>(Task::STICK_L_UP): trial_result = ref_if.get()->tiltedStickLY() > 1e-1; break; case static_cast<int>(Task::STICK_R_LEFT): trial_result = ref_if.get()->tiltedStickRX() > 1e-1; break; case static_cast<int>(Task::STICK_R_UP): trial_result = ref_if.get()->tiltedStickRY() > 1e-1; break; case static_cast<int>(Task::END): default: RCLCPP_ERROR( this->LOGGER_, "Now workflow remains"); return true; } return trial_result; } std::string WorkflowHandler::getCurrentTaskStr() { return this->getTaskStr(this->current_task_idx_); } std::string WorkflowHandler::getTaskStr(const int task_idx) { switch (task_idx) { case static_cast<int>(Task::CROSS): return "☓"; case static_cast<int>(Task::CIRCLE): return "○"; case static_cast<int>(Task::TRIANGLE): return "△"; case static_cast<int>(Task::SQUARE): return "□"; case static_cast<int>(Task::L1): return "L1"; case static_cast<int>(Task::R1): return "R1"; case static_cast<int>(Task::L2): return "L2"; case static_cast<int>(Task::R2): return "R2"; case static_cast<int>(Task::SELECT): return "Select"; case static_cast<int>(Task::START): return "Start"; case static_cast<int>(Task::PS): return "PS"; case static_cast<int>(Task::DPAD_UP): return "Button ↑"; case static_cast<int>(Task::DPAD_DOWN): return "Button ↓"; case static_cast<int>(Task::DPAD_RIGHT): return "Button →"; case static_cast<int>(Task::DPAD_LEFT): return "Button ←"; case static_cast<int>(Task::STICK_L_LEFT): return "Stick L ←"; case static_cast<int>(Task::STICK_L_UP): return "Stick L ↑"; case static_cast<int>(Task::STICK_R_LEFT): return "Stick R ←"; case static_cast<int>(Task::STICK_R_UP): return "Stick R ↑"; case static_cast<int>(Task::END): default: return "All Task Done"; } } bool WorkflowHandler::isDone() { return this->done_; } bool WorkflowHandler::isTrialGreaterThan(const int max) { return this->trial_ >= max; } void WorkflowHandler::explainNextTask(bool once) { const std::string text = "Press [ " + this->getCurrentTaskStr() + " ] button : "; if (once) { RCLCPP_WARN_ONCE( this->LOGGER_, text.c_str()); } else { RCLCPP_WARN( this->LOGGER_, text.c_str()); } } void WorkflowHandler::markCurrentTaskAsFailed() { this->failed_idx_list_.emplace_back(this->current_task_idx_); } void WorkflowHandler::showResult() { if (this->failed_idx_list_.empty()) { RCLCPP_INFO( this->LOGGER_, "Passed all task! 🍻"); } else { std::stringstream ss; ss << "Failed target: "; for (auto failed_idx : this->failed_idx_list_) { ss << "[ " << this->getTaskStr(failed_idx) << " ] "; } RCLCPP_ERROR( this->LOGGER_, ss.str().c_str()); } } } // namespace p9n_test