Skip to content

Dev/steep timer #365

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
cameron-a-johnson wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Dev/steep timer #365

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
1c2d8fa
remove old comments
cameron-a-johnson Nov 3, 2023
3355422
added steep timer. Needs testing.
cameron-a-johnson Nov 3, 2023
e4345cd
linting
cameron-a-johnson Nov 3, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
63 changes: 52 additions & 11 deletions angel_system/global_step_prediction/global_step_predictor.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,11 @@ def __init__(
# Example: ["tea", "coffee"]
self.tracker_resets = []

# Early steps: steps that activate too early and require a warning message.
# Example: Tea steeping should take 3 mins. If less, let the use know.
# Example: ["tea", "tea"]
self.early_steps = []

def get_activity_order_from_config(self, config_fn):
"""
Get the order of activity_ids (mapping to granular step
Expand Down Expand Up @@ -501,12 +506,10 @@ def process_new_confidences(self, activity_confs):
next_next_granular_step
]

# TODO: prioritize a 1-step jump over a 2-step jump. Create a
# second loop just for the 2-step jumps, after this loop has completed
# searching for one-step jumps.
if next_activity in flipping_on_indexes:
self.increment_granular_step(tracker_ind)
self.conditionally_reset_irrational_trackers(tracker)
self.check_timing(tracker)
# Each activity activation can only be used once.
# Delete activity from flipping_on_indexes
next_act_ind = np.argwhere(flipping_on_indexes == next_activity)
Expand All @@ -521,6 +524,7 @@ def process_new_confidences(self, activity_confs):
self.increment_granular_step(tracker_ind)
self.increment_granular_step(tracker_ind)
self.conditionally_reset_irrational_trackers(tracker, skip=True)
self.check_timing(tracker, skip=True)
# Each activity activation can only be used once.
# Delete activity from flipping_on_indexes
next_next_act_ind = np.argwhere(
Expand All @@ -533,8 +537,6 @@ def process_new_confidences(self, activity_confs):
flipping_on_indexes, next_next_act_ind
)

# TODO: Try requiring that previous step is de-activated

# Add current preds to this tracker's prediction history
self.record_history(
tracker_ind,
Expand All @@ -550,6 +552,39 @@ def process_new_confidences(self, activity_confs):

return self.trackers

def check_timing(self, tracker, skip=False):
"""
Check for steps that happen "too soon," i.e. the previous
step should have taken longer.

Tea: "steeping" expected for 3 minutes.
If framerate = 30FPS, 3 minutes = 5400 frames.
Conservatively cut that in half: 2700 frames.
"""

if tracker['recipe'] != "tea":
return

if not skip:
if tracker['recipe'] == "tea" and tracker["current_granular_step"] == 9:
num_frames_to_check = 2700 * self.framerate / 30
if len(tracker["granular_prediction_history"]) > 2700 * self.framerate/30:
if all(tracker["granular_prediction_history"][:-(num_frames_to_check)] == 8:
return
else:
self.early_steps.append["tea"]
elif skip:
if tracker['recipe'] == "tea" and tracker["current_granular_step"] == 9:
self.early_steps.append["tea"]
elif tracker['recipe'] == "tea" and tracker["current_granular_step"] == 10:
num_frames_to_check = 2700 * self.framerate / 30
if len(tracker["granular_prediction_history"]) > 2700 * self.framerate/30:
if all(tracker["granular_prediction_history"][:-(num_frames_to_check)] == 8:
return
else:
self.early_steps.append["tea"]


def find_trackers_by_recipe(self, recipe):
tracker_index_list = []
for tracker_ind, tracker in enumerate(self.trackers):
Expand Down Expand Up @@ -591,19 +626,23 @@ def conditionally_reset_irrational_trackers(self, tracker, skip=False):
== resetter_granular_step[recipe][0]
):
print("reset condition hit!!")
#import ipdb; ipdb.set_trace()
# import ipdb; ipdb.set_trace()
if tracker["recipe"] == "coffee":
print(f"tea step = {self.trackers[1]['current_granular_step']}")
for tracker_ind in self.find_trackers_by_recipe(
resetter_granular_step[recipe][1]
):
if (
self.trackers[tracker_ind]["current_granular_step"]
< resetter_granular_step[self.trackers[tracker_ind]["recipe"]][0]
self.trackers[tracker_ind]["current_granular_step"]
< resetter_granular_step[
self.trackers[tracker_ind]["recipe"]
][0]
):
self.reset_one_tracker(tracker_ind)
if tracker["recipe"] == "coffee":
print(f"tea step after = {self.trackers[1]['current_granular_step']}")
print(
f"tea step after = {self.trackers[1]['current_granular_step']}"
)
else:
for recipe in resetter_granular_step:
granular_steps = [
Expand All @@ -618,8 +657,10 @@ def conditionally_reset_irrational_trackers(self, tracker, skip=False):
resetter_granular_step[recipe][1]
):
if (
self.trackers[tracker_ind]["current_granular_step"]
< resetter_granular_step[self.trackers[tracker_ind]["recipe"]][0]
self.trackers[tracker_ind]["current_granular_step"]
< resetter_granular_step[
self.trackers[tracker_ind]["recipe"]
][0]
):
self.reset_one_tracker(tracker_ind)

Expand Down