## Overview

This is a project for controling all of the subsystems needed to play [the block game](/games/BlockGame) in user studies as well as for displaying the current game state.

The code for this project is in: `game/control_panel` and is implemented in dart/flutter. It is soon to be deprecated adn replaced by `game/control_server` and `game/ui/block_game`

---

## Pages

- Home Page

- Control Page

- User Study Page

### Home Page

![HomePage](/img/home_Page_control_panel.png)

This page is used to connect to the server by choosing the appropriate computer name and port number so that users may play on any computer.

### Control Page

![Colored Trails](/img/control_page_control_panel.png)

This is the page where all the subsystems for the block game can be initialized and the game is started.

### User Study Page

![Colored Trails](/img/user_study_page_control_panel.png)

This is the page where the acutal game can be played in sim mode as well as where the current game state is displayed during physical games.

---

### Controls

- Vision Subsystem
- Faces
- Mic
- Utils
- Manipulation
- Block Game demo

<!-- ### Communicates with: -->

<!-- TODO -->

### Topics Subscribed To:

#### GameTopic

- name: 'verified_game_state',
- type: '/common_msgs/GameState',

##### VerifiedSpeechTopic

- name: 'verified_speech',
- type: '/common_msgs/ChatMessage',

#### ScoreTopic

- name: 'round_score',
- type: '/common_msgs/Score',

#### RunningScoreTopic

- name: 'running_score',
- type: 'common_msgs/Score',

#### commandTopic

- name: 'commands',
- type: 'common_msgs/Command',

#### statusTopic

- name: 'status',
- type: 'common_msgs/Status',

#### gameTurnTopic

- name: 'game_turn',
- type: 'common_msgs/GameTurn',

#### playerMoveTopic

- name: 'player_move',
- type: 'common_msgs/PlayerMove',

#### currentRoundTopic

- name: 'current_round',
- type: 'common_msgs/CurrentRound',

#### faceTopic

- name: 'robot/face_compressed',
- type: 'sensor_msgs/CompressedImage',

#### lookAtTopic

- name: 'eyes/method',
- type: 'common_msgs/LookAt',

#### gazeAtTopic

- name: 'gaze',
- type: 'common_msgs/GazeAt',

#### chatStatusTopic

- name: 'chat/status',
- type: 'common_msgs/ChatStatus',

#### attentionTopic

- name: 'attention',
- type: 'common_msgs/Attention',

### Services

#### \_moveAwayClient

- name: 'arm/move/away'
- type: 'common_msgs/EmptyCommand'

#### \_moveHomeClient

- name: 'arm/move/home'
- type: 'common_msgs/EmptyCommand'

#### \_openGripperClient

- name: 'gripper/open'
- type: 'common_msgs/EmptyCommand'

#### \_closeGripperClient

- name: 'gripper/close'
- type: 'common_msgs/EmptyCommand'

---

### To run from sawyer_ws:

- `./start_control_panel.sh`

### To run for user study:

- `./start_user_study.sh`