Robothon Task Board 2025 Updates

[4ntn]

Update Task Board to match 2025 requirements.

Switch to M5STACK Core2 as default device in project configuration.

Add a score() method to task steps.

• All-or-nothing steps return 100% score. The score() method can be modified to calculate any desired metric.
• Task step score is calculated only once, upon completion of the step, just before saving the time. So, computationally intensive score functions should be OK.
• An array with all the scores has been added to the robothon_task_status ros message.
• The score is shown on completed task steps in the web interface. It is only shown for task steps in which it is relevant.
• An average score is calculated for the whole protocol. The average score for each run is saved on the non volatile storage.

Add a new type of TaskStep: TRACE_SHAPE:

• It generates an std::vector expected_path_ of vector3 points.
• It measures an std::vector measured_path_ with the path generated by touching the screen.
• It displays both paths on the screen of the device.
• It does a basic calculation for the score of the task based on distance between the two starting points, distance between the two finish points, and difference in length of the two paths.
• It implements several shape types:
  • Single point.
  • Line (two points).
  • Triangle (irregular).
  • Square (regular).
  • Circle (regular polygon with 100 sides).
  • Four sided irregular polygon.

Possibility to obtain the shape to trace at random from a pool through a new task step: trace shape from pool.
There are also three new task steps to manage the pool:

• TaskStepTraceShapeSetPool: Empty a shape pool and fill it with certain shapes.
• TaskStepTraceShapeEmptyPool: Empty a pool.
• TaskStepTraceShapeFillPool: Add certain shapes to a pool without emptying it.

To measure the touch screen position, a new sensor has been added:

• It returns the position on the touch screen where it is being touched, inside a Vector3 variable.
• The origin is the top left of the screen. The units are 0 to 100 on both directions.
• The z component of the Vector is 0 when the screen is not being touched, 1 when it is.

Change task step time spent representation from elapsed time from the beginning of the protocol to increment since start of the task step.

Add automatic completion task steps:

• These do not require user/robot action to complete.
• Create a new type of automatic task step: Wait a random amount of time (between certain limits).
• The time spent in automatic tasks is not taken into account for final protocol run time.

Added a new kind of automatic task step to act on hardware.

Added the new sensors and task steps to the 2025 Task Board Driver.

To do:

• Test the new sensors.
• Rename "task" to "protocol" across the project.
• Hide "uninteresting" steps (actuators mainly) on the web interface.

[peterso]

Accepting general clean up, feature additions for trace task, random wait task step, and interface for actuators, however, actuators have not been successfully tested. Will need to update output and input pin assignments to match as-built in the next PR