kraken/backend/grasp_data_collection.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
"""
This experiment was created using PsychoPy3 Experiment Builder (v2023.2.3),
    on 十二月 18, 2023, at 10:55
If you publish work using this script the most relevant publication is:

    Peirce J, Gray JR, Simpson S, MacAskill M, Höchenberger R, Sogo H, Kastman E, Lindeløv JK. (2019) 
        PsychoPy2: Experiments in behavior made easy Behav Res 51: 195. 
        https://doi.org/10.3758/s13428-018-01193-y

"""

# --- Import packages ---
from psychopy import locale_setup
from psychopy import prefs
from psychopy import plugins
plugins.activatePlugins()
prefs.hardware['audioLib'] = 'ptb'
prefs.hardware['audioLatencyMode'] = '3'
from psychopy import sound, gui, visual, core, data, event, logging, clock, colors, layout
from psychopy.tools import environmenttools
from psychopy.constants import (NOT_STARTED, STARTED, PLAYING, PAUSED,
                                STOPPED, FINISHED, PRESSED, RELEASED, FOREVER, priority)

import numpy as np  # whole numpy lib is available, prepend 'np.'
from numpy import (sin, cos, tan, log, log10, pi, average,
                   sqrt, std, deg2rad, rad2deg, linspace, asarray)
from numpy.random import random, randint, normal, shuffle, choice as randchoice
import os  # handy system and path functions
import sys  # to get file system encoding

import psychopy.iohub as io
from psychopy.hardware import keyboard

# Run 'Before Experiment' code from config
import argparse
import time
from device.fubo_pneumatic_finger import FuboPneumaticFingerClient
from device.trigger_box import TriggerNeuracle
from settings.config import settings


# get train params

def parse_args():

    parser = argparse.ArgumentParser(

        description='Grasp training'

    )

    parser.add_argument(

        '--n-trials',

        dest='n_trials',

        help='Trial number',

        type=int,

    )

    parser.add_argument(

        '--com',

        dest='com',

        help='Peripheral serial port',

        type=str

    )

    parser.add_argument(

        '--finger-model',

        '-fm',

        dest='finger_model',

        help='Gesture to train',

        type=str

    )

    return parser.parse_args()



args = parse_args()

hand_device = FuboPneumaticFingerClient({'port': args.com})

# connect to trigger box
trigger = TriggerNeuracle()

# Run 'Before Experiment' code from code


# --- Setup global variables (available in all functions) ---
# Ensure that relative paths start from the same directory as this script
_thisDir = os.path.dirname(os.path.abspath(__file__))
# Store info about the experiment session
psychopyVersion = '2023.2.3'
expName = 'grasp_data_collection'  # from the Builder filename that created this script
expInfo = {
    'participant': f"{randint(0, 999999):06.0f}",
    'session': '001',
    'date': data.getDateStr(),  # add a simple timestamp
    'expName': expName,
    'psychopyVersion': psychopyVersion,
}


def showExpInfoDlg(expInfo):
    """
    Show participant info dialog.
    Parameters
    ==========
    expInfo : dict
        Information about this experiment, created by the `setupExpInfo` function.
    
    Returns
    ==========
    dict
        Information about this experiment.
    """
    # temporarily remove keys which the dialog doesn't need to show
    poppedKeys = {
        'date': expInfo.pop('date', data.getDateStr()),
        'expName': expInfo.pop('expName', expName),
        'psychopyVersion': expInfo.pop('psychopyVersion', psychopyVersion),
    }
    # show participant info dialog
    dlg = gui.DlgFromDict(dictionary=expInfo, sortKeys=False, title=expName)
    if dlg.OK == False:
        core.quit()  # user pressed cancel
    # restore hidden keys
    expInfo.update(poppedKeys)
    # return expInfo
    return expInfo


def setupData(expInfo, dataDir=None):
    """
    Make an ExperimentHandler to handle trials and saving.
    
    Parameters
    ==========
    expInfo : dict
        Information about this experiment, created by the `setupExpInfo` function.
    dataDir : Path, str or None
        Folder to save the data to, leave as None to create a folder in the current directory.    
    Returns
    ==========
    psychopy.data.ExperimentHandler
        Handler object for this experiment, contains the data to save and information about 
        where to save it to.
    """
    
    # data file name stem = absolute path + name; later add .psyexp, .csv, .log, etc
    if dataDir is None:
        dataDir = _thisDir
    filename = u'data/%s_%s_%s' % (expInfo['participant'], expName, expInfo['date'])
    # make sure filename is relative to dataDir
    if os.path.isabs(filename):
        dataDir = os.path.commonprefix([dataDir, filename])
        filename = os.path.relpath(filename, dataDir)
    
    # an ExperimentHandler isn't essential but helps with data saving
    thisExp = data.ExperimentHandler(
        name=expName, version='',
        extraInfo=expInfo, runtimeInfo=None,
        originPath='D:\\Graduate\\kraken\\backend\\grasp_data_collection.py',
        savePickle=True, saveWideText=True,
        dataFileName=dataDir + os.sep + filename, sortColumns='time'
    )
    thisExp.setPriority('thisRow.t', priority.CRITICAL)
    thisExp.setPriority('expName', priority.LOW)
    # return experiment handler
    return thisExp


def setupLogging(filename):
    """
    Setup a log file and tell it what level to log at.
    
    Parameters
    ==========
    filename : str or pathlib.Path
        Filename to save log file and data files as, doesn't need an extension.
    
    Returns
    ==========
    psychopy.logging.LogFile
        Text stream to receive inputs from the logging system.
    """
    # this outputs to the screen, not a file
    logging.console.setLevel(logging.EXP)
    # save a log file for detail verbose info
    logFile = logging.LogFile(filename+'.log', level=logging.EXP)
    
    return logFile


def setupWindow(expInfo=None, win=None):
    """
    Setup the Window
    
    Parameters
    ==========
    expInfo : dict
        Information about this experiment, created by the `setupExpInfo` function.
    win : psychopy.visual.Window
        Window to setup - leave as None to create a new window.
    
    Returns
    ==========
    psychopy.visual.Window
        Window in which to run this experiment.
    """
    if win is None:
        # if not given a window to setup, make one
        win = visual.Window(
            size=[1707, 1067], fullscr=True, screen=0,
            winType='pyglet', allowStencil=False,
            monitor='testMonitor', color=[1,1,1], colorSpace='rgb',
            backgroundImage='', backgroundFit='none',
            blendMode='avg', useFBO=True,
            units='height'
        )
        if expInfo is not None:
            # store frame rate of monitor if we can measure it
            expInfo['frameRate'] = win.getActualFrameRate()
    else:
        # if we have a window, just set the attributes which are safe to set
        win.color = [1,1,1]
        win.colorSpace = 'rgb'
        win.backgroundImage = ''
        win.backgroundFit = 'none'
        win.units = 'height'
    win.mouseVisible = False
    win.hideMessage()
    return win


def setupInputs(expInfo, thisExp, win):
    """
    Setup whatever inputs are available (mouse, keyboard, eyetracker, etc.)
    
    Parameters
    ==========
    expInfo : dict
        Information about this experiment, created by the `setupExpInfo` function.
    thisExp : psychopy.data.ExperimentHandler
        Handler object for this experiment, contains the data to save and information about 
        where to save it to.
    win : psychopy.visual.Window
        Window in which to run this experiment.
    Returns
    ==========
    dict
        Dictionary of input devices by name.
    """
    # --- Setup input devices ---
    inputs = {}
    ioConfig = {}
    
    # Setup iohub keyboard
    ioConfig['Keyboard'] = dict(use_keymap='psychopy')
    
    ioSession = '1'
    if 'session' in expInfo:
        ioSession = str(expInfo['session'])
    ioServer = io.launchHubServer(window=win, **ioConfig)
    eyetracker = None
    
    # create a default keyboard (e.g. to check for escape)
    defaultKeyboard = keyboard.Keyboard(backend='iohub')
    # return inputs dict
    return {
        'ioServer': ioServer,
        'defaultKeyboard': defaultKeyboard,
        'eyetracker': eyetracker,
    }

def pauseExperiment(thisExp, inputs=None, win=None, timers=[], playbackComponents=[]):
    """
    Pause this experiment, preventing the flow from advancing to the next routine until resumed.
    
    Parameters
    ==========
    thisExp : psychopy.data.ExperimentHandler
        Handler object for this experiment, contains the data to save and information about 
        where to save it to.
    inputs : dict
        Dictionary of input devices by name.
    win : psychopy.visual.Window
        Window for this experiment.
    timers : list, tuple
        List of timers to reset once pausing is finished.
    playbackComponents : list, tuple
        List of any components with a `pause` method which need to be paused.
    """
    # if we are not paused, do nothing
    if thisExp.status != PAUSED:
        return
    
    # pause any playback components
    for comp in playbackComponents:
        comp.pause()
    # prevent components from auto-drawing
    win.stashAutoDraw()
    # run a while loop while we wait to unpause
    while thisExp.status == PAUSED:
        # make sure we have a keyboard
        if inputs is None:
            inputs = {
                'defaultKeyboard': keyboard.Keyboard(backend='ioHub')
            }
        # check for quit (typically the Esc key)
        if inputs['defaultKeyboard'].getKeys(keyList=['escape']):
            endExperiment(thisExp, win=win, inputs=inputs)
        # flip the screen
        win.flip()
    # if stop was requested while paused, quit
    if thisExp.status == FINISHED:
        endExperiment(thisExp, inputs=inputs, win=win)
    # resume any playback components
    for comp in playbackComponents:
        comp.play()
    # restore auto-drawn components
    win.retrieveAutoDraw()
    # reset any timers
    for timer in timers:
        timer.reset()


def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
    """
    Run the experiment flow.
    
    Parameters
    ==========
    expInfo : dict
        Information about this experiment, created by the `setupExpInfo` function.
    thisExp : psychopy.data.ExperimentHandler
        Handler object for this experiment, contains the data to save and information about 
        where to save it to.
    psychopy.visual.Window
        Window in which to run this experiment.
    inputs : dict
        Dictionary of input devices by name.
    globalClock : psychopy.core.clock.Clock or None
        Clock to get global time from - supply None to make a new one.
    thisSession : psychopy.session.Session or None
        Handle of the Session object this experiment is being run from, if any.
    """
    # mark experiment as started
    thisExp.status = STARTED
    # make sure variables created by exec are available globally
    exec = environmenttools.setExecEnvironment(globals())
    # get device handles from dict of input devices
    ioServer = inputs['ioServer']
    defaultKeyboard = inputs['defaultKeyboard']
    eyetracker = inputs['eyetracker']
    # make sure we're running in the directory for this experiment
    os.chdir(_thisDir)
    # get filename from ExperimentHandler for convenience
    filename = thisExp.dataFileName
    frameTolerance = 0.001  # how close to onset before 'same' frame
    endExpNow = False  # flag for 'escape' or other condition => quit the exp
    # get frame duration from frame rate in expInfo
    if 'frameRate' in expInfo and expInfo['frameRate'] is not None:
        frameDur = 1.0 / round(expInfo['frameRate'])
    else:
        frameDur = 1.0 / 60.0  # could not measure, so guess
    
    # Start Code - component code to be run after the window creation
    
    # --- Initialize components for Routine "prepare" ---
    text = visual.TextStim(win=win, name='text',
        text='抓握训练即将开始\n如果准备好了，请按空格键',
        font='Open Sans',
        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
        color='black', colorSpace='rgb', opacity=1.0, 
        languageStyle='LTR',
        depth=0.0);
    key_resp = keyboard.Keyboard()
    
    # --- Initialize components for Routine "ready" ---
    ready_text = visual.TextStim(win=win, name='ready_text',
        text='请准备',
        font='Open Sans',
        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
        color='black', colorSpace='rgb', opacity=None, 
        languageStyle='LTR',
        depth=0.0);
    
    # --- Initialize components for Routine "extend" ---
    extend_img = visual.ImageStim(
        win=win,
        name='extend_img', 
        image='static/images/extend.png', mask=None, anchor='center',
        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
        color=[1,1,1], colorSpace='rgb', opacity=None,
        flipHoriz=False, flipVert=False,
        texRes=128.0, interpolate=True, depth=0.0)
    attention = sound.Sound('static/audios/ding.wav', secs=1.0, stereo=True, hamming=True,
        name='attention')
    attention.setVolume(1.0)
    extend_wav = sound.Sound('static/audios/extend.wav', secs=2, stereo=True, hamming=True,
        name='extend_wav')
    extend_wav.setVolume(1.0)
    
    # --- Initialize components for Routine "flex" ---
    flex_img = visual.ImageStim(
        win=win,
        name='flex_img', 
        image='static/images/flex.png', mask=None, anchor='center',
        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
        color=[1,1,1], colorSpace='rgb', opacity=None,
        flipHoriz=False, flipVert=False,
        texRes=128.0, interpolate=True, depth=0.0)
    flex_wav = sound.Sound('static/audios/flex.wav', secs=2, stereo=True, hamming=True,
        name='flex_wav')
    flex_wav.setVolume(1.0)
    
    # --- Initialize components for Routine "hold" ---
    hold_img = visual.ImageStim(
        win=win,
        name='hold_img', 
        image='static/images/hold.png', mask=None, anchor='center',
        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
        color=[1,1,1], colorSpace='rgb', opacity=None,
        flipHoriz=False, flipVert=False,
        texRes=128.0, interpolate=True, depth=0.0)
    hold_wav = sound.Sound('static/audios/hold.wav', secs=2, stereo=True, hamming=True,
        name='hold_wav')
    hold_wav.setVolume(1.0)
    
    # --- Initialize components for Routine "rest" ---
    rest_img = visual.ImageStim(
        win=win,
        name='rest_img', 
        image='static/images/rest.png', mask=None, anchor='center',
        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
        color=[1,1,1], colorSpace='rgb', opacity=None,
        flipHoriz=False, flipVert=False,
        texRes=128.0, interpolate=True, depth=0.0)
    rest_wav1 = sound.Sound('static/audios/ding.wav', secs=1.0, stereo=True, hamming=True,
        name='rest_wav1')
    rest_wav1.setVolume(1.0)
    rest_wav2 = sound.Sound('static/audios/rest.wav', secs=2, stereo=True, hamming=True,
        name='rest_wav2')
    rest_wav2.setVolume(1.0)
    
    # --- Initialize components for Routine "end" ---
    end_text = visual.TextStim(win=win, name='end_text',
        text='恭喜您！\n完成训练！',
        font='Open Sans',
        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
        color='black', colorSpace='rgb', opacity=1.0, 
        languageStyle='LTR',
        depth=0.0);
    
    # create some handy timers
    if globalClock is None:
        globalClock = core.Clock()  # to track the time since experiment started
    if ioServer is not None:
        ioServer.syncClock(globalClock)
    logging.setDefaultClock(globalClock)
    routineTimer = core.Clock()  # to track time remaining of each (possibly non-slip) routine
    win.flip()  # flip window to reset last flip timer
    # store the exact time the global clock started
    expInfo['expStart'] = data.getDateStr(format='%Y-%m-%d %Hh%M.%S.%f %z', fractionalSecondDigits=6)
    
    # --- Prepare to start Routine "prepare" ---
    continueRoutine = True
    # update component parameters for each repeat
    thisExp.addData('prepare.started', globalClock.getTime())
    key_resp.keys = []
    key_resp.rt = []
    _key_resp_allKeys = []
    # Run 'Begin Routine' code from config
    
    
    # keep track of which components have finished
    prepareComponents = [text, key_resp]
    for thisComponent in prepareComponents:
        thisComponent.tStart = None
        thisComponent.tStop = None
        thisComponent.tStartRefresh = None
        thisComponent.tStopRefresh = None
        if hasattr(thisComponent, 'status'):
            thisComponent.status = NOT_STARTED
    # reset timers
    t = 0
    _timeToFirstFrame = win.getFutureFlipTime(clock="now")
    frameN = -1
    
    # --- Run Routine "prepare" ---
    routineForceEnded = not continueRoutine
    while continueRoutine:
        # get current time
        t = routineTimer.getTime()
        tThisFlip = win.getFutureFlipTime(clock=routineTimer)
        tThisFlipGlobal = win.getFutureFlipTime(clock=None)
        frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
        # update/draw components on each frame
        
        # *text* updates
        
        # if text is starting this frame...
        if text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
            # keep track of start time/frame for later
            text.frameNStart = frameN  # exact frame index
            text.tStart = t  # local t and not account for scr refresh
            text.tStartRefresh = tThisFlipGlobal  # on global time
            win.timeOnFlip(text, 'tStartRefresh')  # time at next scr refresh
            # add timestamp to datafile
            thisExp.timestampOnFlip(win, 'text.started')
            # update status
            text.status = STARTED
            text.setAutoDraw(True)
        
        # if text is active this frame...
        if text.status == STARTED:
            # update params
            pass
        
        # *key_resp* updates
        waitOnFlip = False
        
        # if key_resp is starting this frame...
        if key_resp.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
            # keep track of start time/frame for later
            key_resp.frameNStart = frameN  # exact frame index
            key_resp.tStart = t  # local t and not account for scr refresh
            key_resp.tStartRefresh = tThisFlipGlobal  # on global time
            win.timeOnFlip(key_resp, 'tStartRefresh')  # time at next scr refresh
            # add timestamp to datafile
            thisExp.timestampOnFlip(win, 'key_resp.started')
            # update status
            key_resp.status = STARTED
            # keyboard checking is just starting
            waitOnFlip = True
            win.callOnFlip(key_resp.clock.reset)  # t=0 on next screen flip
            win.callOnFlip(key_resp.clearEvents, eventType='keyboard')  # clear events on next screen flip
        if key_resp.status == STARTED and not waitOnFlip:
            theseKeys = key_resp.getKeys(keyList=['space'], ignoreKeys=["escape"], waitRelease=False)
            _key_resp_allKeys.extend(theseKeys)
            if len(_key_resp_allKeys):
                key_resp.keys = _key_resp_allKeys[-1].name  # just the last key pressed
                key_resp.rt = _key_resp_allKeys[-1].rt
                key_resp.duration = _key_resp_allKeys[-1].duration
                # a response ends the routine
                continueRoutine = False
        
        # check for quit (typically the Esc key)
        if defaultKeyboard.getKeys(keyList=["escape"]):
            thisExp.status = FINISHED
        if thisExp.status == FINISHED or endExpNow:
            endExperiment(thisExp, inputs=inputs, win=win)
            return
        
        # check if all components have finished
        if not continueRoutine:  # a component has requested a forced-end of Routine
            routineForceEnded = True
            break
        continueRoutine = False  # will revert to True if at least one component still running
        for thisComponent in prepareComponents:
            if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
                continueRoutine = True
                break  # at least one component has not yet finished
        
        # refresh the screen
        if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
            win.flip()
    
    # --- Ending Routine "prepare" ---
    for thisComponent in prepareComponents:
        if hasattr(thisComponent, "setAutoDraw"):
            thisComponent.setAutoDraw(False)
    thisExp.addData('prepare.stopped', globalClock.getTime())
    # check responses
    if key_resp.keys in ['', [], None]:  # No response was made
        key_resp.keys = None
    thisExp.addData('key_resp.keys',key_resp.keys)
    if key_resp.keys != None:  # we had a response
        thisExp.addData('key_resp.rt', key_resp.rt)
        thisExp.addData('key_resp.duration', key_resp.duration)
    thisExp.nextEntry()
    # the Routine "prepare" was not non-slip safe, so reset the non-slip timer
    routineTimer.reset()
    
    # set up handler to look after randomisation of conditions etc
    trials = data.TrialHandler(nReps=args.n_trials, method='random', 
        extraInfo=expInfo, originPath=-1,
        trialList=[None],
        seed=None, name='trials')
    thisExp.addLoop(trials)  # add the loop to the experiment
    thisTrial = trials.trialList[0]  # so we can initialise stimuli with some values
    # abbreviate parameter names if possible (e.g. rgb = thisTrial.rgb)
    if thisTrial != None:
        for paramName in thisTrial:
            globals()[paramName] = thisTrial[paramName]
    
    for thisTrial in trials:
        currentLoop = trials
        thisExp.timestampOnFlip(win, 'thisRow.t')
        # pause experiment here if requested
        if thisExp.status == PAUSED:
            pauseExperiment(
                thisExp=thisExp, 
                inputs=inputs, 
                win=win, 
                timers=[routineTimer], 
                playbackComponents=[]
        )
        # abbreviate parameter names if possible (e.g. rgb = thisTrial.rgb)
        if thisTrial != None:
            for paramName in thisTrial:
                globals()[paramName] = thisTrial[paramName]
        
        # --- Prepare to start Routine "ready" ---
        continueRoutine = True
        # update component parameters for each repeat
        thisExp.addData('ready.started', globalClock.getTime())
        # keep track of which components have finished
        readyComponents = [ready_text]
        for thisComponent in readyComponents:
            thisComponent.tStart = None
            thisComponent.tStop = None
            thisComponent.tStartRefresh = None
            thisComponent.tStopRefresh = None
            if hasattr(thisComponent, 'status'):
                thisComponent.status = NOT_STARTED
        # reset timers
        t = 0
        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
        frameN = -1
        
        # --- Run Routine "ready" ---
        routineForceEnded = not continueRoutine
        while continueRoutine and routineTimer.getTime() < 1.5:
            # get current time
            t = routineTimer.getTime()
            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
            # update/draw components on each frame
            
            # *ready_text* updates
            
            # if ready_text is starting this frame...
            if ready_text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
                # keep track of start time/frame for later
                ready_text.frameNStart = frameN  # exact frame index
                ready_text.tStart = t  # local t and not account for scr refresh
                ready_text.tStartRefresh = tThisFlipGlobal  # on global time
                win.timeOnFlip(ready_text, 'tStartRefresh')  # time at next scr refresh
                # add timestamp to datafile
                thisExp.timestampOnFlip(win, 'ready_text.started')
                # update status
                ready_text.status = STARTED
                ready_text.setAutoDraw(True)
            
            # if ready_text is active this frame...
            if ready_text.status == STARTED:
                # update params
                pass
            
            # if ready_text is stopping this frame...
            if ready_text.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > ready_text.tStartRefresh + 1.5-frameTolerance:
                    # keep track of stop time/frame for later
                    ready_text.tStop = t  # not accounting for scr refresh
                    ready_text.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'ready_text.stopped')
                    # update status
                    ready_text.status = FINISHED
                    ready_text.setAutoDraw(False)
            
            # check for quit (typically the Esc key)
            if defaultKeyboard.getKeys(keyList=["escape"]):
                thisExp.status = FINISHED
            if thisExp.status == FINISHED or endExpNow:
                endExperiment(thisExp, inputs=inputs, win=win)
                return
            
            # check if all components have finished
            if not continueRoutine:  # a component has requested a forced-end of Routine
                routineForceEnded = True
                break
            continueRoutine = False  # will revert to True if at least one component still running
            for thisComponent in readyComponents:
                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
                    continueRoutine = True
                    break  # at least one component has not yet finished
            
            # refresh the screen
            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
                win.flip()
        
        # --- Ending Routine "ready" ---
        for thisComponent in readyComponents:
            if hasattr(thisComponent, "setAutoDraw"):
                thisComponent.setAutoDraw(False)
        thisExp.addData('ready.stopped', globalClock.getTime())
        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
        if routineForceEnded:
            routineTimer.reset()
        else:
            routineTimer.addTime(-1.500000)
        
        # --- Prepare to start Routine "extend" ---
        continueRoutine = True
        # update component parameters for each repeat
        thisExp.addData('extend.started', globalClock.getTime())
        attention.setSound('static/audios/ding.wav', secs=1.0, hamming=True)
        attention.setVolume(1.0, log=False)
        attention.seek(0)
        # Run 'Begin Routine' code from code
        i = 0
        
        extend_wav.setSound('static/audios/extend.wav', secs=2, hamming=True)
        extend_wav.setVolume(1.0, log=False)
        extend_wav.seek(0)
        # keep track of which components have finished
        extendComponents = [extend_img, attention, extend_wav]
        for thisComponent in extendComponents:
            thisComponent.tStart = None
            thisComponent.tStop = None
            thisComponent.tStartRefresh = None
            thisComponent.tStopRefresh = None
            if hasattr(thisComponent, 'status'):
                thisComponent.status = NOT_STARTED
        # reset timers
        t = 0
        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
        frameN = -1
        
        # --- Run Routine "extend" ---
        routineForceEnded = not continueRoutine
        while continueRoutine and routineTimer.getTime() < 7.0:
            # get current time
            t = routineTimer.getTime()
            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
            # update/draw components on each frame
            
            # *extend_img* updates
            
            # if extend_img is starting this frame...
            if extend_img.status == NOT_STARTED and tThisFlip >= 1-frameTolerance:
                # keep track of start time/frame for later
                extend_img.frameNStart = frameN  # exact frame index
                extend_img.tStart = t  # local t and not account for scr refresh
                extend_img.tStartRefresh = tThisFlipGlobal  # on global time
                win.timeOnFlip(extend_img, 'tStartRefresh')  # time at next scr refresh
                # add timestamp to datafile
                thisExp.timestampOnFlip(win, 'extend_img.started')
                # update status
                extend_img.status = STARTED
                extend_img.setAutoDraw(True)
            
            # if extend_img is active this frame...
            if extend_img.status == STARTED:
                # update params
                pass
            
            # if extend_img is stopping this frame...
            if extend_img.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > extend_img.tStartRefresh + 6-frameTolerance:
                    # keep track of stop time/frame for later
                    extend_img.tStop = t  # not accounting for scr refresh
                    extend_img.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'extend_img.stopped')
                    # update status
                    extend_img.status = FINISHED
                    extend_img.setAutoDraw(False)
            
            # if attention is starting this frame...
            if attention.status == NOT_STARTED and tThisFlip >= 1-frameTolerance:
                # keep track of start time/frame for later
                attention.frameNStart = frameN  # exact frame index
                attention.tStart = t  # local t and not account for scr refresh
                attention.tStartRefresh = tThisFlipGlobal  # on global time
                # add timestamp to datafile
                thisExp.addData('attention.started', tThisFlipGlobal)
                # update status
                attention.status = STARTED
                attention.play(when=win)  # sync with win flip
            
            # if attention is stopping this frame...
            if attention.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > attention.tStartRefresh + 1.0-frameTolerance:
                    # keep track of stop time/frame for later
                    attention.tStop = t  # not accounting for scr refresh
                    attention.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'attention.stopped')
                    # update status
                    attention.status = FINISHED
                    attention.stop()
            # update attention status according to whether it's playing
            if attention.isPlaying:
                attention.status = STARTED
            elif attention.isFinished:
                attention.status = FINISHED
            # Run 'Each Frame' code from code
            
            if i== 119:
                hand_device.start('extend')
                # send trigger
                current_true_label = settings.FINGERMODEL_IDS['extend']
                win.callOnFlip(trigger.send_trigger, current_true_label)
            
            i += 1    
            # 每轮开始前空白等待1s + 反应时1s + 新版extend时间4.5s + 0.5s裕量 = 7s
            
            # if extend_wav is starting this frame...
            if extend_wav.status == NOT_STARTED and tThisFlip >= 1.8-frameTolerance:
                # keep track of start time/frame for later
                extend_wav.frameNStart = frameN  # exact frame index
                extend_wav.tStart = t  # local t and not account for scr refresh
                extend_wav.tStartRefresh = tThisFlipGlobal  # on global time
                # add timestamp to datafile
                thisExp.addData('extend_wav.started', tThisFlipGlobal)
                # update status
                extend_wav.status = STARTED
                extend_wav.play(when=win)  # sync with win flip
            
            # if extend_wav is stopping this frame...
            if extend_wav.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > extend_wav.tStartRefresh + 2-frameTolerance:
                    # keep track of stop time/frame for later
                    extend_wav.tStop = t  # not accounting for scr refresh
                    extend_wav.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'extend_wav.stopped')
                    # update status
                    extend_wav.status = FINISHED
                    extend_wav.stop()
            # update extend_wav status according to whether it's playing
            if extend_wav.isPlaying:
                extend_wav.status = STARTED
            elif extend_wav.isFinished:
                extend_wav.status = FINISHED
            
            # check for quit (typically the Esc key)
            if defaultKeyboard.getKeys(keyList=["escape"]):
                thisExp.status = FINISHED
            if thisExp.status == FINISHED or endExpNow:
                endExperiment(thisExp, inputs=inputs, win=win)
                return
            
            # check if all components have finished
            if not continueRoutine:  # a component has requested a forced-end of Routine
                routineForceEnded = True
                break
            continueRoutine = False  # will revert to True if at least one component still running
            for thisComponent in extendComponents:
                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
                    continueRoutine = True
                    break  # at least one component has not yet finished
            
            # refresh the screen
            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
                win.flip()
        
        # --- Ending Routine "extend" ---
        for thisComponent in extendComponents:
            if hasattr(thisComponent, "setAutoDraw"):
                thisComponent.setAutoDraw(False)
        thisExp.addData('extend.stopped', globalClock.getTime())
        attention.pause()  # ensure sound has stopped at end of Routine
        extend_wav.pause()  # ensure sound has stopped at end of Routine
        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
        if routineForceEnded:
            routineTimer.reset()
        else:
            routineTimer.addTime(-7.000000)
        
        # --- Prepare to start Routine "flex" ---
        continueRoutine = True
        # update component parameters for each repeat
        thisExp.addData('flex.started', globalClock.getTime())
        # Run 'Begin Routine' code from code_2
        i = 0
        
        flex_wav.setSound('static/audios/flex.wav', secs=2, hamming=True)
        flex_wav.setVolume(1.0, log=False)
        flex_wav.seek(0)
        # keep track of which components have finished
        flexComponents = [flex_img, flex_wav]
        for thisComponent in flexComponents:
            thisComponent.tStart = None
            thisComponent.tStop = None
            thisComponent.tStartRefresh = None
            thisComponent.tStopRefresh = None
            if hasattr(thisComponent, 'status'):
                thisComponent.status = NOT_STARTED
        # reset timers
        t = 0
        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
        frameN = -1
        
        # --- Run Routine "flex" ---
        routineForceEnded = not continueRoutine
        while continueRoutine and routineTimer.getTime() < 6.0:
            # get current time
            t = routineTimer.getTime()
            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
            # update/draw components on each frame
            
            # *flex_img* updates
            
            # if flex_img is starting this frame...
            if flex_img.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
                # keep track of start time/frame for later
                flex_img.frameNStart = frameN  # exact frame index
                flex_img.tStart = t  # local t and not account for scr refresh
                flex_img.tStartRefresh = tThisFlipGlobal  # on global time
                win.timeOnFlip(flex_img, 'tStartRefresh')  # time at next scr refresh
                # add timestamp to datafile
                thisExp.timestampOnFlip(win, 'flex_img.started')
                # update status
                flex_img.status = STARTED
                flex_img.setAutoDraw(True)
            
            # if flex_img is active this frame...
            if flex_img.status == STARTED:
                # update params
                pass
            
            # if flex_img is stopping this frame...
            if flex_img.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > flex_img.tStartRefresh + 6-frameTolerance:
                    # keep track of stop time/frame for later
                    flex_img.tStop = t  # not accounting for scr refresh
                    flex_img.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'flex_img.stopped')
                    # update status
                    flex_img.status = FINISHED
                    flex_img.setAutoDraw(False)
            # Run 'Each Frame' code from code_2
            if i == 59:
                hand_device.start(args.finger_model)
                # trigger
                current_true_label = settings.FINGERMODEL_IDS[args.finger_model]
                win.callOnFlip(trigger.send_trigger, current_true_label)
            
            i += 1
            
            # 反应时1s+新版气动手flex时间4.5s + 0.5s裕量 = 6s
            
            # if flex_wav is starting this frame...
            if flex_wav.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
                # keep track of start time/frame for later
                flex_wav.frameNStart = frameN  # exact frame index
                flex_wav.tStart = t  # local t and not account for scr refresh
                flex_wav.tStartRefresh = tThisFlipGlobal  # on global time
                # add timestamp to datafile
                thisExp.addData('flex_wav.started', tThisFlipGlobal)
                # update status
                flex_wav.status = STARTED
                flex_wav.play(when=win)  # sync with win flip
            
            # if flex_wav is stopping this frame...
            if flex_wav.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > flex_wav.tStartRefresh + 2-frameTolerance:
                    # keep track of stop time/frame for later
                    flex_wav.tStop = t  # not accounting for scr refresh
                    flex_wav.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'flex_wav.stopped')
                    # update status
                    flex_wav.status = FINISHED
                    flex_wav.stop()
            # update flex_wav status according to whether it's playing
            if flex_wav.isPlaying:
                flex_wav.status = STARTED
            elif flex_wav.isFinished:
                flex_wav.status = FINISHED
            
            # check for quit (typically the Esc key)
            if defaultKeyboard.getKeys(keyList=["escape"]):
                thisExp.status = FINISHED
            if thisExp.status == FINISHED or endExpNow:
                endExperiment(thisExp, inputs=inputs, win=win)
                return
            
            # check if all components have finished
            if not continueRoutine:  # a component has requested a forced-end of Routine
                routineForceEnded = True
                break
            continueRoutine = False  # will revert to True if at least one component still running
            for thisComponent in flexComponents:
                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
                    continueRoutine = True
                    break  # at least one component has not yet finished
            
            # refresh the screen
            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
                win.flip()
        
        # --- Ending Routine "flex" ---
        for thisComponent in flexComponents:
            if hasattr(thisComponent, "setAutoDraw"):
                thisComponent.setAutoDraw(False)
        thisExp.addData('flex.stopped', globalClock.getTime())
        flex_wav.pause()  # ensure sound has stopped at end of Routine
        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
        if routineForceEnded:
            routineTimer.reset()
        else:
            routineTimer.addTime(-6.000000)
        
        # --- Prepare to start Routine "hold" ---
        continueRoutine = True
        # update component parameters for each repeat
        thisExp.addData('hold.started', globalClock.getTime())
        # Run 'Begin Routine' code from code_3
        win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['hold'])
        hold_wav.setSound('static/audios/hold.wav', secs=2, hamming=True)
        hold_wav.setVolume(1.0, log=False)
        hold_wav.seek(0)
        # keep track of which components have finished
        holdComponents = [hold_img, hold_wav]
        for thisComponent in holdComponents:
            thisComponent.tStart = None
            thisComponent.tStop = None
            thisComponent.tStartRefresh = None
            thisComponent.tStopRefresh = None
            if hasattr(thisComponent, 'status'):
                thisComponent.status = NOT_STARTED
        # reset timers
        t = 0
        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
        frameN = -1
        
        # --- Run Routine "hold" ---
        routineForceEnded = not continueRoutine
        while continueRoutine and routineTimer.getTime() < 5.0:
            # get current time
            t = routineTimer.getTime()
            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
            # update/draw components on each frame
            
            # *hold_img* updates
            
            # if hold_img is starting this frame...
            if hold_img.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
                # keep track of start time/frame for later
                hold_img.frameNStart = frameN  # exact frame index
                hold_img.tStart = t  # local t and not account for scr refresh
                hold_img.tStartRefresh = tThisFlipGlobal  # on global time
                win.timeOnFlip(hold_img, 'tStartRefresh')  # time at next scr refresh
                # add timestamp to datafile
                thisExp.timestampOnFlip(win, 'hold_img.started')
                # update status
                hold_img.status = STARTED
                hold_img.setAutoDraw(True)
            
            # if hold_img is active this frame...
            if hold_img.status == STARTED:
                # update params
                pass
            
            # if hold_img is stopping this frame...
            if hold_img.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > hold_img.tStartRefresh + 5-frameTolerance:
                    # keep track of stop time/frame for later
                    hold_img.tStop = t  # not accounting for scr refresh
                    hold_img.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'hold_img.stopped')
                    # update status
                    hold_img.status = FINISHED
                    hold_img.setAutoDraw(False)
            
            # if hold_wav is starting this frame...
            if hold_wav.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
                # keep track of start time/frame for later
                hold_wav.frameNStart = frameN  # exact frame index
                hold_wav.tStart = t  # local t and not account for scr refresh
                hold_wav.tStartRefresh = tThisFlipGlobal  # on global time
                # add timestamp to datafile
                thisExp.addData('hold_wav.started', tThisFlipGlobal)
                # update status
                hold_wav.status = STARTED
                hold_wav.play(when=win)  # sync with win flip
            
            # if hold_wav is stopping this frame...
            if hold_wav.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > hold_wav.tStartRefresh + 2-frameTolerance:
                    # keep track of stop time/frame for later
                    hold_wav.tStop = t  # not accounting for scr refresh
                    hold_wav.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'hold_wav.stopped')
                    # update status
                    hold_wav.status = FINISHED
                    hold_wav.stop()
            # update hold_wav status according to whether it's playing
            if hold_wav.isPlaying:
                hold_wav.status = STARTED
            elif hold_wav.isFinished:
                hold_wav.status = FINISHED
            
            # check for quit (typically the Esc key)
            if defaultKeyboard.getKeys(keyList=["escape"]):
                thisExp.status = FINISHED
            if thisExp.status == FINISHED or endExpNow:
                endExperiment(thisExp, inputs=inputs, win=win)
                return
            
            # check if all components have finished
            if not continueRoutine:  # a component has requested a forced-end of Routine
                routineForceEnded = True
                break
            continueRoutine = False  # will revert to True if at least one component still running
            for thisComponent in holdComponents:
                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
                    continueRoutine = True
                    break  # at least one component has not yet finished
            
            # refresh the screen
            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
                win.flip()
        
        # --- Ending Routine "hold" ---
        for thisComponent in holdComponents:
            if hasattr(thisComponent, "setAutoDraw"):
                thisComponent.setAutoDraw(False)
        thisExp.addData('hold.stopped', globalClock.getTime())
        hold_wav.pause()  # ensure sound has stopped at end of Routine
        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
        if routineForceEnded:
            routineTimer.reset()
        else:
            routineTimer.addTime(-5.000000)
        
        # --- Prepare to start Routine "rest" ---
        continueRoutine = True
        # update component parameters for each repeat
        thisExp.addData('rest.started', globalClock.getTime())
        # Run 'Begin Routine' code from code_4
        i = 0
        rest_wav1.setSound('static/audios/ding.wav', secs=1.0, hamming=True)
        rest_wav1.setVolume(1.0, log=False)
        rest_wav1.seek(0)
        rest_wav2.setSound('static/audios/rest.wav', secs=2, hamming=True)
        rest_wav2.setVolume(1.0, log=False)
        rest_wav2.seek(0)
        # keep track of which components have finished
        restComponents = [rest_img, rest_wav1, rest_wav2]
        for thisComponent in restComponents:
            thisComponent.tStart = None
            thisComponent.tStop = None
            thisComponent.tStartRefresh = None
            thisComponent.tStopRefresh = None
            if hasattr(thisComponent, 'status'):
                thisComponent.status = NOT_STARTED
        # reset timers
        t = 0
        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
        frameN = -1
        
        # --- Run Routine "rest" ---
        routineForceEnded = not continueRoutine
        while continueRoutine and routineTimer.getTime() < 6.0:
            # get current time
            t = routineTimer.getTime()
            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
            # update/draw components on each frame
            
            # *rest_img* updates
            
            # if rest_img is starting this frame...
            if rest_img.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
                # keep track of start time/frame for later
                rest_img.frameNStart = frameN  # exact frame index
                rest_img.tStart = t  # local t and not account for scr refresh
                rest_img.tStartRefresh = tThisFlipGlobal  # on global time
                win.timeOnFlip(rest_img, 'tStartRefresh')  # time at next scr refresh
                # add timestamp to datafile
                thisExp.timestampOnFlip(win, 'rest_img.started')
                # update status
                rest_img.status = STARTED
                rest_img.setAutoDraw(True)
            
            # if rest_img is active this frame...
            if rest_img.status == STARTED:
                # update params
                pass
            
            # if rest_img is stopping this frame...
            if rest_img.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > rest_img.tStartRefresh + 6-frameTolerance:
                    # keep track of stop time/frame for later
                    rest_img.tStop = t  # not accounting for scr refresh
                    rest_img.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'rest_img.stopped')
                    # update status
                    rest_img.status = FINISHED
                    rest_img.setAutoDraw(False)
            # Run 'Each Frame' code from code_4
            if i== 59:
                hand_device.start('rest')
                # trigger
                win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['rest'])
            
            i += 1
            
            # if rest_wav1 is starting this frame...
            if rest_wav1.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
                # keep track of start time/frame for later
                rest_wav1.frameNStart = frameN  # exact frame index
                rest_wav1.tStart = t  # local t and not account for scr refresh
                rest_wav1.tStartRefresh = tThisFlipGlobal  # on global time
                # add timestamp to datafile
                thisExp.addData('rest_wav1.started', tThisFlipGlobal)
                # update status
                rest_wav1.status = STARTED
                rest_wav1.play(when=win)  # sync with win flip
            
            # if rest_wav1 is stopping this frame...
            if rest_wav1.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > rest_wav1.tStartRefresh + 1.0-frameTolerance:
                    # keep track of stop time/frame for later
                    rest_wav1.tStop = t  # not accounting for scr refresh
                    rest_wav1.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'rest_wav1.stopped')
                    # update status
                    rest_wav1.status = FINISHED
                    rest_wav1.stop()
            # update rest_wav1 status according to whether it's playing
            if rest_wav1.isPlaying:
                rest_wav1.status = STARTED
            elif rest_wav1.isFinished:
                rest_wav1.status = FINISHED
            
            # if rest_wav2 is starting this frame...
            if rest_wav2.status == NOT_STARTED and tThisFlip >= 0.8-frameTolerance:
                # keep track of start time/frame for later
                rest_wav2.frameNStart = frameN  # exact frame index
                rest_wav2.tStart = t  # local t and not account for scr refresh
                rest_wav2.tStartRefresh = tThisFlipGlobal  # on global time
                # add timestamp to datafile
                thisExp.addData('rest_wav2.started', tThisFlipGlobal)
                # update status
                rest_wav2.status = STARTED
                rest_wav2.play(when=win)  # sync with win flip
            
            # if rest_wav2 is stopping this frame...
            if rest_wav2.status == STARTED:
                # is it time to stop? (based on global clock, using actual start)
                if tThisFlipGlobal > rest_wav2.tStartRefresh + 2-frameTolerance:
                    # keep track of stop time/frame for later
                    rest_wav2.tStop = t  # not accounting for scr refresh
                    rest_wav2.frameNStop = frameN  # exact frame index
                    # add timestamp to datafile
                    thisExp.timestampOnFlip(win, 'rest_wav2.stopped')
                    # update status
                    rest_wav2.status = FINISHED
                    rest_wav2.stop()
            # update rest_wav2 status according to whether it's playing
            if rest_wav2.isPlaying:
                rest_wav2.status = STARTED
            elif rest_wav2.isFinished:
                rest_wav2.status = FINISHED
            
            # check for quit (typically the Esc key)
            if defaultKeyboard.getKeys(keyList=["escape"]):
                thisExp.status = FINISHED
            if thisExp.status == FINISHED or endExpNow:
                endExperiment(thisExp, inputs=inputs, win=win)
                return
            
            # check if all components have finished
            if not continueRoutine:  # a component has requested a forced-end of Routine
                routineForceEnded = True
                break
            continueRoutine = False  # will revert to True if at least one component still running
            for thisComponent in restComponents:
                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
                    continueRoutine = True
                    break  # at least one component has not yet finished
            
            # refresh the screen
            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
                win.flip()
        
        # --- Ending Routine "rest" ---
        for thisComponent in restComponents:
            if hasattr(thisComponent, "setAutoDraw"):
                thisComponent.setAutoDraw(False)
        thisExp.addData('rest.stopped', globalClock.getTime())
        rest_wav1.pause()  # ensure sound has stopped at end of Routine
        rest_wav2.pause()  # ensure sound has stopped at end of Routine
        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
        if routineForceEnded:
            routineTimer.reset()
        else:
            routineTimer.addTime(-6.000000)
        thisExp.nextEntry()
        
        if thisSession is not None:
            # if running in a Session with a Liaison client, send data up to now
            thisSession.sendExperimentData()
    # completed args.n_trials repeats of 'trials'
    
    
    # --- Prepare to start Routine "end" ---
    continueRoutine = True
    # update component parameters for each repeat
    thisExp.addData('end.started', globalClock.getTime())
    # keep track of which components have finished
    endComponents = [end_text]
    for thisComponent in endComponents:
        thisComponent.tStart = None
        thisComponent.tStop = None
        thisComponent.tStartRefresh = None
        thisComponent.tStopRefresh = None
        if hasattr(thisComponent, 'status'):
            thisComponent.status = NOT_STARTED
    # reset timers
    t = 0
    _timeToFirstFrame = win.getFutureFlipTime(clock="now")
    frameN = -1
    
    # --- Run Routine "end" ---
    routineForceEnded = not continueRoutine
    while continueRoutine and routineTimer.getTime() < 3.0:
        # get current time
        t = routineTimer.getTime()
        tThisFlip = win.getFutureFlipTime(clock=routineTimer)
        tThisFlipGlobal = win.getFutureFlipTime(clock=None)
        frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
        # update/draw components on each frame
        
        # *end_text* updates
        
        # if end_text is starting this frame...
        if end_text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
            # keep track of start time/frame for later
            end_text.frameNStart = frameN  # exact frame index
            end_text.tStart = t  # local t and not account for scr refresh
            end_text.tStartRefresh = tThisFlipGlobal  # on global time
            win.timeOnFlip(end_text, 'tStartRefresh')  # time at next scr refresh
            # add timestamp to datafile
            thisExp.timestampOnFlip(win, 'end_text.started')
            # update status
            end_text.status = STARTED
            end_text.setAutoDraw(True)
        
        # if end_text is active this frame...
        if end_text.status == STARTED:
            # update params
            pass
        
        # if end_text is stopping this frame...
        if end_text.status == STARTED:
            # is it time to stop? (based on global clock, using actual start)
            if tThisFlipGlobal > end_text.tStartRefresh + 3-frameTolerance:
                # keep track of stop time/frame for later
                end_text.tStop = t  # not accounting for scr refresh
                end_text.frameNStop = frameN  # exact frame index
                # add timestamp to datafile
                thisExp.timestampOnFlip(win, 'end_text.stopped')
                # update status
                end_text.status = FINISHED
                end_text.setAutoDraw(False)
        
        # check for quit (typically the Esc key)
        if defaultKeyboard.getKeys(keyList=["escape"]):
            thisExp.status = FINISHED
        if thisExp.status == FINISHED or endExpNow:
            endExperiment(thisExp, inputs=inputs, win=win)
            return
        
        # check if all components have finished
        if not continueRoutine:  # a component has requested a forced-end of Routine
            routineForceEnded = True
            break
        continueRoutine = False  # will revert to True if at least one component still running
        for thisComponent in endComponents:
            if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
                continueRoutine = True
                break  # at least one component has not yet finished
        
        # refresh the screen
        if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
            win.flip()
    
    # --- Ending Routine "end" ---
    for thisComponent in endComponents:
        if hasattr(thisComponent, "setAutoDraw"):
            thisComponent.setAutoDraw(False)
    thisExp.addData('end.stopped', globalClock.getTime())
    # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
    if routineForceEnded:
        routineTimer.reset()
    else:
        routineTimer.addTime(-3.000000)
    
    # mark experiment as finished
    endExperiment(thisExp, win=win, inputs=inputs)


def saveData(thisExp):
    """
    Save data from this experiment
    
    Parameters
    ==========
    thisExp : psychopy.data.ExperimentHandler
        Handler object for this experiment, contains the data to save and information about 
        where to save it to.
    """
    filename = thisExp.dataFileName
    # these shouldn't be strictly necessary (should auto-save)
    thisExp.saveAsWideText(filename + '.csv', delim='auto')
    thisExp.saveAsPickle(filename)


def endExperiment(thisExp, inputs=None, win=None):
    """
    End this experiment, performing final shut down operations.
    
    This function does NOT close the window or end the Python process - use `quit` for this.
    
    Parameters
    ==========
    thisExp : psychopy.data.ExperimentHandler
        Handler object for this experiment, contains the data to save and information about 
        where to save it to.
    inputs : dict
        Dictionary of input devices by name.
    win : psychopy.visual.Window
        Window for this experiment.
    """
    if win is not None:
        # remove autodraw from all current components
        win.clearAutoDraw()
        # Flip one final time so any remaining win.callOnFlip() 
        # and win.timeOnFlip() tasks get executed
        win.flip()
    # mark experiment handler as finished
    thisExp.status = FINISHED
    # shut down eyetracker, if there is one
    if inputs is not None:
        if 'eyetracker' in inputs and inputs['eyetracker'] is not None:
            inputs['eyetracker'].setConnectionState(False)
    logging.flush()


def quit(thisExp, win=None, inputs=None, thisSession=None):
    """
    Fully quit, closing the window and ending the Python process.
    
    Parameters
    ==========
    win : psychopy.visual.Window
        Window to close.
    inputs : dict
        Dictionary of input devices by name.
    thisSession : psychopy.session.Session or None
        Handle of the Session object this experiment is being run from, if any.
    """
    thisExp.abort()  # or data files will save again on exit
    # make sure everything is closed down
    if win is not None:
        # Flip one final time so any remaining win.callOnFlip() 
        # and win.timeOnFlip() tasks get executed before quitting
        win.flip()
        win.close()
    if inputs is not None:
        if 'eyetracker' in inputs and inputs['eyetracker'] is not None:
            inputs['eyetracker'].setConnectionState(False)
    logging.flush()
    if thisSession is not None:
        thisSession.stop()
    # terminate Python process
    core.quit()


# if running this experiment as a script...
if __name__ == '__main__':
    # call all functions in order
    expInfo = showExpInfoDlg(expInfo=expInfo)
    thisExp = setupData(expInfo=expInfo)
    logFile = setupLogging(filename=thisExp.dataFileName)
    win = setupWindow(expInfo=expInfo)
    inputs = setupInputs(expInfo=expInfo, thisExp=thisExp, win=win)
    run(
        expInfo=expInfo, 
        thisExp=thisExp, 
        win=win, 
        inputs=inputs
    )
    saveData(thisExp=thisExp)
    quit(thisExp=thisExp, win=win, inputs=inputs)