diff --git a/jins_meme_ros/.gitignore b/jins_meme_ros/.gitignore new file mode 100644 index 000000000..4d1071e85 --- /dev/null +++ b/jins_meme_ros/.gitignore @@ -0,0 +1,54 @@ +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE +.vscode/* +node_modules/* +package-lock.json diff --git a/jins_meme_ros/CMakeLists.txt b/jins_meme_ros/CMakeLists.txt new file mode 100644 index 000000000..1da8ca172 --- /dev/null +++ b/jins_meme_ros/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.0.2) +project(jins_meme_ros) + +find_package(catkin REQUIRED COMPONENTS message_generation) + +add_message_files( + FILES + CurrentData.msg + LogicIndexData.msg +) + +generate_messages() + +catkin_package( + CATKIN_DEPENDS message_runtime +) diff --git a/jins_meme_ros/msg/CurrentData.msg b/jins_meme_ros/msg/CurrentData.msg new file mode 100644 index 000000000..524df6a23 --- /dev/null +++ b/jins_meme_ros/msg/CurrentData.msg @@ -0,0 +1,18 @@ +# https://jins-meme.github.io/sdkdoc2/basics/definition.html +int32 blinkSpeed # まばたき速度、閉眼時間(mSec) 0-400(通常90−180付近) +int32 blinkStrength # まばたき強度(uV-equiv) 0-1000(通常30−150付近) +int32 eyeMoveUp # 視線移動上(0: 動きなし, 1:極小-7:極大) +int32 eyeMoveDown # 視線移動下(0: 動きなし, 1:極小-7:極大) +int32 eyeMoveLeft # 視線移動左(0: 動きなし, 1:極小-7:極大) +int32 eyeMoveRight # 視線移動右(0: 動きなし, 1:極小-7:極大) +float32 roll # 姿勢角のロール成分（左右傾き）を示す度 -180.00 - 180.00 +float32 pitch # 角度P(-180 - 180) +float32 yaw # 角度Y(0 - 360) +float32 accX # 加速度X(1G = 16) +float32 accY # 加速度Y(1G = 16) +float32 accZ # 加速度Z(1G = 16) +int32 walking # 歩行フラグ(0: 静止, 1: 一歩) +int32 noiseStatus # ノイズ状態(0: ノイズなし, 1: ノイズあり) +int32 fitError # 装着フラグ(0: 着用, 1: 非着用) +int32 powerLeft # バッテリーレベル(0: 充電中, 1:空-5:満充電) +int32 sequenceNumber # 0-255までの循環連番 diff --git a/jins_meme_ros/msg/LogicIndexData.msg b/jins_meme_ros/msg/LogicIndexData.msg new file mode 100644 index 000000000..62c6551f8 --- /dev/null +++ b/jins_meme_ros/msg/LogicIndexData.msg @@ -0,0 +1,66 @@ +# https://jins-meme.github.io/sdkdoc2/basics/definition.html +string date # 計測日時 2000-01-01T00:00:00 - 2099-12-31T23:59:59 +int32 stepCount # 歩数 0-255 +int32 stepCadance # ケイデンス(ピッチ) 0-255 +bool isStill # 静止（装着してない）判定 true: 非装着（静止） false: 装着中（非静止） +float32 noiseTime # ノイズ時間 0.00 - 15.00 +bool isValid # 静止状態のデータ有効性（ノイズ3秒以下かつ歩数5歩以下） true: 有効 false: 無効 +float32 xMean # 傾き平均X (度) -180.00-180.00 +float32 xSD # 傾き標準偏差X (度) 0-655.36 +float32 yMean # 傾き平均Y (度) -180.00-180.00 +float32 ySD # 傾き標準偏差Y (度) 0-655.36 +int32 pitchOnewayCount # Number(int) 頭部運動縦回数 0-255 +int32 pitchRoundCount # ゆっくりな首の傾斜前後回数 0-255 +int32 yawOnewayCount # 頭部運動横回数 0-255 +int32 yawRoundCount # ゆっくりな首の傾斜左右回数 0-255 +float32 xRightStepAmplitude # 歩行振動X（cm,右足） 0.00-16.00 +float32 xLeftStepAmplitude # 歩行振動X（cm,左足） 0.00-16.00 +float32 yRightStepAmplitude # 歩行振動Y（cm,右足） 0.00-16.00 +float32 yLeftStepAmplitude # 歩行振動Y（cm,左足） 0.00-16.00 +float32 zRightStepAmplitude # 歩行振動Z（cm,右足） 0.00-16.00 +float32 zLeftStepAmplitude # 歩行振動Z（cm,左足） 0.00-16.00 +float32 zRightStepAmplitudeCal # 歩行振動Z補正有（cm,右足） 0.00-20.00 +float32 zLeftStepAmplitudeCal # 歩行振動Z補正有（cm,左足） 0.00-20.00 +float32 maxRightStepAcceleration # Number(float) 最大着地強度平均 (G, 右足) 0.00-8.00 +float32 maxLeftStepAcceleration # 最大着地強度平均 (G, 左足) 0.00-8.00 +float32 sleepScoreStandard # 低覚醒スコア(通常時)、まばたき強さ・速度と一部まばたき間隔から「目がトロンとなっている状態」を指標化したもの 有効時: 0(覚醒高い)-100(眠い)、無効: -1 +float32 sleepScore # 低覚醒スコア(運転時)、運転時の姿勢(まっすぐ前を向いている状態)でクレンジングし、精度を高めたもの 有効時: 0(覚醒高い)-100(眠い)、無効: -1 +float32 focusScore # 没入スコア、まばたき間隔を利用し「ある一つのタスクへの注意が続いている状態」を指標化したもの 有効時: 0(没入度が低い)-100(没入度が高い)、無効: -1 +float32 tensionScore # テンションスコア、まばたき強さを利用し「目が見開いている状態」を指標化したもの 有効時: 0(緊張が弱い)-100(緊張が強い)、無効: -1 +float32 calmScore # 安定スコア、まばたき強さを利用し「外部・内部刺激を受けずに安定している状態」を指標化したもの 有効時: 0(落ち着いていない)-100(落ち着いている)、無効: -1 +float32 distance # サブアプリ動作時 前回区間との移動距離(m) 0-5000 +float32 latitude # サブアプリ動作時 緯度 -180 - 180 +float32 longitude # サブアプリ動作時 経度 -90 - 90 +int32 appMeasurementStatus # サブアプリの動作状況フラグ 0: 非APP測定 2: Run測定中 3: Run一時停止中 8: Drive測定中 12: Drive一時停止中 32: Focus測定中 48: Focus一時停止中 +float32 nptMean # NPT（実効まばたき速度）平均 -0.999 - 0.999 +float32 nptMedian # NPT（実効まばたき速度）中央値 -0.999 - 0.999 +float32 nptSD # NPT標準偏差 0-0.999 +float32 blinkWidthMean # まばたき速度平均(mSec) 0-300 +float32 blinkStrengthTotal # まばたき強度合計(uV-equiv) 0-10000.0 +float32 blinkStrengthMax # まばたき強度最大(uV-equiv) 0-1000.0 +float32 blinkStrengthSD # まばたき強度標準偏差(uV-equiv) 0.00-1000.0 +float32 blinkStrengthMean # まばたき強度平均 0-1000.0 +float32 blinkIntervalTotal # まばたき間隔合計(s) 0-120.0 +int32 blinkIntervalCount # まばたき間隔数 0-120 +float32 blinkIntervalMean # まばたき間隔平均 0.00-60.00 +int32 blinkCount # まばたき回数 0-120 +int32 blinkCountRaw # まばたき回数生値 0-255 +int32 eyeMoveUpCount # 視線移動上回数生値 0-255 +int32 eyeMoveDownCount # 視線移動下回数生値 0-255 +int32 eyeMoveRightCount # 視線移動右回数生値 0-255 +int32 eyeMoveLeftCount # 視線移動左回数生値 0-255 +uint32 cummulativeTime # 規格化累積時間(s) 0-4294967296 +float32 blinkIntervalMeanWA # まばたき間隔平均 規格化値 0.00-60.00 +float32 blinkStrengtnSDWA # まばたき強度標準偏差 規格化値 0.00-1000.0 +float32 blinkStrengthMeanWA # まばたき強度平均 規格化値 0-1000.0 +float32 nptMeanWA # NPT（実効まばたき速度）平均 規格化値 -0.999 - 0.999 +float32 nptSDWA # NPT（実効まばたき速度）標準偏差 規格化値 0-0.999 +float32 blinkWidthMeanWA # まばたき速度平均 規格化値 0-300 +float32 nptScore # 覚醒サブ指標 NPTスコア 有効時: 0-100、無効: -1 +float32 btsScore # 覚醒サブ指標 BTSスコア 有効時: 0-100、無効: -1 +float32 lbsScore # 覚醒サブ指標 LBSスコア 有効時: 0-100、無効: -1 +int32 legacyZone # RTアルゴリズム動作時 zone値 有効時: 0-100、無効: -1 +int32 legacyFocus # RTアルゴリズム動作時 focus値 有効時: 0-100、無効: -1 +int32 legacyCalm # RTアルゴリズム動作時 calm値 有効時: 0-100、無効: -1 +int32 legacyPosture # RTアルゴリズム動作時 posture値 有効時: 0-100、無効: -1 +string cursor # 次のレコードがある場合の取得開始位置 diff --git a/jins_meme_ros/package.json b/jins_meme_ros/package.json new file mode 100644 index 000000000..638ba7eb0 --- /dev/null +++ b/jins_meme_ros/package.json @@ -0,0 +1,23 @@ +{ + "name": "jins_meme_ros", + "version": "1.0.0", + "description": "", + "main": "index.js", + "scripts": { + "test": "echo \"Error: no test specified\" && exit 1" + }, + "repository": { + "type": "git", + "url": "git+https://github.com/sktometometo/jins_meme_ros.git" + }, + "author": "", + "license": "ISC", + "bugs": { + "url": "https://github.com/sktometometo/jins_meme_ros/issues" + }, + "homepage": "https://github.com/sktometometo/jins_meme_ros#readme", + "dependencies": { + "rosnodejs": "^3.1.0", + "ws": "^8.13.0" + } +} diff --git a/jins_meme_ros/package.xml b/jins_meme_ros/package.xml new file mode 100644 index 000000000..c04f156a1 --- /dev/null +++ b/jins_meme_ros/package.xml @@ -0,0 +1,19 @@ + + + jins_meme_ros + 0.0.0 + The jins_meme_ros package + + sktometometo + + TODO + + message_generation + message_generation + message_runtime + catkin + + + + + diff --git a/jins_meme_ros/scripts/websocket_server.js b/jins_meme_ros/scripts/websocket_server.js new file mode 100755 index 000000000..544a9c8b1 --- /dev/null +++ b/jins_meme_ros/scripts/websocket_server.js @@ -0,0 +1,105 @@ +#!/usr/bin/env node +'use strict'; + +const rosnodejs = require('rosnodejs'); +const jins_meme_ros = rosnodejs.require('jins_meme_ros').msg; + +const server = require('ws').Server; +const ws_server = new server({ port: 5000 }); + + +function main() { + rosnodejs.initNode('/').then((rosNode) => { + let pub_current_data = rosNode.advertise('current_data', jins_meme_ros.CurrentData); + let pub_logic_index_data = rosNode.advertise('logic_index_data', jins_meme_ros.LogicIndexData); + ws_server.on("connection", ws => { + rosnodejs.log.info("connected from client"); + ws.on('message', function (message) { + if (message.indexOf("heartbeat") === -1) { + let data = JSON.parse(message); + if ("eyeMoveUp" in data) { + let msg = new jins_meme_ros.CurrentData(); + msg.blinkSpeed = data["blinkSpeed"]; + msg.blinkStrength = data["blinkStrength"]; + msg.eyeMoveUp = data["eyeMoveUp"]; + msg.eyeMoveDown = data["eyeMoveDown"]; + msg.eyeMoveLeft = data["eyeMoveLeft"]; + msg.eyeMoveRight = data["eyeMoveRight"]; + msg.roll = data["roll"]; + msg.pitch = data["pitch"]; + msg.yaw = data["yaw"]; + msg.accX = data["accX"]; + msg.accY = data["accY"]; + msg.accZ = data["accZ"]; + msg.walking = data["walking"]; + msg.noiseStatus = data["noiseStatus"]; + msg.fitError = data["fitError"]; + msg.powerLeft = data["powerLeft"]; + msg.sequenceNumber = data["sequenceNumber"]; + pub_current_data.publish(msg); + rosnodejs.log.info("published."); + } else if (false) { + let msg = new jins_meme_ros.LogicIndexData(); + msg.date = data["date"]; + msg.stepCount = data["stepCount"]; + msg.blinkCountRaw = data["blinkCountRaw"]; + msg.eyeMoveUpCount = data["eyeMoveUpCount"]; + msg.eyeMoveDownCount = data["eyeMoveDownCount"]; + msg.eyeMoveRightCount = data["eyeMoveRightCount"]; + msg.eyeMoveLeftCount = data["eyeMoveLeftCount"]; + msg.isStill = data["isStill"]; + msg.xMean = data["xMean"]; + msg.xSD = data["xSD"]; + msg.yMean = data["yMean"]; + msg.ySD = data["ySD"]; + msg.pitchOnewayCount = data["pitchOnewayCount"]; + msg.pitchRoundCount = data["pitchRoundCount"]; + msg.yawOnewayCount = data["yawOnewayCount"]; + msg.yawRoundCount = data["yawRoundCount"]; + msg.xRightStepAmplitude = data["xRightStepAmplitude"]; + msg.xLeftStepAmplitude = data["xLeftStepAmplitude"]; + msg.yRightStepAmplitude = data["yRightStepAmplitude"]; + msg.yLeftStepAmplitude = data["yLeftStepAmplitude"]; + msg.zRightStepAmplitude = data["zRightStepAmplitude"]; + msg.zLeftStepAmplitude = data["zLeftStepAmplitude"]; + msg.zRightStepAmplitudeCal = data["zRightStepAmplitudeCal"]; + msg.zLeftStepAmplitudeCal = data["zLeftStepAmplitudeCal"]; + msg.maxRightStepAcceleration = data["maxRightStepAcceleration"]; + msg.maxLeftStepAcceleration = data["maxLeftStepAcceleration"]; + msg.stepCadence = data["stepCadence"]; + msg.blinkIntervalMean = data["blinkIntervalMean"]; + msg.blinkStrengthMean = data["blinkStrengthMean"]; + msg.blinkStrengthSD = data["blinkStrengthSD"]; + msg.blinkWidthMean = data["blinkWidthMean"]; + msg.nptMean = data["nptMean"]; + msg.nptSD = data["nptSD"]; + msg.blinkCount = data["blinkCount"]; + msg.blinkIntervalCount = data["blinkIntervalCount"]; + msg.blinkIntervalTotal = data["blinkIntervalTotal"]; + msg.blinkStrengthTotal = data["blinkStrengthTotal"]; + msg.blinkStrengthMax = data["blinkStrengthMax"]; + msg.nptMedian = data["nptMedian"]; + msg.noiseTime = data["noiseTime"]; + msg.isValid = data["isValid"]; + msg.sleepScore = data["sleepScore"]; + msg.focusScore = data["focusScore"]; + msg.tensionScore = data["tensionScore"]; + msg.calmScore = data["calmScore"]; + msg.sleepScoreStandard = data["sleepScoreStandard"]; + pub_logic_index_data.publish(msg); + rosnodejs.log.info("published."); + } else { + //メッセージを出力 + console.info(data); + } + } else { + rosnodejs.log.info("heatbeat: %s", message); + } + }); + }); + }); +} + +if (require.main === module) { + main() +}