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[WIP] add ROS interface for JINS MEME smart glass #454

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[WIP] add ROS interface for JINS MEME smart glass #454

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54 changes: 54 additions & 0 deletions jins_meme_ros/.gitignore
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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
16 changes: 16 additions & 0 deletions jins_meme_ros/CMakeLists.txt
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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
)
18 changes: 18 additions & 0 deletions jins_meme_ros/msg/CurrentData.msg
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# 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
66 changes: 66 additions & 0 deletions jins_meme_ros/msg/LogicIndexData.msg
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# 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
23 changes: 23 additions & 0 deletions jins_meme_ros/package.json
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{
"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"
}
}
19 changes: 19 additions & 0 deletions jins_meme_ros/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>jins_meme_ros</name>
<version>0.0.0</version>
<description>The jins_meme_ros package</description>

<maintainer email="[email protected]">sktometometo</maintainer>

<license>TODO</license>

<build_depend>message_generation</build_depend>
<build_export_depend>message_generation</build_export_depend>
<exec_depend>message_runtime</exec_depend>
<buildtool_depend>catkin</buildtool_depend>


<export>
</export>
</package>
105 changes: 105 additions & 0 deletions jins_meme_ros/scripts/websocket_server.js
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#!/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()
}