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HMPdetector.cpp~
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HMPdetector.cpp~
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//===============================================================================//
// Name : HMPdetector.cpp
// Author(s) : Barbara Bruno, Enrique Coronado
// Affiliation : University of Genova, Italy - dept. DIBRIS
// Version : 2.0
// Description : Human Motion Primitives, Posture and Fall detection system
//===============================================================================//
#include <getopt.h>
//ROS
#include "ros/ros.h"
#include "math.h"
#include "string.h"
#include "std_msgs/Int32.h"
#include "std_msgs/String.h"
#include "geometry_msgs/Pose.h"
#include <sstream>
#include "creator.hpp"
#include "classifier.hpp"
#include "device.hpp"
#include "MPU6050.hpp"
#include "GwatchR.hpp"
#include "publisher.hpp"
#include "logfile.hpp"
#include "libs/SerialStream.h"
#include <queue>// std::queue
//#include <boost/shared_ptr.hpp>
#include "HRI_HMP_Class.hpp"
using namespace boost::posix_time;
//ros::Publisher pub;
std::string msg;
std::queue<string> data_socket;
unsigned int window_size = 0;
Device* dev = new GwatchR("LG G watch R");
string dF = "HRIGestures";
//Publisher* p = new LogFile("log.txt");
Classifier *oneClassifier = NULL;
mat window;
mat actualSample; // current sample in matrix format
//Enrique: callback
int jj=0;
void socketCallback(geometry_msgs::Pose msg)
{
float x = msg.position.x;
float y = msg.position.y;
float z = msg.position.z;
ROS_INFO("I received: [%f, %f, %f]", x,y,z);
actualSample = dev->fillActual(x,y,z);
window = oneClassifier->socketTest(actualSample,window);
jj=jj+1;
cout<< "Sample Data Number:"<< jj<<endl;
// const char* data_in_path="/home/nasa/catkin_ws/src/HMPdetector/Datalog/1";
// string DataLogPat ="/home/nasa/catkin_ws/src/HMPdetector/Datalog/1";
// mkdir(DataLogPath, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
/*if(data_socket.size() < window_size)
{
data_socket.push (msg);
oneClassifier.socketTest();
}
else{
}*/
//pub.publish(num);
// ofstream Myfile3;
// string DataLogPath2 ="/home/nasa/catkin_ws/src/HMPdetector/Datalog/5";
// Myfile3.open ((DataLogPath2+"/HMP_input1.txt").c_str(),ios::app);
// Myfile3 <<x<<" "<<y<<" "<<z<<"\n";
// Myfile3.close();
}
//void socketCallback_hri(const std_msgs::String::ConstPtr& msg1)
//{
//}
//! Program help
void print_help()
{
cout<<endl;
cout<<"\t\t -------------- HMP DETECTOR --------------" <<endl;
cout<<"Typical calls use the following instructions:" <<endl;
cout<<"01) -h --help \t\t\t : program help." <<endl;
cout<<"02) -m --model [dataset] \t : [dataset] models creation." <<endl;
cout<<"03) -l --load [dataset] \t : load models in [dataset]." <<endl;
cout<<"04) -v --validate [model] [set] [n]:"
<<" validate [model] with [n] trials of [set]." <<endl;
cout<<"05) -t --test [trial] \t\t :"
<<" off-line classification of [trial]." <<endl;
cout<<"06) -c --classify [port] \t :"
<<" on-line classification of [port] stream." <<endl;
cout<<"07) -r --reason [path] [possFile] :"
<<" off-line reasoning on [path]/[possFile]." <<endl;
cout<<"08) -B --Bracelet [port] \t :"
<<" on-line HMP analysis on [port] stream." <<endl;
cout<<"09) -b --belt [port] \t\t :"
<<" on-line posture and fall detection in [port] stream." <<endl;
cout<<"10) -w --wearable [port] \t :"
<<" on-line full analysis of [port] stream." <<endl;
cout<<"11) -s \t \t \t \t :"
<<" on-line validation using sockets." <<endl;
cout<<endl;
cout<<"Functions calls examples:" <<endl;
cout<<"01) ./HMPdetector -h" <<endl;
cout<<"02.1) ./HMPdetector -m" <<endl;
cout<<"02.2) ./HMPdetector -m Ovada" <<endl;
cout<<"03) ./HMPdetector -l Ovada" <<endl;
cout<<"04) ./HMPdetector -v climb Ovada 6" <<endl;
cout<<"05) ./HMPdetector -t drink_drink_stand_sit_drink.txt" <<endl;
cout<<"06) ./HMPdetector -c /dev/ttyUSB0" <<endl;
cout<<"07) ./HMPdetector -r "
<<"./Results/longTest/ res_drink_drink_stand_sit_drink.txt" <<endl;
cout<<"08) ./HMPdetector -B /dev/ttyUSB0" <<endl;
cout<<"09) ./HMPdetector -b /dev/ttyUSB0" <<endl;
cout<<"10) ./HMPdetector -w /dev/ttyUSB0" <<endl;
cout<<"11) ./HMPdetector -s" <<endl;
cout<<endl;
cout<<"Enjoy!"<<endl;
cout<<endl;
}
/*
//! perform on-line full analysis of a data stream
void completeWearable(char* port, SensingBracelet oneBr, SensingBelt oneBe)
{
string raw_data; // current raw data acquired via USB
int nS = 0; // number of acquired samples
mat actsample; // current sample in matrix format
int ax, ay, az; // accelerometer current sample components
int gx, gy, gz; // gyroscope current sample components
char dev; // flag --> device type
string motion; // flag --> level of motion at the wrist
vector<float> poss; // models possibilities
vector<float> past_poss; // models previous possibilities
string waste = " ";
// instantiate and initialize a Classifier
string dF = oneBr.datasetFolder.substr(0,oneBr.datasetFolder.length()-1);
dF = dF.substr(9);
Classifier hC(dF);
mat window = zeros<mat>(hC.window_size, 3);
mat gravity = zeros<mat>(hC.window_size, 3);
mat body = zeros<mat>(hC.window_size, 3);
// initialize the possibilities and past possibilities
for(int i = 0; i < oneBr.nbM; i++)
{
poss.push_back(0);
past_poss.push_back(0);
}
// setup the serial communication (read-only)
SerialOptions options;
options.setDevice(port);
options.setBaudrate(9600);
options.setTimeout(seconds(0));
options.setParity(SerialOptions::noparity);
options.setCsize(8);
options.setFlowControl(SerialOptions::noflow);
options.setStopBits(SerialOptions::one);
SerialStream serial(options);
serial.exceptions(ios::badbit | ios::failbit);
// classify the stream of raw acceleration & gyroscope data
while(peiskmt_isRunning())
{
try
{
// acquire the data received by the XBee
getline(serial,raw_data);
switch (raw_data[0])
{
// call the SensingBelt if the raw_data begin with "F"
// --> data format: F Fall [Motion]
case 'F':
oneBe.publishFall(raw_data);
break;
// call the SensingBelt if the raw_data begin with "P"
// --> data format: P [Angle]
case 'P':
oneBe.publishPosture(raw_data);
break;
// call the Reasoner if the raw_data begin with "H"
// --> data format: H [ax] [ay] [ax] [gx] [gy] [gz] [Motion]
case 'H':
istringstream stream(raw_data);
stream >>dev >>ax >> ay >>az >>gx >>gy >>gz >>motion;
actsample <<ax <<ay <<az;
// update the window of samples to be analyzed
hC.createWindow(actsample, window, hC.window_size, nS);
if (nS >= hC.window_size)
{
// analyze the window and compute the models possibilities
for(int i = 0; i < oneBr.nbM; i++)
past_poss[i] = poss[i];
hC.analyzeWindow(window, gravity, body);
hC.compareAll(gravity, body, poss);
// publish the dynamic tuples
hC.publishDynamic(poss);
// extract/update activation intervals for each activity
for(int i = 0; i < oneBr.nbM; i++)
oneBr.simpleInterval(i,nS,poss[i],past_poss[i]);
}
break;
}
}
catch(TimeoutException&)
{
serial.clear();
cerr<<"Timeout occurred"<<endl;
}
}
}
*/
int main(int argc, char* argv[])
{
// default setup choices
cout<<endl;
cout<<"Default "; dev->printInfo();
cout<<"Default Dataset: " <<dF <<endl;
cout<<"Default "; p->printInfo();
ros::init(argc, argv, "hmc_subscriber");
oneClassifier = new Classifier(dF, dev, p);
HRI_HMP_Class obj_callback;
// instantiate & initialize the HMPdetector components
Creator oneCreator = Creator(dF, dev);
cout<<endl <<"Initialization phase of HMPdetector: DONE" <<endl;
/*
// instantiate & initialize the PEIS component
peiskmt_initialize(&argc, argv);
// retrieve componentID from the component
int componentID = peiskmt_peisid();
printf("componentID: %d\n", componentID);
Classifier one_classifier(dF);
//DEBUG: one_classifier.printSetInfo();
SensingBracelet one_sensingBracelet(dF);
//DEBUG: one_sensingBracelet.printSetStatus();
*/
// available options (short-form)
//const char *short_options = "v:r:wbBctl:mh";
const char *short_options = "v:::mhE";
// available options (long-form)
static struct option long_options[] =
{
{"validate", required_argument, 0, 'v'},
//{"reason", required_argument, 0, 'r'},
//{"wearable", required_argument, 0, 'w'},
//{"Bracelet", required_argument, 0, 'B'},
//{"classify", required_argument, 0, 'c'},
//{"test", required_argument, 0, 't'},
//{"load", required_argument, 0, 'l'},
{"model", optional_argument, 0, 'm'},
{"help", no_argument, 0, 'h'},
{"EXIT", no_argument, 0, 'E'},
{0, 0, 0, 0} //required line
};
// retrieve & execute the chosen option
//!\todo make it possible to have multiple iterations
char c;
string DataLogPath2 ="/home/nasa/catkin_ws/src/HMPdetector/Datalog/4";
ofstream Myfile1;
ofstream Myfile2;
Myfile1.open ((DataLogPath2+"/HMP_Possiblities.txt").c_str(),ios::trunc);
Myfile2.open ((DataLogPath2+"/HMP_Action.txt").c_str(),ios::trunc);
Myfile1.close();
Myfile2.close();
do
{
c = getopt_long(argc, argv, short_options, long_options, NULL);
switch (c)
{
case 'E':
return EXIT_SUCCESS;
case 'h':
print_help();
break;
case 'm':
if(argv[2])
{
cout<<"Modelling folder: " <<argv[2] <<endl;
oneCreator.driver->printInfo();
oneCreator.setDatasetFolder(argv[2]);
}
oneCreator.generateAllModels();
cout<<"Created dataset in: "<<oneCreator.datasetFolder <<endl;
break;
/*
case 'l':
oneClassifier.buildSet(argv[2], argv[3], argv[4]);
cout<<"Loaded dataset from: "<<oneClassifier.datasetFolder <<endl;
break;
*/
case 'o':
oneClassifier->validateModel(argv[2], argv[3], atoi(argv[4]));
cout<<"results in: ./Results/" <<argv[3] <<"/" <<endl;
break;
case 'v':
cout<<"Socket comunication option"<<endl;
// ros::init(argc, argv, "hmc_subscriber");
ros::NodeHandle nh;
ros::Rate loop_rate(40);
//ros::Publisher pub;
window_size = oneClassifier->window_size;
window = zeros<mat>(window_size, 3);
//Define the subscriber to person's gesture
ros::Subscriber sub = nh.subscribe
("/wearami_acc", 1, socketCallback);//wearami_socket
//Define the publisher to send the desired robot's gesture
//pub = nh.advertise<std_msgs::String> ("/swgesture", 1);
while (ros::ok()) {
if (obj_callback.hri_hmp_flag==false)
{
cout<<"MAIN: parameterHMP[ii]:"<<endl;
for (int ii=0; ii< 4; ii++) {
cout<<obj_callback.parameterHMP[ii]<<endl;
//cout<<obj_callback.parameterHMP2[ii]<<endl;
}
obj_callback.hri_hmp_process();
obj_callback.publish_hri_hmp();
}
ros::spinOnce();
//loop_rate.sleep();
}
return 0;
break;
/*
case 't':
one_classifier.longTest(argv[2]);
cout<<"results in: ./Results/longTest/" <<endl;
return EXIT_SUCCESS;
break;
case 'c':
cout<<"use 'tupleview' to monitor the system" <<endl;
one_classifier.onlineTest(argv[2]);
return EXIT_SUCCESS;
break;
case 'r':
one_sensingBracelet.offlineSensingBracelet(argv[2], argv[3]);
cout<<"results in: " <<argv[2] <<endl;
return EXIT_SUCCESS;
break;
case 'B':
cout<<"use 'tupleview' to monitor the system" <<endl;
one_sensingBracelet.onlineSensingBracelet(argv[2]);
return EXIT_SUCCESS;
break;
case 'b':
cout<<"use 'tupleview' to monitor the system" <<endl;
one_sensingBelt.standaloneBelt(argv[2]);
return EXIT_SUCCESS;
break;
case 'w':
cout<<"use 'tupleview' to monitor the system" <<endl;
completeWearable(argv[2], one_sensingBracelet, one_sensingBelt);
return EXIT_SUCCESS;
break;
*/
}
}while (c != -1);
}