def db_write(pub, state):
"""tms_db_writerにトピックを送る（結果、DBにデータを書き込む)
args:
pub: node.publisher型。tms_db_writerへのトピック送信用
state: int型。1なら測定中、0なら測定停止中
"""
global node, roll, pitch, temp, rate, wave
now_time = datetime.now().isoformat()
send_data = {"temp": temp, "rate": rate, "wave": wave}
db_msg = TmsdbStamped()
db_msg.header.frame_id = "/world"
# TODO: db_msgのヘッダーのstampがわからなかったので書いていない
# clock = Clock()
# db_msg.header.stamp = clock.now()
tmp_data = Tmsdb()
tmp_data.time = now_time
tmp_data.name = "whs1_mybeat"
tmp_data.id = 3021
tmp_data.place = 5001
tmp_data.sensor = 3021
tmp_data.state = state
tmp_data.rr = roll
tmp_data.rp = pitch
tmp_data.ry = 0.0
tmp_data.note = json.dumps(send_data)
db_msg.tmsdb = [tmp_data]
pub.publish(db_msg)
def main():
print "Hello World"
###init mind wave mobile
cmd_release = "sudo rfcomm release " + RFCOMM_NUM
cmd_bind = "sudo rfcomm bind " + RFCOMM_NUM + " " + BT_ADDR
cmd_chmod = "sudo chmod a+rw /dev/rfcomm" + RFCOMM_NUM
print cmd_release + "\n", subprocess.check_output(cmd_release.split(" "))
print cmd_bind + "\n", subprocess.check_output(cmd_bind.split(" "))
print cmd_chmod + "\n", subprocess.check_output(cmd_chmod.split(" "))
dev = MindWaveMobile(DEV_PORT)
###init ROS
rospy.init_node('tms_ss_vs_mindwave')
db_pub = rospy.Publisher('tms_db_data', TmsdbStamped, queue_size=10)
r = rospy.Rate(1)
while not rospy.is_shutdown():
dev.update(
) # must update() many times in a loop because most of buffer data is stuff data
if dev.is_updated:
r.sleep()
dev.is_updated = False
###make json text
note_d = {
"meditation": str(dev.meditation),
"attention": str(dev.attention),
"poor_signal": str(dev.poor_signal)
}
note_j = json.dumps(note_d)
###regist to DB
msg = TmsdbStamped()
db = Tmsdb()
db.time = datetime.datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
db.name = "mindwavemobile"
db.id = 3017
db.sensor = 3017
db.place = 1001
db.note = note_j
msg.tmsdb.append(db)
msg.header.stamp = rospy.get_rostime() + rospy.Duration(
9 * 60 * 60)
db_pub.publish(msg)
###show messege
print "Med:",
print dev.meditation,
print " Att:",
print dev.attention,
print " signal:",
print dev.poor_signal
def main():
print "Hello World"
###init mind wave mobile
cmd_release = "sudo rfcomm release "+RFCOMM_NUM
cmd_bind = "sudo rfcomm bind "+RFCOMM_NUM+" "+BT_ADDR
cmd_chmod = "sudo chmod a+rw /dev/rfcomm"+RFCOMM_NUM
print cmd_release+"\n", subprocess.check_output(cmd_release.split(" "))
print cmd_bind+"\n", subprocess.check_output(cmd_bind.split(" "))
print cmd_chmod+"\n", subprocess.check_output(cmd_chmod.split(" "))
dev = MindWaveMobile(DEV_PORT)
###init ROS
rospy.init_node('tms_ss_vs_mindwave')
db_pub = rospy.Publisher('tms_db_data', TmsdbStamped, queue_size=10)
r = rospy.Rate(1)
while not rospy.is_shutdown():
dev.update() # must update() many times in a loop because most of buffer data is stuff data
if dev.is_updated:
r.sleep()
dev.is_updated = False
###make json text
note_d = {"meditation": str(dev.meditation),
"attention": str(dev.attention),
"poor_signal": str(dev.poor_signal)}
note_j = json.dumps(note_d)
###regist to DB
msg = TmsdbStamped()
db = Tmsdb()
db.time = datetime.datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
db.name = "mindwavemobile"
db.id = 3017
db.sensor = 3017
db.place = 1001
db.note = note_j
msg.tmsdb.append(db)
msg.header.stamp = rospy.get_rostime()+rospy.Duration(9*60*60)
db_pub.publish(msg)
###show messege
print "Med:",
print dev.meditation,
print " Att:",
print dev.attention,
print " signal:",
print dev.poor_signal
def call_dbwriter(self, msg):
print 'SleepState -> %s' % (msg)
note_d = {"sleepstate": str(msg)}
note_j = json.dumps(note_d)
msg = TmsdbStamped()
db = Tmsdb()
db.time = datetime.datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
db.name = "nursingcare_bed"
db.type = "sensor"
db.id = 3020
db.sensor = 3020
db.place = 5001
db.note = note_j
msg.tmsdb.append(db)
msg.header.stamp = rp.get_rostime() + rp.Duration(9 * 60 * 60)
self.db_pub.publish(msg)
return True
def dbReaderSrvCallback(self, req, ret):
# self.get_logger().info("Received the service call!")
# self.get_logger().info(req)
temp_dbdata = Tmsdb()
# db = TmsdbGetData()
result = False
mode = 0
temp_id = 0
temp_type = ""
temp_name = ""
temp_place = 0
sid = 100000
MODE_ALL = 0
MODE_NAME_IDTABLE = 1
MODE_NAME = 2
MODE_NAME_SENSOR = 3
MODE_ID_IDTABLE = 4
MODE_ID = 5
MODE_ID_SENSOR = 6
MODE_TYPE_IDTABLE = 7
MODE_TYPE = 8
MODE_TYPE_SENSOR = 9
MODE_PLACE_IDTABLE = 10
MODE_PLACE = 11
MODE_PLACE_TYPE = 12
MODE_HIERARCHY = 13
MODE_TAG_IDTABLE = 14
MODE_ID_STATE = 15
MODE_ID_SENSOR_STATE = 16
MODE_ERROR = 999
if req.tmsdb.tag != '':
mode = MODE_TAG_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type == '') and (
req.tmsdb.sensor == 0) and (req.tmsdb.place
== 0) and (req.tmsdb.name == ''):
mode = MODE_ALL
elif (req.tmsdb.id == sid) and (req.tmsdb.name != ''):
mode = MODE_NAME_IDTABLE
elif (req.tmsdb.id
== 0) and (req.tmsdb.name != '') and (req.tmsdb.id != sid) and (
req.tmsdb.type == '') and (req.tmsdb.sensor
== 0) and (req.tmsdb.place == 0):
mode = MODE_NAME
elif (req.tmsdb.id == 0) and (req.tmsdb.name != '') and (
req.tmsdb.id != sid) and (req.tmsdb.type == '') and (
req.tmsdb.sensor != 0) and (req.tmsdb.place == 0):
mode = MODE_NAME_SENSOR
elif (req.tmsdb.id > sid) and (req.tmsdb.type == ''):
req.tmsdb.id -= sid
mode = MODE_ID_IDTABLE
elif (req.tmsdb.id != 0) and (req.tmsdb.id != sid) and (
req.tmsdb.type == '') and (req.tmsdb.sensor
== 0) and (req.tmsdb.place == 0):
if (req.tmsdb.state == 1):
mode = MODE_ID_STATE
else:
mode = MODE_ID
elif (req.tmsdb.id != 0) and (req.tmsdb.id != sid) and (
req.tmsdb.type
== '') and (req.tmsdb.sensor != 0) and (req.tmsdb.place == 0):
if (req.tmsdb.state == 1):
mode = MODE_ID_SENSOR_STATE
else:
mode = MODE_ID_SENSOR
elif (req.tmsdb.id == sid) and (req.tmsdb.type != ''):
mode = MODE_TYPE_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type != '') and (
req.tmsdb.sensor == 0) and (req.tmsdb.place == 0):
mode = MODE_TYPE
elif (req.tmsdb.id == 0) and (req.tmsdb.type != '') and (
req.tmsdb.sensor != 0) and (req.tmsdb.place == 0):
mode = MODE_TYPE_SENSOR
elif (req.tmsdb.id == sid) and (req.tmsdb.type
== '') and (req.tmsdb.place != 0):
mode = MODE_PLACE_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type
== '') and (req.tmsdb.place != 0):
mode = MODE_PLACE
elif (req.tmsdb.id
== 0) and (req.tmsdb.type != '') and (req.tmsdb.place != 0):
mode = MODE_PLACE_TYPE
elif (req.tmsdb.id != 0) and (req.tmsdb.type
== '') and (req.tmsdb.place == sid):
mode = MODE_HIERARCHY
elif (req.tmsdb.id > 0) and ((req.tmsdb.id < 1000) or
(req.tmsdb.id > 20002)):
mode = MODE_ERROR
else:
mode = MODE_ERROR
print("[mode] : " + str(mode))
if mode == MODE_ERROR:
temp_dbdata.note = "Wrong request! Try to check the command!"
# ret = TmsdbGetDataResponse()
ret.tmsdb.append(temp_dbdata)
return ret
# Search the ID, type, etc infomation in ID table
if (mode == MODE_NAME) or (mode == MODE_NAME_SENSOR):
cursor = db.default.find({'name': req.tmsdb.name})
temp_type = cursor[0]['type']
temp_id = cursor[0]['id']
temp_place = cursor[0]['place']
# Search the type, name, etc infomation in ID table
if (mode == MODE_ID) or (mode == MODE_ID_SENSOR) or (
mode == MODE_ID_STATE) or (mode == MODE_ID_SENSOR_STATE) or (
mode == MODE_HIERARCHY):
cursor = db.default.find({'id': req.tmsdb.id})
temp_type = cursor[0]['type']
temp_name = cursor[0]['name']
temp_place = cursor[0]['place']
# Search only using the place tag
if mode == MODE_PLACE:
# ret = TmsdbGetDataResponse()
cursor = db.now.find({'place': req.tmsdb.place})
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the place tag!"
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
return ret
if mode == MODE_HIERARCHY:
loop_end_tag = False
temp_place = req.tmsdb.id
while temp_place != 0:
cursor = db.now.find({'id': temp_place}).sort({'time': -1})
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the target ID, place info!"
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
if loop_end_tag:
break
temp_id = temp_dbdata.place
cursor = db.default.find({'id': temp_id})
temp_type = cursor[0]['type']
temp_name = cursor[0]['name']
temp_place = cursor[0]['place']
if temp_id == temp_place:
loop_end_tag = True
else:
loop_end_tag = False
temp_place = temp_id
return ret
if mode == MODE_ALL:
cursor = db.default.find()
elif mode == MODE_TAG_IDTABLE:
cursor = db.default.find({'tag': {'$regex': req.tmsdb.tag}})
elif mode == MODE_NAME_IDTABLE:
cursor = db.default.find({'name': req.tmsdb.name})
elif mode == MODE_NAME:
cursor = db.now.find({'name': req.tmsdb.name})
elif mode == MODE_NAME_SENSOR:
cursor = db.now.find({
'name': req.tmsdb.name,
'sensor': req.tmsdb.sensor
})
elif mode == MODE_ID_IDTABLE:
cursor = db.default.find({'id': req.tmsdb.id})
elif mode == MODE_ID:
cursor = db.now.find({'id': req.tmsdb.id})
elif mode == MODE_ID_STATE:
cursor = db.now.find({'id': req.tmsdb.id, 'state': 1})
elif mode == MODE_ID_SENSOR:
cursor = db.now.find({
'id': req.tmsdb.id,
'sensor': req.tmsdb.sensor
})
elif mode == MODE_ID_SENSOR_STATE:
cursor = db.now.find({
'id': req.tmsdb.id,
'sensor': req.tmsdb.sensor,
'state': 1
})
elif mode == MODE_TYPE_IDTABLE:
cursor = db.default.find({'type': req.tmsdb.type})
elif mode == MODE_TYPE:
cursor = db.now.find({'type': req.tmsdb.type})
elif mode == MODE_TYPE_SENSOR:
cursor = db.now.find({'sensor': req.tmsdb.sensor})
elif mode == MODE_PLACE_IDTABLE:
cursor = db.default.find({'place': req.tmsdb.place})
elif mode == MODE_PLACE_TYPE:
cursor = db.now.find({'place': req.tmsdb.place})
# ret = TmsdbGetDataResponse()
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the command"
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
return ret
r = rospy.Rate(1)
while not rospy.is_shutdown():
r.sleep()
# ##get heartrate value
dev.write("G5\r") # get heartrate buffer[0~4]
time.sleep(0.5)
ret = dev.read(dev.inWaiting())
rate = ret.split(" ")[2]
print "heartrate:" + rate + " raw:" + ret
if int(rate) == 0:
print " failed to get heartrate value"
continue
# ##make json text
note_d = {"heartrate": rate}
# print json.dumps(note_d, indent=4)
note_j = json.dumps(note_d)
# ##regist to DB
msg = TmsdbStamped()
db = Tmsdb()
db.time = datetime.datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
db.name = "heartrate_sensor"
db.id = 3018
db.sensor = 3018
db.place = 1001
db.note = note_j
msg.tmsdb.append(db)
msg.header.stamp = rospy.get_rostime() + rospy.Duration(9 * 60 * 60)
db_pub.publish(msg)
def dbReaderSrvCallback(self, req):
rospy.loginfo("Received the service call!")
rospy.loginfo(req)
temp_dbdata = Tmsdb()
TmsdbGetData()
result = False
mode = 0;
temp_id = 0;
temp_type = "";
temp_name = "";
temp_place = 0;
sid = 100000
MODE_ALL = 0
MODE_NAME_IDTABLE = 1
MODE_NAME = 2
MODE_NAME_SENSOR = 3
MODE_ID_IDTABLE = 4
MODE_ID = 5
MODE_ID_SENSOR = 6
MODE_TYPE_IDTABLE = 7
MODE_TYPE = 8
MODE_TYPE_SENSOR = 9
MODE_PLACE_IDTABLE = 10
MODE_PLACE = 11
MODE_PLACE_TYPE = 12
MODE_HIERARCHY = 13
MODE_TAG_IDTABLE = 14
MODE_ERROR = 999
if req.tmsdb.tag != '':
mode = MODE_TAG_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type == '') and (req.tmsdb.sensor == 0) and (req.tmsdb.place == 0) and (req.tmsdb.name == ''):
mode = MODE_ALL
elif (req.tmsdb.id == sid) and (req.tmsdb.name != ''):
mode = MODE_NAME_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.name != '') and (req.tmsdb.id != sid) and (req.tmsdb.type == '') and (req.tmsdb.sensor == 0) and (req.tmsdb.place == 0):
mode = MODE_NAME
elif (req.tmsdb.id == 0) and (req.tmsdb.name != '') and (req.tmsdb.id != sid) and (req.tmsdb.type == '') and (req.tmsdb.sensor != 0) and (req.tmsdb.place == 0):
mode = MODE_NAME_SENSOR
elif (req.tmsdb.id > sid) and (req.tmsdb.type == ''):
req.tmsdb.id -= sid
mode = MODE_ID_IDTABLE
elif (req.tmsdb.id != 0) and (req.tmsdb.id != sid) and (req.tmsdb.type == '') and (req.tmsdb.sensor == 0) and (req.tmsdb.place == 0):
mode = MODE_ID
elif (req.tmsdb.id != 0) and (req.tmsdb.id != sid) and (req.tmsdb.type == '') and (req.tmsdb.sensor != 0) and (req.tmsdb.place == 0):
mode = MODE_ID_SENSOR
elif (req.tmsdb.id == sid) and (req.tmsdb.type != ''):
mode = MODE_TYPE_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type != '') and (req.tmsdb.sensor == 0) and (req.tmsdb.place ==0):
mode = MODE_TYPE
elif (req.tmsdb.id == 0) and (req.tmsdb.type != '') and (req.tmsdb.sensor != 0) and (req.tmsdb.place ==0):
mode = MODE_TYPE_SENSOR
elif (req.tmsdb.id == sid) and (req.tmsdb.type == '') and (req.tmsdb.place !=0):
mode = MODE_PLACE_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type == '') and (req.tmsdb.place !=0):
mode = MODE_PLACE
elif (req.tmsdb.id == 0) and (req.tmsdb.type != '') and (req.tmsdb.place !=0):
mode = MODE_PLACE_TYPE
elif (req.tmsdb.id != 0) and (req.tmsdb.type == '') and (req.tmsdb.place == sid):
mode = MODE_HIERARCHY
elif (req.tmsdb.id > 0) and ((req.tmsdb.id < 1000) or (req.tmsdb.id > 20002)):
mode = MODE_ERROR
else:
mode = MODE_ERROR
if mode == MODE_ERROR:
temp_dbdata.note = "Wrong request! Try to check the command!";
ret = TmsdbGetDataResponse()
ret.tmsdb.append(temp_dbdata)
return ret
# Search the ID, type, etc infomation in ID table
if (mode == MODE_NAME) or (mode == MODE_NAME_SENSOR):
cursor = db.default.find({'name':req.tmsdb.name})
temp_type = cursor[0]['type'];
temp_id = cursor[0]['id'];
temp_place = cursor[0]['place'];
# Search the type, name, etc infomation in ID table
if(mode == MODE_ID) or (mode == MODE_ID_SENSOR) or (mode == MODE_HIERARCHY):
cursor = db.default.find({'id':req.tmsdb.id})
temp_type = cursor[0]['type'];
temp_name = cursor[0]['name'];
temp_place = cursor[0]['place'];
# Search only using the place tag
if mode == MODE_PLACE :
ret = TmsdbGetDataResponse()
cursor = db.now.find({'place':req.tmsdb.place})
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the place tag!";
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
return ret
if mode == MODE_HIERARCHY:
loop_end_tag = False;
temp_place = req.tmsdb.id;
while temp_place != 0:
cursor = db.now.find({'id':temp_place}).sort({'time':-1})
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the target ID, place info!";
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
if loop_end_tag:
break
temp_id = temp_dbdata.place;
cursor = db.default.find({'id':temp_id})
temp_type = cursor[0]['type'];
temp_name = cursor[0]['name'];
temp_place = cursor[0]['place'];
if temp_id == temp_place:
loop_end_tag = True;
else:
loop_end_tag = False;
temp_place = temp_id;
return ret
if mode == MODE_ALL:
cursor = db.default.find()
elif mode == MODE_TAG_IDTABLE:
cursor = db.default.find({'tag':{'$regex': req.tmsdb.tag}})
elif mode == MODE_NAME_IDTABLE:
cursor = db.default.find({'name':req.tmsdb.name})
elif mode == MODE_NAME:
cursor = db.now.find({'name':req.tmsdb.name})
elif mode == MODE_NAME_SENSOR:
cursor = db.now.find({'name':req.tmsdb.name, 'sensor':req.tmsdb.sensor})
elif mode == MODE_ID_IDTABLE:
cursor = db.default.find({'id':req.tmsdb.id})
elif mode == MODE_ID:
cursor = db.now.find({'id':req.tmsdb.id})
elif mode == MODE_ID_SENSOR:
cursor = db.now.find({'id':req.tmsdb.id, 'sensor':req.tmsdb.sensor})
elif mode == MODE_TYPE_IDTABLE:
cursor = db.default.find({'type':req.tmsdb.type})
elif mode == MODE_TYPE:
cursor = db.now.find({'type':req.tmsdb.type})
elif mode == MODE_TYPE_SENSOR:
cursor = db.now.find({'sensor':req.tmsdb.sensor})
elif mode == MODE_PLACE_IDTABLE:
cursor = db.default.find({'place':req.tmsdb.place})
elif mode == MODE_PLACE_TYPE:
cursor = db.now.find({'place':req.tmsdb.place})
ret = TmsdbGetDataResponse()
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the command";
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
return ret
r = rospy.Rate(1)
while not rospy.is_shutdown():
r.sleep()
# ##get heartrate value
dev.write("G5\r") # get heartrate buffer[0~4]
time.sleep(0.5)
ret = dev.read(dev.inWaiting())
rate = ret.split(" ")[2]
print "heartrate:"+rate+" raw:"+ret
if int(rate) == 0:
print " failed to get heartrate value"
continue
# ##make json text
note_d = {"heartrate": rate}
# print json.dumps(note_d, indent=4)
note_j = json.dumps(note_d)
# ##regist to DB
msg = TmsdbStamped()
db = Tmsdb()
db.time = datetime.datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
db.name = "heartrate_sensor"
db.id = 3018
db.sensor = 3018
db.place = 1001
db.note = note_j
msg.tmsdb.append(db)
msg.header.stamp = rospy.get_rostime()+rospy.Duration(9*60*60)
db_pub.publish(msg)