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 __init__(self):
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('object_setting')
rospy.on_shutdown(self.shutdown)
self.scene_pub = rospy.Publisher('planning_scene', PlanningScene)
self.colors = dict()
scene = PlanningSceneInterface()
rospy.sleep(1)
temp_dbdata = Tmsdb()
temp_dbdata.name = 'chipstar_red'
rospy.wait_for_service('tms_db_reader')
try:
tms_db_reader = rospy.ServiceProxy('tms_db_reader', TmsdbGetData)
res = tms_db_reader(temp_dbdata)
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 __init__(self):
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('object_setting')
rospy.on_shutdown(self.shutdown)
self.scene_pub = rospy.Publisher('planning_scene', PlanningScene)
self.colors = dict()
scene = PlanningSceneInterface()
rospy.sleep(1)
temp_dbdata = Tmsdb()
temp_dbdata.name = 'chipstar_red'
rospy.wait_for_service('tms_db_reader')
try:
tms_db_reader = rospy.ServiceProxy('tms_db_reader', TmsdbGetData)
res = tms_db_reader(temp_dbdata)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
self.shutdown()
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)
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)
###make json text
>>>>>>> 51ecc3540900cfe208d8c2ca1ecaf2184d407ca7
note_d = {"meditation": str(dev.meditation),
"attention": str(dev.attention),
"poor_signal": str(dev.poor_signal)}
note_j = json.dumps(note_d)
<<<<<<< HEAD
# regist to DB
=======
###regist to DB
>>>>>>> 51ecc3540900cfe208d8c2ca1ecaf2184d407ca7
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)
<<<<<<< HEAD
msg.header.stamp = rospy.get_rostime() + rospy.Duration(9 * 60 * 60)
db_pub.publish(msg)
# show messege
=======
msg.header.stamp = rospy.get_rostime()+rospy.Duration(9*60*60)
db_pub.publish(msg)
###show messege