forked from rdinizcal/sa-bsn
-
Notifications
You must be signed in to change notification settings - Fork 11
/
G3T1_1.cpp
175 lines (134 loc) · 5.06 KB
/
G3T1_1.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
#include "component/g3t1_1/G3T1_1.hpp"
#define BATT_UNIT 0.05
#include <algorithm>
#include <cmath>
using namespace bsn::range;
using namespace bsn::generator;
using namespace bsn::configuration;
G3T1_1::G3T1_1(int &argc, char **argv, const std::string &name) :
Sensor(argc, argv, name, "oximeter", true, 1, bsn::resource::Battery("oxi_batt", 100, 100, 1), false),
markov(),
dataGenerator(),
filter(1),
sensorConfig(),
collected_risk() {}
G3T1_1::~G3T1_1() {}
void G3T1_1::setUp() {
Component::setUp();
std::string s;
std::array<bsn::range::Range,5> ranges;
handle.getParam("start", shouldStart);
{ // Configure markov chain
std::vector<std::string> lrs,mrs0,hrs0,mrs1,hrs1;
handle.getParam("oxigenation_LowRisk", s);
lrs = bsn::utils::split(s, ',');
handle.getParam("oxigenation_MidRisk0", s);
mrs0 = bsn::utils::split(s, ',');
handle.getParam("oxigenation_HighRisk0", s);
hrs0 = bsn::utils::split(s, ',');
handle.getParam("oxigenation_MidRisk1", s);
mrs1 = bsn::utils::split(s, ',');
handle.getParam("oxigenation_HighRisk1", s);
hrs1 = bsn::utils::split(s, ',');
ranges[0] = Range(std::stod(hrs0[0]), std::stod(hrs0[1]));
ranges[1] = Range(std::stod(mrs0[0]), std::stod(mrs0[1]));
ranges[2] = Range(std::stod(lrs[0]), std::stod(lrs[1]));
ranges[3] = Range(std::stod(mrs1[0]), std::stod(mrs1[1]));
ranges[4] = Range(std::stod(hrs1[0]), std::stod(hrs1[1]));
}
{ // Configure sensor configuration
Range low_range = ranges[2];
std::array<Range,2> midRanges;
midRanges[0] = ranges[1];
midRanges[1] = ranges[3];
std::array<Range,2> highRanges;
highRanges[0] = ranges[0];
highRanges[1] = ranges[4];
std::array<Range,3> percentages;
handle.getParam("lowrisk", s);
std::vector<std::string> low_p = bsn::utils::split(s, ',');
percentages[0] = Range(std::stod(low_p[0]), std::stod(low_p[1]));
handle.getParam("midrisk", s);
std::vector<std::string> mid_p = bsn::utils::split(s, ',');
percentages[1] = Range(std::stod(mid_p[0]), std::stod(mid_p[1]));
handle.getParam("highrisk", s);
std::vector<std::string> high_p = bsn::utils::split(s, ',');
percentages[2] = Range(std::stod(high_p[0]), std::stod(high_p[1]));
sensorConfig = SensorConfiguration(0, low_range, midRanges, highRanges, percentages);
}
{ //Check for instant recharge parameter
handle.getParam("instant_recharge", instant_recharge);
}
}
void G3T1_1::tearDown() {
Component::tearDown();
}
double G3T1_1::collect() {
double m_data = 0;
std::string res;
if(connected_sensor) {
ros::ServiceClient client = handle.serviceClient<std_srvs::SetBool>("spo2");
std_srvs::SetBool srv;
srv.request.data = true;
if (client.call(srv)) {
res = srv.response.message;
m_data = std::stof(res);
ROS_INFO("new data collected: [%s]", std::to_string(m_data).c_str());
} else {
ROS_INFO("error collecting data");
}
} else{
ros::ServiceClient client = handle.serviceClient<services::PatientData>("getPatientData");
services::PatientData srv;
srv.request.vitalSign = "oxigenation";
if (client.call(srv)) {
m_data = srv.response.data;
ROS_INFO("new data collected: [%s]", std::to_string(m_data).c_str());
} else {
ROS_INFO("error collecting data");
}
}
battery.consume(BATT_UNIT);
cost += BATT_UNIT;
collected_risk = sensorConfig.evaluateNumber(m_data);
return m_data;
}
double G3T1_1::process(const double &m_data) {
double filtered_data;
filter.insert(m_data);
filtered_data = filter.getValue();
battery.consume(BATT_UNIT*filter.getRange());
cost += BATT_UNIT*filter.getRange();
ROS_INFO("filtered data: [%s]", std::to_string(filtered_data).c_str());
return filtered_data;
}
void G3T1_1::transfer(const double &m_data) {
double risk;
risk = sensorConfig.evaluateNumber(m_data);
if (risk < 0 || risk > 100) throw std::domain_error("risk data out of boundaries");
if (label(risk) != label(collected_risk)) throw std::domain_error("sensor accuracy fail");
ros::NodeHandle handle;
data_pub = handle.advertise<messages::SensorData>("oximeter_data", 10);
messages::SensorData msg;
msg.type = type;
msg.data = m_data;
msg.risk = risk;
msg.batt = battery.getCurrentLevel();
data_pub.publish(msg);
battery.consume(BATT_UNIT);
cost += BATT_UNIT;
ROS_INFO("risk calculated and transferred: [%.2f%%]", risk);
}
std::string G3T1_1::label(double &risk) {
std::string ans;
if(sensorConfig.isLowRisk(risk)){
ans = "low";
} else if (sensorConfig.isMediumRisk(risk)) {
ans = "moderate";
} else if (sensorConfig.isHighRisk(risk)) {
ans = "high";
} else {
ans = "unknown";
}
return ans;
}