feat(posture): Phase 1 — flowchart 기반 자세 분류 + 도넛 우상단 아이콘 (demo-final)

allignment flowchart "Posture classification" 알고리즘 적용. Phase 1 범위: 자세 분류 + 화면 표시만 (알람/감지 없음). 1) ImuPostureClassifier.kt 신규 flowchart 단계 그대로: - Acc magnitude 게이트: 0.8 ≤ |a| ≤ 1.2 (motion/bad reject) - Gyro magnitude 게이트: |g| ≤ 9.16 dps (회전 reject) - Pitch = atan(ax / sqrt(ay² + az²)) × 180/π - 분류: · |pitch| < 25° → SUPINE · 25-70° → SITTING · > 70° → STANDING - 게이트 실패 시 UNKNOWN + 사유 반환 - 입력: ImuSample 리스트 (한 응답 15 sample 평균) ※ flowchart 의 "|pitch| > 25; supine" 는 typo 로 판단 → < 25 적용 2) PiezoMonitoringView IMU polling 추가 - 5초 주기로 sendImuQuery() → rim: 응답 → classifier - UNKNOWN 결과 시 직전 자세 유지 (artifact 흔들림 방지) - demo mode: SUPINE 으로 fix (BLE 없음) 3) 도넛 차트 우상단 자세 아이콘 표시 (Battery 옆) - SUPINE → Icons.Hotel (파랑) - SITTING → Icons.AirlineSeatReclineNormal (주황) - STANDING → Icons.AccessibilityNew (초록) - UNKNOWN → Icons.HelpOutline (회색) - 아이콘 + 텍스트 라벨 (Lying/Sitting/Standing/—) Phase 2 (다음): Settings 토글 + wake-up state machine + 빨간 팝업. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
2026-06-23 12:24:22 +09:00
parent 1fc1a20bb9
commit cf476971a5
2 changed files with 148 additions and 0 deletions
@@ -0,0 +1,90 @@
+/*
+ * Posture classifier — flowchart `Posture classification [Flow chart]` 기반 (2026-06-22).
+ *
+ * 단계:
+ *   1. Acc magnitude 게이트: 0.8 ≤ |a| ≤ 1.2 → motion/bad sample 거부
+ *   2. Pitch 계산: atan(ax / sqrt(ay² + az²)) × 180/π
+ *   3. Gyro magnitude 게이트: |g| ≤ 9.16 dps → 회전 중 sample 거부
+ *   4. 자세 분류 (|pitch| 기준):
+ *        < 25°  → SUPINE (누움)
+ *        25-70° → SITTING
+ *        > 70°  → STANDING
+ *
+ * 입력: ImuSample 15개 (한 응답 = 300ms 분량). 각 sample 의 평균에서 분류.
+ * 출력: Posture (UNKNOWN, SUPINE, SITTING, STANDING).
+ *
+ * flowchart 의 `|pitch| > 25; supine` 는 typo 로 판단 — `< 25` 로 해석.
+ */
+package com.example.medilightv2android.managers
+
+import com.example.medilightv2android.ble.ImuSample
+import kotlin.math.abs
+import kotlin.math.atan
+import kotlin.math.sqrt
+
+enum class Posture { UNKNOWN, SUPINE, SITTING, STANDING }
+
+object ImuPostureClassifier {
+
+    // 게이트 임계값 — flowchart 그대로
+    private const val ACC_MAG_MIN = 0.8f
+    private const val ACC_MAG_MAX = 1.2f
+    private const val GYRO_MAG_MAX_DPS = 9.16f
+
+    // 자세 분류 임계값 (deg)
+    private const val PITCH_SUPINE_MAX = 25f
+    private const val PITCH_STANDING_MIN = 70f
+
+    /** 자세 + 진단 정보 (UI/log용). */
+    data class Result(
+        val posture: Posture,
+        val pitchDeg: Float,
+        val accMag: Float,
+        val gyroMagDps: Float,
+        val reason: String,   // why UNKNOWN, or "ok"
+    )
+
+    fun classify(samples: List<ImuSample>): Result {
+        if (samples.isEmpty()) {
+            return Result(Posture.UNKNOWN, 0f, 0f, 0f, "no samples")
+        }
+
+        // sample 평균
+        var sumAx = 0f; var sumAy = 0f; var sumAz = 0f
+        var sumGx = 0f; var sumGy = 0f; var sumGz = 0f
+        for (s in samples) {
+            sumAx += s.ax; sumAy += s.ay; sumAz += s.az
+            sumGx += s.gx; sumGy += s.gy; sumGz += s.gz
+        }
+        val n = samples.size
+        val ax = sumAx / n; val ay = sumAy / n; val az = sumAz / n
+        val gx = sumGx / n; val gy = sumGy / n; val gz = sumGz / n
+
+        val accMag = sqrt(ax * ax + ay * ay + az * az)
+        val gyroMag = sqrt(gx * gx + gy * gy + gz * gz)
+
+        // 1. Acc magnitude 게이트
+        if (accMag < ACC_MAG_MIN || accMag > ACC_MAG_MAX) {
+            return Result(Posture.UNKNOWN, 0f, accMag, gyroMag,
+                "acc mag out of range (%.2f)".format(accMag))
+        }
+
+        // 3. Gyro magnitude 게이트 (motion 거부)
+        if (gyroMag > GYRO_MAG_MAX_DPS) {
+            return Result(Posture.UNKNOWN, 0f, accMag, gyroMag,
+                "moving (gyro %.1f dps)".format(gyroMag))
+        }
+
+        // 2. Pitch 계산
+        val pitch = (atan(ax / sqrt(ay * ay + az * az)) * 180.0 / Math.PI).toFloat()
+        val absPitch = abs(pitch)
+
+        // 4. 분류
+        val posture = when {
+            absPitch < PITCH_SUPINE_MAX -> Posture.SUPINE
+            absPitch <= PITCH_STANDING_MIN -> Posture.SITTING
+            else -> Posture.STANDING
+        }
+        return Result(posture, pitch, accMag, gyroMag, "ok")
+    }
+}
@@ -4,6 +4,7 @@ import android.os.Handler
 import android.os.Looper
 import android.util.Log
 import androidx.compose.runtime.rememberCoroutineScope
+import kotlinx.coroutines.isActive
 import kotlinx.coroutines.launch
 import com.example.medilightv2android.AppScreen
 import androidx.compose.material3.OutlinedTextField
@@ -126,6 +127,9 @@ fun PiezoMonitoringView(appState: AppState) {
    var lastAllWalls by remember { mutableStateOf<List<Pair<Int, Int>?>>(List(6) { null }) }
    val analyzer = remember { PiezoEchoAnalyzer.shared }

+    // Posture (flowchart-based, IMU polling — Phase 1)
+    var currentPosture by remember { mutableStateOf(com.example.medilightv2android.managers.Posture.UNKNOWN) }
+
    val screenWidth = LocalConfiguration.current.screenWidthDp
    val screenHeight = LocalConfiguration.current.screenHeightDp
    // donut/Bladdy 같은 정사각 sizing은 portrait/landscape 양쪽에서 화면 밖으로 나가지
@@ -587,6 +591,29 @@ fun PiezoMonitoringView(appState: AppState) {
        }
    }

+    // IMU polling + 자세 분류 (Phase 1) — 5초 주기로 msp 명령 → rim: 응답 받아 분류.
+    // monitoring 페이지 머무는 동안만 작동. demo 모드는 fake 자세 (toggle 없이 SUPINE).
+    LaunchedEffect(isConnected, isDemoMode) {
+        if (isDemoMode) {
+            currentPosture = com.example.medilightv2android.managers.Posture.SUPINE
+            return@LaunchedEffect
+        }
+        bleManager.imuCollector.onComplete = { samples ->
+            val r = com.example.medilightv2android.managers.ImuPostureClassifier.classify(samples)
+            // UNKNOWN 이면 직전 posture 유지 (motion artifact 시 잠깐 흔들림 방지)
+            if (r.posture != com.example.medilightv2android.managers.Posture.UNKNOWN) {
+                currentPosture = r.posture
+            }
+            Log.d("PiezoMonitor", "POSTURE ${r.posture} pitch=${"%.1f".format(r.pitchDeg)}° accMag=${"%.2f".format(r.accMag)}g gyro=${"%.1f".format(r.gyroMagDps)}dps (${r.reason})")
+        }
+        while (isActive) {
+            if (isConnected) {
+                bleManager.sendImuQuery()
+            }
+            kotlinx.coroutines.delay(5000)
+        }
+    }
+
    // Add catheter dialog
    if (showAddCatheterDialog) {
        var addAmount by remember { mutableStateOf("1") }
@@ -908,6 +935,37 @@ fun PiezoMonitoringView(appState: AppState) {

            Spacer(modifier = Modifier.width(8.dp))

+            // Posture icon (Phase 1) — flowchart-based 자세 분류 결과 표시.
+            // SUPINE/SITTING/STANDING/UNKNOWN 에 따라 아이콘+색 변경.
+            val postureIcon = when (currentPosture) {
+                com.example.medilightv2android.managers.Posture.SUPINE -> Icons.Default.Hotel
+                com.example.medilightv2android.managers.Posture.SITTING -> Icons.Default.AirlineSeatReclineNormal
+                com.example.medilightv2android.managers.Posture.STANDING -> Icons.Default.AccessibilityNew
+                com.example.medilightv2android.managers.Posture.UNKNOWN -> Icons.Default.HelpOutline
+            }
+            val postureTint = when (currentPosture) {
+                com.example.medilightv2android.managers.Posture.SUPINE -> Color(0xFF2196F3)
+                com.example.medilightv2android.managers.Posture.SITTING -> Color(0xFFFF9800)
+                com.example.medilightv2android.managers.Posture.STANDING -> Color(0xFF4CAF50)
+                com.example.medilightv2android.managers.Posture.UNKNOWN -> Color.Gray.copy(alpha = 0.5f)
+            }
+            val postureLabel = when (currentPosture) {
+                com.example.medilightv2android.managers.Posture.SUPINE -> "Lying"
+                com.example.medilightv2android.managers.Posture.SITTING -> "Sitting"
+                com.example.medilightv2android.managers.Posture.STANDING -> "Standing"
+                com.example.medilightv2android.managers.Posture.UNKNOWN -> "—"
+            }
+            Row(verticalAlignment = Alignment.CenterVertically) {
+                Icon(
+                    postureIcon, contentDescription = postureLabel,
+                    tint = postureTint, modifier = Modifier.size(20.dp),
+                )
+                Spacer(modifier = Modifier.width(3.dp))
+                Text(postureLabel, fontSize = (11 * fontScale).sp,
+                    fontWeight = FontWeight.SemiBold, color = postureTint)
+            }
+            Spacer(modifier = Modifier.width(8.dp))
+
            // Catheter count (탭하면 추가 팝업)
            var showAddCatheter by remember { mutableStateOf(false) }
            val cathCount = appState.catheterCount.intValue