feat: DetachmentDetection 포팅 + Placement LED 4/5/6 동적 제어

DetachmentDetection (detachment_detection.py 1:1 포팅): - ADC [20:80] 구간에서 baseline([80:100] median) 차감 - mean(|y|) < 100 AND std(y) < 100 → 미부착(detached) - center 4채널(CH0~CH3) 기준 PlacementGuide LED 제어: - 미부착 → mls?(4) DETACH_WARNING + "Sensor detached" 메시지 - 탐색 중 (CV > threshold) → mls?(5) ALIGN_SEARCHING - 최적 위치 (PASS) → mls?(6) ALIGN_COMPLETE - 스캔 종료 → mls?(0) OFF Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
2026-04-24 15:21:23 +09:00
parent 994d5e0c46
commit ea19b74c00
2 changed files with 118 additions and 16 deletions
@@ -0,0 +1,93 @@
+package com.example.medilightv2android.managers
+
+import kotlin.math.abs
+import kotlin.math.sqrt
+
+/**
+ * 센서 미부착 감지 — detachment_detection.py 1:1 포팅
+ *
+ * ADC 신호의 [20:80] 구간에서 baseline([80:100] median)을 빼고,
+ * mean(|y|)과 std(y)가 모두 threshold 미만이면 미부착으로 판정.
+ *
+ * 미부착 시 LED state 4 (DETACH_WARNING) 전송.
+ */
+object DetachmentDetection {
+
+    const val WINDOW_START = 20
+    const val WINDOW_END = 80
+    const val BASELINE_WINDOW_START = 80
+    const val BASELINE_WINDOW_END = 100
+    const val THR_MEAN = 100.0
+    const val THR_STD = 100.0
+    const val N_CENTER_CH = 4
+
+    data class DetachmentResult(
+        val isDetached: Boolean,
+        val meanAbs: Double,
+        val stdVal: Double,
+        val meanAbsPerCh: DoubleArray,
+        val stdPerCh: DoubleArray
+    )
+
+    /**
+     * 4채널(CH0~CH3) ADC 신호에서 미부착 여부 판정.
+     *
+     * @param signals 6채널 ADC 데이터 (List<List<UShort>>)
+     * @return DetachmentResult
+     */
+    fun detect(signals: List<List<UShort>>): DetachmentResult {
+        if (signals.size < N_CENTER_CH) {
+            return DetachmentResult(true, 0.0, 0.0, DoubleArray(N_CENTER_CH), DoubleArray(N_CENTER_CH))
+        }
+
+        val nSample = signals[0].size
+        val ws = WINDOW_START.coerceAtMost(nSample)
+        val we = WINDOW_END.coerceAtMost(nSample)
+        val bs = BASELINE_WINDOW_START.coerceAtMost(nSample)
+        val be = BASELINE_WINDOW_END.coerceAtMost(nSample)
+
+        if (we <= ws || be <= bs) {
+            return DetachmentResult(true, 0.0, 0.0, DoubleArray(N_CENTER_CH), DoubleArray(N_CENTER_CH))
+        }
+
+        val meanAbsPerCh = DoubleArray(N_CENTER_CH)
+        val stdPerCh = DoubleArray(N_CENTER_CH)
+
+        for (ch in 0 until N_CENTER_CH) {
+            val raw = signals[ch]
+            if (raw.size < be) {
+                meanAbsPerCh[ch] = 0.0
+                stdPerCh[ch] = 0.0
+                continue
+            }
+
+            // Baseline = median of [bs:be]
+            val baselineSlice = (bs until be).map { raw[it].toDouble() }.sorted()
+            val baseline = baselineSlice[baselineSlice.size / 2]
+
+            // y = signal[ws:we] - baseline
+            val y = DoubleArray(we - ws) { raw[ws + it].toDouble() - baseline }
+
+            // mean(|y|)
+            meanAbsPerCh[ch] = y.map { abs(it) }.average()
+
+            // std(y)
+            val mean = y.average()
+            stdPerCh[ch] = sqrt(y.map { (it - mean) * (it - mean) }.average())
+        }
+
+        val meanAbs = meanAbsPerCh.average()
+        val stdVal = stdPerCh.average()
+
+        // "and" rule: 둘 다 threshold 미만이면 미부착
+        val isDetached = meanAbs < THR_MEAN && stdVal < THR_STD
+
+        return DetachmentResult(
+            isDetached = isDetached,
+            meanAbs = meanAbs,
+            stdVal = stdVal,
+            meanAbsPerCh = meanAbsPerCh,
+            stdPerCh = stdPerCh
+        )
+    }
+}