feat(posture): Walking detector (flowchart Path B) + 2단계 알람

새 flowchart 의 walking 검출 추가: 1) Posture enum: UNKNOWN/LYING/NON_LYING + **WALKING** (4-state) 2) WalkingDetector.kt 신규 (flowchart Path B 구현) - Sliding window (default 1.5초) buffer 에 gyro magnitude 누적 - 매 cycle 마다 wmean (이동평균) + wstd (이동표준편차) 계산 - State machine: IDLE → WALKING: |pitch| > 45° AND wmean > 4 AND wstd > 2 → 1초 이상 연속 만족 시 전이 WALKING → IDLE: |pitch| > 45° AND wmean > 2 → 미달 후 2초 grace 지나면 전이 3) GreenZoneConstants 에 walking 임계 7개 추가 (모두 dev 조정 가능): - walkingMinPitchDeg=45, walkingStartWmean=4, walkingStartWstd=2, walkingStartHoldMs=1000, walkingKeepWmean=2, walkingKeepHoldMs=2000, walkingWindowMs=1500 4) PiezoMonitoring: - walkingDetector 인스턴스 - imuCollector.onComplete: classifier + detector 동시 호출, composite posture (WALKING > NON_LYING > LYING) 결정 - NON_WALKING → WALKING 전이 시 critical 알람 trigger 5) UI: - 상단 status bar: Walking 아이콘 (DirectionsWalk, 빨강) 추가 - 기존 wakeup 팝업 색: 빨강 → 주황 (warning level) - 신규 walking 팝업: 빨강 + DirectionsWalk + "환자가 걷고 있습니다 — fall risk" 6) Dev settings: walking 임계 슬라이더 4개 추가 (Min Pitch / Start Wmean / Start Wstd / Keep Wmean) sliding window / hold 시간은 default 유지 (필요 시 추가) 2단계 알람 체계 (의료적): - 주황 (warning): LYING N초 → NON_LYING/WALKING 전이 (일어남 감지) - 빨강 (critical): NON_WALKING → WALKING 전이 (보행 시작 — fall risk 최고) Tag phase2-pre-walking (28a8769) 이전 상태로 복원 가능. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
2026-06-24 10:28:43 +09:00
parent 28a8769fa3
commit ecdec7c97c
4 changed files with 289 additions and 11 deletions
@@ -34,6 +34,22 @@ object GreenZoneConstants {
    /** Posture polling 간격 (ms). PiezoMonitoring 에서 mtb 보내는 주기. dev 모드에서 조정 가능. */
    @Volatile var posturePollIntervalMs: Long = 1000L

+    // ── Walking detector 임계값 (flowchart 4-2 / 5-2) ─────────────────
+    /** Walking 인정 최소 pitch (deg). |pitch| > 이 값 이라야 walking 후보. */
+    @Volatile var walkingMinPitchDeg: Float = 45f
+    /** Walking 시작 — gyro 이동평균 (wmean) 임계 (dps). */
+    @Volatile var walkingStartWmean: Float = 4f
+    /** Walking 시작 — gyro 이동표준편차 (wstd) 임계 (dps). */
+    @Volatile var walkingStartWstd: Float = 2f
+    /** Walking 시작 — 두 임계 모두 만족한 채 지속해야 하는 최소 시간 (ms). */
+    @Volatile var walkingStartHoldMs: Long = 1000L
+    /** Walking 유지 — gyro wmean 임계 (dps). 시작보다 낮음. */
+    @Volatile var walkingKeepWmean: Float = 2f
+    /** Walking 유지 — wmean 임계 미달 후 종료까지 grace 시간 (ms). 미만 지속이 이 값 넘으면 walking 종료. */
+    @Volatile var walkingKeepHoldMs: Long = 2000L
+    /** Walking detector sliding window (ms). 이 시간 분량 sample 평균/표준편차. */
+    @Volatile var walkingWindowMs: Long = 1500L
+
    // ═══════════════════════════════════════════════════════════
    // 신호 범위
    // ═══════════════════════════════════════════════════════════
@@ -20,7 +20,7 @@ import kotlin.math.abs
 import kotlin.math.atan
 import kotlin.math.sqrt

-enum class Posture { UNKNOWN, LYING, NON_LYING }
+enum class Posture { UNKNOWN, LYING, NON_LYING, WALKING }

 object ImuPostureClassifier {

@@ -0,0 +1,139 @@
+/*
+ * WalkingDetector — flowchart Path B (4-2 / 5-2) 구현.
+ *
+ * 알고리즘:
+ *   1. Sliding window (walkingWindowMs, default 1.5초) 동안 IMU gyro sample 누적
+ *   2. window 의 gyro magnitude 평균 (wmean) 과 표준편차 (wstd) 계산
+ *   3. 상태 머신:
+ *        IDLE (not walking):
+ *          조건: |pitch| > walkingMinPitchDeg
+ *                AND wmean > walkingStartWmean (default 4)
+ *                AND wstd > walkingStartWstd (default 2)
+ *          → 조건 만족이 walkingStartHoldMs (default 1초) 이상 지속 → WALKING
+ *        WALKING:
+ *          조건: |pitch| > walkingMinPitchDeg
+ *                AND wmean > walkingKeepWmean (default 2)
+ *          → 조건 미달이 walkingKeepHoldMs (default 2초) 이상 지속 → IDLE
+ *
+ * 입력: 매 mtb cycle (≈1초 주기) 마다 IMU sample 리스트 + 현재 pitch + 시각
+ * 출력: 현재 walking 상태 (Boolean) + 진단 정보
+ */
+package com.example.medilightv2android.managers
+
+import com.example.medilightv2android.ble.ImuSample
+import kotlin.math.abs
+import kotlin.math.sqrt
+
+class WalkingDetector {
+
+    /** 진단 결과. UI/log 용. */
+    data class Snapshot(
+        val isWalking: Boolean,
+        val wmean: Float,
+        val wstd: Float,
+        val pitchOk: Boolean,
+        val samplesInWindow: Int,
+        val reason: String,
+    )
+
+    private data class TsGyro(val tsMs: Long, val magDps: Float)
+
+    private val buffer = ArrayDeque<TsGyro>()
+    private var walking = false
+    /** IDLE 에서 시작 조건 처음 만족된 시각. null 이면 미만족 / 끊김. */
+    private var startCondSinceMs: Long? = null
+    /** WALKING 에서 유지 조건 마지막 만족 시각. */
+    private var keepCondLastOkMs: Long? = null
+
+    val isWalking: Boolean get() = walking
+
+    fun reset() {
+        buffer.clear()
+        walking = false
+        startCondSinceMs = null
+        keepCondLastOkMs = null
+    }
+
+    /**
+     * 매 cycle 마다 호출. samples = 이번 cycle 에 들어온 IMU sample 리스트.
+     * pitchDeg = 같은 cycle 의 pitch (ImuPostureClassifier 가 계산한 값).
+     */
+    fun update(samples: List<ImuSample>, pitchDeg: Float, nowMs: Long): Snapshot {
+        // 1) sample buffer 에 추가 (timestamp 단순 분배 — cycle 내 균등 간격 가정)
+        val windowMs = GreenZoneConstants.walkingWindowMs
+        if (samples.isNotEmpty()) {
+            // cycle 내 각 sample 의 timestamp 를 nowMs 기준으로 역산 (≈ ICM ODR 50Hz → 20ms 간격)
+            val sampleGapMs = 20L
+            val startTs = nowMs - (samples.size - 1) * sampleGapMs
+            for ((i, s) in samples.withIndex()) {
+                val mag = sqrt(s.gx * s.gx + s.gy * s.gy + s.gz * s.gz)
+                buffer.addLast(TsGyro(startTs + i * sampleGapMs, mag))
+            }
+        }
+        // 2) window 밖 sample 제거
+        val cutoff = nowMs - windowMs
+        while (buffer.isNotEmpty() && buffer.first().tsMs < cutoff) buffer.removeFirst()
+
+        // 3) wmean, wstd 계산
+        val n = buffer.size
+        if (n < 2) {
+            return Snapshot(walking, 0f, 0f, false, n, "buffer too small")
+        }
+        var sum = 0f
+        for (b in buffer) sum += b.magDps
+        val wmean = sum / n
+        var sqSum = 0f
+        for (b in buffer) {
+            val d = b.magDps - wmean
+            sqSum += d * d
+        }
+        val wstd = sqrt(sqSum / n)
+
+        // 4) state machine
+        val minPitch = GreenZoneConstants.walkingMinPitchDeg
+        val pitchOk = abs(pitchDeg) > minPitch
+
+        if (!walking) {
+            // IDLE → WALKING 검사 (4-2)
+            val cond = pitchOk &&
+                wmean > GreenZoneConstants.walkingStartWmean &&
+                wstd > GreenZoneConstants.walkingStartWstd
+            if (cond) {
+                if (startCondSinceMs == null) startCondSinceMs = nowMs
+                val held = nowMs - startCondSinceMs!!
+                if (held >= GreenZoneConstants.walkingStartHoldMs) {
+                    walking = true
+                    keepCondLastOkMs = nowMs
+                    return Snapshot(true, wmean, wstd, pitchOk, n,
+                        "WALKING start (held ${held}ms)")
+                }
+                return Snapshot(false, wmean, wstd, pitchOk, n,
+                    "walking start cond met for ${held}ms")
+            } else {
+                startCondSinceMs = null
+                return Snapshot(false, wmean, wstd, pitchOk, n,
+                    "idle (pitchOk=$pitchOk wmean=${"%.1f".format(wmean)} wstd=${"%.1f".format(wstd)})")
+            }
+        } else {
+            // WALKING → IDLE 검사 (5-2)
+            val cond = pitchOk && wmean > GreenZoneConstants.walkingKeepWmean
+            if (cond) {
+                keepCondLastOkMs = nowMs
+                return Snapshot(true, wmean, wstd, pitchOk, n,
+                    "WALKING keep (wmean=${"%.1f".format(wmean)})")
+            } else {
+                // 조건 미달 — grace 시간 체크
+                val sinceOk = nowMs - (keepCondLastOkMs ?: nowMs)
+                if (sinceOk >= GreenZoneConstants.walkingKeepHoldMs) {
+                    walking = false
+                    startCondSinceMs = null
+                    keepCondLastOkMs = null
+                    return Snapshot(false, wmean, wstd, pitchOk, n,
+                        "WALKING end (grace ${sinceOk}ms exceeded)")
+                }
+                return Snapshot(true, wmean, wstd, pitchOk, n,
+                    "WALKING grace (${sinceOk}ms / ${GreenZoneConstants.walkingKeepHoldMs}ms)")
+            }
+        }
+    }
+}
@@ -130,10 +130,12 @@ 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) + Wakeup detector (Phase 2)
+    // Posture (flowchart-based, IMU polling — Phase 1) + Wakeup/Walking detector (Phase 2)
    var currentPosture by remember { mutableStateOf(com.example.medilightv2android.managers.Posture.UNKNOWN) }
-    var showWakeupAlarm by remember { mutableStateOf(false) }
+    var showWakeupAlarm by remember { mutableStateOf(false) }       // 주황 — LYING → NON_LYING/WALKING
    var wakeupAlarmElapsedSec by remember { mutableStateOf(0L) }
+    var showWalkingAlarm by remember { mutableStateOf(false) }      // 빨강 — NON_LYING → WALKING
+    val walkingDetector = remember { com.example.medilightv2android.managers.WalkingDetector() }
    val wakeupDetector = remember {
        com.example.medilightv2android.managers.WakeupDetector(
            lyingDurationSec = com.example.medilightv2android.services.WakeupAlarmPrefs.lyingDurationSec(context)
@@ -146,10 +148,12 @@ fun PiezoMonitoringView(appState: AppState) {
            }
        }
    }
-    // Wakeup alarm 빨간 팝업 — 사용자 dismiss 필요 (자동 닫힘 X)
+    // 직전 walking 상태 추적 — false → true 전이 시 critical 알람
+    var prevIsWalking by remember { mutableStateOf(false) }
+    // Wakeup alarm (warning, 주황) — LYING → NON_LYING/WALKING 전이
    if (showWakeupAlarm) {
        androidx.compose.ui.window.Dialog(
-            onDismissRequest = { /* not dismissible by outside tap */ },
+            onDismissRequest = { },
            properties = androidx.compose.ui.window.DialogProperties(
                dismissOnBackPress = false, dismissOnClickOutside = false
            )
@@ -158,7 +162,7 @@ fun PiezoMonitoringView(appState: AppState) {
                modifier = Modifier
                    .fillMaxWidth(0.92f)
                    .clip(RoundedCornerShape(24.dp))
-                    .background(Color(0xFFD32F2F))
+                    .background(Color(0xFFFF9800))   // Material Orange 500
                    .padding(horizontal = 28.dp, vertical = 36.dp),
                contentAlignment = Alignment.Center
            ) {
@@ -181,6 +185,54 @@ fun PiezoMonitoringView(appState: AppState) {
                    Spacer(modifier = Modifier.height(24.dp))
                    Button(
                        onClick = { showWakeupAlarm = false },
+                        colors = ButtonDefaults.buttonColors(
+                            containerColor = Color.White, contentColor = Color(0xFFFF9800)
+                        ),
+                        modifier = Modifier.fillMaxWidth().height(56.dp),
+                        shape = RoundedCornerShape(14.dp)
+                    ) {
+                        Text("확인", fontSize = 20.sp, fontWeight = FontWeight.Bold)
+                    }
+                }
+            }
+        }
+    }
+
+    // Walking alarm (critical, 빨강) — NON_LYING/LYING → WALKING 전이 (보행 시작)
+    if (showWalkingAlarm) {
+        androidx.compose.ui.window.Dialog(
+            onDismissRequest = { },
+            properties = androidx.compose.ui.window.DialogProperties(
+                dismissOnBackPress = false, dismissOnClickOutside = false
+            )
+        ) {
+            Box(
+                modifier = Modifier
+                    .fillMaxWidth(0.94f)
+                    .clip(RoundedCornerShape(24.dp))
+                    .background(Color(0xFFD32F2F))
+                    .padding(horizontal = 28.dp, vertical = 36.dp),
+                contentAlignment = Alignment.Center
+            ) {
+                Column(horizontalAlignment = Alignment.CenterHorizontally) {
+                    Icon(Icons.Default.DirectionsWalk, contentDescription = null,
+                        tint = Color.White, modifier = Modifier.size(64.dp))
+                    Spacer(modifier = Modifier.height(12.dp))
+                    Text("환자가 걷고 있습니다", fontSize = 30.sp,
+                        fontWeight = FontWeight.ExtraBold, color = Color.White,
+                        textAlign = TextAlign.Center)
+                    Spacer(modifier = Modifier.height(6.dp))
+                    Text("Patient is walking — fall risk",
+                        fontSize = 16.sp, fontWeight = FontWeight.Medium,
+                        color = Color.White.copy(alpha = 0.92f),
+                        textAlign = TextAlign.Center)
+                    Spacer(modifier = Modifier.height(8.dp))
+                    Text("즉시 환자 상태 확인 필요",
+                        fontSize = 14.sp, color = Color.White.copy(alpha = 0.9f),
+                        textAlign = TextAlign.Center)
+                    Spacer(modifier = Modifier.height(24.dp))
+                    Button(
+                        onClick = { showWalkingAlarm = false },
                        colors = ButtonDefaults.buttonColors(
                            containerColor = Color.White, contentColor = Color(0xFFD32F2F)
                        ),
@@ -668,16 +720,39 @@ fun PiezoMonitoringView(appState: AppState) {
        var unknownStreak = 0
        bleManager.imuCollector.onComplete = { samples ->
            val r = com.example.medilightv2android.managers.ImuPostureClassifier.classify(samples)
-            if (r.posture != com.example.medilightv2android.managers.Posture.UNKNOWN) {
-                currentPosture = r.posture
-                wakeupDetector.update(r.posture)
+            val nowMs = System.currentTimeMillis()
+            // Walking detector — pitch 가 valid 일 때만 의미. acc gate fail 시 그대로 update (wmean/wstd 계산 + 시간 grace 처리).
+            val walkSnap = walkingDetector.update(samples, r.pitchDeg, nowMs)
+            val isWalkingNow = walkSnap.isWalking
+
+            // Composite posture — WALKING 이 NON_LYING 보다 우선
+            val composite = when {
+                r.posture == com.example.medilightv2android.managers.Posture.UNKNOWN -> com.example.medilightv2android.managers.Posture.UNKNOWN
+                isWalkingNow -> com.example.medilightv2android.managers.Posture.WALKING
+                else -> r.posture   // LYING or NON_LYING
+            }
+
+            if (composite != com.example.medilightv2android.managers.Posture.UNKNOWN) {
+                currentPosture = composite
+                wakeupDetector.update(composite)
                unknownStreak = 0
            } else {
                unknownStreak++
-                // 3회 연속 UNKNOWN 이면 화면에 표시 (silent stuck 방지)
                if (unknownStreak >= 3) currentPosture = com.example.medilightv2android.managers.Posture.UNKNOWN
            }
-            Log.d("ImuDbg", "POSTURE ${r.posture} pitch=${"%.1f".format(r.pitchDeg)}° accMag=${"%.2f".format(r.accMag)}g gyro=${"%.1f".format(r.gyroMagDps)}dps (${r.reason}) samples=${samples.size} unknownStreak=$unknownStreak")
+
+            // Walking 시작 전이 (NON_WALKING → WALKING) — critical 알람 (alarm enabled 시)
+            if (isWalkingNow && !prevIsWalking) {
+                if (com.example.medilightv2android.services.WakeupAlarmPrefs.isEnabled(context)) {
+                    showWalkingAlarm = true
+                }
+            }
+            prevIsWalking = isWalkingNow
+
+            Log.d("ImuDbg", "POSTURE ${r.posture}→$composite pitch=${"%.1f".format(r.pitchDeg)}° " +
+                "accMag=${"%.2f".format(r.accMag)}g gyro=${"%.1f".format(r.gyroMagDps)}dps | " +
+                "WALK wmean=${"%.1f".format(walkSnap.wmean)} wstd=${"%.1f".format(walkSnap.wstd)} " +
+                "n=${walkSnap.samplesInWindow} (${walkSnap.reason})")
        }
        bleManager.imuCollector.onLog = { msg ->
            Log.d("ImuDbg", "imuCollector log: $msg")
@@ -1024,16 +1099,19 @@ fun PiezoMonitoringView(appState: AppState) {
            val postureIcon = when (currentPosture) {
                com.example.medilightv2android.managers.Posture.LYING -> Icons.Default.Hotel
                com.example.medilightv2android.managers.Posture.NON_LYING -> Icons.Default.AccessibilityNew
+                com.example.medilightv2android.managers.Posture.WALKING -> Icons.Default.DirectionsWalk
                com.example.medilightv2android.managers.Posture.UNKNOWN -> Icons.Default.HelpOutline
            }
            val postureTint = when (currentPosture) {
                com.example.medilightv2android.managers.Posture.LYING -> Color(0xFF2196F3)
                com.example.medilightv2android.managers.Posture.NON_LYING -> Color(0xFF4CAF50)
+                com.example.medilightv2android.managers.Posture.WALKING -> Color(0xFFD32F2F)
                com.example.medilightv2android.managers.Posture.UNKNOWN -> Color.Gray.copy(alpha = 0.5f)
            }
            val postureLabel = when (currentPosture) {
                com.example.medilightv2android.managers.Posture.LYING -> "Lying"
                com.example.medilightv2android.managers.Posture.NON_LYING -> "Upright"
+                com.example.medilightv2android.managers.Posture.WALKING -> "Walking"
                com.example.medilightv2android.managers.Posture.UNKNOWN -> "—"
            }
            Row(verticalAlignment = Alignment.CenterVertically) {
@@ -1876,6 +1954,51 @@ fun PiezoMonitoringView(appState: AppState) {
                            steps = 0,
                            colors = SliderDefaults.colors(thumbColor = MlPrimary, activeTrackColor = MlPrimary)
                        )
+
+                        HorizontalDivider(modifier = Modifier.padding(vertical = dividerPadding))
+
+                        // Walking detector 임계값 (4개)
+                        Text("Walking Thresholds", fontSize = labelSize, fontWeight = FontWeight.SemiBold, color = MlPrimary)
+
+                        var walkPitchVal by remember { mutableStateOf(GreenZoneConstants.walkingMinPitchDeg) }
+                        Row(verticalAlignment = Alignment.CenterVertically) {
+                            Text("  Min Pitch", fontSize = 12.sp)
+                            Spacer(Modifier.weight(1f))
+                            Text("${walkPitchVal.toInt()}°", fontSize = 12.sp, fontWeight = FontWeight.Bold, color = MlPrimary)
+                        }
+                        Slider(value = walkPitchVal, onValueChange = {
+                            walkPitchVal = it; GreenZoneConstants.walkingMinPitchDeg = it
+                        }, valueRange = 20f..70f, colors = SliderDefaults.colors(thumbColor = MlPrimary, activeTrackColor = MlPrimary))
+
+                        var walkStartWmean by remember { mutableStateOf(GreenZoneConstants.walkingStartWmean) }
+                        Row(verticalAlignment = Alignment.CenterVertically) {
+                            Text("  Start Wmean", fontSize = 12.sp)
+                            Spacer(Modifier.weight(1f))
+                            Text("%.1f".format(walkStartWmean), fontSize = 12.sp, fontWeight = FontWeight.Bold, color = MlPrimary)
+                        }
+                        Slider(value = walkStartWmean, onValueChange = {
+                            walkStartWmean = it; GreenZoneConstants.walkingStartWmean = it
+                        }, valueRange = 1f..20f, colors = SliderDefaults.colors(thumbColor = MlPrimary, activeTrackColor = MlPrimary))
+
+                        var walkStartWstd by remember { mutableStateOf(GreenZoneConstants.walkingStartWstd) }
+                        Row(verticalAlignment = Alignment.CenterVertically) {
+                            Text("  Start Wstd", fontSize = 12.sp)
+                            Spacer(Modifier.weight(1f))
+                            Text("%.1f".format(walkStartWstd), fontSize = 12.sp, fontWeight = FontWeight.Bold, color = MlPrimary)
+                        }
+                        Slider(value = walkStartWstd, onValueChange = {
+                            walkStartWstd = it; GreenZoneConstants.walkingStartWstd = it
+                        }, valueRange = 0.5f..10f, colors = SliderDefaults.colors(thumbColor = MlPrimary, activeTrackColor = MlPrimary))
+
+                        var walkKeepWmean by remember { mutableStateOf(GreenZoneConstants.walkingKeepWmean) }
+                        Row(verticalAlignment = Alignment.CenterVertically) {
+                            Text("  Keep Wmean", fontSize = 12.sp)
+                            Spacer(Modifier.weight(1f))
+                            Text("%.1f".format(walkKeepWmean), fontSize = 12.sp, fontWeight = FontWeight.Bold, color = MlPrimary)
+                        }
+                        Slider(value = walkKeepWmean, onValueChange = {
+                            walkKeepWmean = it; GreenZoneConstants.walkingKeepWmean = it
+                        }, valueRange = 0.5f..10f, colors = SliderDefaults.colors(thumbColor = MlPrimary, activeTrackColor = MlPrimary))
                    }

                    HorizontalDivider(modifier = Modifier.padding(vertical = dividerPadding))