dw.jang
4252464ef6
a1042b8(v5) 이후 13개 커밋을 반영해 세 문서 일괄 갱신. USER_GUIDE.md: - 헤더: VBTAND0101 → 1.0.0-design (versionCode 24), 권장 펌웨어 VBTFW0116 - PIN DEMO 자동통과 안내 (배포 전 정리 필요) - Personalization 평행 2-카드 (Maximum Bladder Capacity + Catheter Threshold) - Sensor Alignment 리디자인 (38sp 큰 타이틀, pubic bone 빨강, 3-stop gradient, Canvas 화살표/아치 제거) - Measurement Screen top bar에 Home 아이콘 + Voiding/ 텍스트 + 48sp Recorded Dialog - Auto Scan 600ms로 단축 + 측정 사이클 ~330ms 실측 안내 - 설정 패널 폰/태블릿 자동 폰트 분기 (fontScale 표 추가) - Dev Mode 추가 기능 (DeviceScan 측정 직진입 버튼, Status 더미 주입) - Navigation에 placementFromMonitoring 라우팅 분기 설명 + startFromHome fix VesiScan_Android_Pipeline_Summary.md: - v6 주요 변경 요약 (헤더에 한눈 보기) - §5.1 BLE 통신: Connection Parameter 협상 (MTU 247, CONN_PRIORITY HIGH), maa throttle state-based gate, 측정 사이클 실측 표 - 측정 흐름: Auto/Single Scan 600ms 동기화 + Voiding 시 자동 stop - 연속 스캔 동작: Placement loop 1000 → 600ms + v6 화면 디자인 변경 박스 - §14 BLE 명령어 포맷: VBTFW0116 신규 사항 (pending slot 1→8, 안드로이드 짝꿍 변경) - §22 향후 과제: v6 완료 항목 12개 추가 docs/ALGORITHM_COMPARISON.md: - Placement loop 1s → 600ms, canSendMaa 게이트 단계 명시 - v6 BLE 사이클 실측 (330ms 평균) - Measurement Modes: 800 → 600ms, Voiding 자동 stop - 신규 섹션: BLE maa Throttle — State-Based Gate (배경/구현/효과/logcat 키워드) Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
273 lines
11 KiB
Markdown
273 lines
11 KiB
Markdown
# Method A / B / C Algorithm Comparison & Placement Test
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## Wall Detection Comparison
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### Pipeline
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```
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Method A: raw → SG → composite(sg+|d1|+|d2|) → plateau score → plateau spans
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→ prominence wall (ANT=nearest, POST=edge_score)
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→ cross-validation → BV(frustum+ellipse cap, 1ch=sphere)
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※ 채널별 min_wall_contrast_ratio × cos(θ) 보정
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Method B: raw → SG → TGC(multichannel log-fit) → initial detect(Otsu×0.9×cos(θ))
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→ BR candidate(per-ch, post-only, prominence≥50)
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→ consensus(median, outlier_tol=4, min_votes=3)
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→ is_reflection_only(shared+cluster, amp_ratio=1.5)
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→ resolve(suspicious post: post>ant×1.5)
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→ suppress(valley early-stop 50.0) → rerun detect
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→ choose(rerun vs initial) → BV(frustum+ellipse cap, 1ch=sphere)
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Method C: raw → MedianFilter(win=7) → SG+wavelet
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→ ImpulseReject(2-pass Hampel, lumen clean)
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→ OS-CFAR(per-sample) → lumen mask
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→ prominence wall + subsample refine
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→ StaLta impulse purity check
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→ anatomical gate (antDepth≥10mm, chord 5-110mm)
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→ BModeScore V41 (wamp=0.45, stalta=0.20, far=0.15, dark=0.10)
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→ ChordConsensus (Tukey MAD + Fischler-Bolles pair test)
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→ BV dispatch(frustum/chord/sphere, trusted channels only)
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```
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### Stage-by-Stage
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| Stage | **A (Plateau)** | **B (Otsu+TGC+BR)** | **C (V4.1 CFAR)** |
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|-------|-----------------|----------------------|---------------------|
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| Pre-filter | none | none | MedianFilter(win=7) + ImpulseReject(Hampel) |
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| Denoising | SG(5,2) | SG(5,2) → log-TGC | SG(5,2) + db4 wavelet 3-level |
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| Threshold | sliding plateau score Q=0.5 | Otsu×0.9×cos(θ) | OS-CFAR (win=15, rank=40%, scale=1.05) |
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| Low-echo mask | platScore < thr | sg <= otsu (full) | sg <= median(CFAR) |
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| Span merge | gap≤5, simple | gap<3: unconditional, ≥3: wall check | mergeGapMax=5, gapPeakMargin=50 |
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| Span refine | none | refineRightEdge | none |
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| Wall select | ANT=nearest, POST=edge_score, decay=0.15 | ANT=nearest, POST=edge_score, decay=0.12 | prominence + subsample, MAX_CANDIDATES_POST=64 |
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| Valley logic | descending-first, rise=5 | descending-first, rise=50 | rise=50 |
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| Extra conditions | contrast×cos(θ)≥1.2, prom≥3 | peakMin=max(low+30,thr), sg[ant/post]≥thr, postProm≥30 | Kremkau ant fallback, antMinIdx=7 |
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| Score | sg[ant]+sg[post] | asymmetric ant_reliability | BModeScore V41 (wamp+stalta+far+dark+grad) |
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| FP filter | cross-validation | score<3000 | AnatomicalGate + ChordConsensus |
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| Impulse check | none | none | StaLta (STA/LTA ratio) |
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| Channel filter | none | none | ChordConsensus (MAD outlier + pair test) |
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| Back reflection | none | consensus multichannel BR | none |
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| Fallback | none | ant=max(0,s-(post-e)) | B-mode tier |
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### BV Estimation
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| | **A** | **B** | **C** |
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|---|---|---|---|
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| Model | shared with B | frustum + ellipse cap | Multi-dispatch (trusted ch only) |
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| 1-channel | sphere V=(4/3)πR³ | same | Verathon chord |
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| Channel filter | none | none | ChordConsensus (drop inconsistent) |
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| Cap height | 8-point ellipse LSQ | same | fixed: bottom=hemisphere, top=cone |
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| LR ratio | shared with B | 2-lateral ellipse solve + shrinkage | 1/avg_ratio, clamp[1.0,1.6] |
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| Confidence | none | none | 0.95(4C+2L) ~ 0.20(1ch) |
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| DPS | PiezoHW (1.968) | same | 1.9309 |
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### Angle Correction (PR#20)
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Both Method A and B apply per-channel beam angle correction:
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- **Method B**: `otsu_ratio = OTSU_RATIO × cos(θ)` per channel
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- **Method A**: `min_wall_contrast_ratio = 1.2 × cos(θ)` per channel
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- Larger angles → lower threshold → better detection of weak posterior walls
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### Back Reflection System (Method B)
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```
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Per-channel:
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1. initial detect → (ant, post)
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2. build_candidate: strongest peak AFTER post (prominence≥50)
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- global BR ≈ post (±3) → None (no separate BR)
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- else → strongest significant peak after post
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Multichannel:
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3. consensus: median, outlier_tol=4, min_votes=3
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4. is_reflection_only: post > ant × 1.5 (amp_ratio)
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- Condition A: shared_idx based
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- Condition B: post cluster based
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Per-channel resolve:
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5. is_suspicious_post: post > ant × 1.5 OR post ≈ shared (±2)
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6. select_idx → resolve → suppress(valley early-stop 50.0)
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7. rerun detect → choose(rerun vs initial, min_gap=8)
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```
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### Method C V4.1 New Features (2026-05-04)
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```
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Pre-processing:
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MedianFilter(win=7) → remove speckle bumps
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ImpulseReject(2-pass Hampel) → clean 1-3 sample impulses in lumen
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Detection:
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DetectLumenFirst V41_PARAMS:
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mergeGapMax=5, gapPeakMargin=50
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maxCandidatesPost=64, medianWin=7, antMinIdx=7
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Kremkau half-amplitude ant fallback
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Quality:
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StaLta: STA/LTA ratio → wall edge vs reverberation discrimination
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BModeScore V41_WEIGHTS:
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wamp=0.45 (wall-peak amplitude)
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stalta=0.20 (impulse purity)
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far=0.15, dark=0.10, ant=0.05, post=0.05
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Channel Filtering:
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ChordConsensus: Tukey MAD outlier + Fischler-Bolles pair test
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→ drop geometrically inconsistent channels before BV
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Anatomical Gate:
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antDepthMin: 22 → 10mm (Neyman-Pearson loose prior)
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strict threshold removed → delegated to B-mode score
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```
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---
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## Python vs Kotlin Sync Status (2026-05-04)
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### Method A/B: 18 functions compared — CRITICAL 0, MINOR 5
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All config constants match: LOW_ECHO_AMP=1250, OTSU_RATIO=0.9, MIN_SCORE=3000,
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EDGE_DIST_DECAY=0.12, VALLEY_STOP_RISE=50, etc.
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### Method C: Direct copy from CharlesKWONsLaw (45 files, package renamed)
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---
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## Placement Test Algorithm
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### Overview (2026-05-26 updated — v6)
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```
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Screen entry → "Place VesiScan above the pubic bone, then press Start"
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↓ Start Alignment 버튼 탭 (waitingForStart=false)
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전체 상태 리셋
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↓
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[600ms interval loop] ← v6: 1000ms → 600ms (BleManager throttle과 동기화)
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↓
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mpa (first time, 500ms delay) → maa → 6ch reb
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↓ (maa 전 BleManager.canSendMaa() 게이트 통과 필요)
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│ - State gate: !piezoCollector.isComplete 이면 차단 (3s 후 FORCE)
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│ - Time gate: 마지막 송신 < 600ms 이면 차단
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│
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Detachment check (6ch received, THR=30) → LED 4 if detached
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↓
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Wall detection (Method A/B/C) → urineLen ≥ 12
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↓
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computePlacementGuide() → 3-stage guide (VERTICAL → LATERAL → GREEN)
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↓
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Debounce (2 consecutive + 1.5s/3s hold) + Phase protection (3 scans)
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↓
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Arrow direction: always updated (directionIcon synced with guideResult)
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↓
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LED: stage change only (4=detach, 5=searching, 6=complete)
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↓
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GREEN: 7s hold + 3 consecutive fail to exit
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↓
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Screen exit → LED OFF
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```
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### v6 BLE 사이클 실측 (VBTFW0116 + MTU 247 + CONN_PRIORITY HIGH)
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한 측정 사이클 (TX maa → RX raa): **평균 ~330ms** (이전 ~1.2~1.4s 대비 4배 향상).
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600ms loop delay 안에 한 사이클이 안정적으로 완료됨.
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### Guide Modes
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**Gradient** (default): weighted center gradient → LATERAL → GREEN
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**Boundary**: up → detect boundary (max drops) → come back → LATERAL
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**SWEEP** (CKLaw): navel → slide down → sagittalArgMaxCh → LATERAL → GREEN
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### 3-Stage Guide
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**Stage 1 VERTICAL**: detect count + gradient + "Slide up/down ↑↓"
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**Stage 2 LATERAL**: |len4-len5| ≤ 10 → GREEN, else "Slide left/right ←→"
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**Stage 3 GREEN**: CV ≤ threshold AND |LR dev| ≤ 0.20 → "In position!" (7s hold)
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### Measurement Modes (v6 업데이트)
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- **Auto Scan**: **min 600ms gap** (state-based throttle: `!isComplete` + 600ms), 10-sample trimmed mean (max/min removed, 8 avg)
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- **Single Scan (Spot)**: 5회 측정 → trimmed mean (max 8 attempts, min 3)
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- valid ≥ 4 channels only
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- Analysis on coroutine (Dispatchers.Default)
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- Auto fail: 2ch+ missing 5 consecutive → realign dialog
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- **Voiding/Catheterization 클릭 시 Auto Scan 자동 stop + 측정 상태 정규화** (displayMaxVolumeMl/window/timer 모두 0)
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- Detachment → LED 4 (once), recovery → LED 0 (once)
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- Foreground Service: BLE connection maintained during screen off
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- BLE 로그: 실시간 파일 기록 (Downloads/VesiScan_BLE_*.log, 화면 잠금에도 보존)
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- CSV: 세션별 파일 (YYYY-MM-DD_HHmmss.csv)
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### Placement GREEN 기준
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```
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CV threshold = DEFAULT_CV_THR + (scanCount / 5) × 0.03
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DEFAULT_CV_THR: V0=0.07, V1/V2=0.10, 기타=0.08
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LR deviation ≤ 0.20
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GREEN hold: 7초 (greenLockedAtMs 기준)
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GREEN exit: 3회 연속 실패 (greenFailCount)
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```
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### Test Results (2026-05-04, 500ml phantom, Method C V4.1)
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```
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총 측정: 223회
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평균: 492.4ml (오차 -1.5%)
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±15% 이내: 223/223 (100%)
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범위: 441~537ml
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```
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---
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## BLE maa Throttle — State-Based Gate (v6, 2026-05-26)
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### 배경: CH0/CH1만 도착 + BV_FAIL/BV_SKIP 증상
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이전 throttle은 시간 단독 `now - lastMaaSentMs < 800ms` 만 검사. 펌웨어 응답이
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~1.2~1.4초 걸리는 환경에서 800ms 시점에 새 maa가 송신되면:
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1. `sendChannelsOnly()` 통과 → `piezoCollector.startMultiChannel(6)` → collector reset
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2. **큐에 떠다니던 이전 사이클의 reb / raa 패킷이 새 collector의 시작 부분에 잘못 들어감**
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3. 결과: 한 채널만 들고 raa로 종료 → `BV_FAIL no valid channels` 또는 `BV_SKIP center=0 total=5/6`
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실측 로그 (FW VBTFW0111, 2026-05-22):
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```
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TX maa #1 → reb×5 → (raa 큐 밀림) → TX maa #2 → reb×1 + raa → BV_FAIL scan=656
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```
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### v6 신규 게이트
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```kotlin
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private fun canSendMaa(caller: String): Boolean {
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val now = System.currentTimeMillis()
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val collectorBusy = piezoCollector.isMultiChannel && !piezoCollector.isComplete
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val sinceLast = now - lastMaaSentMs
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if (collectorBusy) {
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if (sinceLast < 3000) return false // (A) state 차단
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// 3s 넘으면 강제 통과 (FORCE) — deadlock 방지
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}
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if (sinceLast < 600) return false // (B) time 차단
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return true
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}
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```
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| 게이트 | 차단 | 풀림 |
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| (A) State | `isMultiChannel && !isComplete` | raa 도착 OR 3s FORCE |
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| (B) Time | `sinceLast < 600` | 600ms 경과 |
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두 게이트 모두 통과해야 maa 송신. State gate가 race 방어, time gate가 burst 방어.
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### 효과 (FW VBTFW0116 + MTU 247 + CONN_PRIORITY HIGH 조합)
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- 한 사이클 응답: 1.2s → **330ms** (4배)
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- 6/6 채널 도착률: 부분응답 잦음 → **100% 도착, 유실 0건**
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- BV_FAIL/BV_SKIP 빈도: 자주 → 관찰되지 않음
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### Logcat 키워드
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| 로그 | 의미 |
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| `maa BUSY [...] — prev response in progress (Xms)` | State gate 차단 (정상 방어) |
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| `maa FORCE [...] — prev incomplete after Xms` | 3s 넘게 raa 없음 → 포기하고 진행 |
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| `maa THROTTLED [...] — Xms since last` | Time gate 차단 (정상 방어) |
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| (로그 없음) | 정상 송신 |
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| `MTU changed: 247 (status=0)` | MTU 정상 협상 (CCCD write 직전) |
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| `CONN_PRIORITY HIGH requested (ok=true)` | priority 요청 큐잉 성공 (수락 여부는 sniffer로만 확인 가능) |
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