HRI Physio Lib

Introduction

HRI Physio Lib is a library developed by Austin Kothig for researchers in the field of physiological computing. The structure and basic implementation of this library can be found in the image below:

🧩 Library Components

📦 External Libraries

HriPhysioLib integrates external submodules to extend its functionality. These are:

• liblsl 🛠️: For streaming physiological data using Lab Streaming Layer (LSL).
• yaml-cpp 🗂️: For parsing and emitting YAML files, useful in handling configurations.

📂 Source Modules

The source folder is divided into several modules, each with a specific role:

🛠️ Core

The Core module provides essential data structures. The key component here is the Ring Buffer, a circular structure used for managing physiological data streams in FIFO (First In, First Out) order.

• ringbuffer.h: The heart of this module, providing the ring buffer functionality.

🔧 Manager

The Manager module handles the coordination between robotic systems 🤖 and physiological data. It includes multithreading for efficient, real-time operations.

• robot_manager.h/cpp: Enables data exchange between robots and physiological data.
• thread_manager.h/cpp: Manages multithreaded processes for data streaming and processing.

🤖 Social

The Social module is all about integrating robots with the outside world using physiological signals to drive behaviors 🚶‍♂️→🤖.

• robot_interface.h/cpp: The standard interface to communicate with robots.

🔬 Processing

This is where the magic of transforming raw data into something meaningful happens! 🧙‍♂️ The Processing module includes:

• hilbert_transform.h/cpp: For applying the Hilbert Transform to physiological signals.
• pocketfft.h: Handles Fourier Transforms for time-frequency analysis.
• spectrogram.h/cpp: Generates spectrograms for visualizing signal frequencies over time.

💾 Stream

The Stream module manages data flow from external sources to the processing pipeline 📊.

• csv_streamer.h/cpp: Handles data in CSV format.
• lsl_streamer.h/cpp: Facilitates LSL-based physiological data streaming.

⚙️ Utilities

The Utilities module offers various helper tools to smooth your workflow 🛠️.

• arg_parser.h/cpp: Parses command-line arguments for easy library configuration.
• helper.h/cpp: Contains useful functions like data conversion and logging.

Installing the library:

• Setting up the library requires a couple of steps of installation so please bear with us. Follow these steps in the given order to successfully set up the library:

  • Cloning the repository: navigate to your workspace where you want to install the library and run the following command:
    

      git clone https://github.com/HBRS-SDP/WS24-physiological-computing.git
    

  • Installing dependancies: as you know our repository uses three external libraries which have been added as submodules in the /deps folder, so we need to clone them first:
    

    cd WS24-physiological-computing/deps/
    

    rm -rf fmt/ && rm -rf labstreaminglayer/ && rm -rf yaml-cpp/
    

    git clone https://github.com/fmtlib/fmt.git
    

    git clone https://github.com/jbeder/yaml-cpp.git
    

    git clone --recurse-submodules https://github.com/sccn/labstreaminglayer.git
    

  • What we have done currently is add the dependancies to our library. One additional step that needs to be done is that we need to build 'labstreaminglayer':

    cd labstreaminglayer/
    

    mkdir build && cd build
    

    cmake ..
    

    make
    

  • You should see a series of percentage statements. At the end if you see no errors then you are successfully done with installing the dependancies.

  • Next step is building our library so navigate back to the home folder i.e. WS24-physiological-computing and run the following commands:

    mkdir build && cd build
    

    cmake ..
    

    make
    

  • This should result in a successful building of the library. Now final step of this process is to install the library:

    sudo 
    
    

Contributors:

• Austin Kothig: [email protected]
• Trushar Ghanekar: [email protected]
• Vedika Chauhan: [email protected]
• Shrikar Nakhye: [email protected]
• Ayush Salunke: [email protected]
• Prachi Sheth: [email protected]
• Yash Somaiya: [email protected]