Updated exercise handling code to make pepper more verbal

code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/Exercise.java

@@ -40,4 +40,8 @@ public class Exercise {
         this.videoUrl = videoUrl;
         this.exerciseTimeInSeconds = exerciseTimeInSeconds;
     }
+
+    public interface ExerciseFetchHandler {
+        void handle(Exercise exercise);
+    }
 }

code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseManager.java

@@ -18,23 +18,28 @@ public class ExerciseManager {
     // The value of these property variables must be equivalent of
     // the JSON data that the database sends back.
     // If this is not the case then the exercise retrieval will fail.
-    private static final String PROPERTY_MUSCLE_GROUP = "muscleGroup";
+    private static final String PROPERTY_EXERCISE_DURATION  = "duration";
-    private static final String PROPERTY_DESC = "description";
+    private static final String PROPERTY_EXERCISE_ID        = "exerciseId";
-    private static final String PROPERTY_IMAGE_URL = "imageUrl";
+    private static final String PROPERTY_MUSCLE_GROUP       = "muscleGroup";
-    private static final String PROPERTY_VIDEO_URL = "videoUrl";
+    private static final String PROPERTY_SHORT_DESC         = "shortDescription";
-    private static final String PROPERTY_NAME = "name";
+    private static final String PROPERTY_IMAGE_URL          = "imageUrl";
-    private static final String PROPERTY_DATA = "data";
+    private static final String PROPERTY_VIDEO_URL          = "videoUrl";
-    private static final String PROPERTY_EXERCISE_DURATION = "exerciseDuration";
+    private static final String PROPERTY_DESC               = "description";
+    private static final String PROPERTY_PATH               = "path";
+    private static final String PROPERTY_NAME               = "name";
 
     public static final int SENSOR_COUNT = 2;
 
     private static final String[] REQUIRED_PROPERTIES = {
             PROPERTY_MUSCLE_GROUP, PROPERTY_DESC, PROPERTY_IMAGE_URL,
-            PROPERTY_VIDEO_URL, PROPERTY_NAME, PROPERTY_DATA,
+            PROPERTY_VIDEO_URL, PROPERTY_NAME, PROPERTY_PATH,
-            PROPERTY_EXERCISE_DURATION
+            PROPERTY_EXERCISE_DURATION, PROPERTY_EXERCISE_ID,
+            PROPERTY_SHORT_DESC
     };
 
-    private static final float DEFAULT_SEGMENT_SPEED = 1.0f;
+    public static final int  DEFAULT_EXERCISE_REPETITIONS = 10;
+    public static final float DEFAULT_SEGMENT_SPEED = 1.0f;
+    public static final float EXERCISE_ERROR_MARGIN = 1.0f;
 
     /**
      * Function for sending an HTTP request to the server.
@@ -95,7 +100,7 @@ public class ExerciseManager {
                 // Path data is split into two parts, due to the left and right hand.
                 // If one wants to add support for more sensors, one will have to adjust the Exercise
                 // class to support more paths.
-                String[] leftRightData = content.get(PROPERTY_DATA).getAsString().split(";");
+                String[] leftRightData = content.get(PROPERTY_PATH).getAsString().split(";");
 
                 if ( leftRightData.length != SENSOR_COUNT)
                     return null;

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/EndScreenActivity.java

@@ -4,8 +4,7 @@ import android.os.Bundle;
 import android.support.v7.app.AppCompatActivity;
 
 import com.example.fitbot.R;
-import com.example.fitbot.ui.activities.FitnessActivity;
+import com.example.fitbot.util.NavigationManager;
-import com.example.fitbot.ui.activities.MainActivity;
 
 public class EndScreenActivity extends AppCompatActivity {
 
@@ -14,7 +13,7 @@ public class EndScreenActivity extends AppCompatActivity {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_end_screen);
 
-        com.example.fitbot.util.ButtonNavigation.setupButtonNavigation(this, R.id.homeButtonEndScreen, MainActivity.class);
+        NavigationManager.setupButtonNavigation(this, R.id.homeButtonEndScreen, MainActivity.class);
-        com.example.fitbot.util.ButtonNavigation.setupButtonNavigation(this, R.id.startButtonEndScreen, FitnessActivity.class);
+        NavigationManager.setupButtonNavigation(this, R.id.startButtonEndScreen, FitnessActivity.class);
     }
 }

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java

@@ -1,8 +1,6 @@
 package com.example.fitbot.ui.activities;
 
 import android.os.Bundle;
-import android.util.Log;
-import android.view.View;
 import android.widget.VideoView;
 
 import com.aldebaran.qi.sdk.QiContext;
@@ -14,7 +12,7 @@ import com.example.fitbot.R;
 import com.example.fitbot.exercise.Exercise;
 import com.example.fitbot.exercise.ExerciseManager;
 import com.example.fitbot.ui.components.PersonalMotionPreviewElement;
-import com.example.fitbot.util.ButtonNavigation;
+import com.example.fitbot.util.NavigationManager;
 import com.example.fitbot.util.FitnessCycle;
 import com.example.fitbot.util.processing.InputProcessor;
 
@@ -56,7 +54,7 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
         // Find the VideoView by its ID
         VideoView videoView = findViewById(R.id.videoView);
         FitnessCycle.playVideo(videoView, this);
-        ButtonNavigation.setupButtonNavigation(this, R.id.homeButtonFitness, MainActivity.class);
+        NavigationManager.setupButtonNavigation(this, R.id.homeButtonFitness, MainActivity.class);
         // Implement your logic when the robot focus is gained
 
     }
@@ -73,22 +71,24 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
         // This will provide the element with the appropriate dimensions for drawing
         // the canvas properly.
         personalMotionPreviewElement.post(() -> {
-            Exercise exercise = this.acquireExercise();
+            this.acquireExercise((exercise) -> {
-            if ( exercise == null) {
+                // Acquire paths from the exercise and provide them to the motion processor
-                return;
+                Vector3f[][] vectors = new Vector3f[][] {exercise.leftPath.getVectors(), exercise.rightPath.getVectors()};
-            }
-            // Acquire paths from the exercise and provide them to the motion processor
-            Vector3f[][] vectors = new Vector3f[][] {exercise.leftPath.getVectors(), exercise.rightPath.getVectors()};
 
-            motionProcessor = new InputProcessor(vectors, exercise.exerciseTimeInSeconds, SENSOR_SAMPLE_RATE);
+                motionProcessor = new InputProcessor(vectors, exercise.exerciseTimeInSeconds, SENSOR_SAMPLE_RATE);
 
-            personalMotionPreviewElement.provideQiContext(qiContext);
+                personalMotionPreviewElement.provideQiContext(qiContext);
-            personalMotionPreviewElement.initialize(exercise, motionProcessor, EXERCISE_COUNT);
+                personalMotionPreviewElement.initialize(exercise, motionProcessor, EXERCISE_COUNT);
 
-            motionProcessor.startListening();
+                motionProcessor.startListening();
-            motionProcessor.setInputHandler(personalMotionPreviewElement);
+                motionProcessor.setInputHandler(personalMotionPreviewElement);
+            }, (n) -> {
+                int randomMessageIndex = (int)Math.floor(Math.random() * EXERCISE_NOT_FOUND_MESSAGES.length);
+                FitnessCycle.say(EXERCISE_NOT_FOUND_MESSAGES[randomMessageIndex], qiContext);
+                FitnessCycle.say(EXERCISE_NOT_FOUND_SEEK_HELP_MESSAGE, qiContext);
+
+            });
         });
-        personalMotionPreviewElement.provideQiContext(qiContext);
 
         // FitnessCycle.playVideo(qiContext, videoView, this);
     }
@@ -97,28 +97,32 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
      * Acquire an exercise from the ExerciseManager.
      * Whenever the retrieval failed, it will have the robot say something to the user
      * to inform them about the issue.
-     *
-     * @return The acquired exercise, or null if the exercise could not be retrieved.
      */
-    public Exercise acquireExercise() {
+    public void acquireExercise(Exercise.ExerciseFetchHandler onSuccessfulFetch, Exercise.ExerciseFetchHandler onFailedFetch) {
-        Exercise exercise = ExerciseManager.retrieveExercise();
+        // For some stupid reason we cannot perform network operations on the main thread.
-        if ( exercise == null && this.qiContext != null)
+        // therefore we'll have to do it like this...
-        {
+        (new Thread(() -> {
-            int randomMessageIndex = (int)Math.floor(Math.random() * EXERCISE_NOT_FOUND_MESSAGES.length);
+            Exercise exercise = ExerciseManager.retrieveExercise();
-            FitnessCycle.say(EXERCISE_NOT_FOUND_MESSAGES[randomMessageIndex], qiContext);
+            if ( exercise == null)
-            FitnessCycle.say(EXERCISE_NOT_FOUND_SEEK_HELP_MESSAGE, qiContext);
+            {
-        }
+                onFailedFetch.handle(null);
-        return exercise;
+            }
+            else {
+                onSuccessfulFetch.handle(exercise);
+            }
+        })).start();
     }
 
     @Override
     public void onRobotFocusLost() {
-        // Implement your logic when the robot focus is lost
+        QiSDK.unregister(this, this);
+        // Go to the main screen
+        NavigationManager.navigateToActivity(this, MainActivity.class);
     }
 
     @Override
     public void onRobotFocusRefused(String reason) {
-        // Implement your logic when the robot focus is refused
+        QiSDK.unregister(this, this);
     }
 
     @Override
@@ -127,6 +131,5 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
         QiSDK.unregister(this, this);
         this.motionProcessor.stopListening();
         this.motionProcessor = null;
-        this.personalMotionPreviewElement.destroy();
     }
 }

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/HelpActivity.java

@@ -5,7 +5,7 @@ import android.os.Bundle;
 import android.view.View;
 
 import com.example.fitbot.R;
-import com.example.fitbot.util.ButtonNavigation;
+import com.example.fitbot.util.NavigationManager;
 
 public class HelpActivity extends AppCompatActivity {
 
@@ -14,7 +14,7 @@ public class HelpActivity extends AppCompatActivity {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_help);
 
-        ButtonNavigation.setupButtonNavigation(this, R.id.homeButtonHelp, MainActivity.class);
+        NavigationManager.setupButtonNavigation(this, R.id.homeButtonHelp, MainActivity.class);
 
         // Hide system UI
         hideSystemUI();

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java

@@ -10,13 +10,12 @@ import android.support.v4.widget.DrawerLayout;
 import android.support.v7.app.ActionBarDrawerToggle;
 import android.support.v7.app.AppCompatActivity;
 import android.support.v7.widget.Toolbar;
-import android.util.Log;
 import android.view.View;
 import android.view.WindowManager;
 import android.widget.Button;
 
 import com.example.fitbot.R;
-import com.example.fitbot.util.ButtonNavigation;
+import com.example.fitbot.util.NavigationManager;
 
 public class MainActivity extends AppCompatActivity {
 
@@ -63,8 +62,8 @@ public class MainActivity extends AppCompatActivity {
         if (getSupportActionBar() != null) {
             getSupportActionBar().hide();
         }
-        ButtonNavigation.setupButtonNavigation(this, R.id.startButtonMain, FitnessActivity.class);
+        NavigationManager.setupButtonNavigation(this, R.id.startButtonMain, FitnessActivity.class);
-        ButtonNavigation.setupButtonNavigation(this, R.id.helpButtonMain, HelpActivity.class);
+        NavigationManager.setupButtonNavigation(this, R.id.helpButtonMain, HelpActivity.class);
 
         /*---Tool Bar---*/
         setSupportActionBar(toolbar); // Make the toolbar act as the action bar

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java

@@ -2,7 +2,6 @@ package com.example.fitbot.ui.components;
 
 import android.app.Activity;
 import android.content.Context;
-import android.content.Intent;
 import android.graphics.Canvas;
 import android.graphics.Paint;
 import android.support.annotation.Nullable;
@@ -15,6 +14,7 @@ import com.example.fitbot.exercise.Exercise;
 import com.example.fitbot.ui.activities.EndScreenActivity;
 import com.example.fitbot.ui.activities.FitnessActivity;
 import com.example.fitbot.ui.activities.MainActivity;
+import com.example.fitbot.util.NavigationManager;
 import com.example.fitbot.util.FitnessCycle;
 import com.example.fitbot.util.processing.IInputHandler;
 import com.example.fitbot.util.processing.InputProcessor;
@@ -105,25 +105,6 @@ public class PersonalMotionPreviewElement extends View implements IInputHandler
                 projectVertex(new Vector3f(0, 0, -5.0f), getWidth(), getHeight()),
                 projectVertex(new Vector3f(0, 0, 5.0f), getWidth(), getHeight())
         };
-    }
-
-    public void destroy()
-    {
-        if ( this.motionProcessor != null )
-            this.motionProcessor.stopListening();
-
-        this.motionProcessor = null;
-    }
-
-    /**
-     * Function for providing a QiContext to the PersonalMotionPreviewElement.
-     * This function will be called by the parent activity when the QiContext is available.
-     * Also say something nice to the user :)
-     *
-     * @param context The QiContext to provide.
-     */
-    public void provideQiContext(QiContext context) {
-        this.qiContext = context;
 
         // Handler that is called every time the motion processor receives new data.
         this.motionProcessor.setInputHandler((rotationVector, deviceId) -> {
@@ -133,27 +114,29 @@ public class PersonalMotionPreviewElement extends View implements IInputHandler
 
             if ( this.motionProcessor.hasFinished())
             {
+                // If for some reason the parent activity is not defined,
+                // move back to the main screen.
                 if ( this.parentActivity == null)
                 {
                     // Move to main screen
-                    this.destroy();
+                    NavigationManager.navigateToActivity(getContext(), MainActivity.class);
-                    Intent intent = new Intent(getContext(), MainActivity.class);
-                    getContext().startActivity(intent);
                     return;
                 }
                 // Move on to the next exercise, or finish.
                 if ( this.exerciseCount > 0 )
                 {
                     this.exerciseCount--;
-                    this.exercise = this.parentActivity.acquireExercise();
+                    this.parentActivity.acquireExercise((newExercise) -> {
-                    this.motionProcessor.useExercise(this.exercise);
+                        this.motionProcessor.useExercise(newExercise);
+                    }, (failed) -> {
+                        // Move to main screen
+                        NavigationManager.navigateToActivity(getContext(), MainActivity.class);
+                    });
                 }
                 else
                 {
                     // Finish the exercise.
-                    this.destroy();
+                    NavigationManager.navigateToActivity(getContext(), EndScreenActivity.class);
-                    Intent intent = new Intent(getContext(), EndScreenActivity.class);
-                    getContext().startActivity(intent);
                     return;
                 }
             }
@@ -168,6 +151,17 @@ public class PersonalMotionPreviewElement extends View implements IInputHandler
             if (this.vectors.size() > 100)
                 this.vectors.poll();
         });
+    }
+
+    /**
+     * Function for providing a QiContext to the PersonalMotionPreviewElement.
+     * This function will be called by the parent activity when the QiContext is available.
+     * Also say something nice to the user :)
+     *
+     * @param context The QiContext to provide.
+     */
+    public void provideQiContext(QiContext context) {
+        this.qiContext = context;
 
         if (this.qiContext == null)
             return;

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/FitnessCycle.java

@@ -7,6 +7,8 @@ import android.util.Log;
 import android.widget.VideoView;
 
 import com.aldebaran.qi.sdk.builder.SayBuilder;
+import com.aldebaran.qi.sdk.object.conversation.Phrase;
+import com.aldebaran.qi.sdk.object.conversation.Say;
 import com.aldebaran.qi.sdk.object.locale.Language;
 import com.aldebaran.qi.sdk.object.locale.Locale;
 import com.aldebaran.qi.sdk.object.locale.Region;
@@ -17,19 +19,25 @@ import com.aldebaran.qi.sdk.builder.AnimationBuilder;
 import com.aldebaran.qi.sdk.object.actuation.Animate;
 import com.aldebaran.qi.sdk.object.actuation.Animation;
 
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.LinkedBlockingDeque;
+import java.util.concurrent.LinkedBlockingQueue;
 import java.util.concurrent.atomic.AtomicInteger;
 
 public class FitnessCycle extends AppCompatActivity {
 
     private static final Locale DUTCH_LOCALE = new Locale(Language.DUTCH, Region.NETHERLANDS);
-
+    private static final BlockingQueue<PepperSpeechEntry> MESSAGE_QUEUE = new LinkedBlockingQueue<>();
+    private static boolean SPEECH_ACTIVE = false;
 
     /**
      * Function for executing a movement animation a certain number of times
      * on the robot
      *
-     * @param Exercise The name of the exercise to perform
+     * @param Exercise  The name of the exercise to perform
-     * @param Reps The number of repetitions to perform
+     * @param Reps      The number of repetitions to perform
      * @param qiContext The QiContext to use
      */
     public static void executeMovement(String Exercise, int Reps, QiContext qiContext) {
@@ -59,35 +67,46 @@ public class FitnessCycle extends AppCompatActivity {
 
     /**
      * Function for making the robot say something with DUTCH_LOCALE as locale
+     *
      * @param phrase The phrase to make the robot say
-     * @param ctx The QiContext to use
+     * @param ctx    The QiContext to use
      */
-    public static void say(String phrase, QiContext ctx)
+    public static void say(String phrase, QiContext ctx) {
-    {
         say(phrase, ctx, DUTCH_LOCALE);
     }
 
     /**
      * Function for making the robot say something with a specific locale
+     *
      * @param phrase The phrase to make the robot say
-     * @param ctx The QiContext to use
+     * @param ctx    The QiContext to use
      * @param locale The locale to use
      */
-    public static void say(String phrase, QiContext ctx, Locale locale)
+    public static void say(String phrase, QiContext ctx, Locale locale) {
-    {
+        // If the robot is already speaking, add the phrase to the queue
-        SayBuilder
+        MESSAGE_QUEUE.add(new PepperSpeechEntry(phrase, ctx, locale));
-                .with(ctx)
+        processMessageQueue();
-                .withLocale(locale)
+    }
-                .withText(phrase)
+
-                .build()
+    private static synchronized void processMessageQueue() {
-                .run();
+        if (SPEECH_ACTIVE)
+            return;
+        PepperSpeechEntry nextPhrase = MESSAGE_QUEUE.poll();
+        if (nextPhrase != null) {
+            SPEECH_ACTIVE = true;
+            Say say = nextPhrase.getSay();
+            say.async().run().andThenConsume(future -> {
+                SPEECH_ACTIVE = false;
+                processMessageQueue(); // Process next item in the queue
+            });
+        }
     }
 
     /**
      * Function for playing a video in a VideoView
      *
      * @param videoView The VideoView to play the video in
-     * @param context The context to use
+     * @param context   The context to use
      */
     public static void playVideo(VideoView videoView, Context context) {
         // Set up the video player
@@ -105,4 +124,24 @@ public class FitnessCycle extends AppCompatActivity {
             Log.e("FitnessActivity", "VideoView is null. Check your layout XML.");
         }
     }
+
+    private static class PepperSpeechEntry {
+        public String phrase;
+        public QiContext context;
+        public Locale locale;
+
+        public PepperSpeechEntry(String phrase, QiContext context, Locale locale) {
+            this.phrase = phrase;
+            this.context = context;
+            this.locale = locale;
+        }
+
+        public Say getSay() {
+            return SayBuilder
+                    .with(context)
+                    .withLocale(locale)
+                    .withText(phrase)
+                    .build();
+        }
+    }
 }

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/NavigationManager.java

@@ -6,7 +6,10 @@ import android.content.Intent;
 import android.view.View;
 import android.widget.Button;
 
-public class ButtonNavigation {
+import com.example.fitbot.ui.activities.FitnessActivity;
+import com.example.fitbot.ui.activities.MainActivity;
+
+public class NavigationManager {
 
     /**
      * Sets up a button to navigate to a different activity when clicked.
@@ -23,4 +26,15 @@ public class ButtonNavigation {
             currentActivity.finish();
         });
     }
+
+    /**
+     * Navigates to the target activity.
+     *
+     * @param currentContext The current context
+     * @param targetActivity The target activity
+     */
+    public static void navigateToActivity(Context currentContext, Class<? extends Activity> targetActivity) {
+        Intent intent = new Intent(currentContext, targetActivity);
+        currentContext.startActivity(intent);
+    }
 }