Smikkelbakje/J1B4-Fitbot
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Added motion recording functionality in InputProcessor (setRecording) and recorded data conversion to string for in the database (convertRecordedDataToString)

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This commit is contained in:
Luca Warmenhoven
2024-05-30 17:41:06 +02:00
parent 3f37f44f22
commit 826ae8a9c7
4 changed files with 120 additions and 25 deletions
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4
code/src/Fitbot/app/src/main/java/com/example/fitbot/pepper/Pepper.java
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@@ -43,7 +43,7 @@ public class Pepper {
*
* @param phrase The phrase to speak
*/
public static void speak(String phrase) {
public static void say(String phrase) {
addToEventQueue(new PepperSpeechEvent(phrase, DEFAULT_LOCALE));
}
@@ -89,6 +89,7 @@ public class Pepper {
case ACTION_SPEAK:
if (!(event instanceof PepperSpeechEvent) || isSpeaking.get())
break;
PepperSpeechEvent speechEvent = (PepperSpeechEvent) event;
isSpeaking.set(true);
speechEvent
@@ -105,6 +106,7 @@ public class Pepper {
case ACTION_ANIMATE:
if (!(event instanceof PepperAnimationEvent) || isAnimating.get())
break;
PepperAnimationEvent animationEvent = (PepperAnimationEvent) event;
animationEvent
.getAnimation(latestContext)

4
code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
View File

@@ -83,8 +83,8 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
motionProcessor.setInputHandler(personalMotionPreviewElement);
}, (n) -> {
int randomMessageIndex = (int) Math.floor(Math.random() * EXERCISE_NOT_FOUND_MESSAGES.length);
Pepper.speak(EXERCISE_NOT_FOUND_MESSAGES[randomMessageIndex]);
Pepper.speak(EXERCISE_NOT_FOUND_SEEK_HELP_MESSAGE);
Pepper.say(EXERCISE_NOT_FOUND_MESSAGES[randomMessageIndex]);
Pepper.say(EXERCISE_NOT_FOUND_SEEK_HELP_MESSAGE);
NavigationManager.navigateToActivity(this, MainActivity.class);
});
});

2
code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/ExerciseStatusElement.java
View File

@@ -103,7 +103,7 @@ public class ExerciseStatusElement extends View implements IInputHandler {
projectVertex(new Vector3f(0, 0, 5.0f), getWidth(), getHeight())
};
Pepper.speak(STARTING_PHRASES[(int) Math.floor(Math.random() * STARTING_PHRASES.length)]);
Pepper.say(STARTING_PHRASES[(int) Math.floor(Math.random() * STARTING_PHRASES.length)]);
// Handler that is called every time the motion processor receives new data.
this.motionProcessor.setInputHandler((rotationVector, deviceId) -> {

135
code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/InputProcessor.java
View File

@@ -11,21 +11,42 @@ import com.google.gson.JsonParser;
import org.jetbrains.annotations.NotNull;
import org.joml.Vector3f;
import java.util.ArrayList;
import java.util.List;
public class InputProcessor {
private Vector3f[][] selfRotationVectorPaths; // Relative path of the motion data
private Vector3f[][] targetRotationVectorPaths; // Target path of the motion data
private final float sampleRate; // The sample rate of the motion sensor
private float exerciseDuration;
private float exerciseDurationInSeconds;
/**
* This field is used to determine if the motion data is being recorded.
* If this is the case, instead of functioning normally, the element
* will record the movement that the user makes, store it in the
* `selfRotationVectorPaths` field and send it to the server.
*/
private boolean recordingMovement = false;
/**
* Represents the duration of the recording in seconds.
* This field only has effect when the `recordingMovement` field is set to true.
*/
private float recordingDurationInSeconds = 0.0f;
// How many seconds have passed since the start of the exercise.
// The exercise starts whenever the `startListening` function is called.
private double secondsPassed = 0.0D;
private long lastTime;
private IInputHandler motionDataConsumer = (rotationVector, deviceId) -> {
};
private IInputHandler motionDataConsumer;
private static final String[] REQUIRED_SENSOR_JSON_PROPERTIES =
{"rotationX", "rotationY", "rotationZ", "type", "deviceId"};
// The web server that listens for incoming motion data.
private WebServer server;
@@ -42,7 +63,7 @@ public class InputProcessor {
targetRotationVectorPaths = paths;
this.sampleRate = inputSampleRate;
this.exerciseDuration = exerciseTime;
this.exerciseDurationInSeconds = exerciseTime;
}
/**
@@ -53,20 +74,45 @@ public class InputProcessor {
* @param exercise The exercise to use the paths for.
*/
public void useExercise(Exercise exercise) {
if ( this.recordingMovement )
throw new IllegalStateException("Cannot change exercise while recording movement.");
this.selfRotationVectorPaths = new Vector3f[2][(int) (exercise.exerciseTimeInSeconds * this.sampleRate)];
this.targetRotationVectorPaths = new Vector3f[2][exercise.rightPath.getVectors().length];
this.exerciseDuration = exercise.exerciseTimeInSeconds;
this.exerciseDurationInSeconds = exercise.exerciseTimeInSeconds;
this.secondsPassed = 0.0D;
this.lastTime = System.currentTimeMillis();
}
/**
* Function for checking if the exercise has finished.
* Function for setting whether the motion data
* should be recorded or not.
*
* @return True if the exercise has finished, false otherwise.
* @param recording Whether the motion data should be recorded.
* @param duration For how long the motion data should be recorded.
* This only has an effect if `recording` is true.
*/
public void setRecording(boolean recording, float duration) {
this.recordingMovement = recording;
this.recordingDurationInSeconds = duration;
if (recording) {
this.secondsPassed = 0.0D;
this.lastTime = System.currentTimeMillis();
}
}
/**
* Function for checking if the exercise or recording has finished.
* This function will return true if the execution of the exercise has finished or
* if the recording has finished, depending on the state of the `recordingMovement` field.
*
* @return Whether the exercise or recording has finished.
*/
public boolean hasFinished() {
return this.secondsPassed >= this.exerciseDuration;
return this.recordingMovement ?
(this.secondsPassed >= this.recordingDurationInSeconds) :
(this.secondsPassed >= this.exerciseDurationInSeconds);
}
/**
@@ -120,14 +166,8 @@ public class InputProcessor {
JsonObject object = json.getAsJsonObject();
String[] required = {
"rotationX", "rotationY", "rotationZ",
"type",
"deviceId"
};
// Ensure all properties are present in the received JSON object
for (String s : required) {
for (String s : REQUIRED_SENSOR_JSON_PROPERTIES) {
if (!object.has(s))
return;
}
@@ -164,9 +204,58 @@ public class InputProcessor {
return;
selfRotationVectorPaths[deviceId][selfIndex] = rotation;
if ( this.recordingMovement && this.hasFinished()) {
// Do something with the recorded data.
this.recordingMovement = false;
// Convert recorded data from `selfRotationVectorPaths` to string, and
// publish to database, or do something else with it.
String converted = convertRecordedDataToString();
// Do something with it
Log.i("MotionProcessor", "Converted data: ");
Log.i("MotionProcessor", converted);
}
}
}
private String convertRecordedDataToString()
{
// First, remove empty entries
StringBuilder pathBuilder = new StringBuilder();
int[] intBits = new int[3];
char[] vectorChars = new char[12]; // 4 bytes per scalar, 12 chars per vector
// Iterate over all devices. In the current instance, it's 2.
for ( int deviceId = 0; deviceId < selfRotationVectorPaths.length; deviceId++) {
for (Vector3f dataPoint : selfRotationVectorPaths[deviceId]) {
if (dataPoint != null) {
// Convert float to int bits for conversion to char
intBits[0] = Float.floatToIntBits(dataPoint.x);
intBits[1] = Float.floatToIntBits(dataPoint.y);
intBits[2] = Float.floatToIntBits(dataPoint.z);
// Convert int bits to char, in Big Endian order.
// This is important for converting back to float later.
for (int i = 0; i < 3; i++) {
vectorChars[i * 4] = (char) (intBits[i] >> 24);
vectorChars[i * 4 + 1] = (char) (intBits[i] >> 16);
vectorChars[i * 4 + 2] = (char) (intBits[i] >> 8);
vectorChars[i * 4 + 3] = (char) intBits[i];
}
pathBuilder.append(vectorChars);
}
}
// Add a separator between devices
if ( deviceId < selfRotationVectorPaths.length - 1)
pathBuilder.append(";");
}
return pathBuilder.toString();
}
/**
* Method for getting the current progress of the exercise.
* The return value will range between 0.0 and 1.0.
@@ -174,7 +263,7 @@ public class InputProcessor {
* @return The current progress of the exercise.
*/
public double getCurrentProgress() {
return secondsPassed / exerciseDuration;
return secondsPassed / exerciseDurationInSeconds;
}
/**
@@ -204,12 +293,16 @@ public class InputProcessor {
return 0.0d;
// Index of the current rotation vector
int targetIndex = (int) ((this.exerciseDuration / this.targetRotationVectorPaths[sensorId].length) * time);
int targetIndex = (int) ((this.exerciseDurationInSeconds / this.targetRotationVectorPaths[sensorId].length) * time);
int selfIndex = (int) (this.selfRotationVectorPaths[sensorId].length / this.sampleRate * time);
// Ensure the indexes are within the bounds of the array
if (targetIndex >= 0 && targetIndex <= this.targetRotationVectorPaths[sensorId].length - 1 &&
selfIndex >= 0 && selfIndex <= this.selfRotationVectorPaths[sensorId].length - 1) {
if (
targetIndex >= 0 && targetIndex <= this.targetRotationVectorPaths[sensorId].length - 1 &&
selfIndex >= 0 && selfIndex <= this.selfRotationVectorPaths[sensorId].length - 1 &&
this.selfRotationVectorPaths[sensorId][selfIndex] != null &&
this.targetRotationVectorPaths[sensorId][targetIndex] != null
) {
return this.selfRotationVectorPaths[sensorId][selfIndex].distance(this.targetRotationVectorPaths[sensorId][targetIndex]);
}
return 0.0d;
@@ -224,10 +317,10 @@ public class InputProcessor {
*/
public double getAverageError(int sensorId) {
double error = 0;
for (int i = 0; i < this.exerciseDuration; i++) {
for (int i = 0; i < this.exerciseDurationInSeconds; i++) {
error += getError(sensorId, i);
}
return error / this.exerciseDuration;
return error / this.exerciseDurationInSeconds;
}
public float secondsPassed() {