Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/propedeuse-hbo-ict/onderwijs/2023-2024/out-a-se-ti/blok-4/muupooviixee66

This commit is contained in:
SebasKoedam
2024-06-05 12:23:33 +02:00
15 changed files with 375 additions and 229 deletions

View File

@@ -1,12 +1,12 @@
package com.example.fitbot.exercise;
import com.example.fitbot.util.path.GesturePath;
import com.example.fitbot.util.path.AnglePath;
public class Exercise {
public final EMuscleGroup muscleGroup;
public final GesturePath leftPath;
public final GesturePath rightPath;
public final AnglePath leftPath;
public final AnglePath rightPath;
public final String name;
public final String shortDescription;
public final String description;
@@ -26,7 +26,10 @@ public class Exercise {
* @param imageUrl The URL of the image.
* @param videoUrl The URL of the video.
*/
public Exercise(EMuscleGroup muscleGroup, String name,String shortDescription, String description, String imageUrl, String videoUrl, GesturePath leftPath, GesturePath rightPath, float exerciseTimeInSeconds) {
public Exercise(EMuscleGroup muscleGroup, String name, String shortDescription,
String description, String imageUrl, String videoUrl,
AnglePath leftPath, AnglePath rightPath, float exerciseTimeInSeconds) {
this.name = name;
this.muscleGroup = muscleGroup;
this.shortDescription = shortDescription;

View File

@@ -1,6 +1,6 @@
package com.example.fitbot.exercise;
import com.example.fitbot.util.path.GesturePath;
import com.example.fitbot.util.path.AnglePath;
import com.google.gson.JsonObject;
import com.google.gson.JsonParser;
@@ -28,9 +28,6 @@ public class ExerciseManager {
private static final String PROPERTY_PATH = "path";
private static final String PROPERTY_NAME = "name";
// The delimiter used to separate the paths of the sensors.
public static final String PATH_DELIMITER = ":";
public static final int SENSOR_COUNT = 2;
private static final String[] REQUIRED_PROPERTIES = {
@@ -40,8 +37,8 @@ public class ExerciseManager {
};
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;
public static final float EXERCISE_TIME_SCALING_FACTOR = 1.0f;
/**
* Function for sending an HTTP request to the server.
@@ -104,9 +101,10 @@ public class ExerciseManager {
// If one wants to add support for more sensors, one will have to adjust the Exercise
// class to support more paths.
System.out.println(content.get(PROPERTY_PATH).getAsString());
String[] leftRightData = content.get(PROPERTY_PATH).getAsString().split(PATH_DELIMITER);
if (leftRightData.length != SENSOR_COUNT) {
AnglePath[] paths = AnglePath.fromString(content.get(PROPERTY_PATH).getAsString());
if (paths.length != SENSOR_COUNT) {
System.out.println("Invalid path data.");
return null;
}
@@ -118,9 +116,9 @@ public class ExerciseManager {
content.get(PROPERTY_DESC).getAsString(),
content.get(PROPERTY_IMAGE_URL).getAsString(),
content.get(PROPERTY_VIDEO_URL).getAsString(),
GesturePath.fromString(leftRightData[0]),
GesturePath.fromString(leftRightData[1]),
DEFAULT_SEGMENT_SPEED
paths[0],
paths[1],
content.get(PROPERTY_EXERCISE_DURATION).getAsInt()
);
} catch (Exception e) {
e.printStackTrace();

View File

@@ -126,7 +126,7 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
exerciseStatusElement.post(() -> {
this.fetchExerciseAsync((exercise) -> {
// Acquire paths from the exercise and provide them to the motion processor
Vector3f[][] vectors = new Vector3f[][]{exercise.leftPath.getVectors(), exercise.rightPath.getVectors()};
Vector3f[][] vectors = new Vector3f[][]{exercise.leftPath.getAngleVectors(), exercise.rightPath.getAngleVectors()};
motionProcessor = new InputProcessor(vectors, exercise.exerciseTimeInSeconds, SENSOR_SAMPLE_RATE);

View File

@@ -16,6 +16,7 @@ import android.view.WindowManager;
import android.widget.Button;
import com.example.fitbot.R;
import com.example.fitbot.pepper.Pepper;
import com.example.fitbot.util.NavigationManager;
import java.io.OutputStream;

View File

@@ -0,0 +1,67 @@
package com.example.fitbot.util.path;
import com.example.fitbot.exercise.ExerciseManager;
import com.google.gson.JsonArray;
import com.google.gson.JsonElement;
import com.google.gson.JsonObject;
import com.google.gson.JsonParser;
import org.joml.Vector3f;
public class AnglePath {
// The angles
private final Vector3f[] angles;
/**
* Create a new gesture path with a given set of vectors and curvature.
*
* @param angles The vectors that make up the path.
*/
public AnglePath(Vector3f[] angles) {
this.angles = angles;
}
/**
* Method for retrieving the vectors of the GesturePath.
*/
public Vector3f[] getAngleVectors() {
return this.angles;
}
/**
* Function for converting a string to a GesturePath object.
* This function has been updated to convert Json strings to AnglePath objects.
* The JSON must be in the following format:
* [
* { "deviceId": number, "data": [ [x, y, z], [x, y, z], ... ] },
* ]
*
* @param jsonInput The string to convert
* @return The AnglePath object
*/
public static AnglePath[] fromString(String jsonInput) {
if (jsonInput == null)
throw new IllegalArgumentException("Input string cannot be null");
JsonElement parsed = JsonParser.parseString(jsonInput);
if (!parsed.isJsonArray())
throw new IllegalArgumentException("Input string must be a JSON array");
if ( parsed.getAsJsonArray().size() != ExerciseManager.SENSOR_COUNT)
throw new IllegalArgumentException("Input string must contain 2 elements");
Vector3f[][] angles = new Vector3f[ExerciseManager.SENSOR_COUNT][];
for ( int dataArrayIdx = 0; dataArrayIdx < parsed.getAsJsonArray().size(); dataArrayIdx++)
{
JsonArray array = parsed.getAsJsonArray().get(dataArrayIdx).getAsJsonObject().get("data").getAsJsonArray();
angles[dataArrayIdx] = new Vector3f[array.size()];
for (int i = 0; i < array.size(); i++) {
JsonArray vec = array.get(i).getAsJsonArray();
angles[dataArrayIdx][i] = new Vector3f(vec.get(0).getAsFloat(), vec.get(1).getAsFloat(), vec.get(2).getAsFloat());
}
}
return new AnglePath[] {new AnglePath(angles[0]), new AnglePath(angles[1])};
}
}

View File

@@ -1,126 +0,0 @@
package com.example.fitbot.util.path;
import org.joml.Vector3f;
public class GesturePath {
// The vectors that make up the path.
private final PathSegment[] segments;
/**
* Create a new gesture path with a given set of vectors and curvature.
*
* @param vectors The vectors that make up the path.
*/
public GesturePath(Vector3f[] vectors) {
if (vectors.length < 2) {
this.segments = new PathSegment[1];
this.segments[0] = new PathSegment(
new Vector3f(0, 0, 0),
new Vector3f(0, 0, 0)
);
return;
}
this.segments = new PathSegment[vectors.length - 1];
for (int i = 0; i < vectors.length - 1; i++)
segments[i] = new PathSegment(vectors[i], vectors[i + 1]);
}
/**
* Constructor for a GesturePath with provided PathSegments.
*
* @param segments The PathSegments to initialize the path with.
*/
public GesturePath(PathSegment... segments) {
this.segments = segments;
}
/**
* Getter method for retrieving the path segments of this GesturePath.
*
* @return The path segments.
*/
public PathSegment[] getSegments() {
return segments;
}
/**
* Method for retrieving the vectors of the GesturePath.
*/
public Vector3f[] getVectors() {
Vector3f[] vectors = new Vector3f[segments.length + 1];
vectors[0] = segments[0].getStart();
for (int i = 0; i < segments.length; i++)
vectors[i + 1] = segments[i].getEnd();
return vectors;
}
/**
* Method for retrieving the closest path segment to a reference point.
*
* @param reference The reference point to find the closest path segment to.
* @return The closest path segment to the reference point.
*/
public PathSegment closest(Vector3f reference) {
// If there's only one segment, return that one.
if (segments.length == 1)
return segments[0];
PathSegment closest = segments[0];
for (int i = 1; i < segments.length; i++)
closest = PathSegment.closer(closest, segments[i], reference);
return closest;
}
/**
* Get the error between an arbitrary path segment and the reference point.
*
* @param referencePoint The reference point to calculate the error of.
* @return The error offset between the path and the reference point.
*/
public double getError(Vector3f referencePoint) {
return closest(referencePoint).difference(referencePoint); // Get the closest segment and calculate the error.
}
/**
* Function for converting a string to a GesturePath object.
* The input string bytes will be directly converted into 3d vectors.
* Every scalar is composed of 32 bits (4 characters), meaning 96 bits per vector.
* <p>
* Note: ASCII to Vector conversion is done in Big Endian format (most significant byte first).
*
* @param input The string to convert
* @return The GesturePath object
*/
public static GesturePath fromString(String input) {
if (input == null)
throw new IllegalArgumentException("Input string cannot be null");
byte[] bytes = input.getBytes();
// Check if the input string contains a valid amount of bytes (12 bytes per vector)
if (input.length() % 12 != 0) {
throw new IllegalArgumentException("Invalid input string length (" + input.length() + " bytes provided - must be a multiple of 12)");
}
Vector3f[] vectors = new Vector3f[input.length() / 12];
float[] xyz = new float[3];
for (int i = 0; i < bytes.length; i += 12) {
for (int j = 0; j < 3; j++) {
xyz[j] = Float.intBitsToFloat(
(bytes[i + j * 4] & 0xFF) << 24 |
(bytes[i + j * 4 + 1] & 0xFF) << 16 |
(bytes[i + j * 4 + 2] & 0xFF) << 8 |
(bytes[i + j * 4 + 3] & 0xFF)
);
}
vectors[i / 12] = new Vector3f(xyz[0], xyz[1], xyz[2]);
}
return new GesturePath(vectors);
}
}

View File

@@ -2,12 +2,15 @@ package com.example.fitbot.util.processing;
import android.util.Log;
import com.aldebaran.qi.sdk.object.geometry.Vector3;
import com.example.fitbot.exercise.Exercise;
import com.example.fitbot.exercise.ExerciseManager;
import com.example.fitbot.util.server.WebServer;
import com.google.gson.JsonArray;
import com.google.gson.JsonElement;
import com.google.gson.JsonObject;
import com.google.gson.JsonParser;
import com.google.gson.JsonPrimitive;
import org.jetbrains.annotations.NotNull;
import org.joml.Vector3f;
@@ -17,12 +20,15 @@ import java.util.List;
public class InputProcessor {
private Vector3f[][] selfRotationVectorPaths; // Relative path of the motion data
private List<Vector3f>[] selfRotationVectorPaths; // Relative path of the motion data
//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 exerciseDurationInSeconds;
private float exerciseScore = 0.0F;
/**
* This field is used to determine if the motion data is being recorded.
* If this is the case, instead of functioning normally, the element
@@ -45,7 +51,7 @@ public class InputProcessor {
private IInputHandler motionDataConsumer;
private static final String[] REQUIRED_SENSOR_JSON_PROPERTIES =
{"rotationX", "rotationY", "rotationZ", "type", "deviceId"};
{"rotationX", "rotationY", "rotationZ", "deviceId"};
// The web server that listens for incoming motion data.
private WebServer server;
@@ -60,7 +66,9 @@ public class InputProcessor {
* @param inputSampleRate The sample rate of the motion sensor.
*/
public InputProcessor(Vector3f[][] paths, float exerciseTime, float inputSampleRate) {
selfRotationVectorPaths = new Vector3f[paths.length][(int) (exerciseTime * inputSampleRate)];
this.selfRotationVectorPaths = new ArrayList[2];
this.selfRotationVectorPaths[0] = new ArrayList<>();
this.selfRotationVectorPaths[1] = new ArrayList<>();
targetRotationVectorPaths = paths;
this.sampleRate = inputSampleRate;
@@ -78,10 +86,11 @@ public class InputProcessor {
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.targetRotationVectorPaths[0] = exercise.leftPath.getVectors();
this.targetRotationVectorPaths[1] = exercise.rightPath.getVectors();
this.selfRotationVectorPaths[0] = new ArrayList<>();
this.selfRotationVectorPaths[1] = new ArrayList<>();
this.targetRotationVectorPaths = new Vector3f[2][exercise.rightPath.getAngleVectors().length];
this.targetRotationVectorPaths[0] = exercise.leftPath.getAngleVectors();
this.targetRotationVectorPaths[1] = exercise.rightPath.getAngleVectors();
this.exerciseDurationInSeconds = exercise.exerciseTimeInSeconds;
this.secondsPassed = 0.0D;
this.lastTime = System.currentTimeMillis();
@@ -101,7 +110,8 @@ public class InputProcessor {
if (recording) {
this.secondsPassed = 0.0D;
this.lastTime = System.currentTimeMillis();
this.selfRotationVectorPaths = new Vector3f[2][(int) (duration * this.sampleRate)];
this.selfRotationVectorPaths[0] = new ArrayList<>();
this.selfRotationVectorPaths[1] = new ArrayList<>();
}
}
@@ -161,7 +171,8 @@ public class InputProcessor {
try {
Log.i("MotionProcessor", "Time passed: " + this.secondsPassed + "s");
Log.i("MotionProcessor", "Recording: " + this.recordingMovement + ", " + this.secondsPassed + " / " + this.recordingDurationInSeconds);
if ( this.recordingMovement)
Log.i("MotionProcessor", this.secondsPassed + " / " + this.recordingDurationInSeconds);
Log.i("MotionProcessor", "Received packet data: " + data);
JsonElement json = JsonParser.parseString(data);
@@ -178,9 +189,11 @@ public class InputProcessor {
}
// Parse the data
Vector3f rotation = new Vector3f(object.get("rotationX").getAsFloat(), object.get("rotationY").getAsFloat(), object.get("rotationZ").getAsFloat());
Vector3f rotation = new Vector3f(
object.get("rotationX").getAsFloat(),
object.get("rotationY").getAsFloat(),
object.get("rotationZ").getAsFloat());
int deviceId = object.get("deviceId").getAsInt();
String type = object.get("type").getAsString();
// Parse the retrieved data
parseRotationVector(rotation, deviceId);
@@ -203,7 +216,7 @@ public class InputProcessor {
// Supposed index of the current rotation vector in the `rotationVectorPaths` array
int selfIndex = (int) (secondsPassed * sampleRate);
this.selfRotationVectorPaths[deviceId].add(rotation);
if ( this.recordingMovement && this.secondsPassed >= this.recordingDurationInSeconds) {
// Do something with the recorded data.
@@ -217,11 +230,8 @@ public class InputProcessor {
Log.i("MotionProcessor", "Converted data: ");
Log.i("MotionProcessor", converted);
}
motionDataConsumer.accept(rotation, deviceId);
if (selfIndex >= selfRotationVectorPaths[deviceId].length || selfIndex < 0)
return;
selfRotationVectorPaths[deviceId][selfIndex] = rotation;
motionDataConsumer.accept(rotation, deviceId);
}
}
@@ -234,38 +244,36 @@ public class InputProcessor {
*/
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
JsonArray jsonArray = new JsonArray();
/*
* Convert to JSON array in the following format:
* [
* { "deviceId": number, "data": [ [x, y, z], [x, y, z], ... ] },
* ]
*/
// 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);
JsonObject jsonDeviceObject = new JsonObject();
jsonDeviceObject.addProperty("deviceId", deviceId);
// 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];
}
// Data array
JsonArray jsonDeviceDataArray = new JsonArray();
pathBuilder.append(vectorChars);
}
for ( Vector3f vector : selfRotationVectorPaths[deviceId]) {
JsonArray jsonScalarArray = new JsonArray();
jsonScalarArray.add(vector.x);
jsonScalarArray.add(vector.y);
jsonScalarArray.add(vector.z);
jsonDeviceDataArray.add(jsonScalarArray);
}
// Add a separator between devices
if ( deviceId < selfRotationVectorPaths.length - 1)
pathBuilder.append(ExerciseManager.PATH_DELIMITER);
jsonDeviceObject.add("data", jsonDeviceDataArray);
jsonArray.add(jsonDeviceObject);
}
return pathBuilder.toString();
return jsonArray.toString();
}
/**
@@ -288,6 +296,13 @@ public class InputProcessor {
this.motionDataConsumer = consumer;
}
/**
* Function for getting the combined (average) error value of both sensors.
public double getCombinedError()
{
}*/
/**
* Function for getting the error offsets of the user's path compared to the
* target path at a given point in time.
@@ -300,7 +315,7 @@ public class InputProcessor {
*/
public double getError(int sensorId, float time) {
// Ensure the sensor ID is within the bounds of the array
/*// Ensure the sensor ID is within the bounds of the array
if (sensorId < 0 || sensorId >= selfRotationVectorPaths.length)
return 0.0d;
@@ -316,7 +331,7 @@ public class InputProcessor {
this.targetRotationVectorPaths[sensorId][targetIndex] != null
) {
return this.selfRotationVectorPaths[sensorId][selfIndex].distance(this.targetRotationVectorPaths[sensorId][targetIndex]);
}
}*/
return 0.0d;
}

View File

@@ -1,37 +0,0 @@
package com.example.fitbot;
import static org.junit.Assert.assertEquals;
import com.example.fitbot.util.path.GesturePath;
import com.example.fitbot.util.path.PathSegment;
import org.joml.Vector3f;
import org.junit.Test;
public class PathSegmentTest {
@Test
public void testPathSegment() {
// Test the PathSegment class
Vector3f[] vectors = new Vector3f[2];
vectors[0] = new Vector3f(0, 0, 0);
vectors[1] = new Vector3f(1, 1, 1);
GesturePath path = new GesturePath(vectors);
PathSegment[] segments = path.getSegments();
assertEquals(1, segments.length);
assertEquals(new Vector3f(0, 0, 0), segments[0].getStart());
assertEquals(new Vector3f(1, 1, 1), segments[0].getEnd());
assertEquals(new Vector3f(0.5f, 0.5f, 0.5f), segments[0].interpolate(0.5));
}
@Test
public void test_pathSegmentInterpolation() {
Vector3f start = new Vector3f(0, 0, 0);
Vector3f end = new Vector3f(1, 1, 1);
PathSegment segment = new PathSegment(start, end);
assertEquals(new Vector3f(0.5f, 0.5f, 0.5f), segment.interpolate(0.5));
}
}