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

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

@@ -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 AnglePath leftPath;
-    public final GesturePath rightPath;
+    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;

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

@@ -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]),
+                        paths[0],
-                        GesturePath.fromString(leftRightData[1]),
+                        paths[1],
-                        DEFAULT_SEGMENT_SPEED
+                        content.get(PROPERTY_EXERCISE_DURATION).getAsInt()
                 );
             } catch (Exception e) {
                 e.printStackTrace();

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

@@ -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);
 

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

@@ -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;

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

@@ -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])};
+    }
+}

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

@@ -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);
-    }
-}

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

@@ -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.selfRotationVectorPaths[0] = new ArrayList<>();
-        this.targetRotationVectorPaths = new Vector3f[2][exercise.rightPath.getVectors().length];
+        this.selfRotationVectorPaths[1] = new ArrayList<>();
-        this.targetRotationVectorPaths[0] = exercise.leftPath.getVectors();
+        this.targetRotationVectorPaths = new Vector3f[2][exercise.rightPath.getAngleVectors().length];
-        this.targetRotationVectorPaths[1] = exercise.rightPath.getVectors();
+        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]) {
+            JsonObject jsonDeviceObject = new JsonObject();
-                if (dataPoint != null) {
+            jsonDeviceObject.addProperty("deviceId", deviceId);
-                    // 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.
+            // Data array
-                    // This is important for converting back to float later.
+            JsonArray jsonDeviceDataArray = new JsonArray();
-                    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);
+            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
+            jsonDeviceObject.add("data", jsonDeviceDataArray);
-            if ( deviceId < selfRotationVectorPaths.length - 1)
+
-                pathBuilder.append(ExerciseManager.PATH_DELIMITER);
+            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;
     }
 

code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java

@@ -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));
-    }
-
-
-}

docs/documentation/diagrams/infrastructure.md

@@ -20,8 +20,9 @@ classDiagram
 
 Raspberry Pi --> NodeJS
 Raspberry Pi --> Database
-NodeJS <--> Android Application : Request exercise data from database
+NodeJS <--> Android Application : Request exercise data from database. Send ip adress to cache
 Database <--> NodeJS : Database queries
+NodeJS --> ESP8266 : Get pepper ip
 
 
 ESP8266 --> Android Application : Send rotation data via WiFi to\n Pepper Web Server
@@ -48,6 +49,7 @@ namespace Server {
     class NodeJS {
         +MariaDB
         +Handle requests
+        +Cache pepper IP
     }
 }
 

docs/personal-documentation/Luca/diagram-pepper-abstraction.md

@@ -0,0 +1,88 @@
+## Pepper Abstraction Design
+
+---
+
+### Introduction
+
+The Pepper robot is a complex system that can be controlled by a variety of different actions. To make the system more
+manageable, we've decided implement abstraction and encapsulation in the classes related to Pepper controls.
+This way, we can easily add new action events in the future. 
+All these classes inherit from the `AbstractPepperActionEvent` class.
+
+### Problems
+
+1. The Pepper robot functions with a system that only allows one action to be executed at a time, per action category.
+This means that, for example, when two speech actions are executed at the same time, the application will crash due
+to a `RuntimeException` being thrown. Due to this fact, whenever the execution of multiple processes overlap,
+the application will crash.
+
+2. Besides the first problem, for the Pepper robot to be able to execute any actions, it is required to have a
+QiContext available. This context is only provided in a class that extends the `RobotLifecycleCallbacks` class.
+This means, that whenever the class does not extend this class, the robot will be unable to execute any actions.
+
+### Solution
+
+To prevent the application from crashing, we've decided to implement a queue system in the `Pepper` class.
+This system allows us to queue any new actions that need to be executed whenever another action is already 
+being executed. This way, we can prevent the application throwing a `RuntimeException` and thus crashing.
+
+To tackle the second problem, we've decided to implement a system where the Pepper class has a global variable, which
+holds the current QiContext. This means, that whenever a user decides to execute an action, and no current QiContext
+is available, the action will be queued until a QiContext is available. This means that we can queue several actions
+at once without any exceptions being thrown.
+
+### Diagrams
+
+#### Class Diagram
+
+```mermaid
+classDiagram
+    class Pepper {
+        -pepperActionEventQueue : ConcurrentLinkedQueue<AbstractPepperActionEvent>
+        -isAnimating : AtomicBoolean
+        -isSpeaking : AtomicBoolean
+        
+        +latestContext : QiContext
+        +addToEventQueue(AbstractPepperActionEvent event)
+        +provideQiContext(QiContext context)
+        
+        -processEventQueue()
+    }
+    class AbstractPepperActionEvent {
+        +getAction()  EPepperAction
+    }
+    class PepperSpeechEvent {
+        +phrase : String
+        +locale : Locale
+        +PepperSpeechEvent(String phrase, Locale locale)
+        +getSay(QiContext context) Say
+    }
+    class PepperAnimationEvent {
+        +PepperAnimationEvent(String animationName)
+        +PepperAnimationEvent(String animationName, IAnimationCompletedListener listener)
+        +getAnimation(QiContext context) Animate
+        +animationName : String
+        +IAnimationCompletedListener : IAnimationCompletedListener
+    }
+    Pepper <|-- AbstractPepperActionEvent
+    PepperSpeechEvent <|-- AbstractPepperActionEvent
+    PepperAnimationEvent <|-- AbstractPepperActionEvent
+```
+
+#### Queue System in Pepper class
+
+```mermaid
+
+graph LR
+    subgraph "Pepper Class - Action Queue System"
+        speak[say&#40String phrase&#41\nPublic\nCreate PepperSpeechEvent] --Call method--> addQueue 
+        animate[animate&#40String animationName&#41\nPublic\nCreate PepperAnimationEvent] --Call method--> addQueue
+        addQueue[addToEventQueue&#40AbstractPepperActionEvent event&#41\nPublic\nAdd provided event to event queue] --Add to queue--> queue[Event Queue\nPrivate\nQueue containing all events that\nneed to be executed]
+        
+        addQueue --Call method--> handleQueue[processEventQueue&#40&#41\nPrivate\nCheck whether there is a context\navailable, and whether an event\nis currently being executed.\nExecutes the next event in the Queue] 
+        
+        queue <.-> handleQueue
+        
+        provideCtx[provideQiContext&#40QiContext context&#41\nPublic\nSets global QiContext variable\nto provided context. If the context \nis not null,process the event queue] --Sets global QiContext variable--> handleQueue
+    end
+```

docs/personal-documentation/Luca/expert-review-tips.md

@@ -1,9 +0,0 @@
-
-## Expert review #1
-
-### Document as you go
-Documenteer alle problemen die voorkomen bij het project en noteer de
-oplossingen voor deze problemen. Dit kan bijvoorbeeld d.m.v. een command die
-cache files verwijderd, of op welke manier je een project fixt. Dit kan toekomstige
-problemen voorkomen.
-

docs/personal-documentation/Luca/expert-review.md

@@ -12,6 +12,9 @@ Deze classes inheriten `AbstractPepperActionEvent`.
 
 K2: Gebruikers Test
 
+( Maak een fictief persoon die de applicatie zou kunnen gebruiken, om erachter te komen
+wat ze zouden willen )
+
 ---
 
 Wij hebben gezamenlijk gecommuniceerd over het plan, echter is alleen
@@ -32,6 +35,14 @@ Zie bestand 'infrastructure.md'
 
 K4 - Ontwerp embedded system
 
+Documenteer het queue systeem van de Pepper class
+Maak een mermaid graph LR diagram
+
 --- 
 
 Zie '/documentation/hardware/sensors'
+
+K5 - Embedded Software Schrijven
+
+Feedback:
+- Is in principe K1,

docs/personal-documentation/Luca/gebruikers-onderzoek-personage.md

@@ -0,0 +1,72 @@
+### Gebruikersonderzoek Personage
+
+---
+
+Gezien de huidige omstandigheden is het nogal lastig om actuele feedback te verkrijgen
+van onze doelgroep. Dit betekent dat we een fictief karakter moeten ontwikkelen die als onze
+gebruiker functioneert. Hierbij moeten we zo veel mogelijk parameters vaststellen die 
+overeen kunnen komen met een potentiele gebruiker. 
+
+Om hiermee te beginnen is het noodzakelijk om eerst deze parameters vast te stellen.
+
+Deze zijn als volgt:
+
+- Bedraagt een leeftijd van tussen de 50 en 70 jaar
+- Woont in een verzorgingstehuis
+- Heeft enigzins last van eenzaamheid
+- Heeft moeite met lichamelijke activiteiten
+- Grote kans op slecht zicht
+
+Nu deze parameters vastgesteld zijn kunnen we een fictief personage ontwikkelen die als onze
+gebruiker functioneert. Dit personage zal de naam 'Henk' dragen.
+
+Vervolgens is het handig om de applicatie te introduceren.
+De applicatie zal als volgt geintroduceerd worden:
+
+"Onze applicatie is een interactief programma waarmee u samen fitness activiteiten kunt
+verrichten met een virtuele assistent genaamd Pepper. Pepper zal u begeleiden door de
+verschillende oefeningen en u helpen met het uitvoeren van de oefeningen. Iedere
+oefening zal worden begeleid door een stem die u verteld wat u moet doen en hoe u dit
+moet doen. Daarnaast zal Pepper u ook feedback geven over hoe goed u de oefeningen  
+uitvoert."
+
+Een fictieve reactie op alle gestelde voorwaarden kan zijn als volgt:
+
+#### Introductie
+
+Goedendag, ik ben Henk en ik ben 67 jaar oud. Ik woon al een aantal jaar in verzorgingstehuis genaamd Amstelhuis. 
+Helaas heb ik de laatste tijd wat meer last van mijn gezondheid, waardoor ik minder goed kan bewegen. Hierdoor voel ik 
+me soms wat eenzaam en verveel ik me wel eens.
+
+Ik ben altijd erg actief geweest, dus toen ik hoorde over de Pepper FitBot app was ik meteen enthousiast. De 
+verpleegster vertelde me dat de Pepper app misschien wel kan helpen om mijn conditie op peil te houden en om me minder 
+eenzaam te voelen. Dus ik ben erg benieuwd wat de FitBot app allemaal kan!
+
+#### Gebruikservaring
+
+Eerste indruk: Toen ik de FitBot app voor het eerst gebruikte, vond ik het erg leuk dat Pepper me begeleidde door de 
+oefeningen. Hij is duidelijk en behulpzaam, en hij maakt er een gezellige sfeer van.
+
+##### Gebruiksgemak
+De FitBot app is erg gebruiksvriendelijk. De app is eenvoudig te bedienen en de instructies zijn 
+duidelijk. Ook vind ik het fijn dat de app mijn voortgang bijhoudt.
+
+##### Functionaliteit
+De FitBot app heeft veel leuke en nuttige functies. Ik vind het vooral leuk dat er verschillende 
+oefeningen zijn voor verschillende niveaus. 
+
+##### Motivatie
+Pepper is een geweldige motivator. Hij moedigt me aan om door te gaan en hij geeft me complimenten als ik 
+goed bezig ben. Hierdoor ben ik gemotiveerder om te blijven sporten.
+
+##### Verbeterpunten
+
+- Het zou leuk zijn als er meer oefeningen aan de app worden toegevoegd. Zo zou ik graag meer oefeningen willen doen voor 
+mijn spierkracht en lenigheid.
+- De uitleg van de oefeningen is soms een beetje kort. Het zou fijn zijn als deze wat uitgebreider zou zijn. 
+- Het zou leuk zijn als er de mogelijkheid was om samen met anderen te sporten via de app. Zo zou ik bijvoorbeeld met 
+mijn kleinkinderen kunnen videobellen terwijl we allebei dezelfde oefeningen doen.
+
+Al met al ben ik erg tevreden over de FitBot app. Het is een leuke en effectieve manier om te sporten. Pepper is een 
+fijne motivator en de app heeft veel nuttige functies. Ik zou de FitBot app zeker aanbevelen aan andere mensen in het 
+verzorgingstehuis.

docs/personal-documentation/Luca/infrastructure-design.md

@@ -0,0 +1,61 @@
+### Infrastructure Design
+
+---
+
+As for our project, we've made the following design choices for our infrastructure.
+We've decided to implement a NodeJS server on a Raspberry Pi, which will handle the requests for retrieving exercises.
+This server will communicate with a MariaDB database, which contains the exercise data.
+The Pepper robot will host a web server, which will handle the incoming rotational data from an ESP8266.
+This data will then be processed by a motion processor class, `InputProcessor`, which will compare the rotational data 
+to the data of the current exercise and show how well the user is performing.
+
+Down below is a visual representation of how this infrastructure will look like.
+
+### General Infrastructure Diagram
+```mermaid
+
+graph TB
+    subgraph "Raspberry Pi"
+        server[NodeJS Server\n\nHandles requests for\nretrieving exercises]
+        db[Database - MariaDB\n\nContains exercise data]
+        server --Fetch database entry--> db
+        db --Return retrieved entry--> server
+        
+    end
+
+    subgraph "Pepper Robot"
+        webServer[Web Server\n\nHandles incoming rotational data\nfrom ESP8266]
+        motionProcessor[Motion Processor\n\nProcesses rotational data,\ncompares it to the current exercise\nand shows the statistics on the screen]
+        ui[User Interface\n\nShows the current exercise,\nhow to perform it and the\nstatistics of the user's performance]
+        motionProcessor --Send HTTP GET for Exercise--> server
+        server --Send exercise data\nin JSON format--> motionProcessor
+        webServer --Process rotational data--> motionProcessor
+        motionProcessor --Show statistics\non the UI--> ui
+    end
+
+    subgraph "Motion Sensing Device"
+        esp[ESP8266\n\nMeasures sensor data\nand sends it to the web server]
+        gyro[Gyroscope\n\nMeasures rotational data\n&#40Rx, Ry, Rz&#41]
+        esp --Send rotational data\nto Pepper Web Server--> webServer
+        gyro <---> esp
+    end
+
+```
+
+### Database Diagram
+
+For the design of our database, we've decided to only add a single table named `Exercise`.
+This table contains all the information needed for the exercises.
+```mermaid
+classDiagram
+    class Exercise {
+        +ExerciseId : INT
+        +Name : VARCHAR
+        +Description : VARCHAR
+        +ShortDescription : VARCHAR
+        +ImageURL : VARCHAR
+        +VideoURL : VARCHAR
+        +MuscleGroup : VARCHAR
+        +Path : VARCHAR
+    }
+```