Updated error function calculation to be more efficient

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

@@ -44,14 +44,42 @@ public class GesturePath {
      * @return The error offset between the path and the reference point.
      */
     public double getError(Vector3 referencePoint) {
+        // If there are no vectors, return 0.
+        if ( vectors.length == 0)
+            return 0;
+
+        // If there's only one vector, return the distance to that vector.
+        if ( vectors.length == 1)
+            return vectors[0].distance(referencePoint);
+
         double distance = Double.MAX_VALUE;
-        for (int i = 0; i < vectors.length - 1; i++) {
+        double currentDistSq, nextDistSq;
-            double error = getError(vectors[i], vectors[i + 1], referencePoint);
+        int closestVectorIdx = 0;
-            if (error < distance) {
+
-                distance = error;
+        // Acquire two closest points to the reference point.
+        for ( int i = 0; i < vectors.length - 1; i++) {
+            currentDistSq = vectors[i].distanceSq(referencePoint);
+            nextDistSq = vectors[i + 1].distanceSq(referencePoint);
+
+            if ( currentDistSq < distance) {
+                distance = currentDistSq;
+                closestVectorIdx = i;
+            } else if ( nextDistSq < distance) {
+                distance = nextDistSq;
+                closestVectorIdx = i + 1;
+                i++; // Skip the next iteration; this point is already closer.
             }
         }
-        return distance;
+
+        // Calculate the error between the two closest points.
+        Vector3 pointB = (closestVectorIdx == vectors.length - 1) ?
+                vectors[closestVectorIdx - 1] : // If the closest point is the last point, use the 1 to last one
+                (closestVectorIdx > 0 && // Find the closer point between the surrounding points.
+                        (vectors[closestVectorIdx - 1].distanceSq(referencePoint) < vectors[closestVectorIdx + 1].distanceSq(referencePoint))) ?
+                        vectors[closestVectorIdx - 1] :
+                        vectors[closestVectorIdx + 1];
+
+        return getError(vectors[closestVectorIdx], pointB, referencePoint);
     }
 
     // Builder class for the GesturePath object.

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

@@ -20,7 +20,7 @@ public class MotionData {
      * @param rotationY     The rotation in the Y axis in degrees.
      * @param rotationZ     The rotation in the Z axis in degrees.
      */
-    public MotionData(float accelerationX, float accelerationY, float accelerationZ, float rotationX, float rotationY, float rotationZ) {
+    public MotionData(double accelerationX, double accelerationY, double accelerationZ, double rotationX, double rotationY, double rotationZ) {
         this.acceleration = new Vector3(accelerationX, accelerationY, accelerationZ);
         this.rotation = new Vector3(rotationX, rotationY, rotationZ);
     }
@@ -52,12 +52,12 @@ public class MotionData {
             return null;
 
         return new MotionData(
-                Float.parseFloat(parts[0]),
+                Double.parseDouble(parts[0]),
-                Float.parseFloat(parts[1]),
+                Double.parseDouble(parts[1]),
-                Float.parseFloat(parts[2]),
+                Double.parseDouble(parts[2]),
-                Float.parseFloat(parts[3]),
+                Double.parseDouble(parts[3]),
-                Float.parseFloat(parts[4]),
+                Double.parseDouble(parts[4]),
-                Float.parseFloat(parts[5])
+                Double.parseDouble(parts[5])
         );
     }
 }

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

@@ -83,12 +83,22 @@ public class MotionProcessor {
         this.motionData.add(data);
     }
 
+    /**
+     * Function for updating the relative path.
+     *
+     * @param relativePath The new relative path.
+     */
+    public void setRelativePath(List<Vector3> relativePath) {
+        this.relativePath.clear();
+        this.relativePath.addAll(relativePath);
+    }
+
     /**
      * Function for calculating the 'absolute' path of the motion data.
      * This converts the relative acceleration and rotation vectors and converts
      * them to a position that is relative to the ZERO point.
      */
-    public void calculatePath() {
+    public void calculateRelativePath() {
 
         relativePath.clear(); // Clear previous path
 
@@ -121,7 +131,8 @@ public class MotionProcessor {
         // s = 1/2 * a * t^2
         return motionData.acceleration
                 .rotate(motionData.rotation.negate())
-                .multiply(sampleRate * sampleRate / 6.0D);
+                .divide(2)
+                .multiply(sampleRate * sampleRate);
     }
 
     /**
@@ -135,7 +146,7 @@ public class MotionProcessor {
 
         // If the relative path is empty, calculate it.
         if ( relativePath.isEmpty())
-            calculatePath();
+            calculateRelativePath();
 
         // Return the errors of the relative path compared to the reference path.
         return relativePath
@@ -159,7 +170,14 @@ public class MotionProcessor {
                 .orElse(0.0D);
     }
 
-    public void printData() {
+    public void logStatistics(GesturePath referencePath) {
+        Log.i("MotionProcessor", "Average path error: " + averageError(referencePath));
+        Log.i("MotionProcessor", "Path length: " + relativePath.size());
+        Log.i("MotionProcessor", "Sample rate: " + sampleRate);
+        Log.i("MotionProcessor", "Calibration point: " + ZERO.toString());
+        Log.i("MotionProcessor", "Path comparison:\n" +
+                relativePath.stream().map(Vector3::toString).collect(Collectors.joining(", \t")) +
+                "\n" + getErrors(referencePath).stream().map(Object::toString).collect(Collectors.joining(", \t")));
 
     }
 }

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

@@ -84,7 +84,7 @@ public class WebSocket {
     public static class Message {
 
         // Enumerable representing message type (opcode).
-        public enum Type {
+        public enum Opcode {
 
             CONTINUING((byte) 0x0),
             TEXT((byte) 0x1),
@@ -96,7 +96,7 @@ public class WebSocket {
             RES5((byte) 0xB), RES6((byte) 0xC), RES7((byte) 0xD), RES8((byte) 0xE), RES9((byte) 0xF);
             
             byte opcode;
-            Type(final byte opcode) {
+            Opcode(final byte opcode) {
                 this.opcode = opcode;
             }
 
@@ -105,8 +105,8 @@ public class WebSocket {
              * @param opcode The opcode to decode.
              * @return The message type.
              */
-            public Type decode(byte opcode) {
+            public static Opcode decode(byte opcode) {
-                return Type.values()[opcode & 0xF];
+                return Opcode.values()[opcode & 0xF];
             }
             // Returns the opcode of this message type.
             public byte getOpcode() { return this.opcode; }

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

@@ -1,7 +1,5 @@
 package com.example.fitbot.util.server;
 
-import android.os.Build;
-import android.support.annotation.RequiresApi;
 import android.util.Log;
 
 import java.io.IOException;
@@ -31,7 +29,6 @@ public class WebSocketConnectionHandler implements Runnable {
         this.theSocket = webSocket;
     }
 
-    @RequiresApi(api = Build.VERSION_CODES.O)
     @Override
     public void run() {
         // Listen for new connections until the socket
@@ -65,7 +62,6 @@ public class WebSocketConnectionHandler implements Runnable {
      * @param streamOut The OutputStream of the client socket connection.
      * @return Whether or not the connection was successfully upgraded.
      */
-    @RequiresApi(api = Build.VERSION_CODES.O)
     private boolean upgradeConnection(InputStream streamIn, OutputStream streamOut) {
         Scanner scanner = new Scanner(streamIn, "UTF-8");
         String data = scanner.useDelimiter("\\r\\n\\r\\n").next();
@@ -105,7 +101,7 @@ public class WebSocketConnectionHandler implements Runnable {
      * @param streamIn The message stream to decode.
      */
     private void applyMessageDecoder(InputStream streamIn) {
-
+        // TODO: Implement
     }
 
     /**
@@ -119,13 +115,11 @@ public class WebSocketConnectionHandler implements Runnable {
         if (bytes.length <= 2 || (bytes[0] & 0b1110) != 0)
             throw new IllegalArgumentException("Attempted to decode corrupted WebSocket frame data");
 
-        byte opcode        = (byte) (bytes[0] & 0b11110000); // Opcode (4 bits)
+        WebSocket.Message.Opcode opcode = WebSocket.Message.Opcode.decode((byte) (bytes[0] & 0b11110000));
         byte payloadLength = (byte) (bytes[1] & 0b01111111); // Payload size (7 bits)
         boolean fin        = (bytes[0] & 0b1) != 0; // Whether this is the whole message
         boolean masked     = (bytes[1] & 0b10000000) != 0; // Whether the 9th bit is masked
 
-        System.out.printf("Fin: %b, Opcode: %d, masked: %b\n", fin, opcode, masked);
-
         long extendedPayloadLength = 0;
         int byteOffset = 2;
 

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

@@ -1,6 +1,8 @@
 package com.example.fitbot;
 
 
+import static org.junit.Assert.assertEquals;
+
 import com.example.fitbot.util.server.WebSocketConnectionHandler;
 
 import org.junit.Test;
@@ -11,6 +13,8 @@ import org.junit.Test;
  */
 public class WebSocketMessageParsingTest {
 
+
+
     @Test
     public void parseWebSocketMessage() {
 
@@ -27,11 +31,6 @@ public class WebSocketMessageParsingTest {
         } catch (Exception e) {
             System.err.println("Error occurred whilst attempting to parse input" + e.getMessage());
         }
-        System.out.println("Parsed output: '" + decoded + "'");
+        assertEquals(reference, decoded);
-        if (decoded.equals(reference)) {
-            System.out.println("Test passed");
-        } else {
-            System.out.println("Test failed");
-        }
     }
 }