Merge remote-tracking branch 'origin/main'

This commit is contained in:
Luca Warmenhoven
2024-05-29 12:17:48 +02:00
23 changed files with 475 additions and 928 deletions

View File

@@ -20,4 +20,21 @@ void Connectivity::websocketSetup(char* ip, uint16_t port, char* adress){
void Connectivity::sendData(float roll, float pitch, float yaw){
String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
webSocket.sendTXT(message);
}
/** Send a POST request to a server with provided data */
int Connectivity::httpPost(const char *serverAddress, const char *serverSubPath, const unsigned short serverPort,
const char *data, const size_t dataLength, const char *contentType)
{
if ( wifi_client.connect(serverAddress, serverPort)) {
wifi_client.printf("POST %s HTTP/1.1\r\n", serverSubPath);
wifi_client.printf("Content-Type: %s\r\n", contentType);
wifi_client.printf("Content-Length: %d\r\n", dataLength);
wifi_client.printf("Host: %s\r\n\n", serverAddress);
wifi_client.println(data);
wifi_client.stop();
return 0;
}
return 1;
}

View File

@@ -6,25 +6,25 @@
#include <ArduinoWiFiServer.h>
#include <ESP8266WiFi.h>
#include <ESP8266WiFiGeneric.h>
#include <ESP8266WiFiGratuitous.h>
#include <ESP8266WiFiMulti.h>
#include <ESP8266WiFiSTA.h>
#include <ESP8266WiFiScan.h>
#include <ESP8266WiFiType.h>
#include <WiFiClient.h>
#include <WiFiServer.h>
#include <WiFiServerSecure.h>
#include <WiFiUdp.h>
#include <WiFiClientSecure.h>
class Connectivity {
public:
void connectWiFi(char* ssid, char* pass);
void websocketSetup(char* ip, uint16_t port, char* adress);
void sendData(float roll, float pitch, float yaw);
int httpPost(const char *serverAddress, const char *serverSubPath, const unsigned short serverPort, const char *data, const size_t dataLength, const char *contentType);
private:
ESP8266WiFiMulti wifi;
WiFiClient wifi_client;
WebSocketsClient webSocket;
};
#endif

View File

@@ -5,56 +5,33 @@
void setup() {
Serial.begin(9600);
Serial.println("startup");
//connect to internet and start sensor
connectivity.connectWiFi(ssid, pass);
sensorManager.sensorSetup();
//ws server address, port and URL
webSocket.begin("145.28.160.108", 8001, "");
// try every 500 again if connection has failed
webSocket.setReconnectInterval(500);
}
void loop() {
SensorManager::eulerAngles eulerRotation = sensorManager.getEulerAngles();
SensorManager::acceleration rotationAcceleration = sensorManager.getAcelleration();
unsigned long lastTime = 0; // will store the last time the code was run
// Subtract offset
// rotation.i -= offset.i;
// rotation.j -= offset.j;
// rotation.k -= offset.k;
// rotation.w -= offset.w;
Serial.print(eulerRotation.roll);
Serial.print(" ");
Serial.print(eulerRotation.yaw);
Serial.print(" ");
Serial.print(eulerRotation.pitch);
Serial.println();
// Convert quaternion to Euler angles in radians
// Convert to degrees
// float rollDegrees = roll * 180.0f / PI;
// float pitchDegrees = pitch * 180.0f / PI;
// float yawDegrees = yaw * 180.0f / PI;
Serial.print(eulerRotation.roll);
Serial.print(" ");
Serial.print(eulerRotation.pitch);
Serial.print(" ");
Serial.print(eulerRotation.yaw);
sendData(eulerRotation.roll, eulerRotation.pitch, eulerRotation.yaw);
Serial.println();
webSocket.loop();
unsigned long currentTime = millis();
if (currentTime - lastTime >= 100) { // 100 ms has passed
String message = "{\"deviceId\": 1, \"rotationX\":\"" + String(eulerRotation.roll) + "\",\"rotationY\":\"" + String(eulerRotation.pitch) + "\",\"rotationZ\":\"" + String(eulerRotation.yaw) + "\",\"accelerationX\":\"" + String(rotationAcceleration.x) + "\",\"accelerationY\":\"" + String(rotationAcceleration.y) + "\",\"accelerationZ\":\"" + String(rotationAcceleration.z) + "\",\"type\":\"data\"}";
Serial.println(connectivity.httpPost("192.168.137.146", "/", 3445, message.c_str(), message.length(), "json"));
Serial.println(message);
lastTime = currentTime;
}
// if (Serial.available()) {
// String command = Serial.readStringUntil('\n');
// command.trim(); // remove any trailing whitespace
// if (command == "setZeroPoint") {
// setZeroPoint();
// }
// }
// }
// void setZeroPoint() {
// offset = sensorManager.readLoop();
// }
}
//acceleration.X
//acceleration.Y
//acceleration.Z
void sendData(float roll, float pitch, float yaw){
String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
webSocket.sendTXT(message);
}

View File

@@ -5,7 +5,6 @@
SensorManager::SensorManager() {}
void SensorManager::sensorSetup() {
Wire.setClockStretchLimit(150000L); // Default stretch limit 150mS
Wire.begin();
//wait for the sensor to start before continue
if (myIMU.begin() == false) {
@@ -15,20 +14,12 @@ void SensorManager::sensorSetup() {
//start sensorfunction and start autocalibration
//once calibration is enabled it attempts to every 5 min
Wire.setClock(400000); //Increase I2C data rate to 400kHz
myIMU.calibrateAll(); //Turn on cal for Accel, Gyro, and Mag
Wire.setClock(400000);
myIMU.enableGyroIntegratedRotationVector(100); //send data every 100ms
myIMU.enableMagnetometer(100); //Send data update every 100ms
myIMU.saveCalibration(); //Saves the current dynamic calibration data (DCD) to memory
myIMU.requestCalibrationStatus(); //Sends command to get the latest calibration status
if (myIMU.calibrationComplete() == true) {
Serial.println("Calibration data successfully stored");
}
myIMU.enableAccelerometer(100); //Send data update every 100ms
Serial.println(F("magnetometer rotation enabled"));
}
//get sensordata
SensorManager::RotationQuintillions SensorManager::getQuintillions() {
if (myIMU.dataAvailable() == true) {
float i = myIMU.getQuatI();
@@ -48,7 +39,7 @@ SensorManager::RotationQuintillions SensorManager::getQuintillions() {
return rotation;
}
}
//calculate Quintillions to Euler angles from -1π to +1π
SensorManager::eulerAngles SensorManager::getEulerAngles() {
SensorManager::RotationQuintillions rotation = getQuintillions();
float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
@@ -56,4 +47,12 @@ SensorManager::eulerAngles SensorManager::getEulerAngles() {
float yaw = atan2(2.0f * (rotation.w * rotation.k + rotation.i * rotation.j), 1.0f - 2.0f * (rotation.j * rotation.j + rotation.k * rotation.k));
eulerAngles EulerAngles = { roll, pitch, yaw };
return EulerAngles;
}
SensorManager::acceleration SensorManager::getAcelleration(){
float x = myIMU.getAccelX();
float y = myIMU.getAccelY();
float z = myIMU.getAccelZ();
acceleration Acceleration = { x, y, z };
return Acceleration;
}

View File

@@ -13,8 +13,14 @@ public:
float pitch;
float yaw;
};
eulerAngles getEulerAngles();
struct acceleration {
float x;
float y;
float z;
};
eulerAngles getEulerAngles();
acceleration getAcelleration();
private:
struct RotationQuintillions {

View File

@@ -3,21 +3,24 @@ package com.example.fitbot.exercise;
import android.util.Log;
import com.example.fitbot.util.path.GesturePath;
import com.example.fitbot.util.server.IWebSocketHandler;
import com.example.fitbot.util.server.WebSocket;
import com.example.fitbot.util.processing.IMotionDataConsumer;
import com.example.fitbot.util.server.IWebServerHandler;
import com.example.fitbot.util.server.WebServer;
import java.util.Objects;
import java.util.function.Consumer;
public class Exercise implements IWebSocketHandler {
public class Exercise implements IWebServerHandler {
private EMuscleGroup muscleGroup;
private GesturePath path;
private GesturePath leftPath;
private GesturePath rightPath;
private String title;
private String description;
private float segmentsPerSecond;
// Static fields.
private static WebSocket webSocket;
private static WebServer webSocket;
private static Exercise currentExercise = null;
@@ -25,18 +28,19 @@ public class Exercise implements IWebSocketHandler {
* Constructor for the AbstractExercise class.
*
* @param muscleGroup The muscle group of the exercise.
* @param path The path of the exercise.
* @param leftPath The path of the left hand.
* @param rightPath The path of the right hand.
* @param title The title of the exercise.
* @param description The description of the exercise.
* @param segmentsPerSecond The number of segments per second.
* This determines how fast the exercise should be performed.
*/
public Exercise(EMuscleGroup muscleGroup, String title, String description, GesturePath path, float segmentsPerSecond) {
public Exercise(EMuscleGroup muscleGroup, String title, String description, GesturePath leftPath, GesturePath rightPath) {
this.muscleGroup = muscleGroup;
this.title = title;
this.description = description;
this.path = path;
this.segmentsPerSecond = segmentsPerSecond;
this.leftPath = leftPath;
this.rightPath = rightPath;
}
/**
@@ -57,10 +61,9 @@ public class Exercise implements IWebSocketHandler {
}
try {
webSocket = WebSocket.createServer();
webSocket = WebServer.createServer();
Objects.requireNonNull(webSocket, "WebSocket server could not be created.");
webSocket.startListening();
webSocket.setEventHandler(this);
currentExercise = this;
} catch (Exception e) {
@@ -108,8 +111,8 @@ public class Exercise implements IWebSocketHandler {
/**
* Get the path of the exercise.
*/
public GesturePath getPath() {
return path;
public GesturePath[] getPath() {
return new GesturePath[]{leftPath, rightPath};
}
public String getTitle() {
@@ -126,4 +129,9 @@ public class Exercise implements IWebSocketHandler {
public double getSegmentsPerSecond() {
return segmentsPerSecond;
}
@Override
public void onReceive(String message) {
}
}

View File

@@ -1,41 +0,0 @@
package com.example.fitbot.exercise;
import com.example.fitbot.util.processing.IMotionDataConsumer;
import com.example.fitbot.util.processing.MotionData;
import com.example.fitbot.util.processing.MotionProcessor;
import com.example.fitbot.util.server.IWebSocketHandler;
import com.example.fitbot.util.server.WebSocket;
import org.joml.Vector3f;
import java.net.Socket;
public class ExerciseBuilder implements IWebSocketHandler, IMotionDataConsumer {
private MotionProcessor processor;
public ExerciseBuilder() {
this.processor = new MotionProcessor();
this.processor.setMotionDataEventHandler(this);
}
@Override
public void onDisconnected(Socket socket) {
IWebSocketHandler.super.onDisconnected(socket);
}
@Override
public void onMessageReceived(WebSocket.Message message, WebSocket.MessageReply replier) {
IWebSocketHandler.super.onMessageReceived(message, replier);
}
@Override
public void onError(Socket socket, String error) {
IWebSocketHandler.super.onError(socket, error);
}
@Override
public void accept(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate, int sensorId) {
}
}

View File

@@ -76,7 +76,7 @@ public class ExerciseManager {
content.get(PROPERTY_NAME).getAsString(),
content.get(PROPERTY_DESC).getAsString(),
gesturePathFromString(content.get(PROPERTY_VECTORS).getAsString()),
DEFAULT_SEGMENT_SPEED
gesturePathFromString(content.get(PROPERTY_SEGMENT_SPEED).getAsString())
);
} catch (Exception e) {
e.printStackTrace();

View File

@@ -1,43 +0,0 @@
package com.example.fitbot.speech;
import com.aldebaran.qi.sdk.QiContext;
import com.aldebaran.qi.sdk.builder.SayBuilder;
import com.aldebaran.qi.sdk.object.locale.Language;
import com.aldebaran.qi.sdk.object.locale.Locale;
import com.aldebaran.qi.sdk.object.locale.Region;
/**
* SpeechGenerator class for generating speech for the robot
*/
public class SpeechGenerator {
private static final Locale DUTCH_LOCALE = new Locale(Language.DUTCH, Region.NETHERLANDS);
private SayBuilder builder;
/**
* 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
*/
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 locale The locale to use
*/
public static void say(String phrase, QiContext ctx, Locale locale)
{
SayBuilder
.with(ctx)
.withLocale(locale)
.withText(phrase)
.build()
.run();
}
}

View File

@@ -1,7 +1,6 @@
package com.example.fitbot.ui.activities;
import android.os.Bundle;
import android.os.Handler;
import android.util.Log;
import android.widget.VideoView;
@@ -11,16 +10,17 @@ import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
import com.aldebaran.qi.sdk.design.activity.RobotActivity;
import com.aldebaran.qi.sdk.design.activity.conversationstatus.SpeechBarDisplayStrategy;
import com.example.fitbot.R;
import com.example.fitbot.sports.FitnessCycle;
import com.example.fitbot.exercise.EMuscleGroup;
import com.example.fitbot.exercise.Exercise;
import com.example.fitbot.ui.components.PersonalMotionPreviewElement;
import com.example.fitbot.util.Animations;
import com.example.fitbot.util.ButtonNavigation;
import com.example.fitbot.util.FitnessCycle;
import com.example.fitbot.util.path.GesturePath;
import org.joml.Vector3f;
import java.util.concurrent.CompletableFuture;
public class FitnessActivity extends RobotActivity implements RobotLifecycleCallbacks {
PersonalMotionPreviewElement personalMotionPreviewElement;
@@ -45,23 +45,22 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
GesturePath.Builder gesturePathBuilder = new GesturePath.Builder();
gesturePathBuilder.addVector(new Vector3f(-.5f, -.5f, -.5f));
gesturePathBuilder.addVector(new Vector3f(.5f, -.5f, -.5f));
gesturePathBuilder.addVector(new Vector3f(.5f, -.5f, .5f));
gesturePathBuilder.addVector(new Vector3f(-.5f, -.5f, .5f));
gesturePathBuilder.addVector(new Vector3f(-.5f, -.5f, -.5f));
gesturePathBuilder.addVector(new Vector3f(-.5f, .5f, -.5f));
gesturePathBuilder.addVector(new Vector3f(.5f, .5f, -.5f));
gesturePathBuilder.addVector(new Vector3f(.5f, .5f, .5f));
gesturePathBuilder.addVector(new Vector3f(-.5f, .5f, .5f));
gesturePathBuilder.addVector(new Vector3f(-.5f, .5f, -.5f));
for ( int i = 0; i < 40; i++)
{
gesturePathBuilder.addVector(
new Vector3f(
(float)Math.cos(Math.PI + (Math.PI / 40.0f) * i),
(float)Math.sin(Math.PI + (Math.PI / 40.0f) * i),
0
)
);
}
personalMotionPreviewElement = findViewById(R.id.personalMotionPreviewElement);
personalMotionPreviewElement.post(() -> {
Log.i("FitnessActivity", "PersonalMotionPreviewElement.post()");
Exercise exercise = new Exercise(EMuscleGroup.ARMS, "Bicep Curls", "Oefening voor de biceps.", gesturePathBuilder.build(), 1);
Exercise exercise = new Exercise(EMuscleGroup.ARMS, "Bicep Curls", "Oefening voor de biceps.", gesturePathBuilder.build(), gesturePathBuilder.build());
personalMotionPreviewElement.initialize(exercise);
});
@@ -71,11 +70,9 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
public void onRobotFocusGained(QiContext qiContext) {
// Find the VideoView by its ID
FitnessCycle.RobotMovement("bicepcurl", 10, qiContext);
// FitnessCycle.playVideo(qiContext, videoView, this);
CompletableFuture.runAsync(() -> FitnessCycle.executeMovement("bicepcurl", 10, qiContext));
personalMotionPreviewElement.provideQiContext(qiContext);
// FitnessCycle.playVideo(qiContext, videoView, this);
}
@Override
@@ -88,14 +85,8 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
// Implement your logic when the robot focus is refused
}
private Handler handler;
private Runnable runnable;
@Override
protected void onDestroy() {
super.onDestroy();
if (handler != null && runnable != null) {
handler.removeCallbacks(runnable);
}
}
}

View File

@@ -2,6 +2,7 @@ package com.example.fitbot.ui.components;
import android.content.Context;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Paint;
import android.graphics.Path;
import android.util.AttributeSet;
@@ -10,7 +11,7 @@ import android.view.View;
import com.aldebaran.qi.sdk.QiContext;
import com.example.fitbot.exercise.Exercise;
import com.example.fitbot.speech.SpeechGenerator;
import com.example.fitbot.util.FitnessCycle;
import com.example.fitbot.util.path.GesturePath;
import com.example.fitbot.util.path.PathSegment;
import com.example.fitbot.util.processing.MotionData;
@@ -23,21 +24,23 @@ import org.joml.Vector4f;
public class PersonalMotionPreviewElement extends View {
private GesturePath path;
private double pathTime = 0.0D; // The timestamp at which the path is currently at.
private GesturePath[] paths;
private MotionProcessor motionProcessor;
private double pathTime = 0.0D; // The timestamp at which the path is currently at.
private double exerciseProgress = 0.0D; // The progress of the exercise. Ranges from 0 to 1.
private QiContext qiContext;
private Exercise exercise;
private Path referencePath; // The path the user is supposed to follow.
private Path performingPath; // The path the user is currently following.
private Path stickmanPath; // The path of the stickman that is drawn on the screen.
private Path targetPath; // The path the user is supposed to follow.
private Path actualPath; // The path the user is currently following.
private final Paint referencePaint = new Paint();
private final Paint targetPaint = new Paint();
private final Paint backgroundColor = new Paint();
private Paint referencePaint;
private Paint performingPaint;
private Paint textPaint;
private static final String[] USER_PHRASES = {
"Veel success met de oefening!",
@@ -45,76 +48,24 @@ public class PersonalMotionPreviewElement extends View {
"Veel plezier!"
};
// Matrices for the projection of the path segments onto the screen.
// Depth buffering sadly is not supported yet due to brain dysfunction
private Matrix4f modelViewMatrix = new Matrix4f();
private Matrix4f projectionMatrix = new Matrix4f();
private double timePassed = 0.0D; // The time that has passed since the start of the exercise, in seconds.
private long startingTime = 0L;
private Paint backgroundColor = new Paint();
/**
* Constants for the preview path projection.
*/
private final float FOV = 80.0f; // The field of view of the preview path
private final float Z_NEAR = 0.1f; // The near clipping plane
private final float Z_FAR = 1000.0f; // The far clipping plane
private Vector3f objectPosition = new Vector3f(0.0f, 0.0f, -4.0f); // The position of the camera
private Vector2f screenDimensions = new Vector2f(); // Width and height dimensions of the screen
private Vector2f rotation = new Vector2f(); // Rotation vector (yaw, pitch)
public PersonalMotionPreviewElement(Context context, AttributeSet attrs) {
super(context, attrs);
this.referencePaint = new Paint();
this.referencePaint.setColor(0xFFFF0000); // Red
this.referencePaint.setStyle(Paint.Style.STROKE);
this.referencePaint.setStyle(Paint.Style.FILL);
this.referencePaint.setStrokeWidth(5.0f);
this.referencePaint.setAntiAlias(true);
this.performingPaint = new Paint();
this.performingPaint.setColor(0xFF0000FF); // Blue
this.performingPaint.setStyle(Paint.Style.STROKE);
this.performingPaint.setStrokeWidth(5.0f);
this.textPaint = new Paint();
this.textPaint.setColor(-1);
this.textPaint.setStyle(Paint.Style.FILL);
this.textPaint.setTextSize(50.0f);
}
/**
* Method for updating the stickman gestures.
*
* This method will update the stickman gestures based on the current
* motion data that is being processed.
*/
private void updateStickmanGestures() {
// Reset previous path
stickmanPath.reset();
// TODO: Define all arm segments:
// - Upper left and right arm
// - Lower left and right arm
// - Upper left and right leg
// - Lower left and right leg
// Update all segments based on the perceived motion data.
PathSegment upperLeftArm = new PathSegment(
new Vector3f(),
new Vector3f()
);
PathSegment[] bodySegments = new PathSegment[] {
new PathSegment(new Vector3f(0.0f, -.5f, -.5f), new Vector3f(0, 0, 0)), // Left leg
new PathSegment(new Vector3f(0.0f, -.5f, .5f), new Vector3f(0, 0, 0)), // Right leg
new PathSegment(new Vector3f(0.0f, .5f, 0.0f), new Vector3f(0, 0, 0)), // Body
new PathSegment(new Vector3f(-.25f, .25f, 0f), new Vector3f(0, 0, 0)), // Left arm
new PathSegment(new Vector3f(.25f, .25f, 0f), new Vector3f(0, 0, 0)) // Right arm
};
// TODO: Generate new path for stickman
// Target paint is the filling of the target path.
this.targetPaint.setColor(-1);
this.targetPaint.setStyle(Paint.Style.STROKE);
this.targetPaint.setStrokeWidth(5.0f);
this.targetPaint.setAntiAlias(true);
}
/**
@@ -127,31 +78,41 @@ public class PersonalMotionPreviewElement extends View {
*/
public void initialize(Exercise exercise) {
Log.i("PersonalMotionPreviewElement", "Creating new PersonalMotionPreviewElement.");
this.backgroundColor = new Paint();
this.backgroundColor.setColor(0xFF000000); // Black
this.screenDimensions.x = this.getWidth();
this.screenDimensions.y = this.getHeight();
this.performingPath = new Path();
this.referencePath = new Path();
this.actualPath = new Path();
this.targetPath = new Path();
this.startingTime = System.nanoTime(); // Set the last time to the current time
this.exerciseProgress = 0.0d;
this.exercise = exercise;
this.path = exercise.getPath();
this.motionProcessor = new MotionProcessor();
this.motionProcessor.startListening();
this.motionProcessor.setMotionDataEventHandler((processed, preprocessed, sampleIndex, sampleRate, deviceId) -> {
// TODO: Implement the calculation of the `performingPath` based on the motion data
});
this.paths = exercise.getPath();
}
/**
* 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.motionProcessor != null )
this.motionProcessor.stopListening();
this.motionProcessor = new MotionProcessor();
this.motionProcessor.startListening();
// Handler that is called every time the motion processor receives new data.
this.motionProcessor.setMotionDataEventHandler((processed, preprocessed, sampleIndex, sampleRate, deviceId) -> {
double progress = this.motionProcessor.getAverageError(this.paths[0], 0);
this.exerciseProgress = Math.min(1, Math.max(0, progress));
this.invalidate();
Log.i("MotionProcessor", "Processed data: " + progress + " (" + preprocessed + ")");
});
saySomethingNice();
}
@@ -163,90 +124,16 @@ public class PersonalMotionPreviewElement extends View {
if (this.qiContext == null)
return;
SpeechGenerator.say(USER_PHRASES[(int) Math.floor(Math.random() * USER_PHRASES.length)], this.qiContext);
}
/**
* Method that calculates the path that will be drawn on the
* canvas. This method will be called every time new motion data is received.
*/
private void calculateDrawingPath(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
// Recalculate the personal path based on the new motion data
// TODO: Implement
FitnessCycle.say(USER_PHRASES[(int) Math.floor(Math.random() * USER_PHRASES.length)], this.qiContext);
}
/**
* Method for setting the gesture path that will be drawn on the canvas.
*
* @param path The gesture path to draw.
* @param exercise The exercise that the user is currently performing.
*/
public void setGesturePath(GesturePath path) {
this.path = path;
this.referencePath = getDrawablePath(path.getSegments());
}
/**
* Method for projecting a 3D point onto the screen.
* This method converts the 3D point to 2D space using a Model-View-Projection matrix transformation.
*
* @param point The point to cast to the screen.
* @param virtualWidth The width of the virtual screen.
* This is used to normalize the screen coordinates.
* @param virtualHeight The height of the virtual screen.
* @return The transformed vector in screen coordinates ranging from (0, 0) to (virtualWidth, virtualHeight).
*/
private Vector2f projectVertex(Vector3f point, int virtualWidth, int virtualHeight) {
modelViewMatrix
.identity()
.translate(-objectPosition.x, -objectPosition.y, -objectPosition.z)
.rotateX((float) Math.toRadians(rotation.y))
.rotateY((float) Math.toRadians(rotation.x));
// Transform the projection matrix to a perspective projection matrix
// Perspective transformation conserves the depth of the object
projectionMatrix
.identity()
.perspective((float) Math.toRadians(FOV), (float) virtualWidth / virtualHeight, Z_NEAR, Z_FAR);
// Convert world coordinates to screen-space using MVP matrix
Vector4f screenCoordinates = new Vector4f(point, 1.0f)
.mul(this.modelViewMatrix)
.mul(this.projectionMatrix);
// Normalize screen coordinates from (-1, 1) to (0, virtualWidth) and (0, virtualHeight)
float normalizedX = (screenCoordinates.x / screenCoordinates.w + 1.0f) * 0.5f * virtualWidth;
float normalizedY = (1.0f - screenCoordinates.y / screenCoordinates.w) * 0.5f * virtualHeight;
Log.i("VertexProjection", "Projected vertex to screen coordinates: (" + normalizedX + ", " + normalizedY + ").");
return new Vector2f(normalizedX, normalizedY);
}
/**
* Method that converts a sequence of vectors to a Path object.
* This path is a set of bezier curves that will be drawn on the canvas.
*
* @param segments The path segments in the path.
* These segments will be connected by bezier curves, which
* all have unique curvature values.
* @return The generated path object.
*/
private Path getDrawablePath(PathSegment... segments) {
Path calculatedPath = new Path();
// Starting point
Vector2f origin = projectVertex(segments[0].getStart(), getWidth(), getHeight());
calculatedPath.moveTo(origin.x, origin.y);
// Draw the path segments
for (PathSegment segment : segments) {
Vector2f startProjected = projectVertex(segment.getStart(), getWidth(), getHeight());
Vector2f endProjected = projectVertex(segment.getEnd(), getWidth(), getHeight());
calculatedPath.lineTo(startProjected.x, startProjected.y);
calculatedPath.lineTo(endProjected.x, endProjected.y);
}
return calculatedPath;
public void setExercise(Exercise exercise) {
this.exercise = exercise;
}
@@ -256,14 +143,20 @@ public class PersonalMotionPreviewElement extends View {
this.setBackgroundColor(0xFF000000); // Black
if (this.exercise == null)
return;
// Draw the sport preview canvas
canvas.drawPath(referencePath, referencePaint);
canvas.drawPath(performingPath, performingPaint);
// Draw target circle
float targetRadius = (this.screenDimensions.x + this.screenDimensions.y) / 5.0f;
canvas.drawCircle(this.screenDimensions.x / 2, this.screenDimensions.y / 2, targetRadius, this.targetPaint);
canvas.drawCircle(this.screenDimensions.x / 2, this.screenDimensions.y / 2, (float)(targetRadius * exerciseProgress), this.referencePaint);
referencePaint.setColor(
Color.argb(
255,
(int)(255 * (1.0 - exerciseProgress)),
(int)(255 * exerciseProgress),
0
)
);
timePassed = (System.nanoTime() - startingTime) / 1E9D;
this.rotation.x = (float) (Math.sin(timePassed) * 45);
this.referencePath = getDrawablePath(this.path.getSegments());
this.invalidate(); // Causes a redraw.
}
}

View File

@@ -1,13 +1,15 @@
package com.example.fitbot.sports;
import static com.example.fitbot.sports.Animations.PlayAnimation;
package com.example.fitbot.util;
import android.content.Context;
import android.net.Uri;
import android.os.Handler;
import android.support.v7.app.AppCompatActivity;
import android.util.Log;
import android.widget.VideoView;
import com.aldebaran.qi.sdk.builder.SayBuilder;
import com.aldebaran.qi.sdk.object.locale.Language;
import com.aldebaran.qi.sdk.object.locale.Locale;
import com.aldebaran.qi.sdk.object.locale.Region;
import com.example.fitbot.R;
import com.aldebaran.qi.sdk.QiContext;
import com.aldebaran.qi.sdk.builder.AnimateBuilder;
@@ -19,7 +21,18 @@ import java.util.concurrent.atomic.AtomicInteger;
public class FitnessCycle extends AppCompatActivity {
public static void RobotMovement(String Exercise, int Reps, QiContext qiContext) {
private static final Locale DUTCH_LOCALE = new Locale(Language.DUTCH, Region.NETHERLANDS);
/**
* Function for executing a movement animation a certain number of times
* on the robot
*
* @param Exercise The name of the exercise 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) {
AtomicInteger repCount = new AtomicInteger(0);
Animation animation = AnimationBuilder.with(qiContext)
@@ -44,6 +57,38 @@ 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
*/
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 locale The locale to use
*/
public static void say(String phrase, QiContext ctx, Locale locale)
{
SayBuilder
.with(ctx)
.withLocale(locale)
.withText(phrase)
.build()
.run();
}
/**
* Function for playing a video in a VideoView
*
* @param videoView The VideoView to play the video in
* @param context The context to use
*/
public static void playVideo(VideoView videoView, Context context) {
// Set up the video player
if (videoView != null) {

View File

@@ -54,9 +54,11 @@ public class GesturePath {
if ( segments.length == 1)
return segments[0];
return Arrays
.stream(segments)
.reduce(segments[0], (a, b) -> PathSegment.closer(a, b, reference));
PathSegment closest = segments[0];
for ( int i = 1; i < segments.length; i++)
closest = PathSegment.closer(closest, segments[i], reference);
return closest;
}
/**

View File

@@ -3,8 +3,10 @@ package com.example.fitbot.util.processing;
import android.util.Log;
import com.example.fitbot.util.path.GesturePath;
import com.example.fitbot.util.server.IWebSocketHandler;
import com.example.fitbot.util.server.WebSocket;
import com.example.fitbot.util.server.WebServer;
import com.google.gson.JsonElement;
import com.google.gson.JsonObject;
import com.google.gson.JsonParser;
import org.jetbrains.annotations.NotNull;
import org.joml.Vector3f;
@@ -17,14 +19,16 @@ public class MotionProcessor {
public static final String DELIMITER = ";";
private final List<MotionData> preprocessedData = new ArrayList<>(); // Preprocessed motion data
private final List<Vector3f> relativePath = new ArrayList<>(); // Relative path of the motion data
private final List<Vector3f> relativeLeftPath = new ArrayList<>(); // Relative path of the left motion data
private final List<Vector3f> relativeRightPath = new ArrayList<>(); // Relative path of the motion data
private Vector3f ZERO = new Vector3f(0, 0, 0);
private float sampleRate = 1.0F; // samples/second
private IMotionDataConsumer motionDataConsumer = (p1, p2, p3, p4, p5) -> {};
private GesturePath path;
private WebSocket socket;
private final float sampleRate = 10.0F; // samples/second
private IMotionDataConsumer motionDataConsumer = (p1, p2, p3, p4, p5) -> { };
private WebServer server;
public MotionProcessor() {}
@@ -37,20 +41,14 @@ public class MotionProcessor {
*/
public void startListening() {
// Create socket server
this.socket = WebSocket.createServer();
this.server = WebServer.createServer();
Log.i("MotionProcessor", "Listening for incoming connections.");
// Check if the socket
if (socket != null) {
if (server != null) {
// Update event handler to match our functionality.
socket.setEventHandler(new IWebSocketHandler() {
@Override
public void onMessageReceived(WebSocket.Message message, WebSocket.MessageReply replier) {
parsePacket(message.message);
}
});
socket.startListening();
server.setEventHandler(this::parsePacket);
}
}
@@ -60,44 +58,55 @@ public class MotionProcessor {
* the WebSocket server.
*/
public void stopListening() {
if (socket != null) {
socket.stop();
if (server != null) {
server.stop();
}
}
/**
* Function for parsing arbitrary packet data.
*
* @param data The data to parse.
*/
public void parsePacket(@NotNull String data) {
// If the message starts with 'data', it's a data packet.
if ( data.startsWith("data")) {
Log.i("MotionProcessor", "Received data packet: " + data.split(" ")[1]);
MotionData parsedData = MotionData.decode(data.split(" ")[1]);
if (parsedData != null) {
addMotionData(parsedData);
}
// Otherwise check if it starts with 'calibrate', this is the ZERO point.
} else if ( data.startsWith("zero")) { // message to calibrate device
String[] vectorData = data.split(" ")[1].split(DELIMITER);
ZERO = new Vector3f(
Float.parseFloat(vectorData[0]),
Float.parseFloat(vectorData[1]),
Float.parseFloat(vectorData[2])
);
Log.i("MotionProcessor", "Device calibrated at " + ZERO.toString());
} else if ( data.startsWith("sampleRate")) {
this.sampleRate = Float.parseFloat(data.split(" ")[1]);
}
}
/**
* Function for setting the gesture path of the processor.
*
* @param path The path to set.
*/
public void setGesturePath(GesturePath path) {
this.path = path;
try {
JsonElement json = JsonParser.parseString(data);
if (!json.isJsonObject())
return;
JsonObject object = json.getAsJsonObject();
String[] required = {
"rotationX", "rotationY", "rotationZ",
"accelerationX", "accelerationY", "accelerationZ",
"type",
"deviceId"
};
// Ensure all properties are present in the received JSON object
for (String s : required) {
if (!object.has(s))
return;
}
// Parse the data
Vector3f rotation = new Vector3f(object.get("rotationX").getAsFloat(), object.get("rotationY").getAsFloat(), object.get("rotationZ").getAsFloat());
Vector3f acceleration = new Vector3f(object.get("accelerationX").getAsFloat(), object.get("accelerationY").getAsFloat(), object.get("accelerationZ").getAsFloat());
int deviceId = object.get("deviceId").getAsInt();
String type = object.get("type").getAsString();
MotionData motionData = new MotionData(rotation, acceleration, deviceId);
if (type.equals("calibrate")) {
ZERO = getRelativeVector(motionData);
return;
}
addMotionData(motionData);
} catch (Exception e) {
// Don't do anything ... just ignore the exception
}
}
/**
@@ -106,29 +115,35 @@ public class MotionProcessor {
* @param data The motion data to add.
*/
public void addMotionData(MotionData data) {
preprocessedData.add(data);
Vector3f previous = this.relativePath.isEmpty() ? ZERO : this.relativePath.get(this.relativePath.size() - 1);
List<Vector3f> target;
if (data.sensorId == 0)
target = relativeLeftPath;
else target = relativeRightPath;
Vector3f previous = target.isEmpty() ? ZERO : target.get(target.size() - 1);
Vector3f relativeVector = getRelativeVector(data).add(previous);
this.relativePath.add(relativeVector);
motionDataConsumer.accept(relativeVector, data, this.relativePath.size(), this.sampleRate, data.sensorId);
target.add(relativeVector);
motionDataConsumer.accept(relativeVector, data, target.size(), this.sampleRate, data.sensorId);
}
/**
* Function for updating the relative path.
*
* @param relativePath The new relative path.
* @param relativeRightPath The new relative path.
*/
public void setRelativePath(List<Vector3f> relativePath) {
this.relativePath.clear();
this.relativePath.addAll(relativePath);
public void setRelativePaths(List<Vector3f> relativeLeftPath, List<Vector3f> relativeRightPath) {
this.relativeRightPath.clear();
this.relativeLeftPath.clear();
this.relativeLeftPath.addAll(relativeLeftPath);
this.relativeRightPath.addAll(relativeRightPath);
}
/**
* Function for setting the motion data receiver.
*
* @param consumer The consumer to set.
*/
public void setMotionDataEventHandler(IMotionDataConsumer consumer) {
if ( consumer != null)
if (consumer != null)
this.motionDataConsumer = consumer;
}
@@ -163,48 +178,21 @@ public class MotionProcessor {
*/
public List<Double> getErrors(GesturePath referencePath) {
// Return the errors of the relative path compared to the reference path.
return relativePath
.stream()
.map(referencePath::getError)
.collect(Collectors.toList());
}
/**
* Function for getting the error offsets of the motion data compared to the
* reference path.
*
* @return A list of error offsets of the motion data compared to the reference path.
* If no path is set, an empty list will be returned.
*/
public List<Double> getErrors() {
if ( path == null)
return new ArrayList<>();
return getErrors(path);
List<Double> errors = new ArrayList<>();
for (Vector3f vector : relativeRightPath) {
errors.add(referencePath.getError(vector));
}
return errors;
}
/**
* Function for getting the error of the motion data compared to the reference path.
*
* @param path The path to compare the motion data to.
* @param path The path to compare the motion data to.
* @param referencePoint The reference point to compare the motion data to.
* @return The error of the motion data compared to the reference path.
*/
public double getError(GesturePath path, Vector3f referencePoint)
{
return path.getError(referencePoint);
}
/**
* Function for getting the error of the provided vector and the set path.
* If no path is set, the error will be 0.
*
* @param referencePoint The reference point to compare the path data to.
* @return The error of the motion data compared to the reference path.
*/
public double getError(Vector3f referencePoint) {
if ( path == null)
return 0;
public double getError(GesturePath path, Vector3f referencePoint) {
return path.getError(referencePoint);
}
@@ -215,24 +203,12 @@ public class MotionProcessor {
* @param referencePath The reference path to compare the motion data to.
* @return The average error of the motion data compared to the reference path.
*/
public double getAverageError(GesturePath referencePath) {
return getErrors(referencePath)
.stream()
.mapToDouble(Double::doubleValue)
.average()
.orElse(0.0D);
}
/**
* Function for calculating the average error of the motion data
* compared to the reference path.
*
* @return The average error of the motion data compared to the reference path.
*/
public double getAverageError() {
if ( path == null)
return 0;
return getAverageError(path);
public double getAverageError(GesturePath referencePath, int sensorId) {
double error = 0;
for (Double e : getErrors(referencePath)) {
error += e;
}
return error / Math.max(1, (sensorId == 0 ? relativeLeftPath : relativeRightPath).size());
}
/**
@@ -241,8 +217,7 @@ public class MotionProcessor {
* @param referencePath The reference path to compare the motion data to.
*/
public void logStatistics(GesturePath referencePath) {
Log.i("MotionProcessor", "Average path error: " + getAverageError(referencePath));
Log.i("MotionProcessor", "Path length: " + relativePath.size());
Log.i("MotionProcessor", "Path length: " + relativeRightPath.size());
Log.i("MotionProcessor", "Sample rate: " + sampleRate);
Log.i("MotionProcessor", "Calibration point: " + ZERO.toString());
}

View File

@@ -0,0 +1,11 @@
package com.example.fitbot.util.server;
import java.net.Socket;
/**
* Interface for handling WebSocket events.
*/
public interface IWebServerHandler {
void onReceive(String body);
}

View File

@@ -1,18 +0,0 @@
package com.example.fitbot.util.server;
import java.net.Socket;
/**
* Interface for handling WebSocket events.
*/
public interface IWebSocketHandler {
// Function for handling the connection of the WebSocket.
default void onConnected(Socket socket) {}
default void onDisconnected(Socket socket) {}
default void onMessageReceived(WebSocket.Message message, WebSocket.MessageReply replier) {}
default void onError(Socket socket, String error) {}
}

View File

@@ -0,0 +1,134 @@
package com.example.fitbot.util.server;
import android.util.Log;
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.net.InetSocketAddress;
import java.net.ServerSocket;
import java.net.Socket;
import java.util.Collections;
import java.util.HashSet;
import java.util.Set;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.Consumer;
public class WebServer implements Runnable {
private ServerSocket serverSocket;
protected IWebServerHandler eventHandler = (input) -> {}; // No-op.
private Thread thread;
private AtomicBoolean forceClose = new AtomicBoolean(false);
/**
* Constructor for creating a new WebSocket server.
*/
private WebServer() {
}
/**
* Function for creating a new WebSocket server given the provided port.
*
* @return A WebSocket connection, or null if something went wrong.
*/
public static WebServer createServer() {
try {
WebServer server = new WebServer();
server.serverSocket = new ServerSocket();
server.serverSocket.bind(new InetSocketAddress(3445));
server.serverSocket.setSoTimeout(0);
Log.i("WebServer", "Server created: " + server.serverSocket.getLocalSocketAddress() + ", " + server.serverSocket.getLocalPort());
server.thread = new Thread(server);
server.thread.start();
return server;
} catch (IOException error) {
String cause = error.getMessage() == null ? "Unknown reason" : error.getMessage();
Log.e("WebServer", cause);
return null;
}
}
@Override
public void run() {
// Listen for new connections until the socket closes.
while (this.isConnected() && !this.forceClose.get()) {
try {
// Find a new connection
Socket newSocket = this.serverSocket.accept();
InputStream streamIn = newSocket.getInputStream();
// Read the incoming data
BufferedReader reader = new BufferedReader(new InputStreamReader(streamIn));
StringBuilder builder = new StringBuilder();
String line;
while ((line = reader.readLine()) != null)
builder.append(line).append("\n");
streamIn.close(); // Closes the reader, stream and socket connection.
String[] data = builder.toString().split("\n\n");
if ( data.length > 1) { // Check if the data is valid.
this.eventHandler.onReceive(data[1]);
}
} catch (IOException error) {
String reason = error.getMessage() == null ? "Unknown reason" : error.getMessage();
Log.e("WebServerConnectionHandler", "Error listening to Socket connections: " + reason);
break;
}
}
}
/**
* Method for stopping the WebSocket server.
*/
public void stop() {
try {
this.serverSocket.close();
this.forceClose.set(true);
} catch (IOException error) {
String cause = error.getMessage() == null ? "Unknown reason" : error.getMessage();
Log.e("WebServer", cause);
}
}
/**
* Method for setting the event handler for this WebSocket server.
*
* @param handler The handler to use. This handler will parse all events
* that occur in this WebSocket connection. The events are the followed:
* - onMessageReceived(Socket, String)
* - onConnected(Socket)
* - onDisconnected(Socket)
* - onError(Socket, String)
*/
public void setEventHandler(IWebServerHandler handler) {
this.eventHandler = handler;
}
/**
* Method for getting the ServerSocket connection
*
* @return The ServerSocket connection.
*/
public ServerSocket getSocket() {
return this.serverSocket;
}
/**
* Method for checking whether this WebSocket connection is connected.
*
* @return The connection status of the WebSocket.
*/
public boolean isConnected() {
return !this.serverSocket.isClosed();
}
}

View File

@@ -1,150 +0,0 @@
package com.example.fitbot.util.server;
import android.support.annotation.Nullable;
import android.util.Log;
import java.io.IOException;
import java.net.ServerSocket;
import java.net.Socket;
import java.util.Collections;
import java.util.HashSet;
import java.util.Set;
public class WebSocket {
private ServerSocket serverSocket;
private WebSocketConnectionHandler connectionHandler;
private final Set<Socket> clients = Collections.synchronizedSet(new HashSet<>());
protected IWebSocketHandler eventHandler = new IWebSocketHandler() {}; // NO-OP event handler.
/**
* Constructor for creating a new WebSocket server.
*/
private WebSocket() {}
/**
* Function for creating a new WebSocket server given the provided port.
* @return A WebSocket connection, or null if something went wrong.
*/
public static @Nullable WebSocket createServer() {
try {
WebSocket webSocket = new WebSocket();
webSocket.serverSocket = new ServerSocket();
webSocket.serverSocket.bind(webSocket.serverSocket.getLocalSocketAddress());
Log.i("WebSocket -- Creating new WebSocket server", "Server created: " + webSocket.serverSocket.getLocalSocketAddress() + ", " + webSocket.serverSocket.getLocalPort());
return webSocket;
} catch (IOException error)
{
String cause = error.getMessage() == null ? "Unknown reason" : error.getMessage();
Log.e("WebSocket -- Creating new WebSocket server", cause);
return null;
}
}
/**
* Method for listening for incoming connections.
*/
public void startListening() {
this.connectionHandler = new WebSocketConnectionHandler(this);
this.connectionHandler.listen();
}
/**
* Method for stopping the WebSocket server.
*/
public void stop() {
try {
this.serverSocket.close();
this.connectionHandler.stop();
} catch (IOException error) {
String cause = error.getMessage() == null ? "Unknown reason" : error.getMessage();
Log.e("WebSocket -- Closing server connection", cause);
}
}
/**
* Method for setting the event handler for this WebSocket server.
* @param handler The handler to use. This handler will parse all events
* that occur in this WebSocket connection. The events are the followed:
* - onMessageReceived(Socket, String)
* - onConnected(Socket)
* - onDisconnected(Socket)
* - onError(Socket, String)
*/
public void setEventHandler(IWebSocketHandler handler) {
this.eventHandler = handler;
}
/**
* Method for getting the ServerSocket connection
* @return The ServerSocket connection.
*/
public ServerSocket getSocket() {
return this.serverSocket;
}
/**
* Method for checking whether this WebSocket connection is connected.
* @return The connection status of the WebSocket.
*/
public boolean isConnected() {
return !this.serverSocket.isClosed();
}
/**
* Class representing a message received from a WebSocket connection.
*/
public static class Message {
// Enumerable representing message type (opcode).
public enum Opcode {
CONTINUING((byte) 0x0),
TEXT((byte) 0x1),
BINARY((byte) 0x2),
RES0((byte) 0x3), RES1((byte) 0x4), RES2((byte) 0x5), RES3((byte) 0x6), RES4((byte) 0x7),
CLOSE_CONNECTION((byte) 0x8),
PING((byte) 0x9),
PONG((byte) 0xA),
RES5((byte) 0xB), RES6((byte) 0xC), RES7((byte) 0xD), RES8((byte) 0xE), RES9((byte) 0xF);
byte opcode;
Opcode(final byte opcode) {
this.opcode = opcode;
}
/**
* Method for decoding the opcode of a message.
* @param opcode The opcode to decode.
* @return The message type.
*/
public static Opcode decode(byte opcode) {
return Opcode.values()[opcode & 0xF];
}
// Returns the opcode of this message type.
public byte getOpcode() { return this.opcode; }
}
public String message;
public WebSocketConnection connection;
/**
* Constructor for a WebSocket message.
* @param message The message that was sent
* @param connection The connection where the message came from.
*/
public Message(WebSocketConnection connection, String message) {
this.message = message;
this.connection = connection;
}
}
/**
* Interface for a message reply.
* This can be used for when a message has been received from a client
* to reply back to the client.
*/
public interface MessageReply {
void reply(String message);
}
}

View File

@@ -1,35 +0,0 @@
package com.example.fitbot.util.server;
import java.net.Socket;
public class WebSocketConnection {
private final WebSocket origin;
private final Socket socket;
/**
* Constructor for creating an arbitrary WebSocket connection (Client)
* @param connection The server connection
* @param socket The client socket
*/
public WebSocketConnection(WebSocket connection, Socket socket) {
this.origin = connection;
this.socket = socket;
}
/**
* Getter method for retrieving the WebSocket connection
* @return The WebSocket instance.
*/
public WebSocket getOrigin() {
return origin;
}
/**
* Getter method for retrieving the Client Socket connection.
* @return The Socket connection.
*/
public Socket getSocket() {
return socket;
}
}

View File

@@ -1,217 +0,0 @@
package com.example.fitbot.util.server;
import android.util.Log;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.net.Socket;
import java.nio.charset.StandardCharsets;
import java.security.MessageDigest;
import java.security.NoSuchAlgorithmException;
import java.util.ArrayList;
import java.util.Base64;
import java.util.Collections;
import java.util.List;
import java.util.Scanner;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
public class WebSocketConnectionHandler implements Runnable {
private final WebSocket theSocket;
private List<Socket> clients = Collections.synchronizedList(new ArrayList<>());
private Thread thread;
private boolean forceClose = false;
/**
* Constructor for WebSocketConnectionHandler.
* This class handles all new incoming Socket connections.
*
* @param webSocket The socket to check for new connections.
*/
protected WebSocketConnectionHandler(WebSocket webSocket) {
this.theSocket = webSocket;
}
@Override
public void run() {
// Listen for new connections until the socket closes.
while (theSocket.isConnected()) {
try {
// Find a new connection
Socket newSocket = this.theSocket.getSocket().accept();
this.theSocket.eventHandler.onConnected(newSocket);
clients.add(newSocket);
InputStream streamIn = newSocket.getInputStream();
OutputStream streamOut = newSocket.getOutputStream();
// Check if the connection was successfully upgraded to WebSocket
if (upgradeConnection(streamIn, streamOut)) {
applyMessageDecoder(streamIn);
}
} catch (IOException error) {
String reason = error.getMessage() == null ? "Unknown reason" : error.getMessage();
Log.e("WebSocketConnectionHandler", "Error listening to Socket connections: " + reason);
break;
}
}
}
/**
* Method for upgrading a HTTP connection to a WebSocket connection.
* This checks whether the client sent a GET header and sends back
* the required headers to upgrade the connection.
* @param streamIn The InputStream of the client socket connection.
* @param streamOut The OutputStream of the client socket connection.
* @return Whether or not the connection was successfully upgraded.
*/
private boolean upgradeConnection(InputStream streamIn, OutputStream streamOut) {
Scanner scanner = new Scanner(streamIn, "UTF-8");
String data = scanner.useDelimiter("\\r\\n\\r\\n").next();
Matcher header = Pattern.compile("^GET").matcher(data);
// Check if the header contains the GET keyword
// If this is the case, upgrade the HTTP connection to WebSocket.
if (!header.find())
return false;
Matcher match = Pattern.compile("Sec-WebSocket-Key: (.*)").matcher(data);
match.find(); // Get next match
try {
String SECAccept = Base64.getEncoder().encodeToString(
MessageDigest.getInstance("SHA-1").digest((match.group(1) + "258EAFA5-E914-47DA-95CA-C5AB0DC85B11").getBytes(StandardCharsets.UTF_8)));
byte[] response = (
"HTTP/1.1 101 Switching Protocols\r\n" +
"Connection: Upgrade\r\n" +
"Upgrade: websocket\r\n" +
"Sec-WebSocket-Accept: " +
SECAccept + "\r\n\r\n").getBytes(StandardCharsets.UTF_8);
streamOut.write(response, 0, response.length);
} catch (IOException | NoSuchAlgorithmException error) {
Log.e("WebSocketConnectionHandler", "Failed upgrading HTTP to WebSocket connection" + error.getMessage());
return false;
}
return true;
}
/**
* Method for applying a message decoder for whenever a socket receives data.
* This method attemps to decode a message received from a WebSocket connection.
* This message is in the
* @param streamIn The message stream to decode.
*/
private void applyMessageDecoder(InputStream streamIn) {
// TODO: Implement
}
/**
* Method for decoding an encoded WebSocket message
* @param bytes The message to decode, in UTF-8 format.
* @return The decoded message.
* @throws IllegalArgumentException When the `frame` content is in an incorrect format.
*/
public static String decodeWebSocketMessage(byte[] bytes) {
// Check if the packet isn't corrupted
if (bytes.length <= 2 || (bytes[0] & 0b1110) != 0)
throw new IllegalArgumentException("Attempted to decode corrupted WebSocket frame data");
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
long extendedPayloadLength = 0;
int byteOffset = 2;
// Check whether the payload length is 16-bit
if (payloadLength == 126) {
// 16-bit extended payload length (byte 2 and 3)
extendedPayloadLength = ((bytes[2] & 0xFF) << 8) | (bytes[3] & 0xFF);
byteOffset += 2;
// Check whether payload length is 64-bit
} else if (payloadLength == 127) {
// 64-bit extended payload length
for (int i = 0; i < 8; i++)
extendedPayloadLength |= (long) (bytes[2 + i] & 0xFF) << ((7 - i) * 8);
byteOffset += 8;
} else {
extendedPayloadLength = payloadLength;
}
byte[] maskingKey = null;
byte[] payloadData = new byte[(int) extendedPayloadLength];
// Check if the MASK bit was set, if so, copy the key to the `maskingKey` array.
if (masked) {
maskingKey = new byte[4];
System.arraycopy(bytes, byteOffset, maskingKey, 0, 4); // move mask bytes
byteOffset += 4;
}
// Copy payload bytes into `payloadData` array.
System.arraycopy(bytes, byteOffset, payloadData, 0, payloadData.length);
// If mask is present, decode the payload data with the mask.
if (masked)
for (int i = 0; i < payloadData.length; i++)
payloadData[i] ^= maskingKey[i % 4];
// Convert payload data to string
return new String(payloadData, StandardCharsets.UTF_8);
}
/**
* Method for checking whether the connection handler is actively listening.
* @return Whether it's listening.
*/
public boolean isActive() {
return this.thread.isAlive();
}
/**
* Method for listening to all new incoming socket connections.
*/
public void listen() {
this.thread = new Thread(this);
this.thread.start();
Log.i("WebSocketConnectionHandler", "Listening started.");
}
/**
* Method for stopping the connection handler.
*/
public void stop() {
// Close the socket connection if not already closed
if (!this.theSocket.getSocket().isClosed()) {
try {
this.theSocket.getSocket().close();
} catch (IOException error) {
Log.e("WebSocketConnectionHandler", "Failed to close the socket connection: " + error.getMessage());
}
}
// Interrupt the thread
this.thread.interrupt();
// Close all connections
this.clients.forEach(client -> {
try {
client.close();
} catch (IOException error) {
Log.e("WebSocketConnectionHandler", "Failed to close client: " + error.getMessage());
}
});
this.clients.clear();
Log.i("WebSocketConnectionHandler", "Listening stopped.");
}
}

View File

@@ -1,36 +0,0 @@
package com.example.fitbot;
import static org.junit.Assert.assertEquals;
import com.example.fitbot.util.server.WebSocketConnectionHandler;
import org.junit.Test;
/**
* Created on 07/05/2024 at 18:27
* by Luca Warmenhoven.
*/
public class WebSocketMessageParsingTest {
@Test
public void parseWebSocketMessage() {
String reference = "abcdef";
final byte[] encoded = {
(byte) 129, (byte) 134, (byte) 167,
(byte) 225, (byte) 225, (byte) 210,
(byte) 198, (byte) 131, (byte) 130,
(byte) 182, (byte) 194, (byte) 135
};
String decoded = "";
try {
decoded = WebSocketConnectionHandler.decodeWebSocketMessage(encoded);
} catch (Exception e) {
System.err.println("Error occurred whilst attempting to parse input" + e.getMessage());
}
assertEquals(reference, decoded);
}
}