Smikkelbakje/J1B4-Fitbot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Attempt to make good

Browse Source
This commit is contained in:
Luca Warmenhoven
2024-05-28 15:28:09 +02:00
parent 80ef0ac99e
commit c527289c68
2 changed files with 84 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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

@@ -152,7 +152,7 @@ public class PersonalMotionPreviewElement extends View {
);
timePassed = (System.nanoTime() - startingTime) / 1E9D;
this.exerciseProgress = timePassed*.4 % 1.0d;
this.exerciseProgress = Math.min(1, this.motionProcessor.getAverageError() / 10);
this.invalidate(); // Causes a redraw.
}

122
code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
View File

@@ -2,11 +2,11 @@ package com.example.fitbot.util.processing;
import android.util.Log;
import com.aldebaran.qi.sdk.QiContext;
import com.example.fitbot.util.FitnessCycle;
import com.example.fitbot.util.path.GesturePath;
import com.example.fitbot.util.server.IWebServerHandler;
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;
@@ -20,11 +20,16 @@ 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 final float sampleRate = 10.0F; // samples/second
private IMotionDataConsumer motionDataConsumer = (p1, p2, p3, p4, p5) -> {
};
private GesturePath path;
private WebServer server;
@@ -65,30 +70,51 @@ public class MotionProcessor {
/**
* 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);
try {
JsonElement json = JsonParser.parseString(data);
if (!json.isJsonObject())
return;
JsonObject object = json.getAsJsonObject();
// Object must contain device identifier
if (!object.has("deviceId"))
return;
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;
}
// 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);
} else if ( data.startsWith("sampleRate")) {
this.sampleRate = Float.parseFloat(data.split(" ")[1]);
} else {
Log.i("MotionProcessor", "Received unknown packet: " + data);
// 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
}
}
@@ -108,24 +134,31 @@ public class MotionProcessor {
*/
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 setRelativeRightPath(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) {
@@ -164,11 +197,11 @@ 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());
List<Double> errors = new ArrayList<>();
for (Vector3f vector : relativeRightPath) {
errors.add(referencePath.getError(vector));
}
return errors;
}
/**
@@ -191,8 +224,7 @@ public class MotionProcessor {
* @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)
{
public double getError(GesturePath path, Vector3f referencePoint) {
return path.getError(referencePoint);
}
@@ -217,11 +249,11 @@ public class MotionProcessor {
* @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);
double error = 0;
for (Double e : getErrors(referencePath)) {
error += e;
}
return error / Math.max(1, relativeRightPath.size());
}
/**
@@ -243,7 +275,7 @@ public class MotionProcessor {
*/
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());
}