diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/Exercise.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/Exercise.java
index 18153d7..7444f2b 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/Exercise.java
+++ b/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 GesturePath rightPath;
+ public final AnglePath leftPath;
+ public final AnglePath rightPath;
public final String name;
public final String shortDescription;
public final String description;
@@ -26,7 +26,10 @@ public class Exercise {
* @param imageUrl The URL of the image.
* @param videoUrl The URL of the video.
*/
- public Exercise(EMuscleGroup muscleGroup, String name,String shortDescription, String description, String imageUrl, String videoUrl, GesturePath leftPath, GesturePath rightPath, float exerciseTimeInSeconds) {
+ public Exercise(EMuscleGroup muscleGroup, String name, String shortDescription,
+ String description, String imageUrl, String videoUrl,
+ AnglePath leftPath, AnglePath rightPath, float exerciseTimeInSeconds) {
+
this.name = name;
this.muscleGroup = muscleGroup;
this.shortDescription = shortDescription;
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseManager.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseManager.java
index 0de72d0..8a9750e 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseManager.java
+++ b/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;
@@ -118,8 +118,8 @@ public class ExerciseManager {
content.get(PROPERTY_DESC).getAsString(),
content.get(PROPERTY_IMAGE_URL).getAsString(),
content.get(PROPERTY_VIDEO_URL).getAsString(),
- GesturePath.fromString(leftRightData[0]),
- GesturePath.fromString(leftRightData[1]),
+ AnglePath.fromString(leftRightData[0]),
+ AnglePath.fromString(leftRightData[1]),
DEFAULT_SEGMENT_SPEED
);
} catch (Exception e) {
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
index 7282278..c6a89ab 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
@@ -3,13 +3,10 @@ package com.example.fitbot.ui.activities;
import android.app.Dialog;
import android.content.Context;
import android.graphics.drawable.ColorDrawable;
-import android.media.MediaPlayer;
-import android.net.Uri;
import android.os.Bundle;
import android.util.Log;
import android.widget.TextView;
import android.view.View;
-import android.view.WindowManager;
import android.widget.Button;
import android.widget.VideoView;
@@ -102,7 +99,7 @@ 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);
@@ -147,12 +144,7 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
// Set a listener to repeat the video
while (EXERCISE_REP > 1) {
- videoView.setOnCompletionListener(new MediaPlayer.OnCompletionListener() {
- @Override
- public void onCompletion(MediaPlayer mp) {
- videoView.start(); // start the video again
- }
- });
+ videoView.setOnCompletionListener(mp -> videoView.start()); // start the video again);
EXERCISE_REP--;
}
});
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
index 3aaca38..934a9df 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
+++ b/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;
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/AnglePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/AnglePath.java
new file mode 100644
index 0000000..7df8ef9
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/AnglePath.java
@@ -0,0 +1,63 @@
+package com.example.fitbot.util.path;
+
+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.
+ * 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.
+ *
+ * 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 AnglePath 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 AnglePath(vectors);
+ }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
deleted file mode 100644
index f3b8cb3..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
+++ /dev/null
@@ -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.
- *
- * 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);
- }
-}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/InputProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/InputProcessor.java
index e95008a..8e358b7 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/InputProcessor.java
+++ b/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[] selfRotationVectorPaths; // Relative path of the motion data
+ //private Vector3f[][] selfRotationVectorPaths; // Relative path of the motion data
private Vector3f[][] targetRotationVectorPaths; // Target path of the motion data
private final float sampleRate; // The sample rate of the motion sensor
private float exerciseDurationInSeconds;
+ private float exerciseScore = 0.0F;
+
/**
* This field is used to determine if the motion data is being recorded.
* If this is the case, instead of functioning normally, the element
@@ -45,7 +51,7 @@ public class InputProcessor {
private IInputHandler motionDataConsumer;
private static final String[] REQUIRED_SENSOR_JSON_PROPERTIES =
- {"rotationX", "rotationY", "rotationZ", "type", "deviceId"};
+ {"rotationX", "rotationY", "rotationZ", "deviceId"};
// The web server that listens for incoming motion data.
private WebServer server;
@@ -60,7 +66,9 @@ public class InputProcessor {
* @param inputSampleRate The sample rate of the motion sensor.
*/
public InputProcessor(Vector3f[][] paths, float exerciseTime, float inputSampleRate) {
- selfRotationVectorPaths = new Vector3f[paths.length][(int) (exerciseTime * inputSampleRate)];
+ this.selfRotationVectorPaths = new ArrayList[2];
+ this.selfRotationVectorPaths[0] = new ArrayList<>();
+ this.selfRotationVectorPaths[1] = new ArrayList<>();
targetRotationVectorPaths = paths;
this.sampleRate = inputSampleRate;
@@ -78,10 +86,11 @@ public class InputProcessor {
if ( this.recordingMovement )
throw new IllegalStateException("Cannot change exercise while recording movement.");
- this.selfRotationVectorPaths = new Vector3f[2][(int) (exercise.exerciseTimeInSeconds * this.sampleRate)];
- this.targetRotationVectorPaths = new Vector3f[2][exercise.rightPath.getVectors().length];
- this.targetRotationVectorPaths[0] = exercise.leftPath.getVectors();
- this.targetRotationVectorPaths[1] = exercise.rightPath.getVectors();
+ this.selfRotationVectorPaths[0] = new ArrayList<>();
+ this.selfRotationVectorPaths[1] = new ArrayList<>();
+ this.targetRotationVectorPaths = new Vector3f[2][exercise.rightPath.getAngleVectors().length];
+ this.targetRotationVectorPaths[0] = exercise.leftPath.getAngleVectors();
+ this.targetRotationVectorPaths[1] = exercise.rightPath.getAngleVectors();
this.exerciseDurationInSeconds = exercise.exerciseTimeInSeconds;
this.secondsPassed = 0.0D;
this.lastTime = System.currentTimeMillis();
@@ -101,7 +110,8 @@ public class InputProcessor {
if (recording) {
this.secondsPassed = 0.0D;
this.lastTime = System.currentTimeMillis();
- this.selfRotationVectorPaths = new Vector3f[2][(int) (duration * this.sampleRate)];
+ this.selfRotationVectorPaths[0] = new ArrayList<>();
+ this.selfRotationVectorPaths[1] = new ArrayList<>();
}
}
@@ -161,7 +171,8 @@ public class InputProcessor {
try {
Log.i("MotionProcessor", "Time passed: " + this.secondsPassed + "s");
- Log.i("MotionProcessor", "Recording: " + this.recordingMovement + ", " + this.secondsPassed + " / " + this.recordingDurationInSeconds);
+ if ( this.recordingMovement)
+ Log.i("MotionProcessor", this.secondsPassed + " / " + this.recordingDurationInSeconds);
Log.i("MotionProcessor", "Received packet data: " + data);
JsonElement json = JsonParser.parseString(data);
@@ -178,9 +189,11 @@ public class InputProcessor {
}
// Parse the data
- Vector3f rotation = new Vector3f(object.get("rotationX").getAsFloat(), object.get("rotationY").getAsFloat(), object.get("rotationZ").getAsFloat());
+ Vector3f rotation = new Vector3f(
+ object.get("rotationX").getAsFloat(),
+ object.get("rotationY").getAsFloat(),
+ object.get("rotationZ").getAsFloat());
int deviceId = object.get("deviceId").getAsInt();
- String type = object.get("type").getAsString();
// Parse the retrieved data
parseRotationVector(rotation, deviceId);
@@ -203,7 +216,7 @@ public class InputProcessor {
// Supposed index of the current rotation vector in the `rotationVectorPaths` array
- int selfIndex = (int) (secondsPassed * sampleRate);
+ this.selfRotationVectorPaths[deviceId].add(rotation);
if ( this.recordingMovement && this.secondsPassed >= this.recordingDurationInSeconds) {
// Do something with the recorded data.
@@ -217,11 +230,8 @@ public class InputProcessor {
Log.i("MotionProcessor", "Converted data: ");
Log.i("MotionProcessor", converted);
}
- motionDataConsumer.accept(rotation, deviceId);
- if (selfIndex >= selfRotationVectorPaths[deviceId].length || selfIndex < 0)
- return;
- selfRotationVectorPaths[deviceId][selfIndex] = rotation;
+ motionDataConsumer.accept(rotation, deviceId);
}
}
@@ -234,38 +244,36 @@ public class InputProcessor {
*/
private String convertRecordedDataToString()
{
- // First, remove empty entries
- StringBuilder pathBuilder = new StringBuilder();
-
int[] intBits = new int[3];
char[] vectorChars = new char[12]; // 4 bytes per scalar, 12 chars per vector
+ JsonArray jsonArray = new JsonArray();
+ /*
+ * Convert to JSON array in the following format:
+ * [
+ * { "deviceId": number, "data": [ [x, y, z], [x, y, z], ... ] },
+ * ]
+ */
// Iterate over all devices. In the current instance, it's 2.
for ( int deviceId = 0; deviceId < selfRotationVectorPaths.length; deviceId++) {
- for (Vector3f dataPoint : selfRotationVectorPaths[deviceId]) {
- if (dataPoint != null) {
- // Convert float to int bits for conversion to char
- intBits[0] = Float.floatToIntBits(dataPoint.x);
- intBits[1] = Float.floatToIntBits(dataPoint.y);
- intBits[2] = Float.floatToIntBits(dataPoint.z);
+ JsonObject jsonDeviceObject = new JsonObject();
+ jsonDeviceObject.addProperty("deviceId", deviceId);
- // Convert int bits to char, in Big Endian order.
- // This is important for converting back to float later.
- for (int i = 0; i < 3; i++) {
- vectorChars[i * 4] = (char) (intBits[i] >> 24);
- vectorChars[i * 4 + 1] = (char) (intBits[i] >> 16);
- vectorChars[i * 4 + 2] = (char) (intBits[i] >> 8);
- vectorChars[i * 4 + 3] = (char) intBits[i];
- }
+ // Data array
+ JsonArray jsonDeviceDataArray = new JsonArray();
- pathBuilder.append(vectorChars);
- }
+ for ( Vector3f vector : selfRotationVectorPaths[deviceId]) {
+ JsonArray jsonScalarArray = new JsonArray();
+ jsonScalarArray.add(vector.x);
+ jsonScalarArray.add(vector.y);
+ jsonScalarArray.add(vector.z);
+ jsonDeviceDataArray.add(jsonScalarArray);
}
- // Add a separator between devices
- if ( deviceId < selfRotationVectorPaths.length - 1)
- pathBuilder.append(ExerciseManager.PATH_DELIMITER);
+ jsonDeviceObject.add("data", jsonDeviceDataArray);
+
+ jsonArray.add(jsonDeviceObject);
}
- return pathBuilder.toString();
+ return jsonArray.toString();
}
/**
@@ -288,6 +296,13 @@ public class InputProcessor {
this.motionDataConsumer = consumer;
}
+ /**
+ * Function for getting the combined (average) error value of both sensors.
+ public double getCombinedError()
+ {
+
+ }*/
+
/**
* Function for getting the error offsets of the user's path compared to the
* target path at a given point in time.
@@ -300,7 +315,7 @@ public class InputProcessor {
*/
public double getError(int sensorId, float time) {
- // Ensure the sensor ID is within the bounds of the array
+ /*// Ensure the sensor ID is within the bounds of the array
if (sensorId < 0 || sensorId >= selfRotationVectorPaths.length)
return 0.0d;
@@ -316,7 +331,7 @@ public class InputProcessor {
this.targetRotationVectorPaths[sensorId][targetIndex] != null
) {
return this.selfRotationVectorPaths[sensorId][selfIndex].distance(this.targetRotationVectorPaths[sensorId][targetIndex]);
- }
+ }*/
return 0.0d;
}
diff --git a/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java b/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java
deleted file mode 100644
index 0ab0f1d..0000000
--- a/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java
+++ /dev/null
@@ -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));
- }
-
-
-}