Updated InputProcessor's convertRecordedDataToString to JSON output, updated GesturePath -> AnglePath

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

@@ -1,12 +1,12 @@
 package com.example.fitbot.exercise;
 
-import com.example.fitbot.util.path.GesturePath;
+import com.example.fitbot.util.path.AnglePath;
 
 public class Exercise {
 
     public final EMuscleGroup muscleGroup;
-    public final GesturePath leftPath;
+    public final AnglePath leftPath;
-    public final GesturePath rightPath;
+    public final AnglePath rightPath;
     public final String name;
     public final String shortDescription;
     public final String description;
@@ -26,7 +26,10 @@ public class Exercise {
      * @param imageUrl          The URL of the image.
      * @param videoUrl          The URL of the video.
      */
-    public Exercise(EMuscleGroup muscleGroup, String name,String shortDescription, String description, String imageUrl, String videoUrl, GesturePath leftPath, GesturePath rightPath, float exerciseTimeInSeconds) {
+    public Exercise(EMuscleGroup muscleGroup, String name, String shortDescription,
+                    String description, String imageUrl, String videoUrl,
+                    AnglePath leftPath, AnglePath rightPath, float exerciseTimeInSeconds) {
+
         this.name = name;
         this.muscleGroup = muscleGroup;
         this.shortDescription = shortDescription;

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

@@ -1,6 +1,6 @@
 package com.example.fitbot.exercise;
 
-import com.example.fitbot.util.path.GesturePath;
+import com.example.fitbot.util.path.AnglePath;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonParser;
 
@@ -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]),
+                        AnglePath.fromString(leftRightData[0]),
-                        GesturePath.fromString(leftRightData[1]),
+                        AnglePath.fromString(leftRightData[1]),
                         DEFAULT_SEGMENT_SPEED
                 );
             } catch (Exception e) {

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() {
+                        videoView.setOnCompletionListener(mp -> videoView.start()); // start the video again);
-                            @Override
-                            public void onCompletion(MediaPlayer mp) {
-                                videoView.start(); // start the video again
-                            }
-                        });
                         EXERCISE_REP--;
                     }
                 });

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

@@ -16,6 +16,7 @@ import android.view.WindowManager;
 import android.widget.Button;
 
 import com.example.fitbot.R;
+import com.example.fitbot.pepper.Pepper;
 import com.example.fitbot.util.NavigationManager;
 
 import java.io.OutputStream;

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

@@ -0,0 +1,63 @@
+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.
+     * <p>
+     * Note: ASCII to Vector conversion is done in Big Endian format (most significant byte first).
+     *
+     * @param input The string to convert
+     * @return The GesturePath object
+     */
+
+    public static 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);
+    }
+}

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

@@ -1,126 +0,0 @@
-package com.example.fitbot.util.path;
-
-import org.joml.Vector3f;
-
-public class GesturePath {
-
-    // The vectors that make up the path.
-    private final PathSegment[] segments;
-
-    /**
-     * Create a new gesture path with a given set of vectors and curvature.
-     *
-     * @param vectors The vectors that make up the path.
-     */
-    public GesturePath(Vector3f[] vectors) {
-        if (vectors.length < 2) {
-            this.segments = new PathSegment[1];
-            this.segments[0] = new PathSegment(
-                    new Vector3f(0, 0, 0),
-                    new Vector3f(0, 0, 0)
-            );
-            return;
-        }
-
-        this.segments = new PathSegment[vectors.length - 1];
-        for (int i = 0; i < vectors.length - 1; i++)
-            segments[i] = new PathSegment(vectors[i], vectors[i + 1]);
-    }
-
-    /**
-     * Constructor for a GesturePath with provided PathSegments.
-     *
-     * @param segments The PathSegments to initialize the path with.
-     */
-    public GesturePath(PathSegment... segments) {
-        this.segments = segments;
-    }
-
-    /**
-     * Getter method for retrieving the path segments of this GesturePath.
-     *
-     * @return The path segments.
-     */
-    public PathSegment[] getSegments() {
-        return segments;
-    }
-
-    /**
-     * Method for retrieving the vectors of the GesturePath.
-     */
-    public Vector3f[] getVectors() {
-        Vector3f[] vectors = new Vector3f[segments.length + 1];
-        vectors[0] = segments[0].getStart();
-        for (int i = 0; i < segments.length; i++)
-            vectors[i + 1] = segments[i].getEnd();
-
-        return vectors;
-    }
-
-    /**
-     * Method for retrieving the closest path segment to a reference point.
-     *
-     * @param reference The reference point to find the closest path segment to.
-     * @return The closest path segment to the reference point.
-     */
-    public PathSegment closest(Vector3f reference) {
-        // If there's only one segment, return that one.
-        if (segments.length == 1)
-            return segments[0];
-
-        PathSegment closest = segments[0];
-        for (int i = 1; i < segments.length; i++)
-            closest = PathSegment.closer(closest, segments[i], reference);
-
-        return closest;
-    }
-
-    /**
-     * Get the error between an arbitrary path segment and the reference point.
-     *
-     * @param referencePoint The reference point to calculate the error of.
-     * @return The error offset between the path and the reference point.
-     */
-    public double getError(Vector3f referencePoint) {
-        return closest(referencePoint).difference(referencePoint); // Get the closest segment and calculate the error.
-    }
-
-
-    /**
-     * Function for converting a string to a GesturePath object.
-     * The input string bytes will be directly converted into 3d vectors.
-     * Every scalar is composed of 32 bits (4 characters), meaning 96 bits per vector.
-     * <p>
-     * Note: ASCII to Vector conversion is done in Big Endian format (most significant byte first).
-     *
-     * @param input The string to convert
-     * @return The GesturePath object
-     */
-
-    public static GesturePath fromString(String input) {
-        if (input == null)
-            throw new IllegalArgumentException("Input string cannot be null");
-        byte[] bytes = input.getBytes();
-
-        // Check if the input string contains a valid amount of bytes (12 bytes per vector)
-        if (input.length() % 12 != 0) {
-            throw new IllegalArgumentException("Invalid input string length (" + input.length() + " bytes provided - must be a multiple of 12)");
-        }
-        Vector3f[] vectors = new Vector3f[input.length() / 12];
-
-        float[] xyz = new float[3];
-        for (int i = 0; i < bytes.length; i += 12) {
-            for (int j = 0; j < 3; j++) {
-
-                xyz[j] = Float.intBitsToFloat(
-                        (bytes[i + j * 4] & 0xFF) << 24 |
-                                (bytes[i + j * 4 + 1] & 0xFF) << 16 |
-                                (bytes[i + j * 4 + 2] & 0xFF) << 8 |
-                                (bytes[i + j * 4 + 3] & 0xFF)
-                );
-            }
-            vectors[i / 12] = new Vector3f(xyz[0], xyz[1], xyz[2]);
-        }
-        return new GesturePath(vectors);
-    }
-}

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

@@ -2,12 +2,15 @@ package com.example.fitbot.util.processing;
 
 import android.util.Log;
 
+import com.aldebaran.qi.sdk.object.geometry.Vector3;
 import com.example.fitbot.exercise.Exercise;
 import com.example.fitbot.exercise.ExerciseManager;
 import com.example.fitbot.util.server.WebServer;
+import com.google.gson.JsonArray;
 import com.google.gson.JsonElement;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonParser;
+import com.google.gson.JsonPrimitive;
 
 import org.jetbrains.annotations.NotNull;
 import org.joml.Vector3f;
@@ -17,12 +20,15 @@ import java.util.List;
 
 public class InputProcessor {
 
-    private Vector3f[][] selfRotationVectorPaths;       // Relative path of the motion data
+    private List<Vector3f>[] selfRotationVectorPaths;       // Relative path of the motion data
+    //private Vector3f[][] selfRotationVectorPaths;       // Relative path of the motion data
     private Vector3f[][] targetRotationVectorPaths; // Target path of the motion data
 
     private final float sampleRate; // The sample rate of the motion sensor
     private float exerciseDurationInSeconds;
 
+    private float exerciseScore = 0.0F;
+
     /**
      * This field is used to determine if the motion data is being recorded.
      * If this is the case, instead of functioning normally, the element
@@ -45,7 +51,7 @@ public class InputProcessor {
     private IInputHandler motionDataConsumer;
 
     private static final String[] REQUIRED_SENSOR_JSON_PROPERTIES =
-            {"rotationX", "rotationY", "rotationZ", "type", "deviceId"};
+            {"rotationX", "rotationY", "rotationZ", "deviceId"};
 
     // The web server that listens for incoming motion data.
     private WebServer server;
@@ -60,7 +66,9 @@ public class InputProcessor {
      * @param inputSampleRate The sample rate of the motion sensor.
      */
     public InputProcessor(Vector3f[][] paths, float exerciseTime, float inputSampleRate) {
-        selfRotationVectorPaths = new Vector3f[paths.length][(int) (exerciseTime * inputSampleRate)];
+        this.selfRotationVectorPaths = new ArrayList[2];
+        this.selfRotationVectorPaths[0] = new ArrayList<>();
+        this.selfRotationVectorPaths[1] = new ArrayList<>();
         targetRotationVectorPaths = paths;
 
         this.sampleRate = inputSampleRate;
@@ -78,10 +86,11 @@ public class InputProcessor {
         if ( this.recordingMovement )
             throw new IllegalStateException("Cannot change exercise while recording movement.");
 
-        this.selfRotationVectorPaths = new Vector3f[2][(int) (exercise.exerciseTimeInSeconds * this.sampleRate)];
+        this.selfRotationVectorPaths[0] = new ArrayList<>();
-        this.targetRotationVectorPaths = new Vector3f[2][exercise.rightPath.getVectors().length];
+        this.selfRotationVectorPaths[1] = new ArrayList<>();
-        this.targetRotationVectorPaths[0] = exercise.leftPath.getVectors();
+        this.targetRotationVectorPaths = new Vector3f[2][exercise.rightPath.getAngleVectors().length];
-        this.targetRotationVectorPaths[1] = exercise.rightPath.getVectors();
+        this.targetRotationVectorPaths[0] = exercise.leftPath.getAngleVectors();
+        this.targetRotationVectorPaths[1] = exercise.rightPath.getAngleVectors();
         this.exerciseDurationInSeconds = exercise.exerciseTimeInSeconds;
         this.secondsPassed = 0.0D;
         this.lastTime = System.currentTimeMillis();
@@ -101,7 +110,8 @@ public class InputProcessor {
         if (recording) {
             this.secondsPassed = 0.0D;
             this.lastTime = System.currentTimeMillis();
-            this.selfRotationVectorPaths = new Vector3f[2][(int) (duration * this.sampleRate)];
+            this.selfRotationVectorPaths[0] = new ArrayList<>();
+            this.selfRotationVectorPaths[1] = new ArrayList<>();
         }
     }
 
@@ -161,7 +171,8 @@ public class InputProcessor {
         try {
 
             Log.i("MotionProcessor", "Time passed: " + this.secondsPassed + "s");
-            Log.i("MotionProcessor", "Recording: " + this.recordingMovement + ", " + this.secondsPassed + " / " + this.recordingDurationInSeconds);
+            if ( this.recordingMovement)
+                Log.i("MotionProcessor", this.secondsPassed + " / " + this.recordingDurationInSeconds);
             Log.i("MotionProcessor", "Received packet data: " + data);
 
             JsonElement json = JsonParser.parseString(data);
@@ -178,9 +189,11 @@ public class InputProcessor {
             }
 
             // Parse the data
-            Vector3f rotation = new Vector3f(object.get("rotationX").getAsFloat(), object.get("rotationY").getAsFloat(), object.get("rotationZ").getAsFloat());
+            Vector3f rotation = new Vector3f(
+                    object.get("rotationX").getAsFloat(),
+                    object.get("rotationY").getAsFloat(),
+                    object.get("rotationZ").getAsFloat());
             int deviceId = object.get("deviceId").getAsInt();
-            String type = object.get("type").getAsString();
 
             // Parse the retrieved data
             parseRotationVector(rotation, deviceId);
@@ -203,7 +216,7 @@ public class InputProcessor {
 
 
             // Supposed index of the current rotation vector in the `rotationVectorPaths` array
-            int selfIndex = (int) (secondsPassed * sampleRate);
+            this.selfRotationVectorPaths[deviceId].add(rotation);
 
             if ( this.recordingMovement && this.secondsPassed >= this.recordingDurationInSeconds) {
                 // Do something with the recorded data.
@@ -217,11 +230,8 @@ public class InputProcessor {
                 Log.i("MotionProcessor", "Converted data: ");
                 Log.i("MotionProcessor", converted);
             }
-            motionDataConsumer.accept(rotation, deviceId);
-            if (selfIndex >= selfRotationVectorPaths[deviceId].length || selfIndex < 0)
-                return;
 
-            selfRotationVectorPaths[deviceId][selfIndex] = rotation;
+            motionDataConsumer.accept(rotation, deviceId);
         }
     }
 
@@ -234,38 +244,36 @@ public class InputProcessor {
      */
     private String convertRecordedDataToString()
     {
-        // First, remove empty entries
-        StringBuilder pathBuilder = new StringBuilder();
-
         int[] intBits = new int[3];
         char[] vectorChars = new char[12]; // 4 bytes per scalar, 12 chars per vector
+        JsonArray jsonArray = new JsonArray();
+        /*
+         * Convert to JSON array in the following format:
+         * [
+         *  { "deviceId": number, "data": [ [x, y, z], [x, y, z], ... ] },
+         * ]
+         */
 
         // Iterate over all devices. In the current instance, it's 2.
         for ( int deviceId = 0; deviceId < selfRotationVectorPaths.length; deviceId++) {
-            for (Vector3f dataPoint : selfRotationVectorPaths[deviceId]) {
+            JsonObject jsonDeviceObject = new JsonObject();
-                if (dataPoint != null) {
+            jsonDeviceObject.addProperty("deviceId", deviceId);
-                    // Convert float to int bits for conversion to char
-                    intBits[0] = Float.floatToIntBits(dataPoint.x);
-                    intBits[1] = Float.floatToIntBits(dataPoint.y);
-                    intBits[2] = Float.floatToIntBits(dataPoint.z);
 
-                    // Convert int bits to char, in Big Endian order.
+            // Data array
-                    // This is important for converting back to float later.
+            JsonArray jsonDeviceDataArray = new JsonArray();
-                    for (int i = 0; i < 3; i++) {
-                        vectorChars[i * 4] = (char) (intBits[i] >> 24);
-                        vectorChars[i * 4 + 1] = (char) (intBits[i] >> 16);
-                        vectorChars[i * 4 + 2] = (char) (intBits[i] >> 8);
-                        vectorChars[i * 4 + 3] = (char) intBits[i];
-                    }
 
-                    pathBuilder.append(vectorChars);
+            for ( Vector3f vector : selfRotationVectorPaths[deviceId]) {
+                JsonArray jsonScalarArray = new JsonArray();
+                jsonScalarArray.add(vector.x);
+                jsonScalarArray.add(vector.y);
+                jsonScalarArray.add(vector.z);
+                jsonDeviceDataArray.add(jsonScalarArray);
             }
+            jsonDeviceObject.add("data", jsonDeviceDataArray);
+
+            jsonArray.add(jsonDeviceObject);
         }
-            // Add a separator between devices
+        return jsonArray.toString();
-            if ( deviceId < selfRotationVectorPaths.length - 1)
-                pathBuilder.append(ExerciseManager.PATH_DELIMITER);
-        }
-        return pathBuilder.toString();
     }
 
     /**
@@ -288,6 +296,13 @@ public class InputProcessor {
             this.motionDataConsumer = consumer;
     }
 
+    /**
+     * Function for getting the combined (average) error value of both sensors.
+    public double getCombinedError()
+    {
+
+    }*/
+
     /**
      * Function for getting the error offsets of the user's path compared to the
      * target path at a given point in time.
@@ -300,7 +315,7 @@ public class InputProcessor {
      */
     public double getError(int sensorId, float time) {
 
-        // Ensure the sensor ID is within the bounds of the array
+        /*// Ensure the sensor ID is within the bounds of the array
         if (sensorId < 0 || sensorId >= selfRotationVectorPaths.length)
             return 0.0d;
 
@@ -316,7 +331,7 @@ public class InputProcessor {
                 this.targetRotationVectorPaths[sensorId][targetIndex] != null
         ) {
             return this.selfRotationVectorPaths[sensorId][selfIndex].distance(this.targetRotationVectorPaths[sensorId][targetIndex]);
-        }
+        }*/
         return 0.0d;
     }
 

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

@@ -1,37 +0,0 @@
-package com.example.fitbot;
-
-import static org.junit.Assert.assertEquals;
-
-import com.example.fitbot.util.path.GesturePath;
-import com.example.fitbot.util.path.PathSegment;
-
-import org.joml.Vector3f;
-import org.junit.Test;
-
-public class PathSegmentTest {
-
-    @Test
-    public void testPathSegment() {
-        // Test the PathSegment class
-        Vector3f[] vectors = new Vector3f[2];
-        vectors[0] = new Vector3f(0, 0, 0);
-        vectors[1] = new Vector3f(1, 1, 1);
-        GesturePath path = new GesturePath(vectors);
-        PathSegment[] segments = path.getSegments();
-        assertEquals(1, segments.length);
-        assertEquals(new Vector3f(0, 0, 0), segments[0].getStart());
-        assertEquals(new Vector3f(1, 1, 1), segments[0].getEnd());
-        assertEquals(new Vector3f(0.5f, 0.5f, 0.5f), segments[0].interpolate(0.5));
-    }
-
-
-    @Test
-    public void test_pathSegmentInterpolation() {
-        Vector3f start = new Vector3f(0, 0, 0);
-        Vector3f end = new Vector3f(1, 1, 1);
-        PathSegment segment = new PathSegment(start, end);
-        assertEquals(new Vector3f(0.5f, 0.5f, 0.5f), segment.interpolate(0.5));
-    }
-
-
-}