Added Pepper abstraction for synchronous events to prevent app from crashing

code/src/Fitbot/app/src/main/java/com/example/fitbot/pepper/AbstractPepperActionEvent.java

@@ -0,0 +1,15 @@
+package com.example.fitbot.pepper;
+
+import com.aldebaran.qi.sdk.QiContext;
+
+public abstract class AbstractPepperActionEvent {
+
+    public final QiContext context;
+
+    public AbstractPepperActionEvent(QiContext context)
+    {
+        this.context = context;
+    }
+
+    public abstract EPepperAction getAction();
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/pepper/EPepperAction.java

@@ -0,0 +1,10 @@
+package com.example.fitbot.pepper;
+
+/**
+ * Enum for Pepper actions
+ */
+public enum EPepperAction {
+    ACTION_SPEAK,
+    ACTION_ANIMATE,
+    NO_ACTION;
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/pepper/Pepper.java

@@ -0,0 +1,113 @@
+package com.example.fitbot.pepper;
+
+import com.aldebaran.qi.sdk.QiContext;
+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 java.util.concurrent.ConcurrentLinkedQueue;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+/**
+ * Class representing the Pepper robot.
+ * All functionality related to Pepper is implemented in this class.
+ */
+public class Pepper {
+
+    private static final ConcurrentLinkedQueue<AbstractPepperActionEvent> pepperActionEventQueue =
+            new ConcurrentLinkedQueue<>();
+
+    private static final AtomicBoolean isAnimating  = new AtomicBoolean(false);
+    private static final AtomicBoolean isSpeaking   = new AtomicBoolean(false);
+
+    private static final Locale DEFAULT_LOCALE = new Locale(Language.DUTCH, Region.NETHERLANDS);
+
+    /**
+     * Speak a phrase with Pepper.
+     *
+     * @param phrase The phrase to speak
+     * @param context The QiContext to use
+     */
+    public static void speak(String phrase, QiContext context)
+    {
+        addToEventQueue(new PepperSpeechEvent(context, phrase, DEFAULT_LOCALE));
+    }
+
+    /**
+     * Animate Pepper with the given animation.
+     *
+     * @param animationName The name of the animation to play
+     * @param context The QiContext to use
+     */
+    public static void animate(String animationName, QiContext context)
+    {
+        addToEventQueue(new PepperAnimationEvent(context, animationName));
+    }
+
+    /**
+     * Add an event to the event queue.
+     * The event will be executed once Pepper is ready to process it.
+     *
+     * @param event The event to add to the queue
+     */
+    public static void addToEventQueue(AbstractPepperActionEvent event)
+    {
+        pepperActionEventQueue.add(event);
+        processEventQueue();
+    }
+
+    /**
+     * Process the event queue.
+     * This method will process the next event in the queue if Pepper is not currently
+     * speaking or animating.
+     * This prevents multiple actions from being executed at the same time, which can
+     * cause the application to crash.
+     */
+    private static synchronized void processEventQueue()
+    {
+        if (!pepperActionEventQueue.isEmpty())
+        {
+            AbstractPepperActionEvent event = pepperActionEventQueue.poll();
+
+            if (event == null)
+                return;
+
+            switch (event.getAction())
+            {
+                /* Event for speaking a phrase **/
+                case ACTION_SPEAK:
+                    if ( !(event instanceof PepperSpeechEvent) || isSpeaking.get())
+                        break;
+                    PepperSpeechEvent speechEvent = (PepperSpeechEvent) event;
+                    isSpeaking.set(true);
+                    speechEvent
+                            .sayPhrase()
+                            .async()
+                            .run()
+                            .andThenConsume(future -> {
+                                isSpeaking.set(false);
+                                processEventQueue();
+                            });
+                    break;
+
+                    /* Event for animating the robot **/
+                case ACTION_ANIMATE:
+                    if ( !(event instanceof PepperAnimationEvent) || isAnimating.get())
+                        break;
+                    PepperAnimationEvent animationEvent = (PepperAnimationEvent) event;
+                    animationEvent
+                            .getAnimation()
+                            .async()
+                            .run()
+                            .andThenConsume(future -> {
+                                isAnimating.set(false);
+                                processEventQueue();
+                            });
+                    break;
+                default:
+                    break;
+            }
+        }
+    }
+
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/pepper/PepperAnimationEvent.java

@@ -0,0 +1,37 @@
+package com.example.fitbot.pepper;
+
+import com.aldebaran.qi.sdk.QiContext;
+import com.aldebaran.qi.sdk.builder.AnimateBuilder;
+import com.aldebaran.qi.sdk.builder.AnimationBuilder;
+import com.aldebaran.qi.sdk.object.actuation.Animate;
+import com.aldebaran.qi.sdk.object.actuation.Animation;
+
+public class PepperAnimationEvent extends AbstractPepperActionEvent {
+
+    public final String animationName;
+
+    public PepperAnimationEvent(QiContext context, String animationName) {
+        super(context);
+        this.animationName = animationName;
+    }
+
+    @Override
+    public EPepperAction getAction() {
+        return null;
+    }
+
+    /**
+     * Returns an animation object, which can be used to play the animation
+     * in the Pepper class.
+     */
+    public Animate getAnimation()
+    {
+        Animation animation = AnimationBuilder.with(this.context)
+                .withResources(this.context.getResources().getIdentifier(animationName, "raw", this.context.getPackageName()))
+                .build();
+
+        return AnimateBuilder.with(this.context)
+                .withAnimation(animation)
+                .build();
+    }
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/pepper/PepperSpeechEvent.java

@@ -0,0 +1,35 @@
+package com.example.fitbot.pepper;
+
+import com.aldebaran.qi.sdk.QiContext;
+import com.aldebaran.qi.sdk.builder.SayBuilder;
+import com.aldebaran.qi.sdk.object.conversation.Say;
+import com.aldebaran.qi.sdk.object.locale.Locale;
+
+public class PepperSpeechEvent extends AbstractPepperActionEvent {
+
+    public final String phrase;
+    public final Locale locale;
+
+    public PepperSpeechEvent(QiContext context, String phrase, Locale locale)
+    {
+        super(context);
+        this.locale = locale;
+        this.phrase = phrase;
+    }
+
+    @Override
+    public EPepperAction getAction() {
+        return EPepperAction.ACTION_SPEAK;
+    }
+
+    /**
+     * Returns a Say object, which can then be executed.
+     */
+    public Say sayPhrase()
+    {
+        return SayBuilder.with(this.context)
+                .withText(this.phrase)
+                .withLocale(this.locale)
+                .build();
+    }
+}

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

@@ -11,6 +11,7 @@ import com.aldebaran.qi.sdk.design.activity.conversationstatus.SpeechBarDisplayS
 import com.example.fitbot.R;
 import com.example.fitbot.exercise.Exercise;
 import com.example.fitbot.exercise.ExerciseManager;
+import com.example.fitbot.pepper.Pepper;
 import com.example.fitbot.ui.components.PersonalMotionPreviewElement;
 import com.example.fitbot.util.NavigationManager;
 import com.example.fitbot.util.FitnessCycle;
@@ -31,7 +32,7 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
     private static final String[] EXERCISE_NOT_FOUND_MESSAGES = new String[] {
             "Ik heb momenteel helaas wat moeite met het ophalen van oefeningen, sorry.",
             "Het lijkt erop dat de oefeningen op een misterieus avontuur zijn. Even wachten tot ze terug zijn.",
-            "Ssst, de oefeningen slapen nog, probeer het later nog eens."
+            ", de oefeningen slapen nog, probeer het later nog eens."
     };
 
     private static final String EXERCISE_NOT_FOUND_SEEK_HELP_MESSAGE =
@@ -84,9 +85,9 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
                 motionProcessor.setInputHandler(personalMotionPreviewElement);
             }, (n) -> {
                 int randomMessageIndex = (int)Math.floor(Math.random() * EXERCISE_NOT_FOUND_MESSAGES.length);
-                FitnessCycle.say(EXERCISE_NOT_FOUND_MESSAGES[randomMessageIndex], qiContext);
+                Pepper.speak(EXERCISE_NOT_FOUND_MESSAGES[randomMessageIndex], qiContext);
-                FitnessCycle.say(EXERCISE_NOT_FOUND_SEEK_HELP_MESSAGE, qiContext);
+                Pepper.speak(EXERCISE_NOT_FOUND_SEEK_HELP_MESSAGE, qiContext);
-
+                NavigationManager.navigateToActivity(this, MainActivity.class);
             });
         });
 
@@ -121,15 +122,15 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
     }
 
     @Override
-    public void onRobotFocusRefused(String reason) {
+    public void onRobotFocusRefused(String reason) {}
-        QiSDK.unregister(this, this);
-    }
 
     @Override
     protected void onDestroy() {
-        super.onDestroy();
+        if ( this.motionProcessor != null ) {
+            this.motionProcessor.stopListening();
+            this.motionProcessor = null;
+        }
         QiSDK.unregister(this, this);
-        this.motionProcessor.stopListening();
+        super.onDestroy();
-        this.motionProcessor = null;
     }
 }

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

@@ -130,13 +130,13 @@ public class PersonalMotionPreviewElement extends View implements IInputHandler
                         this.motionProcessor.useExercise(newExercise);
                     }, (failed) -> {
                         // Move to main screen
-                        NavigationManager.navigateToActivity(getContext(), MainActivity.class);
+                        NavigationManager.navigateToActivity(parentActivity, MainActivity.class);
                     });
                 }
                 else
                 {
                     // Finish the exercise.
-                    NavigationManager.navigateToActivity(getContext(), EndScreenActivity.class);
+                    NavigationManager.navigateToActivity(parentActivity, EndScreenActivity.class);
                     return;
                 }
             }

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

@@ -125,12 +125,18 @@ public class FitnessCycle extends AppCompatActivity {
         }
     }
 
-    private static class PepperSpeechEntry {
+    private static class PepperAnimateEvent extends PepperActionEvent {
+
+    }
+
+    private static class PepperSpeechEntry extends PepperActionEvent {
         public String phrase;
         public QiContext context;
         public Locale locale;
 
         public PepperSpeechEntry(String phrase, QiContext context, Locale locale) {
+            this.action = PepperAction.SPEAK;
+            this.data = this;
             this.phrase = phrase;
             this.context = context;
             this.locale = locale;
@@ -144,4 +150,15 @@ public class FitnessCycle extends AppCompatActivity {
                     .build();
         }
     }
+
+    private enum PepperAction {
+        SPEAK,
+        ANIMATE,
+        MOVE
+    }
+
+    private static class PepperActionEvent {
+        public PepperAction action;
+        public Object data;
+    }
 }

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

@@ -20,21 +20,35 @@ public class NavigationManager {
      */
     public static void setupButtonNavigation(Activity currentActivity, int buttonId, Class<? extends Activity> targetActivity) {
         Button button = currentActivity.findViewById(buttonId);
-        button.setOnClickListener(v -> {
+        if ( button == null )
-            Intent intent = new Intent(currentActivity, targetActivity);
+        {
-            currentActivity.startActivity(intent);
+            throw new IllegalArgumentException("Button with ID " + buttonId + " not found in " + currentActivity.getClass().getSimpleName());
-            currentActivity.finish();
+        }
-        });
+        button.setOnClickListener(v -> NavigationManager.navigateToActivity(currentActivity, targetActivity));
     }
 
     /**
      * Navigates to the target activity.
      *
-     * @param currentContext The current context
+     * @param currentActivity The current activity
      * @param targetActivity The target activity
      */
-    public static void navigateToActivity(Context currentContext, Class<? extends Activity> targetActivity) {
+    public static void navigateToActivity(Activity currentActivity, Class<? extends Activity> targetActivity) {
-        Intent intent = new Intent(currentContext, targetActivity);
+        Intent intent = new Intent(currentActivity, targetActivity);
-        currentContext.startActivity(intent);
+        // Close previous activity
+        intent.addFlags(Intent.FLAG_ACTIVITY_CLEAR_TOP);
+        currentActivity.startActivity(intent);
+        currentActivity.finish();
+    }
+
+    /**
+     * Navigates to the target activity.
+     *
+     * @param context The context
+     * @param targetActivity The target activity
+     */
+    public static void navigateToActivity(Context context, Class<? extends Activity> targetActivity) {
+        Intent intent = new Intent(context, targetActivity);
+        context.startActivity(intent);
     }
 }