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CalibrationActivity.java
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CalibrationActivity.java
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/*
* CalibrationActivity - Java Class for Android
* Created by G.Capelli on 3/6/2020
* This file is part of BasicAirData Clinometer
*
* Copyright (C) 2020 BasicAirData
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
package eu.basicairdata.clinometer;
import android.content.Context;
import android.content.DialogInterface;
import android.content.SharedPreferences;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.media.AudioManager;
import android.media.ToneGenerator;
import android.os.Bundle;
import android.os.Vibrator;
import android.util.Log;
import android.view.MenuItem;
import android.view.View;
import android.view.WindowManager;
import android.widget.ImageView;
import android.widget.ProgressBar;
import android.widget.TextView;
import androidx.appcompat.app.AlertDialog;
import androidx.appcompat.app.AppCompatActivity;
import androidx.appcompat.widget.AppCompatButton;
import androidx.preference.PreferenceManager;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_ANGLE_0;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_ANGLE_1;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_ANGLE_2;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_GAIN_0;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_GAIN_1;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_GAIN_2;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_OFFSET_0;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_OFFSET_1;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_OFFSET_2;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_CALIBRATION_TIME;
import static eu.basicairdata.clinometer.ClinometerApplication.KEY_PREF_KEEP_SCREEN_ON;
public class CalibrationActivity extends AppCompatActivity implements SensorEventListener {
private Vibrator vibrator;
private final static int ACCELEROMETER_UPDATE_INTERVAL_MICROS = 10000;
private final static float MIN_CALIBRATION_PRECISION = 0.05f;
private final static int SIZE_OF_MEANVARIANCE = 300; // 4 seconds
MeanVariance mvGravity0 = new MeanVariance(SIZE_OF_MEANVARIANCE);
MeanVariance mvGravity1 = new MeanVariance(SIZE_OF_MEANVARIANCE);
MeanVariance mvGravity2 = new MeanVariance(SIZE_OF_MEANVARIANCE);
private final float[][] mean = new float[3][7]; // The Mean values of vectors
private final float[] calibrationOffset = new float[3]; // The Offsets of accelerometers
private final float[] calibrationGain = new float[3]; // The Gains of accelerometers
private final float[] calibrationAngle = new float[3]; // The calibration angles
private AppCompatButton buttonNext;
private ProgressBar progressBar;
private ImageView imageViewMain;
private ImageView imageViewCalibrationIcon;
private TextView textViewStepDescription;
private TextView textViewLastCalibration;
private TextView textViewProgress;
private int currentStep = 0; // The current step of the wizard;
private static final int STEP_1 = 0; // Step 1 of 7 Lay flat and press next
private static final int STEP_1_CAL = 1; // Calibrating... Don't move the device
private static final int STEP_2 = 2; // Step 2 of 7 Rotate 180° and press next
private static final int STEP_2_CAL = 3; // Calibrating... Don't move the device
private static final int STEP_3 = 4; // Step 3 of 7 Lay on the left side and press next
private static final int STEP_3_CAL = 5; // Calibrating... Don't move the device
private static final int STEP_4 = 6; // Step 4 of 7 Rotate 180° and press next
private static final int STEP_4_CAL = 7; // Calibrating... Don't move the device
private static final int STEP_5 = 8; // Step 5 of 7 Lay vertical and press next
private static final int STEP_5_CAL = 9; // Calibrating... Don't move the device
private static final int STEP_6 = 10; // Step 6 of 7 Rotate 180° upside-down and press next
private static final int STEP_6_CAL = 11; // Calibrating... Don't move the device
private static final int STEP_7 = 12; // Step 7 of 7 Press next and lay face down
private static final int STEP_7_CAL = 13; // Calibrating... Don't move the device
private static final int STEP_COMPLETED = 14; // Calibration completed, performs calculations and shows results
private static final float STANDARD_GRAVITY = 9.807f;
private static final int DISCARD_FIRST_SAMPLES = 20;
private int samplesDiscarded = 0;
ToneGenerator toneGen1 = new ToneGenerator(AudioManager.STREAM_MUSIC, ToneGenerator.TONE_CDMA_KEYPAD_VOLUME_KEY_LITE);
private SensorManager mSensorManager;
private Sensor mRotationSensor;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
//setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_NOSENSOR);
setContentView(R.layout.activity_calibration);
buttonNext = findViewById(R.id.id_button_next);
progressBar = findViewById(R.id.id_progressBar);
textViewStepDescription = findViewById(R.id.id_textview_step_description);
textViewLastCalibration = findViewById(R.id.id_textview_last_calibration);
textViewProgress = findViewById(R.id.id_textview_progress);
imageViewMain = findViewById(R.id.id_imageViewMain);
imageViewCalibrationIcon = findViewById(R.id.id_imageViewCalibrationIcon);
buttonNext.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
if (currentStep == STEP_COMPLETED) finish();
else {
currentStep++;
startStep();
}
}
});
mSensorManager = (SensorManager)getSystemService(SENSOR_SERVICE);
mRotationSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
if (mRotationSensor == null) Log.d("Clinometer", "NO ACCELEROMETER FOUND!");
SharedPreferences preferences = PreferenceManager.getDefaultSharedPreferences(this);
if (preferences.contains(KEY_PREF_CALIBRATION_ANGLE_0)) {
textViewLastCalibration.setText(getString(R.string.calibration_active_calibration) + "\n"
+ getString(R.string.calibration_active_calibration_gains)
+ String.format(" = %1.3f; %1.3f; %1.3f", preferences.getFloat(KEY_PREF_CALIBRATION_GAIN_0, 0), preferences.getFloat(KEY_PREF_CALIBRATION_GAIN_1, 0), preferences.getFloat(KEY_PREF_CALIBRATION_GAIN_2, 0))
+ "\n"
+ getString(R.string.calibration_active_calibration_offsets)
+ String.format(" = %1.3f; %1.3f; %1.3f", preferences.getFloat(KEY_PREF_CALIBRATION_OFFSET_0, 0), preferences.getFloat(KEY_PREF_CALIBRATION_OFFSET_1, 0), preferences.getFloat(KEY_PREF_CALIBRATION_OFFSET_2, 0))
+ "\n"
+ getString(R.string.calibration_active_calibration_angles)
+ String.format(" = %1.2f°; %1.2f°; %1.2f°", preferences.getFloat(KEY_PREF_CALIBRATION_ANGLE_2, 0), preferences.getFloat(KEY_PREF_CALIBRATION_ANGLE_1, 0), preferences.getFloat(KEY_PREF_CALIBRATION_ANGLE_0, 0))
);
}
vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
}
@Override
public boolean onOptionsItemSelected(MenuItem item)
{
// Handle action bar item clicks here. The action bar will
// automatically handle clicks on the Home/Up button, so long
// as you specify a parent activity in AndroidManifest.xml.
switch (item.getItemId()) {
case android.R.id.home:
onBackPressed();
return true;
default:
return super.onOptionsItemSelected(item);
}
}
@Override
public void onBackPressed()
{
Log.d("CalibrationActivity", "onBackPressed on Step " + currentStep);
if ((currentStep != STEP_1) && (currentStep < STEP_COMPLETED)) {
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setMessage(getResources().getString(R.string.calibration_abort));
//builder.setIcon(android.R.drawable.ic_menu_info_details);
builder.setPositiveButton(R.string.yes, new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int id) {
dialog.dismiss();
finish();
}
});
builder.setNegativeButton(R.string.no, new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int id) {
dialog.dismiss();
}
});
AlertDialog dialog = builder.create();
dialog.show();
} else {
finish();
//super.onBackPressed(); // optional depending on your needs
}
}
@Override
protected void onResume() {
super.onResume();
if (PreferenceManager.getDefaultSharedPreferences(this).getBoolean(KEY_PREF_KEEP_SCREEN_ON, true)) getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
else getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
if (currentStep < STEP_COMPLETED) {
// If the app was calibrating when the onPause is called, the app goes back 1 step (the previous screen)
if ((int) (currentStep / 2) * 2 != currentStep) currentStep--;
Log.d("CalibrationActivity", "CurrentStep = " + currentStep);
startStep();
}
}
@Override
protected void onPause() {
super.onPause();
mSensorManager.unregisterListener(this);
}
private void startStep() {
progressBar.setProgress(0);
progressBar.setSecondaryProgress(0);
textViewProgress.setText("");
textViewLastCalibration.setVisibility(View.INVISIBLE);
switch (currentStep) {
case STEP_1:
textViewLastCalibration.setVisibility(View.VISIBLE);
progressBar.setVisibility(View.INVISIBLE);
buttonNext.setVisibility(View.VISIBLE);
textViewProgress.setVisibility(View.INVISIBLE);
imageViewMain.setImageResource(R.mipmap.cal_01);
textViewStepDescription.setText(R.string.calibration_step1);
break;
case STEP_2:
progressBar.setVisibility(View.INVISIBLE);
buttonNext.setVisibility(View.VISIBLE);
textViewProgress.setVisibility(View.INVISIBLE);
imageViewMain.setImageResource(R.mipmap.cal_02);
textViewStepDescription.setText(R.string.calibration_step2);
break;
case STEP_3:
progressBar.setVisibility(View.INVISIBLE);
buttonNext.setVisibility(View.VISIBLE);
textViewProgress.setVisibility(View.INVISIBLE);
imageViewMain.setImageResource(R.mipmap.cal_03);
textViewStepDescription.setText(R.string.calibration_step3);
break;
case STEP_4:
progressBar.setVisibility(View.INVISIBLE);
buttonNext.setVisibility(View.VISIBLE);
textViewProgress.setVisibility(View.INVISIBLE);
imageViewMain.setImageResource(R.mipmap.cal_04);
textViewStepDescription.setText(R.string.calibration_step4);
break;
case STEP_5:
progressBar.setVisibility(View.INVISIBLE);
buttonNext.setVisibility(View.VISIBLE);
textViewProgress.setVisibility(View.INVISIBLE);
imageViewMain.setImageResource(R.mipmap.cal_05);
textViewStepDescription.setText(R.string.calibration_step5);
break;
case STEP_6:
progressBar.setVisibility(View.INVISIBLE);
buttonNext.setVisibility(View.VISIBLE);
textViewProgress.setVisibility(View.INVISIBLE);
imageViewMain.setImageResource(R.mipmap.cal_06);
textViewStepDescription.setText(R.string.calibration_step6);
break;
case STEP_7:
progressBar.setVisibility(View.INVISIBLE);
buttonNext.setVisibility(View.VISIBLE);
textViewProgress.setVisibility(View.INVISIBLE);
imageViewMain.setImageResource(R.mipmap.cal_07);
textViewStepDescription.setText(R.string.calibration_step7);
break;
case STEP_1_CAL:
case STEP_2_CAL:
case STEP_3_CAL:
case STEP_4_CAL:
case STEP_5_CAL:
case STEP_6_CAL:
case STEP_7_CAL:
progressBar.setVisibility(View.VISIBLE);
buttonNext.setVisibility(View.INVISIBLE);
textViewProgress.setVisibility(View.VISIBLE);
textViewStepDescription.setText(R.string.calibration_calibrating);
mvGravity0.reset();
mvGravity1.reset();
mvGravity2.reset();
samplesDiscarded = 0;
mSensorManager.registerListener(this, mRotationSensor, ACCELEROMETER_UPDATE_INTERVAL_MICROS);
break;
case STEP_COMPLETED:
// Write raw step Values into Preferences
SharedPreferences preferences = PreferenceManager.getDefaultSharedPreferences(getApplicationContext());
SharedPreferences.Editor editorRaw = preferences.edit();
for (int i = 0; i < 7; i++) {
editorRaw.putFloat("prefCalibrationRawMean_0_" + i , mean[0][i]);
editorRaw.putFloat("prefCalibrationRawMean_1_" + i , mean[1][i]);
editorRaw.putFloat("prefCalibrationRawMean_2_" + i , mean[2][i]);
}
editorRaw.commit();
// Calculations
Log.d("Clinometer","-- MEAN NOT CORRECTED ------------------------------------------------------");
for (int i = 0; i < 7; i++) {
Log.d("Clinometer", String.format("mean[ ][" + i + "] = %+1.4f %+1.4f %+1.4f", mean[0][i], mean[1][i], mean[2][i]));
}
// Calibration offset and Gain (https://www.digikey.it/it/articles/using-an-accelerometer-for-inclination-sensing)
calibrationOffset[0] = (mean[0][2] + mean[0][3]) / 2;
calibrationOffset[1] = (mean[1][4] + mean[1][5]) / 2;
calibrationOffset[2] = (mean[2][0] + mean[2][6]) / 2;
calibrationGain[0] = (mean[0][2] - mean[0][3]) / (STANDARD_GRAVITY * 2);
calibrationGain[1] = (mean[1][4] - mean[1][5]) / (STANDARD_GRAVITY * 2);
calibrationGain[2] = (mean[2][0] - mean[2][6]) / (STANDARD_GRAVITY * 2);
// Estimation of the third axis
// CalibrationGain[2] = (CalibrationGain[0] + CalibrationGain[1]) / 2;
// CalibrationOffset[2] = (Mean[2][0] + Mean[2][0]) / 2 - (CalibrationGain[2] * STANDARD_GRAVITY);
Log.d("Clinometer","-- ACCELEROMETERS ----------------------------------------------------------");
Log.d("Clinometer", String.format("Offset = %+1.4f %+1.4f %+1.4f", calibrationOffset[0], calibrationOffset[1], calibrationOffset[2]));
Log.d("Clinometer", String.format("Gain = %+1.4f %+1.4f %+1.4f", calibrationGain[0], calibrationGain[1], calibrationGain[2]));
// Apply the Gain and Offset Correction to measurement
for (int i = 0; i < 7; i++) {
mean[0][i] = (mean[0][i] - calibrationOffset[0]) / calibrationGain[0];
mean[1][i] = (mean[1][i] - calibrationOffset[1]) / calibrationGain[1];
mean[2][i] = (mean[2][i] - calibrationOffset[2]) / calibrationGain[2];
}
Log.d("Clinometer","-- MEAN CORRECTED ----------------------------------------------------------");
for (int i = 0; i < 7; i++) {
Log.d("Clinometer", String.format("mean[ ][" + i + "] = %+1.4f %+1.4f %+1.4f", mean[0][i], mean[1][i], mean[2][i]));
}
// Calculation of Angles
float[][] angle = new float[3][7];
Log.d("Clinometer","-- ANGLES ------------------------------------------------------------------");
for (int i = 0; i < 7; i++) {
angle[0][i] = (float) (Math.toDegrees(Math.asin(mean[0][i]
/ Math.sqrt(mean[0][i] * mean[0][i] + mean[1][i] * mean[1][i] + mean[2][i] * mean[2][i]))));
angle[1][i] = (float) (Math.toDegrees(Math.asin(mean[1][i]
/ Math.sqrt(mean[0][i] * mean[0][i] + mean[1][i] * mean[1][i] + mean[2][i] * mean[2][i]))));
angle[2][i] = (float) (Math.toDegrees(Math.asin(mean[2][i]
/ Math.sqrt(mean[0][i] * mean[0][i] + mean[1][i] * mean[1][i] + mean[2][i] * mean[2][i]))));
Log.d("Clinometer", String.format("angle[ ][" + i + "] = %+1.4f° %+1.4f° %+1.4f°", angle[0][i], angle[1][i], angle[2][i]));
}
calibrationAngle[2] = (angle[0][0] + angle[0][1])/2; // angle 0 = X axis
calibrationAngle[1] = -(angle[1][0] + angle[1][1])/2; // angle 1 = Y axis
calibrationAngle[0] = -(angle[1][3] - angle[1][2])/2; // angle 2 = Z axis
Log.d("Clinometer","-- CALIBRATION ANGLES ------------------------------------------------------");
Log.d("Clinometer", String.format("Cal.Angles = %+1.4f° %+1.4f° %+1.4f°", calibrationAngle[2], calibrationAngle[1], calibrationAngle[0]));
Log.d("Clinometer","----------------------------------------------------------------------------");
// Write Calibration Angles into Preferences
SharedPreferences.Editor editor = preferences.edit();
editor.putFloat(KEY_PREF_CALIBRATION_ANGLE_0, calibrationAngle[0]);
editor.putFloat(KEY_PREF_CALIBRATION_ANGLE_1, calibrationAngle[1]);
editor.putFloat(KEY_PREF_CALIBRATION_ANGLE_2, calibrationAngle[2]);
editor.putFloat(KEY_PREF_CALIBRATION_GAIN_0, calibrationGain[0]);
editor.putFloat(KEY_PREF_CALIBRATION_GAIN_1, calibrationGain[1]);
editor.putFloat(KEY_PREF_CALIBRATION_GAIN_2, calibrationGain[2]);
editor.putFloat(KEY_PREF_CALIBRATION_OFFSET_0, calibrationOffset[0]);
editor.putFloat(KEY_PREF_CALIBRATION_OFFSET_1, calibrationOffset[1]);
editor.putFloat(KEY_PREF_CALIBRATION_OFFSET_2, calibrationOffset[2]);
editor.putLong(KEY_PREF_CALIBRATION_TIME, System.currentTimeMillis());
editor.commit();
progressBar.setVisibility(View.INVISIBLE);
textViewProgress.setVisibility(View.INVISIBLE);
imageViewMain.setImageBitmap(null);
textViewStepDescription.setText(R.string.dialog_calibration_completed);
textViewLastCalibration.setText(getString(R.string.calibration_active_calibration) + "\n"
+ getString(R.string.calibration_active_calibration_gains)
+ String.format(" = %1.3f; %1.3f; %1.3f", preferences.getFloat(KEY_PREF_CALIBRATION_GAIN_0, 0), preferences.getFloat(KEY_PREF_CALIBRATION_GAIN_1, 0), preferences.getFloat(KEY_PREF_CALIBRATION_GAIN_2, 0))
+ "\n"
+ getString(R.string.calibration_active_calibration_offsets)
+ String.format(" = %1.3f; %1.3f; %1.3f", preferences.getFloat(KEY_PREF_CALIBRATION_OFFSET_0, 0), preferences.getFloat(KEY_PREF_CALIBRATION_OFFSET_1, 0), preferences.getFloat(KEY_PREF_CALIBRATION_OFFSET_2, 0))
+ "\n"
+ getString(R.string.calibration_active_calibration_angles)
+ String.format(" = %1.2f°; %1.2f°; %1.2f°", preferences.getFloat(KEY_PREF_CALIBRATION_ANGLE_2, 0), preferences.getFloat(KEY_PREF_CALIBRATION_ANGLE_1, 0), preferences.getFloat(KEY_PREF_CALIBRATION_ANGLE_0, 0))
);
textViewLastCalibration.setVisibility(View.VISIBLE);
buttonNext.setVisibility(View.VISIBLE);
buttonNext.setText(R.string.close);
imageViewCalibrationIcon.setVisibility(View.VISIBLE);
}
}
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
if ((int) (currentStep / 2) * 2 == currentStep) {
// Stop Calibration
mSensorManager.unregisterListener(this);
} else {
if (samplesDiscarded < DISCARD_FIRST_SAMPLES) {
samplesDiscarded++;
return;
}
// Calibration
//Log.d("CalibrationActivity", "CALIBRATION");
mvGravity0.loadSample(event.values[0]);
mvGravity1.loadSample(event.values[1]);
mvGravity2.loadSample(event.values[2]);
textViewProgress.setText(String.format("%s %1.0f%% %s %1.3f",
getString(R.string.calibration_progress),
mvGravity0.percentLoaded(),
getString(R.string.calibration_tolerance),
mvGravity0.getTolerance()));
int progress1 = (int) (10 * mvGravity0.percentLoaded());
int progress2 = (int) (Math.min(1000, Math.max(0, 1000 - 1000 *(mvGravity0.getTolerance() / MIN_CALIBRATION_PRECISION))));
progressBar.setSecondaryProgress(Math.max(progress1, progress2));
progressBar.setProgress(Math.min(progress1, progress2));
// DEVICE MOVED
if (mvGravity0.isReady() && (mvGravity0.getTolerance() > MIN_CALIBRATION_PRECISION)) {
mvGravity0.reset();
mvGravity1.reset();
mvGravity2.reset();
}
// END OF CALIBRATION STEP
if (mvGravity0.percentLoaded() == 100) {
mSensorManager.unregisterListener(this);
int i = (int) (currentStep / 2);
mean[0][i] = mvGravity0.getMeanValue(SIZE_OF_MEANVARIANCE-100);
mean[1][i] = mvGravity1.getMeanValue(SIZE_OF_MEANVARIANCE-100);
mean[2][i] = mvGravity2.getMeanValue(SIZE_OF_MEANVARIANCE-100);
beep();
currentStep++;
startStep();
}
}
}
}
@Override
public void onAccuracyChanged(Sensor sensor, int i) {
}
private void beep() {
//toneGen1.startTone(ToneGenerator.TONE_SUP_PIP,150);
vibrator.vibrate(250);
toneGen1.startTone(ToneGenerator.TONE_PROP_BEEP, 150);
}
}