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OBS-Lite-Distanzlogik #39

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Anpassungen beim Umgang mit Lenkerbreite
pnfzygrzgf-svg Nov 22, 2025
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228 changes: 127 additions & 101 deletions app/src/main/java/de/tuberlin/mcc/simra/app/activities/OBSLiteActivity.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,6 @@ import java.util.TreeSet
import java.util.concurrent.ConcurrentLinkedDeque
import java.util.concurrent.ConcurrentLinkedQueue


class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
private lateinit var binding: ActivityObsliteBinding
private val TAG = "OBSLiteActivity_LOG"
Expand All @@ -62,68 +61,64 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
if (ACTION_USB_PERMISSION == intent.action) {

// synchronized(this) {
val device: UsbDevice? =
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.TIRAMISU) {
intent.getParcelableExtra(
UsbManager.EXTRA_DEVICE,
UsbDevice::class.java
)
} else {
intent.getParcelableExtra(UsbManager.EXTRA_DEVICE)
}

Log.d(TAG, "device: $device")
Log.d(
TAG,
"UsbManager.EXTRA_PERMISSION_GRANTED: ${
intent.getBooleanExtra(
UsbManager.EXTRA_PERMISSION_GRANTED,
false
)
}"
)
if (intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false)) {
device?.apply {
usbDevice = device
binding.obsLiteMainView.visibility = View.VISIBLE
binding.loadingAnimationLayout.visibility = View.GONE
obsLiteConnected = true
updateOBSLiteButton()

val availableDrivers =
UsbSerialProber.getDefaultProber().findAllDrivers(usbManager)
if (availableDrivers.isNotEmpty()) {
val driver = availableDrivers[0]
val connection = usbManager!!.openDevice(driver.device)
port = driver.ports[0] // Most devices have just one port
try {
port.open(connection)
port.setParameters(
115200,
8,
UsbSerialPort.STOPBITS_1,
UsbSerialPort.PARITY_NONE
)
Log.d(RecorderService.TAG, "usb serial port opened")
val usbIoManager =
SerialInputOutputManager(port, this@OBSLiteActivity)
// usbIoManager!!.run()
usbIoManager.start()
} catch (e: IOException) {
throw RuntimeException(e)
}

val device: UsbDevice? =
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.TIRAMISU) {
intent.getParcelableExtra(
UsbManager.EXTRA_DEVICE,
UsbDevice::class.java
)
} else {
intent.getParcelableExtra(UsbManager.EXTRA_DEVICE)
}

Log.d(TAG, "device: $device")
Log.d(
TAG,
"UsbManager.EXTRA_PERMISSION_GRANTED: ${
intent.getBooleanExtra(
UsbManager.EXTRA_PERMISSION_GRANTED,
false
)
}"
)
if (intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false)) {
device?.apply {
usbDevice = device
binding.obsLiteMainView.visibility = View.VISIBLE
binding.loadingAnimationLayout.visibility = View.GONE
obsLiteConnected = true
updateOBSLiteButton()

val availableDrivers =
UsbSerialProber.getDefaultProber().findAllDrivers(usbManager)
if (availableDrivers.isNotEmpty()) {
val driver = availableDrivers[0]
val connection = usbManager!!.openDevice(driver.device)
port = driver.ports[0] // Most devices have just one port
try {
port.open(connection)
port.setParameters(
115200,
8,
UsbSerialPort.STOPBITS_1,
UsbSerialPort.PARITY_NONE
)
Log.d(RecorderService.TAG, "usb serial port opened")
val usbIoManager =
SerialInputOutputManager(port, this@OBSLiteActivity)
// usbIoManager!!.run()
usbIoManager.start()
} catch (e: IOException) {
throw RuntimeException(e)
}

}
} else {
Log.d(TAG, "permission denied for device $device")
}
} else {
Log.d(TAG, "permission denied for device $device")
}
// }
}
}

}

override fun onCreate(savedInstanceState: Bundle?) {
Expand All @@ -141,27 +136,36 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
binding.handleBarWidthLeft.value =
SharedPref.Settings.Ride.OvertakeWidth.getHandlebarWidthLeft(this)
binding.handleBarWidthLeft.setOnValueChangedListener { picker, oldVal, newVal ->
SharedPref.Settings.Ride.OvertakeWidth.setTotalWidthThroughHandlebarWidthLeft(newVal, this)
SharedPref.Settings.Ride.OvertakeWidth.setTotalWidthThroughHandlebarWidthLeft(
newVal,
this
)
}
// right
binding.handleBarWidthRight.maxValue = 60
binding.handleBarWidthRight.minValue = 0
binding.handleBarWidthRight.value =
SharedPref.Settings.Ride.OvertakeWidth.getHandlebarWidthRight(this)
binding.handleBarWidthRight.setOnValueChangedListener { picker, oldVal, newVal ->
SharedPref.Settings.Ride.OvertakeWidth.setTotalWidthThroughHandlebarWidthRight(newVal, this)
SharedPref.Settings.Ride.OvertakeWidth.setTotalWidthThroughHandlebarWidthRight(
newVal,
this
)
}

// OBS-Lite
obsLiteEnabled = SharedPref.Settings.OBSLite.isEnabled(this)

usbManager = getSystemService(Context.USB_SERVICE) as UsbManager
val explicitIntent = Intent(ACTION_USB_PERMISSION)
explicitIntent.setPackage(this.packageName);


permissionIntent = PendingIntent.getBroadcast(this, 0, explicitIntent,
PendingIntent.FLAG_MUTABLE)
explicitIntent.setPackage(this.packageName)

permissionIntent = PendingIntent.getBroadcast(
this,
0,
explicitIntent,
PendingIntent.FLAG_MUTABLE
)
val filter = IntentFilter(ACTION_USB_PERMISSION)
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
this.registerReceiver(usbReceiver, filter, RECEIVER_EXPORTED)
Expand All @@ -170,26 +174,23 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
}
updateOBSLiteButton()
val obsLiteUrl = SharedPref.Settings.OBSLite.getObsLiteURL(this)
binding.obsLiteURL.setText(obsLiteUrl,TextView.BufferType.EDITABLE)
binding.obsLiteURL.setText(obsLiteUrl, TextView.BufferType.EDITABLE)

val obsUsername = SharedPref.Settings.OBSLite.getObsLiteUsername(this)
binding.obsLiteUsername.setText(obsUsername,TextView.BufferType.EDITABLE)
binding.obsLiteUsername.setText(obsUsername, TextView.BufferType.EDITABLE)

val obsLiteAPIKey = SharedPref.Settings.OBSLite.getObsLiteAPIKey(this)
binding.obsLiteAPIKey.setText(obsLiteAPIKey,TextView.BufferType.EDITABLE)

binding.obsLiteAPIKey.setText(obsLiteAPIKey, TextView.BufferType.EDITABLE)
}

private fun getOBSLitePermission() {

val deviceList = usbManager?.getDeviceList()
deviceList?.values?.forEach { device ->
Log.d(TAG, "deviceList device $device")
usbDevice = device
}

usbManager?.requestPermission(usbDevice, permissionIntent)

}

private fun disconnectOBSLite() {
Expand All @@ -205,21 +206,20 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
}
}


override fun onResume() {
super.onResume()
}

override fun onPause() {
super.onPause()
val obsLiteUrl = binding.obsLiteURL.getText()
SharedPref.Settings.OBSLite.setObsLiteURL(obsLiteUrl.toString(),this)
val obsLiteUrl = binding.obsLiteURL.text
SharedPref.Settings.OBSLite.setObsLiteURL(obsLiteUrl.toString(), this)

val obsLiteUsername = binding.obsLiteUsername.getText()
SharedPref.Settings.OBSLite.setObsLiteUsername(obsLiteUsername.toString(),this)
val obsLiteUsername = binding.obsLiteUsername.text
SharedPref.Settings.OBSLite.setObsLiteUsername(obsLiteUsername.toString(), this)

val obsLiteAPIKey = binding.obsLiteAPIKey.getText()
SharedPref.Settings.OBSLite.setObsLiteAPIKey(obsLiteAPIKey.toString(),this)
val obsLiteAPIKey = binding.obsLiteAPIKey.text
SharedPref.Settings.OBSLite.setObsLiteAPIKey(obsLiteAPIKey.toString(), this)
}

override fun onDestroy() {
Expand Down Expand Up @@ -249,7 +249,6 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
}

@OptIn(ExperimentalStdlibApi::class)

/** OBS-Lite related **/

// Called when new data from usb is read
Expand All @@ -266,7 +265,6 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
handleEvent()
}
}

}

// handles distance event and user input events of obs lite
Expand All @@ -285,35 +283,62 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
// Log.d(TAG, "" + event)
// event is distance event
if (event.hasDistanceMeasurement() && event.distanceMeasurement.distance < 5) {
// convert distance to cm + handlebar width
val distance = ((event.distanceMeasurement.distance * 100) + SharedPref.Settings.Ride.OvertakeWidth.getHandlebarWidth(this)).toInt()
// Rohwert (Meter -> cm)
val rawDistanceCm = (event.distanceMeasurement.distance * 100).toInt()
// left sensor event
if (event.distanceMeasurement.sourceId == 1) {
binding.leftSensorTextView.text = this@OBSLiteActivity.getString(R.string.obs_lite_text_last_distance_left,distance)
setColePassBarColor(distance,binding.leftSensorProgressBar)
// Linker Sensor -> linke Lenkerbreite verwenden
val handlebarWidthLeftCm =
SharedPref.Settings.Ride.OvertakeWidth.getHandlebarWidthLeft(this)
val correctedDistanceLeft =
(rawDistanceCm - handlebarWidthLeftCm).coerceAtLeast(0)

binding.leftSensorTextView.text = this@OBSLiteActivity.getString(
R.string.obs_lite_text_last_distance_left,
correctedDistanceLeft
)
setColePassBarColor(correctedDistanceLeft, binding.leftSensorProgressBar)
val eventTime = event.getTime(0).seconds
if (startTime == -1L) {
startTime = eventTime
}
// calculate minimal moving median for when the user presses obs lite button
movingMedian.newValue(distance)
// calculate median for when the user presses obs lite button
// Moving-Median arbeitet mit bereits korrigiertem Abstand (cm)
movingMedian.newValue(correctedDistanceLeft)
// right sensor event
} else {
binding.rightSensorTextView.text = this@OBSLiteActivity.getString(R.string.obs_lite_text_last_distance_right,distance)
setColePassBarColor(distance,binding.rightSensorProgressBar)
// Rechter Sensor -> rechte Lenkerbreite verwenden
val handlebarWidthRightCm =
SharedPref.Settings.Ride.OvertakeWidth.getHandlebarWidthRight(this)
val correctedDistanceRight =
(rawDistanceCm - handlebarWidthRightCm).coerceAtLeast(0)

binding.rightSensorTextView.text = this@OBSLiteActivity.getString(
R.string.obs_lite_text_last_distance_right,
correctedDistanceRight
)
setColePassBarColor(correctedDistanceRight, binding.rightSensorProgressBar)
}
// event is user input event
} else if (event.hasUserInput()) {
// Der Median enthält bereits den korrigierten Abstand in cm
val dm: DistanceMeasurement = DistanceMeasurement.newBuilder()
.setDistance(movingMedian.median.toFloat()).build()
.setDistance(movingMedian.median.toFloat()) // cm
.build()

event = event.toBuilder().setDistanceMeasurement(dm).build()

binding.userInputProgressbarTextView.text = this@OBSLiteActivity.getString(R.string.overtake_distance_left,movingMedian.median)
setColePassBarColor(movingMedian.median,binding.leftSensorUserInputProgressBar)
binding.userInputProgressbarTextView.text =
this@OBSLiteActivity.getString(
R.string.overtake_distance_left,
movingMedian.median
)
setColePassBarColor(
movingMedian.median,
binding.leftSensorUserInputProgressBar
)
binding.userInputTextView.text =
this@OBSLiteActivity.getString(R.string.overtake_press_button) + event

}
} catch (_: InvalidProtocolBufferException) {
}
Expand Down Expand Up @@ -350,11 +375,10 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
// handles the byteListQueues, which contain the COBS packages
private fun fillByteList(data: ByteArray?) {
for (datum in data!!) {
if (lastByteRead?.toInt() == 0x00){ // start new COBS package when last byte was 00
if (lastByteRead?.toInt() == 0x00) { // start new COBS package when last byte was 00
val newByteList = LinkedList<Byte>()
newByteList.add(datum)
byteListQueue.add(newByteList)

} else { // COBS package is not completed yet, continue the same package
if (byteListQueue.isNotEmpty()) {
byteListQueue.last.add(datum)
Expand All @@ -375,7 +399,8 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
private fun updateOBSLiteButton() {
runOnUiThread {
if (obsLiteConnected) {
binding.usbButton.text = getString(R.string.obs_activity_button_disconnect_device)
binding.usbButton.text =
getString(R.string.obs_activity_button_disconnect_device)
binding.usbButton.setOnClickListener {
disconnectOBSLite()
}
Expand All @@ -386,7 +411,6 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
}
}
}

}

/**
Expand All @@ -398,9 +422,9 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
var distanceArray: ArrayList<Int> = ArrayList()
var windowSize = 3
var median = 0

// Pair class for the value and its index
class Pair // Constructor
(private var value: Int, private var index: Int) : Comparable<Pair?> {
class Pair(private var value: Int, private var index: Int) : Comparable<Pair?> {
// This method will be used by the treeset to search a value by index and setting the tree nodes (left or right)
override fun compareTo(other: Pair?): Int {

Expand Down Expand Up @@ -431,15 +455,15 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
}
}


// Function to print the median for the current window
fun printMedian(minSet: TreeSet<Pair?>, maxSet: TreeSet<Pair?>, window: Int): Int {

// If the window size is even then the median will be the average of the two middle elements
return if (window % 2 == 0) {
(((minSet.last()!!.value() + maxSet.first()!!.value()) / 2.0).toInt())
} else {
(if (minSet.size > maxSet.size) minSet.last()!!.value() else maxSet.first()!!.value())
(if (minSet.size > maxSet.size) minSet.last()!!.value() else maxSet.first()!!
.value())
}
}

Expand Down Expand Up @@ -513,10 +537,12 @@ class OBSLiteActivity : BaseActivity(), SerialInputOutputManager.Listener {
distanceArray = distanceArray.drop(1) as ArrayList<Int>
}
distanceArray.add(distance)
// calculate median only if if distanceArray is big enough.
// calculate median only if distanceArray is big enough.
if (distanceArray.size >= windowSize) {
median = findMedian(distanceArray, windowSize).minOrNull()!!
val medians = findMedian(distanceArray, windowSize)
// Statt globalem Minimum: Median des letzten Fensters verwenden
median = medians.last()
}
}
}
}
}
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