OBS-lite distance reading calculation errors

[caolaf]

SimRa App V101.0 (running on FairPhone4) connected to OBS-lite over USB serial reacts strangely to changed handlebar length settings in the app. The physical setup was not changed between taking the pictures below:

• an increase in the handlebar length is increasing the distance reading, but it should decrease
• the left reading should not be affected by changes in the right-hand side handlebar extension
• no right reading shown, but I expect them to be present as well (not 100% certain, though)
• the second "Distanz links" shows the format string instead of the value

[pnfzygrzgf-svg]

Diese Anpassungen lösen allenfalls die Probleme mit der Lenkerbreite.

OBSLiteActivity.kt

a) Berechnung der Distanz + Lenkerbreite (im handleEvent())

Original

// 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()
    // 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)
        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)
        // right sensor event
    } else {
        binding.rightSensorTextView.text = this@OBSLiteActivity.getString(
            R.string.obs_lite_text_last_distance_right,
            distance
        )
        setColePassBarColor(distance, binding.rightSensorProgressBar)
    }
    // event is user input event
} else if (event.hasUserInput()) {
    ...
}

Geänderte Version

// event is distance event
if (event.hasDistanceMeasurement() && event.distanceMeasurement.distance < 5) {
    // Rohwert (Meter -> cm)
    val rawDistanceCm = (event.distanceMeasurement.distance * 100).toInt()
    // left sensor event
    if (event.distanceMeasurement.sourceId == 1) {
        // 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
        // Moving-Median arbeitet mit bereits korrigiertem Abstand (cm)
        movingMedian.newValue(correctedDistanceLeft)
        // right sensor event
    } else {
        // 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()) {
    ...
}

b) Event beim User-Input (Button) (ebenfalls in handleEvent())
Original

// event is user input event
} else if (event.hasUserInput()) {
    val dm: DistanceMeasurement = DistanceMeasurement.newBuilder()
        .setDistance(movingMedian.median.toFloat()).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.userInputTextView.text =
        this@OBSLiteActivity.getString(R.string.overtake_press_button) + event

}

Geänderte Version

// 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()) // 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.userInputTextView.text =
        this@OBSLiteActivity.getString(R.string.overtake_press_button) + event

}

RecorderService.java

1. Kommentar im InsertHandler
Original

        @SuppressLint("MissingPermission")
        public void run() {
            /*
              How is this Working?
              We are collecting GPS, Accelerometer, Gyroscope (and OpenBikeSensor) Data, those are updated as following;
              - GPS (lat, lon, accuracy) roughly every 3 seconds
              - accelerometer data (x,y,z) roughly 50 times a second
              - gyroscope data (a,b,c) roughly every 3 seconds
              <p>
              Every Data Type is given asynchronously via its Callback function.
              In order to synchronize the accelerometer interval ist used as baseline.
              1. We wait till there are 30 values generated
              2. We write a Log Entry every {@link Constants.MVG_AVG_STEP}
                 as this number of values is removed at the end of this function
                 and we wait again till there are 30
             */

Angepasst

      @SuppressLint("MissingPermission")
       public void run() {
           /*
             How is this Working?
             We are collecting GPS, Accelerometer, Gyroscope (and OpenBikeSensor) Data, those are updated as following;
             - GPS (lat, lon, accuracy) roughly every 3 seconds
             - accelerometer data (x,y,z) roughly 50 times a second
             - gyroscope data (a,b,c) roughly every 3 seconds

             Every Data Type is given asynchronously via its Callback function.
             In order to synchronize the accelerometer interval the accelerometer interval is used as baseline.
            */

2. OBS-Lite-Distanzlogik im InsertHandler

Original

                    if (obsLiteEvent != null && lastLocation != null) {
                        double handleBarLength = SharedPref.Settings.Ride.OvertakeWidth.getHandlebarWidth(RecorderService.this);
                        double eventDistance = obsLiteEvent.getDistanceMeasurement().getDistance() * 100.0;
                        double realDistance = handleBarLength + eventDistance;
                        if (realDistance >= 150) {
                            Log.d(TAG, "Adding hidden Close Pass with TS: " + lastAccUpdate + " realLeftDistance: " + realDistance);
                            incidentLog.updateOrAddIncident(IncidentLogEntry.newBuilder().withBaseInformation(lastAccUpdate,lastLocation.getLatitude(),lastLocation.getLongitude()).withIncidentType(IncidentLogEntry.INCIDENT_TYPE.OBS_LITE).withDescription(getString(R.string.overtake_distance_left,((int)obsLiteEvent.getDistanceMeasurement().getDistance()))).withKey(5000).build());
                        } else {
                            Log.d(TAG, "Adding visible Close Pass with TS: " + lastAccUpdate + " realLeftDistance: " + realDistance);
                            incidentLog.updateOrAddIncident(IncidentLogEntry.newBuilder().withBaseInformation(lastAccUpdate,lastLocation.getLatitude(),lastLocation.getLongitude()).withIncidentType(IncidentLogEntry.INCIDENT_TYPE.CLOSE_PASS).withDescription(getString(R.string.overtake_distance_left,obsLiteEvent.getDistanceMeasurement().getDistance())).withKey(4000).build());
                        }
                        obsLiteEvent = null;
                    }

Angepasst

                    // OBS-Lite Ereignisse (Knopf) – Distanz ist bereits korrigiert (cm) in DistanceMeasurement.distance
                    if (obsLiteEvent != null && lastLocation != null) {
                        double realDistanceCm = obsLiteEvent.getDistanceMeasurement().getDistance(); // bereits in cm
                        if (realDistanceCm < 0) {
                            realDistanceCm = 0;
                        }
                        int realDistanceInt = (int) Math.round(realDistanceCm);

                        if (realDistanceCm >= 150) {
                            Log.d(TAG, "Adding hidden Close Pass with TS: " + lastAccUpdate + " realLeftDistance(cm): " + realDistanceCm);
                            incidentLog.updateOrAddIncident(
                                    IncidentLogEntry.newBuilder()
                                            .withBaseInformation(lastAccUpdate, lastLocation.getLatitude(), lastLocation.getLongitude())
                                            .withIncidentType(IncidentLogEntry.INCIDENT_TYPE.OBS_LITE)
                                            .withDescription(getString(R.string.overtake_distance_left, realDistanceInt))
                                            .withKey(5000)
                                            .build()
                            );
                        } else {
                            Log.d(TAG, "Adding visible Close Pass with TS: " + lastAccUpdate + " realLeftDistance(cm): " + realDistanceCm);
                            incidentLog.updateOrAddIncident(
                                    IncidentLogEntry.newBuilder()
                                            .withBaseInformation(lastAccUpdate, lastLocation.getLatitude(), lastLocation.getLongitude())
                                            .withIncidentType(IncidentLogEntry.INCIDENT_TYPE.CLOSE_PASS)
                                            .withDescription(getString(R.string.overtake_distance_left, realDistanceInt))
                                            .withKey(4000)
                                            .build()
                            );
                        }
                        obsLiteEvent = null;
                    }