MotorControlThread receives and sends data.

src/ve/ucv/ciens/ccg/networkdata/MotorEventACK.java

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2014 Miguel Angel Astor Romero
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package ve.ucv.ciens.ccg.networkdata;
+
+import java.io.Serializable;
+
+public class MotorEventACK implements Serializable {
+	private static final long serialVersionUID = 9989L;
+
+	private boolean clientQueueIsFull;
+
+	public MotorEventACK(boolean isQueueFull){
+		this.clientQueueIsFull = isQueueFull;
+	}
+
+	public boolean isClientQueueFull(){
+		return this.clientQueueIsFull;
+	}
+}

src/ve/ucv/ciens/ccg/nxtcam/CamActivity.java

@@ -16,6 +16,7 @@
 package ve.ucv.ciens.ccg.nxtcam;
 
 import ve.ucv.ciens.ccg.nxtcam.camera.CameraPreview;
+import ve.ucv.ciens.ccg.nxtcam.network.MotorControlThread;
 import ve.ucv.ciens.ccg.nxtcam.network.VideoStreamingThread;
 import ve.ucv.ciens.ccg.nxtcam.network.LCPThread;
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
@@ -41,6 +42,7 @@ public class CamActivity extends Activity{
 	private CameraSetupTask camSetupTask;
 	private VideoStreamingThread imThread;
 	private LCPThread botThread;
+	private MotorControlThread motorThread;
 	private String serverIp;
 
 	/*******************
@@ -56,6 +58,9 @@ public class CamActivity extends Activity{
 		serverIp = intent.getStringExtra("address");
 		imThread = new VideoStreamingThread(serverIp);
 		imThread.start();
+
+		motorThread = new MotorControlThread(serverIp);
+		motorThread.start();
 	}
 
 	@Override
@@ -108,8 +113,11 @@ public class CamActivity extends Activity{
 	@Override
 	public void onDestroy(){
 		super.onDestroy();
-		// TODO: Destroy the network threads.
+		imThread.finish();
 		imThread = null;
+		
+		motorThread.finish();
+		motorThread = null;
 	}
 
 	@Override

src/ve/ucv/ciens/ccg/nxtcam/MainActivity.java

@@ -323,7 +323,7 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 		public ServiceDiscoveryTask(){
 			// Open a multicast socket and join the project's multicast group.
 			try{
-				udpSocket = new MulticastSocket(ProjectConstants.SERVER_UDP_PORT);
+				udpSocket = new MulticastSocket(ProjectConstants.SERVICE_DISCOVERY_PORT);
 				InetAddress group = InetAddress.getByName(ProjectConstants.MULTICAST_ADDRESS);
 				udpSocket.joinGroup(group);
 			}catch(IOException io){

src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java

@@ -2,9 +2,12 @@ package ve.ucv.ciens.ccg.nxtcam.network;
 
 import java.io.IOException;
 import java.io.ObjectInputStream;
+import java.io.ObjectOutputStream;
 import java.net.Socket;
 
 import ve.ucv.ciens.ccg.networkdata.MotorEvent;
+import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
+import ve.ucv.ciens.ccg.networkdata.MotorEventACK;
 import ve.ucv.ciens.ccg.nxtcam.robotcontrol.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
 import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
@@ -18,6 +21,7 @@ public class MotorControlThread extends Thread {
 	private MotorEventQueue queue;
 	private boolean done;
 	private ObjectInputStream reader;
+	private ObjectOutputStream writer;
 	private boolean connected;
 
 	public MotorControlThread(String serverIp){
@@ -30,15 +34,59 @@ public class MotorControlThread extends Thread {
 
 	@Override
 	public void run(){
-		if(!connected){
+		Object msg;
+		MotorEvent event;
+		MotorEventACK ack;
+
+		if(!connectToServer()){
 			Logger.log_e(TAG, CLASS_NAME + ".run() :: The thread is not connected to a server. Finishing.");
 			return;
 		}else{
 			while(!done){
-				Object msg = readMessage();
+				// Receive a message and enqueue it;
-				MotorEvent event = verifyMessage(msg);
+				msg = readMessage();
-				if(event != null)
+				event = verifyMessage(msg);
+				if(event != null){
 					queue.addEvent(event);
+					Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor control message enqueued.");
+					Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor ID: " + (event.getMotor() == motor_t.MOTOR_A ? "MOTOR_A" : "MOTOR_C"));
+					Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor power: " + Byte.toString(event.getPower()));
+				}else{
+					Logger.log_i(TAG, CLASS_NAME + ".run() :: Message could not be verified;");
+				}
+
+				// Send corresponding ack;
+				ack = new MotorEventACK(queue.getSize() >= 10);
+				try{
+					writer.writeObject(ack);
+					Logger.log_i(TAG, CLASS_NAME + ".run() :: First ACK sent.");
+				}catch(Exception ex){
+					Logger.log_e(TAG, CLASS_NAME + ".run() :: Exception while sending first ACK: " + ex.getMessage());
+					break;
+				}
+
+				if(ack.isClientQueueFull()){
+					while(queue.getSize() >= 10){ }
+
+					ack = new MotorEventACK(false);
+
+					try{
+						writer.writeObject(ack);
+					}catch(Exception ex){
+						Logger.log_i(TAG, CLASS_NAME + ".run() :: Second ACK sent.");
+						Logger.log_e(TAG, CLASS_NAME + ".run() :: Exception while sending second ACK: " + ex.getMessage());
+						break;
+					}
+				}
+
+				event = null;
+				ack = null;
+				msg = null;
+			}
+			try{
+				socket.close();
+			}catch(IOException io){
+				Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException while closing socket: " + io.getMessage());
 			}
 		}
 	}
@@ -49,8 +97,9 @@ public class MotorControlThread extends Thread {
 
 	public boolean connectToServer(){
 		try{
-			socket = new Socket(serverIp, ProjectConstants.SERVER_TCP_PORT_3);
+			socket = new Socket(serverIp, ProjectConstants.MOTOR_CONTROL_PORT);
 			reader = new ObjectInputStream(socket.getInputStream());
+			writer = new ObjectOutputStream(socket.getOutputStream());
 			connected = true;
 		}catch(IOException io){
 			Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: IOException caught: " + io.getMessage());
@@ -63,6 +112,7 @@ public class MotorControlThread extends Thread {
 		Object message;
 		try{
 			message = reader.readObject();
+			Logger.log_i(TAG, CLASS_NAME + ".readMessage() :: Motor control message received.");
 		}catch(ClassNotFoundException cn){
 			Logger.log_e(TAG, CLASS_NAME + ".readMessage() :: ClassNotFoundException caught: " + cn.getMessage());
 			message = null;
@@ -75,6 +125,7 @@ public class MotorControlThread extends Thread {
 
 	private MotorEvent verifyMessage(Object message){
 		if(message != null && message instanceof MotorEvent){
+			Logger.log_i(TAG, CLASS_NAME + ".verifyMessage() :: Valid motor control message received.");
 			return (MotorEvent)message;
 		}else{
 			return null;

src/ve/ucv/ciens/ccg/nxtcam/network/SensorReportThread.java

@@ -36,7 +36,7 @@ public class SensorReportThread extends Thread{
 	public boolean connectToServer(){
 		boolean connected;
 		try{
-			socket = new Socket(serverIp, ProjectConstants.SERVER_TCP_PORT_3);
+			socket = new Socket(serverIp, ProjectConstants.SENSOR_REPORT_PORT);
 			writer = new ObjectOutputStream(socket.getOutputStream());
 			connected = true;
 		}catch(IOException io){

src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java

@@ -260,10 +260,10 @@ public class VideoStreamingThread extends Thread{
 		size = int2ByteArray(bufferSize);
 
 		try{
-			packet = new DatagramPacket(size, 4, InetAddress.getByName(serverIp), ProjectConstants.SERVER_TCP_PORT_1);
+			packet = new DatagramPacket(size, 4, InetAddress.getByName(serverIp), ProjectConstants.VIDEO_STREAMING_PORT);
 			udpSocket.send(packet);
 
-			packet = new DatagramPacket(buffer, buffer.length, InetAddress.getByName(serverIp), ProjectConstants.SERVER_TCP_PORT_1);
+			packet = new DatagramPacket(buffer, buffer.length, InetAddress.getByName(serverIp), ProjectConstants.VIDEO_STREAMING_PORT);
 			udpSocket.send(packet);
 
 		}catch(UnknownHostException uo){
@@ -323,7 +323,7 @@ public class VideoStreamingThread extends Thread{
 	private void connectToServer(){
 		try{
 			Logger.log_i(TAG, CLASS_NAME + ".connectToServer() :: Connecting to the server at " + serverIp);
-			socket = new Socket(InetAddress.getByName(serverIp), ProjectConstants.SERVER_TCP_PORT_1);
+			socket = new Socket(InetAddress.getByName(serverIp), ProjectConstants.VIDEO_STREAMING_PORT);
 			/*writer = new ObjectOutputStream(socket.getOutputStream());
 			reader = new ObjectInputStream(socket.getInputStream());*/
 			Logger.log_i(TAG, CLASS_NAME + ".connectToServer() :: Connection successful.");

src/ve/ucv/ciens/ccg/nxtcam/robotcontrol/MotorEventQueue.java

@@ -54,4 +54,8 @@ public class MotorEventQueue {
 		motorEvents.add(event);
 		notifyAll();
 	}
+	
+	public synchronized int getSize(){
+		return motorEvents.size();
+	}
 }

src/ve/ucv/ciens/ccg/nxtcam/utils/ProjectConstants.java

@@ -21,10 +21,12 @@ import android.app.Activity;
 
 public abstract class ProjectConstants {
 	// Network related constants.
-	public static final int SERVER_UDP_PORT = 8889;
+	public static final int SERVICE_DISCOVERY_PORT = 9988;
-	public static final int SERVER_TCP_PORT_1 = 9989;
+	public static final int VIDEO_STREAMING_PORT = 9989;
-	public static final int SERVER_TCP_PORT_2 = 9990;
+	public static final int MOTOR_CONTROL_PORT = 9990;
-	public static final int SERVER_TCP_PORT_3 = 9991;
+	public static final int SENSOR_REPORT_PORT = 9991;
+	public static final int APP_CONTROL_PORT = 9992;
+
 	public static final UUID SERIAL_PORT_SERVICE_CLASS_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
 	public static final String OUI_LEGO = "00:16:53";
 	public static final String MULTICAST_ADDRESS = "230.0.0.1";