WallyHackenslacker/NxtAR-cam
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MotorControlThread receives and sends data.

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This commit is contained in:
Wally Hackenslacker
2014-02-10 15:24:34 -04:30
parent 2fcd92501c
commit 6d6608bb67
8 changed files with 114 additions and 17 deletions
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32
src/ve/ucv/ciens/ccg/networkdata/MotorEventACK.java Normal file
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@@ -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;
}
}

10
src/ve/ucv/ciens/ccg/nxtcam/CamActivity.java
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@@ -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

2
src/ve/ucv/ciens/ccg/nxtcam/MainActivity.java
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@@ -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){

61
src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
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@@ -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();
MotorEvent event = verifyMessage(msg);
if(event != null)
// Receive a message and enqueue it;
msg = readMessage();
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;

2
src/ve/ucv/ciens/ccg/nxtcam/network/SensorReportThread.java
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@@ -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){

6
src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java
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@@ -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.");

4
src/ve/ucv/ciens/ccg/nxtcam/robotcontrol/MotorEventQueue.java
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@@ -54,4 +54,8 @@ public class MotorEventQueue {
motorEvents.add(event);
notifyAll();
}
public synchronized int getSize(){
return motorEvents.size();
}
}

10
src/ve/ucv/ciens/ccg/nxtcam/utils/ProjectConstants.java
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@@ -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 SERVER_TCP_PORT_1 = 9989;
public static final int SERVER_TCP_PORT_2 = 9990;
public static final int SERVER_TCP_PORT_3 = 9991;
public static final int SERVICE_DISCOVERY_PORT = 9988;
public static final int VIDEO_STREAMING_PORT = 9989;
public static final int MOTOR_CONTROL_PORT = 9990;
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";