WallyHackenslacker/NxtAR-cam
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Finished the sensor report thread.

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Wally Hackenslacker
2014-04-03 11:30:17 -04:30
parent fe1710b43e
commit 7160cd325e
3 changed files with 41 additions and 29 deletions
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20
src/ve/ucv/ciens/ccg/nxtcam/CamActivity.java
View File

@@ -16,7 +16,8 @@
package ve.ucv.ciens.ccg.nxtcam;
import ve.ucv.ciens.ccg.nxtcam.camera.CameraPreview;
import ve.ucv.ciens.ccg.nxtcam.network.LCPThread;
import ve.ucv.ciens.ccg.nxtcam.network.NxtBTCommThread;
import ve.ucv.ciens.ccg.nxtcam.network.SensorReportThread;
import ve.ucv.ciens.ccg.nxtcam.network.VideoStreamingThread;
import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
@@ -40,7 +41,8 @@ public class CamActivity extends Activity{
private CameraPreview cPreview;
private CameraSetupTask camSetupTask;
private VideoStreamingThread imThread;
private LCPThread botThread;
private NxtBTCommThread botThread;
private SensorReportThread sensorThread;
private String serverIp;
/*******************
@@ -57,8 +59,11 @@ public class CamActivity extends Activity{
imThread = new VideoStreamingThread(serverIp);
imThread.start();
botThread = new LCPThread(serverIp);
botThread = new NxtBTCommThread(serverIp);
botThread.start();
sensorThread = new SensorReportThread(serverIp);
sensorThread.start();
}
@Override
@@ -92,14 +97,14 @@ public class CamActivity extends Activity{
camSetupTask = new CameraSetupTask();
camSetupTask.execute();
// imThread.start();
// TODO: resumethe imThread, botThread and sensorThread objects.
}
@Override
public void onPause(){
super.onPause();
// TODO: pause the imThread and botThread objects.
// TODO: pause the imThread, botThread and sensorThread objects.
if(cPreview != null){
cPreview.removePreviewCallback();
@@ -113,9 +118,12 @@ public class CamActivity extends Activity{
super.onDestroy();
imThread.finish();
imThread = null;
botThread.finish();
botThread = null;
sensorThread.finish();
sensorThread = null;
}
@Override

27
src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java → src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java
View File

@@ -23,24 +23,21 @@ import ve.ucv.ciens.ccg.nxtcam.network.protocols.MotorMasks;
import ve.ucv.ciens.ccg.nxtcam.robotcontrol.MotorEventQueue;
import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
public class LCPThread extends Thread{
public class NxtBTCommThread extends Thread{
private static final String TAG = "LCP_THREAD";
private static final String CLASS_NAME = LCPThread.class.getSimpleName();
private static final String CLASS_NAME = NxtBTCommThread.class.getSimpleName();
private boolean done;
private boolean reportSensors;
private BTCommunicator btComm;
private MotorControlThread motorControl;
private SensorReportThread sensorReport;
private MotorEventQueue queue;
public LCPThread(String serverIp){
public NxtBTCommThread(String serverIp){
super("Robot Control Main Thread");
btComm = BTCommunicator.getInstance();
done = false;
motorControl = new MotorControlThread(serverIp);
sensorReport = new SensorReportThread(serverIp);
queue = MotorEventQueue.getInstance();
}
@@ -49,7 +46,6 @@ public class LCPThread extends Thread{
MotorEvent event;
byte[] msg = new byte[2];
sensorReport.start();
motorControl.start();
then = System.currentTimeMillis();
@@ -63,21 +59,18 @@ public class LCPThread extends Thread{
}
}
if((reportSensors = sensorReport.isConnected())){
Logger.log_d(TAG, CLASS_NAME + ".run() :: Sensor data can be reported.");
}else{
Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread sensorReport could not connect to the server.");
Logger.log_e(TAG, CLASS_NAME + ".run() :: Sensor data will not be reported to server app.");
}
while(!done){
if(btComm.isBTEnabled() && btComm.isConnected()){
msg[0] = 0x00;
msg[1] = 0x00;
event = queue.getNextEvent();
try{
// Set the motor bit.
msg[0] = (event.getMotor() == motor_t.MOTOR_A) ? MotorMasks.MOTOR_A: ((event.getMotor() == motor_t.MOTOR_B) ? MotorMasks.MOTOR_B: MotorMasks.MOTOR_C);
msg[0] |= (event.getMotor() == motor_t.MOTOR_A) ? MotorMasks.MOTOR_A : 0;
msg[0] |= (event.getMotor() == motor_t.MOTOR_B) ? MotorMasks.MOTOR_B : 0;
msg[0] |= (event.getMotor() == motor_t.MOTOR_C) ? MotorMasks.MOTOR_C : 0;
// Set the direction bit.
if(event.getPower() > 0) msg[0] |= MotorMasks.DIRECTION;
// TODO: Set the recenter bits.
@@ -94,10 +87,6 @@ public class LCPThread extends Thread{
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException sending message to the robot: " + io.getMessage());
}
if(reportSensors){
}
}else{
Logger.log_e(TAG, CLASS_NAME + ".run() :: The robot disconnected or was never available.");
break;

23
src/ve/ucv/ciens/ccg/nxtcam/network/SensorReportThread.java
View File

@@ -1,7 +1,7 @@
package ve.ucv.ciens.ccg.nxtcam.network;
import java.io.IOException;
import java.io.ObjectOutputStream;
import java.io.OutputStream;
import java.net.Socket;
import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
@@ -14,21 +14,36 @@ public class SensorReportThread extends Thread{
private Socket socket;
private String serverIp;
private boolean done;
private ObjectOutputStream writer;
private OutputStream writer;
private boolean connected;
private BTCommunicator btComm;
public SensorReportThread(String serverIp){
super("Sensor Report Thread");
this.serverIp = serverIp;
done = false;
connected = false;
btComm = BTCommunicator.getInstance();
}
@Override
public void run(){
byte[] lightReading;
if(connectToServer()){
while(!done){
if(btComm.isBTEnabled() && btComm.isConnected()){
try{
lightReading = btComm.readMessage(1);
writer.write(lightReading);
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + "run(): IOException: " + io.getMessage());
done = true;
}
}else{
Logger.log_e(TAG, CLASS_NAME + ".run() :: The robot disconnected or was never available.");
break;
}
}
}else{
Logger.log_e(TAG, CLASS_NAME + ".run() :: Could not connect to the server.");
@@ -43,7 +58,7 @@ public class SensorReportThread extends Thread{
boolean connected;
try{
socket = new Socket(serverIp, ProjectConstants.SENSOR_REPORT_PORT);
writer = new ObjectOutputStream(socket.getOutputStream());
writer = socket.getOutputStream();
connected = true;
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: IOException caught: " + io.getMessage());