From cd8def574ceeb605c08b1e7ca3696f3e2353eb26 Mon Sep 17 00:00:00 2001
From: unknown <sonofgrendel@gmail.com>
Date: Fri, 4 Apr 2014 10:30:51 -0430
Subject: [PATCH] Added forwarding of camera recenter commands.

---
 AndroidManifest.xml                                         | 4 ++--
 src/ve/ucv/ciens/ccg/networkdata/MotorEvent.java            | 2 +-
 src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java | 3 +--
 src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java    | 5 ++++-
 4 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/AndroidManifest.xml b/AndroidManifest.xml
index bce1ee6..4dadd63 100644
--- a/AndroidManifest.xml
+++ b/AndroidManifest.xml
@@ -17,8 +17,8 @@
 
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     package="ve.ucv.ciens.ccg.nxtcam"
-    android:versionCode="1"
-    android:versionName="1.0" >
+    android:versionCode="140404"
+    android:versionName="14.04.04" >
 
     <uses-sdk
         android:minSdkVersion="11"
diff --git a/src/ve/ucv/ciens/ccg/networkdata/MotorEvent.java b/src/ve/ucv/ciens/ccg/networkdata/MotorEvent.java
index 5cdcfc9..50f1c60 100644
--- a/src/ve/ucv/ciens/ccg/networkdata/MotorEvent.java
+++ b/src/ve/ucv/ciens/ccg/networkdata/MotorEvent.java
@@ -5,7 +5,7 @@ import java.io.Serializable;
 public class MotorEvent implements Serializable{
 	private static final long serialVersionUID = 9989L;
 
-	public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC};
+	public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC, RECENTER};
 
 	private motor_t motor;
 	private byte power;
diff --git a/src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java b/src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
index cb770b2..1df718a 100644
--- a/src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
+++ b/src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
@@ -21,7 +21,6 @@ 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;
@@ -64,7 +63,7 @@ public class MotorControlThread extends Thread {
 				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 ID: " + event.getMotor().toString());
 					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;");
diff --git a/src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java b/src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java
index c225601..f8f4dff 100644
--- a/src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java
+++ b/src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java
@@ -73,7 +73,10 @@ public class NxtBTCommThread extends Thread{
 					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.
+					// Set the recenter bits.
+					msg[0] |= (event.getMotor() == motor_t.RECENTER) ? MotorMasks.RECENTER : 0;
+					if((msg[0] & MotorMasks.RECENTER) > 0)
+						Logger.log_i(TAG, CLASS_NAME + ".run(): Recenter received."); 
 
 					// Set the power byte.
 					msg[1] = (byte)Math.abs(event.getPower());