WallyHackenslacker/NxtAR-cam
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Merge branch 'develop'

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Wally Hackenslacker
2014-06-26 10:56:07 -04:30
parent fd9066fa83 d1e4da0ed7
commit f48a83ec0e
5 changed files with 103 additions and 77 deletions
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4
AndroidManifest.xml
View File

@@ -17,8 +17,8 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="ve.ucv.ciens.ccg.nxtcam"
android:versionCode="140404"
android:versionName="14.04.04" >
android:versionCode="140626"
android:versionName="14.06.26" >
<uses-sdk
android:minSdkVersion="11"

2
src/ve/ucv/ciens/ccg/networkdata/MotorEvent.java
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@@ -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, RECENTER};
public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC, RECENTER, ROTATE_90};
private motor_t motor;
private byte power;

158
src/ve/ucv/ciens/ccg/nxtcam/camera/CameraPreview.java
View File

@@ -30,6 +30,8 @@ import android.annotation.SuppressLint;
import android.app.Activity;
import android.content.Context;
import android.hardware.Camera;
import android.hardware.Camera.CameraInfo;
import android.hardware.Camera.Parameters;
import android.hardware.Camera.Size;
import android.os.Build;
import android.view.Surface;
@@ -39,22 +41,23 @@ import android.view.SurfaceView;
/** A basic Camera preview class */
@SuppressLint("ViewConstructor")
public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback, Camera.PreviewCallback {
private final String TAG = "SURFVIEW";
private final String CLASS_NAME = CameraPreview.class.getSimpleName();
private static final String TAG = "SURFVIEW";
private static final String CLASS_NAME = CameraPreview.class.getSimpleName();
private static final int OPTIMAL_WIDTH = 352;
private static final int OPTIMAL_HEIGHT = 288;
private CameraImageMonitor imgMonitor;
private Activity parentActivity;
private SurfaceHolder holder;
private Camera camera;
private int previewWidth;
private int previewHeight;
private Activity parentActivity;
private SurfaceHolder holder;
private Camera camera;
private int previewWidth;
private int previewHeight;
@SuppressWarnings("deprecation")
public CameraPreview(Context context, Camera camera){
super(context);
parentActivity = (Activity)context;
// surfaceView = new SurfaceView(context);
holder = getHolder();
holder.addCallback(this);
@@ -62,78 +65,99 @@ public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback
holder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
}
/**
* <p>Sets the camera for this surface view.</p>
*
* @param camera The camera to set.
*/
public void setCamera(Camera camera){
this.camera = camera;
if(this.camera != null){
Logger.log_d(TAG, CLASS_NAME + ".setCamera() :: Setting camera.");
Logger.log_d(TAG, CLASS_NAME + ".setCamera(): Setting camera.");
imgMonitor = CameraImageMonitor.getInstance();
requestLayout();
Logger.log_d(TAG, CLASS_NAME + ".setCamera() :: Camera set.");
Logger.log_d(TAG, CLASS_NAME + ".setCamera(): Camera set.");
}
}
@Override
public void surfaceCreated(SurfaceHolder holder){
// The Surface has been created, now tell the camera where to draw the preview.
Logger.log_d(TAG, CLASS_NAME + ".surfaceCreated() :: Creating surface view.");
Logger.log_d(TAG, CLASS_NAME + ".surfaceCreated(): Creating surface view.");
try {
if(camera != null)
camera.setPreviewDisplay(holder);
} catch (IOException e) {
Logger.log_e(TAG, CLASS_NAME + ".surfaceCreated() :: Error creating camera: " + e.getMessage());
Logger.log_e(TAG, CLASS_NAME + ".surfaceCreated(): Error creating camera: " + e.getMessage());
}
}
@Override
public void surfaceDestroyed(SurfaceHolder holder){
if(camera != null)
camera.stopPreview();
}
@Override
public void surfaceChanged(SurfaceHolder tmpHolder, int format, int w, int h){
int result;
int rotation;
int degrees = 0;
Camera.Parameters camParams;
int result;
int rotation;
int degrees = 0;
Size optimal;
CameraInfo info;
List<Size> sizes;
Parameters camParams;
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Method started.");
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Method started.");
if(this.holder.getSurface() == null || camera == null){
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Holder and/or camera are null.");
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Holder and/or camera are null.");
return;
}
try{ camera.stopPreview(); }catch (Exception e){ }
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Request layout.");
requestLayout();
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Get parameters.");
camParams = camera.getParameters();
camParams.getSupportedPreviewSizes();
List<Size> sizes = camParams.getSupportedPreviewSizes();
for(Size size: sizes){
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Supported preview size (" + size.width + ", " + size.height + ")");
}
/*Size optimal = getOptimalPreviewSize(sizes, w, h);
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Preview size set at (" + optimal.width + ", " + optimal.height + ")");
camParams.setPreviewSize(optimal.width, optimal.height);*/
camParams.setPreviewSize(352, 288);
camera.setParameters(camParams);
/*previewWidth = optimal.width;
previewHeight = optimal.height;*/
previewWidth = 352;
previewHeight = 288;
sizes = camParams.getSupportedPreviewSizes();
android.hardware.Camera.CameraInfo info = new android.hardware.Camera.CameraInfo();
android.hardware.Camera.getCameraInfo(0, info);
for(Size size: sizes){
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Supported preview size (" + size.width + ", " + size.height + ")");
}
optimal = getOptimalPreviewSize(sizes, camera.new Size(OPTIMAL_WIDTH, OPTIMAL_HEIGHT));
Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Preview size set at (" + optimal.width + ", " + optimal.height + ")");
camParams.setPreviewSize(optimal.width, optimal.height);
camera.setParameters(camParams);
previewWidth = optimal.width;
previewHeight = optimal.height;
info = new CameraInfo();
Camera.getCameraInfo(0, info);
rotation = parentActivity.getWindowManager().getDefaultDisplay().getRotation();
switch (rotation) {
case Surface.ROTATION_0: degrees = 0; break;
case Surface.ROTATION_90: degrees = 90; break;
case Surface.ROTATION_180: degrees = 180; break;
case Surface.ROTATION_270: degrees = 270; break;
default:
case Surface.ROTATION_0:
degrees = 0;
break;
case Surface.ROTATION_90:
degrees = 90;
break;
case Surface.ROTATION_180:
degrees = 180;
break;
case Surface.ROTATION_270:
degrees = 270;
break;
}
if (info.facing == Camera.CameraInfo.CAMERA_FACING_FRONT) {
if (info.facing == CameraInfo.CAMERA_FACING_FRONT) {
result = (info.orientation + degrees) % 360;
result = (360 - result) % 360; // compensate the mirror
} else { // back-facing
@@ -146,7 +170,7 @@ public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback
camera.setPreviewDisplay(this.holder);
camera.startPreview();
}catch (Exception e){
Logger.log_e(TAG, CLASS_NAME + ".surfaceChanged() :: Error starting camera preview: " + e.getMessage());
Logger.log_e(TAG, CLASS_NAME + ".surfaceChanged(): Error starting camera preview: " + e.getMessage());
}
}
@@ -154,51 +178,47 @@ public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback
public void onPreviewFrame(byte[] data, Camera camera){
if(imgMonitor.hasChanged())
imgMonitor.setImageParameters(previewWidth, previewHeight);
Logger.log_d(TAG, CLASS_NAME + ".onPreviewFrame() :: Preview received");
Logger.log_d(TAG, CLASS_NAME + ".onPreviewFrame() :: Frame has" + (imgMonitor.hasChanged() ? "" : " not") + " been consumed.");
imgMonitor.setImageData(data);
}
/**
* <p>If camera is not null then disable the camera preview.</p>
*/
public void removePreviewCallback(){
if(camera != null)
camera.setPreviewCallback(null);
}
private Size getOptimalPreviewSize(List<Size> sizes, int w, int h) {
final double ASPECT_TOLERANCE = 0.1;
double targetRatio = (double) w / h;
/**
* <p>Tries to obtain the preview size that better matches the target size pixel dimensions.</p>
*
* @param sizes An initialized list of supported preview sizes.
* @param target The ideal preview size.
* @return The size from the list of sizes that better matches the target. Null if sizes is null or empty.
*/
private Size getOptimalPreviewSize(List<Size> sizes, final Size target) {
final int TARGET_HEIGHT = target.height;
Size optimalSize = null;
double minDiff = Double.MAX_VALUE;
Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Method started.");
if (sizes == null) return null;
Size optimalSize = null;
double minDiff = Double.MAX_VALUE;
int targetHeight = h;
// Try to find an size match aspect ratio and size
for (Size size : sizes) {
double ratio = (double) size.width / size.height;
if (Math.abs(ratio - targetRatio) > ASPECT_TOLERANCE) continue;
if (Math.abs(size.height - targetHeight) < minDiff) {
optimalSize = size;
minDiff = Math.abs(size.height - targetHeight);
}
}
if (sizes == null || sizes.size() == 0) return null;
// Cannot find the one match the aspect ratio, ignore the requirement
if (optimalSize == null) {
Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize(): Ignoring aspect ratio.");
minDiff = Double.MAX_VALUE;
for (Size size : sizes) {
if (Math.abs(size.height - targetHeight) < minDiff) {
if (Math.abs(size.height - TARGET_HEIGHT) < minDiff) {
optimalSize = size;
minDiff = Math.abs(size.height - targetHeight);
minDiff = Math.abs(size.height - TARGET_HEIGHT);
Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize(): Size = (" + Integer.toString(size.width) + ", " + Integer.toString(size.width) + ")");
Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize(): minDiff = " + Double.toString(minDiff));
}
}
}
Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Method ended.");
Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Optimal size is: (" + Integer.toString(optimalSize.width) +
", " + Integer.toString(optimalSize.height) + ")");
Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize(): Optimal size found is (" + Integer.toString(optimalSize.width) + ", " + Integer.toString(optimalSize.height) + ")");
return optimalSize;
}
}

7
src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java
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@@ -73,11 +73,16 @@ 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;
// Set the recenter bits.
// Set the recenter bit.
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 rotate bit.
msg[0] |= (event.getMotor() == motor_t.ROTATE_90) ? MotorMasks.ROTATE_90 : 0;
if((msg[0] & MotorMasks.ROTATE_90) > 0)
Logger.log_i(TAG, CLASS_NAME + ".run(): Rotate 90 received.");
// Set the power byte.
msg[1] = (byte)Math.abs(event.getPower());

9
src/ve/ucv/ciens/ccg/nxtcam/network/protocols/MotorMasks.java
View File

@@ -18,7 +18,8 @@ package ve.ucv.ciens.ccg.nxtcam.network.protocols;
/**
* <p>Bit masks used to code/decode the control instructions sent by NxtAR-cam to
* NxtAR-bot.</p>
* <p>Expansions 1-3 are currently unused.</p>
*
* <p>Expansions 2-3 are currently unused.</p>
*/
public abstract class MotorMasks {
public static final byte MOTOR_A = (byte)0x01;
@@ -26,7 +27,7 @@ public abstract class MotorMasks {
public static final byte MOTOR_C = (byte)0x04;
public static final byte DIRECTION = (byte)0x08;
public static final byte RECENTER = (byte)0x10;
public static final byte EXPANSION_1 = (byte)0x20;
public static final byte EXPANSION_2 = (byte)0x20;
public static final byte EXPANSION_3 = (byte)0x20;
public static final byte ROTATE_90 = (byte)0x20;
public static final byte EXPANSION_2 = (byte)0x40;
public static final byte EXPANSION_3 = (byte)0x80;
}