WallyHackenslacker/NxtAR-cam
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Started programming the robot control threads.

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Wally Hackenslacker
2014-01-20 12:59:51 -04:30
parent ab800a2558
commit f865c39cb7
9 changed files with 291 additions and 236 deletions
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51
src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java
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@@ -17,7 +17,6 @@ package ve.ucv.ciens.ccg.nxtcam.network;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.io.ObjectInputStream;
import java.io.ObjectOutputStream;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
@@ -26,9 +25,7 @@ import java.net.Socket;
import java.net.UnknownHostException;
import ve.ucv.ciens.ccg.networkdata.VideoFrameDataMessage;
import ve.ucv.ciens.ccg.networkdata.VideoStreamingControlMessage;
import ve.ucv.ciens.ccg.nxtcam.camera.CameraImageMonitor;
import ve.ucv.ciens.ccg.nxtcam.network.protocols.VideoStreamingProtocol;
import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
import android.graphics.ImageFormat;
@@ -39,30 +36,30 @@ public class VideoStreamingThread extends Thread{
private final String TAG = "IM_THREAD";
private final String CLASS_NAME = VideoStreamingThread.class.getSimpleName();
private enum ProtocolState_t {WAIT_FOR_ACK, WAIT_FOR_READY, CAN_SEND, END_STREAM};
//private enum ProtocolState_t {WAIT_FOR_ACK, WAIT_FOR_READY, CAN_SEND, END_STREAM};
private boolean pause, done;
private boolean /*pause,*/ done;
private Object threadPauseMonitor;
private CameraImageMonitor camMonitor;
private Socket socket;
DatagramSocket udpSocket;
private ObjectOutputStream writer;
private ObjectInputStream reader;
/*private ObjectOutputStream writer;
private ObjectInputStream reader;*/
private String serverIp;
private ProtocolState_t protocolState;
//private ProtocolState_t protocolState;
private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
public VideoStreamingThread(String serverIp){
super("Video Streaming Thread");
this.serverIp = serverIp;
pause = false;
//pause = false;
done = false;
threadPauseMonitor = new Object();
socket = null;
writer = null;
reader = null;
//writer = null;
//reader = null;
camMonitor = CameraImageMonitor.getInstance();
protocolState = ProtocolState_t.WAIT_FOR_READY;
//protocolState = ProtocolState_t.WAIT_FOR_READY;
}
/*public void run(){
@@ -186,7 +183,7 @@ public class VideoStreamingThread extends Thread{
public void run(){
connectToServer();
try{
udpSocket = new DatagramSocket();
udpSocket.setSendBufferSize(Integer.MAX_VALUE);
@@ -221,7 +218,7 @@ public class VideoStreamingThread extends Thread{
}
return array;
}
private void sendUdp(){
int bufferSize;
byte[] image;
@@ -231,20 +228,20 @@ public class VideoStreamingThread extends Thread{
VideoFrameDataMessage message;
Rect imageSize;
YuvImage yuvImage;
image = camMonitor.getImageData();
imageSize = camMonitor.getImageParameters();
yuvImage = new YuvImage(image, ImageFormat.NV21, imageSize.width(), imageSize.height(), null);
yuvImage.compressToJpeg(imageSize, 90, outputStream);
message = new VideoFrameDataMessage();
message.data = outputStream.toByteArray();
message.imageWidth = imageSize.width();
message.imageHeight = imageSize.height();
outputStream.reset();
ByteArrayOutputStream baos = new ByteArrayOutputStream();
try{
@@ -278,8 +275,8 @@ public class VideoStreamingThread extends Thread{
return;
}
}
private void sendImage(){
/*private void sendImage(){
byte[] image;
YuvImage yuvImage;
VideoFrameDataMessage message;
@@ -321,14 +318,14 @@ public class VideoStreamingThread extends Thread{
imageSize = null;
System.gc();
}
}
}*/
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);
writer = new ObjectOutputStream(socket.getOutputStream());
reader = new ObjectInputStream(socket.getInputStream());
/*writer = new ObjectOutputStream(socket.getOutputStream());
reader = new ObjectInputStream(socket.getInputStream());*/
Logger.log_i(TAG, CLASS_NAME + ".connectToServer() :: Connection successful.");
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: Connection failed with message: " + io.getMessage());
@@ -351,7 +348,7 @@ public class VideoStreamingThread extends Thread{
Logger.log_i(TAG, CLASS_NAME + ".finish() :: Finishing thread.");
}
private void checkPause(){
/*private void checkPause(){
synchronized (threadPauseMonitor){
while(pause){
Logger.log_d(TAG, CLASS_NAME + ".checkPause() :: Pause requested.");
@@ -397,17 +394,17 @@ public class VideoStreamingThread extends Thread{
Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException when writing UNRECOGNIZED in WAIT_FOR_READY state.");
}
Logger.log_d(TAG, CLASS_NAME + ".run() :: UNRECOGNIZED message sent.");
}
}*/
public synchronized void pauseThread(){
pause = true;
//pause = true;
Logger.log_d(TAG, CLASS_NAME + ".pauseThread() :: Pausing thread.");
}
public synchronized void resumeThread(){
Logger.log_d(TAG, CLASS_NAME + ".resumeThread() :: Resuming thread.");
synchronized (threadPauseMonitor) {
pause = false;
//pause = false;
threadPauseMonitor.notifyAll();
}
}