WallyHackenslacker/NxtAR-cam
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Merge branch 'develop'

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Wally Hackenslacker
2014-04-04 10:31:13 -04:30
parent fcd949e427 cd8def574c
commit fd9066fa83
9 changed files with 95 additions and 42 deletions
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4
AndroidManifest.xml
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@@ -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"

4
README.md
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@@ -1,4 +1,4 @@
NxtCAM
======
NxtAR-cam
=========
Modulo 1 de mi trabajo especial de grado.

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};
public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC, RECENTER};
private motor_t motor;
private byte power;

18
src/ve/ucv/ciens/ccg/nxtcam/CamActivity.java
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@@ -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();
@@ -116,6 +121,9 @@ public class CamActivity extends Activity{
botThread.finish();
botThread = null;
sensorThread.finish();
sensorThread = null;
}
@Override

3
src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
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@@ -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;");

47
src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java → src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java
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@@ -19,36 +19,33 @@ import java.io.IOException;
import ve.ucv.ciens.ccg.networkdata.MotorEvent;
import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
import ve.ucv.ciens.ccg.nxtcam.network.protocols.LegoCommunicationProtocol;
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();
}
public void run(){
long then, now, delta;
MotorEvent event;
byte[] msg = new byte[2];
sensorReport.start();
motorControl.start();
then = System.currentTimeMillis();
@@ -62,24 +59,30 @@ 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{
btComm.writeMessage(
LegoCommunicationProtocol.setOutputState(
event.getMotor() == motor_t.MOTOR_A ? LegoCommunicationProtocol.PORT_0 : (event.getMotor() == motor_t.MOTOR_B ? LegoCommunicationProtocol.PORT_1 : LegoCommunicationProtocol.PORT_2),
event.getPower())
);
// Set the motor bit.
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;
// 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());
// Send the message.
btComm.writeMessage(msg);
Logger.log_i(TAG, CLASS_NAME + ".run() :: Message sent to the robot.");
try{ sleep(40); }catch(InterruptedException ie){ }
@@ -87,10 +90,6 @@ 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
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@@ -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());

2
src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java
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@@ -107,7 +107,7 @@ public class VideoStreamingThread extends Thread{
imageSize = camMonitor.getImageParameters();
yuvImage = new YuvImage(image, ImageFormat.NV21, imageSize.width(), imageSize.height(), null);
yuvImage.compressToJpeg(imageSize, 100, outputStream);
yuvImage.compressToJpeg(imageSize, 90, outputStream);
message = new VideoFrameDataMessage();
message.data = outputStream.toByteArray();

32
src/ve/ucv/ciens/ccg/nxtcam/network/protocols/MotorMasks.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.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>
*/
public abstract class MotorMasks {
public static final byte MOTOR_A = (byte)0x01;
public static final byte MOTOR_B = (byte)0x02;
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;
}