Merge branch 'develop'

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"

README.md

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

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;

src/ve/ucv/ciens/ccg/nxtcam/CamActivity.java

@@ -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

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;");

src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java

@@ -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;

src/ve/ucv/ciens/ccg/nxtcam/network/SensorReportThread.java

@@ -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());

src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java

@@ -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();

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

@@ -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;
+}