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="140626"
+    android:versionCode="140404"
-    android:versionName="14.06.26" >
+    android:versionName="14.04.04" >
 
     <uses-sdk
         android:minSdkVersion="11"

README.md

@@ -1,28 +1,4 @@
-NxtAR: A generic software architecture for Augmented Reality based mobile robot control.
+NxtAR-cam
-========================================================================================
+=========
 
-Camera module
+Modulo 1 de mi trabajo especial de grado.
--------------
-
-### Abstract ###
-
-NxtAR is a generic software architecture for the development of Augmented Reality games
-and applications centered around mobile robot control. This is a reference implementation
-with support for [LEGO Mindstorms NXT][1] mobile robots.
-
-### Module description ###
-
-The camera module is a reference implementation of the image capture module of the NxtAR architecture for
-the Android (>=3.0) operating system. This module acts as a bridge between the [robot control][2] and [core][3] modules of
-the architecture, capturing images to be processed by the core module and forwarding control instructions to
-the robot module.
-
-### Module installation and usage. ###
-
-Install the NxtAR-cam_XXXXXX.apk file on your device. Detailed usage instructions can be found in the [NxtAR Android backend module][4]
-documentation.
-
- [1]: http://www.lego.com/en-us/mindstorms/?domainredir=mindstorms.lego.com
- [2]: https://github.com/sagge-miky/NxtAR-bot
- [3]: https://github.com/sagge-miky/NxtAR-core
- [4]: https://github.com/sagge-miky/NxtAR-android

res/values-es/strings.xml

@@ -17,7 +17,7 @@
 
 <resources>
 
-    <string name="app_name">NxtAR-cam</string>
+    <string name="app_name">NxtCAM</string>
     <string name="action_settings">Settings</string>
     <string name="hello_world">Hello world!</string>
     <string name="camera_success">Cámara abierta exitosamente</string>

res/values/strings.xml

@@ -17,7 +17,7 @@
 
 <resources>
 
-    <string name="app_name">NxtAR-cam</string>
+    <string name="app_name">NxtCAM</string>
     <string name="action_settings">Settings</string>
     <string name="hello_world">Hello world!</string>
     <string name="camera_success">Camera successfully opened</string>

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, RECENTER, ROTATE_90};
+	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/camera/CameraPreview.java

@@ -30,8 +30,6 @@ 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;
@@ -41,10 +39,8 @@ import android.view.SurfaceView;
 /** A basic Camera preview class */
 @SuppressLint("ViewConstructor")
 public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback, Camera.PreviewCallback {
-	private static final String TAG            = "SURFVIEW";
+	private final String TAG = "SURFVIEW";
-	private static final String CLASS_NAME     = CameraPreview.class.getSimpleName();
+	private 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;
@@ -58,6 +54,7 @@ public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback
 		super(context);
 		parentActivity = (Activity)context;
 
+		// surfaceView = new SurfaceView(context);
 		holder = getHolder();
 		holder.addCallback(this);
 
@@ -65,99 +62,78 @@ 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;
-		Size       optimal;
+		Camera.Parameters camParams;
-		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();
-		sizes = camParams.getSupportedPreviewSizes();
+		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 + ")");
+			Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Supported preview size (" + size.width + ", " + size.height + ")");
 		}
 		
-		optimal = getOptimalPreviewSize(sizes, camera.new Size(OPTIMAL_WIDTH, OPTIMAL_HEIGHT));
+		/*Size optimal = getOptimalPreviewSize(sizes, w, h);
-		Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Preview size set at (" + 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);
+		camParams.setPreviewSize(optimal.width, optimal.height);*/
+		camParams.setPreviewSize(352, 288);
 		camera.setParameters(camParams);
-		previewWidth = optimal.width;
+		/*previewWidth = optimal.width;
-		previewHeight = optimal.height;
+		previewHeight = optimal.height;*/
+		previewWidth = 352;
+		previewHeight = 288;
 
-		info = new CameraInfo();
+		android.hardware.Camera.CameraInfo info = new android.hardware.Camera.CameraInfo();
-		Camera.getCameraInfo(0, info);
+		android.hardware.Camera.getCameraInfo(0, info);
 		rotation = parentActivity.getWindowManager().getDefaultDisplay().getRotation();
 
 		switch (rotation) {
-		default:
+		case Surface.ROTATION_0: degrees = 0; break;
-		case Surface.ROTATION_0:
+		case Surface.ROTATION_90: degrees = 90; break;
-			degrees = 0;
+		case Surface.ROTATION_180: degrees = 180; break;
-			break;
+		case Surface.ROTATION_270: degrees = 270; 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 == CameraInfo.CAMERA_FACING_FRONT) {
+		if (info.facing == Camera.CameraInfo.CAMERA_FACING_FRONT) {
 			result = (info.orientation + degrees) % 360;
 			result = (360 - result) % 360;  // compensate the mirror
 		} else {  // back-facing
@@ -170,7 +146,7 @@ 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());
 		}
 	}
 
@@ -178,47 +154,51 @@ 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) {
-	 * <p>Tries to obtain the preview size that better matches the target size pixel dimensions.</p>
+		final double ASPECT_TOLERANCE = 0.1;
-	 * 
+		double targetRatio = (double) w / h;
-	 * @param sizes An initialized list of supported preview sizes.
+
-	 * @param target The ideal preview size.
+		Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Method started.");
-	 * @return The size from the list of sizes that better matches the target. Null if sizes is null or empty.
+		if (sizes == null) return null;
-	 */
+
-	private Size getOptimalPreviewSize(List<Size> sizes, final Size target) {
-		final int    TARGET_HEIGHT    = target.height;
 		Size optimalSize = null;
 		double minDiff = Double.MAX_VALUE;
 
-		if (sizes == null || sizes.size() == 0) return null;
+		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);
+			}
+		}
 
 		// 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 - TARGET_HEIGHT) < minDiff) {
+				if (Math.abs(size.height - targetHeight) < minDiff) {
 					optimalSize = size;
-					minDiff = Math.abs(size.height - TARGET_HEIGHT);
+					minDiff = Math.abs(size.height - targetHeight);
-					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 found is (" + Integer.toString(optimalSize.width) + ", " + Integer.toString(optimalSize.height) + ")");
+		Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Optimal size is: (" + Integer.toString(optimalSize.width) +
-
+				", " + Integer.toString(optimalSize.height) + ")");
 		return optimalSize;
 	}
 }

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

@@ -73,16 +73,11 @@ 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 bit.
+					// 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 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());
 

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

@@ -18,8 +18,7 @@ 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;
@@ -27,7 +26,7 @@ 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 ROTATE_90   = (byte)0x20;
+	public static final byte EXPANSION_1 = (byte)0x20;
-	public static final byte EXPANSION_2 = (byte)0x40;
+	public static final byte EXPANSION_2 = (byte)0x20;
-	public static final byte EXPANSION_3 = (byte)0x80;
+	public static final byte EXPANSION_3 = (byte)0x20;
 }