Merge branch 'release-14.01.10'

AndroidManifest.xml

@@ -1,4 +1,20 @@
 <?xml version="1.0" encoding="utf-8"?>
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     package="ve.ucv.ciens.ccg.nxtcam"
     android:versionCode="1"
@@ -8,16 +24,15 @@
         android:minSdkVersion="11"
         android:targetSdkVersion="19" />
 
+    <uses-feature android:name="android.hardware.camera" android:required="true" />
+    <uses-feature android:name="android.hardware.bluetooth" android:required="true" />
+    <uses-feature android:name="android.hardware.wifi" android:required="true" />
+
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
     <uses-permission android:name="android.permission.BLUETOOTH" />
     <uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
     <uses-permission android:name="android.permission.CAMERA" />
-
-    <uses-feature
-        android:name="android.hardware.camera"
-        android:required="true" />
-
     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
     <uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
     <uses-permission android:name="android.permission.WAKE_LOCK" />
@@ -27,8 +42,8 @@
         android:allowBackup="true"
         android:icon="@drawable/ic_launcher"
         android:label="@string/app_name"
-        android:theme="@android:style/Theme.Black.NoTitleBar.Fullscreen"
-        android:screenOrientation="landscape" >
+        android:screenOrientation="landscape"
+        android:theme="@android:style/Theme.Black.NoTitleBar.Fullscreen" >
         <activity
             android:name="ve.ucv.ciens.ccg.nxtcam.MainActivity"
             android:label="@string/app_name" >
@@ -48,4 +63,4 @@
         </activity>
     </application>
 
-</manifest>
+</manifest>

LICENSE.txt

@@ -0,0 +1,202 @@
+
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+
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+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
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+   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.

res/layout/activity_cam.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
@@ -10,4 +26,11 @@
     android:paddingTop="@dimen/activity_vertical_margin"
     tools:context=".CamActivity" >
 
-</LinearLayout>
+    <FrameLayout
+        android:id="@+id/previewLayout"
+        android:layout_width="0dip"
+        android:layout_height="match_parent"
+        android:layout_weight="0.47" >
+    </FrameLayout>
+
+</LinearLayout>

res/layout/activity_main.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"

res/menu/cam.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <menu xmlns:android="http://schemas.android.com/apk/res/android" >
 
     <item

res/menu/main.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <menu xmlns:android="http://schemas.android.com/apk/res/android" >
 
     <item

res/values-es/strings.xml

@@ -1,4 +1,20 @@
 <?xml version="1.0" encoding="utf-8"?>
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <resources>
 
     <string name="app_name">NxtCAM</string>
@@ -10,7 +26,7 @@
     <string name="start_button">Comenzar streaming de video</string>
     <string name="title_activity_cam">CamActivity</string>
     <string name="ipAddressLabel">Dirección IP de NxtAR</string>
-    <string name="badIpToast">La dirección IP no es válida</string>
+    <string name="badIpToast">No se encontró un servidor válido</string>
     <string name="emptyIpToast">Rellene el campo de dirección IP</string>
     <string name="wifi_on_title">Esta app requiere WiFi</string>
     <string name="wifi_on_msg">¿Encender el WiFi?</string>
@@ -18,7 +34,7 @@
     <string name="wifi_on_button">Encender</string>
     <string name="wifi_on_success">El radio del WiFi está encendido</string>
     <string name="wifi_on_fail">Esta app no puede funcionar sin wifi, cerrando.</string>
-    <string name= "bt_no_support">Este dispositivo no soporta Bluetooth</string>
+    <string name="bt_no_support">Este dispositivo no soporta Bluetooth</string>
     <string name="bt_on_fail">Esta app no puede funcionar sin Bluetooth, cerrando</string>
     <string name="lens_icon">Ícono de lente</string>
     <string name="robot_pair_button">Conectar con el robot</string>
@@ -29,5 +45,6 @@
     <string name="serv_wait">Por favor espere, buscando dispositivo de control</string>
     <string name="serv_connected">Conectado con el dispositivo de control</string>
     <string name="serv_fail">Falló la conexión con el dispositivo de control</string>
+    <string name="cam_fail">La cámara es null!</string>
 
 </resources>

res/values-sw600dp/dimens.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <resources>
 
     <!--

res/values-sw720dp-land/dimens.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <resources>
 
     <!--

res/values-v11/styles.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <resources>
 
     <!--

res/values-v14/styles.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <resources>
 
     <!--

res/values/dimens.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <resources>
 
     <!-- Default screen margins, per the Android Design guidelines. -->

res/values/strings.xml

@@ -1,4 +1,20 @@
 <?xml version="1.0" encoding="utf-8"?>
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <resources>
 
     <string name="app_name">NxtCAM</string>
@@ -10,7 +26,7 @@
     <string name="get_server_button">Connect with NxtAR</string>
     <string name="start_button">Start video streaming</string>
     <string name="ipAddressLabel">NxtAR IP Address</string>
-    <string name="badIpToast">Invalid IP address</string>
+    <string name="badIpToast">No proper server found</string>
     <string name="emptyIpToast">Fill out the IP address field</string>
     <string name="wifi_on_title">This app requires WiFi</string>
     <string name="wifi_on_msg">Turn on the WiFi?</string>
@@ -29,5 +45,6 @@
     <string name="serv_wait">Please wait, looking for control device</string>
     <string name="serv_connected">Connected with the control device</string>
     <string name="serv_fail">Could no connect with the control device</string>
+    <string name="cam_fail">Camera is null!</string>
 
 </resources>

res/values/styles.xml

@@ -1,3 +1,19 @@
+<!--
+ * Copyright (C) 2013 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.
+-->
+
 <resources>
 
     <!--

src/ve/ucv/ciens/ccg/networkdata/VideoFrameDataMessage.java

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2013 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.networkdata;
+
+import java.io.Serializable;
+
+public final class VideoFrameDataMessage implements Serializable{
+	private static final long serialVersionUID = 9989L;
+	public static final int magicNumber = 0x10;
+
+	public int imageWidth;
+	public int imageHeight;
+	public byte[] data;
+
+	public VideoFrameDataMessage(){
+		imageWidth = -1;
+		imageHeight = -1;
+		data = null;
+	}
+}

src/ve/ucv/ciens/ccg/networkdata/VideoStreamingControlMessage.java

@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2013 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.networkdata;
+
+import java.io.Serializable;
+
+public final class VideoStreamingControlMessage implements Serializable{
+	private static final long serialVersionUID = 8898L;
+	public static final int magicNumber = 0x20;
+
+	public byte message;
+
+	public VideoStreamingControlMessage(){
+		message = -1;
+	}
+}

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

@@ -1,8 +1,25 @@
+/*
+ * Copyright (C) 2013 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;
 
 import ve.ucv.ciens.ccg.nxtcam.camera.CameraPreview;
-import ve.ucv.ciens.ccg.nxtcam.network.ImageTransferThread;
+import ve.ucv.ciens.ccg.nxtcam.network.VideoStreamingThread;
+import ve.ucv.ciens.ccg.nxtcam.network.LCPThread;
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
+import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
 import android.app.Activity;
 import android.content.Intent;
 import android.hardware.Camera;
@@ -12,16 +29,18 @@ import android.support.v4.app.NavUtils;
 import android.view.Menu;
 import android.view.MenuItem;
 import android.view.WindowManager;
+import android.widget.FrameLayout;
 import android.widget.Toast;
 
 public class CamActivity extends Activity{
 	private final String TAG = "NXTCAM_CAM";
-	private final String CLASS_NAME = MainActivity.class.getSimpleName();
-	
+	private final String CLASS_NAME = CamActivity.class.getSimpleName();
+
 	private Camera hwCamera;
 	private CameraPreview cPreview;
 	private CameraSetupTask camSetupTask;
-	private ImageTransferThread imThread;
+	private VideoStreamingThread imThread;
+	private LCPThread botThread;
 	private String serverIp;
 
 	/*******************
@@ -31,12 +50,12 @@ public class CamActivity extends Activity{
 	protected void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 		getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
-		
-		cPreview = new CameraPreview(this, hwCamera);
-		setContentView(cPreview);
-		
+		setContentView(R.layout.activity_cam);
+
 		Intent intent = getIntent();
 		serverIp = intent.getStringExtra("address");
+		imThread = new VideoStreamingThread(serverIp);
+		imThread.start();
 	}
 
 	@Override
@@ -69,20 +88,35 @@ public class CamActivity extends Activity{
 
 		camSetupTask = new CameraSetupTask();
 		camSetupTask.execute();
-		
-		imThread = new ImageTransferThread(serverIp);
-		imThread.start();
+
+		// imThread.start();
 	}
 
 	@Override
 	public void onPause(){
 		super.onPause();
 
-		// TODO: Disconnect and destroy the imThread object.
-		
-		cPreview.removePreviewCallback();
-		cPreview.setCamera(null);
-		releaseCamera();
+		// TODO: pause the imThread and botThread objects.
+
+		if(cPreview != null){
+			cPreview.removePreviewCallback();
+			cPreview.setCamera(null);
+			releaseCamera();
+		}
+	}
+	
+	@Override
+	public void onDestroy(){
+		super.onDestroy();
+		// TODO: Destroy the network threads.
+		imThread = null;
+	}
+	
+	@Override
+	public void onBackPressed(){
+		Intent result = new Intent();
+		setResult(Activity.RESULT_OK, result);
+		finish();
 	}
 
 	/******************
@@ -90,10 +124,16 @@ public class CamActivity extends Activity{
 	 ******************/	
 	public void startCameraPreview(){
 		if(hwCamera != null){
+			Logger.log_d(TAG, CLASS_NAME + ".startCameraPreview() :: Setting camera.");
+			cPreview = new CameraPreview(this, hwCamera);
 			cPreview.setCamera(hwCamera);
+			((FrameLayout)findViewById(R.id.previewLayout)).addView(cPreview);
+			Logger.log_d(TAG, CLASS_NAME + ".startCameraPreview() :: Camera and content view set.");
 		}else{
 			Logger.log_wtf(TAG, CLASS_NAME + ".startCameraPreview() :: CAMERA IS NULL!");
-			System.exit(1);
+			Intent result = new Intent();
+			setResult(ProjectConstants.RESULT_CAMERA_FAILURE, result);
+			finish();
 		}
 	}
 
@@ -110,6 +150,7 @@ public class CamActivity extends Activity{
 		@Override
 		protected Camera doInBackground(Void... params) {
 			Camera cam = null;
+			Logger.log_d(TAG, CLASS_NAME + ".doInBackground() :: Opening the camera.");
 			try{
 				cam = Camera.open(0);
 			}catch(Exception e){
@@ -121,7 +162,7 @@ public class CamActivity extends Activity{
 		@Override
 		protected void onPostExecute(Camera result) {
 			super.onPostExecute(result);
-			
+
 			hwCamera = result;
 			if(result != null){
 				Logger.log_d(TAG, CLASS_NAME + ".onPostExecute() :: Camera successfully opened");

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

@@ -1,3 +1,18 @@
+/*
+ * Copyright (C) 2013 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;
 
 import java.io.IOException;
@@ -45,6 +60,7 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 	private final String TAG = "NXTCAM_MAIN";
 	private final String CLASS_NAME = MainActivity.class.getSimpleName();
 	private static final int REQUEST_ENABLE_BT = 1;
+	private static final int REQUEST_CAM_ACTIVITY = 2;
 
 	// Gui components
 	private Button startButton;
@@ -58,6 +74,7 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 	// Variables.
 	private boolean wifiOnByMe;
 	private boolean btOnByMe;
+	private boolean changingActivity;
 
 	@Override
 	protected void onCreate(Bundle savedInstanceState) {
@@ -67,6 +84,7 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 		// Set up fields.
 		wifiOnByMe = false;
 		btOnByMe = false;
+		changingActivity = false;
 
 		// Set up gui components.
 		startButton = (Button)findViewById(R.id.startButton);
@@ -100,11 +118,12 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 	public void onPause(){
 		super.onPause();
 
-		if(btManager.isBTEnabled() && btOnByMe)
-			btManager.disableBT();
-
-		if(wifiManager.isWifiEnabled() && wifiOnByMe)
-			setWifi(false);
+		if(!changingActivity){
+			if(btManager.isBTEnabled() && btOnByMe)
+				btManager.disableBT();
+			if(wifiManager.isWifiEnabled() && wifiOnByMe)
+				setWifi(false);
+		}
 	}
 
 	@Override
@@ -127,11 +146,18 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 	}
 
 	protected void onActivityResult(int request, int result, Intent data){
-		if(request == REQUEST_ENABLE_BT && result == RESULT_OK){
-			if(!wifiManager.isWifiEnabled())
-				enableWifi();
-		}else{
-			Toast.makeText(this, R.string.bt_on_fail, Toast.LENGTH_LONG).show();
+		if(request == REQUEST_ENABLE_BT){
+			if(result == RESULT_OK){
+				if(!wifiManager.isWifiEnabled())
+					enableWifi();
+			}else{
+				Toast.makeText(this, R.string.bt_on_fail, Toast.LENGTH_SHORT).show();
+			}
+		}else if(request == REQUEST_CAM_ACTIVITY){
+			changingActivity = false;
+			if(result == ProjectConstants.RESULT_CAMERA_FAILURE){
+				Toast.makeText(this, R.string.cam_fail, Toast.LENGTH_SHORT).show();
+			}
 		}
 	}
 
@@ -145,8 +171,9 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 		if(serverFound){
 			Logger.log_d(TAG, CLASS_NAME + ".startCamActivity() :: Launching camera activity.");
 			Intent intent = new Intent(this, CamActivity.class);
+			changingActivity = true;
 			intent.putExtra("address", ipAddress);
-			startActivity(intent);
+			startActivityForResult(intent, REQUEST_CAM_ACTIVITY);
 		}else{
 			Logger.log_d(TAG, CLASS_NAME + ".startCamActivity() :: Cannot launch camera activity.");
 			Toast.makeText(this, R.string.badIpToast, Toast.LENGTH_SHORT).show();
@@ -315,7 +342,7 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 		@Override
 		protected Boolean doInBackground(Void... params){
 			boolean result, done = false;
-			byte[] buffer = (new String("NxtAR server here!")).getBytes();
+			byte[] buffer = ProjectConstants.SERVICE_DISCOVERY_MESSAGE.getBytes();
 
 			// Create a buffer and tell Android we want to receive multicast datagrams.
 			packet = new DatagramPacket(buffer, buffer.length);
@@ -332,13 +359,8 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 					Logger.log_d(TAG, CLASS_NAME + ".run() :: Found a server at " + packet.getAddress().getHostAddress());
 					String received = new String(packet.getData());
 					Logger.log_d(TAG, CLASS_NAME + ".doInBackground() :: Packet payload is\n" + received);
-					if(received.compareTo("NxtAR server here!") == 0)
+					if(received.compareTo(ProjectConstants.SERVICE_DISCOVERY_MESSAGE) == 0)
 						done = true;
-					Socket client1, client2;
-					client1 = new Socket(packet.getAddress(), ProjectConstants.SERVER_TCP_PORT_1);
-					client1.close();
-					client2 = new Socket(packet.getAddress(), ProjectConstants.SERVER_TCP_PORT_2);
-					client2.close();
 				}
 				result = true;
 			}catch(IOException io){
@@ -367,10 +389,10 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 
 			if(packet != null){
 				showToast(R.string.serv_connected, Toast.LENGTH_SHORT);
-				//	startCamActivity(result, packet.getAddress().getHostAddress());
+				startCamActivity(result, packet.getAddress().getHostAddress());
 			}else{
 				showToast(R.string.serv_fail, Toast.LENGTH_SHORT);
-				//	startCamActivity(false, null);
+				startCamActivity(false, null);
 			}
 		}
 	}

src/ve/ucv/ciens/ccg/nxtcam/camera/CameraImageMonitor.java

@@ -1,16 +1,38 @@
+/*
+ * Copyright (C) 2013 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.camera;
 
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
+import android.graphics.Rect;
 
 public class CameraImageMonitor{
 	private final String TAG = "CAM_MONITOR";
 	private final String CLASS_NAME = CameraImageMonitor.class.getSimpleName();
 
+	private Object imageMonitor;
 	private byte[] image;
-	private boolean imgChanged;
+	private boolean imageProduced;
+	private boolean imageConsumed;
+	private Rect imageSize;
 
 	private CameraImageMonitor(){
-		imgChanged = false;
+		imageProduced = false;
+		imageConsumed = true;
+		imageMonitor = new Object();
+		imageSize = null;
 	}
 
 	private static class SingletonHolder{
@@ -21,34 +43,48 @@ public class CameraImageMonitor{
 		return SingletonHolder.INSTANCE;
 	}
 
+	public void setImageParameters(int width, int height){
+		imageSize = new Rect(0, 0, width, height);
+	}
+	
+	public Rect getImageParameters(){
+		return imageSize;
+	}
+	
 	public void setImageData(byte[] image){
-		Logger.log_d(TAG, CLASS_NAME + ".setImageData() :: Copying new image.");
-		synchronized(image){
-			this.image = new byte[image.length];
-			System.arraycopy(image, 0, this.image, 0, image.length);
-			imgChanged = true;
-			image.notifyAll();
+		if(imageConsumed){
+			Logger.log_d(TAG, CLASS_NAME + ".setImageData() :: Copying new image.");
+			synchronized(this.imageMonitor){
+				this.image = image;
+				imageProduced = true;
+				imageConsumed = false;
+				this.imageMonitor.notifyAll();
+			}
+			System.gc();
+			Logger.log_d(TAG, CLASS_NAME + ".setImageData() :: Data copy finished.");
+		}else{
+			Logger.log_d(TAG, CLASS_NAME + ".setImageData() :: Old image still valid, ignoring new image.");
 		}
-		Logger.log_d(TAG, CLASS_NAME + ".setImageData() :: Data copy finished.");
 	}
 
 	public byte[] getImageData(){
 		byte[] returnImg;
 		Logger.log_d(TAG, CLASS_NAME + ".getImageData() :: Entry point.");
-		synchronized(image){
-			while(!imgChanged){
-				Logger.log_d(TAG, CLASS_NAME + ".getImageData() :: Waiting for new data.");
-				try{ image.wait(); }catch(InterruptedException ie){}
+		synchronized(imageMonitor){
+			while(!imageProduced){
+				Logger.log_d(TAG, CLASS_NAME + ".getImageData() :: Waiting for new image.");
+				try{ imageMonitor.wait(); }catch(InterruptedException ie){ }
 			}
-			Logger.log_d(TAG, CLASS_NAME + ".getImageData() :: Retrieving new data.");
-			returnImg = image.clone();
-			imgChanged = false;
+			Logger.log_d(TAG, CLASS_NAME + ".getImageData() :: Retrieving new image.");
+			returnImg = image;
+			imageProduced = false;
+			imageConsumed = true;
 		}
-		Logger.log_d(TAG, CLASS_NAME + ".getImageData() :: New data retreived.");
+		Logger.log_d(TAG, CLASS_NAME + ".getImageData() :: New image retrieved.");
 		return returnImg;
 	}
 
 	public synchronized boolean hasChanged(){
-		return imgChanged;
+		return imageConsumed;
 	}
 }

src/ve/ucv/ciens/ccg/nxtcam/camera/CameraPreview.java

@@ -1,3 +1,25 @@
+/*
+ * Copyright (C) 2013 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.
+ * 
+ * NOTE:
+ * The getOptimalPreviewSize() function is copied and slightly modified from
+ * the Android Open Source Project ApiDemos camera preview code available at
+ * the following url http://goo.gl/thP1e4 from http://android.googlesource.com .
+ * The ApiDemos code is Copyright (C) 2007 The Android Open Source Project also
+ * avilable under the Apache License Version 2.0.
+ */
 package ve.ucv.ciens.ccg.nxtcam.camera;
 
 import java.io.IOException;
@@ -13,85 +35,97 @@ import android.os.Build;
 import android.view.Surface;
 import android.view.SurfaceHolder;
 import android.view.SurfaceView;
-import android.view.View;
-import android.view.ViewGroup;
 
 /** A basic Camera preview class */
 @SuppressLint("ViewConstructor")
-public class CameraPreview extends ViewGroup implements SurfaceHolder.Callback, Camera.PreviewCallback {
+public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback, Camera.PreviewCallback {
 	private final String TAG = "SURFVIEW";
 	private final String CLASS_NAME = CameraPreview.class.getSimpleName();
 
-	private Size mPreviewSize;
-	private List<Size> mSupportedPreviewSizes;
-	private CameraImageMonitor camMonitor;
+	private CameraImageMonitor imgMonitor;
 	private Activity parentActivity;
-	private SurfaceView mSurfaceView;
-	private SurfaceHolder mHolder;
-	private Camera mCamera;
+	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;
 
-		mSurfaceView = new SurfaceView(context);
-		mHolder = mSurfaceView.getHolder();
-		mHolder.addCallback(this);
+		// surfaceView = new SurfaceView(context);
+		holder = getHolder();
+		holder.addCallback(this);
 
 		if(Build.VERSION.SDK_INT <= Build.VERSION_CODES.HONEYCOMB)
-			mHolder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
+			holder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
 	}
 
 	public void setCamera(Camera camera){
-		mCamera = camera;
-		if(mCamera != null){
-			camMonitor = CameraImageMonitor.getInstance();
-			mSupportedPreviewSizes = mCamera.getParameters().getSupportedPreviewSizes();
+		this.camera = camera;
+		if(this.camera != null){
+			Logger.log_d(TAG, CLASS_NAME + ".setCamera() :: Setting camera.");
+			imgMonitor = CameraImageMonitor.getInstance();
 			requestLayout();
+			Logger.log_d(TAG, CLASS_NAME + ".setCamera() :: Camera set.");
 		}
 	}
 
 	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.");
 		try {
-			if(mCamera != null){
-				mCamera.setPreviewDisplay(holder);
-			}
+			if(camera != null)
+				camera.setPreviewDisplay(holder);
 		} catch (IOException e) {
-			Logger.log_d(TAG, "Error setting camera preview: " + e.getMessage());
+			Logger.log_e(TAG, CLASS_NAME + ".surfaceCreated() :: Error creating camera: " + e.getMessage());
 		}
 	}
 
 	public void surfaceDestroyed(SurfaceHolder holder){
-		if(mCamera != null){
-			mCamera.stopPreview();
-		}
+		if(camera != null)
+			camera.stopPreview();
 	}
 
-	public void surfaceChanged(SurfaceHolder holder, int format, int w, int h){
-		if(mHolder.getSurface() == null){
+	public void surfaceChanged(SurfaceHolder tmpHolder, int format, int w, int h){
+		int result;
+		int rotation;
+		int degrees = 0;
+		Camera.Parameters camParams;
+
+		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.");
 			return;
 		}
 
-		try{
-			mCamera.stopPreview();
-		}catch (Exception e){ }
+		try{ camera.stopPreview(); }catch (Exception e){ }
 
 		requestLayout();
 
-		Camera.Parameters camParams = mCamera.getParameters();
-		/*Size optimal = getOptimalPreviewSize(camParams.getSupportedPreviewSizes(), w, h);
-		if(ProjectConstants.DEBUG)
-			Log.d(TAG, CLASS_NAME + ".surfaceChanged() :: Preview size set at (" + optimal.width + ", " + optimal.height + ")");*/
-		camParams.setPreviewSize(mPreviewSize.width, mPreviewSize.height);
-		mCamera.setParameters(camParams);
+		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(720, 480);
+		camera.setParameters(camParams);
+		/*previewWidth = optimal.width;
+		previewHeight = optimal.height;*/
+		previewWidth = 720;
+		previewHeight = 480;
 
 		android.hardware.Camera.CameraInfo info = new android.hardware.Camera.CameraInfo();
 		android.hardware.Camera.getCameraInfo(0, info);
-		int rotation = parentActivity.getWindowManager().getDefaultDisplay().getRotation();
+		rotation = parentActivity.getWindowManager().getDefaultDisplay().getRotation();
 
-		int degrees = 0;
 		switch (rotation) {
 		case Surface.ROTATION_0: degrees = 0; break;
 		case Surface.ROTATION_90: degrees = 90; break;
@@ -99,41 +133,42 @@ public class CameraPreview extends ViewGroup implements SurfaceHolder.Callback,
 		case Surface.ROTATION_270: degrees = 270; break;
 		}
 
-		int result;
 		if (info.facing == Camera.CameraInfo.CAMERA_FACING_FRONT) {
 			result = (info.orientation + degrees) % 360;
 			result = (360 - result) % 360;  // compensate the mirror
 		} else {  // back-facing
 			result = (info.orientation - degrees + 360) % 360;
 		}
-		mCamera.setDisplayOrientation(result);
-
-		mCamera.setPreviewCallback(this);
+		camera.setDisplayOrientation(result);
+		camera.setPreviewCallback(this);
 
 		try {
-			mCamera.setPreviewDisplay(mHolder);
-			mCamera.startPreview();
-
+			camera.setPreviewDisplay(this.holder);
+			camera.startPreview();
 		}catch (Exception e){
-			Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Error starting camera preview: " + e.getMessage());
+			Logger.log_e(TAG, CLASS_NAME + ".surfaceChanged() :: Error starting camera preview: " + e.getMessage());
 		}
 	}
 
 	@Override
 	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" + (camMonitor.hasChanged() ? "" : " not") + " changed.");
-		if(!camMonitor.hasChanged())
-			camMonitor.setImageData(data);
+		Logger.log_d(TAG, CLASS_NAME + ".onPreviewFrame() :: Frame has" + (imgMonitor.hasChanged() ? "" : " not") + " been consumed.");
+		imgMonitor.setImageData(data);
 	}
 
 	public void removePreviewCallback(){
-		mCamera.setPreviewCallback(null);
+		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;
+
+		Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Method started.");
 		if (sizes == null) return null;
 
 		Size optimalSize = null;
@@ -161,45 +196,9 @@ public class CameraPreview extends ViewGroup implements SurfaceHolder.Callback,
 				}
 			}
 		}
+		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) + ")");
 		return optimalSize;
 	}
-
-	@Override
-	protected void onLayout(boolean changed, int l, int t, int r, int b) {
-		if (changed && getChildCount() > 0) {
-			final View child = getChildAt(0);
-
-			final int width = r - l;
-			final int height = b - t;
-
-			int previewWidth = width;
-			int previewHeight = height;
-			if (mPreviewSize != null) {
-				previewWidth = mPreviewSize.width;
-				previewHeight = mPreviewSize.height;
-			}
-
-			// Center the child SurfaceView within the parent.
-			if (width * previewHeight > height * previewWidth) {
-				final int scaledChildWidth = previewWidth * height / previewHeight;
-				child.layout((width - scaledChildWidth) / 2, 0,
-						(width + scaledChildWidth) / 2, height);
-			} else {
-				final int scaledChildHeight = previewHeight * width / previewWidth;
-				child.layout(0, (height - scaledChildHeight) / 2,
-						width, (height + scaledChildHeight) / 2);
-			}
-		}
-	}
-
-	@Override
-	protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
-		final int width = resolveSize(getSuggestedMinimumWidth(), widthMeasureSpec);
-		final int height = resolveSize(getSuggestedMinimumHeight(), heightMeasureSpec);
-		setMeasuredDimension(width, height);
-
-		if (mSupportedPreviewSizes != null) {
-			mPreviewSize = getOptimalPreviewSize(mSupportedPreviewSizes, width, height);
-		}
-	}
 }

src/ve/ucv/ciens/ccg/nxtcam/dialogs/ConnectRobotDialog.java

@@ -1,3 +1,18 @@
+/*
+ * Copyright (C) 2013 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.dialogs;
 
 import java.util.ArrayList;

src/ve/ucv/ciens/ccg/nxtcam/dialogs/WifiOnDialog.java

@@ -1,3 +1,18 @@
+/*
+ * Copyright (C) 2013 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.dialogs;
 
 import ve.ucv.ciens.ccg.nxtcam.R;

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

@@ -1,3 +1,18 @@
+/*
+ * Copyright (C) 2013 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;
 
 import java.io.IOException;

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

@@ -1,3 +1,18 @@
+/*
+ * Copyright (C) 2013 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;
 
 import java.io.IOException;

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

@@ -1,107 +0,0 @@
-package ve.ucv.ciens.ccg.nxtcam.network;
-
-import java.io.BufferedReader;
-import java.io.BufferedWriter;
-import java.io.IOException;
-import java.io.InputStreamReader;
-import java.io.OutputStreamWriter;
-import java.net.InetAddress;
-import java.net.Socket;
-
-import ve.ucv.ciens.ccg.nxtcam.camera.CameraImageMonitor;
-import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
-import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
-
-public class ImageTransferThread extends Thread{
-	private final String TAG = "IM_THREAD";
-	private final String CLASS_NAME = ImageTransferThread.class.getSimpleName();
-
-	private boolean pause, done;
-	private Object threadPauseMonitor;
-	private CameraImageMonitor camMonitor;
-	private Socket socket;
-	private BufferedWriter writer;
-	private BufferedReader reader;
-	private byte[] image;
-	private String serverIp;
-
-	public ImageTransferThread(String serverIp){
-		this.serverIp = serverIp;
-		pause = false;
-		done = false;
-		threadPauseMonitor = new Object();
-		socket = null;
-		writer = null;
-		reader = null;
-		camMonitor = CameraImageMonitor.getInstance();
-	}
-
-	public void run(){
-		connectToServer();
-		if(socket.isConnected()){
-			Logger.log_e(TAG, CLASS_NAME + ".run() :: Not connected to a server. Finishing thread.");
-		}else{
-			while(!done){
-				checkPause();
-				image = camMonitor.getImageData();
-				// TODO: implement image transfer protocol.
-			}
-		}
-	}
-
-	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 BufferedWriter(new OutputStreamWriter(socket.getOutputStream()));
-			reader = new BufferedReader(new InputStreamReader(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());
-		}
-	}
-
-	public void disconnect(){
-		if(socket != null && socket.isConnected()){
-			try{
-				socket.close();
-			}catch (IOException io) {
-				Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: " + io.getMessage());
-			}
-		}
-	}
-
-	public synchronized void finish(){
-		done = true;
-		Logger.log_i(TAG, CLASS_NAME + ".finish() :: Finishing thread.");
-	}
-
-	private void checkPause(){
-		synchronized (threadPauseMonitor){
-			while(pause){
-				Logger.log_d(TAG, CLASS_NAME + ".checkPause() :: Pause requested.");
-				try{ threadPauseMonitor.wait(); }catch(InterruptedException ie){}
-			}
-		}
-	}
-
-	public synchronized void pauseThread(){
-		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;
-			threadPauseMonitor.notifyAll();
-		}
-	}
-
-	public boolean isConnected(){
-		if(socket != null && socket.isConnected())
-			return true;
-		else
-			return false;
-	}
-}

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

@@ -1,3 +1,18 @@
+/*
+ * Copyright (C) 2013 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;
 
 public class LCPThread extends Thread{

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

@@ -0,0 +1,341 @@
+/*
+ * Copyright (C) 2013 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;
+
+import java.io.ByteArrayOutputStream;
+import java.io.IOException;
+import java.io.ObjectInputStream;
+import java.io.ObjectOutputStream;
+import java.net.InetAddress;
+import java.net.Socket;
+
+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;
+import android.graphics.Rect;
+import android.graphics.YuvImage;
+
+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 boolean pause, done;
+	private Object threadPauseMonitor;
+	private CameraImageMonitor camMonitor;
+	private Socket socket;
+	private ObjectOutputStream writer;
+	private ObjectInputStream reader;
+	private String serverIp;
+	private ProtocolState_t protocolState;
+	private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
+
+	public VideoStreamingThread(String serverIp){
+		super("Video Streaming Thread");
+		this.serverIp = serverIp;
+		pause = false;
+		done = false;
+		threadPauseMonitor = new Object();
+		socket = null;
+		writer = null;
+		reader = null;
+		camMonitor = CameraImageMonitor.getInstance();
+		protocolState = ProtocolState_t.WAIT_FOR_READY;
+	}
+
+	/*public void run(){
+		byte[] image;
+		Object tmpMessage;
+		VideoStreamingControlMessage controlMessage;
+		VideoFrameDataMessage dataMessage;
+		final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
+
+		connectToServer();
+
+		if(!socket.isConnected()){
+			Logger.log_e(TAG, CLASS_NAME + ".run() :: Not connected to a server. Finishing thread.");
+			return;
+		}else{
+			while(!done){
+				// checkPause();
+				switch(protocolState){
+				case WAIT_FOR_READY:
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Reading message from server. State is WAIT_FOR_READY.");
+					tmpMessage = readMessage();
+
+					if(!validateImageTransferProtocolMessage(tmpMessage)){
+						// If the message received is not valid then send an UNRECOGNIZED message to the server.
+						Logger.log_d(TAG, CLASS_NAME + ".run() :: Received an unrecognized protocol message. State WAIT_FOR_READY.");
+						Logger.log_d(TAG, CLASS_NAME + ".run() :: Sending UNRECOGNIZED message to server.");
+						sendUnrecognizedMessage();
+
+					}else{
+						// Else if the message passed the validity check then proceed to the next protocol state.
+						controlMessage = (VideoStreamingControlMessage)tmpMessage;
+						if(controlMessage.message == VideoStreamingProtocol.FLOW_CONTROL_CONTINUE){
+							Logger.log_d(TAG, CLASS_NAME + ".run() :: Received FLOW_CONTROL_CONTINUE from the server.");
+							Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from WAIT_FOR_READY to CAN_SEND.");
+							protocolState = ProtocolState_t.CAN_SEND;
+						}else if(controlMessage.message == VideoStreamingProtocol.STREAM_CONTROL_END){
+							Logger.log_d(TAG, CLASS_NAME + ".run() :: Received STREAM_CONTROL_END from the server.");
+							Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from WAIT_FOR_READY to END_STREAM.");
+							protocolState = ProtocolState_t.END_STREAM;
+						}
+					}
+					break;
+
+				case WAIT_FOR_ACK:
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Reading message from server. State is WAIT_FOR_ACK.");
+					tmpMessage = readMessage();
+
+					if(!validateImageTransferProtocolMessage(tmpMessage)){
+						// If the message received is not valid then send an UNRECOGNIZED message to the server.
+						Logger.log_d(TAG, CLASS_NAME + ".run() :: Received an unrecognized protocol message. State WAIT_FOR_ACK.");
+						Logger.log_d(TAG, CLASS_NAME + ".run() :: Sending UNRECOGNIZED message to server.");
+						sendUnrecognizedMessage();
+
+					}else{
+						// Else if the message passed the validity check then proceed to the next protocol state.
+						controlMessage = (VideoStreamingControlMessage)tmpMessage;
+						if(controlMessage.message == VideoStreamingProtocol.ACK_SEND_NEXT){
+							Logger.log_d(TAG, CLASS_NAME + ".run() :: Received ACK_SEND_NEXT from the server.");
+							Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from WAIT_FOR_ACK to CAN_SEND.");
+							protocolState = ProtocolState_t.CAN_SEND;
+						}else if(controlMessage.message == VideoStreamingProtocol.ACK_WAIT){
+							Logger.log_d(TAG, CLASS_NAME + ".run() :: Received ACK_WAIT from the server.");
+							Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from WAIT_FOR_ACK to WAIT_FOR_READY.");
+							protocolState = ProtocolState_t.WAIT_FOR_READY;
+						}else if(controlMessage.message == VideoStreamingProtocol.STREAM_CONTROL_END){
+							protocolState = ProtocolState_t.END_STREAM;
+						}
+					}
+					break;
+
+				case CAN_SEND:
+					// Get the image and it's parameters from the monitor.
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Getting image data.");
+					Rect imageSize = camMonitor.getImageParameters();
+					image = camMonitor.getImageData();
+
+					// Compress the image as Jpeg.
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Compressing image.");
+					YuvImage yuvImage = new YuvImage(image, ImageFormat.NV21, imageSize.width(), imageSize.height(), null);
+					yuvImage.compressToJpeg(imageSize, 90, outputStream);
+
+					// Prepare the message for sending.
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Building message.");
+					dataMessage = new VideoFrameDataMessage();
+					dataMessage.imageWidth = imageSize.width();
+					dataMessage.imageHeight = imageSize.height();
+					dataMessage.data = outputStream.toByteArray();
+
+					// Send the message.
+					try{
+						Logger.log_d(TAG, CLASS_NAME + ".run() :: Sending message.");
+						writer.writeObject(dataMessage);
+					}catch(IOException io){
+						Logger.log_e(TAG, CLASS_NAME + ".run() :: Error sending image to the server: " + io.getMessage());
+					}
+
+					// Clean up stuff.
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Cleaning.");
+					yuvImage = null;
+					image = null;
+					outputStream.reset();
+					dataMessage = null;
+					imageSize = null;
+
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Image data successfuly sent.");
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from CAN_SEND to WAIT_FOR_ACK.");
+					protocolState = ProtocolState_t.WAIT_FOR_ACK;
+					break;
+
+				case END_STREAM:
+					// Simply disconnect from the server.
+					Logger.log_d(TAG, CLASS_NAME + ".run() :: Ending video stream.");
+					disconnect();
+					done = true;
+					break;
+				}
+			}
+		}
+		Logger.log_d(TAG, CLASS_NAME + ".run() :: Thread finish reached.");
+	}*/
+
+	public void run(){
+		connectToServer();
+
+		if(!socket.isConnected()){
+			Logger.log_e(TAG, CLASS_NAME + ".run() :: Not connected to a server. Finishing thread.");
+			return;
+
+		}else{
+			while(!done){
+				sendImage();
+				try{
+					sleep(50L);
+				}catch(InterruptedException ie){}
+			}
+		}
+
+		Logger.log_d(TAG, CLASS_NAME + ".run() :: Thread finish reached.");
+	}
+
+	private void sendImage(){
+		byte[] image;
+		YuvImage yuvImage;
+		VideoFrameDataMessage message;
+		Rect imageSize;
+
+		image = camMonitor.getImageData();
+		if(image == null){
+			Logger.log_e(TAG, CLASS_NAME + ".sendImage() :: image is null, skipping frame.");
+			return;
+		}
+		imageSize = camMonitor.getImageParameters();
+
+		// Compress the image as Jpeg.
+		Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Compressing image.");
+		yuvImage = new YuvImage(image, ImageFormat.NV21, imageSize.width(), imageSize.height(), null);
+		yuvImage.compressToJpeg(imageSize, 90, outputStream);
+
+		Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Building message.");
+		message = new VideoFrameDataMessage();
+		message.data = outputStream.toByteArray();
+		message.imageWidth = imageSize.width();
+		message.imageHeight = imageSize.height();
+
+		try{
+			Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Sending message.");
+			writer.writeObject(message);
+			writer.flush();
+			writer.reset();
+			Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Message sent successfully: ");
+		}catch(IOException io){
+			Logger.log_e(TAG, CLASS_NAME + ".sendImage() :: Error sending image to the server: " + io.getMessage());
+
+		}finally{
+			Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Cleaning.");
+			outputStream.reset();
+			image = null;
+			yuvImage = null;
+			message = null;
+			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());
+			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());
+		}
+	}
+
+	public void disconnect(){
+		if(socket != null && socket.isConnected()){
+			try{
+				Logger.log_d(TAG, CLASS_NAME + ".disconnect() :: Closing socket.");
+				socket.close();
+			}catch (IOException io) {
+				Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: " + io.getMessage());
+			}
+		}
+	}
+
+	public synchronized void finish(){
+		done = true;
+		Logger.log_i(TAG, CLASS_NAME + ".finish() :: Finishing thread.");
+	}
+
+	private void checkPause(){
+		synchronized (threadPauseMonitor){
+			while(pause){
+				Logger.log_d(TAG, CLASS_NAME + ".checkPause() :: Pause requested.");
+				try{ threadPauseMonitor.wait(); }catch(InterruptedException ie){}
+			}
+		}
+	}
+
+	private Object readMessage(){
+		Object tmpMessage;
+
+		// Read a message from the server stream.
+		try{
+			tmpMessage = reader.readObject();
+
+		}catch(IOException io){
+			Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException when reading in WAIT_FOR_READY state.");
+			tmpMessage = null;
+			return null;
+		}catch(ClassNotFoundException cn){
+			Logger.log_e(TAG, CLASS_NAME + ".run() :: ClassNotFoundException when reading in WAIT_FOR_READY state.");
+			tmpMessage = null;
+			return null;
+		}
+
+		return tmpMessage;
+	}
+
+	private boolean validateImageTransferProtocolMessage(Object message){
+		if(message != null && message instanceof VideoStreamingControlMessage)
+			return true;
+		else
+			return false;
+	}
+
+	private void sendUnrecognizedMessage(){
+		VideoStreamingControlMessage message = new VideoStreamingControlMessage();
+		message.message = VideoStreamingProtocol.UNRECOGNIZED;
+
+		try{
+			writer.writeObject(message);
+		}catch(IOException io){
+			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;
+		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;
+			threadPauseMonitor.notifyAll();
+		}
+	}
+
+	public boolean isConnected(){
+		if(socket != null && socket.isConnected())
+			return true;
+		else
+			return false;
+	}
+}

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

@@ -1,17 +0,0 @@
-package ve.ucv.ciens.ccg.nxtcam.network.protocols;
-
-
-public abstract class ImageTransferProtocol{
-	public static enum ProtocolState{
-		SALUTE, IMG_FOLLOWS, SEND_DATA, PAUSED, WAITING, GOODBYE
-	}
-	
-	public static final byte MSG_HELLO = 			(byte)0x89;
-	public static final byte MSG_GOODBYE = 		(byte)0x90;
-	public static final byte MSG_IMG_DATA = 		(byte)0x42;
-	public static final byte CMD_IMG_FOLLOWS = 	(byte)0x10;
-	public static final byte CMD_PAUSE = 			(byte)0x15;
-	public static final byte CMD_IMG_WAIT = 		(byte)0x20;
-	public static final byte ACK_SEND_IMG = 		(byte)0x40;
-	public static final byte ACK_IMG_RCVD = 		(byte)0x50;
-}

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

@@ -1,3 +1,18 @@
+/*
+ * Copyright (C) 2013 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;
 
 import java.security.InvalidParameterException;

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

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2013 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;
+
+public final class VideoStreamingProtocol{
+	public static final byte STREAM_CONTROL_END = 0x10;
+	public static final byte ACK_SEND_NEXT = 0x20;
+	public static final byte ACK_WAIT = 0x30;
+	public static final byte FLOW_CONTROL_WAIT = 0x40;
+	public static final byte FLOW_CONTROL_CONTINUE = 0x50;
+	public static final byte IMAGE_DATA = 0x60;
+	public static final byte UNRECOGNIZED = (byte)0xFF;
+
+	public static boolean checkValidityOfMessage(byte message){
+		boolean validity;
+
+		switch(message){
+		case STREAM_CONTROL_END:
+		case ACK_SEND_NEXT:
+		case ACK_WAIT:
+		case FLOW_CONTROL_WAIT:
+		case FLOW_CONTROL_CONTINUE:
+		case IMAGE_DATA:
+		case UNRECOGNIZED:
+			validity = true;
+			break;
+		default:
+			validity = false;
+		}
+
+		return validity;
+	}
+}

src/ve/ucv/ciens/ccg/nxtcam/utils/Logger.java

@@ -1,3 +1,18 @@
+/*
+ * Copyright (C) 2013 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.utils;
 
 import android.util.Log;

src/ve/ucv/ciens/ccg/nxtcam/utils/ProjectConstants.java

@@ -1,14 +1,36 @@
+/*
+ * Copyright (C) 2013 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.utils;
 
 import java.util.UUID;
 
+import android.app.Activity;
+
 public abstract class ProjectConstants {
+	// Network related constants.
 	public static final int SERVER_UDP_PORT = 8889;
 	public static final int SERVER_TCP_PORT_1 = 9989;
 	public static final int SERVER_TCP_PORT_2 = 9990;
 	public static final UUID SERIAL_PORT_SERVICE_CLASS_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
 	public static final String OUI_LEGO = "00:16:53";
 	public static final String MULTICAST_ADDRESS = "230.0.0.1";
+	public static final String SERVICE_DISCOVERY_MESSAGE = "NxtAR server here!";
 
-	public static final boolean DEBUG = true;
+	// Activity results.
+	public static final int RESULT_CAMERA_FAILURE = Activity.RESULT_FIRST_USER + 1;
+
+	public static final boolean DEBUG = false;
 }