Merge branch 'develop'

.settings/org.eclipse.jdt.core.prefs

@@ -0,0 +1,4 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.6
+org.eclipse.jdt.core.compiler.compliance=1.6
+org.eclipse.jdt.core.compiler.source=1.6

AndroidManifest.xml

@@ -1,23 +1,38 @@
 <?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"
-    android:versionName="1.0" >
+    android:versionCode="140404"
+    android:versionName="14.04.04" >
 
     <uses-sdk
         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" >

LICENSE.txt

@@ -0,0 +1,202 @@
+
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+
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+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
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+      Work (including but not limited to damages for loss of goodwill,
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+      on Your own behalf and on Your sole responsibility, not on behalf
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+
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+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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+   limitations under the License.

README.md

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

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" >
 
+    <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>
@@ -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/MotorEvent.java

@@ -0,0 +1,37 @@
+package ve.ucv.ciens.ccg.networkdata;
+
+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};
+
+	private motor_t motor;
+	private byte power;
+
+	public MotorEvent(){
+		motor = motor_t.NONE;
+		power = 0;
+	}
+
+	public void setMotor(motor_t motor){
+		this.motor = motor;
+	}
+
+	public void setPower(byte power) throws IllegalArgumentException{
+		if(power > 100 || power < -100){
+			throw new IllegalArgumentException("Motor power must be a number between -100 and 100");
+		}else{
+			this.power = power;
+		}
+	}
+
+	public motor_t getMotor(){
+		return this.motor;
+	}
+
+	public byte getPower(){
+		return this.power;
+	}
+}

src/ve/ucv/ciens/ccg/networkdata/MotorEventACK.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.networkdata;
+
+import java.io.Serializable;
+
+public class MotorEventACK implements Serializable {
+	private static final long serialVersionUID = 9989L;
+
+	private boolean clientQueueIsFull;
+
+	public MotorEventACK(boolean isQueueFull){
+		this.clientQueueIsFull = isQueueFull;
+	}
+
+	public boolean isClientQueueFull(){
+		return this.clientQueueIsFull;
+	}
+}

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

@@ -0,0 +1,8 @@
+package ve.ucv.ciens.ccg.networkdata;
+
+import java.io.Serializable;
+
+public class SensorDataMessage implements Serializable{
+	private static final long serialVersionUID = 9989L;
+
+}

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 +1,26 @@
+/*
+ * 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.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;
 import android.app.Activity;
 import android.content.Intent;
 import android.hardware.Camera;
@@ -12,16 +30,19 @@ 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 NxtBTCommThread botThread;
+	private SensorReportThread sensorThread;
 	private String serverIp;
 
 	/*******************
@@ -31,12 +52,18 @@ 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();
+
+		botThread = new NxtBTCommThread(serverIp);
+		botThread.start();
+
+		sensorThread = new SensorReportThread(serverIp);
+		sensorThread.start();
 	}
 
 	@Override
@@ -70,30 +97,57 @@ public class CamActivity extends Activity{
 		camSetupTask = new CameraSetupTask();
 		camSetupTask.execute();
 
-		imThread = new ImageTransferThread(serverIp);
-		imThread.start();
+		// TODO: resumethe imThread, botThread and sensorThread objects.
 	}
 
 	@Override
 	public void onPause(){
 		super.onPause();
 
-		// TODO: Disconnect and destroy the imThread object.
+		// TODO: pause the imThread, botThread and sensorThread objects.
 
+		if(cPreview != null){
 			cPreview.removePreviewCallback();
 			cPreview.setCamera(null);
 			releaseCamera();
 		}
+	}
+
+	@Override
+	public void onDestroy(){
+		super.onDestroy();
+		imThread.finish();
+		imThread = null;
+
+		botThread.finish();
+		botThread = null;
+
+		sensorThread.finish();
+		sensorThread = null;
+	}
+
+	@Override
+	public void onBackPressed(){
+		Intent result = new Intent();
+		setResult(Activity.RESULT_OK, result);
+		finish();
+	}
 
 	/******************
 	 * My own methods *
 	 ******************/	
 	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 +164,7 @@ 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){

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

@@ -1,10 +1,24 @@
+/*
+ * 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;
 import java.net.DatagramPacket;
 import java.net.InetAddress;
 import java.net.MulticastSocket;
-import java.net.Socket;
 
 import ve.ucv.ciens.ccg.nxtcam.dialogs.ConnectRobotDialog;
 import ve.ucv.ciens.ccg.nxtcam.dialogs.ConnectRobotDialog.ConnectRobotDialogListener;
@@ -45,6 +59,7 @@ 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 +73,7 @@ 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 +83,7 @@ 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);
@@ -100,12 +117,13 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 	public void onPause(){
 		super.onPause();
 
+		if(!changingActivity){
 			if(btManager.isBTEnabled() && btOnByMe)
 				btManager.disableBT();
-
 			if(wifiManager.isWifiEnabled() && wifiOnByMe)
 				setWifi(false);
 		}
+	}
 
 	@Override
 	public void onDestroy(){
@@ -127,11 +145,18 @@ 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(request == REQUEST_ENABLE_BT){
+			if(result == RESULT_OK){
 				if(!wifiManager.isWifiEnabled())
 					enableWifi();
 			}else{
-			Toast.makeText(this, R.string.bt_on_fail, Toast.LENGTH_LONG).show();
+				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 +170,9 @@ 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();
@@ -297,7 +323,7 @@ public class MainActivity extends Activity implements WifiOnDialogListener, Conn
 		public ServiceDiscoveryTask(){
 			// Open a multicast socket and join the project's multicast group.
 			try{
-				udpSocket = new MulticastSocket(ProjectConstants.SERVER_UDP_PORT);
+				udpSocket = new MulticastSocket(ProjectConstants.SERVICE_DISCOVERY_PORT);
 				InetAddress group = InetAddress.getByName(ProjectConstants.MULTICAST_ADDRESS);
 				udpSocket.joinGroup(group);
 			}catch(IOException io){
@@ -315,7 +341,7 @@ 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 +358,8 @@ 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 +388,10 @@ 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 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();
+	public void setImageParameters(int width, int height){
+		imageSize = new Rect(0, 0, width, height);
 	}
+	
+	public Rect getImageParameters(){
+		return imageSize;
+	}
+	
+	public void setImageData(byte[] image){
+		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.");
+		}
 	}
 
 	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(352, 288);
+		camera.setParameters(camParams);
+		/*previewWidth = optimal.width;
+		previewHeight = optimal.height;*/
+		previewWidth = 352;
+		previewHeight = 288;
 
 		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;
@@ -213,9 +228,6 @@ public class BTCommunicator{
 		if(connected){
 			try{
 				byte[] message = new byte[bytes];
-				for(int i = 0; i < message.length; ++i){
-					message[i] = 0x00;
-				}
 				nxtInputStream.read(message, 0, bytes);
 				return message;
 			}catch(IOException e){

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

@@ -1,191 +0,0 @@
-package ve.ucv.ciens.ccg.nxtcam.network;
-
-import java.io.IOException;
-import java.io.InputStream;
-import java.io.OutputStream;
-import java.util.Set;
-import java.util.UUID;
-
-import android.bluetooth.BluetoothAdapter;
-import android.bluetooth.BluetoothDevice;
-import android.bluetooth.BluetoothSocket;
-import android.util.Log;
-
-public class BluetoothManager{
-	private static final UUID SERIAL_PORT_SERVICE_CLASS_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
-	private static final String OUI_LEGO = "00:16:53";
-	private static final String TAG = "BTMNGR";
-	
-	private boolean connected;
-	private BluetoothAdapter bt_adapter;
-	private BluetoothSocket bt_socket = null;
-	private OutputStream nxt_out_stream = null;
-	private InputStream nxt_in_stream = null;
-
-	private static class SingletonHolder{
-		public static final BluetoothManager INSTANCE = new BluetoothManager();
-	}
-
-	private BluetoothManager(){
-		connected = false;
-		bt_adapter = BluetoothAdapter.getDefaultAdapter();
-		bt_socket = null;
-		nxt_in_stream = null;
-		nxt_out_stream = null;
-	}
-	
-	public static BluetoothManager getInstance(){
-		return SingletonHolder.INSTANCE;
-	}
-
-	public boolean isBTSupported(){
-		return bt_adapter != null;
-	}
-
-	public boolean isConnected(){
-		return connected;
-	}
-
-	public boolean isBTEnabled(){
-		return bt_adapter.isEnabled();
-	}
-
-	public void disableBT(){
-		bt_adapter.disable();
-	}
-
-	public Set<BluetoothDevice> getPairedDevices(){
-		return bt_adapter.getBondedDevices();
-	}
-
-	/**
-	 * Sets up a connection with a NXT device.
-	 * 
-	 * Verifies if the target device is a valid NXT robot by checking agains Lego's OUI.
-	 * Also creates the socket and the streams associated with the connection
-	 * 
-	 * @param mac_address	The mac address of the target device.
-	 * @return true if the connection was established succesfully, otherwise false.
-	 * @throws IOException
-	 */
-	public boolean establishConnection(String mac_address) throws IOException{
-		if (!bt_adapter.isEnabled()){
-			return false;
-		}
-		if(connected){
-			return false;
-		}
-		if(bt_adapter.isEnabled()){
-			if(mac_address == "NONE"){
-				return false;
-			}else{
-				if(mac_address.substring(0, 8).compareTo(OUI_LEGO) != 0){
-					Log.d(TAG, "establishConnection() :: Not a Lego MAC. Prefix : " + mac_address.substring(0, 8) + " :: OUI : " + OUI_LEGO);
-					return false;
-				}else{
-					try{
-						Log.d(TAG, "establishConnection() :: Getting device with mac address: " + mac_address);
-						BluetoothDevice nxtDevice = null;
-						nxtDevice = bt_adapter.getRemoteDevice(mac_address);
-						if (nxtDevice == null) {
-							Log.e(TAG, "establishConnection() :: No device found.");
-							throw new IOException();
-						}
-
-						Log.d(TAG, "establishConnection() :: Opening socket.");
-						bt_socket = nxtDevice.createRfcommSocketToServiceRecord(SERIAL_PORT_SERVICE_CLASS_UUID);
-						Log.d(TAG, "establishConnection() :: Connecting.");
-						bt_socket.connect();
-
-						Log.d(TAG, "establishConnection() :: Opening IO streams.");
-						nxt_in_stream = bt_socket.getInputStream();
-						nxt_out_stream = bt_socket.getOutputStream();
-
-						Log.d(TAG, "establishConnection() :: Connection established.");
-						connected = true;
-
-					}catch(IOException e){
-						Log.e(TAG, "establishConnection() :: Connection failed.");
-						Log.e(TAG, Log.getStackTraceString(e));
-						connected = false;
-						throw e;
-					}
-					return connected;
-				}
-			}
-		}
-		return false;
-	}
-
-	/**
-	 * Closes the active connection if any.
-	 * 
-	 * Additionally clears the socket and the streams associated to said connection.
-	 * 
-	 * @return true if the connection was succesfully closed; false if no connection exists.
-	 * @throws IOException
-	 */
-	public boolean stopConnection() throws IOException{
-		try{
-			if(bt_socket != null){
-				Log.d(TAG, "stopConnection() :: Closing connection.");
-				bt_socket.close();
-				bt_socket = null;
-				nxt_in_stream = null;
-				nxt_out_stream = null;
-				connected = false;
-				Log.d(TAG, "stopConnection() :: Connection closed.");
-				return true;
-			}
-		}catch( IOException e){
-			Log.e(TAG, "stopConnection()");
-			Log.e(TAG, Log.getStackTraceString(e));
-			throw e;
-		}
-		return false;
-	}
-
-	/**
-	 * Sends a message to the NXT robot.
-	 * 
-	 * @param message	The data to be sent.
-	 * @throws IOException
-	 */
-	public synchronized void writeMessage(byte[] message) throws IOException{
-		if(connected){
-			try{
-				nxt_out_stream.write(message);
-				nxt_out_stream.flush();
-			}catch(IOException e){
-				Log.e(TAG, "writeMessage()");
-				Log.e(TAG, Log.getStackTraceString(e));
-				throw e;
-			}
-		}
-	}
-
-	/**
-	 * Reads a message sent by the NXT robot.
-	 * 
-	 * @return The data received as a byte[] if a valid connection exists, otherwise null. 
-	 * @throws IOException
-	 */
-	public synchronized byte[] readMessage(int bytes) throws IOException{
-		if(connected){
-			try{
-				byte[] message = new byte[bytes];
-				for(int i = 0; i < message.length; ++i){
-					message[i] = 0x00;
-				}
-				nxt_in_stream.read(message, 0, bytes);
-				return message;
-			}catch(IOException e){
-				Log.e(TAG, "readMessage()");
-				Log.e(TAG, Log.getStackTraceString(e));
-				throw e;
-			}
-		}else{
-			return null;
-		}
-	}
-}

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

@@ -1,12 +0,0 @@
-package ve.ucv.ciens.ccg.nxtcam.network;
-
-public class LCPThread extends Thread{
-
-	public LCPThread(){
-		
-	}
-	
-	public void run(){
-		
-	}
-}

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

@@ -0,0 +1,152 @@
+/*
+ * 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;
+
+import java.io.IOException;
+import java.io.ObjectInputStream;
+import java.io.ObjectOutputStream;
+import java.net.Socket;
+
+import ve.ucv.ciens.ccg.networkdata.MotorEvent;
+import ve.ucv.ciens.ccg.networkdata.MotorEventACK;
+import ve.ucv.ciens.ccg.nxtcam.robotcontrol.MotorEventQueue;
+import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
+import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
+
+public class MotorControlThread extends Thread {
+	private static final String TAG = "MOTOR_CONTROL";
+	private static final String CLASS_NAME = MotorControlThread.class.getSimpleName();
+
+	private Socket socket;
+	private String serverIp;
+	private MotorEventQueue queue;
+	private boolean done;
+	private ObjectInputStream reader;
+	private ObjectOutputStream writer;
+	private boolean connected;
+
+	public MotorControlThread(String serverIp){
+		super("Motor Control Thread");
+		this.serverIp = serverIp;
+		done = false;
+		connected = false;
+		queue = MotorEventQueue.getInstance();
+	}
+
+	@Override
+	public void run(){
+		Object msg;
+		MotorEvent event;
+		MotorEventACK ack;
+
+		if(!connectToServer()){
+			Logger.log_e(TAG, CLASS_NAME + ".run() :: The thread is not connected to a server. Finishing.");
+			return;
+		}else{
+			while(!done){
+				// Receive a message and enqueue it;
+				msg = readMessage();
+				event = verifyMessage(msg);
+				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().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;");
+				}
+
+				// Send corresponding ack;
+				ack = new MotorEventACK(queue.getSize() >= 10);
+				try{
+					writer.writeObject(ack);
+					Logger.log_i(TAG, CLASS_NAME + ".run() :: First ACK sent.");
+				}catch(Exception ex){
+					Logger.log_e(TAG, CLASS_NAME + ".run() :: Exception while sending first ACK: " + ex.getMessage());
+					break;
+				}
+
+				if(ack.isClientQueueFull()){
+					while(queue.getSize() >= 10){ }
+
+					ack = new MotorEventACK(false);
+
+					try{
+						writer.writeObject(ack);
+					}catch(Exception ex){
+						Logger.log_i(TAG, CLASS_NAME + ".run() :: Second ACK sent.");
+						Logger.log_e(TAG, CLASS_NAME + ".run() :: Exception while sending second ACK: " + ex.getMessage());
+						break;
+					}
+				}
+
+				event = null;
+				ack = null;
+				msg = null;
+			}
+			try{
+				socket.close();
+			}catch(IOException io){
+				Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException while closing socket: " + io.getMessage());
+			}
+		}
+	}
+
+	public void finish(){
+		done = true;
+	}
+
+	public boolean connectToServer(){
+		try{
+			socket = new Socket(serverIp, ProjectConstants.MOTOR_CONTROL_PORT);
+			reader = new ObjectInputStream(socket.getInputStream());
+			writer = new ObjectOutputStream(socket.getOutputStream());
+			connected = true;
+		}catch(IOException io){
+			Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: IOException caught: " + io.getMessage());
+			connected = false;
+		}
+		return connected;
+	}
+
+	private Object readMessage(){
+		Object message;
+		try{
+			message = reader.readObject();
+			Logger.log_i(TAG, CLASS_NAME + ".readMessage() :: Motor control message received.");
+		}catch(ClassNotFoundException cn){
+			Logger.log_e(TAG, CLASS_NAME + ".readMessage() :: ClassNotFoundException caught: " + cn.getMessage());
+			message = null;
+		}catch(IOException io){
+			Logger.log_e(TAG, CLASS_NAME + ".readMessage() :: IOException caught: " + io.getMessage());
+			message = null;
+		}
+		return message;
+	}
+
+	private MotorEvent verifyMessage(Object message){
+		if(message != null && message instanceof MotorEvent){
+			Logger.log_i(TAG, CLASS_NAME + ".verifyMessage() :: Valid motor control message received.");
+			return (MotorEvent)message;
+		}else{
+			return null;
+		}
+	}
+	
+	public boolean isConnected(){
+		return connected;
+	}
+}

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

@@ -0,0 +1,103 @@
+/*
+ * 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;
+
+import ve.ucv.ciens.ccg.networkdata.MotorEvent;
+import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
+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 NxtBTCommThread extends Thread{
+	private static final String TAG = "LCP_THREAD";
+	private static final String CLASS_NAME = NxtBTCommThread.class.getSimpleName();
+
+	private boolean done;
+	private BTCommunicator btComm;
+	private MotorControlThread motorControl;
+
+	private MotorEventQueue queue;
+
+	public NxtBTCommThread(String serverIp){
+		super("Robot Control Main Thread");
+		btComm = BTCommunicator.getInstance();
+		done = false;
+		motorControl = new MotorControlThread(serverIp);
+		queue = MotorEventQueue.getInstance();
+	}
+
+	public void run(){
+		long then, now, delta;
+		MotorEvent event;
+		byte[] msg = new byte[2];
+
+		motorControl.start();
+
+		then = System.currentTimeMillis();
+
+		while(!motorControl.isConnected()){
+			now = System.currentTimeMillis();
+			delta = now - then;
+			if(delta > 9000L){
+				Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread motorControl could not connect to the server.");
+				return;
+			}
+		}
+
+		while(!done){
+			if(btComm.isBTEnabled() && btComm.isConnected()){
+				msg[0] = 0x00;
+				msg[1] = 0x00;
+
+				event = queue.getNextEvent();
+
+				try{
+					// 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){ }
+
+				}catch(IOException io){
+					Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException sending message to the robot: " + io.getMessage());
+				}
+			}else{
+				Logger.log_e(TAG, CLASS_NAME +  ".run() :: The robot disconnected or was never available.");
+				break;
+			}
+		}
+	}
+
+	public void finish(){
+		done = true;
+	}
+}

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

@@ -0,0 +1,73 @@
+package ve.ucv.ciens.ccg.nxtcam.network;
+
+import java.io.IOException;
+import java.io.OutputStream;
+import java.net.Socket;
+
+import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
+import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
+
+public class SensorReportThread extends Thread{
+	private static final String TAG = "SENSOR_REPORT";
+	private static final String CLASS_NAME = SensorReportThread.class.getSimpleName();
+
+	private Socket socket;
+	private String serverIp;
+	private boolean done;
+	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.");
+		}
+	}
+
+	public void finish(){
+		done = true;
+	}
+
+	private boolean connectToServer(){
+		boolean connected;
+		try{
+			socket = new Socket(serverIp, ProjectConstants.SENSOR_REPORT_PORT);
+			writer = socket.getOutputStream();
+			connected = true;
+		}catch(IOException io){
+			Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: IOException caught: " + io.getMessage());
+			connected = false;
+		}
+		return connected;
+	}
+
+	public boolean isConnected(){
+		return connected;
+	}
+}

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

@@ -0,0 +1,190 @@
+/*
+ * 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.ObjectOutputStream;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.net.Socket;
+import java.net.UnknownHostException;
+
+import ve.ucv.ciens.ccg.networkdata.VideoFrameDataMessage;
+import ve.ucv.ciens.ccg.nxtcam.camera.CameraImageMonitor;
+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 boolean pause, done;
+	private Object threadPauseMonitor;
+	private CameraImageMonitor camMonitor;
+	private Socket socket;
+	DatagramSocket udpSocket;
+	private String serverIp;
+	private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
+
+	public VideoStreamingThread(String serverIp){
+		super("Video Streaming Thread");
+		this.serverIp = serverIp;
+		done = false;
+		pause = false;
+		threadPauseMonitor = new Object();
+		socket = null;
+		camMonitor = CameraImageMonitor.getInstance();
+	}
+
+	public void run(){
+
+		try{
+			udpSocket = new DatagramSocket();
+
+		}catch(IOException io){
+			Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException received creating socket " + io.getMessage());
+			System.exit(1);
+		}
+
+
+		while(!done){
+
+			synchronized (threadPauseMonitor) {
+				while(pause){
+					try{ threadPauseMonitor.wait(); }catch(InterruptedException ie){ };
+				}
+			}
+
+			sendUdp();
+			try{
+				sleep(50L);
+			}catch(InterruptedException ie){}
+		}
+
+
+		Logger.log_d(TAG, CLASS_NAME + ".run() :: Thread finish reached.");
+	}
+
+	private byte[] int2ByteArray(int integer){
+		int shift;
+		byte[] array = new byte[4];
+		for(int i = 0; i < 4; i++){
+			shift = i << 3;
+			array[3 - i] = (byte)((integer & (0xff << shift)) >>> shift);
+		}
+		return array;
+	}
+
+	private void sendUdp(){
+		int bufferSize;
+		byte[] image;
+		byte[] buffer;
+		byte[] size;
+		DatagramPacket packet;
+		VideoFrameDataMessage message;
+		Rect imageSize;
+		YuvImage yuvImage;
+
+		image = camMonitor.getImageData();
+		imageSize = camMonitor.getImageParameters();
+
+		yuvImage = new YuvImage(image, ImageFormat.NV21, imageSize.width(), imageSize.height(), null);
+		yuvImage.compressToJpeg(imageSize, 90, outputStream);
+
+		message = new VideoFrameDataMessage();
+		message.data = outputStream.toByteArray();
+		message.imageWidth = imageSize.width();
+		message.imageHeight = imageSize.height();
+
+		outputStream.reset();
+
+		ByteArrayOutputStream baos = new ByteArrayOutputStream();
+
+		try{
+			ObjectOutputStream oos = new ObjectOutputStream(baos);
+			oos.writeObject(message);
+			oos.flush();
+			oos.reset();
+		}catch(IOException io){
+			Logger.log_e(TAG, CLASS_NAME + ".sendUdp() :: IOException received while serializing." + io.getMessage());
+			return;
+		}
+
+		buffer = baos.toByteArray();
+		baos.reset();
+		bufferSize = buffer.length;
+		size = int2ByteArray(bufferSize);
+
+		try{
+			packet = new DatagramPacket(size, 4, InetAddress.getByName(serverIp), ProjectConstants.VIDEO_STREAMING_PORT);
+			udpSocket.send(packet);
+
+			packet = new DatagramPacket(buffer, buffer.length, InetAddress.getByName(serverIp), ProjectConstants.VIDEO_STREAMING_PORT);
+			udpSocket.send(packet);
+
+		}catch(UnknownHostException uo){
+			Logger.log_e(TAG, CLASS_NAME + ".sendUdp() :: UnknownHostException received " + uo.getMessage());
+			return;
+		}catch(IOException io){
+			Logger.log_e(TAG, CLASS_NAME + ".sendUdp() :: IOException buffer size is " + Integer.toString(buffer.length));
+			Logger.log_e(TAG, CLASS_NAME + ".sendUdp() :: IOException received while sending " + io.getMessage());
+			return;
+		}
+	}
+
+	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.");
+	}
+
+	public void pauseThread(){
+		synchronized (threadPauseMonitor) {
+			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

@@ -1,7 +1,28 @@
+/*
+ * 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;
+import java.util.Arrays;
 
+import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
+
+/**
+ * <p>Utility class that provides methods to get Lego Communication Protocol PDUs as byte arrays.</p> 
+ **/
 public abstract class LegoCommunicationProtocol{
 	/**
 	 * Command types. Byte 0;
@@ -133,7 +154,7 @@ public abstract class LegoCommunicationProtocol{
 		if(turn_ratio < -100 || turn_ratio > 100){
 			throw new InvalidParameterException("Turn ratio out of range.");
 		}
-		if(mode_byte != MOTORON && mode_byte != BRAKE && mode_byte != REGULATED){
+		if(mode_byte < 0x00 || mode_byte > 0x07){
 			throw new InvalidParameterException("Invalid mode byte.");
 		}
 		if(regulation_mode != REGULATION_MODE_IDLE && regulation_mode != REGULATION_MODE_MOTOR_SPEED && regulation_mode != REGULATION_MODE_MOTOR_SYNC){
@@ -143,7 +164,7 @@ public abstract class LegoCommunicationProtocol{
 			throw new InvalidParameterException("Invalid run state.");
 		}
 
-		message[0] = 0x0C;
+		message[0] = 0x0D;
 		message[1] = 0x00;
 		message[2] = DIRECT_COMMAND_NO_REPLY;
 		message[3] = SET_OUTPUT_STATE;
@@ -155,9 +176,26 @@ public abstract class LegoCommunicationProtocol{
 		message[9] = run_state;
 		message[10] = message[11] = message[12] = message[13] = message[14] = 0x00; 
 
+		Logger.log_d("LCP", LegoCommunicationProtocol.class.getSimpleName() + "setOutputState(...) :: " + Arrays.toString(message));
+
 		return message;
 	}
 
+	/**
+	 * <p>Simpler call to the set motor configuration pdu method.</p>
+	 * 
+	 * @param output_port The port in the brick the motor is connected to.
+	 * @param power Motor power. Must be between -100 and 100.
+	 * @return The assembled pdu.
+	 */
+	public static byte[] setOutputState(byte output_port, byte power){
+		if(power == (byte)0){
+			return setOutputState(output_port, power, (byte)0x00, REGULATION_MODE_IDLE, (byte)0x00, MOTOR_RUN_STATE_IDLE);
+		}else{
+			return setOutputState(output_port, power, (byte)(MOTORON + BRAKE), REGULATION_MODE_MOTOR_SPEED, (byte)0x00, MOTOR_RUN_STATE_RUNNING);
+		}
+	}
+
 	/**
 	 * Motor configuration request pdu. Page 8 of appendix 2.
 	 * 

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;
+}

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/robotcontrol/MotorEventQueue.java

@@ -0,0 +1,61 @@
+package ve.ucv.ciens.ccg.nxtcam.robotcontrol;
+
+import java.util.LinkedList;
+import java.util.Queue;
+
+import ve.ucv.ciens.ccg.networkdata.MotorEvent;
+
+/**
+ * <p>A simple monitor class that encapsulates a queue.</p>
+ * <p>As it name says it stores motor events to be forwarded to the NXT robot.</p>
+ * <p>This class implements the singleton design pattern.<p> 
+ * 
+ * @author Miguel Angel Astor Romero
+ */
+public class MotorEventQueue {
+	/**
+	 * The event queue implemented as a linked list.
+	 */
+	private Queue<MotorEvent> motorEvents;
+
+	private MotorEventQueue(){
+		motorEvents = new LinkedList<MotorEvent>();
+	}
+
+	private static class SingletonHolder{
+		public static final MotorEventQueue instance = new MotorEventQueue();
+	}
+
+	/**
+	 * Return the singleton instance of this class.
+	 * @return The singleton instance.
+	 */
+	public static MotorEventQueue getInstance(){
+		return SingletonHolder.instance;
+	}
+
+	/**
+	 * <p>Get the first event on the queue.</p>
+	 * <p> If there are no events to return this method blocks until some thread calls the addEvent() method.</p>
+	 * @return The event at the front of the queue.
+	 */
+	public synchronized MotorEvent getNextEvent(){
+		while(motorEvents.size() == 0){
+			try{ wait(); }catch(InterruptedException ie){ }
+		}
+		return motorEvents.poll();
+	}
+
+	/**
+	 * <p>Adds an event to the back of the queue.</p>
+	 * @param event The event to add.
+	 */
+	public synchronized void addEvent(MotorEvent event){
+		motorEvents.add(event);
+		notifyAll();
+	}
+	
+	public synchronized int getSize(){
+		return motorEvents.size();
+	}
+}

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 +1,39 @@
+/*
+ * 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 {
-	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;
+	// Network related constants.
+	public static final int SERVICE_DISCOVERY_PORT = 9988;
+	public static final int VIDEO_STREAMING_PORT = 9989;
+	public static final int MOTOR_CONTROL_PORT = 9990;
+	public static final int SENSOR_REPORT_PORT = 9991;
+	public static final int APP_CONTROL_PORT = 9992;
+
 	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!";
+
+	// Activity results.
+	public static final int RESULT_CAMERA_FAILURE = Activity.RESULT_FIRST_USER + 1;
 
 	public static final boolean DEBUG = true;
 }