Merge branch 'develop'

AndroidManifest.xml

@@ -17,8 +17,8 @@
 
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     package="ve.ucv.ciens.ccg.nxtcam"
-    android:versionCode="1"
+    android:versionCode="140626"
-    android:versionName="1.0" >
+    android:versionName="14.06.26" >
 
     <uses-sdk
         android:minSdkVersion="11"

README.md

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

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

@@ -5,7 +5,7 @@ import java.io.Serializable;
 public class MotorEvent implements Serializable{
 	private static final long serialVersionUID = 9989L;
 
-	public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC};
+	public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC, RECENTER, ROTATE_90};
 
 	private motor_t motor;
 	private byte power;

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

@@ -16,7 +16,8 @@
 package ve.ucv.ciens.ccg.nxtcam;
 
 import ve.ucv.ciens.ccg.nxtcam.camera.CameraPreview;
-import ve.ucv.ciens.ccg.nxtcam.network.LCPThread;
+import ve.ucv.ciens.ccg.nxtcam.network.NxtBTCommThread;
+import ve.ucv.ciens.ccg.nxtcam.network.SensorReportThread;
 import ve.ucv.ciens.ccg.nxtcam.network.VideoStreamingThread;
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
 import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
@@ -40,7 +41,8 @@ public class CamActivity extends Activity{
 	private CameraPreview cPreview;
 	private CameraSetupTask camSetupTask;
 	private VideoStreamingThread imThread;
-	private LCPThread botThread;
+	private NxtBTCommThread botThread;
+	private SensorReportThread sensorThread;
 	private String serverIp;
 
 	/*******************
@@ -57,8 +59,11 @@ public class CamActivity extends Activity{
 		imThread = new VideoStreamingThread(serverIp);
 		imThread.start();
 
-		botThread = new LCPThread(serverIp);
+		botThread = new NxtBTCommThread(serverIp);
 		botThread.start();
+
+		sensorThread = new SensorReportThread(serverIp);
+		sensorThread.start();
 	}
 
 	@Override
@@ -92,14 +97,14 @@ public class CamActivity extends Activity{
 		camSetupTask = new CameraSetupTask();
 		camSetupTask.execute();
 
-		// imThread.start();
+		// TODO: resumethe imThread, botThread and sensorThread objects.
 	}
 
 	@Override
 	public void onPause(){
 		super.onPause();
 
-		// TODO: pause the imThread and botThread objects.
+		// TODO: pause the imThread, botThread and sensorThread objects.
 
 		if(cPreview != null){
 			cPreview.removePreviewCallback();
@@ -116,6 +121,9 @@ public class CamActivity extends Activity{
 
 		botThread.finish();
 		botThread = null;
+
+		sensorThread.finish();
+		sensorThread = null;
 	}
 
 	@Override

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

@@ -30,6 +30,8 @@ import android.annotation.SuppressLint;
 import android.app.Activity;
 import android.content.Context;
 import android.hardware.Camera;
+import android.hardware.Camera.CameraInfo;
+import android.hardware.Camera.Parameters;
 import android.hardware.Camera.Size;
 import android.os.Build;
 import android.view.Surface;
@@ -39,8 +41,10 @@ import android.view.SurfaceView;
 /** A basic Camera preview class */
 @SuppressLint("ViewConstructor")
 public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback, Camera.PreviewCallback {
-	private final String TAG = "SURFVIEW";
+	private static final String TAG            = "SURFVIEW";
-	private final String CLASS_NAME = CameraPreview.class.getSimpleName();
+	private static final String CLASS_NAME     = CameraPreview.class.getSimpleName();
+	private static final int    OPTIMAL_WIDTH  = 352;
+	private static final int    OPTIMAL_HEIGHT = 288;
 
 	private CameraImageMonitor imgMonitor;
 	private Activity           parentActivity;
@@ -54,7 +58,6 @@ public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback
 		super(context);
 		parentActivity = (Activity)context;
 
-		// surfaceView = new SurfaceView(context);
 		holder = getHolder();
 		holder.addCallback(this);
 
@@ -62,78 +65,99 @@ public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback
 			holder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
 	}
 
+	/**
+	 * <p>Sets the camera for this surface view.</p>
+	 * 
+	 * @param camera The camera to set.
+	 */
 	public void setCamera(Camera camera){
 		this.camera = camera;
 		if(this.camera != null){
-			Logger.log_d(TAG, CLASS_NAME + ".setCamera() :: Setting camera.");
+			Logger.log_d(TAG, CLASS_NAME + ".setCamera(): Setting camera.");
 			imgMonitor = CameraImageMonitor.getInstance();
 			requestLayout();
-			Logger.log_d(TAG, CLASS_NAME + ".setCamera() :: Camera set.");
+			Logger.log_d(TAG, CLASS_NAME + ".setCamera(): Camera set.");
 		}
 	}
 
+	@Override
 	public void surfaceCreated(SurfaceHolder holder){
 		// The Surface has been created, now tell the camera where to draw the preview.
-		Logger.log_d(TAG, CLASS_NAME + ".surfaceCreated() :: Creating surface view.");
+		Logger.log_d(TAG, CLASS_NAME + ".surfaceCreated(): Creating surface view.");
 		try {
 			if(camera != null)
 				camera.setPreviewDisplay(holder);
 		} catch (IOException e) {
-			Logger.log_e(TAG, CLASS_NAME + ".surfaceCreated() :: Error creating camera: " + e.getMessage());
+			Logger.log_e(TAG, CLASS_NAME + ".surfaceCreated(): Error creating camera: " + e.getMessage());
 		}
 	}
 
+	@Override
 	public void surfaceDestroyed(SurfaceHolder holder){
 		if(camera != null)
 			camera.stopPreview();
 	}
 
+	@Override
 	public void surfaceChanged(SurfaceHolder tmpHolder, int format, int w, int h){
 		int        result;
 		int        rotation;
 		int        degrees = 0;
-		Camera.Parameters camParams;
+		Size       optimal;
+		CameraInfo info;
+		List<Size> sizes;
+		Parameters camParams;
 
-		Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Method started.");
+		Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Method started.");
 		if(this.holder.getSurface() == null || camera == null){
-			Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Holder and/or camera are null.");
+			Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Holder and/or camera are null.");
 			return;
 		}
 
 		try{ camera.stopPreview(); }catch (Exception e){ }
 
+		Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Request layout.");
 		requestLayout();
 
+		Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Get parameters.");
 		camParams = camera.getParameters();
-		camParams.getSupportedPreviewSizes();
+		sizes = camParams.getSupportedPreviewSizes();
-		List<Size> sizes = camParams.getSupportedPreviewSizes();
 
 		for(Size size: sizes){
-			Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Supported preview size (" + size.width + ", " + size.height + ")");
+			Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Supported preview size (" + size.width + ", " + size.height + ")");
 		}
 
-		/*Size optimal = getOptimalPreviewSize(sizes, w, h);
+		optimal = getOptimalPreviewSize(sizes, camera.new Size(OPTIMAL_WIDTH, OPTIMAL_HEIGHT));
-		Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged() :: Preview size set at (" + optimal.width + ", " + optimal.height + ")");
+		Logger.log_d(TAG, CLASS_NAME + ".surfaceChanged(): Preview size set at (" + optimal.width + ", " + optimal.height + ")");
-		camParams.setPreviewSize(optimal.width, optimal.height);*/
+		camParams.setPreviewSize(optimal.width, optimal.height);
-		camParams.setPreviewSize(352, 288);
 		camera.setParameters(camParams);
-		/*previewWidth = optimal.width;
+		previewWidth = optimal.width;
-		previewHeight = optimal.height;*/
+		previewHeight = optimal.height;
-		previewWidth = 352;
-		previewHeight = 288;
 
-		android.hardware.Camera.CameraInfo info = new android.hardware.Camera.CameraInfo();
+		info = new CameraInfo();
-		android.hardware.Camera.getCameraInfo(0, info);
+		Camera.getCameraInfo(0, info);
 		rotation = parentActivity.getWindowManager().getDefaultDisplay().getRotation();
 
 		switch (rotation) {
-		case Surface.ROTATION_0: degrees = 0; break;
+		default:
-		case Surface.ROTATION_90: degrees = 90; break;
+		case Surface.ROTATION_0:
-		case Surface.ROTATION_180: degrees = 180; break;
+			degrees = 0;
-		case Surface.ROTATION_270: degrees = 270; break;
+			break;
+
+		case Surface.ROTATION_90:
+			degrees = 90;
+			break;
+
+		case Surface.ROTATION_180:
+			degrees = 180;
+			break;
+
+		case Surface.ROTATION_270:
+			degrees = 270;
+			break;
 		}
 
-		if (info.facing == Camera.CameraInfo.CAMERA_FACING_FRONT) {
+		if (info.facing == CameraInfo.CAMERA_FACING_FRONT) {
 			result = (info.orientation + degrees) % 360;
 			result = (360 - result) % 360;  // compensate the mirror
 		} else {  // back-facing
@@ -146,7 +170,7 @@ public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback
 			camera.setPreviewDisplay(this.holder);
 			camera.startPreview();
 		}catch (Exception e){
-			Logger.log_e(TAG, CLASS_NAME + ".surfaceChanged() :: Error starting camera preview: " + e.getMessage());
+			Logger.log_e(TAG, CLASS_NAME + ".surfaceChanged(): Error starting camera preview: " + e.getMessage());
 		}
 	}
 
@@ -154,51 +178,47 @@ public class CameraPreview extends SurfaceView implements SurfaceHolder.Callback
 	public void onPreviewFrame(byte[] data, Camera camera){
 		if(imgMonitor.hasChanged())
 			imgMonitor.setImageParameters(previewWidth, previewHeight);
-		Logger.log_d(TAG, CLASS_NAME + ".onPreviewFrame() :: Preview received");
-		Logger.log_d(TAG, CLASS_NAME + ".onPreviewFrame() :: Frame has" + (imgMonitor.hasChanged() ? "" : " not") + " been consumed.");
 		imgMonitor.setImageData(data);
 	}
 
+	/**
+	 * <p>If camera is not null then disable the camera preview.</p>
+	 */
 	public void removePreviewCallback(){
 		if(camera != null)
 			camera.setPreviewCallback(null);
 	}
 
-	private Size getOptimalPreviewSize(List<Size> sizes, int w, int h) {
+	/**
-		final double ASPECT_TOLERANCE = 0.1;
+	 * <p>Tries to obtain the preview size that better matches the target size pixel dimensions.</p>
-		double targetRatio = (double) w / h;
+	 * 
-
+	 * @param sizes An initialized list of supported preview sizes.
-		Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Method started.");
+	 * @param target The ideal preview size.
-		if (sizes == null) return null;
+	 * @return The size from the list of sizes that better matches the target. Null if sizes is null or empty.
-
+	 */
+	private Size getOptimalPreviewSize(List<Size> sizes, final Size target) {
+		final int    TARGET_HEIGHT    = target.height;
 		Size         optimalSize      = null;
 		double       minDiff          = Double.MAX_VALUE;
 
-		int targetHeight = h;
+		if (sizes == null || sizes.size() == 0) return null;
-
-		// Try to find an size match aspect ratio and size
-		for (Size size : sizes) {
-			double ratio = (double) size.width / size.height;
-			if (Math.abs(ratio - targetRatio) > ASPECT_TOLERANCE) continue;
-			if (Math.abs(size.height - targetHeight) < minDiff) {
-				optimalSize = size;
-				minDiff = Math.abs(size.height - targetHeight);
-			}
-		}
 
 		// Cannot find the one match the aspect ratio, ignore the requirement
 		if (optimalSize == null) {
+			Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize(): Ignoring aspect ratio.");
 			minDiff = Double.MAX_VALUE;
 			for (Size size : sizes) {
-				if (Math.abs(size.height - targetHeight) < minDiff) {
+				if (Math.abs(size.height - TARGET_HEIGHT) < minDiff) {
 					optimalSize = size;
-					minDiff = Math.abs(size.height - targetHeight);
+					minDiff = Math.abs(size.height - TARGET_HEIGHT);
+					Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize(): Size = (" + Integer.toString(size.width) + ", " + Integer.toString(size.width) + ")");
+					Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize(): minDiff = " + Double.toString(minDiff));
 				}
 			}
 		}
-		Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Method ended.");
+
-		Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize() :: Optimal size is: (" + Integer.toString(optimalSize.width) +
+		Logger.log_d(TAG, CLASS_NAME + ".getOptimalPreviewSize(): Optimal size found is (" + Integer.toString(optimalSize.width) + ", " + Integer.toString(optimalSize.height) + ")");
-				", " + Integer.toString(optimalSize.height) + ")");
+
 		return optimalSize;
 	}
 }

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

@@ -21,7 +21,6 @@ import java.io.ObjectOutputStream;
 import java.net.Socket;
 
 import ve.ucv.ciens.ccg.networkdata.MotorEvent;
-import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
 import ve.ucv.ciens.ccg.networkdata.MotorEventACK;
 import ve.ucv.ciens.ccg.nxtcam.robotcontrol.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
@@ -64,7 +63,7 @@ public class MotorControlThread extends Thread {
 				if(event != null){
 					queue.addEvent(event);
 					Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor control message enqueued.");
-					Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor ID: " + (event.getMotor() == motor_t.MOTOR_A ? "MOTOR_A" : "MOTOR_C"));
+					Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor ID: " + event.getMotor().toString());
 					Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor power: " + Byte.toString(event.getPower()));
 				}else{
 					Logger.log_i(TAG, CLASS_NAME + ".run() :: Message could not be verified;");

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

@@ -19,36 +19,33 @@ import java.io.IOException;
 
 import ve.ucv.ciens.ccg.networkdata.MotorEvent;
 import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
-import ve.ucv.ciens.ccg.nxtcam.network.protocols.LegoCommunicationProtocol;
+import ve.ucv.ciens.ccg.nxtcam.network.protocols.MotorMasks;
 import ve.ucv.ciens.ccg.nxtcam.robotcontrol.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
 
-public class LCPThread extends Thread{
+public class NxtBTCommThread extends Thread{
 	private static final String TAG = "LCP_THREAD";
-	private static final String CLASS_NAME = LCPThread.class.getSimpleName();
+	private static final String CLASS_NAME = NxtBTCommThread.class.getSimpleName();
 
 	private boolean done;
-	private boolean reportSensors;
 	private BTCommunicator btComm;
 	private MotorControlThread motorControl;
-	private SensorReportThread sensorReport;
 
 	private MotorEventQueue queue;
 
-	public LCPThread(String serverIp){
+	public NxtBTCommThread(String serverIp){
 		super("Robot Control Main Thread");
 		btComm = BTCommunicator.getInstance();
 		done = false;
 		motorControl = new MotorControlThread(serverIp);
-		sensorReport = new SensorReportThread(serverIp);
 		queue = MotorEventQueue.getInstance();
 	}
 
 	public void run(){
 		long then, now, delta;
 		MotorEvent event;
+		byte[] msg = new byte[2];
 
-		sensorReport.start();
 		motorControl.start();
 
 		then = System.currentTimeMillis();
@@ -62,24 +59,35 @@ public class LCPThread extends Thread{
 			}
 		}
 
-		if((reportSensors = sensorReport.isConnected())){
-			Logger.log_d(TAG, CLASS_NAME + ".run() :: Sensor data can be reported.");
-		}else{
-			Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread sensorReport could not connect to the server.");
-			Logger.log_e(TAG, CLASS_NAME + ".run() :: Sensor data will not be reported to server app.");
-		}
-
 		while(!done){
 			if(btComm.isBTEnabled() && btComm.isConnected()){
+				msg[0] = 0x00;
+				msg[1] = 0x00;
 
 				event = queue.getNextEvent();
 
 				try{
-					btComm.writeMessage(
+					// Set the motor bit.
-							LegoCommunicationProtocol.setOutputState(
+					msg[0] |= (event.getMotor() == motor_t.MOTOR_A) ? MotorMasks.MOTOR_A : 0;
-									event.getMotor() == motor_t.MOTOR_A ? LegoCommunicationProtocol.PORT_0 : (event.getMotor() == motor_t.MOTOR_B ? LegoCommunicationProtocol.PORT_1 : LegoCommunicationProtocol.PORT_2),
+					msg[0] |= (event.getMotor() == motor_t.MOTOR_B) ? MotorMasks.MOTOR_B : 0;
-											event.getPower())
+					msg[0] |= (event.getMotor() == motor_t.MOTOR_C) ? MotorMasks.MOTOR_C : 0;
-							);
+					// Set the direction bit.
+					if(event.getPower() > 0) msg[0] |= MotorMasks.DIRECTION;
+					// Set the recenter bit.
+					msg[0] |= (event.getMotor() == motor_t.RECENTER) ? MotorMasks.RECENTER : 0;
+					if((msg[0] & MotorMasks.RECENTER) > 0)
+						Logger.log_i(TAG, CLASS_NAME + ".run(): Recenter received."); 
+
+					// Set the rotate bit.
+					msg[0] |= (event.getMotor() == motor_t.ROTATE_90) ? MotorMasks.ROTATE_90 : 0;
+					if((msg[0] & MotorMasks.ROTATE_90) > 0)
+						Logger.log_i(TAG, CLASS_NAME + ".run(): Rotate 90 received."); 
+
+					// Set the power byte.
+					msg[1] = (byte)Math.abs(event.getPower());
+
+					// Send the message.
+					btComm.writeMessage(msg);
 					Logger.log_i(TAG, CLASS_NAME + ".run() :: Message sent to the robot.");
 
 					try{ sleep(40); }catch(InterruptedException ie){ }
@@ -87,10 +95,6 @@ public class LCPThread extends Thread{
 				}catch(IOException io){
 					Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException sending message to the robot: " + io.getMessage());
 				}
-
-				if(reportSensors){
-					
-				}
 			}else{
 				Logger.log_e(TAG, CLASS_NAME +  ".run() :: The robot disconnected or was never available.");
 				break;

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

@@ -1,7 +1,7 @@
 package ve.ucv.ciens.ccg.nxtcam.network;
 
 import java.io.IOException;
-import java.io.ObjectOutputStream;
+import java.io.OutputStream;
 import java.net.Socket;
 
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
@@ -14,21 +14,36 @@ public class SensorReportThread extends Thread{
 	private Socket socket;
 	private String serverIp;
 	private boolean done;
-	private ObjectOutputStream writer;
+	private OutputStream writer;
 	private boolean connected;
+	private BTCommunicator btComm;
 
 	public SensorReportThread(String serverIp){
 		super("Sensor Report Thread");
 		this.serverIp = serverIp;
 		done = false;
 		connected = false;
+		btComm = BTCommunicator.getInstance();
 	}
 
 	@Override
 	public void run(){
+		byte[] lightReading;
+
 		if(connectToServer()){
 			while(!done){
-
+				if(btComm.isBTEnabled() && btComm.isConnected()){
+					try{
+						lightReading = btComm.readMessage(1);
+						writer.write(lightReading);
+					}catch(IOException io){
+						Logger.log_e(TAG, CLASS_NAME + "run(): IOException: " + io.getMessage());
+						done = true;
+					}
+				}else{
+					Logger.log_e(TAG, CLASS_NAME +  ".run() :: The robot disconnected or was never available.");
+					break;
+				}
 			}
 		}else{
 			Logger.log_e(TAG, CLASS_NAME + ".run() :: Could not connect to the server.");
@@ -43,7 +58,7 @@ public class SensorReportThread extends Thread{
 		boolean connected;
 		try{
 			socket = new Socket(serverIp, ProjectConstants.SENSOR_REPORT_PORT);
-			writer = new ObjectOutputStream(socket.getOutputStream());
+			writer = socket.getOutputStream();
 			connected = true;
 		}catch(IOException io){
 			Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: IOException caught: " + io.getMessage());

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

@@ -0,0 +1,33 @@
+/*
+ * 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 2-3 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 ROTATE_90   = (byte)0x20;
+	public static final byte EXPANSION_2 = (byte)0x40;
+	public static final byte EXPANSION_3 = (byte)0x80;
+}