diff --git a/src/ve/ucv/ciens/ccg/nxtar/Main.java b/src/ve/ucv/ciens/ccg/nxtar/Main.java
deleted file mode 100644
index 943d07b..0000000
--- a/src/ve/ucv/ciens/ccg/nxtar/Main.java
+++ /dev/null
@@ -1,66 +0,0 @@
-package ve.ucv.ciens.ccg.nxtar;
-
-import com.badlogic.gdx.ApplicationListener;
-import com.badlogic.gdx.Gdx;
-import com.badlogic.gdx.graphics.GL10;
-import com.badlogic.gdx.graphics.OrthographicCamera;
-import com.badlogic.gdx.graphics.Texture;
-import com.badlogic.gdx.graphics.Texture.TextureFilter;
-import com.badlogic.gdx.graphics.g2d.Sprite;
-import com.badlogic.gdx.graphics.g2d.SpriteBatch;
-import com.badlogic.gdx.graphics.g2d.TextureRegion;
-
-public class Main implements ApplicationListener {
- private OrthographicCamera camera;
- private SpriteBatch batch;
- private Texture texture;
- private Sprite sprite;
-
- @Override
- public void create() {
- float w = Gdx.graphics.getWidth();
- float h = Gdx.graphics.getHeight();
-
- camera = new OrthographicCamera(1, h/w);
- batch = new SpriteBatch();
-
- texture = new Texture(Gdx.files.internal("data/libgdx.png"));
- texture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
-
- TextureRegion region = new TextureRegion(texture, 0, 0, 512, 275);
-
- sprite = new Sprite(region);
- sprite.setSize(0.9f, 0.9f * sprite.getHeight() / sprite.getWidth());
- sprite.setOrigin(sprite.getWidth()/2, sprite.getHeight()/2);
- sprite.setPosition(-sprite.getWidth()/2, -sprite.getHeight()/2);
- }
-
- @Override
- public void dispose() {
- batch.dispose();
- texture.dispose();
- }
-
- @Override
- public void render() {
- Gdx.gl.glClearColor(1, 1, 1, 1);
- Gdx.gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
-
- batch.setProjectionMatrix(camera.combined);
- batch.begin();
- sprite.draw(batch);
- batch.end();
- }
-
- @Override
- public void resize(int width, int height) {
- }
-
- @Override
- public void pause() {
- }
-
- @Override
- public void resume() {
- }
-}
diff --git a/src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java b/src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java
new file mode 100644
index 0000000..453e808
--- /dev/null
+++ b/src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java
@@ -0,0 +1,120 @@
+package ve.ucv.ciens.ccg.nxtar;
+
+import ve.ucv.ciens.ccg.nxtar.interfaces.MulticastEnabler;
+import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
+import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.nxtar.network.RobotControlThread;
+import ve.ucv.ciens.ccg.nxtar.network.ServiceDiscoveryThread;
+import ve.ucv.ciens.ccg.nxtar.network.VideoStreamingThread;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.Application;
+import com.badlogic.gdx.ApplicationListener;
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.graphics.GL10;
+import com.badlogic.gdx.graphics.OrthographicCamera;
+import com.badlogic.gdx.graphics.Texture;
+import com.badlogic.gdx.graphics.Texture.TextureFilter;
+import com.badlogic.gdx.graphics.g2d.Sprite;
+import com.badlogic.gdx.graphics.g2d.SpriteBatch;
+import com.badlogic.gdx.graphics.g2d.TextureRegion;
+
+public class NxtARCore implements ApplicationListener, NetworkConnectionListener {
+ private static final String TAG = "NXTAR_CORE_MAIN";
+ private static final String CLASS_NAME = NxtARCore.class.getSimpleName();
+
+ private OrthographicCamera camera;
+ private SpriteBatch batch;
+ private Texture texture;
+ private Sprite sprite;
+ private Toaster toaster;
+ private MulticastEnabler mcastEnabler;
+ private int connections;
+
+ private ServiceDiscoveryThread udpThread;
+ private VideoStreamingThread videoThread;
+ private RobotControlThread robotThread;
+
+ public NxtARCore(Application concreteApp){
+ super();
+ connections = 0;
+ try{
+ this.toaster = (Toaster)concreteApp;
+ this.mcastEnabler = (MulticastEnabler)concreteApp;
+ }catch(ClassCastException cc){
+ Gdx.app.debug(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement any of the required interfaces.");
+ System.exit(ProjectConstants.EXIT_FAILURE);
+ }
+ }
+
+ @Override
+ public void create(){
+ float w = Gdx.graphics.getWidth();
+ float h = Gdx.graphics.getHeight();
+
+ Gdx.app.setLogLevel(Application.LOG_DEBUG);
+
+ camera = new OrthographicCamera(1, h/w);
+ batch = new SpriteBatch();
+
+ texture = new Texture(Gdx.files.internal("data/libgdx.png"));
+ texture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
+
+ TextureRegion region = new TextureRegion(texture, 0, 0, 512, 275);
+
+ sprite = new Sprite(region);
+ sprite.setSize(0.9f, 0.9f * sprite.getHeight() / sprite.getWidth());
+ sprite.setOrigin(sprite.getWidth()/2, sprite.getHeight()/2);
+ sprite.setPosition(-sprite.getWidth()/2, -sprite.getHeight()/2);
+
+ Gdx.app.debug(TAG, CLASS_NAME + ".create() :: Creating network threads");
+ mcastEnabler.enableMulticast();
+ udpThread = ServiceDiscoveryThread.getInstance();
+ videoThread = VideoStreamingThread.getInstance().setToaster(toaster);
+ robotThread = RobotControlThread.getInstance().setToaster(toaster);
+
+ udpThread.start();
+ videoThread.start();
+ robotThread.start();
+ }
+
+ @Override
+ public void dispose() {
+ batch.dispose();
+ texture.dispose();
+ }
+
+ @Override
+ public void render(){
+ Gdx.gl.glClearColor(1, 1, 1, 1);
+ Gdx.gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
+
+ batch.setProjectionMatrix(camera.combined);
+ batch.begin();
+ sprite.draw(batch);
+ batch.end();
+ }
+
+ @Override
+ public void resize(int width, int height){
+ }
+
+ @Override
+ public void pause(){
+ }
+
+ @Override
+ public void resume(){
+ }
+
+ @Override
+ public synchronized void networkStreamConnected(String streamName){
+ if(streamName.compareTo(VideoStreamingThread.THREAD_NAME) == 0 || streamName.compareTo(RobotControlThread.THREAD_NAME) == 0)
+ connections += 1;
+ if(connections >= 2){
+ Gdx.app.debug(TAG, CLASS_NAME + ".networkStreamConnected() :: Stopping service broadcast.");
+ udpThread.finish();
+ mcastEnabler.disableMulticast();
+ }
+ }
+}
diff --git a/src/ve/ucv/ciens/ccg/nxtar/interfaces/MulticastEnabler.java b/src/ve/ucv/ciens/ccg/nxtar/interfaces/MulticastEnabler.java
new file mode 100644
index 0000000..5967c01
--- /dev/null
+++ b/src/ve/ucv/ciens/ccg/nxtar/interfaces/MulticastEnabler.java
@@ -0,0 +1,6 @@
+package ve.ucv.ciens.ccg.nxtar.interfaces;
+
+public interface MulticastEnabler {
+ public void enableMulticast();
+ public void disableMulticast();
+}
diff --git a/src/ve/ucv/ciens/ccg/nxtar/interfaces/NetworkConnectionListener.java b/src/ve/ucv/ciens/ccg/nxtar/interfaces/NetworkConnectionListener.java
new file mode 100644
index 0000000..ab3d546
--- /dev/null
+++ b/src/ve/ucv/ciens/ccg/nxtar/interfaces/NetworkConnectionListener.java
@@ -0,0 +1,5 @@
+package ve.ucv.ciens.ccg.nxtar.interfaces;
+
+public interface NetworkConnectionListener {
+ public void networkStreamConnected(String streamName);
+}
diff --git a/src/ve/ucv/ciens/ccg/nxtar/interfaces/Toaster.java b/src/ve/ucv/ciens/ccg/nxtar/interfaces/Toaster.java
new file mode 100644
index 0000000..0999526
--- /dev/null
+++ b/src/ve/ucv/ciens/ccg/nxtar/interfaces/Toaster.java
@@ -0,0 +1,6 @@
+package ve.ucv.ciens.ccg.nxtar.interfaces;
+
+public interface Toaster {
+ public void showShortToast(String msg);
+ public void showLongToast(String msg);
+}
diff --git a/src/ve/ucv/ciens/ccg/nxtar/network/RobotControlThread.java b/src/ve/ucv/ciens/ccg/nxtar/network/RobotControlThread.java
new file mode 100644
index 0000000..b0bb090
--- /dev/null
+++ b/src/ve/ucv/ciens/ccg/nxtar/network/RobotControlThread.java
@@ -0,0 +1,64 @@
+package ve.ucv.ciens.ccg.nxtar.network;
+
+import java.io.IOException;
+import java.net.ServerSocket;
+import java.net.Socket;
+
+import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
+import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.Gdx;
+
+public class RobotControlThread extends Thread {
+ public static final String THREAD_NAME = "RobotControlThread";
+ private static final String TAG = "NXTAR_CORE_ROBOTTHREAD";
+ private static final String CLASS_NAME = RobotControlThread.class.getSimpleName();
+
+ private NetworkConnectionListener netListener;
+ private ServerSocket server;
+ private Socket client;
+ private Toaster toaster;
+
+ private RobotControlThread(){
+ super(THREAD_NAME);
+
+ netListener = null;
+
+ try{
+ server = new ServerSocket(ProjectConstants.SERVER_TCP_PORT_2);
+ }catch(IOException io){
+ Gdx.app.error(TAG, CLASS_NAME + ".RobotControlThread() :: Error creating server: " + io.getMessage(), io);
+ }
+ }
+
+ private static class SingletonHolder{
+ public static final RobotControlThread INSTANCE = new RobotControlThread();
+ }
+
+ public static RobotControlThread getInstance(){
+ return SingletonHolder.INSTANCE;
+ }
+
+ public RobotControlThread setToaster(Toaster toaster){
+ this.toaster = toaster;
+ return this;
+ }
+
+ public void addNetworkConnectionListener(NetworkConnectionListener listener){
+ netListener = listener;
+ }
+
+ @Override
+ public void run(){
+ try{
+ client = server.accept();
+ if(netListener != null)
+ netListener.networkStreamConnected(THREAD_NAME);
+ toaster.showShortToast("Client connected to RobotControlThread");
+ client.close();
+ }catch(IOException io){
+ Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
+ }
+ }
+}
diff --git a/src/ve/ucv/ciens/ccg/nxtar/network/ServiceDiscoveryThread.java b/src/ve/ucv/ciens/ccg/nxtar/network/ServiceDiscoveryThread.java
new file mode 100644
index 0000000..3a3a09b
--- /dev/null
+++ b/src/ve/ucv/ciens/ccg/nxtar/network/ServiceDiscoveryThread.java
@@ -0,0 +1,162 @@
+package ve.ucv.ciens.ccg.nxtar.network;
+
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.Gdx;
+
+/**
+ * Ad hoc service discovery server thread.
+ *
+ * This thread performs an ad hoc service discovery protocol. A multicast datagram packet is sent every
+ * 250 miliseconds carrying the string "NxtAR server is here!" on the multicast address defined
+ * in {@link ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants#MULTICAST_ADDRESS}. The port defined in
+ * {@link ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants#SERVER_UDP_PORT} is used for the transmissions. The server stops
+ * when another thread calls the {@link #finish()} method or the server fails to transmit {@link #MAX_RETRIES} packets in
+ * a row, whichever happens first.
+ *
+ * @author miky
+ */
+public class ServiceDiscoveryThread extends Thread {
+ /**
+ * The name used to identify this thread.
+ */
+ public static final String THREAD_NAME = "ServiceDiscoveryThread";
+ /**
+ * Tag used for logging.
+ */
+ private static final String TAG = "NXTAR_CORE_UDPTHREAD";
+ /**
+ * Class name used for logging.
+ */
+ private static final String CLASS_NAME = ServiceDiscoveryThread.class.getSimpleName();
+ /**
+ * Maximum number of transmission attempts before ending the thread abruptly.
+ */
+ private static final int MAX_RETRIES = 5;
+
+ /**
+ * A semaphore object used to synchronize acces to this thread finish flag.
+ */
+ private Object semaphore;
+ /**
+ * The finish flag.
+ */
+ private boolean done;
+ /**
+ * The UDP server socket used for the ad hoc service discovery protocol.
+ */
+ private DatagramSocket udpServer;
+ /**
+ * Holder for the multicast address used in the protocol.
+ */
+ private InetAddress group;
+
+ private ServiceDiscoveryThread(){
+ // Setup this thread name.
+ super(THREAD_NAME);
+
+ done = false;
+ semaphore = new Object();
+
+ // Try to get the InetAddress defined by the IP address defined in ProjectConstants.MULTICAST_ADDRESS.
+ try{
+ group = InetAddress.getByName(ProjectConstants.MULTICAST_ADDRESS);
+ }catch(UnknownHostException uh){
+ group = null;
+ }
+
+ // Create a UDP socket at the port defined in ProjectConstants.SERVER_UDP_PORT.
+ Gdx.app.debug(TAG, CLASS_NAME + ".ServiceDiscoveryThread() :: Creating multicast server.");
+ try{
+ udpServer = new DatagramSocket(ProjectConstants.SERVER_UDP_PORT);
+ }catch(IOException io){
+ Gdx.app.error(TAG, CLASS_NAME + ".ServiceDiscoveryThread() :: Error creating UDP socket: " + io.getMessage());
+ udpServer = null;
+ }
+ Gdx.app.debug(TAG, CLASS_NAME + ".ServiceDiscoveryThread() :: Multicast server created.");
+ }
+
+ /**
+ * Singleton holder for this class.
+ */
+ private static class SingletonHolder{
+ public static final ServiceDiscoveryThread INSTANCE = new ServiceDiscoveryThread();
+ }
+
+ /**
+ * Get the singleton instance of this class.
+ *
+ * @return The singleton instance.
+ */
+ public static ServiceDiscoveryThread getInstance(){
+ return SingletonHolder.INSTANCE;
+ }
+
+ /**
+ * This thread's run method.
+ *
+ * This method executes the ad hoc service discovery protocol implemented by this class, as
+ * described in the class introduction.
+ */
+ @Override
+ public void run(){
+ int retries = 0;
+ byte[] buffer = (new String("NxtAR server here!")).getBytes();
+
+ // If failed to get any of the required network elements then end the thread right away.
+ if(group == null || udpServer == null){
+ Gdx.app.error(TAG, CLASS_NAME + ".run() :: No multicast address defined, ending thread.");
+ return;
+ }
+ if(group == null){
+ Gdx.app.error(TAG, CLASS_NAME + ".run() :: No server available, ending thread.");
+ return;
+ }
+
+ while(true){
+ // Verify if the thread should end. If that is the case, close the server.
+ synchronized(semaphore){
+ if(done){
+ udpServer.close();
+ break;
+ }
+ }
+ try{
+ // End the thread if already at the last retry attempt after too many failed transmissions.
+ if(retries >= MAX_RETRIES){
+ Gdx.app.error(TAG, CLASS_NAME + ".run() :: Too many failed transmissions, ending thread.");
+ udpServer.close();
+ break;
+ }
+ // Send the packet and reset the retry counter.
+ DatagramPacket packet = new DatagramPacket(buffer, buffer.length, group, ProjectConstants.SERVER_UDP_PORT);
+ udpServer.send(packet);
+ retries = 0;
+ try{ sleep(250L); }catch(InterruptedException ie){ }
+ }catch(IOException io){
+ Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error sending packet: " + io.getMessage());
+ retries += 1;
+ }
+ }
+ if(retries < MAX_RETRIES)
+ Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Service discovery successfully terminated.");
+ else
+ Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Service discovery terminated after too many failed transmissions.");
+ }
+
+ /**
+ * Marks this thread as ready to end.
+ */
+ public void finish(){
+ synchronized(semaphore){
+ Gdx.app.debug(TAG, CLASS_NAME + ".finish() :: Finishing service discovery thread.");
+ done = true;
+ }
+ }
+}
diff --git a/src/ve/ucv/ciens/ccg/nxtar/network/VideoStreamingThread.java b/src/ve/ucv/ciens/ccg/nxtar/network/VideoStreamingThread.java
new file mode 100644
index 0000000..fc5fd8f
--- /dev/null
+++ b/src/ve/ucv/ciens/ccg/nxtar/network/VideoStreamingThread.java
@@ -0,0 +1,63 @@
+package ve.ucv.ciens.ccg.nxtar.network;
+
+import java.io.IOException;
+import java.net.ServerSocket;
+import java.net.Socket;
+
+import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
+import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.Gdx;
+
+public class VideoStreamingThread extends Thread {
+ public static final String THREAD_NAME = "VideoStreamingThread";
+ private static final String TAG = "NXTAR_CORE_VIDEOTHREAD";
+ private static final String CLASS_NAME = VideoStreamingThread.class.getSimpleName();
+
+ private NetworkConnectionListener netListener;
+ private ServerSocket server;
+ private Socket client;
+ private Toaster toaster;
+
+ private VideoStreamingThread(){
+ super(THREAD_NAME);
+
+ netListener = null;
+ try{
+ server = new ServerSocket(ProjectConstants.SERVER_TCP_PORT_1);
+ }catch(IOException io){
+ Gdx.app.error(TAG, CLASS_NAME + ".VideoStreamingThread() :: Error creating server: " + io.getMessage(), io);
+ }
+ }
+
+ private static class SingletonHolder{
+ public static final VideoStreamingThread INSTANCE = new VideoStreamingThread();
+ }
+
+ public static VideoStreamingThread getInstance(){
+ return SingletonHolder.INSTANCE;
+ }
+
+ public VideoStreamingThread setToaster(Toaster toaster){
+ this.toaster = toaster;
+ return this;
+ }
+
+ public void addNetworkConnectionListener(NetworkConnectionListener listener){
+ netListener = listener;
+ }
+
+ @Override
+ public void run(){
+ try{
+ client = server.accept();
+ if(netListener != null)
+ netListener.networkStreamConnected(THREAD_NAME);
+ toaster.showShortToast("Client connected to VideoStreamingThread");
+ client.close();
+ }catch(IOException io){
+ Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
+ }
+ }
+}
diff --git a/src/ve/ucv/ciens/ccg/nxtar/utils/ProjectConstants.java b/src/ve/ucv/ciens/ccg/nxtar/utils/ProjectConstants.java
new file mode 100644
index 0000000..280b9c5
--- /dev/null
+++ b/src/ve/ucv/ciens/ccg/nxtar/utils/ProjectConstants.java
@@ -0,0 +1,12 @@
+package ve.ucv.ciens.ccg.nxtar.utils;
+
+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;
+ public static final String MULTICAST_ADDRESS = "230.0.0.1";
+ public static final int EXIT_SUCCESS = 0;
+ public static final int EXIT_FAILURE = 1;
+
+ public static final boolean DEBUG = true;
+}