Cleaned the code a bit.

src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java

@@ -417,11 +417,17 @@ public class NxtARCore extends Game implements ApplicationEventsListener{
 	 * <p>Clear graphic resources</p> 
 	 */
 	public void dispose(){
+		// Dispose screens.
+		for(int i = 0; i < states.length; i++){
+			states[i].dispose();
+		}
+
 		// Finish network threads.
 		serviceDiscoveryThread.finish();
 		videoThread.finish();
 		robotThread.finish();
 		sensorThread.finish();
+		serviceDiscoveryThread = null;
 		videoThread = null;
 		robotThread = null;
 		sensorThread = null;
@@ -435,11 +441,6 @@ public class NxtARCore extends Game implements ApplicationEventsListener{
 		batch.dispose();
 		font.dispose();
 
-		// Dispose screens.
-		for(int i = 0; i < states.length; i++){
-			states[i].dispose();
-		}
-
 		GameSettings.clearGameSettings();
 	}
 

src/ve/ucv/ciens/ccg/nxtar/entities/BombGameEntityCreator.java

@@ -93,7 +93,7 @@ public class BombGameEntityCreator extends EntityCreatorBase{
 	private Model  wiresBombModelWire1                 = null;
 	private Model  wiresBombModelWire2                 = null;
 	private Model  wiresBombModelWire3                 = null;
-	private Model  monkeyModel                      = null;
+	private Model  monkeyModel                         = null;
 
 	// Collision models.
 	private Model  robotArmCollisionModel              = null;

src/ve/ucv/ciens/ccg/nxtar/entities/EntityCreatorBase.java

@@ -37,7 +37,7 @@ public abstract class EntityCreatorBase implements Disposable{
 	 * @param world The Artemis {@link World}.
 	 * @throws IllegalArgumentException if world is null.
 	 */
-	public void setWorld(World world) throws IllegalArgumentException{
+	public final void setWorld(World world) throws IllegalArgumentException{
 		if(world == null)
 			throw new IllegalArgumentException("World cannot be null.");
 
@@ -50,7 +50,7 @@ public abstract class EntityCreatorBase implements Disposable{
 	 * @param core The application core to be used as listener.
 	 * @throws IllegalArgumentException if core is null.
 	 */
-	public void setCore(NxtARCore core) throws IllegalArgumentException{
+	public final void setCore(NxtARCore core) throws IllegalArgumentException{
 		if(core == null) throw new IllegalArgumentException("Core is null.");
 		this.core = core;
 	}

src/ve/ucv/ciens/ccg/nxtar/input/UserInput.java

@@ -15,4 +15,7 @@
  */
 package ve.ucv.ciens.ccg.nxtar.input;
 
+/**
+ * Tag class for different user interaction wrapper classes.
+ */
 public abstract class UserInput{ }

src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java

@@ -25,6 +25,7 @@ import ve.ucv.ciens.ccg.nxtar.input.KeyboardUserInput;
 import ve.ucv.ciens.ccg.nxtar.input.TouchUserInput;
 import ve.ucv.ciens.ccg.nxtar.input.UserInput;
 import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.MarkerData;
+import ve.ucv.ciens.ccg.nxtar.network.SensorReportThread;
 import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
 import ve.ucv.ciens.ccg.nxtar.systems.AnimationSystem;
@@ -84,7 +85,7 @@ public class InGameState extends BaseState{
 	}
 
 	// Background related fields.
-	private Sprite                        background;
+	private Sprite                          background;
 	private float                           uScaling[];
 	private Texture                         backgroundTexture;
 	private ShaderProgram                   backgroundShader;
@@ -122,6 +123,7 @@ public class InGameState extends BaseState{
 	private Texture                         armControlButtonTexture;
 	private Texture                         correctAngleLedOnTexture;
 	private Texture                         correctAngleLedOffTexture;
+	private Texture                         crossSectionFloorTexture;
 	private Sprite                          motorAButton;
 	private Sprite                          motorBButton;
 	private Sprite                          motorCButton;
@@ -133,6 +135,9 @@ public class InGameState extends BaseState{
 	private Sprite                          armControlButton;
 	private Sprite                          correctAngleLedOnSprite;
 	private Sprite                          correctAngleLedOffSprite;
+	private Sprite                          crossSectionFloorLed;
+	private Sprite                          normalFloorLed;
+	private Sprite                          itemNearbyFloorLed;
 
 	// Button touch helper fields.
 	private boolean[]                       buttonsTouched;
@@ -142,12 +147,14 @@ public class InGameState extends BaseState{
 	// Monitors.
 	private VideoFrameMonitor               frameMonitor;
 	private MotorEventQueue                 queue;
+	private SensorReportThread              sensorThread;
 
 	public InGameState(final NxtARCore core){
 		this.core = core;
 		frameMonitor = VideoFrameMonitor.getInstance();
 		queue = MotorEventQueue.getInstance();
 		controlMode = robot_control_mode_t.WHEEL_CONTROL;
+		sensorThread = SensorReportThread.getInstance();
 
 		// Set up rendering fields;
 		videoFrame = null;
@@ -156,8 +163,6 @@ public class InGameState extends BaseState{
 		pixelPerfectOrthographicCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
 		unitaryOrthographicCamera = new OrthographicCamera(1.0f, Gdx.graphics.getHeight() / Gdx.graphics.getWidth());
 
-		if(!Ouya.runningOnOuya) setUpButtons();
-
 		// Set up input handling support fields.
 		win2world = new Vector3(0.0f, 0.0f, 0.0f);
 		touchPointWorldCoords = new Vector2();
@@ -227,6 +232,26 @@ public class InGameState extends BaseState{
 		robotArmFrameBuffer = null;
 		robotArmFrameBufferSprite = null;
 
+		// Set up floor leds and possibly the buttons.
+		correctAngleLedOnTexture  = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Button_Green.png"));
+		correctAngleLedOffTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Button_Red.png"));
+		crossSectionFloorTexture  = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Button_Cyan.png"));
+
+		crossSectionFloorLed = new Sprite(crossSectionFloorTexture);
+		normalFloorLed = new Sprite(correctAngleLedOffTexture);
+		itemNearbyFloorLed = new Sprite(correctAngleLedOnTexture);
+
+		crossSectionFloorLed.setSize(crossSectionFloorLed.getWidth() * 0.25f, crossSectionFloorLed.getHeight() * 0.25f);
+		normalFloorLed.setSize(normalFloorLed.getWidth() * 0.25f, normalFloorLed.getHeight() * 0.25f);
+		itemNearbyFloorLed.setSize(itemNearbyFloorLed.getWidth() * 0.25f, itemNearbyFloorLed.getHeight() * 0.25f);
+
+		crossSectionFloorLed.setPosition(-(crossSectionFloorLed.getWidth() / 2), Gdx.graphics.getHeight() / 2 - crossSectionFloorLed.getHeight() - 5);
+		normalFloorLed.setPosition(-(normalFloorLed.getWidth() / 2), Gdx.graphics.getHeight() / 2 - normalFloorLed.getHeight() - 5);
+		itemNearbyFloorLed.setPosition(-(itemNearbyFloorLed.getWidth() / 2), Gdx.graphics.getHeight() / 2 - itemNearbyFloorLed.getHeight() - 5);
+
+		if(!Ouya.runningOnOuya)
+			setUpButtons();
+
 		// Set up the game world.
 		gameWorld = GameSettings.getGameWorld();
 
@@ -454,6 +479,17 @@ public class InGameState extends BaseState{
 			}core.batch.end();
 		}
 
+		core.batch.setProjectionMatrix(pixelPerfectOrthographicCamera.combined);
+		core.batch.begin();{
+			if(sensorThread.getLightSensorReading() < 40){
+				normalFloorLed.draw(core.batch);
+			}else if(sensorThread.getLightSensorReading() >= 40 && sensorThread.getLightSensorReading() <= 80){
+				itemNearbyFloorLed.draw(core.batch);
+			}else{
+				crossSectionFloorLed.draw(core.batch);
+			}
+		}core.batch.end();
+
 		fadeEffectRenderingSystem.process();
 
 		data = null;
@@ -461,6 +497,9 @@ public class InGameState extends BaseState{
 
 	@Override
 	public void dispose(){
+		SensorReportThread.freeInstance();
+		sensorThread = null;
+
 		if(modelBatch != null)
 			modelBatch.dispose();
 
@@ -482,6 +521,9 @@ public class InGameState extends BaseState{
 		if(backgroundTexture != null)
 			backgroundTexture.dispose();
 
+		if(crossSectionFloorTexture != null)
+			crossSectionFloorTexture.dispose();
+
 		if(backgroundShader != null)
 			backgroundShader.dispose();
 
@@ -576,9 +618,6 @@ public class InGameState extends BaseState{
 		armControlButton.setPosition(-(armControlButton.getWidth() / 2), headCButton.getY() - headCButton.getHeight() - 15);
 
 		// Set up the correct angle leds.
-		correctAngleLedOnTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Button_Green.png"));
-		correctAngleLedOffTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Button_Red.png"));
-
 		correctAngleLedOnSprite = new Sprite(correctAngleLedOnTexture);
 		correctAngleLedOffSprite = new Sprite(correctAngleLedOffTexture);