diff --git a/src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java b/src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java index e90ad5f..a42e495 100644 --- a/src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java +++ b/src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java @@ -15,6 +15,7 @@ */ package ve.ucv.ciens.ccg.nxtar; +import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor; import ve.ucv.ciens.ccg.nxtar.interfaces.MulticastEnabler; import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener; import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster; @@ -90,6 +91,7 @@ public class NxtARCore extends Game implements NetworkConnectionListener{ // Assorted fields. public SpriteBatch batch; + public CVProcessor cvProc; private Toaster toaster; // Networking related fields. @@ -130,6 +132,13 @@ public class NxtARCore extends Game implements NetworkConnectionListener{ Gdx.app.error(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement MulticastEnabler. Quitting."); Gdx.app.exit(); } + + try{ + this.cvProc = (CVProcessor)concreteApp; + }catch(ClassCastException cc){ + Gdx.app.error(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement the CVProcessor interface. Quitting."); + Gdx.app.exit(); + } } public void create(){ @@ -204,9 +213,9 @@ public class NxtARCore extends Game implements NetworkConnectionListener{ Controllers.addListener(states[currState.getValue()]); // Anything else. - Gdx.app.setLogLevel(Application.LOG_INFO); + //Gdx.app.setLogLevel(Application.LOG_INFO); //Gdx.app.setLogLevel(Application.LOG_DEBUG); - //Gdx.app.setLogLevel(Application.LOG_NONE); + Gdx.app.setLogLevel(Application.LOG_NONE); } public void render(){ diff --git a/src/ve/ucv/ciens/ccg/nxtar/interfaces/CVProcessor.java b/src/ve/ucv/ciens/ccg/nxtar/interfaces/CVProcessor.java new file mode 100644 index 0000000..d7d09f3 --- /dev/null +++ b/src/ve/ucv/ciens/ccg/nxtar/interfaces/CVProcessor.java @@ -0,0 +1,26 @@ +/* + * 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.nxtar.interfaces; + +public interface CVProcessor { + public class CVData{ + public byte[] outFrame; + public int[] markerCodes; + // TODO: Add marker location data. + } + + public CVData processFrame(byte[] frame, int w, int h); +} diff --git a/src/ve/ucv/ciens/ccg/nxtar/network/RobotControlThread.java b/src/ve/ucv/ciens/ccg/nxtar/network/RobotControlThread.java index 3c1374f..9250ae2 100644 --- a/src/ve/ucv/ciens/ccg/nxtar/network/RobotControlThread.java +++ b/src/ve/ucv/ciens/ccg/nxtar/network/RobotControlThread.java @@ -96,6 +96,7 @@ public class RobotControlThread extends Thread { try{ client = server.accept(); + client.setTcpNoDelay(true); if(netListener != null) netListener.networkStreamConnected(THREAD_NAME); os = new ObjectOutputStream(client.getOutputStream()); is = new ObjectInputStream(client.getInputStream()); diff --git a/src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java b/src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java index dfd5ea2..c09a615 100644 --- a/src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java +++ b/src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java @@ -21,6 +21,7 @@ import ve.ucv.ciens.ccg.networkdata.MotorEvent; import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t; import ve.ucv.ciens.ccg.nxtar.NxtARCore; import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t; +import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor.CVData; import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue; import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor; import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants; @@ -121,9 +122,13 @@ public class InGameState extends BaseState{ motorButtonsPointers[4] = -1; motorButtonsPointers[5] = -1; - motorGamepadButtonPressed = new boolean[2]; + motorGamepadButtonPressed = new boolean[6]; motorGamepadButtonPressed[0] = false; motorGamepadButtonPressed[1] = false; + motorGamepadButtonPressed[2] = false; + motorGamepadButtonPressed[3] = false; + motorGamepadButtonPressed[4] = false; + motorGamepadButtonPressed[5] = false; axisStopSent = new boolean[4]; axisStopSent[0] = true; @@ -152,9 +157,11 @@ public class InGameState extends BaseState{ @Override public void render(float delta){ + int fW, fH; byte[] frame; byte[] prevFrame = null; Size dimensions = null; + CVData data; Gdx.gl.glClearColor(1, 1, 1, 1); Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT); @@ -170,9 +177,20 @@ public class InGameState extends BaseState{ }core.batch.end(); frame = frameMonitor.getCurrentFrame(); - if(frame != null && !Arrays.equals(frame, prevFrame)){ + fW = frameMonitor.getFrameDimensions().getWidth(); + fH = frameMonitor.getFrameDimensions().getHeight(); + + data = core.cvProc.processFrame(frame, fW, fH); + + if(data != null){ + for(int i = 0; i < data.markerCodes.length; i++){ + Gdx.app.log(TAG, CLASS_NAME + String.format(".render(): Marker code[%d] = %d", i, data.markerCodes[i])); + } + } + + if(data != null && data.outFrame != null && !Arrays.equals(frame, prevFrame)){ dimensions = frameMonitor.getFrameDimensions(); - videoFrame = new Pixmap(frame, 0, dimensions.getWidth() * dimensions.getHeight()); + videoFrame = new Pixmap(data.outFrame, 0, dimensions.getWidth() * dimensions.getHeight()); videoFrameTexture = new Texture(videoFrame); videoFrameTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear); videoFrame.dispose(); @@ -327,7 +345,7 @@ public class InGameState extends BaseState{ motorButtonsPointers[0] = pointer; event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_C); + event.setMotor(motor_t.MOTOR_A); event.setPower((byte)100); queue.addEvent(event); @@ -339,7 +357,7 @@ public class InGameState extends BaseState{ motorButtonsPointers[1] = pointer; event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_C); + event.setMotor(motor_t.MOTOR_A); event.setPower((byte)-100); queue.addEvent(event); @@ -350,7 +368,7 @@ public class InGameState extends BaseState{ motorButtonsPointers[2] = pointer; event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_A); + event.setMotor(motor_t.MOTOR_C); event.setPower((byte)-100); queue.addEvent(event); @@ -361,7 +379,7 @@ public class InGameState extends BaseState{ motorButtonsPointers[3] = pointer; event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_A); + event.setMotor(motor_t.MOTOR_C); event.setPower((byte)100); queue.addEvent(event); @@ -413,7 +431,7 @@ public class InGameState extends BaseState{ // Enqueue the event corresponding to releasing this button if the opposing button is not pressed already. if(!motorButtonsTouched[1]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_C); + event.setMotor(motor_t.MOTOR_A); event.setPower((byte) 0); queue.addEvent(event); } @@ -427,7 +445,7 @@ public class InGameState extends BaseState{ // Enqueue the event corresponding to releasing this button if the opposing button is not pressed already. if(!motorButtonsTouched[0]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_C); + event.setMotor(motor_t.MOTOR_A); event.setPower((byte) 0); queue.addEvent(event); } @@ -441,7 +459,7 @@ public class InGameState extends BaseState{ // Enqueue the event corresponding to releasing this button if the opposing button is not pressed already. if(!motorButtonsTouched[3]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_A); + event.setMotor(motor_t.MOTOR_C); event.setPower((byte) 0); queue.addEvent(event); } @@ -455,7 +473,7 @@ public class InGameState extends BaseState{ // Enqueue the event corresponding to releasing this button if the opposing button is not pressed already. if(!motorButtonsTouched[2]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_A); + event.setMotor(motor_t.MOTOR_C); event.setPower((byte) 0); queue.addEvent(event); } @@ -511,7 +529,7 @@ public class InGameState extends BaseState{ // Enqueue the event corresponding to releasing this button if the opposing button is not pressed already. if(!motorButtonsTouched[1]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_C); + event.setMotor(motor_t.MOTOR_A); event.setPower((byte) 0); queue.addEvent(event); } @@ -525,7 +543,7 @@ public class InGameState extends BaseState{ // Enqueue the event corresponding to releasing this button if the opposing button is not pressed already. if(!motorButtonsTouched[0]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_C); + event.setMotor(motor_t.MOTOR_A); event.setPower((byte) 0); queue.addEvent(event); } @@ -539,7 +557,7 @@ public class InGameState extends BaseState{ // Enqueue the event corresponding to releasing this button if the opposing button is not pressed already. if(!motorButtonsTouched[3]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_A); + event.setMotor(motor_t.MOTOR_C); event.setPower((byte) 0); queue.addEvent(event); } @@ -553,7 +571,7 @@ public class InGameState extends BaseState{ // Enqueue the event corresponding to releasing this button if the opposing button is not pressed already. if(!motorButtonsTouched[2]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_A); + event.setMotor(motor_t.MOTOR_C); event.setPower((byte) 0); queue.addEvent(event); } @@ -609,26 +627,64 @@ public class InGameState extends BaseState{ public boolean buttonDown(Controller controller, int buttonCode){ MotorEvent event; - if(stateActive && Ouya.runningOnOuya){ + if(stateActive /*&& Ouya.runningOnOuya*/){ Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode)); if(buttonCode == Ouya.BUTTON_L1){ motorGamepadButtonPressed[0] = true; - if(!motorGamepadButtonPressed[1]){ + if(!motorGamepadButtonPressed[4]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_B); - event.setPower((byte)100); + event.setMotor(motor_t.MOTOR_A); + event.setPower((byte)-100); queue.addEvent(event); } }else if(buttonCode == Ouya.BUTTON_R1){ motorGamepadButtonPressed[1] = true; - if(!motorGamepadButtonPressed[0]){ + if(!motorGamepadButtonPressed[5]){ + event = new MotorEvent(); + event.setMotor(motor_t.MOTOR_C); + event.setPower((byte)-100); + queue.addEvent(event); + } + + }else if(buttonCode == Ouya.BUTTON_DPAD_LEFT){ + motorGamepadButtonPressed[2] = false; + + if(!motorGamepadButtonPressed[3]){ event = new MotorEvent(); event.setMotor(motor_t.MOTOR_B); - event.setPower((byte)-100); + event.setPower((byte)-40); + queue.addEvent(event); + } + }else if(buttonCode == Ouya.BUTTON_DPAD_RIGHT){ + motorGamepadButtonPressed[3] = false; + + if(!motorGamepadButtonPressed[2]){ + event = new MotorEvent(); + event.setMotor(motor_t.MOTOR_B); + event.setPower((byte)40); + queue.addEvent(event); + } + }else if(buttonCode == Ouya.BUTTON_L2){ + motorGamepadButtonPressed[4] = false; + + if(!motorGamepadButtonPressed[0]){ + event = new MotorEvent(); + event.setMotor(motor_t.MOTOR_A); + event.setPower((byte)100); + queue.addEvent(event); + } + + }else if(buttonCode == Ouya.BUTTON_R2){ + motorGamepadButtonPressed[5] = false; + + if(!motorGamepadButtonPressed[1]){ + event = new MotorEvent(); + event.setMotor(motor_t.MOTOR_C); + event.setPower((byte)100); queue.addEvent(event); } @@ -644,29 +700,66 @@ public class InGameState extends BaseState{ public boolean buttonUp(Controller controller, int buttonCode){ MotorEvent event; - if(stateActive && Ouya.runningOnOuya){ + if(stateActive /*&& Ouya.runningOnOuya*/){ Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode)); - if(buttonCode == Ouya.BUTTON_L1){ + if(buttonCode == Ouya.BUTTON_L1){ motorGamepadButtonPressed[0] = false; - if(!motorGamepadButtonPressed[1]){ + if(!motorGamepadButtonPressed[4]){ + event = new MotorEvent(); + event.setMotor(motor_t.MOTOR_A); + event.setPower((byte)0); + queue.addEvent(event); + } + + }else if(buttonCode == Ouya.BUTTON_R1){ + motorGamepadButtonPressed[1] = false; + + if(!motorGamepadButtonPressed[5]){ + event = new MotorEvent(); + event.setMotor(motor_t.MOTOR_C); + event.setPower((byte)0); + queue.addEvent(event); + } + + }else if(buttonCode == Ouya.BUTTON_DPAD_LEFT){ + motorGamepadButtonPressed[2] = false; + + if(!motorGamepadButtonPressed[3]){ event = new MotorEvent(); event.setMotor(motor_t.MOTOR_B); event.setPower((byte)0); queue.addEvent(event); } + }else if(buttonCode == Ouya.BUTTON_DPAD_RIGHT){ + motorGamepadButtonPressed[3] = false; - }else if(buttonCode == Ouya.BUTTON_R1){ - motorGamepadButtonPressed[1] = false; + if(!motorGamepadButtonPressed[2]){ + event = new MotorEvent(); + event.setMotor(motor_t.MOTOR_B); + event.setPower((byte)0); + queue.addEvent(event); + } + }else if(buttonCode == Ouya.BUTTON_L2){ + motorGamepadButtonPressed[4] = false; if(!motorGamepadButtonPressed[0]){ event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_B); + event.setMotor(motor_t.MOTOR_A); event.setPower((byte)0); queue.addEvent(event); } + }else if(buttonCode == Ouya.BUTTON_R2){ + motorGamepadButtonPressed[5] = false; + + if(!motorGamepadButtonPressed[1]){ + event = new MotorEvent(); + event.setMotor(motor_t.MOTOR_C); + event.setPower((byte)0); + queue.addEvent(event); + } } return true; @@ -677,59 +770,7 @@ public class InGameState extends BaseState{ @Override public boolean axisMoved(Controller controller, int axisCode, float value){ - MotorEvent event; - - if(stateActive && Ouya.runningOnOuya){ - if(Math.abs(value) >= Ouya.STICK_DEADZONE * 3.0f){ - - if(axisCode == Ouya.AXIS_LEFT_Y){ - Gdx.app.log(TAG, CLASS_NAME + ".axisMoved() :: LEFT Y moved: "+ Float.toString(value)); - - axisStopSent[0] = false; - - event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_A); - event.setPower((byte)(100.0f * -value)); - queue.addEvent(event); - - }else if(axisCode == Ouya.AXIS_RIGHT_Y){ - Gdx.app.log(TAG, CLASS_NAME + ".axisMoved() :: RIGHT Y moved: "+ Float.toString(value)); - - axisStopSent[1] = false; - - event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_C); - event.setPower((byte)(100.0f * -value)); - queue.addEvent(event); - - } - - }else{ - - if(axisCode == Ouya.AXIS_LEFT_Y && !axisStopSent[0]){ - - axisStopSent[0] = true; - - event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_A); - event.setPower((byte)0); - queue.addEvent(event); - - }else if(axisCode == Ouya.AXIS_RIGHT_Y && !axisStopSent[1]){ - - axisStopSent[1] = true; - - event = new MotorEvent(); - event.setMotor(motor_t.MOTOR_C); - event.setPower((byte)0); - queue.addEvent(event); - - } - } - return true; - }else{ - return false; - } + return false; } @Override @@ -749,47 +790,36 @@ public class InGameState extends BaseState{ @Override public boolean keyUp(int keycode){ - // TODO Auto-generated method stub return false; } @Override public boolean keyTyped(char character){ - // TODO Auto-generated method stub return false; } @Override - public boolean povMoved(Controller controller, int povCode, - PovDirection value){ - // TODO Auto-generated method stub + public boolean povMoved(Controller controller, int povCode, PovDirection value){ return false; } @Override - public boolean xSliderMoved(Controller controller, int sliderCode, - boolean value){ - // TODO Auto-generated method stub + public boolean xSliderMoved(Controller controller, int sliderCode, boolean value){ return false; } @Override - public boolean ySliderMoved(Controller controller, int sliderCode, - boolean value){ - // TODO Auto-generated method stub + public boolean ySliderMoved(Controller controller, int sliderCode, boolean value){ return false; } @Override - public boolean accelerometerMoved(Controller controller, - int accelerometerCode, Vector3 value){ - // TODO Auto-generated method stub + public boolean accelerometerMoved(Controller controller, int accelerometerCode, Vector3 value){ return false; } @Override public boolean scrolled(int amount){ - // TODO Auto-generated method stub return false; } }