Merge branch 'develop'

README.md

@@ -0,0 +1,4 @@
+NxtAR-core
+==========
+
+Modulo 2 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};
 
 	private motor_t motor;
 	private byte power;

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

@@ -20,6 +20,7 @@ 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.SensorReportThread;
 import ve.ucv.ciens.ccg.nxtar.network.ServiceDiscoveryThread;
 import ve.ucv.ciens.ccg.nxtar.network.VideoStreamingThread;
 import ve.ucv.ciens.ccg.nxtar.states.BaseState;
@@ -76,10 +77,12 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 			return this.value;
 		}
 	};
+
 	/**
 	 * The current application state.
 	 */
 	private game_states_t currState;
+
 	/**
 	 * <p>The state to change to.</p>
 	 * <p> Usually null. A state change is scheduled by setting this field to a {@link game_states_t} value.</p>
@@ -100,6 +103,7 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 	private ServiceDiscoveryThread serviceDiscoveryThread;
 	private VideoStreamingThread videoThread;
 	private RobotControlThread robotThread;
+	private SensorReportThread sensorThread;
 
 	// Overlays.
 	private OrthographicCamera pixelPerfectCamera;
@@ -144,8 +148,10 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 	public void create(){
 		// Create the state objects.
 		states = new BaseState[3];
-		if(Ouya.runningOnOuya)states[game_states_t.MAIN_MENU.getValue()] = new OuyaMainMenuState(this);
+		if(Ouya.runningOnOuya)
-		else states[game_states_t.MAIN_MENU.getValue()] = new TabletMainMenuState(this);
+			states[game_states_t.MAIN_MENU.getValue()] = new OuyaMainMenuState(this);
+		else
+			states[game_states_t.MAIN_MENU.getValue()] = new TabletMainMenuState(this);
 		states[game_states_t.IN_GAME.getValue()] = new InGameState(this);
 		states[game_states_t.PAUSED.getValue()] = new PauseState(this);
 
@@ -179,6 +185,7 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 		serviceDiscoveryThread = ServiceDiscoveryThread.getInstance();
 		videoThread = VideoStreamingThread.getInstance();
 		robotThread = RobotControlThread.getInstance();
+		sensorThread = SensorReportThread.getInstance();
 
 		serviceDiscoveryThread.start();
 
@@ -189,6 +196,9 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 		robotThread.addNetworkConnectionListener(this);
 		robotThread.start();
 
+		sensorThread.addNetworkConnectionListener(this);
+		sensorThread.start();
+
 		// Set the current and next states.
 		currState = game_states_t.MAIN_MENU;
 		nextState = null;
@@ -275,6 +285,7 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 				font.draw(batch, String.format("Render FPS:        %d", Gdx.graphics.getFramesPerSecond()), fontX, fontY);
 				font.draw(batch, String.format("Total  stream FPS: %d", videoThread.getFps()), fontX, fontY - font.getCapHeight() - 5);
 				font.draw(batch, String.format("Lost   stream FPS: %d", videoThread.getLostFrames()), fontX, fontY - (2 * font.getCapHeight()) - 10);
+				font.draw(batch, String.format("Light sensor data: %d", sensorThread.getLightSensorReading()), fontX, fontY - (3 * font.getCapHeight()) - 15);
 			}batch.end();
 		}
 	}
@@ -309,10 +320,10 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 
 	@Override
 	public synchronized void networkStreamConnected(String streamName){
-		//if(streamName.equals(VideoStreamingThread.THREAD_NAME) || streamName.equals(RobotControlThread.THREAD_NAME))
 		Gdx.app.log(TAG, CLASS_NAME + ".networkStreamConnected() :: Stream " + streamName + " connected.");
 		connections += 1;
-		if(connections >= 2){
+
+		if(connections >= 3){
 			Gdx.app.debug(TAG, CLASS_NAME + ".networkStreamConnected() :: Stopping service broadcast.");
 			serviceDiscoveryThread.finish();
 			mcastEnabler.disableMulticast();

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

@@ -15,10 +15,44 @@
  */
 package ve.ucv.ciens.ccg.nxtar.network;
 
+import java.io.IOException;
+import java.io.InputStream;
+import java.net.ServerSocket;
+import java.net.Socket;
+
+import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.Gdx;
+
 public class SensorReportThread extends Thread {
+	public static final String THREAD_NAME = "SensorReportThread";
+	private static final String TAG = "NXTAR_CORE_ROBOTTHREAD";
+	private static final String CLASS_NAME = SensorReportThread.class.getSimpleName();
+
+	private NetworkConnectionListener netListener;
+	private ServerSocket server;
+	private Socket client;
+	private Object pauseMonitor;
+	private boolean paused;
+	private boolean done;
+	private InputStream reader;
+	private Byte lightReading;
 
 	private SensorReportThread(){
+		paused = false;
+		done = false;
+		netListener = null;
+		pauseMonitor = null;
+		client = null;
+		lightReading = -1;
 
+		try{
+			server = new ServerSocket(ProjectConstants.SENSOR_REPORT_PORT);
+		}catch(IOException io){
+			Gdx.app.error(TAG, CLASS_NAME + ".RobotControlThread() :: Error creating server: " + io.getMessage(), io);
+			server = null;
+		}
 	}
 
 	private static class SingletonHolder{
@@ -29,8 +63,64 @@ public class SensorReportThread extends Thread {
 		return SingletonHolder.INSTANCE;
 	}
 
+	public void addNetworkConnectionListener(NetworkConnectionListener listener){
+		netListener = listener;
+	}
+
+	public void pauseThread(){
+		synchronized(pauseMonitor){
+			paused = true;
+		}
+	}
+
+	public void resumeThread(){
+		synchronized(pauseMonitor){
+			paused = false;
+		}
+	}
+
+	public void finish(){
+		done = true;
+	}
+
+	public byte getLightSensorReading(){
+		byte data;
+
+		synchronized(lightReading){
+			data = lightReading.byteValue();
+		}
+
+		return data;
+	}
+
 	@Override
 	public void run(){
+		byte[] reading = new byte[1];
 
+		try{
+			client = server.accept();
+			client.setTcpNoDelay(true);
+			if(netListener != null) netListener.networkStreamConnected(THREAD_NAME);
+			reader = client.getInputStream();
+
+		}catch(IOException io){
+			Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
+			return;
+		}
+
+		while(!paused){
+			if(done) break;
+
+			try{
+				reader.read(reading);
+			}catch(IOException io){
+				Gdx.app.error(TAG, CLASS_NAME + ".run() :: IOException during sensor read: " + io.getMessage(), io);
+				break;
+			}
+
+			synchronized (lightReading) {
+				lightReading = reading[0];
+			}
+		}
 	}
 }

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

@@ -75,6 +75,7 @@ public class InGameState extends BaseState{
 	private Sprite motorD;
 	private Sprite headA;
 	private Sprite headB;
+	private Sprite headC;
 
 	// Button touch helper fields.
 	private Vector3 win2world;
@@ -82,7 +83,6 @@ public class InGameState extends BaseState{
 	private boolean[] motorButtonsTouched;
 	private int[] motorButtonsPointers;
 	private boolean[] motorGamepadButtonPressed;
-	private boolean[] axisStopSent;
 
 	// Monitors.
 	private VideoFrameMonitor frameMonitor;
@@ -106,35 +106,32 @@ public class InGameState extends BaseState{
 		win2world = new Vector3(0.0f, 0.0f, 0.0f);
 		touchPointWorldCoords = new Vector2();
 
-		motorButtonsTouched = new boolean[6];
+		motorButtonsTouched = new boolean[7];
 		motorButtonsTouched[0] = false;
 		motorButtonsTouched[1] = false;
 		motorButtonsTouched[2] = false;
 		motorButtonsTouched[3] = false;
 		motorButtonsTouched[4] = false;
 		motorButtonsTouched[5] = false;
+		motorButtonsTouched[6] = false;
 
-		motorButtonsPointers = new int[6];
+		motorButtonsPointers = new int[7];
 		motorButtonsPointers[0] = -1;
 		motorButtonsPointers[1] = -1;
 		motorButtonsPointers[2] = -1;
 		motorButtonsPointers[3] = -1;
 		motorButtonsPointers[4] = -1;
 		motorButtonsPointers[5] = -1;
+		motorButtonsPointers[6] = -1;
 
-		motorGamepadButtonPressed = new boolean[6];
+		motorGamepadButtonPressed = new boolean[7];
 		motorGamepadButtonPressed[0] = false;
 		motorGamepadButtonPressed[1] = false;
 		motorGamepadButtonPressed[2] = false;
 		motorGamepadButtonPressed[3] = false;
 		motorGamepadButtonPressed[4] = false;
 		motorGamepadButtonPressed[5] = false;
-
+		motorGamepadButtonPressed[6] = false;
-		axisStopSent = new boolean[4];
-		axisStopSent[0] = true;
-		axisStopSent[1] = true;
-		axisStopSent[2] = true;
-		axisStopSent[3] = true;
 
 		backgroundTexture = new Texture(Gdx.files.internal("data/gfx/textures/tile_aqua.png"));
 		backgroundTexture.setWrap(TextureWrap.Repeat, TextureWrap.Repeat);
@@ -231,6 +228,7 @@ public class InGameState extends BaseState{
 				motorD.draw(core.batch);
 				headA.draw(core.batch);
 				headB.draw(core.batch);
+				headC.draw(core.batch);
 			}
 		}core.batch.end();
 
@@ -320,6 +318,10 @@ public class InGameState extends BaseState{
 
 		headA.setPosition(-headA.getWidth() - 10, motorA.getY() + (headA.getHeight() / 2));
 		headB.setPosition(10, motorA.getY() + (headA.getHeight() / 2));
+
+		headC = new Sprite(buttonTexture2);
+		headC.setSize(headC.getWidth() * 0.3f, headC.getHeight() * 0.6f);
+		headC.setPosition(-(headC.getWidth() / 2), headA.getY() - headA.getHeight() - 10);
 	}
 
 	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -352,7 +354,6 @@ public class InGameState extends BaseState{
 			}else if(motorB.getBoundingRectangle().contains(touchPointWorldCoords)){
 				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Motor B button pressed");
 
-
 				motorButtonsTouched[1] = true;
 				motorButtonsPointers[1] = pointer;
 
@@ -405,6 +406,18 @@ public class InGameState extends BaseState{
 				event.setPower((byte)40);
 				queue.addEvent(event);
 
+			}else if(headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Head C button pressed");
+
+				if(!motorButtonsTouched[4] && !motorButtonsTouched[5]){
+					motorButtonsTouched[6] = true;
+					motorButtonsPointers[6] = pointer;
+
+					event = new MotorEvent();
+					event.setMotor(motor_t.RECENTER);
+					event.setPower((byte)0x00);
+					queue.addEvent(event);
+				}
 			}
 		}
 		return true;
@@ -506,6 +519,11 @@ public class InGameState extends BaseState{
 					queue.addEvent(event);
 				}
 
+			}else if(headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head C button released");
+
+				motorButtonsPointers[6] = -1;
+				motorButtonsTouched[6] = false;
 			}
 		}
 		return true;
@@ -576,8 +594,8 @@ public class InGameState extends BaseState{
 					queue.addEvent(event);
 				}
 
-			}else if(pointer == motorButtonsPointers[4] && headA.getBoundingRectangle().contains(touchPointWorldCoords)){
+			}else if(pointer == motorButtonsPointers[4] && !headA.getBoundingRectangle().contains(touchPointWorldCoords)){
-				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head A button released");
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Head A button released");
 
 				motorButtonsPointers[4] = -1;
 				motorButtonsTouched[4] = false;
@@ -590,8 +608,8 @@ public class InGameState extends BaseState{
 					queue.addEvent(event);
 				}
 
-			}else if(pointer == motorButtonsPointers[5] && headB.getBoundingRectangle().contains(touchPointWorldCoords)){
+			}else if(pointer == motorButtonsPointers[5] && !headB.getBoundingRectangle().contains(touchPointWorldCoords)){
-				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head B button released");
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Head B button released");
 
 				motorButtonsPointers[5] = -1;
 				motorButtonsTouched[5] = false;
@@ -604,6 +622,11 @@ public class InGameState extends BaseState{
 					queue.addEvent(event);
 				}
 
+			}else if(pointer == motorButtonsPointers[6] && !headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Head C button released");
+
+				motorButtonsPointers[6] = -1;
+				motorButtonsTouched[6] = false;
 			}
 		}
 		return true;
@@ -659,6 +682,7 @@ public class InGameState extends BaseState{
 					event.setPower((byte)-40);
 					queue.addEvent(event);
 				}
+
 			}else if(buttonCode == Ouya.BUTTON_DPAD_RIGHT){
 				motorGamepadButtonPressed[3] = false;
 
@@ -668,6 +692,7 @@ public class InGameState extends BaseState{
 					event.setPower((byte)40);
 					queue.addEvent(event);
 				}
+
 			}else if(buttonCode ==  Ouya.BUTTON_L2){
 				motorGamepadButtonPressed[4] = false;
 
@@ -688,6 +713,13 @@ public class InGameState extends BaseState{
 					queue.addEvent(event);
 				}
 
+			}else if(buttonCode == Ouya.BUTTON_Y){
+				motorGamepadButtonPressed[6] = true;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.RECENTER);
+				event.setPower((byte)0x00);
+				queue.addEvent(event);
 			}
 
 			return true;
@@ -760,6 +792,9 @@ public class InGameState extends BaseState{
 					event.setPower((byte)0);
 					queue.addEvent(event);
 				}
+
+			}else if(buttonCode == Ouya.BUTTON_Y){
+				motorGamepadButtonPressed[6] = false;
 			}
 
 			return true;