Merge branch 'develop'

.gitignore

@@ -18,6 +18,7 @@ local.properties
 # Eclipse project files
 .classpath
 .project
+libs/
 
 # Proguard folder generated by Eclipse
 proguard/

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

@@ -0,0 +1,37 @@
+package ve.ucv.ciens.ccg.networkdata;
+
+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};
+
+	private motor_t motor;
+	private byte power;
+
+	public MotorEvent(){
+		motor = motor_t.NONE;
+		power = 0;
+	}
+
+	public void setMotor(motor_t motor){
+		this.motor = motor;
+	}
+
+	public void setPower(byte power) throws IllegalArgumentException{
+		if(power > 100 || power < -100){
+			throw new IllegalArgumentException("Motor power must be a number between -100 and 100");
+		}else{
+			this.power = power;
+		}
+	}
+
+	public motor_t getMotor(){
+		return this.motor;
+	}
+
+	public byte getPower(){
+		return this.power;
+	}
+}

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

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2013 Miguel Angel Astor Romero
+ * 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.
@@ -13,24 +13,20 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.systems;
+package ve.ucv.ciens.ccg.networkdata;
 
-import ve.ucv.ciens.ccg.nxtar.components.VideoFrame;
+import java.io.Serializable;
 
-import com.artemis.Aspect;
+public class MotorEventACK implements Serializable {
-import com.artemis.Entity;
+	private static final long serialVersionUID = 9989L;
-import com.artemis.systems.EntityProcessingSystem;
 
-public class RenderSystem extends EntityProcessingSystem {
+	private boolean clientQueueIsFull;
 
-	@SuppressWarnings("unchecked")
+	public MotorEventACK(boolean isQueueFull){
-	public RenderSystem(Aspect aspect) {
+		this.clientQueueIsFull = isQueueFull;
-		super(Aspect.getAspectForAll(VideoFrame.class));
 	}
 
-	@Override
+	public boolean isClientQueueFull(){
-	protected void process(Entity arg0) {
+		return this.clientQueueIsFull;
-		
 	}
-
 }

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

@@ -20,150 +20,302 @@ 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.VideoFrameMonitor;
 import ve.ucv.ciens.ccg.nxtar.network.VideoStreamingThread;
+import ve.ucv.ciens.ccg.nxtar.states.BaseState;
+import ve.ucv.ciens.ccg.nxtar.states.InGameState;
+import ve.ucv.ciens.ccg.nxtar.states.MainMenuStateBase;
+import ve.ucv.ciens.ccg.nxtar.states.OuyaMainMenuState;
+import ve.ucv.ciens.ccg.nxtar.states.PauseState;
+import ve.ucv.ciens.ccg.nxtar.states.TabletMainMenuState;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
-import ve.ucv.ciens.ccg.nxtar.utils.Size;
+import aurelienribon.tweenengine.Tween;
+import aurelienribon.tweenengine.TweenEquations;
+import aurelienribon.tweenengine.primitives.MutableFloat;
 
 import com.badlogic.gdx.Application;
-import com.badlogic.gdx.ApplicationListener;
+import com.badlogic.gdx.Game;
 import com.badlogic.gdx.Gdx;
-import com.badlogic.gdx.graphics.GL10;
+import com.badlogic.gdx.controllers.Controllers;
+import com.badlogic.gdx.controllers.mappings.Ouya;
 import com.badlogic.gdx.graphics.OrthographicCamera;
 import com.badlogic.gdx.graphics.Pixmap;
+import com.badlogic.gdx.graphics.Pixmap.Format;
 import com.badlogic.gdx.graphics.Texture;
-import com.badlogic.gdx.graphics.Texture.TextureFilter;
+import com.badlogic.gdx.graphics.g2d.BitmapFont;
-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 {
+/**
+ * <p>Core of the application.</p>
+ * 
+ * <p>This class has three basic resposibilities:</p>
+ * <ul>
+ *     <li> Handling the main game loop.</li>
+ *     <li> Starting and destroying the networking threads.</li>
+ *     <li> Rendering debug information.</li>
+ * </ul>
+ * @author Miguel Angel Astor Romero
+ */
+public class NxtARCore extends Game implements NetworkConnectionListener{
 	private static final String TAG = "NXTAR_CORE_MAIN";
 	private static final String CLASS_NAME = NxtARCore.class.getSimpleName();
 
-	private OrthographicCamera camera;
+	/**
-	private SpriteBatch batch;
+	 * Valid game states.
-	private Texture texture;
+	 */
-	private Sprite sprite;
+	public enum game_states_t {
-	private Toaster toaster;
+		MAIN_MENU(0), IN_GAME(1), PAUSED(2);
-	private MulticastEnabler mcastEnabler;
-	private int connections;
 
-	private VideoFrameMonitor frameMonitor;
+		private int value;
-	private ServiceDiscoveryThread udpThread;
+
+		private game_states_t(int value){
+			this.value = value;
+		}
+
+		public int getValue(){
+			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>
+	 */
+	public game_states_t nextState;
+
+	// Screens.
+	private BaseState[] states;
+
+	// Assorted fields.
+	public SpriteBatch batch;
+	private Toaster toaster;
+
+	// Networking related fields.
+	private int connections;
+	private MulticastEnabler mcastEnabler;
+	private ServiceDiscoveryThread serviceDiscoveryThread;
 	private VideoStreamingThread videoThread;
 	private RobotControlThread robotThread;
 
+	// Overlays.
+	private OrthographicCamera pixelPerfectCamera;
+	private float fontX;
+	private float fontY;
+	private BitmapFont font;
+
+	private Texture fadeTexture;
+	private MutableFloat alpha;
+	private Tween fadeOut;
+	private Tween fadeIn;
+	private boolean fading;
+
+	/**
+	 * <p>Set up the basic application fields.</p>
+	 */
 	public NxtARCore(Application concreteApp){
 		super();
 		connections = 0;
 		try{
 			this.toaster = (Toaster)concreteApp;
+		}catch(ClassCastException cc){
+			Gdx.app.debug(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement the Toaster interface. Toasting disabled.");
+			this.toaster = null;
+		}
+
+		try{
 			this.mcastEnabler = (MulticastEnabler)concreteApp;
 		}catch(ClassCastException cc){
-			Gdx.app.debug(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement any of the required interfaces.");
+			Gdx.app.error(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement MulticastEnabler. Quitting.");
-			System.exit(ProjectConstants.EXIT_FAILURE);
+			Gdx.app.exit();
 		}
 	}
 
-	@Override
 	public void create(){
-		float w = Gdx.graphics.getWidth();
+		// Create the state objects.
-		float h = Gdx.graphics.getHeight();
+		states = new BaseState[3];
+		if(Ouya.runningOnOuya)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);
 
-		Gdx.app.setLogLevel(Application.LOG_DEBUG);
+		for(BaseState state : states){
+			Controllers.addListener(state);
+		}
 
-		camera = new OrthographicCamera(1, h/w);
+		// Set up fields.
 		batch = new SpriteBatch();
 
-		texture = new Texture(Gdx.files.internal("data/libgdx.png"));
+		pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
-		texture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
 
-		TextureRegion region = new TextureRegion(texture, 0, 0, 512, 275);
+		if(ProjectConstants.DEBUG){
+			// Set up the overlay font.
+			fontX = -((Gdx.graphics.getWidth() * ProjectConstants.OVERSCAN) / 2) + 10;
+			fontY = ((Gdx.graphics.getHeight() * ProjectConstants.OVERSCAN) / 2) - 10;
 
-		sprite = new Sprite(region);
+			font = new BitmapFont();
-		sprite.setSize(0.9f, 0.9f * sprite.getHeight() / sprite.getWidth());
+			font.setColor(1.0f, 1.0f, 0.0f, 1.0f);
-		sprite.setOrigin(sprite.getWidth()/2, sprite.getHeight()/2);
+			if(!Ouya.runningOnOuya){
-		sprite.setPosition(-sprite.getWidth()/2, -sprite.getHeight()/2);
+				font.setScale(1.0f);
+			}else{
+				font.setScale(2.5f);
+			}
+		}
+
+		// Start networking.
+		mcastEnabler.enableMulticast();
 
 		Gdx.app.debug(TAG, CLASS_NAME + ".create() :: Creating network threads");
-		frameMonitor = VideoFrameMonitor.getInstance();
+		serviceDiscoveryThread = ServiceDiscoveryThread.getInstance();
-		mcastEnabler.enableMulticast();
+		videoThread = VideoStreamingThread.getInstance();
-		udpThread = ServiceDiscoveryThread.getInstance();
+		robotThread = RobotControlThread.getInstance();
-		videoThread = VideoStreamingThread.getInstance().setToaster(toaster);
+
-		//robotThread = RobotControlThread.getInstance().setToaster(toaster);
+		serviceDiscoveryThread.start();
 
-		udpThread.start();
 		videoThread.start();
 		videoThread.startStreaming();
-		//robotThread.start();
+		videoThread.addNetworkConnectionListener(this);
+
+		robotThread.addNetworkConnectionListener(this);
+		robotThread.start();
+
+		// Set the current and next states.
+		currState = game_states_t.MAIN_MENU;
+		nextState = null;
+		this.setScreen(states[currState.getValue()]);
+		states[currState.getValue()].onStateSet();
+
+		// Prepare the fadeToBlack sprite;
+		Pixmap pixmap = new Pixmap(Gdx.graphics.getWidth(), Gdx.graphics.getHeight(), Format.RGBA4444);
+		pixmap.setColor(0, 0, 0, 1);
+		pixmap.fill();
+		fadeTexture = new Texture(pixmap);
+		pixmap.dispose();
+
+		alpha = new MutableFloat(0.0f);
+		fadeOut = Tween.to(alpha, 0, 0.5f).target(1.0f).ease(TweenEquations.easeInQuint);
+		fadeIn = Tween.to(alpha, 0, 0.5f).target(0.0f).ease(TweenEquations.easeInQuint);
+
+		fading = false;
+
+		// Set initial input handlers.
+		Gdx.input.setInputProcessor(states[currState.getValue()]);
+		Controllers.addListener(states[currState.getValue()]);
+
+		// Anything else.
+		Gdx.app.setLogLevel(Application.LOG_INFO);
+		//Gdx.app.setLogLevel(Application.LOG_DEBUG);
+		//Gdx.app.setLogLevel(Application.LOG_NONE);
 	}
 
-	@Override
-	public void dispose() {
-		batch.dispose();
-		texture.dispose();
-	}
-
-	@Override
 	public void render(){
-		Pixmap image;
+		super.render();
-		Pixmap temp;
-		byte[] frame;
-		Size dimensions;
 
-		Gdx.gl.glClearColor(1, 1, 1, 1);
+		// If the current state set a value for nextState then switch to that state.
-		Gdx.gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
+		if(nextState != null){
+			states[currState.getValue()].onStateUnset();
 
-		frame = frameMonitor.getCurrentFrame();
+			if(!fadeOut.isStarted()){
-		if(frame != null){
+				Gdx.app.log(TAG, CLASS_NAME + ".onRender() :: Starting fade out.");
-			texture.dispose();
+				fadeOut.start();
+				fading = true;
+			}else{
+				Gdx.app.log(TAG, CLASS_NAME + ".onRender() :: Updating fade out.");
+				fadeOut.update(Gdx.graphics.getDeltaTime());
 
-			dimensions = frameMonitor.getFrameDimensions();
+				if(fadeOut.isFinished()){
-			temp = new Pixmap(frame, 0, dimensions.getWidth() * dimensions.getHeight());
+					currState = nextState;
-			image = new Pixmap(1024, 512, temp.getFormat());
+					nextState = null;
-			image.drawPixmap(temp, 0, 0);
-			texture = new Texture(image);
-			texture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
 
-			TextureRegion region = new TextureRegion(texture, 0, 0, dimensions.getWidth(), dimensions.getHeight());
+					states[currState.getValue()].onStateSet();
 
-			sprite = new Sprite(region);
+					setScreen(states[currState.getValue()]);
-			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);
 
-			batch.setProjectionMatrix(camera.combined);
+					Gdx.app.log(TAG, CLASS_NAME + ".onRender() :: Freeing fade out.");
+					fadeOut.free();
+					fadeOut = Tween.to(alpha, 0, 0.5f).target(1.0f).ease(TweenEquations.easeInQuint);
+					fadeIn.start();
+				}
+			}
+		}
+
+		if(fadeIn.isStarted()){
+			if(!fadeIn.isFinished()){
+				fadeIn.update(Gdx.graphics.getDeltaTime());
+			}else{
+				fading = false;
+				fadeIn.free();
+				fadeIn = Tween.to(alpha, 0, 0.5f).target(0.0f).ease(TweenEquations.easeInQuint);
+			}
+		}
+
+		if(fading){
+			batch.setProjectionMatrix(pixelPerfectCamera.combined);
 			batch.begin();{
-				sprite.draw(batch);
+				batch.setColor(1, 1, 1, alpha.floatValue());
+				batch.draw(fadeTexture, -(Gdx.graphics.getWidth() / 2), -(Gdx.graphics.getHeight() / 2));
+				batch.setColor(1, 1, 1, 1);
 			}batch.end();
+		}
 
-			texture.dispose();
+		if(ProjectConstants.DEBUG){
-			temp.dispose();
+			batch.setProjectionMatrix(pixelPerfectCamera.combined);
-			image.dispose();
+			batch.begin();{
+				// Draw the FPS overlay.
+				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);
+			}batch.end();
 		}
 	}
 
-	@Override
-	public void resize(int width, int height){
-	}
-
-	@Override
 	public void pause(){
+		if(videoThread != null)
+			videoThread.pause();
 	}
 
-	@Override
 	public void resume(){
+		if(videoThread != null)
+			videoThread.play();
+	}
+
+	public void dispose(){
+		// Finish network threads.
+		videoThread.finish();
+		robotThread.finish();
+
+		// Dispose graphic objects.
+		fadeTexture.dispose();
+		batch.dispose();
+		if(ProjectConstants.DEBUG){
+			font.dispose();
+		}
+
+		// Dispose screens.
+		for(int i = 0; i < states.length; i++){
+			states[i].dispose();
+		}
 	}
 
 	@Override
 	public synchronized void networkStreamConnected(String streamName){
-		if(streamName.compareTo(VideoStreamingThread.THREAD_NAME) == 0 || streamName.compareTo(RobotControlThread.THREAD_NAME) == 0)
+		//if(streamName.equals(VideoStreamingThread.THREAD_NAME) || streamName.equals(RobotControlThread.THREAD_NAME))
-			connections += 1;
+		Gdx.app.log(TAG, CLASS_NAME + ".networkStreamConnected() :: Stream " + streamName + " connected.");
+		connections += 1;
 		if(connections >= 2){
 			Gdx.app.debug(TAG, CLASS_NAME + ".networkStreamConnected() :: Stopping service broadcast.");
-			udpThread.finish();
+			serviceDiscoveryThread.finish();
 			mcastEnabler.disableMulticast();
+			toaster.showShortToast("Client connected");
+			((MainMenuStateBase)states[game_states_t.MAIN_MENU.getValue()]).onClientConnected();
+		}
+	}
+
+	public void toast(String msg, boolean longToast){
+		if(toaster != null){
+			if(longToast) toaster.showLongToast(msg);
+			else toaster.showShortToast(msg);
 		}
 	}
 }

src/ve/ucv/ciens/ccg/nxtar/components/VideoFrame.java

@@ -1,40 +0,0 @@
-/*
- * Copyright (C) 2013 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.components;
-
-import com.artemis.Component;
-import com.badlogic.gdx.graphics.Pixmap;
-import com.badlogic.gdx.graphics.Texture;
-
-public class VideoFrame extends Component {
-	private Texture frame;
-
-	public VideoFrame(){ }
-
-	public VideoFrame(byte[] imageData){
-		frame = new Texture(new Pixmap(imageData, 0, imageData.length));
-	}
-
-	public Texture getFrame(){
-		return frame;
-	}
-
-	public void setFrame(byte[] imageData){
-		if(frame != null)
-			frame.dispose();
-		frame = new Texture(new Pixmap(imageData, 0, imageData.length));
-	}
-}

src/ve/ucv/ciens/ccg/nxtar/exceptions/ImageTooBigException.java

@@ -1,25 +1,24 @@
-/*
+/*
- * Copyright (C) 2013 Miguel Angel Astor Romero
+ * Copyright (C) 2014 Miguel Angel Astor Romero
- *
+ *
- * Licensed under the Apache License, Version 2.0 (the "License");
+ * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
+ * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
+ * You may obtain a copy of the License at
- *
+ *
- *      http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
- *
+ *
- * Unless required by applicable law or agreed to in writing, software
+ * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
+ * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
+ * See the License for the specific language governing permissions and
- * limitations under the License.
+ * limitations under the License.
- */
+ */
-package ve.ucv.ciens.ccg.nxtar.states;
+package ve.ucv.ciens.ccg.nxtar.exceptions;
-
+
-public interface NxtARState{
+public class ImageTooBigException extends Exception{
-	public void input();
+	private static final long serialVersionUID = 9989L;
-	public void update();
+
-	public void render();
+	public ImageTooBigException(String msg){
-	public void pause();
+		super(msg);
-	public void resume();
+	}
-	public void dispose();
+}
-}

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

@@ -16,11 +16,16 @@
 package ve.ucv.ciens.ccg.nxtar.network;
 
 import java.io.IOException;
+import java.io.InvalidClassException;
+import java.io.ObjectInputStream;
+import java.io.ObjectOutputStream;
 import java.net.ServerSocket;
 import java.net.Socket;
 
+import ve.ucv.ciens.ccg.networkdata.MotorEvent;
+import ve.ucv.ciens.ccg.networkdata.MotorEventACK;
 import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
-import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
 
 import com.badlogic.gdx.Gdx;
@@ -33,20 +38,29 @@ public class RobotControlThread extends Thread {
 	private NetworkConnectionListener netListener;
 	private ServerSocket server;
 	private Socket client;
-	private Toaster toaster;
+	private MotorEventQueue queue;
+	private Object pauseMonitor;
+	private boolean paused;
+	private boolean done;
+	private ObjectOutputStream os;
+	private ObjectInputStream is;
 
 	private RobotControlThread(){
 		super(THREAD_NAME);
 
 		netListener = null;
+		queue = MotorEventQueue.getInstance();
+		pauseMonitor = new Object();
+		paused = false;
+		done = false;
 
 		try{
-			server = new ServerSocket(ProjectConstants.SERVER_TCP_PORT_2);
+			server = new ServerSocket(ProjectConstants.MOTOR_CONTROL_PORT);
 		}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();
 	}
@@ -55,25 +69,109 @@ public class RobotControlThread extends Thread {
 		return SingletonHolder.INSTANCE;
 	}
 
-	public RobotControlThread setToaster(Toaster toaster){
-		this.toaster = toaster;
-		return this;
-	}
-
 	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;
+	}
+
 	@Override
 	public void run(){
+		MotorEvent message;
+		MotorEventACK ack;
+
 		try{
 			client = server.accept();
-			if(netListener != null)
+			if(netListener != null) netListener.networkStreamConnected(THREAD_NAME);
-				netListener.networkStreamConnected(THREAD_NAME);
+			os = new ObjectOutputStream(client.getOutputStream());
-			toaster.showShortToast("Client connected to RobotControlThread");
+			is = new ObjectInputStream(client.getInputStream());
-			client.close();
+
 		}catch(IOException io){
 			Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
+			return;
+		}
+
+		while(!paused){
+			if(done){
+				break;
+			}
+
+			// Send the motor event.
+			try{
+				message = queue.getNextEvent();
+				os.writeObject(message);
+				message = null;
+
+			}catch(InvalidClassException ic){
+				Gdx.app.error(TAG, CLASS_NAME + ".run() :: InvalidClassException during transmission: " + ic.getMessage(), ic);
+				break;
+
+			}catch(IOException io){
+				Gdx.app.error(TAG, CLASS_NAME + ".run() :: IOException during transmission: " + io.getMessage(), io);
+				break;
+			}
+
+			// Receive ack.
+			try{
+				ack = (MotorEventACK)is.readObject();
+			}catch(ClassNotFoundException cn){
+				Gdx.app.error(TAG, CLASS_NAME + ".run() :: InvalidClassException during reception: " + cn.getMessage(), cn);
+				break;
+
+			}catch(ClassCastException cc){
+				Gdx.app.error(TAG, CLASS_NAME + ".run() :: InvalidClassException during reception: " + cc.getMessage(), cc);
+				break;
+
+			}catch(IOException io){
+				Gdx.app.error(TAG, CLASS_NAME + ".run() :: InvalidClassException during reception: " + io.getMessage(), io);
+				break;
+			}
+
+			if(ack.isClientQueueFull()){
+				// Wait for client to notify.
+				// A client will never send two queue full acks in a row.
+				try{
+					ack = (MotorEventACK)is.readObject();
+				}catch(ClassNotFoundException cn){
+					Gdx.app.error(TAG, CLASS_NAME + ".run() :: InvalidClassException during reception: " + cn.getMessage(), cn);
+					break;
+
+				}catch(ClassCastException cc){
+					Gdx.app.error(TAG, CLASS_NAME + ".run() :: InvalidClassException during reception: " + cc.getMessage(), cc);
+					break;
+
+				}catch(IOException io){
+					Gdx.app.error(TAG, CLASS_NAME + ".run() :: InvalidClassException during reception: " + io.getMessage(), io);
+					break;
+				}
+
+			}else{
+				// Clean and continue.
+				ack = null;
+				message = null;
+				continue;
+			}
+		}
+
+
+		try{
+			client.close();
+		}catch(IOException io){
+			Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error closing client: " + io.getMessage(), io);
 		}
 	}
 }

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

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2013 Miguel Angel Astor Romero
+ * 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.
@@ -13,33 +13,24 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.states;
+package ve.ucv.ciens.ccg.nxtar.network;
 
-/**
+public class SensorReportThread extends Thread {
- * Empty state.
+
- * 
+	private SensorReportThread(){
- * Completely empty state for debugging purposes.
+
- * 
+	}
- * @author miky
+
- */
+	private static class SingletonHolder{
-public class DummyState implements NxtARState{
+		public final static SensorReportThread INSTANCE = new SensorReportThread();
+	}
+
+	public static SensorReportThread getInstance(){
+		return SingletonHolder.INSTANCE;
+	}
 
 	@Override
-	public void input(){ }
+	public void run(){
-
-	@Override
-	public void update(){ }
-
-	@Override
-	public void render(){ }
-
-	@Override
-	public void pause(){ }
-
-	@Override
-	public void resume(){ }
-
-	@Override
-	public void dispose(){ }
 
+	}
 }

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

@@ -31,7 +31,7 @@ import com.badlogic.gdx.Gdx;
  * <p> 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
+ * {@link ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants#SERVICE_DISCOVERY_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.</p>
  * 
@@ -89,7 +89,7 @@ public class ServiceDiscoveryThread extends Thread {
 		// 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);
+			udpServer = new DatagramSocket(ProjectConstants.SERVICE_DISCOVERY_PORT);
 		}catch(IOException io){
 			Gdx.app.error(TAG, CLASS_NAME + ".ServiceDiscoveryThread() :: Error creating UDP socket: " + io.getMessage());
 			udpServer = null;
@@ -150,10 +150,11 @@ public class ServiceDiscoveryThread extends Thread {
 					break;
 				}
 				// Send the packet and reset the retry counter.
-				DatagramPacket packet = new DatagramPacket(buffer, buffer.length, group, ProjectConstants.SERVER_UDP_PORT);
+				DatagramPacket packet = new DatagramPacket(buffer, buffer.length, group, ProjectConstants.SERVICE_DISCOVERY_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;

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

@@ -15,57 +15,57 @@
  */
 package ve.ucv.ciens.ccg.nxtar.network;
 
+import java.io.ByteArrayInputStream;
 import java.io.IOException;
 import java.io.ObjectInputStream;
-import java.io.ObjectOutputStream;
+import java.net.DatagramPacket;
-import java.net.ServerSocket;
+import java.net.DatagramSocket;
 import java.net.Socket;
 
 import ve.ucv.ciens.ccg.networkdata.VideoFrameDataMessage;
-import ve.ucv.ciens.ccg.networkdata.VideoStreamingControlMessage;
 import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
-import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
-import ve.ucv.ciens.ccg.nxtar.network.protocols.VideoStreamingProtocol;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
 
 import com.badlogic.gdx.Gdx;
 
-public class VideoStreamingThread extends Thread {
+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 enum ProtocolState_t {WAIT_FOR_START, SEND_CONTINUE, RECEIVE_DATA, SEND_ACK_NEXT, SEND_ACK_WAIT, PAUSED, END_STREAM};
-
 	private NetworkConnectionListener netListener;
-	private ServerSocket server;
+	private DatagramSocket socket;
-	private Toaster toaster;
-	private ProtocolState_t protocolState;
 	private boolean protocolStarted;
-	private boolean pauseProtocol;
-	private boolean endProtocol;
 	private boolean done;
+	private boolean pause;
+	private boolean coreNotified;
 	private Object protocolPauseMonitor;
 	private Socket client;
-	private ObjectInputStream reader;
-	private ObjectOutputStream writer;
 	private VideoFrameMonitor frameMonitor;
+	private long then;
+	private long now;
+	private long delta;
+	private int fps;
+	private int lostFramesPerSecond;
+	private int lostFrames;
+	private Object pauseMonitor;
 
 	private VideoStreamingThread(){
 		super(THREAD_NAME);
 
+		pauseMonitor = new Object();
+		fps = 0;
+		lostFramesPerSecond = 0;
 		netListener = null;
-		toaster = null;
 		protocolStarted = false;
-		endProtocol = false;
-		pauseProtocol = false;
 		done = false;
-		protocolState = ProtocolState_t.WAIT_FOR_START;
+		coreNotified = false;
 		protocolPauseMonitor = new Object();
 		frameMonitor = VideoFrameMonitor.getInstance();
 
 		try{
-			server = new ServerSocket(ProjectConstants.SERVER_TCP_PORT_1);
+			socket = new DatagramSocket(ProjectConstants.VIDEO_STREAMING_PORT);
 		}catch(IOException io){
 			Gdx.app.error(TAG, CLASS_NAME + ".VideoStreamingThread() :: Error creating server: " + io.getMessage(), io);
 		}
@@ -79,26 +79,15 @@ public class VideoStreamingThread extends Thread {
 		return SingletonHolder.INSTANCE;
 	}
 
-	public VideoStreamingThread setToaster(Toaster toaster){
-		this.toaster = toaster;
-		return this;
-	}
-
 	public void addNetworkConnectionListener(NetworkConnectionListener listener){
 		netListener = listener;
 	}
 
-	private void toast(String message){
-		if(toaster != null)
-			toaster.showShortToast(message);
-	}
-
 	public void startStreaming(){
 		if(!protocolStarted){
 			Gdx.app.debug(TAG, CLASS_NAME + ".startStreaming() :: Requesting protocol start.");
 			synchronized(protocolPauseMonitor){
 				protocolStarted = true;
-				protocolState = ProtocolState_t.SEND_CONTINUE;
 				protocolPauseMonitor.notifyAll();
 			}
 		}
@@ -107,7 +96,6 @@ public class VideoStreamingThread extends Thread {
 	public void pauseStreaming(){
 		if(protocolStarted){
 			Gdx.app.debug(TAG, CLASS_NAME + ".pauseStreaming() :: Requesting protocol pause.");
-			pauseProtocol = true;
 		}else
 			return;
 	}
@@ -116,7 +104,6 @@ public class VideoStreamingThread extends Thread {
 		if(protocolStarted){
 			Gdx.app.debug(TAG, CLASS_NAME + ".resumeStreaming() :: Requesting protocol resume.");
 			synchronized(protocolPauseMonitor){
-				pauseProtocol = false;
 				protocolPauseMonitor.notifyAll();
 			}
 		}else
@@ -126,7 +113,6 @@ public class VideoStreamingThread extends Thread {
 	public void finishStreaming(){
 		if(protocolStarted){
 			Gdx.app.debug(TAG, CLASS_NAME + ".finishStreaming() :: Requesting protocol end.");
-			endProtocol = true;
 		}else
 			return;
 	}
@@ -135,222 +121,120 @@ public class VideoStreamingThread extends Thread {
 		done = true;
 	}
 
-	/*@Override
+	private int byteArray2Int(byte[] array){
-	public void run(){
+		int number = 0;
-		Object tmpMessage;
+		for(int i = 0; i < 4; i++){
-		VideoStreamingControlMessage controlMessage;
+			number |= (array[3-i] & 0xff) << (i << 3);
-		VideoFrameDataMessage dataMessage;
+		}
+		return number;
+	}
 
-		// Listen on the server socket until a client successfully connects.
+	private void receiveUdp(){
-		do{
+		try{
+			int intSize;
+			byte[] size = new byte[4];
+			byte[] data;
+			DatagramPacket packet;
+			VideoFrameDataMessage dataMessage;
+			Object tmpMessage;
+
+			Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Reading message size from socket.");
 			try{
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Listening for client.");
+				packet = new DatagramPacket(size, size.length);
-				client = server.accept();
+				socket.receive(packet);
-				if(netListener != null)
-					netListener.networkStreamConnected(THREAD_NAME);
-				writer = new ObjectOutputStream(client.getOutputStream());
-				reader = new ObjectInputStream(client.getInputStream());
-				toast("Client connected");
 			}catch(IOException io){
-				Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
+				Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: IOException receiving size " + io.getMessage());
-				client = null;
+				lostFramesPerSecond += 1;
+				return;
 			}
-		}while(client != null && !client.isConnected());
 
-		while(!done){
+			Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Creating buffers.");
-			switch(protocolState){
+			intSize = byteArray2Int(size);
-			case WAIT_FOR_START:
+			data = new byte[intSize];
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: State is WAIT_FOR_START.");
-				// If the app has not started the protocol then wait.
-				synchronized(protocolPauseMonitor){
-					while(!protocolStarted){
-						try{
-							Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Protocol has not started, waiting.");
-							protocolPauseMonitor.wait();
-						}catch(InterruptedException ie){ }
-					}
-				}
-				break;
 
-			case SEND_CONTINUE:
+			Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Reading message from socket.");
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: State is SEND_CONTINUE.");
+			try{
-				// Prepare the message.
+				packet = new DatagramPacket(data, data.length);
-				controlMessage = new VideoStreamingControlMessage();
+				socket.receive(packet);
-				if(!endProtocol){
+			}catch(IOException io){
-					Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Preparing STREAM_CONTROL_END message.");
+				Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: IOException receiving data " + io.getMessage());
-					controlMessage.message = VideoStreamingProtocol.STREAM_CONTROL_END;
+				lostFramesPerSecond += 1;
-				}else{
+				return;
-					Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Preparing FLOW_CONTROL_CONTINUE message.");
+			}
-					controlMessage.message = VideoStreamingProtocol.FLOW_CONTROL_CONTINUE;
-				}
 
-				// Send it!
+			ByteArrayInputStream bais = new ByteArrayInputStream(data);
-				try{
-					writer.writeObject(controlMessage);
-				}catch(IOException io){
-					Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error sending message: " + io.getMessage(), io);
-				}finally{
-					protocolState = ProtocolState_t.RECEIVE_DATA;
-				}
-				break;
 
-			case RECEIVE_DATA:
+			Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Saving message in monitor.");
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: State is RECEIVE_DATA.");
+			try{
+				ObjectInputStream ois = new ObjectInputStream(bais);
+				tmpMessage = ois.readObject();
 
-				try{
+				if(tmpMessage instanceof VideoFrameDataMessage){
-					tmpMessage = reader.readObject();
+					Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received a data message.");
-				}catch(IOException io){
-					Gdx.app.error(TAG, CLASS_NAME + ".run() :: IOException while receiving message: " + io.getMessage(), io);
-					break;
-				}catch(ClassNotFoundException cn){
-					Gdx.app.error(TAG, CLASS_NAME + ".run() :: ClassNotFoundException while receiving message: " + cn.getMessage(), cn);
-					break;
-				}
-
-				if(tmpMessage instanceof VideoStreamingControlMessage){
-					Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Received a control message.");
-					controlMessage = (VideoStreamingControlMessage) tmpMessage;
-					// TODO: handle this case correctly.
-
-				}else if(tmpMessage instanceof VideoFrameDataMessage){
-					Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Received a data message.");
 					dataMessage = (VideoFrameDataMessage) tmpMessage;
 
-					Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Received frame dimensions are: " +
+					Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received frame dimensions are: " +
 							Integer.toString(dataMessage.imageWidth) + "x" + Integer.toString(dataMessage.imageHeight));
 					frameMonitor.setFrameDimensions(dataMessage.imageWidth, dataMessage.imageHeight);
 					frameMonitor.setNewFrame(dataMessage.data);
 
-					if(pauseProtocol)
-						protocolState = ProtocolState_t.SEND_ACK_WAIT;
-					else
-						protocolState = ProtocolState_t.SEND_ACK_NEXT;
-
 				}else{
-					Gdx.app.error(TAG, CLASS_NAME + ".run() :: Unrecognized message received!.");
+					Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received something unknown.");
-					// TODO: handle this case correctly.
+					lostFramesPerSecond += 1;
-					System.exit(ProjectConstants.EXIT_FAILURE);
 				}
-
+			}catch(IOException io){
-				break;
+				Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: IOException received deserializing message " + io.getMessage());
-
+				lostFramesPerSecond += 1;
-			case SEND_ACK_NEXT:
+				return;
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: State is SEND_ACK_NEXT.");
+			}catch(ClassNotFoundException cn){
-				// Prepare the message.
+				Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: ClassNotFoundException received " + cn.getMessage());
-				controlMessage = new VideoStreamingControlMessage();
+				lostFramesPerSecond += 1;
-				if(!endProtocol){
+				return;
-					Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Preparing STREAM_CONTROL_END message.");
-					controlMessage.message = VideoStreamingProtocol.STREAM_CONTROL_END;
-				}else{
-					Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Preparing ACK_SEND_NEXT message.");
-					controlMessage.message = VideoStreamingProtocol.ACK_SEND_NEXT;
-				}
-
-				// Send it!
-				try{
-					writer.writeObject(controlMessage);
-				}catch(IOException io){
-					Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error sending message: " + io.getMessage(), io);
-				}finally{
-					if(!endProtocol)
-						protocolState = ProtocolState_t.RECEIVE_DATA;
-					else
-						protocolState = ProtocolState_t.END_STREAM;
-				}
-				break;
-
-			case SEND_ACK_WAIT:
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: State is SEND_ACK_WAIT.");
-				// Prepare the message.
-				controlMessage = new VideoStreamingControlMessage();
-				controlMessage.message = VideoStreamingProtocol.ACK_WAIT;
-
-				// Send it!
-				try{
-					writer.writeObject(controlMessage);
-				}catch(IOException io){
-					Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error sending message: " + io.getMessage(), io);
-				}finally{
-					protocolState = ProtocolState_t.PAUSED;
-				}
-				break;
-
-			case PAUSED:
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: State is PAUSED.");
-				// The app requested to stop the protocol temporarily.
-				synchronized(protocolPauseMonitor){
-					while(pauseProtocol){
-						try{
-							Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Protocol pause requested, waiting.");
-							protocolPauseMonitor.wait();
-						}catch(InterruptedException ie){ }
-					}
-				}
-				protocolState = ProtocolState_t.SEND_CONTINUE;
-				break;
-
-			case END_STREAM:
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: State is END_STREAM.");
-				// Simply disconnect from the client and end the thread.
-				try{
-					client.close();
-				}catch(IOException io){
-					Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error closing client: " + io.getMessage(), io);
-				}
-				done = true;
-				break;
 			}
-		}
+		}catch(Exception e){
-		Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Thread finished.");
+			Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: Exception received " + e.getMessage());
-	}*/
+			lostFramesPerSecond += 1;
-
-	private void receiveImage(){
-		Object tmpMessage;
-		VideoFrameDataMessage dataMessage;
-
-		Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Receiving data.");
-
-		try{
-			tmpMessage = (VideoFrameDataMessage)reader.readObject();
-		}catch(IOException io){
-			Gdx.app.error(TAG, CLASS_NAME + ".run() :: IOException while receiving message: " + io.getMessage());
-			return;
-		}catch(ClassNotFoundException cn){
-			Gdx.app.error(TAG, CLASS_NAME + ".run() :: ClassNotFoundException while receiving message: " + cn.getMessage());
 			return;
 		}
+	}
 
-		if(tmpMessage instanceof VideoFrameDataMessage){
+	public int getFps(){
-			Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Received a data message.");
+		return fps;
-			dataMessage = (VideoFrameDataMessage) tmpMessage;
+	}
-			frameMonitor.setFrameDimensions(dataMessage.imageWidth, dataMessage.imageHeight);
+	
-			frameMonitor.setNewFrame(dataMessage.data);
+	public int getLostFrames(){
-
+		return lostFrames;
-		}else{
-			Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Received something unknown.");
-		}
 	}
 
 	@Override
 	public void run(){
-		// Listen on the server socket until a client successfully connects.
+		int frames = 0;
-		do{
+		lostFrames = 0;
-			try{
+		then = System.currentTimeMillis();
-				Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Listening for client.");
-				client = server.accept();
-				if(netListener != null)
-					netListener.networkStreamConnected(THREAD_NAME);
-				writer = new ObjectOutputStream(client.getOutputStream());
-				reader = new ObjectInputStream(client.getInputStream());
-				toast("Client connected");
-			}catch(IOException io){
-				Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
-				client = null;
-			}
-		}while(client != null && !client.isConnected());
 
 		while(!done){
-			receiveImage();
+			synchronized (pauseMonitor) {
+				while(pause){
+					try{ pauseMonitor.wait(); }catch(InterruptedException ie){ }
+				}
+			}
+			Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Receiving.");
+			if(netListener != null && !coreNotified && frameMonitor.getCurrentFrame() != null){
+				coreNotified = true;
+				netListener.networkStreamConnected(THREAD_NAME);
+			}
+			receiveUdp();
+			frames++;
+			now = System.currentTimeMillis();
+			delta = now - then;
+			if(delta >= 1000){
+				fps = frames;
+				frames = 0;
+				lostFrames = lostFramesPerSecond;
+				lostFramesPerSecond = 0;
+				then = now;
+				delta = 0;
+			}
 		}
 
 		try{
@@ -362,4 +246,16 @@ public class VideoStreamingThread extends Thread {
 		Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Thread finished.");
 	}
 
+	public void pause(){
+		synchronized (pauseMonitor){
+			pause = true;
+		}
+	}
+	
+	public void play(){
+		synchronized (pauseMonitor){
+			pause = false;
+			pauseMonitor.notifyAll();
+		}
+	}
 }

src/ve/ucv/ciens/ccg/nxtar/network/monitors/MotorEventQueue.java

@@ -0,0 +1,72 @@
+/*
+ * 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.network.monitors;
+
+import java.util.LinkedList;
+import java.util.Queue;
+
+import ve.ucv.ciens.ccg.networkdata.MotorEvent;
+
+/**
+ * <p>A simple monitor class that encapsulates a queue.</p>
+ * <p>As it name says it stores motor events to be forwarded to the NXT robot.</p>
+ * <p>This class implements the singleton design pattern.<p> 
+ * 
+ * @author Miguel Angel Astor Romero
+ */
+public class MotorEventQueue{
+	/**
+	 * The event queue implemented as a linked list.
+	 */
+	private Queue<MotorEvent> motorEvents;
+
+	private MotorEventQueue(){
+		motorEvents = new LinkedList<MotorEvent>();
+	}
+
+	private static class SingletonHolder{
+		public static final MotorEventQueue instance = new MotorEventQueue();
+	}
+
+	/**
+	 * Return the singleton instance of this class.
+	 * @return The singleton instance.
+	 */
+	public static MotorEventQueue getInstance(){
+		return SingletonHolder.instance;
+	}
+
+	/**
+	 * <p>Get the first event on the queue.</p>
+	 * <p> If there are no events to return this method blocks until some thread calls the addEvent() method.</p>
+	 * @return The event at the front of the queue.
+	 */
+	public synchronized MotorEvent getNextEvent(){
+		while(motorEvents.size() == 0){
+			try{ wait(); }catch(InterruptedException ie){ }
+		}
+		return motorEvents.poll();
+	}
+
+	/**
+	 * <p>Adds an event to the back of the queue.</p>
+	 * @param event The event to add.
+	 */
+	public synchronized void addEvent(MotorEvent event){
+		motorEvents.add(event);
+		notifyAll();
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/network/monitors/VideoFrameMonitor.java

@@ -13,7 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.network;
+package ve.ucv.ciens.ccg.nxtar.network.monitors;
 
 import ve.ucv.ciens.ccg.nxtar.utils.Size;
 
@@ -63,9 +63,9 @@ public class VideoFrameMonitor{
 
 		Gdx.app.debug(TAG, CLASS_NAME + ".setNewFrame() :: Loading new frame in frameA.");
 		frameA = frame;
+		temp = frameA;
 		synchronized(frameMonitor){
 			Gdx.app.debug(TAG, CLASS_NAME + ".setNewFrame() :: Swapping frameA and frameB.");
-			temp = frameA;
 			frameA = frameB;
 			frameB = temp;
 			Gdx.app.debug(TAG, CLASS_NAME + ".setNewFrame() :: Swapping done.");

src/ve/ucv/ciens/ccg/nxtar/network/protocols/VideoStreamingProtocol.java

@@ -1,46 +0,0 @@
-/*
- * Copyright (C) 2013 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.network.protocols;
-
-public final class VideoStreamingProtocol{
-	public static final byte STREAM_CONTROL_END = 0x10;
-	public static final byte ACK_SEND_NEXT = 0x20;
-	public static final byte ACK_WAIT = 0x30;
-	public static final byte FLOW_CONTROL_WAIT = 0x40;
-	public static final byte FLOW_CONTROL_CONTINUE = 0x50;
-	public static final byte IMAGE_DATA = 0x60;
-	public static final byte UNRECOGNIZED = (byte)0xFF;
-
-	public static boolean checkValidityOfMessage(byte message){
-		boolean validity;
-
-		switch(message){
-		case STREAM_CONTROL_END:
-		case ACK_SEND_NEXT:
-		case ACK_WAIT:
-		case FLOW_CONTROL_WAIT:
-		case FLOW_CONTROL_CONTINUE:
-		case IMAGE_DATA:
-		case UNRECOGNIZED:
-			validity = true;
-			break;
-		default:
-			validity = false;
-		}
-
-		return validity;
-	}
-}

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

@@ -0,0 +1,88 @@
+/*
+ * 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.states;
+
+import ve.ucv.ciens.ccg.nxtar.NxtARCore;
+
+import com.badlogic.gdx.InputProcessor;
+import com.badlogic.gdx.Screen;
+import com.badlogic.gdx.controllers.Controller;
+import com.badlogic.gdx.controllers.ControllerListener;
+import com.badlogic.gdx.controllers.PovDirection;
+import com.badlogic.gdx.math.Vector3;
+
+public abstract class BaseState implements Screen, ControllerListener, InputProcessor {
+	protected NxtARCore core;
+	protected boolean stateActive;
+
+	/* STATE METHODS */
+	public abstract void onStateSet();
+	public abstract void onStateUnset();
+	
+	/* SCREEN METHODS*/
+	@Override
+	public abstract void render(float delta);
+	@Override
+	public abstract void resize(int width, int height);
+	@Override
+	public abstract void show();
+	@Override
+	public abstract void hide();
+	@Override
+	public abstract void pause();
+	@Override
+	public abstract void resume();
+	@Override
+	public abstract void dispose();
+
+	/* INPUT PROCESSOR METHODS. */
+	@Override
+	public abstract boolean keyDown(int keycode);
+	@Override
+	public abstract boolean keyUp(int keycode);
+	@Override
+	public abstract boolean keyTyped(char character);
+	@Override
+	public abstract boolean touchDown(int screenX, int screenY, int pointer, int button);
+	@Override
+	public abstract boolean touchUp(int screenX, int screenY, int pointer, int button);
+	@Override
+	public abstract boolean touchDragged(int screenX, int screenY, int pointer);
+	@Override
+	public abstract boolean mouseMoved(int screenX, int screenY);
+	@Override
+	public abstract boolean scrolled(int amount);
+
+	/* CONTROLLER LISTENER METHODS. */
+	@Override
+	public abstract void connected(Controller controller);
+	@Override
+	public abstract void disconnected(Controller controller);
+	@Override
+	public abstract boolean buttonDown(Controller controller, int buttonCode);
+	@Override
+	public abstract boolean buttonUp(Controller controller, int buttonCode);
+	@Override
+	public abstract boolean axisMoved(Controller controller, int axisCode, float value);
+	@Override
+	public abstract boolean povMoved(Controller controller, int povCode, PovDirection value);
+	@Override
+	public abstract boolean xSliderMoved(Controller controller, int sliderCode, boolean value);
+	@Override
+	public abstract boolean ySliderMoved(Controller controller, int sliderCode, boolean value);
+	@Override
+	public abstract boolean accelerometerMoved(Controller controller, int accelerometerCode, Vector3 value);
+}

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

@@ -1,56 +1,795 @@
-/*
+/*
- * Copyright (C) 2013 Miguel Angel Astor Romero
+ * Copyright (C) 2014 Miguel Angel Astor Romero
- *
+ *
- * Licensed under the Apache License, Version 2.0 (the "License");
+ * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
+ * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
+ * You may obtain a copy of the License at
- *
+ *
- *      http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
- *
+ *
- * Unless required by applicable law or agreed to in writing, software
+ * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
+ * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
+ * See the License for the specific language governing permissions and
- * limitations under the License.
+ * limitations under the License.
- */
+ */
-package ve.ucv.ciens.ccg.nxtar.states;
+package ve.ucv.ciens.ccg.nxtar.states;
-
+
-public class InGameState implements NxtARState{
+import java.util.Arrays;
-
+
-	@Override
+import ve.ucv.ciens.ccg.networkdata.MotorEvent;
-	public void input() {
+import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
-		// TODO Auto-generated method stub
+import ve.ucv.ciens.ccg.nxtar.NxtARCore;
-
+import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t;
-	}
+import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
-
+import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
-	@Override
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
-	public void update() {
+import ve.ucv.ciens.ccg.nxtar.utils.Size;
-		// TODO Auto-generated method stub
+
-
+import com.badlogic.gdx.Gdx;
-	}
+import com.badlogic.gdx.Input;
-
+import com.badlogic.gdx.controllers.Controller;
-	@Override
+import com.badlogic.gdx.controllers.PovDirection;
-	public void render() {
+import com.badlogic.gdx.controllers.mappings.Ouya;
-		// TODO Auto-generated method stub
+import com.badlogic.gdx.graphics.GL20;
-
+import com.badlogic.gdx.graphics.OrthographicCamera;
-	}
+import com.badlogic.gdx.graphics.Pixmap;
-
+import com.badlogic.gdx.graphics.Texture;
-	@Override
+import com.badlogic.gdx.graphics.Texture.TextureFilter;
-	public void pause() {
+import com.badlogic.gdx.graphics.Texture.TextureWrap;
-		// TODO Auto-generated method stub
+import com.badlogic.gdx.graphics.g2d.Sprite;
-
+import com.badlogic.gdx.graphics.g2d.TextureRegion;
-	}
+import com.badlogic.gdx.graphics.glutils.ShaderProgram;
-
+import com.badlogic.gdx.math.Vector2;
-	@Override
+import com.badlogic.gdx.math.Vector3;
-	public void resume() {
+
-		// TODO Auto-generated method stub
+public class InGameState extends BaseState{
-
+	private static final String TAG = "IN_GAME_STATE";
-	}
+	private static final String CLASS_NAME = InGameState.class.getSimpleName();
-
+
-	@Override
+	private static final String SHADER_PATH = "shaders/bckg/bckg";
-	public void dispose() {
+
-		// TODO Auto-generated method stub
+	private NxtARCore core;
-
+
-	}
+	private float u_scaling[];
-
+	protected Sprite background;
-}
+	private Texture backgroundTexture;
+	private ShaderProgram backgroundShader;
+
+	// Cameras.
+	private OrthographicCamera camera;
+	private OrthographicCamera pixelPerfectCamera;
+
+	// Video stream graphics.
+	private Texture videoFrameTexture;
+	private Sprite renderableVideoFrame;
+	private Pixmap videoFrame;
+
+	// Interface buttons.
+	private Texture buttonTexture;
+	private Texture buttonTexture2;
+	private Sprite motorA;
+	private Sprite motorB;
+	private Sprite motorC;
+	private Sprite motorD;
+	private Sprite headA;
+	private Sprite headB;
+
+	// Button touch helper fields.
+	private Vector3 win2world;
+	private Vector2 touchPointWorldCoords;
+	private boolean[] motorButtonsTouched;
+	private int[] motorButtonsPointers;
+	private boolean[] motorGamepadButtonPressed;
+	private boolean[] axisStopSent;
+
+	// Monitors.
+	private VideoFrameMonitor frameMonitor;
+	private MotorEventQueue queue;
+
+	public InGameState(final NxtARCore core){
+		this.core = core;
+		frameMonitor = VideoFrameMonitor.getInstance();
+		queue = MotorEventQueue.getInstance();
+
+		// Set up rendering fields;
+		videoFrame = null;
+
+		// Set up the cameras.
+		pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+		camera = 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();
+
+		motorButtonsTouched = new boolean[6];
+		motorButtonsTouched[0] = false;
+		motorButtonsTouched[1] = false;
+		motorButtonsTouched[2] = false;
+		motorButtonsTouched[3] = false;
+		motorButtonsTouched[4] = false;
+		motorButtonsTouched[5] = false;
+
+		motorButtonsPointers = new int[6];
+		motorButtonsPointers[0] = -1;
+		motorButtonsPointers[1] = -1;
+		motorButtonsPointers[2] = -1;
+		motorButtonsPointers[3] = -1;
+		motorButtonsPointers[4] = -1;
+		motorButtonsPointers[5] = -1;
+
+		motorGamepadButtonPressed = new boolean[2];
+		motorGamepadButtonPressed[0] = false;
+		motorGamepadButtonPressed[1] = 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);
+		backgroundTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
+		background = new Sprite(backgroundTexture);
+		background.setSize(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+		background.setPosition(-(Gdx.graphics.getWidth() / 2), -(Gdx.graphics.getHeight() / 2));
+
+		backgroundShader = new ShaderProgram(Gdx.files.internal(SHADER_PATH + ".vert"), Gdx.files.internal(SHADER_PATH + ".frag"));
+		if(!backgroundShader.isCompiled()){
+			Gdx.app.error(TAG, CLASS_NAME + ".MainMenuStateBase() :: Failed to compile the background shader.");
+			Gdx.app.error(TAG, CLASS_NAME + backgroundShader.getLog());
+			backgroundShader = null;
+		}
+
+		u_scaling = new float[2];
+		u_scaling[0] = Gdx.graphics.getWidth() > Gdx.graphics.getHeight() ? 16.0f : 9.0f;
+		u_scaling[1] = Gdx.graphics.getHeight() > Gdx.graphics.getWidth() ? 16.0f : 9.0f;
+	}
+
+	@Override
+	public void render(float delta){
+		byte[] frame;
+		byte[] prevFrame = null;
+		Size dimensions = null;
+
+		Gdx.gl.glClearColor(1, 1, 1, 1);
+		Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT);
+
+		core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
+		core.batch.begin();{
+			if(backgroundShader != null){
+				core.batch.setShader(backgroundShader);
+				backgroundShader.setUniform2fv("u_scaling", u_scaling, 0, 2);
+			}
+			background.draw(core.batch);
+			if(backgroundShader != null) core.batch.setShader(null);
+		}core.batch.end();
+
+		frame = frameMonitor.getCurrentFrame();
+		if(frame != null && !Arrays.equals(frame, prevFrame)){
+			dimensions = frameMonitor.getFrameDimensions();
+			videoFrame = new Pixmap(frame, 0, dimensions.getWidth() * dimensions.getHeight());
+			videoFrameTexture = new Texture(videoFrame);
+			videoFrameTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
+			videoFrame.dispose();
+
+			TextureRegion region = new TextureRegion(videoFrameTexture, 0, 0, dimensions.getWidth(), dimensions.getHeight());
+
+			renderableVideoFrame = new Sprite(region);
+			renderableVideoFrame.setOrigin(renderableVideoFrame.getWidth() / 2, renderableVideoFrame.getHeight() / 2);
+			if(!Ouya.runningOnOuya){
+				renderableVideoFrame.setSize(1.0f, renderableVideoFrame.getHeight() / renderableVideoFrame.getWidth() );
+				renderableVideoFrame.rotate90(true);
+				renderableVideoFrame.translate(-renderableVideoFrame.getWidth() / 2, 0.5f - renderableVideoFrame.getHeight());
+			}else{
+				float xSize = Gdx.graphics.getHeight() * (dimensions.getWidth() / dimensions.getHeight());
+				renderableVideoFrame.setSize(xSize * ProjectConstants.OVERSCAN, Gdx.graphics.getHeight() * ProjectConstants.OVERSCAN);
+				renderableVideoFrame.rotate90(true);
+				renderableVideoFrame.translate(-renderableVideoFrame.getWidth() / 2, -renderableVideoFrame.getHeight() / 2);
+			}
+
+			if(!Ouya.runningOnOuya){
+				core.batch.setProjectionMatrix(camera.combined);
+			}else{
+				core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
+			}
+			core.batch.begin();{
+				renderableVideoFrame.draw(core.batch);
+			}core.batch.end();
+
+			videoFrameTexture.dispose();
+		}
+
+		core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
+		core.batch.begin();{
+			if(!Ouya.runningOnOuya){
+				motorA.draw(core.batch);
+				motorB.draw(core.batch);
+				motorC.draw(core.batch);
+				motorD.draw(core.batch);
+				headA.draw(core.batch);
+				headB.draw(core.batch);
+			}
+		}core.batch.end();
+
+		prevFrame = frame;
+	}
+
+	@Override
+	public void resize(int width, int height){
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public void show(){ }
+
+	@Override
+	public void hide(){ }
+
+	@Override
+	public void pause(){ }
+
+	@Override
+	public void resume(){ }
+
+	@Override
+	public void dispose(){
+		if(videoFrameTexture != null)
+			videoFrameTexture.dispose();
+		if(buttonTexture != null)
+			buttonTexture.dispose();
+		if(buttonTexture2 != null)
+			buttonTexture2.dispose();
+		backgroundTexture.dispose();
+		if(backgroundShader != null) backgroundShader.dispose();
+	}
+
+	/*;;;;;;;;;;;;;;;;;;
+	  ; HELPER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public void onStateSet(){
+		stateActive = true;
+		Gdx.input.setInputProcessor(this);
+		Gdx.input.setCatchBackKey(true);
+		Gdx.input.setCatchMenuKey(true);
+	}
+
+	@Override
+	public void onStateUnset(){
+		stateActive = false;
+		Gdx.input.setInputProcessor(null);
+		Gdx.input.setCatchBackKey(false);
+		Gdx.input.setCatchMenuKey(false);
+	}
+
+	private void setUpButtons(){
+		buttonTexture = new Texture(Gdx.files.internal("data/gfx/gui/PBCrichton_Flat_Button.png"));
+		buttonTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
+
+		TextureRegion region = new TextureRegion(buttonTexture, 0, 0, buttonTexture.getWidth(), buttonTexture.getHeight());
+
+		motorA = new Sprite(region);
+		motorA.setSize(motorA.getWidth() * 0.7f, motorA.getHeight() * 0.7f);
+
+		motorB = new Sprite(region);
+		motorB.setSize(motorB.getWidth() * 0.7f, motorB.getHeight() * 0.7f);
+
+		motorC = new Sprite(region);
+		motorC.setSize(motorC.getWidth() * 0.7f, motorC.getHeight() * 0.7f);
+
+		motorD = new Sprite(region);
+		motorD.setSize(motorD.getWidth() * 0.7f, motorD.getHeight() * 0.7f);
+
+		motorA.setPosition(-(Gdx.graphics.getWidth() / 2) + 10, -(Gdx.graphics.getHeight() / 2) + motorB.getHeight() + 20);
+		motorB.setPosition(-(Gdx.graphics.getWidth() / 2) + 20 + (motorA.getWidth() / 2), -(Gdx.graphics.getHeight() / 2) + 10);
+		motorC.setPosition((Gdx.graphics.getWidth() / 2) - (1.5f * (motorD.getWidth())) - 20, -(Gdx.graphics.getHeight() / 2) + 10);
+		motorD.setPosition((Gdx.graphics.getWidth() / 2) - motorD.getWidth() - 10, -(Gdx.graphics.getHeight() / 2) + 20 + motorC.getHeight());
+
+		buttonTexture2 = new Texture(Gdx.files.internal("data/gfx/gui/orange_glowy_button.png"));
+
+		headA = new Sprite(buttonTexture2);
+		headA.setSize(headA.getWidth() * 0.3f, headA.getHeight() * 0.6f);
+
+		headB = new Sprite(buttonTexture2);
+		headB.setSize(headB.getWidth() * 0.3f, headB.getHeight() * 0.6f);
+
+		headA.setPosition(-headA.getWidth() - 10, motorA.getY() + (headA.getHeight() / 2));
+		headB.setPosition(10, motorA.getY() + (headA.getHeight() / 2));
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; BEGIN INPUT PROCESSOR METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean touchDown(int screenX, int screenY, int pointer, int button){
+		MotorEvent event;
+
+		if(!Ouya.runningOnOuya){
+			win2world.set(screenX, screenY, 0.0f);
+			camera.unproject(win2world);
+			touchPointWorldCoords.set(win2world.x * Gdx.graphics.getWidth(), win2world.y * Gdx.graphics.getHeight());
+
+			Gdx.app.log(TAG, CLASS_NAME + String.format(".touchDown(%d, %d, %d, %d)", screenX, screenY, pointer, button));
+			Gdx.app.log(TAG, CLASS_NAME + String.format(".touchDown() :: Unprojected touch point: (%f, %f)", touchPointWorldCoords.x, touchPointWorldCoords.y));
+
+			if(motorA.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Motor A button pressed");
+
+				motorButtonsTouched[0] = true;
+				motorButtonsPointers[0] = pointer;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.MOTOR_C);
+				event.setPower((byte)100);
+				queue.addEvent(event);
+
+			}else if(motorB.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Motor B button pressed");
+
+
+				motorButtonsTouched[1] = true;
+				motorButtonsPointers[1] = pointer;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.MOTOR_C);
+				event.setPower((byte)-100);
+				queue.addEvent(event);
+
+			}else if(motorC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Motor C button pressed");
+
+				motorButtonsTouched[2] = true;
+				motorButtonsPointers[2] = pointer;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.MOTOR_A);
+				event.setPower((byte)-100);
+				queue.addEvent(event);
+
+			}else if(motorD.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Motor D button pressed");
+
+				motorButtonsTouched[3] = true;
+				motorButtonsPointers[3] = pointer;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.MOTOR_A);
+				event.setPower((byte)100);
+				queue.addEvent(event);
+
+			}else if(headA.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Head A button pressed");
+
+				motorButtonsTouched[4] = true;
+				motorButtonsPointers[4] = pointer;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.MOTOR_B);
+				event.setPower((byte)-40);
+				queue.addEvent(event);
+
+			}else if(headB.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Head B button pressed");
+
+				motorButtonsTouched[5] = true;
+				motorButtonsPointers[5] = pointer;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.MOTOR_B);
+				event.setPower((byte)40);
+				queue.addEvent(event);
+
+			}
+		}
+		return true;
+	}
+
+	@Override
+	public boolean touchUp(int screenX, int screenY, int pointer, int button){
+		MotorEvent event;
+
+		if(!Ouya.runningOnOuya){
+			win2world.set(screenX, screenY, 0.0f);
+			camera.unproject(win2world);
+			touchPointWorldCoords.set(win2world.x * Gdx.graphics.getWidth(), win2world.y * Gdx.graphics.getHeight());
+
+			Gdx.app.log(TAG, CLASS_NAME + String.format(".touchUp(%d, %d, %d, %d)", screenX, screenY, pointer, button));
+			Gdx.app.log(TAG, CLASS_NAME + String.format(".touchUp() :: Unprojected touch point: (%f, %f)", touchPointWorldCoords.x, touchPointWorldCoords.y));
+
+			if(motorA.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Motor A button released");
+
+				motorButtonsPointers[0] = -1;
+				motorButtonsTouched[0] = false;
+
+				// 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.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(motorB.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Motor B button released");
+
+				motorButtonsPointers[1] = -1;
+				motorButtonsTouched[1] = false;
+
+				// 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.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(motorC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Motor C button released");
+
+				motorButtonsPointers[2] = -1;
+				motorButtonsTouched[2] = false;
+
+				// 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.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(motorD.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Motor D button released");
+
+				motorButtonsPointers[3] = -1;
+				motorButtonsTouched[3] = false;
+
+				// 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.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(headA.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head A button released");
+
+				motorButtonsPointers[4] = -1;
+				motorButtonsTouched[4] = false;
+
+				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
+				if(!motorButtonsTouched[5]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(headB.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head B button released");
+
+				motorButtonsPointers[5] = -1;
+				motorButtonsTouched[5] = false;
+
+				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
+				if(!motorButtonsTouched[4]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}
+		}
+		return true;
+	}
+
+	@Override
+	public boolean touchDragged(int screenX, int screenY, int pointer){
+		MotorEvent event;
+
+		if(!Ouya.runningOnOuya){
+			win2world.set(screenX, screenY, 0.0f);
+			camera.unproject(win2world);
+			touchPointWorldCoords.set(win2world.x * Gdx.graphics.getWidth(), win2world.y * Gdx.graphics.getHeight());
+
+			if(pointer == motorButtonsPointers[0] && !motorA.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Motor A button released");
+
+				motorButtonsPointers[0] = -1;
+				motorButtonsTouched[0] = false;
+
+				// 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.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(pointer == motorButtonsPointers[1] && !motorB.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Motor B button released");
+
+				motorButtonsPointers[1] = -1;
+				motorButtonsTouched[1] = false;
+
+				// 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.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(pointer == motorButtonsPointers[2] && !motorC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Motor C button released");
+
+				motorButtonsPointers[2] = -1;
+				motorButtonsTouched[2] = false;
+
+				// 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.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(pointer == motorButtonsPointers[3] && !motorD.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Motor D button released");
+
+				motorButtonsPointers[3] = -1;
+				motorButtonsTouched[3] = false;
+
+				// 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.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(pointer == motorButtonsPointers[4] && headA.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head A button released");
+
+				motorButtonsPointers[4] = -1;
+				motorButtonsTouched[4] = false;
+
+				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
+				if(!motorButtonsTouched[5]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(pointer == motorButtonsPointers[5] && headB.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head B button released");
+
+				motorButtonsPointers[5] = -1;
+				motorButtonsTouched[5] = false;
+
+				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
+				if(!motorButtonsTouched[4]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}
+		}
+		return true;
+	}
+
+	@Override
+	public boolean keyDown(int keycode){
+		if(keycode == Input.Keys.BACK){
+			// TODO: Go to pause state.
+			core.nextState = game_states_t.MAIN_MENU;
+			return true;
+		}
+		return false;
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; BEGIN CONTROLLER LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean buttonDown(Controller controller, int buttonCode){
+		MotorEvent event;
+
+		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]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)100);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_R1){
+				motorGamepadButtonPressed[1] = true;
+
+				if(!motorGamepadButtonPressed[0]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)-100);
+					queue.addEvent(event);
+				}
+
+			}
+
+			return true;
+		}else{
+			return false;
+		}
+	}
+
+	@Override
+	public boolean buttonUp(Controller controller, int buttonCode){
+		MotorEvent event;
+
+		if(stateActive && Ouya.runningOnOuya){
+			Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode));
+
+			if(buttonCode ==  Ouya.BUTTON_L1){
+				motorGamepadButtonPressed[0] = false;
+
+				if(!motorGamepadButtonPressed[1]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode ==  Ouya.BUTTON_R1){
+				motorGamepadButtonPressed[1] = false;
+
+				if(!motorGamepadButtonPressed[0]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}
+
+			return true;
+		}else{
+			return false;
+		}
+	}
+
+	@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;
+		}
+	}
+
+	@Override
+	public void connected(Controller controller){ }
+
+	@Override
+	public void disconnected(Controller controller){ }
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; UNUSED LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean mouseMoved(int screenX, int screenY){
+		return false;
+	}
+
+	@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
+		return false;
+	}
+
+	@Override
+	public boolean xSliderMoved(Controller controller, int sliderCode,
+			boolean value){
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean ySliderMoved(Controller controller, int sliderCode,
+			boolean value){
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean accelerometerMoved(Controller controller,
+			int accelerometerCode, Vector3 value){
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean scrolled(int amount){
+		// TODO Auto-generated method stub
+		return false;
+	}
+}

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

@@ -0,0 +1,351 @@
+/*
+ * 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.states;
+
+import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.Input;
+import com.badlogic.gdx.controllers.Controller;
+import com.badlogic.gdx.controllers.PovDirection;
+import com.badlogic.gdx.controllers.mappings.Ouya;
+import com.badlogic.gdx.graphics.Color;
+import com.badlogic.gdx.graphics.OrthographicCamera;
+import com.badlogic.gdx.graphics.Texture;
+import com.badlogic.gdx.graphics.Texture.TextureFilter;
+import com.badlogic.gdx.graphics.Texture.TextureWrap;
+import com.badlogic.gdx.graphics.g2d.BitmapFont;
+import com.badlogic.gdx.graphics.g2d.NinePatch;
+import com.badlogic.gdx.graphics.g2d.Sprite;
+import com.badlogic.gdx.graphics.g2d.SpriteBatch;
+import com.badlogic.gdx.graphics.g2d.TextureRegion;
+import com.badlogic.gdx.graphics.g2d.freetype.FreeTypeFontGenerator;
+import com.badlogic.gdx.graphics.glutils.ShaderProgram;
+import com.badlogic.gdx.math.Rectangle;
+import com.badlogic.gdx.math.Vector2;
+import com.badlogic.gdx.math.Vector3;
+import com.badlogic.gdx.scenes.scene2d.ui.TextButton;
+import com.badlogic.gdx.scenes.scene2d.ui.TextButton.TextButtonStyle;
+import com.badlogic.gdx.scenes.scene2d.utils.NinePatchDrawable;
+
+
+public abstract class MainMenuStateBase extends BaseState{
+	protected static final String TAG = "MAIN_MENU";
+	private static final String CLASS_NAME = MainMenuStateBase.class.getSimpleName();
+
+	private static final String SHADER_PATH = "shaders/bckg/bckg";
+
+	// Helper fields.
+	protected boolean clientConnected;
+	private float u_scaling[];
+	protected OrthographicCamera pixelPerfectCamera;
+
+	// Buttons and other gui components.
+	protected TextButton startButton;
+	protected Rectangle startButtonBBox;
+	protected Sprite clientConnectedLedOn;
+	protected Sprite clientConnectedLedOff;
+	protected Sprite background;
+
+	// Graphic data for the start button.
+	private Texture startButtonEnabledTexture;
+	private Texture startButtonDisabledTexture;
+	private Texture startButtonPressedTexture;
+	private NinePatch startButtonEnabled9p;
+	private NinePatch startButtonDisabled9p;
+	private NinePatch startButtonPressed9p;
+	private BitmapFont font;
+
+	// Other graphics.
+	private Texture clientConnectedLedOffTexture;
+	private Texture clientConnectedLedOnTexture;
+	private Texture backgroundTexture;
+	private ShaderProgram backgroundShader;
+
+	// Button touch helper fields.
+	private Vector3 win2world;
+	protected Vector2 touchPointWorldCoords;
+	protected boolean startButtonTouched;
+	protected int startButtonTouchPointer;
+
+	public MainMenuStateBase(){
+		TextureRegion region;
+
+		this.pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+
+		// Create the start button background.
+		startButtonEnabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Yellow.png"));
+		startButtonEnabled9p = new NinePatch(new TextureRegion(startButtonEnabledTexture, 0, 0, startButtonEnabledTexture.getWidth(), startButtonEnabledTexture.getHeight()), 49, 49, 45, 45);
+
+		startButtonDisabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Cyan.png"));
+		startButtonDisabled9p = new NinePatch(new TextureRegion(startButtonDisabledTexture, 0, 0, startButtonDisabledTexture.getWidth(), startButtonDisabledTexture.getHeight()), 49, 49, 45, 45);
+
+		startButtonPressedTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Blue.png"));
+		startButtonPressed9p = new NinePatch(new TextureRegion(startButtonPressedTexture, 0, 0, startButtonPressedTexture.getWidth(), startButtonPressedTexture.getHeight()), 49, 49, 45, 45);
+
+		// Create the start button font.
+		FreeTypeFontGenerator generator = new FreeTypeFontGenerator(Gdx.files.internal("data/fonts/d-puntillas-B-to-tiptoe.ttf"));
+		font = generator.generateFont(Ouya.runningOnOuya ? 60 : 40, ProjectConstants.FONT_CHARS, false);
+		generator.dispose();
+
+		// Create the start button itself.
+		TextButtonStyle tbs = new TextButtonStyle();
+		tbs.font = font;
+		tbs.up = new NinePatchDrawable(startButtonEnabled9p);
+		tbs.checked = new NinePatchDrawable(startButtonPressed9p);
+		tbs.disabled = new NinePatchDrawable(startButtonDisabled9p);
+		tbs.disabledFontColor = new Color(0, 0, 0, 1);
+		startButton = new TextButton("Start server", tbs);
+		startButton.setText("Start game");
+		startButton.setDisabled(true);
+		startButtonBBox = new Rectangle(0, 0, startButton.getWidth(), startButton.getHeight());
+
+		// Create the connection leds.
+		clientConnectedLedOnTexture = new Texture("data/gfx/gui/Anonymous_Button_Green.png");
+		region = new TextureRegion(clientConnectedLedOnTexture);
+		clientConnectedLedOn = new Sprite(region);
+
+		clientConnectedLedOffTexture = new Texture("data/gfx/gui/Anonymous_Button_Red.png");
+		region = new TextureRegion(clientConnectedLedOffTexture);
+		clientConnectedLedOff = new Sprite(region);
+
+		// Set up the background.
+		backgroundTexture = new Texture(Gdx.files.internal("data/gfx/textures/tile_aqua.png"));
+		backgroundTexture.setWrap(TextureWrap.Repeat, TextureWrap.Repeat);
+		backgroundTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
+		region = new TextureRegion(backgroundTexture);
+		background = new Sprite(backgroundTexture);
+		background.setSize(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+		background.setPosition(-(Gdx.graphics.getWidth() / 2), -(Gdx.graphics.getHeight() / 2));
+
+		backgroundShader = new ShaderProgram(Gdx.files.internal(SHADER_PATH + ".vert"), Gdx.files.internal(SHADER_PATH + ".frag"));
+		if(!backgroundShader.isCompiled()){
+			Gdx.app.error(TAG, CLASS_NAME + ".MainMenuStateBase() :: Failed to compile the background shader.");
+			Gdx.app.error(TAG, CLASS_NAME + backgroundShader.getLog());
+			backgroundShader = null;
+		}
+
+		u_scaling = new float[2];
+		u_scaling[0] = Gdx.graphics.getWidth() > Gdx.graphics.getHeight() ? 16.0f : 9.0f;
+		u_scaling[1] = Gdx.graphics.getHeight() > Gdx.graphics.getWidth() ? 16.0f : 9.0f;
+
+
+		win2world = new Vector3(0.0f, 0.0f, 0.0f);
+		touchPointWorldCoords = new Vector2();
+		startButtonTouched = false;
+		startButtonTouchPointer = -1;
+
+		clientConnected = false;
+		stateActive = false;
+	}
+
+	@Override
+	public abstract void render(float delta);
+
+	@Override
+	public void resize(int width, int height){ }
+
+	@Override
+	public void show(){ }
+	@Override
+	public void hide(){ }
+
+	@Override
+	public void pause(){ }
+
+	@Override
+	public void resume(){ }
+
+	@Override
+	public void dispose(){
+		startButtonEnabledTexture.dispose();
+		startButtonDisabledTexture.dispose();
+		startButtonPressedTexture.dispose();
+		clientConnectedLedOnTexture.dispose();
+		clientConnectedLedOffTexture.dispose();
+		backgroundTexture.dispose();
+		if(backgroundShader != null) backgroundShader.dispose();
+		font.dispose();
+	}
+
+	protected void drawBackground(SpriteBatch batch){
+		if(backgroundShader != null){
+			batch.setShader(backgroundShader);
+			backgroundShader.setUniform2fv("u_scaling", u_scaling, 0, 2);
+		}
+		background.draw(batch);
+		if(backgroundShader != null) batch.setShader(null);
+	}
+
+	@Override
+	public void onStateSet(){
+		stateActive = true;
+		Gdx.input.setInputProcessor(this);
+		Gdx.input.setCatchBackKey(true);
+		Gdx.input.setCatchMenuKey(true);
+	}
+
+	@Override
+	public void onStateUnset(){
+		stateActive = false;
+		Gdx.input.setInputProcessor(null);
+		Gdx.input.setCatchBackKey(false);
+		Gdx.input.setCatchMenuKey(false);
+	}
+
+	public void onClientConnected(){
+		clientConnected = true;
+		startButton.setDisabled(false);
+	}
+
+	/*;;;;;;;;;;;;;;;;;;
+	  ; HELPER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;*/
+
+	protected void unprojectTouch(int screenX, int screenY){
+		win2world.set(screenX, screenY, 0.0f);
+		pixelPerfectCamera.unproject(win2world);
+		touchPointWorldCoords.set(win2world.x, win2world.y);
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; INPUT LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean touchDown(int screenX, int screenY, int pointer, int button){
+		unprojectTouch(screenX, screenY);
+
+		Gdx.app.log(TAG, CLASS_NAME + String.format(".touchDown(%d, %d, %d, %d)", screenX, screenY, pointer, button));
+		Gdx.app.log(TAG, CLASS_NAME + String.format(".touchDown() :: Unprojected touch point: (%f, %f)", touchPointWorldCoords.x, touchPointWorldCoords.y));
+
+		if(!startButton.isDisabled() && startButtonBBox.contains(touchPointWorldCoords)){
+			startButton.setChecked(true);
+			startButtonTouched = true;
+			startButtonTouchPointer = pointer;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Start button pressed.");
+		}
+
+		return true;
+	}
+
+	@Override
+	public boolean touchUp(int screenX, int screenY, int pointer, int button){
+		unprojectTouch(screenX, screenY);
+
+		Gdx.app.log(TAG, CLASS_NAME + String.format(".touchUp(%d, %d, %d, %d)", screenX, screenY, pointer, button));
+		Gdx.app.log(TAG, CLASS_NAME + String.format(".touchUp() :: Unprojected touch point: (%f, %f)", touchPointWorldCoords.x, touchPointWorldCoords.y));
+
+		if(!startButton.isDisabled() && startButtonBBox.contains(touchPointWorldCoords)){
+			startButton.setChecked(false);
+			startButtonTouched = false;
+			startButtonTouchPointer = -1;
+			core.nextState = game_states_t.IN_GAME;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Start button released.");
+		}
+
+		return true;
+	}
+
+	@Override
+	public boolean touchDragged(int screenX, int screenY, int pointer){
+		unprojectTouch(screenX, screenY);
+
+		if(!startButton.isDisabled() && startButtonTouched && pointer == startButtonTouchPointer && !startButtonBBox.contains(touchPointWorldCoords)){
+			startButtonTouchPointer = -1;
+			startButtonTouched = false;
+			startButton.setChecked(false);
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Start button released.");
+		}
+
+		return true;
+	}
+
+	@Override
+	public boolean keyDown(int keycode){
+		if(keycode == Input.Keys.BACK){
+			// Ignore.
+			return true;
+		}
+		return false;
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; INPUT LISTENER METHOD STUBS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean keyUp(int keycode){
+		return false;
+	}
+
+	@Override
+	public boolean keyTyped(char character){
+		return false;
+	}
+
+	@Override
+	public boolean mouseMoved(int screenX, int screenY){
+		return false;
+	}
+
+	@Override
+	public boolean scrolled(int amount){
+		return false;
+	}
+
+	@Override
+	public void connected(Controller controller){ }
+
+	@Override
+	public void disconnected(Controller controller){ }
+
+	@Override
+	public boolean buttonDown(Controller controller, int buttonCode){
+		return false;
+	}
+
+	@Override
+	public boolean buttonUp(Controller controller, int buttonCode){
+		return false;
+	}
+
+	@Override
+	public boolean axisMoved(Controller controller, int axisCode, float value){
+		return false;
+	}
+
+	@Override
+	public boolean povMoved(Controller controller, int povCode, PovDirection value){
+		return false;
+	}
+
+	@Override
+	public boolean xSliderMoved(Controller controller, int sliderCode, boolean value){
+		return false;
+	}
+
+	@Override
+	public boolean ySliderMoved(Controller controller, int sliderCode, boolean value){
+		return false;
+	}
+
+	@Override
+	public boolean accelerometerMoved(Controller controller, int accelerometerCode, Vector3 value){
+		return false;
+	}
+}

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

@@ -0,0 +1,125 @@
+/*
+ * 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.states;
+
+import ve.ucv.ciens.ccg.nxtar.NxtARCore;
+import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t;
+
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.controllers.Controller;
+import com.badlogic.gdx.controllers.mappings.Ouya;
+import com.badlogic.gdx.graphics.GL10;
+import com.badlogic.gdx.graphics.Texture;
+import com.badlogic.gdx.graphics.g2d.Sprite;
+import com.badlogic.gdx.graphics.g2d.TextureRegion;
+
+public class OuyaMainMenuState extends MainMenuStateBase{
+	private static final String CLASS_NAME = OuyaMainMenuState.class.getSimpleName();
+
+	private Texture ouyaOButtonTexture;
+	private Sprite ouyaOButton;
+	private boolean oButtonPressed;
+
+	public OuyaMainMenuState(final NxtARCore core){
+		this.core = core;
+
+		startButton.setPosition(-(startButton.getWidth() / 2), -(startButton.getHeight() / 2));
+		startButtonBBox.setPosition(startButton.getX(), startButton.getY());
+
+		float ledYPos = (-(Gdx.graphics.getHeight() / 2) * 0.5f) + (startButton.getY() * 0.5f);
+		clientConnectedLedOn.setSize(clientConnectedLedOn.getWidth() * 0.5f, clientConnectedLedOn.getHeight() * 0.5f);
+		clientConnectedLedOn.setPosition(-(clientConnectedLedOn.getWidth() / 2), ledYPos);
+
+		clientConnectedLedOff.setSize(clientConnectedLedOff.getWidth() * 0.5f, clientConnectedLedOff.getHeight() * 0.5f);
+		clientConnectedLedOff.setPosition(-(clientConnectedLedOff.getWidth() / 2), ledYPos);
+
+		ouyaOButtonTexture = new Texture("data/gfx/gui/OUYA_O.png");
+		TextureRegion region = new TextureRegion(ouyaOButtonTexture, ouyaOButtonTexture.getWidth(), ouyaOButtonTexture.getHeight());
+		ouyaOButton = new Sprite(region);
+		ouyaOButton.setSize(ouyaOButton.getWidth() * 0.6f, ouyaOButton.getHeight() * 0.6f);
+		ouyaOButton.setPosition(startButton.getX() - ouyaOButton.getWidth() - 20, startButton.getY() + (ouyaOButton.getHeight() / 2));
+
+		oButtonPressed = false;
+	}
+
+	@Override
+	public void render(float delta) {
+		Gdx.gl.glClearColor(1, 1, 1, 1);
+		Gdx.gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
+
+		core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
+		core.batch.begin();{
+			core.batch.disableBlending();
+			drawBackground(core.batch);
+			core.batch.enableBlending();
+			if(clientConnected){
+				clientConnectedLedOn.draw(core.batch);
+			}else{
+				clientConnectedLedOff.draw(core.batch);
+			}
+			startButton.draw(core.batch, 1.0f);
+			ouyaOButton.draw(core.batch);
+		}core.batch.end();
+	}
+
+	@Override
+	public void dispose(){
+		super.dispose();
+		ouyaOButtonTexture.dispose();
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; BEGIN CONTROLLER LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean buttonDown(Controller controller, int buttonCode) {
+		if(stateActive){
+			if(buttonCode == Ouya.BUTTON_O){
+				if(!clientConnected){
+					core.toast("Can't start the game. No client is connected.", true);
+				}else{
+					oButtonPressed = true;
+					startButton.setChecked(true);
+				}
+			}
+
+			return true;
+
+		}else{
+			return false;
+		}
+	}
+
+	@Override
+	public boolean buttonUp(Controller controller, int buttonCode) {
+		if(stateActive){
+			if(buttonCode == Ouya.BUTTON_O){
+				if(oButtonPressed){
+					oButtonPressed = false;
+					startButton.setChecked(false);
+					core.nextState = game_states_t.IN_GAME;
+					Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Start button released.");
+				}
+			}
+
+			return true;
+
+		}else{
+			return false;
+		}
+	}
+}

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

@@ -0,0 +1,202 @@
+/*
+ * 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.states;
+
+import ve.ucv.ciens.ccg.nxtar.NxtARCore;
+
+import com.badlogic.gdx.controllers.Controller;
+import com.badlogic.gdx.controllers.PovDirection;
+import com.badlogic.gdx.math.Vector3;
+
+public class PauseState extends BaseState {
+
+	public PauseState(final NxtARCore core){
+		this.core = core;
+	}
+
+	@Override
+	public void render(float delta) {
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public void resize(int width, int height) {
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public void show() {
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public void hide() {
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public void pause() {
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public void resume() {
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public void dispose() {
+		// TODO Auto-generated method stub
+
+	}
+
+	/*;;;;;;;;;;;;;;;;;;
+	  ; HELPER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public void onStateSet(){
+	}
+
+	@Override
+	public void onStateUnset(){
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; BEGIN INPUT PROCESSOR METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean keyDown(int keycode) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@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 touchDown(int screenX, int screenY, int pointer, int button) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean touchUp(int screenX, int screenY, int pointer, int button) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean touchDragged(int screenX, int screenY, int pointer) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean mouseMoved(int screenX, int screenY) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; END INPUT PROCESSOR METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; BEGIN CONTROLLER LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+	@Override
+	public boolean scrolled(int amount) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public void connected(Controller controller) {
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public void disconnected(Controller controller) {
+		// TODO Auto-generated method stub
+
+	}
+
+	@Override
+	public boolean buttonDown(Controller controller, int buttonCode) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean buttonUp(Controller controller, int buttonCode) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean axisMoved(Controller controller, int axisCode, float value) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean povMoved(Controller controller, int povCode,
+			PovDirection value) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean xSliderMoved(Controller controller, int sliderCode,
+			boolean value) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean ySliderMoved(Controller controller, int sliderCode,
+			boolean value) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean accelerometerMoved(Controller controller,
+			int accelerometerCode, Vector3 value) {
+		// TODO Auto-generated method stub
+		return false;
+	}
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; END CONTROLLER LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+}

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

@@ -0,0 +1,56 @@
+/*
+ * 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.states;
+
+import ve.ucv.ciens.ccg.nxtar.NxtARCore;
+
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.graphics.GL10;
+
+public class TabletMainMenuState extends MainMenuStateBase{
+	public TabletMainMenuState(final NxtARCore core){
+		this.core = core;
+		startButton.setPosition(-(startButton.getWidth() / 2), -(startButton.getHeight() / 2));
+		startButtonBBox.setPosition(startButton.getX(), startButton.getY());
+
+		float ledYPos = (-(Gdx.graphics.getHeight() / 2) * 0.5f) + (startButton.getY() * 0.5f);
+		clientConnectedLedOn.setSize(clientConnectedLedOn.getWidth() * 0.5f, clientConnectedLedOn.getHeight() * 0.5f);
+		clientConnectedLedOn.setPosition(-(clientConnectedLedOn.getWidth() / 2), ledYPos);
+
+		clientConnectedLedOff.setSize(clientConnectedLedOff.getWidth() * 0.5f, clientConnectedLedOff.getHeight() * 0.5f);
+		clientConnectedLedOff.setPosition(-(clientConnectedLedOff.getWidth() / 2), ledYPos);
+	}
+
+	@Override
+	public void render(float delta){
+		Gdx.gl.glClearColor(1, 1, 1, 1);
+		Gdx.gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
+
+		core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
+		core.batch.begin();{
+			core.batch.disableBlending();
+			drawBackground(core.batch);
+			core.batch.enableBlending();
+
+			if(clientConnected){
+				clientConnectedLedOn.draw(core.batch);
+			}else{
+				clientConnectedLedOff.draw(core.batch);
+			}
+			startButton.draw(core.batch, 1.0f);
+		}core.batch.end();
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/utils/ProjectConstants.java

@@ -15,13 +15,29 @@
  */
 package ve.ucv.ciens.ccg.nxtar.utils;
 
-public abstract class ProjectConstants {
+import com.badlogic.gdx.controllers.mappings.Ouya;
-	public static final int SERVER_UDP_PORT = 8889;
+
-	public static final int SERVER_TCP_PORT_1 = 9989;
+public abstract class ProjectConstants{
-	public static final int SERVER_TCP_PORT_2 = 9990;
+	public static final int SERVICE_DISCOVERY_PORT = 9988;
+	public static final int VIDEO_STREAMING_PORT = 9989;
+	public static final int MOTOR_CONTROL_PORT = 9990;
+	public static final int SENSOR_REPORT_PORT = 9991;
+	public static final int APP_CONTROL_PORT = 9992;
+
 	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;
+
+	public static final int[] POWERS_OF_2 = {64, 128, 256, 512, 1024, 2048};
+
+	public static final float OVERSCAN;
+
+	public static final String FONT_CHARS = "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890";
+
+	static{
+		OVERSCAN = Ouya.runningOnOuya ? 0.9f : 1.0f;
+	}
 }