WallyHackenslacker/NxtAR-cam
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Added logic for robot control thread management.

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Wally Hackenslacker
2014-02-11 17:52:29 -04:30
parent 89c744181e
commit 7db8c3fcee
7 changed files with 96 additions and 292 deletions
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268
src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java
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@@ -36,175 +36,49 @@ public class VideoStreamingThread extends Thread{
private final String TAG = "IM_THREAD";
private final String CLASS_NAME = VideoStreamingThread.class.getSimpleName();
//private enum ProtocolState_t {WAIT_FOR_ACK, WAIT_FOR_READY, CAN_SEND, END_STREAM};
private boolean /*pause,*/ done;
private boolean pause, done;
private Object threadPauseMonitor;
private CameraImageMonitor camMonitor;
private Socket socket;
DatagramSocket udpSocket;
/*private ObjectOutputStream writer;
private ObjectInputStream reader;*/
private String serverIp;
//private ProtocolState_t protocolState;
private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
public VideoStreamingThread(String serverIp){
super("Video Streaming Thread");
this.serverIp = serverIp;
//pause = false;
done = false;
pause = false;
threadPauseMonitor = new Object();
socket = null;
//writer = null;
//reader = null;
camMonitor = CameraImageMonitor.getInstance();
//protocolState = ProtocolState_t.WAIT_FOR_READY;
}
/*public void run(){
byte[] image;
Object tmpMessage;
VideoStreamingControlMessage controlMessage;
VideoFrameDataMessage dataMessage;
final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
connectToServer();
if(!socket.isConnected()){
Logger.log_e(TAG, CLASS_NAME + ".run() :: Not connected to a server. Finishing thread.");
return;
}else{
while(!done){
// checkPause();
switch(protocolState){
case WAIT_FOR_READY:
Logger.log_d(TAG, CLASS_NAME + ".run() :: Reading message from server. State is WAIT_FOR_READY.");
tmpMessage = readMessage();
if(!validateImageTransferProtocolMessage(tmpMessage)){
// If the message received is not valid then send an UNRECOGNIZED message to the server.
Logger.log_d(TAG, CLASS_NAME + ".run() :: Received an unrecognized protocol message. State WAIT_FOR_READY.");
Logger.log_d(TAG, CLASS_NAME + ".run() :: Sending UNRECOGNIZED message to server.");
sendUnrecognizedMessage();
}else{
// Else if the message passed the validity check then proceed to the next protocol state.
controlMessage = (VideoStreamingControlMessage)tmpMessage;
if(controlMessage.message == VideoStreamingProtocol.FLOW_CONTROL_CONTINUE){
Logger.log_d(TAG, CLASS_NAME + ".run() :: Received FLOW_CONTROL_CONTINUE from the server.");
Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from WAIT_FOR_READY to CAN_SEND.");
protocolState = ProtocolState_t.CAN_SEND;
}else if(controlMessage.message == VideoStreamingProtocol.STREAM_CONTROL_END){
Logger.log_d(TAG, CLASS_NAME + ".run() :: Received STREAM_CONTROL_END from the server.");
Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from WAIT_FOR_READY to END_STREAM.");
protocolState = ProtocolState_t.END_STREAM;
}
}
break;
case WAIT_FOR_ACK:
Logger.log_d(TAG, CLASS_NAME + ".run() :: Reading message from server. State is WAIT_FOR_ACK.");
tmpMessage = readMessage();
if(!validateImageTransferProtocolMessage(tmpMessage)){
// If the message received is not valid then send an UNRECOGNIZED message to the server.
Logger.log_d(TAG, CLASS_NAME + ".run() :: Received an unrecognized protocol message. State WAIT_FOR_ACK.");
Logger.log_d(TAG, CLASS_NAME + ".run() :: Sending UNRECOGNIZED message to server.");
sendUnrecognizedMessage();
}else{
// Else if the message passed the validity check then proceed to the next protocol state.
controlMessage = (VideoStreamingControlMessage)tmpMessage;
if(controlMessage.message == VideoStreamingProtocol.ACK_SEND_NEXT){
Logger.log_d(TAG, CLASS_NAME + ".run() :: Received ACK_SEND_NEXT from the server.");
Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from WAIT_FOR_ACK to CAN_SEND.");
protocolState = ProtocolState_t.CAN_SEND;
}else if(controlMessage.message == VideoStreamingProtocol.ACK_WAIT){
Logger.log_d(TAG, CLASS_NAME + ".run() :: Received ACK_WAIT from the server.");
Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from WAIT_FOR_ACK to WAIT_FOR_READY.");
protocolState = ProtocolState_t.WAIT_FOR_READY;
}else if(controlMessage.message == VideoStreamingProtocol.STREAM_CONTROL_END){
protocolState = ProtocolState_t.END_STREAM;
}
}
break;
case CAN_SEND:
// Get the image and it's parameters from the monitor.
Logger.log_d(TAG, CLASS_NAME + ".run() :: Getting image data.");
Rect imageSize = camMonitor.getImageParameters();
image = camMonitor.getImageData();
// Compress the image as Jpeg.
Logger.log_d(TAG, CLASS_NAME + ".run() :: Compressing image.");
YuvImage yuvImage = new YuvImage(image, ImageFormat.NV21, imageSize.width(), imageSize.height(), null);
yuvImage.compressToJpeg(imageSize, 90, outputStream);
// Prepare the message for sending.
Logger.log_d(TAG, CLASS_NAME + ".run() :: Building message.");
dataMessage = new VideoFrameDataMessage();
dataMessage.imageWidth = imageSize.width();
dataMessage.imageHeight = imageSize.height();
dataMessage.data = outputStream.toByteArray();
// Send the message.
try{
Logger.log_d(TAG, CLASS_NAME + ".run() :: Sending message.");
writer.writeObject(dataMessage);
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".run() :: Error sending image to the server: " + io.getMessage());
}
// Clean up stuff.
Logger.log_d(TAG, CLASS_NAME + ".run() :: Cleaning.");
yuvImage = null;
image = null;
outputStream.reset();
dataMessage = null;
imageSize = null;
Logger.log_d(TAG, CLASS_NAME + ".run() :: Image data successfuly sent.");
Logger.log_d(TAG, CLASS_NAME + ".run() :: Transitioning from CAN_SEND to WAIT_FOR_ACK.");
protocolState = ProtocolState_t.WAIT_FOR_ACK;
break;
case END_STREAM:
// Simply disconnect from the server.
Logger.log_d(TAG, CLASS_NAME + ".run() :: Ending video stream.");
disconnect();
done = true;
break;
}
}
}
Logger.log_d(TAG, CLASS_NAME + ".run() :: Thread finish reached.");
}*/
public void run(){
//connectToServer();
try{
udpSocket = new DatagramSocket();
//udpSocket.setSendBufferSize(Integer.MAX_VALUE);
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException received creating socket " + io.getMessage());
System.exit(1);
}
/*if(!socket.isConnected()){
Logger.log_e(TAG, CLASS_NAME + ".run() :: Not connected to a server. Finishing thread.");
return;
}else{*/
while(!done){
//sendImage();
sendUdp();
try{
sleep(50L);
}catch(InterruptedException ie){}
while(!done){
synchronized (threadPauseMonitor) {
while(pause){
try{ threadPauseMonitor.wait(); }catch(InterruptedException ie){ };
}
}
//}
sendUdp();
try{
sleep(50L);
}catch(InterruptedException ie){}
}
Logger.log_d(TAG, CLASS_NAME + ".run() :: Thread finish reached.");
}
@@ -276,62 +150,6 @@ public class VideoStreamingThread extends Thread{
}
}
/*private void sendImage(){
byte[] image;
YuvImage yuvImage;
VideoFrameDataMessage message;
Rect imageSize;
image = camMonitor.getImageData();
if(image == null){
Logger.log_e(TAG, CLASS_NAME + ".sendImage() :: image is null, skipping frame.");
return;
}
imageSize = camMonitor.getImageParameters();
// Compress the image as Jpeg.
Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Compressing image.");
yuvImage = new YuvImage(image, ImageFormat.NV21, imageSize.width(), imageSize.height(), null);
yuvImage.compressToJpeg(imageSize, 90, outputStream);
Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Building message.");
message = new VideoFrameDataMessage();
message.data = outputStream.toByteArray();
message.imageWidth = imageSize.width();
message.imageHeight = imageSize.height();
try{
Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Sending message.");
writer.writeObject(message);
writer.flush();
writer.reset();
Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Message sent successfully: ");
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".sendImage() :: Error sending image to the server: " + io.getMessage());
}finally{
Logger.log_d(TAG, CLASS_NAME + ".sendImage() :: Cleaning.");
outputStream.reset();
image = null;
yuvImage = null;
message = null;
imageSize = null;
System.gc();
}
}*/
private void connectToServer(){
try{
Logger.log_i(TAG, CLASS_NAME + ".connectToServer() :: Connecting to the server at " + serverIp);
socket = new Socket(InetAddress.getByName(serverIp), ProjectConstants.VIDEO_STREAMING_PORT);
/*writer = new ObjectOutputStream(socket.getOutputStream());
reader = new ObjectInputStream(socket.getInputStream());*/
Logger.log_i(TAG, CLASS_NAME + ".connectToServer() :: Connection successful.");
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".connectToServer() :: Connection failed with message: " + io.getMessage());
}
}
public void disconnect(){
if(socket != null && socket.isConnected()){
try{
@@ -348,63 +166,17 @@ public class VideoStreamingThread extends Thread{
Logger.log_i(TAG, CLASS_NAME + ".finish() :: Finishing thread.");
}
/*private void checkPause(){
synchronized (threadPauseMonitor){
while(pause){
Logger.log_d(TAG, CLASS_NAME + ".checkPause() :: Pause requested.");
try{ threadPauseMonitor.wait(); }catch(InterruptedException ie){}
}
public void pauseThread(){
synchronized (threadPauseMonitor) {
pause = true;
}
}
private Object readMessage(){
Object tmpMessage;
// Read a message from the server stream.
try{
tmpMessage = reader.readObject();
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException when reading in WAIT_FOR_READY state.");
tmpMessage = null;
return null;
}catch(ClassNotFoundException cn){
Logger.log_e(TAG, CLASS_NAME + ".run() :: ClassNotFoundException when reading in WAIT_FOR_READY state.");
tmpMessage = null;
return null;
}
return tmpMessage;
}
private boolean validateImageTransferProtocolMessage(Object message){
if(message != null && message instanceof VideoStreamingControlMessage)
return true;
else
return false;
}
private void sendUnrecognizedMessage(){
VideoStreamingControlMessage message = new VideoStreamingControlMessage();
message.message = VideoStreamingProtocol.UNRECOGNIZED;
try{
writer.writeObject(message);
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException when writing UNRECOGNIZED in WAIT_FOR_READY state.");
}
Logger.log_d(TAG, CLASS_NAME + ".run() :: UNRECOGNIZED message sent.");
}*/
public synchronized void pauseThread(){
//pause = true;
Logger.log_d(TAG, CLASS_NAME + ".pauseThread() :: Pausing thread.");
}
public synchronized void resumeThread(){
Logger.log_d(TAG, CLASS_NAME + ".resumeThread() :: Resuming thread.");
synchronized (threadPauseMonitor) {
//pause = false;
pause = false;
threadPauseMonitor.notifyAll();
}
}