From 1c7430edd6fdb62ee773322d3dab523f7b854098 Mon Sep 17 00:00:00 2001
From: Miguel Astor <sonofgrendel@gmail.com>
Date: Tue, 21 Jan 2014 12:19:23 -0430
Subject: [PATCH] Removed the TCP video streaming code.

---
 src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java |  8 ++++----
 .../ccg/nxtcam/network/MotorControlThread.java     |  5 ++++-
 .../ccg/nxtcam/network/VideoStreamingThread.java   | 14 +++++++-------
 3 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java b/src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java
index b0ee573..36aebcf 100644
--- a/src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java
+++ b/src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java
@@ -26,7 +26,7 @@ public class LCPThread extends Thread{
 	private BTCommunicator btComm;
 	private MotorControlThread motorControl;
 	private SensorReportThread sensorReport;
-	
+
 	public LCPThread(String serverIp){
 		super("Robot Control Main Thread");
 		btComm = BTCommunicator.getInstance();
@@ -34,7 +34,7 @@ public class LCPThread extends Thread{
 		motorControl = new MotorControlThread(serverIp);
 		sensorReport = new SensorReportThread(serverIp);
 	}
-	
+
 	public void run(){
 		if(!motorControl.connectToServer()){
 			Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread motorControl could not connect to the server.");
@@ -44,7 +44,7 @@ public class LCPThread extends Thread{
 			Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread sensorReport could not connect to the server.");
 			Logger.log_e(TAG, CLASS_NAME + ".run() :: Sensor data will not be reported to server app.");
 		}
-		
+
 		while(!done){
 			if(btComm.isBTEnabled() && btComm.isConnected()){
 				Logger.log_d(TAG, CLASS_NAME + ".run() :: Connected.");
@@ -53,7 +53,7 @@ public class LCPThread extends Thread{
 			}
 		}
 	}
-	
+
 	public void finish(){
 		done = true;
 	}
diff --git a/src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java b/src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
index a71a4e4..d712060 100644
--- a/src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
+++ b/src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
@@ -35,7 +35,10 @@ public class MotorControlThread extends Thread {
 			return;
 		}else{
 			while(!done){
-
+				Object msg = readMessage();
+				MotorEvent event = verifyMessage(msg);
+				if(event != null)
+					queue.addEvent(event);
 			}
 		}
 	}
diff --git a/src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java b/src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java
index 2bed5e9..719189e 100644
--- a/src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java
+++ b/src/ve/ucv/ciens/ccg/nxtcam/network/VideoStreamingThread.java
@@ -182,21 +182,21 @@ public class VideoStreamingThread extends Thread{
 	}*/
 
 	public void run(){
-		connectToServer();
+		//connectToServer();
 
 		try{
 			udpSocket = new DatagramSocket();
-			udpSocket.setSendBufferSize(Integer.MAX_VALUE);
+			//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()){
+		/*if(!socket.isConnected()){
 			Logger.log_e(TAG, CLASS_NAME + ".run() :: Not connected to a server. Finishing thread.");
 			return;
 
-		}else{
+		}else{*/
 			while(!done){
 				//sendImage();
 				sendUdp();
@@ -204,7 +204,7 @@ public class VideoStreamingThread extends Thread{
 					sleep(50L);
 				}catch(InterruptedException ie){}
 			}
-		}
+		//}
 
 		Logger.log_d(TAG, CLASS_NAME + ".run() :: Thread finish reached.");
 	}
@@ -260,10 +260,10 @@ public class VideoStreamingThread extends Thread{
 		size = int2ByteArray(bufferSize);
 
 		try{
-			packet = new DatagramPacket(size, 4, InetAddress.getByName(serverIp), ProjectConstants.SERVER_TCP_PORT_2);
+			packet = new DatagramPacket(size, 4, InetAddress.getByName(serverIp), ProjectConstants.SERVER_TCP_PORT_1);
 			udpSocket.send(packet);
 
-			packet = new DatagramPacket(buffer, buffer.length, InetAddress.getByName(serverIp), ProjectConstants.SERVER_TCP_PORT_2);
+			packet = new DatagramPacket(buffer, buffer.length, InetAddress.getByName(serverIp), ProjectConstants.SERVER_TCP_PORT_1);
 			udpSocket.send(packet);
 
 		}catch(UnknownHostException uo){