Too big too handle

AutonomousMode/ControlModule/control_module.cpp

@@ -36,7 +36,7 @@ void ControlModule::adjustSpeed(){
 
     for(int i = 0; i < 4; i++)
     {
-        motors[i] *= maxSpeed;
+        motors[i] *= factor;
     }
 };
 
@@ -85,7 +85,7 @@ void ControlModule::calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, d
     std::unique_lock<std::mutex> lock(mtx);
     double rotationRatio = ratio(angle);
     rotate(rotationRatio);
-    drive(1.0-rotationRatio);
+    drive(1.0-std::fabs(rotationRatio));
     unit();
     adjustSpeed();
 }
@@ -102,13 +102,21 @@ double ControlModule::ratio(double angle)
     double maxAngularSpeed = 1.0;
     double speedRange = maxAngularSpeed - minAngularSpeed;
 
-    double minAngle = -90.0;
+    double minAngle = -20.0;
-    double maxAngle = 90.0;
+    double maxAngle = 20.0;
     double angularRange = maxAngle - minAngle;
 
+    if(angle < minAngle)
+    {
+        angle = minAngle;
+    }
+    if(angle > maxAngle)
+    {
+        angle = maxAngle;
+    }
     double progress = angle - minAngle;
     double progressPercent = progress/angularRange;
 
     double speed = minAngularSpeed + progressPercent*speedRange;
-    return abs(speed);
+    return speed;
 }

AutonomousMode/ControlModule/control_module.h

@@ -2,6 +2,7 @@
 #include <mutex>
 #include <vector>
 #include <iostream>
+#include <cmath>
 
 class ControlModule
 {

Communication/uart_communication.cpp

@@ -2,6 +2,7 @@
 
 
 LFR_UART::LFR_UART() : fileDescriptor(-1) {
+    this->last =std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
     this->openSerialPort();
     this->configureSerialPort();
 }
@@ -13,12 +14,13 @@ void LFR_UART::openFile(const char *fileName) {
     this->fileDescriptor = open(fileName, O_RDWR | O_NONBLOCK);
 }
 
-int LFR_UART::writeDataToFile(uint8_t *buff, uint32_t bufferLength) {
+int LFR_UART::writeDataToFile(int8_t *buff, uint32_t bufferLength) {
-    std::cout << "Sending uart telegram" << std::endl;
+    //std::cout << "Sending uart: " << std::bitset<8>(buff[0]) << std::endl;
+    std::cout << "Sending Uart: " << std::bitset<8>(buff[0]) << ", " << std::bitset<8>(buff[1]) << ", " << std::bitset<8>(buff[2]) << ", " << std::bitset<8>(buff[3]) << " csum:  "  << std::bitset<8>(buff[4]) << std::endl;
     return write(this->fileDescriptor, buff, bufferLength);
 }
 
-int LFR_UART::readFromFile(uint8_t *buff, uint32_t bufferLength) {
+int LFR_UART::readFromFile(int8_t *buff, uint32_t bufferLength) {
     return read(this->fileDescriptor, buff, bufferLength);
 }
 
@@ -26,37 +28,32 @@ int LFR_UART::closeFile() {
     return close(this->fileDescriptor);
 }
 
-uint8_t LFR_UART::doubleToByte(double in){
+int8_t LFR_UART::doubleToByte(double in){
     /*
-    * Map the range of -1.0 to 1.0 as double to the range of a byte.
+    * Map the range of -1.0 to 1.0 as double to the range of a byte. (int8 range)
-    * 
-    * -1 -> 0
-    * 0.0 -> 127
-    * 1.0 -> 254
-    * Not using the full range upto 254 to hit the 0.0
     */
     double minDouble = -1.0;
     double maxDouble = 1.0;
     double rangeDouble = maxDouble - minDouble;
 
-    double minByte = 0.0;
+    double minByte = -128.0;
-    double maxByte = 255.0;
+    double maxByte = 127.0;
     double rangeByte = maxByte - minByte;
 
     double progress = in - minDouble;
     double progressPercent = progress/rangeDouble;
 
     double inputInByteRange = minByte + progressPercent*rangeByte;
-    return uint8_t(inputInByteRange);
+    return int8_t(inputInByteRange);
 }
 
-double LFR_UART::byteToDouble(uint8_t in){
+double LFR_UART::byteToDouble(int8_t in){
     double minDouble = -1.0;
     double maxDouble = 1.0;
     double rangeDouble = maxDouble - minDouble;
 
-    double minByte = 0.0;
+    double minByte = -128.0;
-    double maxByte = 255.0;
+    double maxByte = 127.0;
     double rangeByte = maxByte - minByte;
 
     double progress = double(in) - minByte;
@@ -67,27 +64,43 @@ double LFR_UART::byteToDouble(uint8_t in){
 }
 
 void LFR_UART::sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4){
+    std::chrono::milliseconds now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
+    unsigned int deltaMs = static_cast<unsigned int>((now-last).count());
+    if (deltaMs < 50 && (std::fabs(wheel1)+std::fabs(wheel2)+std::fabs(wheel3)+std::fabs(wheel4)) > 0.0005)
+    {
+        std::cout << "Too fast" << std::endl;
+        return;
+    }
+    last = now;
+
     if(wheel1 > 1.0 || wheel2 > 1.0 || wheel3 > 1.0 || wheel4 > 1.0){
         throw CommunicatorException("Wheel value must not be greater than 1.0");
     }
     if(wheel1 < -1.0 || wheel2 < -1.0 || wheel3 < -1.0 || wheel4 < -1.0){
         throw CommunicatorException("Wheel value must not be smaller than -1.0");
     }
+    // Discrepancy between the numbering of the wheels in App/Pi and the µc
+    // Our - their
+    // 1 - 4
+    // 2 - 2
+    // 3 - 3
+    // 4 - 1
+    int8_t wheel1B = this->doubleToByte(wheel4);
+    //int8_t wheel1B = this->doubleToByte(wheel1);
+    int8_t wheel2B = this->doubleToByte(wheel2);
+    int8_t wheel3B = this->doubleToByte(wheel3);
+    int8_t wheel4B = this->doubleToByte(wheel1);
+    //int8_t wheel4B = this->doubleToByte(wheel4);
 
-    uint8_t wheel1B = this->doubleToByte(wheel1);
+    int8_t checksum = wheel1B^wheel2B^wheel3B^wheel4B;
-    uint8_t wheel2B = this->doubleToByte(wheel2);
-    uint8_t wheel3B = this->doubleToByte(wheel3);
-    uint8_t wheel4B = this->doubleToByte(wheel4);
 
-    uint8_t checksum = wheel1B^wheel2B^wheel3B^wheel4B;
+    int8_t telegram_buffer[5] = {wheel1B, wheel2B, wheel3B, wheel4B, checksum}; 
-
-    uint8_t telegram_buffer[5] = {wheel1B, wheel2B, wheel3B, wheel4B, checksum}; 
     uint32_t telegram_length = 5;
     this->writeDataToFile(telegram_buffer, telegram_length);
 }
 
 bool LFR_UART::readTelegram(double* buffer){
-    uint8_t tmp_buffer[5] = {0, 0, 0, 0, 0};
+    int8_t tmp_buffer[5] = {0, 0, 0, 0, 0};
     uint32_t telegram_length = 5;
     this->readFromFile(tmp_buffer, telegram_length);
 

Communication/uart_communication.h

@@ -11,12 +11,16 @@
 #include <iostream>
 #include <exception>
 #include <iostream>
+#include <chrono>
+#include <cmath>
 
 #include <bitset>
 
 
 class LFR_UART
 {
+public:
+	std::chrono::milliseconds last;
 	int fileDescriptor;
 	const char* serialPortPath = "/dev/ttyS0";
 	
@@ -29,13 +33,14 @@ class LFR_UART
 	void configureSerialPort();
 	void closeSerialPort();
 
-	int writeDataToFile(uint8_t *buff, uint32_t bufferLength);
+
-	int readFromFile(uint8_t *buff, uint32_t bufferLength);
+	int writeDataToFile(int8_t *buff, uint32_t bufferLength);
+	int readFromFile(int8_t *buff, uint32_t bufferLength);
 
 public:
 
-	uint8_t doubleToByte(double in);
+	int8_t doubleToByte(double in);
-	double byteToDouble(uint8_t in);
+	double byteToDouble(int8_t in);
 
 	void sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4);
 	bool readTelegram(double* buffer);

MobileApp/.idea/misc.xml

@@ -25,7 +25,7 @@
       </map>
     </option>
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="11" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="ProjectType">

MobileApp/app/src/main/java/com/example/lfrmobileapp/Communication.java

@@ -11,53 +11,41 @@ import java.util.Iterator;
 import java.util.Objects;
 
 public class Communication {
-    public boolean sendData(String data, String ip, int port) {
-        try {
-            Socket socket = new Socket(ip, port);
-            DataOutputStream DOS = new DataOutputStream(socket.getOutputStream());
-            DOS.writeUTF(data);
-            socket.close();
-        } catch (Exception e) {
-            e.printStackTrace();
-            return true; //ToDo: change to false to test connection - currently always true is delivered
-        }
-        return true;
-    }
-
     public String telegram(int[] wheels, int strenght){
-        String tel = "";
+        String tel = "aa";
-        tel += "0;"; //Manuel mode
+        tel += "0"; //Manuel mode
 
         for(int i = 0; i < wheels.length; i++){
             if(wheels[i] == 1){
-                tel += Float.toString(((float)strenght)/100) + ";";
+                tel += ";" + Float.toString(((float)strenght)/100)  ;
             }else if(wheels[i] == -1)
-                tel += Float.toString(((float)-strenght)/100) + ";";
+                tel += ";" + Float.toString(((float)-strenght)/100);
             else{
-                tel += "0.00;";
+                tel += ";0.00";
             }
         }
-        Log.v("TAG", tel + "\n");
+        tel += "zz";
         return tel;
     }
 
     public String telegram(boolean startStop, ArrayList<String> list){
-        String tel = "";
+        String tel = "aa";
-        tel += "1;"; //Autonomous mode
+        tel += "1"; //Autonomous mode
         if(startStop){
-            tel += "1;";
+            tel += ";1";
         }else{
-            tel += "0;";
+            return "aa0;0.0;0.0;0.0;0.0zz";
         }
 
         for (String i : list) {
             if(i.equals("Links")){
-                tel += "0;";
+                tel += ";0";
             }else if (i.equals("Rechts")){
-                tel += "1;";
+                tel += ";1";
             }
         }
-        Log.v("TAG", tel + "\n");
+        tel += "zz";
         return tel;
     }
+
 }

MobileApp/app/src/main/java/com/example/lfrmobileapp/DataTransferAsyncTask.java

@@ -0,0 +1,49 @@
+package com.example.lfrmobileapp;
+
+import android.os.AsyncTask;
+import android.util.Log;
+
+import java.io.DataOutputStream;
+import java.io.IOException;
+import java.io.OutputStream;
+import java.net.Socket;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.TimeUnit;
+
+public class DataTransferAsyncTask extends AsyncTask<Void, Void, Void> {
+    private static final double sendRatePerSecond = 4.0;
+    private boolean connected;
+    private final ExtendedSocket socket;
+    private BlockingQueue<String> blockingQueue;
+
+    public DataTransferAsyncTask(ExtendedSocket socket) {
+        this.socket = socket;
+        this.connected = true;
+        this.blockingQueue = new LinkedBlockingQueue<>();
+    }
+
+    public void writeTelegram(String telegram) {
+        // Schau mal hier bei Fehler
+        blockingQueue.offer(telegram);
+    }
+
+    @Override
+    protected Void doInBackground(Void... params) {
+        while(!isCancelled() && connected) {
+            try {
+                synchronized (socket) {
+                    String message = blockingQueue.poll((long) (1000.0/sendRatePerSecond), TimeUnit.MILLISECONDS);
+                    if(message != null){
+                        Log.v("TAG", message + "\n");
+                        socket.sendMessage(message);
+                    }
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+                connected = false;
+            }
+        }
+        return null;
+    }
+}

MobileApp/app/src/main/java/com/example/lfrmobileapp/ExtendedSocket.java

@@ -0,0 +1,25 @@
+package com.example.lfrmobileapp;
+
+import java.io.DataOutputStream;
+import java.io.IOException;
+import java.net.Socket;
+
+public class ExtendedSocket {
+    private final Socket socket;
+
+    public ExtendedSocket(Socket socket) {
+        this.socket = socket;
+    }
+
+    public void sendMessage(String message) throws IOException {
+        synchronized (socket){
+            DataOutputStream outputStream = new DataOutputStream(socket.getOutputStream());
+            outputStream.writeBytes(message);
+            outputStream.flush();
+        }
+    }
+
+    public void closeSocket() throws IOException {
+        this.socket.close();
+    }
+}

MobileApp/app/src/main/java/com/example/lfrmobileapp/MainActivity.java

@@ -3,6 +3,7 @@ package com.example.lfrmobileapp;
 import android.content.Context;
 import android.content.SharedPreferences;
 import android.os.Bundle;
+import android.widget.Toast;
 
 import com.google.android.material.bottomnavigation.BottomNavigationView;
 
@@ -14,11 +15,21 @@ import androidx.navigation.ui.NavigationUI;
 
 import com.example.lfrmobileapp.databinding.ActivityMainBinding;
 
-
+import java.io.DataOutputStream;
+import java.io.IOException;
+import java.net.InetSocketAddress;
+import java.net.Socket;
+import java.util.concurrent.ExecutionException;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.Future;
 
 public class MainActivity extends AppCompatActivity {
 
     private ActivityMainBinding binding;
+    private ExtendedSocket socket;
+    private DataTransferAsyncTask dataTransferAsyncTask;
+    public Boolean connected = false;
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -38,5 +49,43 @@ public class MainActivity extends AppCompatActivity {
         NavigationUI.setupWithNavController(binding.navView, navController);
     }
 
+    public boolean connectToWifi(String ipAddress, int port){
+        ExecutorService executor = Executors.newSingleThreadExecutor();
+        Future<Boolean> future = executor.submit(() -> {
+            Socket tempSocket = new Socket();
+            tempSocket.connect(new InetSocketAddress(ipAddress, port), 1000);
+            try {
+                socket = new ExtendedSocket(tempSocket);
+                socket.sendMessage("Verbindung aufbauen");
+            } catch (Exception e) {
+                socket.closeSocket();
+                return false;
+            }
+            return true;
+        });
+
+        try {
+            connected = future.get();
+        } catch (InterruptedException e) {
+            System.err.println("InterruptedException: " + e.getMessage());
+        } catch (ExecutionException e) {
+            System.err.println("ExecutionException: " + e.getCause().getMessage());
+        }
+
+        executor.shutdown();
+
+        if(connected){
+            dataTransferAsyncTask = new DataTransferAsyncTask(socket);
+            dataTransferAsyncTask.execute();
+            return true;
+        }else{
+            return false;
+        }
+    }
+
+    public void sendTelegram(String telegram)
+    {
+        this.dataTransferAsyncTask.writeTelegram(telegram);
+    }
+}
 
-}

MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/dashboard/DashboardFragment.java

@@ -18,6 +18,8 @@ import androidx.fragment.app.Fragment;
 import androidx.lifecycle.ViewModelProvider;
 
 import com.example.lfrmobileapp.Communication;
+import com.example.lfrmobileapp.DataTransferAsyncTask;
+import com.example.lfrmobileapp.MainActivity;
 import com.example.lfrmobileapp.R;
 import com.example.lfrmobileapp.databinding.FragmentAutomatikBinding;
 
@@ -27,20 +29,22 @@ import java.util.Arrays;
 
 import kotlin.collections.UArraySortingKt;
 
+// Autonomous Mode
 public class DashboardFragment extends Fragment {
-
-    String ipKey = "ipkey";
-    String portKey = "portkey";
-
-    String ipAddress = "192.168.0.1";
-    int port = 8000;
-
     Communication com = new Communication();
     private FragmentAutomatikBinding binding;
 
+    MainActivity mainActivity;
+
     //Keys for Shared Preferences
     String listKey = "listkey";
 
+    @Override
+    public void onAttach(Context context) {
+        super.onAttach(context);
+        mainActivity = (MainActivity) context;
+    }
+
     public View onCreateView(@NonNull LayoutInflater inflater,
                              ViewGroup container, Bundle savedInstanceState) {
         DashboardViewModel dashboardViewModel =
@@ -59,17 +63,16 @@ public class DashboardFragment extends Fragment {
         //Get Arraylist from Shared Preferences String
         ArrayList<String> autoList = stringToArraylist(sharedPref.getString(listKey, ""));
 
-        ipAddress = sharedPref.getString(ipKey, "");
-        port = sharedPref.getInt(portKey, -1);
-
         binding.startAutomatic.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
 
             @Override
             public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
-                if(isChecked){
+                if (mainActivity.connected){
-                    com.sendData(com.telegram(true, autoList), ipAddress, port);
+                    if(isChecked){
-                }else{
+                        mainActivity.sendTelegram(com.telegram(true, autoList));
-                    com.sendData(com.telegram(false, autoList), ipAddress, port);
+                    }else{
+                        mainActivity.sendTelegram(com.telegram(false, autoList));
+                    }
                 }
             }
         });

MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java

@@ -1,9 +1,12 @@
 package com.example.lfrmobileapp.ui.home;
 
+import android.annotation.SuppressLint;
 import android.content.Context;
 import android.content.SharedPreferences;
 import android.os.Bundle;
+import android.util.Log;
 import android.view.LayoutInflater;
+import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.Button;
@@ -15,6 +18,8 @@ import androidx.fragment.app.Fragment;
 import androidx.lifecycle.ViewModelProvider;
 
 import com.example.lfrmobileapp.Communication;
+import com.example.lfrmobileapp.DataTransferAsyncTask;
+import com.example.lfrmobileapp.MainActivity;
 import com.example.lfrmobileapp.R;
 import com.example.lfrmobileapp.databinding.FragmentManuellBinding;
 import com.example.lfrmobileapp.ui.notifications.NotificationsFragment;
@@ -31,10 +36,20 @@ public class HomeFragment extends Fragment {
     String ipAddress = "192.168.0.1";
     int port = 8000;
 
+    MainActivity mainActivity;
+
     Communication com = new Communication();
+    long lastOnMoveCall = System.currentTimeMillis();
+
 
     private FragmentManuellBinding binding;
 
+    @Override
+    public void onAttach(Context context) {
+        super.onAttach(context);
+        mainActivity = (MainActivity) context;
+    }
+
     public View onCreateView(@NonNull LayoutInflater inflater,
                              ViewGroup container, Bundle savedInstanceState) {
         HomeViewModel homeViewModel =
@@ -54,54 +69,90 @@ public class HomeFragment extends Fragment {
         final TextView textView = binding.textHome;
         homeViewModel.getText().observe(getViewLifecycleOwner(), textView::setText);
 
-        binding.rotateLeft.setOnClickListener(new View.OnClickListener(){
+
+
+        binding.rotateLeft.setOnTouchListener(new View.OnTouchListener(){
+            @SuppressLint("ClickableViewAccessibility")
             @Override
-            public void onClick(View v){
+                public boolean onTouch(View v, MotionEvent event) {
-                com.sendData(com.telegram(new int[]{-1, 1, -1, 1}, 100), ipAddress, port);
+                if (mainActivity.connected) {
-            };
+                    if (event.getAction() == MotionEvent.ACTION_UP) {
+                        binding.rotateLeft.performClick();
+                        mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
+                        return true;
+                    } else {
+                        mainActivity.sendTelegram(com.telegram(new int[]{-1, 1, -1, 1}, 50));
+                    }
+                }
+                return false;
+            }
         });
 
-        binding.rotateRight.setOnClickListener(new View.OnClickListener(){
+        binding.rotateRight.setOnTouchListener(new View.OnTouchListener(){
+            @SuppressLint("ClickableViewAccessibility")
             @Override
-            public void onClick(View v){
+            public boolean onTouch(View v, MotionEvent event) {
-                com.sendData(com.telegram(new int[]{1, -1, 1, -1}, 100), ipAddress, port);
+                if (mainActivity.connected){
-            };
+                    if(event.getAction() == MotionEvent.ACTION_UP){
+                        binding.rotateRight.performClick();
+                        mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
+                        return true;
+                    }else{
+                        mainActivity.sendTelegram(com.telegram(new int[]{1, -1, 1, -1}, 50));
+                    }
+                }
+                return false;
+            }
         });
 
+
         JoystickView joystick = (JoystickView) binding.joystick;
         joystick.setOnMoveListener(new JoystickView.OnMoveListener() {
             @Override
             public void onMove(int angle, int strength) {
+                boolean send = false;
+                if (System.currentTimeMillis() - lastOnMoveCall > 250){
+                    send = true;
+                    lastOnMoveCall = System.currentTimeMillis();
+                }
+                String telegram = "";
+
                 homeViewModel.setText(Integer.toString(angle), Integer.toString(strength));
                 //8 segments of the joystick
                 if((angle >= 338 || angle < 22) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.right);
-                    com.sendData(com.telegram(new int[]{1, -1, -1, 1}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{1, -1, -1, 1}, strength);
                 }else if((angle >= 22 && angle < 67) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.right_forward);
-                    com.sendData(com.telegram(new int[]{1, 0, 0, 1}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{1, 0, 0, 1}, strength);
                 }else if((angle >=67 && angle < 112) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.forward);
-                    com.sendData(com.telegram(new int[]{1, 1, 1, 1}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{1, 1, 1, 1}, strength);
                 }else if((angle >=112 && angle < 157) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.left_forward);
-                    com.sendData(com.telegram(new int[]{0, 1, 1, 0}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{0, 1, 1, 0}, strength);
                 }else if((angle >=157 && angle < 202) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.left);
-                    com.sendData(com.telegram(new int[]{-1, 1, 1, -1}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{-1, 1, 1, -1}, strength);
                 }else if((angle >=202 && angle < 247) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.left_back);
-                    com.sendData(com.telegram(new int[]{-1, 0, 0, -1}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{-1, 0, 0, -1}, strength);
                 }else if((angle >=247 && angle < 292) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.back);
-                    com.sendData(com.telegram(new int[]{-1, -1, -1, -1}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{-1, -1, -1, -1}, strength);
                 }else if((angle >=292 && angle < 337) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.right_back);
-                    com.sendData(com.telegram(new int[]{0, -1, -1, 0}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{0, -1, -1, 0}, strength);
                 }
                 else{
                     joystick.setBackgroundResource(R.mipmap.blank);
-                    com.sendData(com.telegram(new int[]{0, 0, 0, 0}, strength), ipAddress, port);
+                    telegram = com.telegram(new int[]{0, 0, 0, 0}, strength);
+                    send=true;
+                }
+                if (send && mainActivity.connected)
+                {
+                    mainActivity.sendTelegram(telegram);
+                    // Log.v("TAG", telegram + "\n");
                 }
             }
         });
@@ -112,6 +163,7 @@ public class HomeFragment extends Fragment {
     @Override
     public void onDestroyView() {
         super.onDestroyView();
+        // dataTransferAsyncTask.cancel(false);
         binding = null;
     }
 }

MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/notifications/NotificationsFragment.java

@@ -1,6 +1,5 @@
 package com.example.lfrmobileapp.ui.notifications;
 
-import android.app.Activity;
 import android.content.Context;
 import android.content.SharedPreferences;
 import android.os.Bundle;
@@ -8,7 +7,6 @@ import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.Button;
-import android.widget.TextView;
 import android.widget.Toast;
 
 import androidx.annotation.NonNull;
@@ -16,24 +14,65 @@ import androidx.fragment.app.Fragment;
 import androidx.lifecycle.ViewModelProvider;
 
 import com.example.lfrmobileapp.Communication;
-import com.example.lfrmobileapp.R;
+import com.example.lfrmobileapp.DataTransferAsyncTask;
+import com.example.lfrmobileapp.MainActivity;
 import com.example.lfrmobileapp.databinding.FragmentEinstellungenBinding;
 
+import java.io.DataOutputStream;
+import java.net.Socket;
+
+
+/*class NetworkThread extends Thread {
+    String ip;
+    int port;
+    boolean connected;
+
+    NetworkThread(String ip,  int port) {
+        this.ip = ip;
+        this.port = port;
+        this.connected = false;
+    }
+
+    public void run() {
+        try {
+            Socket socket = new Socket(ip, port);
+            DataOutputStream outputStream = new DataOutputStream(socket.getOutputStream());
+            outputStream.writeBytes("Verbindung aufbauen");
+            outputStream.flush();
+            socket.close();
+            connected = true;
+
+        } catch (Exception e) {
+            e.printStackTrace();
+            connected = false;
+        }
+    }
+}*/
 
 public class NotificationsFragment extends Fragment {
 
+    Boolean connected = false;
+    MainActivity mainActivity;
+
     String ipKey = "ipkey";
     String portKey = "portkey";
     String connectionFailed = "Verbindung fehlgeschlagen.";
     String connectionSuccessful = "Verbindung erfolgreich.";
 
-    String ipAddress = "192.168.0.1";
+    String ipAddress = "192.168.4.1";
-    int port = 8000;
+    int port = 8080;
 
     int duration = Toast.LENGTH_LONG;
+    DataTransferAsyncTask dataTransferAsyncTask;
 
     private FragmentEinstellungenBinding binding;
 
+    @Override
+    public void onAttach(Context context) {
+        super.onAttach(context);
+        mainActivity = (MainActivity) context;
+    }
+
     public View onCreateView(@NonNull LayoutInflater inflater,
                              ViewGroup container, Bundle savedInstanceState) {
         NotificationsViewModel notificationsViewModel =
@@ -56,13 +95,21 @@ public class NotificationsFragment extends Fragment {
             binding.port.setText("");
         }
 
+        // dataTransferAsyncTask = new DataTransferAsyncTask(ipAddress, port);
 
         final Button button = binding.connect;
         button.setOnClickListener(new View.OnClickListener() {
             public void onClick(View v) {
-                ipAddress = String.valueOf(binding.ipAdress.getText());
+                try {
-                port = Integer.parseInt(String.valueOf(binding.port.getText()));
+                    ipAddress = String.valueOf(binding.ipAdress.getText());
-                if(com.sendData("", ipAddress, port)){
+                    port = Integer.parseInt(String.valueOf(binding.port.getText()));
+                } catch (Exception e){
+                    System.err.println("Parse Exception: " + e.getMessage());
+                }
+
+                connected = mainActivity.connectToWifi(ipAddress, port);
+
+                if(connected){
                     editor.putString(ipKey, ipAddress);
                     editor.putInt(portKey, port);
                     editor.apply();
@@ -71,17 +118,18 @@ public class NotificationsFragment extends Fragment {
                 }else{
                     Toast toast = Toast.makeText(v.getContext(), connectionFailed, duration);
                     toast.show();
+                    // dataTransferAsyncTask.cancel(true);
                 }
             }
         });
 
-
         return root;
     }
 
     @Override
     public void onDestroyView() {
         super.onDestroyView();
+        // dataTransferAsyncTask.cancel(true);
         binding = null;
     }
 }

MobileApp/app/src/main/res/layout/fragment_automatik.xml

@@ -85,7 +85,7 @@
 
     <ListView
         android:id="@+id/automaticList"
-        android:layout_width="413dp"
+        android:layout_width="match_parent"
         android:layout_height="470dp"
         android:layout_marginTop="110dp"
         app:layout_constraintEnd_toEndOf="parent"

Socket/lfr_socket.cpp

@@ -2,6 +2,7 @@
 
 LFR_Socket::LFR_Socket(ExceptionCallback cb): cb(cb)
 {
+    bufferIterator = std::begin(buffer);
     if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
     {
         throw std::runtime_error("Failed opening the socket");
@@ -66,7 +67,7 @@ void LFR_Socket::createThread()
         bool connected = false;
         while(true)
         {
-            LFR_Socket::LFR_Telegram telegram;
+            LFR_Socket::LFR_Telegram telegram = {};
             bool received = false;
             if(!stop && !listeners.empty())
             {
@@ -91,32 +92,46 @@ void LFR_Socket::createThread()
                                 }
                                 else
                                 {
-                                    //std::cout << "accepted connection" << std::endl;
+                                    std::cout << "accepted connection" << std::endl;
                                     pollfds[1].fd = new_socket;
                                     connected  = true;
                                 }
                             }
                             else if (connected  && pollfds[0].revents & POLLIN)
                             {
-                                //std::cout << "second connection incoming" << std::endl;
+                                std::cout << "second connection incoming" << std::endl;
                                 int tmp_socket = accept(server_fd, (struct sockaddr *)&address, (socklen_t *)&addrlen);
                                 close(tmp_socket);
-                                //std::cout << "second connection closed" << std::endl;
+                                std::cout << "second connection closed" << std::endl;
                             }
                             else if (pollfds[1].revents & POLLIN)
                             {
-                                bytes_received = recv(new_socket, buffer, sizeof(buffer), 0);
+                                LFR_Telegram tmpBuffer = {0};
-                                if (bytes_received > 0)
+                                bytesReceived = recv(new_socket, tmpBuffer, sizeof(tmpBuffer), 0);
+                                if (bytesReceived > 0)
                                 {
-                                    received = true;
+                                    if(bufferIterator - std::begin(buffer) + bytesReceived > 1024)
-                                    std::copy(std::begin(buffer), std::end(buffer), std::begin(telegram));
+                                    {
-                                    //std::cout << "message received" << std::endl;
+                                        //Too long for buffer. Clear it.
+                                        std::fill(std::begin(buffer), std::end(buffer), 0);
+                                        bufferIterator = std::begin(buffer);
+                                    }
+                                    bufferIterator = std::copy_if(
+                                        std::begin(tmpBuffer),
+                                        std::begin(tmpBuffer)+bytesReceived, 
+                                        bufferIterator,
+                                        [](char c){
+                                            return(c != '\n' && c != '\r');
+                                        });
+
+                                    //std::cout << "bytes received: " << bytesReceived << std::endl;
+                                    //received = true;
                                 }
-                                else if(bytes_received == 0)
+                                else if(bytesReceived == 0)
                                 {
                                     connected = false;
                                     close(pollfds[1].fd);
-                                    //std::cout << "connection closed by peer" << std::endl;
+                                    std::cout << "connection closed by peer" << std::endl;
                                 }
                             }
                         }
@@ -131,6 +146,32 @@ void LFR_Socket::createThread()
                     }
                 }
 
+                // Search the buffer for the start of a telegram
+                char *telegramStart = NULL;
+                telegramStart = strstr(buffer, "aa");
+                if(telegramStart && telegramStart != std::begin(buffer)) {
+                    //Move the content of the buffer
+                    auto delta = bufferIterator - telegramStart;
+                    std::copy(telegramStart, std::end(buffer), std::begin(buffer));
+                    bufferIterator = std::begin(buffer) + delta;
+                }
+
+                // Search the buffer for the end of a telegram
+                char *telegramEnd = NULL;
+                telegramEnd = strstr(buffer, "zz");
+                if(telegramEnd && telegramStart && telegramEnd-telegramStart>2) {
+                    std::copy(telegramStart+2, telegramEnd, telegram);
+                    received = true;
+                    std::copy(telegramEnd+2, std::end(buffer), std::begin(buffer));
+                    bufferIterator = std::begin(buffer);
+                }
+                else if(telegramEnd && telegramStart && telegramEnd-telegramStart<=2)
+                {
+                    //Got an empty telegram
+                    std::copy(telegramEnd, std::end(buffer), std::begin(buffer));
+                    bufferIterator = std::begin(buffer);
+                }
+                
                 //Invoke the callback method (ListenerPair second -> ListenerCallback)
                 if (received)
                 {

Socket/lfr_socket.h

@@ -13,6 +13,7 @@
 #include <string>
 #include <algorithm>
 #include <exception>
+#include <cstring>
 
 class LFR_Socket
 {
@@ -31,11 +32,12 @@ private:
     std::unique_ptr<std::thread> thread;
     mutable std::mutex mutex;
 
-    int server_fd, new_socket, bytes_received;
+    int server_fd, new_socket, bytesReceived;
     struct sockaddr_in address;
     int opt = 1;
     int addrlen = sizeof(address);
     char buffer[1024] = {0};    
+    char* bufferIterator;
 
     
     //void provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi);

lfr_state_machine.cpp

@@ -25,25 +25,27 @@ void LFR_StateMachine::sanitize (string& s) const
 
 bool LFR_StateMachine::checkStringValidity (const std::vector<std::string>& s) const
 {
-    if(s.size() != 5)
-    {
-        return false;
-    }
-
     try
     {
-        for(int i = 0; i < 4; i ++)
+        int i = stoi(s[0]);
+        if(i == 0 && s.size() == 5)
         {
-            if(stod(s[i]) > 1.0 || stod(s[i]) < -1.0)
+            for(int i = 0; i < 4; i ++)
             {
-                return false;
+                if(stod(s[i]) > 1.0 || stod(s[i]) < -1.0)
+                {
+                    return false;
+                }
             }
         }
-        int i = stoi(s[4]);
+        else if(i == 1)
-        if(i != 0 && i != 1)
+        {
+            return true;
+        }
+        else
         {
             return false;
-        }
+        }       
     }
     catch(const std::exception& e) {return false;}
     return true;
@@ -55,16 +57,20 @@ void LFR_StateMachine::parseString(string s)
     std::vector<std::string> splitStr = split(s, ";");
     if(!checkStringValidity(splitStr))
     {
-        std::cout<<"Invalid String" << std::endl;
+        std::cout<<"Error: Invalid String: " << s << std::endl;
         return;
     }
-    double wheels[4] = {0.0, 0.0, 0.0, 0.0};
+    else
-    int mode = std::stoi(splitStr[4]);
-    for(int i = 0; i < 3; i++)
     {
-        wheels[i] = std::stod(splitStr[i]);
+        std::cout<< s << std::endl;
     }
+    double wheels[4] = {0.0, 0.0, 0.0, 0.0};
+    int mode = std::stoi(splitStr[0]);
     if(mode == 0) {
+        for(int i = 1; i <= 4; i++)
+        {
+            wheels[i-1] = std::stod(splitStr[i]);
+        }
         setState(State::Manual::getInstance());
         uartCommunicator.sendTelegram(wheels[0], wheels[1], wheels[2], wheels[3]);
     }
@@ -73,7 +79,7 @@ void LFR_StateMachine::parseString(string s)
 }
 
 LFR_StateMachine::LFR_StateMachine():    
-    autonomousMode(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, maxSpeed [&](std::exception const &ex)
+    autonomousMode(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, maxSpeed, [&](std::exception const &ex)
     {
         std::unique_lock<std::mutex> lock(mutex);
         std::cerr<<"camera exception:"<<ex.what()<<std::endl;
@@ -98,16 +104,26 @@ LFR_StateMachine::LFR_StateMachine():
     currentState = &State::Idle::getInstance();
     currentState->enter(this);
 
-    //Start the permanent loop
+    cv::VideoWriter writer = cv::VideoWriter("video_200.avi", cv::VideoWriter::fourcc('M','J','P','G'), 4.0, cv::Size(videoWidth, videoHeight), true);
-    char input;
+    
-    std::cout << "press q to quit" << std::endl;
+    auto t_start = std::chrono::high_resolution_clock::now();
-    std::cin >> input;
+    auto t_end = std::chrono::high_resolution_clock::now();
-    std::cout << "binned" << std::endl;
+    double dur = std::chrono::duration<double, std::milli>(t_end-t_start).count();
-    while (input != 'q')
+    
+    while(dur < 60000)
     {
-        std::cin >> input;
+        t_end = std::chrono::high_resolution_clock::now();
-        std::cout << "binned" << std::endl;
+        dur = std::chrono::duration<double, std::milli>(t_end-t_start).count();
+        {
+            this_thread::sleep_for(std::chrono::milliseconds(50));
+            std::unique_lock<std::mutex> lock(imgMutex);
+            if(!this->image.empty())
+            {
+                writer.write(this->image);
+            }
+        }
     }
+    writer.release();
     std::cout << "Exiting central" << std::endl;
 }
 
@@ -119,11 +135,6 @@ void LFR_StateMachine::setState(LFR_IState& newState)
         currentState = &newState;
         currentState->enter(this);
     }
-    else
-    {
-        std::cout << "no switch" << std::endl;
-    }
-
 }
 
 void LFR_StateMachine::enterAutonomous()
@@ -145,6 +156,10 @@ void LFR_StateMachine::enterAutonomous()
             double delta = static_cast<double>(deltaMs) / 1000.0;
             double frameRate = 1.0 / static_cast<double>(delta);*/
             double frameRate = -1.0;
+            {
+                std::unique_lock<std::mutex> lock(imgMutex);
+                image = result.rawImage;
+            }
 
             if (result.validLane)
             {

lfr_state_machine.h

@@ -16,7 +16,7 @@ class LFR_StateMachine
     const int videoHeight = 720;
     const int videoWidth = 1280;
     const int gaussKernelSize = 11;
-    const double maxSpeed = 0.5;
+    const double maxSpeed = 0.20;
 
     std::mutex mutex;
 
@@ -24,6 +24,9 @@ class LFR_StateMachine
     LFR_UART uartCommunicator;
     LFR_Socket socket;
 
+    std::mutex imgMutex;
+    Mat image;
+
     vector<string> split (string s, string delimiter) const;
     void sanitize (string& s) const;
     bool checkStringValidity (const std::vector<std::string>& s) const;
@@ -36,3 +39,5 @@ public:
     inline LFR_IState* getCurrentState() const {return currentState;}
     void setState(LFR_IState& newState);
 };
+
+