Merge branch 'develop'

.gitignore

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

LICENSE

@@ -0,0 +1,202 @@
+
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+
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README.md

@@ -0,0 +1,4 @@
+NxtAR-core
+==========
+
+Modulo 2 de mi trabajo especial de grado.

src/Main.gwt.xml

@@ -1,4 +1,19 @@
 <?xml version="1.0" encoding="UTF-8"?>
+<!--
+ * 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.
+-->
 <!DOCTYPE module PUBLIC "-//Google Inc.//DTD Google Web Toolkit trunk//EN" "http://google-web-toolkit.googlecode.com/svn/trunk/distro-source/core/src/gwt-module.dtd">
 <module>
 	<source path="ve/ucv/ciens/ccg/nxtar" />

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, RECENTER};
+
+	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

@@ -0,0 +1,32 @@
+/*
+ * 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.networkdata;
+
+import java.io.Serializable;
+
+public class MotorEventACK implements Serializable {
+	private static final long serialVersionUID = 9989L;
+
+	private boolean clientQueueIsFull;
+
+	public MotorEventACK(boolean isQueueFull){
+		this.clientQueueIsFull = isQueueFull;
+	}
+
+	public boolean isClientQueueFull(){
+		return this.clientQueueIsFull;
+	}
+}

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

@@ -0,0 +1,33 @@
+/*
+ * 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.networkdata;
+
+import java.io.Serializable;
+
+public final class VideoFrameDataMessage implements Serializable{
+	private static final long serialVersionUID = 9989L;
+	public static final int magicNumber = 0x10;
+
+	public int imageWidth;
+	public int imageHeight;
+	public byte[] data;
+
+	public VideoFrameDataMessage(){
+		imageWidth = -1;
+		imageHeight = -1;
+		data = null;
+	}
+}

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

@@ -0,0 +1,29 @@
+/*
+ * 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.networkdata;
+
+import java.io.Serializable;
+
+public final class VideoStreamingControlMessage implements Serializable{
+	private static final long serialVersionUID = 8898L;
+	public static final int magicNumber = 0x20;
+
+	public byte message;
+
+	public VideoStreamingControlMessage(){
+		message = -1;
+	}
+}

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

@@ -1,120 +1,482 @@
+/*
+ * 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;
 
-import ve.ucv.ciens.ccg.nxtar.interfaces.MulticastEnabler;
-import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
-import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ApplicationEventsListener;
+import ve.ucv.ciens.ccg.nxtar.interfaces.AndroidFunctionalityWrapper;
 import ve.ucv.ciens.ccg.nxtar.network.RobotControlThread;
+import ve.ucv.ciens.ccg.nxtar.network.SensorReportThread;
 import ve.ucv.ciens.ccg.nxtar.network.ServiceDiscoveryThread;
 import ve.ucv.ciens.ccg.nxtar.network.VideoStreamingThread;
+import ve.ucv.ciens.ccg.nxtar.states.BaseState;
+import ve.ucv.ciens.ccg.nxtar.states.CameraCalibrationState;
+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 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.GL20;
 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.Sprite;
+import com.badlogic.gdx.graphics.g2d.BitmapFont;
 import com.badlogic.gdx.graphics.g2d.SpriteBatch;
-import com.badlogic.gdx.graphics.g2d.TextureRegion;
+import com.badlogic.gdx.graphics.glutils.ShaderProgram;
 
-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>
+ */
+public class NxtARCore extends Game implements ApplicationEventsListener{
+	/**
+	 * Tag used for logging.
+	 */
 	private static final String TAG = "NXTAR_CORE_MAIN";
+
+	/**
+	 * Class name used for logging.
+	 */
 	private static final String CLASS_NAME = NxtARCore.class.getSimpleName();
 
-	private OrthographicCamera camera;
-	private SpriteBatch batch;
-	private Texture texture;
-	private Sprite sprite;
-	private Toaster toaster;
-	private MulticastEnabler mcastEnabler;
+	/**
+	 * Valid game states.
+	 */
+	public enum game_states_t {
+		MAIN_MENU(0), IN_GAME(1), PAUSED(2), CALIBRATION(3);
+
+		private int value;
+
+		private game_states_t(int value){
+			this.value = value;
+		}
+
+		public int getValue(){
+			return this.value;
+		}
+
+		public static int getNumStates(){
+			return 4;
+		}
+	};
+
+	/**
+	 * 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.
+	/**
+	 * <p>The application states.</p>
+	 */
+	private BaseState[] states;
+
+	// Assorted fields.
+	/**
+	 * <p>Global sprite batch used for rendering trough the application.</p>
+	 */
+	public SpriteBatch batch;
+
+	/**
+	 * <p>The OpenCV wrapper.</p>
+	 */
+	public ImageProcessor cvProc;
+
+	/**
+	 * <p>Wrapper around the Operating System methods.</p>
+	 */
+	private AndroidFunctionalityWrapper osFunction;
+
+	// Networking related fields.
+	/**
+	 * <p>The number of connections successfully established with the NxtAR-cam application.</p>
+	 */
 	private int connections;
 
-	private ServiceDiscoveryThread udpThread;
+	/**
+	 * <p>Worker thread used to broadcast this server over the network.</p>
+	 */
+	private ServiceDiscoveryThread serviceDiscoveryThread;
+
+	/**
+	 * <p>Worker thread used to receive video frames over UDP.<p>
+	 */
 	private VideoStreamingThread videoThread;
+
+	/**
+	 * <p>Worker thread used to send control commands to the NxtAR-cam application.
+	 */
 	private RobotControlThread robotThread;
 
+	/**
+	 * <p>Worker thread used to receive sensor data from the NxtAR-cam application.</p>
+	 */
+	private SensorReportThread sensorThread;
+
+	// Overlays.
+	/**
+	 * <p>Camera used to render the debugging overlay.</p>
+	 */
+	private OrthographicCamera pixelPerfectCamera;
+
+	/**
+	 * <p>The base x coordinate for rendering the debugging overlay.</p>
+	 */
+	private float overlayX;
+
+	/**
+	 * <p>The base y coordinate for rendering the debugging overlay.</p>
+	 */
+	private float overlayY;
+
+	/**
+	 * <p>The font used to render the debugging overlay.</p>
+	 */
+	private BitmapFont font;
+
+	// Fade in/out effect fields.
+	/**
+	 * <p>The graphic used to render the fading effect.</p>
+	 */
+	private Texture fadeTexture;
+
+	/**
+	 * <p>The interpolation value for the fading effect.</p>
+	 */
+	private MutableFloat alpha;
+
+	/**
+	 * <p>The fade out interpolator.</p>
+	 */
+	private Tween fadeOut;
+
+	/**
+	 * <p>The fade in interpolator.</p>
+	 */
+	private Tween fadeIn;
+
+	/**
+	 * <p>Flag used to indicate if a fading effect is active.</p>
+	 */
+	private boolean fading;
+
+	/**
+	 * <p>Set up the basic application fields.</p>
+	 */
 	public NxtARCore(Application concreteApp){
 		super();
+
 		connections = 0;
+
+		// Check if the concrete application implements all required interfaces.
 		try{
-			this.toaster = (Toaster)concreteApp;
-			this.mcastEnabler = (MulticastEnabler)concreteApp;
+			this.osFunction = (AndroidFunctionalityWrapper)concreteApp;
 		}catch(ClassCastException cc){
-			Gdx.app.debug(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement any of the required interfaces.");
-			System.exit(ProjectConstants.EXIT_FAILURE);
+			Gdx.app.debug(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement the Toaster interface. Toasting disabled.");
+			this.osFunction = null;
+		}
+
+		try{
+			this.cvProc = (ImageProcessor)concreteApp;
+		}catch(ClassCastException cc){
+			Gdx.app.error(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement the CVProcessor interface. Quitting.");
+			Gdx.app.exit();
 		}
 	}
 
-	@Override
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; GAME SUPERCLASS METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	/**
+	 * <p>Initialize the member fields and launch the networking threads. Also creates and
+	 * sets the application states.</p>
+	 */
 	public void create(){
-		float w = Gdx.graphics.getWidth();
-		float h = Gdx.graphics.getHeight();
+		// Create the state objects.
+		states = new BaseState[game_states_t.getNumStates()];
+		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);
+		states[game_states_t.CALIBRATION.getValue()] = new CameraCalibrationState(this);
 
-		Gdx.app.setLogLevel(Application.LOG_DEBUG);
+		// Register controller listeners.
+		for(BaseState state : states){
+			Controllers.addListener(state);
+		}
 
-		camera = new OrthographicCamera(1, h/w);
+		// Set up rendering fields and settings.
 		batch = new SpriteBatch();
+		batch.enableBlending();
+		batch.setBlendFunction(GL20.GL_SRC_ALPHA, GL20.GL_ONE_MINUS_SRC_ALPHA);
 
-		texture = new Texture(Gdx.files.internal("data/libgdx.png"));
-		texture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
+		pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
 
-		TextureRegion region = new TextureRegion(texture, 0, 0, 512, 275);
+		ShaderProgram.pedantic = false;
 
-		sprite = new Sprite(region);
-		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);
+		// Set up the overlay font.
+		if(ProjectConstants.DEBUG){
+			overlayX = -((Gdx.graphics.getWidth() * ProjectConstants.OVERSCAN) / 2) + 10;
+			overlayY = ((Gdx.graphics.getHeight() * ProjectConstants.OVERSCAN) / 2) - 10;
+
+			font = new BitmapFont();
+			font.setColor(1.0f, 1.0f, 0.0f, 1.0f);
+			if(!Ouya.runningOnOuya){
+				font.setScale(1.0f);
+			}else{
+				font.setScale(2.5f);
+			}
+		}
+
+		// Start networking.
+		osFunction.enableMulticast();
 
 		Gdx.app.debug(TAG, CLASS_NAME + ".create() :: Creating network threads");
-		mcastEnabler.enableMulticast();
-		udpThread = ServiceDiscoveryThread.getInstance();
-		videoThread = VideoStreamingThread.getInstance().setToaster(toaster);
-		robotThread = RobotControlThread.getInstance().setToaster(toaster);
+		serviceDiscoveryThread = ServiceDiscoveryThread.getInstance();
+		videoThread = VideoStreamingThread.getInstance();
+		robotThread = RobotControlThread.getInstance();
+		sensorThread = SensorReportThread.getInstance();
+
+		// Launch networking threads.
+		serviceDiscoveryThread.start();
 
-		udpThread.start();
 		videoThread.start();
+		videoThread.startStreaming();
+		videoThread.addNetworkConnectionListener(this);
+
+		robotThread.addNetworkConnectionListener(this);
 		robotThread.start();
+
+		sensorThread.addNetworkConnectionListener(this);
+		sensorThread.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 fading effect.
+		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()]);
+
+		// Set log level
+		if(ProjectConstants.DEBUG){
+			Gdx.app.setLogLevel(Application.LOG_DEBUG);
+		}else{
+			Gdx.app.setLogLevel(Application.LOG_NONE);
+		}
 	}
 
-	@Override
-	public void dispose() {
-		batch.dispose();
-		texture.dispose();
-	}
-
-	@Override
+	/**
+	 * <p>Update and render the currently enabled application state. This method
+	 * also handles state switching, rendering state transitions and global overlays.</p>
+	 */
 	public void render(){
-		Gdx.gl.glClearColor(1, 1, 1, 1);
-		Gdx.gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
+		super.render();
 
-		batch.setProjectionMatrix(camera.combined);
-		batch.begin();
-		sprite.draw(batch);
-		batch.end();
+		// If the current state set a value for nextState then switch to that state.
+		if(nextState != null){
+			states[currState.getValue()].onStateUnset();
+
+			if(!fadeOut.isStarted()){
+				// Start the fade out effect.
+				fadeOut.start();
+				fading = true;
+			}else{
+				// Update the fade out effect.
+				fadeOut.update(Gdx.graphics.getDeltaTime());
+
+				// When the fade out effect finishes, change to the requested state
+				// and launh the fade in effect.
+				if(fadeOut.isFinished()){
+					// Change to the requested state.
+					currState = nextState;
+					nextState = null;
+					states[currState.getValue()].onStateSet();
+					setScreen(states[currState.getValue()]);
+
+					// Reset the fade out effect and launch the fade in.
+					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 there is a fade in effect in progress.
+		if(fadeIn.isStarted()){
+			if(!fadeIn.isFinished()){
+				// Update it until finished.
+				fadeIn.update(Gdx.graphics.getDeltaTime());
+			}else{
+				// Stop and reset it when done.
+				fading = false;
+				fadeIn.free();
+				fadeIn = Tween.to(alpha, 0, 0.5f).target(0.0f).ease(TweenEquations.easeInQuint);
+			}
+		}
+
+		// Render the fading sprite with alpha blending.
+		if(fading){
+			batch.setProjectionMatrix(pixelPerfectCamera.combined);
+			batch.begin();{
+				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();
+		}
+
+		// Render the debug overlay.
+		if(ProjectConstants.DEBUG){
+			batch.setProjectionMatrix(pixelPerfectCamera.combined);
+			batch.begin();{
+				// Draw the FPS overlay.
+				font.draw(batch, String.format("Render FPS:        %d", Gdx.graphics.getFramesPerSecond()), overlayX, overlayY);
+				font.draw(batch, String.format("Total  stream FPS: %d", videoThread.getFps()), overlayX, overlayY - font.getCapHeight() - 5);
+				font.draw(batch, String.format("Lost   stream FPS: %d", videoThread.getLostFrames()), overlayX, overlayY - (2 * font.getCapHeight()) - 10);
+				font.draw(batch, String.format("Light sensor data: %d", sensorThread.getLightSensorReading()), overlayX, overlayY - (3 * font.getCapHeight()) - 15);
+			}batch.end();
+		}
 	}
 
-	@Override
-	public void resize(int width, int height){
-	}
-
-	@Override
+	/**
+	 * <p>Pause a currently running thread. Pausing an already paused thread is a
+	 * no op.</p>
+	 */
 	public void pause(){
+		if(videoThread != null)
+			videoThread.pause();
+		// TODO: Ignore pausing paused threads.
+		// TODO: Pause the other threads.
 	}
 
-	@Override
+	/**
+	 * <p>Resume a currently paused thread. Resuming an already resumed thread is a
+	 * no op.</p>
+	 */
 	public void resume(){
+		if(videoThread != null)
+			videoThread.play();
+		// TODO: Ignore resuming resumed threads.
+		// TODO: Resume the other threads.
 	}
 
+	/**
+	 * <p>Clear graphic resources</p> 
+	 */
+	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();
+		}
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; APPLICATION EVENTS LISTENER INTERFACE METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	// TODO: Disable start game button until camera has been sucessfully calibrated.
+	// TODO: Add calibration listener callback.
+
+	/**
+	 * <p>Callback used by the networking threads to notify sucessfull connections
+	 * to the application</p>
+	 * 
+	 * @param streamName The name of the thread notifying a connection.
+	 */
 	@Override
 	public synchronized void networkStreamConnected(String streamName){
-		if(streamName.compareTo(VideoStreamingThread.THREAD_NAME) == 0 || streamName.compareTo(RobotControlThread.THREAD_NAME) == 0)
-			connections += 1;
-		if(connections >= 2){
+		Gdx.app.log(TAG, CLASS_NAME + ".networkStreamConnected() :: Stream " + streamName + " connected.");
+		connections += 1;
+
+		if(connections >= 3){
 			Gdx.app.debug(TAG, CLASS_NAME + ".networkStreamConnected() :: Stopping service broadcast.");
-			udpThread.finish();
-			mcastEnabler.disableMulticast();
+			serviceDiscoveryThread.finish();
+			osFunction.disableMulticast();
+			osFunction.showShortToast("Client connected");
+			((MainMenuStateBase)states[game_states_t.MAIN_MENU.getValue()]).onClientConnected();
+		}
+	}
+
+	/*;;;;;;;;;;;;;;;;;;
+	  ; HELPER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;*/
+
+	/**
+	 * <p>Show a toast message on screen using the O.S. functionality
+	 * provider.</p>
+	 * @param msg The message to show.
+	 * @param longToast True for a lasting toast. False for a short toast.
+	 */
+	public void toast(String msg, boolean longToast){
+		if(osFunction != null){
+			if(longToast) osFunction.showLongToast(msg);
+			else osFunction.showShortToast(msg);
 		}
 	}
 }

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

@@ -0,0 +1,38 @@
+/*
+ * 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.components;
+
+import com.artemis.Component;
+import com.badlogic.gdx.math.Matrix3;
+import com.badlogic.gdx.math.Vector3;
+
+public class GeometryComponent extends Component {
+	public Vector3 position;
+	public Matrix3 rotation;
+	public Vector3 scaling;
+
+	public GeometryComponent(){
+		this.position = new Vector3();
+		this.rotation = new Matrix3();
+		this.scaling = new Vector3(1.0f, 1.0f, 1.0f);
+	}
+
+	public GeometryComponent(Vector3 position, Matrix3 rotation, Vector3 scaling){
+		this.position = new Vector3(position);
+		this.rotation = new Matrix3(rotation);
+		this.scaling = new Vector3(scaling);
+	}
+}

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

@@ -0,0 +1,28 @@
+/*
+ * 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.components;
+
+import com.artemis.Component;
+
+public class MarkerCodeComponent extends Component {
+	public int code;
+
+	public MarkerCodeComponent(int code) throws IllegalArgumentException{
+		if(code < 0 || code > 1024)
+			throw new IllegalArgumentException("Marker code must be between [0, 1024].");
+		this.code = code;
+	}
+}

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

@@ -0,0 +1,27 @@
+/*
+ * 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.components;
+
+import com.artemis.Component;
+import com.badlogic.gdx.graphics.Mesh;
+
+public class MeshComponent extends Component {
+	public Mesh model;
+	
+	public MeshComponent(Mesh model){
+		this.model = model;
+	}
+}

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

@@ -0,0 +1,31 @@
+/*
+ * 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.components;
+
+import ve.ucv.ciens.ccg.nxtar.graphics.shaders.CustomShaderBase;
+
+import com.artemis.Component;
+
+public class ShaderComponent extends Component {
+	public CustomShaderBase shader;
+
+	public ShaderComponent(CustomShaderBase shader) throws IllegalArgumentException{
+		if(shader == null)
+			throw new IllegalArgumentException("Shader cannot be null.");
+
+		this.shader = shader;
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/entities/BombGameEntityCreator.java

@@ -0,0 +1,32 @@
+/*
+ * 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.entities;
+
+public class BombGameEntityCreator extends EntityCreatorBase {
+	public BombGameEntityCreator(){
+		// TODO: Empty constructor.
+	}
+
+	@Override
+	public void createAllEntities() {
+		// TODO Auto-generated method stub
+	}
+
+	@Override
+	public void dispose() {
+		// TODO Auto-generated method stub
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/entities/EntityCreatorBase.java

@@ -0,0 +1,33 @@
+/*
+ * 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.entities;
+
+import com.artemis.World;
+
+public abstract class EntityCreatorBase {
+	protected World world;
+
+	public void setWorld(World world) throws IllegalArgumentException{
+		if(world == null)
+			throw new IllegalArgumentException("World cannot be null.");
+
+		this.world = world;
+	}
+
+	public abstract void createAllEntities();
+
+	public abstract void dispose();
+}

src/ve/ucv/ciens/ccg/nxtar/entities/MarkerTestEntityCreator.java

@@ -0,0 +1,93 @@
+/*
+ * 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.entities;
+
+import ve.ucv.ciens.ccg.nxtar.components.GeometryComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MarkerCodeComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MeshComponent;
+import ve.ucv.ciens.ccg.nxtar.components.ShaderComponent;
+import ve.ucv.ciens.ccg.nxtar.exceptions.ShaderFailedToLoadException;
+import ve.ucv.ciens.ccg.nxtar.graphics.shaders.CustomShaderBase;
+import ve.ucv.ciens.ccg.nxtar.graphics.shaders.SingleLightPhongShader;
+
+import com.artemis.Entity;
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.graphics.GL20;
+import com.badlogic.gdx.graphics.Mesh;
+import com.badlogic.gdx.graphics.VertexAttribute;
+import com.badlogic.gdx.graphics.VertexAttributes;
+import com.badlogic.gdx.graphics.VertexAttributes.Usage;
+import com.badlogic.gdx.graphics.g3d.utils.MeshBuilder;
+import com.badlogic.gdx.math.Matrix3;
+import com.badlogic.gdx.math.Vector3;
+
+public class MarkerTestEntityCreator extends EntityCreatorBase {
+	private static final String TAG = "MARKER_TEST_ENTITY_CREATOR";
+	private static final String CLASS_NAME = MarkerTestEntityCreator.class.getSimpleName();
+
+	private Mesh markerMesh;
+	private CustomShaderBase phongShader;
+
+	@Override
+	public void createAllEntities() {
+		MeshBuilder builder;
+		Matrix3 identity = new Matrix3().idt();
+		Entity marker;
+
+		// Create mesh.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Creating the meshes.");
+		builder = new MeshBuilder();
+		builder.begin(new VertexAttributes(new VertexAttribute(Usage.Position, 3, "a_position"), new VertexAttribute(Usage.Normal, 3, "a_normal"), new VertexAttribute(Usage.Color, 4, "a_color")), GL20.GL_TRIANGLES);{
+			builder.setColor(1.0f, 1.0f, 1.0f, 1.0f);
+			Vector3 v00 = new Vector3(-0.5f, -0.5f, 0.0f);
+			Vector3 v10 = new Vector3(-0.5f,  0.5f, 0.0f);
+			Vector3 v11 = new Vector3( 0.5f,  0.5f, 0.0f);
+			Vector3 v01 = new Vector3( 0.5f, -0.5f, 0.0f);
+			Vector3 n = new Vector3(0.0f, 1.0f, 0.0f);
+			builder.patch(v00, v10, v11, v01, n, 10, 10);
+		}markerMesh = builder.end();
+
+		// Load the phong shader.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Loading the phong shader.");
+		try{
+			phongShader = new SingleLightPhongShader().loadShader();
+		}catch(ShaderFailedToLoadException se){
+			Gdx.app.error(TAG, CLASS_NAME + ".InGameState(): " + se.getMessage());
+			Gdx.app.exit();
+		}
+
+		// Create the entities.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Creating the enitites.");
+		marker = world.createEntity();
+		marker.addComponent(new GeometryComponent(new Vector3(0.0f, 0.0f, 0.0f), identity, new Vector3(1.0f, 1.0f, 1.0f)));
+		marker.addComponent(new MeshComponent(markerMesh));
+		marker.addComponent(new ShaderComponent(phongShader));
+		marker.addComponent(new MarkerCodeComponent(213));
+
+		// Add the entities to the world.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Adding entities to the world.");
+		marker.addToWorld();
+	}
+
+	@Override
+	public void dispose() {
+		if(phongShader != null && phongShader.getShaderProgram() != null)
+			phongShader.getShaderProgram().dispose();
+
+		if(markerMesh != null)
+			markerMesh.dispose();
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/entities/TestGameEntityCreator.java

@@ -0,0 +1,134 @@
+/*
+ * 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.entities;
+
+import ve.ucv.ciens.ccg.nxtar.components.GeometryComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MeshComponent;
+import ve.ucv.ciens.ccg.nxtar.components.ShaderComponent;
+import ve.ucv.ciens.ccg.nxtar.exceptions.ShaderFailedToLoadException;
+import ve.ucv.ciens.ccg.nxtar.graphics.shaders.CustomShaderBase;
+import ve.ucv.ciens.ccg.nxtar.graphics.shaders.SingleLightPhongShader;
+
+import com.artemis.Entity;
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.graphics.GL20;
+import com.badlogic.gdx.graphics.Mesh;
+import com.badlogic.gdx.graphics.VertexAttribute;
+import com.badlogic.gdx.graphics.VertexAttributes;
+import com.badlogic.gdx.graphics.VertexAttributes.Usage;
+import com.badlogic.gdx.graphics.g3d.utils.MeshBuilder;
+import com.badlogic.gdx.math.Matrix3;
+import com.badlogic.gdx.math.Vector3;
+
+public class TestGameEntityCreator extends EntityCreatorBase {
+	private static final String TAG = "TEST_ENTITY_CREATOR";
+	private static final String CLASS_NAME = TestGameEntityCreator.class.getSimpleName();
+
+	private MeshBuilder builder;
+	private Mesh sphereMesh;
+	private Mesh cubeMesh;
+	private Mesh capsuleMesh;
+	private CustomShaderBase singleLightPhongShader;
+
+	@Override
+	public void createAllEntities() {
+		Matrix3 identity = new Matrix3();
+		Entity sphere;
+		Entity cube;
+		Entity capsule1;
+		Entity capsule2;
+
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Started.");
+
+		identity.idt();
+
+		// Create the sphere.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Creating the meshes.");
+		builder = new MeshBuilder();
+		builder.begin(new VertexAttributes(new VertexAttribute(Usage.Position, 3, "a_position"), new VertexAttribute(Usage.Normal, 3, "a_normal"), new VertexAttribute(Usage.Color, 4, "a_color")), GL20.GL_TRIANGLES);{
+			builder.setColor(1.0f, 1.0f, 1.0f, 1.0f);
+			builder.sphere(1.0f, 1.0f, 1.0f, 10, 10);
+		}sphereMesh = builder.end();
+
+		// Create the cube.
+		builder.begin(new VertexAttributes(new VertexAttribute(Usage.Position, 3, "a_position"), new VertexAttribute(Usage.Normal, 3, "a_normal"), new VertexAttribute(Usage.Color, 4, "a_color")), GL20.GL_TRIANGLES);{
+			builder.setColor(0.2f, 0.5f, 1.0f, 1.0f);
+			builder.box(0.5f, 0.5f, 0.5f);
+		}cubeMesh = builder.end();
+
+		// Create the capsule.
+		builder.begin(new VertexAttributes(new VertexAttribute(Usage.Position, 3, "a_position"), new VertexAttribute(Usage.Normal, 3, "a_normal"), new VertexAttribute(Usage.Color, 4, "a_color")), GL20.GL_TRIANGLES);{
+			builder.setColor(1.0f, 1.0f, 1.0f, 1.0f);
+			builder.capsule(0.25f, 0.5f, 10);
+		}capsuleMesh = builder.end();
+
+		// Load the phong shader.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Loading the phong shader.");
+		try{
+			singleLightPhongShader = new SingleLightPhongShader().loadShader();
+		}catch(ShaderFailedToLoadException se){
+			Gdx.app.error(TAG, CLASS_NAME + ".InGameState(): " + se.getMessage());
+			Gdx.app.exit();
+		}
+
+		// Create the entities.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Creating the enitites.");
+		sphere = world.createEntity();
+		sphere.addComponent(new GeometryComponent(new Vector3(0.5f, 0.5f, 0.0f), identity, new Vector3(1.0f, 1.0f, 1.0f)));
+		sphere.addComponent(new MeshComponent(sphereMesh));
+		sphere.addComponent(new ShaderComponent(singleLightPhongShader));
+
+		cube = world.createEntity();
+		cube.addComponent(new GeometryComponent(new Vector3(-0.5f, -0.5f, 0.0f), identity, new Vector3(1.0f, 1.0f, 1.0f)));
+		cube.addComponent(new MeshComponent(cubeMesh));
+		cube.addComponent(new ShaderComponent(singleLightPhongShader));
+
+		capsule1 = world.createEntity();
+		capsule1.addComponent(new GeometryComponent(new Vector3(-0.5f, 0.5f, 0.0f), identity, new Vector3(1.5f, 1.0f, 1.0f)));
+		capsule1.addComponent(new MeshComponent(capsuleMesh));
+		capsule1.addComponent(new ShaderComponent(singleLightPhongShader));
+
+		capsule2 = world.createEntity();
+		capsule2.addComponent(new GeometryComponent(new Vector3(0.5f, -0.5f, 0.0f), identity, new Vector3(1.0f, 1.5f, 1.0f)));
+		capsule2.addComponent(new MeshComponent(capsuleMesh));
+		capsule2.addComponent(new ShaderComponent(singleLightPhongShader));
+
+		// Add the entities to the world.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Adding entities to the world.");
+		sphere.addToWorld();
+		cube.addToWorld();
+		capsule1.addToWorld();
+		capsule2.addToWorld();
+
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Finished.");
+	}
+
+	@Override
+	public void dispose() {
+		if(singleLightPhongShader != null && singleLightPhongShader.getShaderProgram() != null)
+			singleLightPhongShader.getShaderProgram().dispose();
+
+		if(sphereMesh != null)
+			sphereMesh.dispose();
+
+		if(cubeMesh != null)
+			cubeMesh.dispose();
+
+		if(capsuleMesh != null)
+			capsuleMesh.dispose();
+	}
+
+}

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

@@ -0,0 +1,24 @@
+/*
+ * 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.exceptions;
+
+public class ImageTooBigException extends Exception{
+	private static final long serialVersionUID = 9989L;
+
+	public ImageTooBigException(String msg){
+		super(msg);
+	}
+}

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

@@ -0,0 +1,24 @@
+/*
+ * 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.exceptions;
+
+public class ShaderFailedToLoadException extends Exception {
+	private static final long serialVersionUID = 9989L;
+
+	public ShaderFailedToLoadException(String msg){
+		super(msg);
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/graphics/CustomPerspectiveCamera.java

@@ -0,0 +1,48 @@
+/*
+ * 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.graphics;
+
+import com.badlogic.gdx.graphics.PerspectiveCamera;
+import com.badlogic.gdx.math.Matrix4;
+import com.badlogic.gdx.math.Vector3;
+
+/**
+ * <p>Extension of the standard LibGDX perspective camera that allows setting an
+ * arbitrary projection matrix when updating.</p>
+ */
+public class CustomPerspectiveCamera extends PerspectiveCamera{
+	private final Vector3 tmp = new Vector3();
+
+	public CustomPerspectiveCamera(float fieldOfView, float viewportWidth, float viewportHeight){
+		this.fieldOfView = fieldOfView;
+		this.viewportWidth = viewportWidth;
+		this.viewportHeight = viewportHeight;
+		update();
+	}
+
+	public void update(Matrix4 customProjection, boolean updateFrustum){
+		projection.set(customProjection);
+		view.setToLookAt(position, tmp.set(position).add(direction), up);
+		combined.set(projection);
+		Matrix4.mul(combined.val, view.val);
+
+		if(updateFrustum){
+			invProjectionView.set(combined);
+			Matrix4.inv(invProjectionView.val);
+			frustum.update(invProjectionView);
+		}
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/graphics/LightSource.java

@@ -0,0 +1,162 @@
+/*
+ * 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.graphics;
+
+import com.badlogic.gdx.graphics.Color;
+import com.badlogic.gdx.math.Vector3;
+
+/**
+ * <p>A 3D light source.</p>
+ */
+public class LightSource{
+	private Vector3 position;
+	private Color ambientColor;
+	private Color diffuseColor;
+	private Color specularColor;
+	private float shinyness;
+
+	/**
+	 * <p>Creates a default white light source positioned at (0,0,0).</p>
+	 */
+	public LightSource(){
+		position = new Vector3(0.0f, 0.0f, 0.0f);
+		ambientColor = new Color(0.15f, 0.15f, 0.15f, 1.0f);
+		diffuseColor = new Color(1.0f, 1.0f, 1.0f, 1.0f);
+		specularColor = new Color(1.0f, 1.0f, 1.0f, 1.0f);
+		ambientColor = new Color(1.0f, 1.0f, 1.0f, 1.0f);
+		shinyness = 10.0f;
+	}
+
+	/**
+	 * <p>Creates a white light source at the specified position.</p>
+	 * 
+	 * @param position The location of the light source.
+	 */
+	public LightSource(Vector3 position){
+		this.position = new Vector3();
+
+		this.position.set(position);
+		ambientColor = new Color(0.15f, 0.15f, 0.15f, 1.0f);
+		diffuseColor = new Color(1.0f, 1.0f, 1.0f, 1.0f);
+		specularColor = new Color(1.0f, 1.0f, 1.0f, 1.0f);
+		ambientColor = new Color(1.0f, 1.0f, 1.0f, 1.0f);
+		shinyness = 10.0f;
+	}
+
+	/**
+	 * <p>Creates a custom light source.</p>
+	 *  
+	 * @param position The location of the light source.
+	 * @param ambientColor
+	 * @param diffuseColor
+	 * @param specularColor 
+	 * @param shinyness The shinyness component. Must be between (0.0, 128.0].
+	 * @throws IllegalArgumentException When shinyness is outside the valid range.
+	 */
+	public LightSource(Vector3 position, Color ambientColor, Color diffuseColor, Color specularColor, float shinyness) throws IllegalArgumentException {
+		if(shinyness <= 0.0 || shinyness > 128.0)
+			throw new IllegalArgumentException("Shinyness must be between (0.0, 128.0].");
+
+		this.position = new Vector3();
+		this.ambientColor = new Color();
+		this.diffuseColor = new Color();
+		this.ambientColor = new Color();
+		this.specularColor = new Color();
+
+		this.position.set(position);
+		this.ambientColor.set(ambientColor);
+		this.diffuseColor.set(diffuseColor);
+		this.specularColor.set(specularColor);
+		this.shinyness = shinyness;
+	}
+
+	public LightSource(LightSource light){
+		this.position = new Vector3();
+		this.ambientColor = new Color();
+		this.diffuseColor = new Color();
+		this.ambientColor = new Color();
+		this.specularColor = new Color();
+
+		set(light);
+	}
+
+	public void set(LightSource light){
+		this.position.set(light.getPosition());
+		this.ambientColor.set(light.getAmbientColor());
+		this.diffuseColor.set(light.getDiffuseColor());
+		this.specularColor.set(light.getSpecularColor());
+		this.shinyness = light.shinyness;
+	}
+
+	public void setPosition(float x, float y, float z){
+		position.set(x, y, z);
+	}
+
+	public void setPosition(Vector3 position){
+		this.position.set(position);
+	}
+
+	public void setAmbientColor(float r, float g, float b, float a){
+		ambientColor.set(r, g, b, a);
+	}
+
+	public void setAmbientColor(Color ambientColor){
+		this.ambientColor.set(ambientColor);
+	}
+
+	public void setDiffuseColor(float r, float g, float b, float a){
+		diffuseColor.set(r, g, b, a);
+	}
+
+	public void setdiffuseColor(Color diffuseColor){
+		this.diffuseColor.set(diffuseColor);
+	}
+
+	public void setSpecularColor(float r, float g, float b, float a){
+		specularColor.set(r, g, b, a);
+	}
+
+	public void setSpecularColor(Color specularColor){
+		this.specularColor.set(specularColor);
+	}
+
+	public void setShinyness(float shinyness) throws IllegalArgumentException {
+		if(shinyness <= 0.0 || shinyness > 128.0)
+			throw new IllegalArgumentException("Shinyness must be between (0.0, 128.0].");
+
+		this.shinyness = shinyness;
+	}
+
+	public Vector3 getPosition(){
+		return position;
+	}
+
+	public Color getAmbientColor(){
+		return ambientColor;
+	}
+
+	public Color getDiffuseColor(){
+		return diffuseColor;
+	}
+
+	public Color getSpecularColor(){
+		return specularColor;
+	}
+
+	public float getShinyness(){
+		return shinyness;
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/graphics/RenderParameters.java

@@ -0,0 +1,75 @@
+/*
+ * 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.graphics;
+
+import com.badlogic.gdx.math.Matrix4;
+import com.badlogic.gdx.math.Vector3;
+
+public abstract class RenderParameters {
+	private static Matrix4 modelViewProjection;
+	private static Matrix4 geometricTransformation;
+	private static Vector3 eyePosition;
+	private static LightSource lightSource1;
+	private static LightSource lightSource2;
+
+	static{
+		modelViewProjection = new Matrix4();
+		geometricTransformation = new Matrix4();
+		eyePosition = new Vector3(0.0f, 0.0f, 1.4142f);
+		lightSource1 = new LightSource();
+		lightSource2 = new LightSource();
+	}
+
+	public static synchronized void setModelViewProjectionMatrix(Matrix4 modelViewMatrix){
+		modelViewProjection.set(modelViewMatrix);
+	}
+
+	public static synchronized void setTransformationMatrix(Matrix4 transformationMatrix){
+		geometricTransformation.set(transformationMatrix);
+	}
+
+	public static synchronized void setEyePosition(Vector3 newEyePostition){
+		eyePosition.set(newEyePostition);
+	}
+
+	public static synchronized void setLightSource1(LightSource newLightSource1){
+		lightSource1.set(newLightSource1);
+	}
+
+	public static synchronized void setLightSource2(LightSource newLightSource2){
+		lightSource2.set(newLightSource2);
+	}
+
+	public static synchronized Matrix4 getModelViewProjectionMatrix(){
+		return modelViewProjection;
+	}
+
+	public static synchronized Matrix4 getTransformationMatrix(){
+		return geometricTransformation;
+	}
+
+	public static synchronized Vector3 getEyePosition(){
+		return eyePosition;
+	}
+
+	public static synchronized LightSource getLightSource1(){
+		return lightSource1;
+	}
+
+	public static synchronized LightSource getLightSource2(){
+		return lightSource2;
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/graphics/shaders/CustomShaderBase.java

@@ -0,0 +1,32 @@
+/*
+ * 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.graphics.shaders;
+
+import ve.ucv.ciens.ccg.nxtar.exceptions.ShaderFailedToLoadException;
+
+import com.badlogic.gdx.graphics.glutils.ShaderProgram;
+
+public abstract class CustomShaderBase{
+	protected ShaderProgram shaderProgram;
+
+	public abstract CustomShaderBase loadShader() throws ShaderFailedToLoadException;
+
+	public abstract void setUniforms();
+
+	public ShaderProgram getShaderProgram(){
+		return this.shaderProgram;
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/graphics/shaders/SingleLightPhongShader.java

@@ -0,0 +1,58 @@
+/*
+ * 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.graphics.shaders;
+
+import ve.ucv.ciens.ccg.nxtar.exceptions.ShaderFailedToLoadException;
+import ve.ucv.ciens.ccg.nxtar.graphics.LightSource;
+import ve.ucv.ciens.ccg.nxtar.graphics.RenderParameters;
+
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.graphics.glutils.ShaderProgram;
+
+public class SingleLightPhongShader extends CustomShaderBase{
+	private static String VERTEX_SHADER_PATH = "shaders/singleDiffuseLight/singleDiffuseLight_vert.glsl";
+	private static String FRAGMENT_SHADER_PATH = "shaders/singleDiffuseLight/singleDiffuseLight_frag.glsl";
+
+	@Override
+	public SingleLightPhongShader loadShader() throws ShaderFailedToLoadException{
+		shaderProgram = new ShaderProgram(Gdx.files.internal(VERTEX_SHADER_PATH), Gdx.files.internal(FRAGMENT_SHADER_PATH));
+
+		if(!shaderProgram.isCompiled()){
+			throw new ShaderFailedToLoadException("SingleLightPerPixelPhongShader failed to load.\n" + shaderProgram.getLog());
+		}
+
+		return this;
+	}
+
+	@Override
+	public void setUniforms(){
+		LightSource light = RenderParameters.getLightSource1();
+		float[] diffuseColor = {light.getDiffuseColor().r, light.getDiffuseColor().g, light.getDiffuseColor().b, light.getDiffuseColor().a};
+		float[] ambientColor = {light.getAmbientColor().r, light.getAmbientColor().g, light.getAmbientColor().b, light.getAmbientColor().a};
+		float[] specularColor = {light.getSpecularColor().r, light.getSpecularColor().g, light.getSpecularColor().b, light.getSpecularColor().a};
+		float[] position = {light.getPosition().x, light.getPosition().y, light.getPosition().z, 0.0f};
+		float[] shinyness = {light.getShinyness()};
+
+		shaderProgram.setUniformMatrix("u_projTrans", RenderParameters.getModelViewProjectionMatrix());
+		shaderProgram.setUniformMatrix("u_geomTrans", RenderParameters.getTransformationMatrix());
+		shaderProgram.setUniform4fv("u_lightPos", position, 0, 4);
+		shaderProgram.setUniform4fv("u_lightDiffuse", diffuseColor, 0, 4);
+		shaderProgram.setUniform4fv("u_specular", specularColor, 0, 4);
+		shaderProgram.setUniform4fv("u_ambient", ambientColor, 0, 4);
+		shaderProgram.setUniform1fv("u_shiny", shinyness, 0, 1);
+		shaderProgram.setUniformf("u_cameraPos", RenderParameters.getEyePosition());
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/interfaces/AndroidFunctionalityWrapper.java

@@ -0,0 +1,23 @@
+/*
+ * 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.interfaces;
+
+public interface AndroidFunctionalityWrapper{
+	public void showShortToast(String msg);
+	public void showLongToast(String msg);
+	public void enableMulticast();
+	public void disableMulticast();
+}

src/ve/ucv/ciens/ccg/nxtar/interfaces/ApplicationEventsListener.java

@@ -0,0 +1,20 @@
+/*
+ * 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.interfaces;
+
+public interface ApplicationEventsListener {
+	public void networkStreamConnected(String streamName);
+}

src/ve/ucv/ciens/ccg/nxtar/interfaces/ImageProcessor.java

@@ -0,0 +1,86 @@
+/*
+ * 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.interfaces;
+
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.math.Matrix3;
+import com.badlogic.gdx.math.Vector3;
+
+public interface ImageProcessor{
+	public class MarkerData{
+		public byte[] outFrame;
+		public int[] markerCodes;
+		public Vector3[] translationVectors;
+		public Matrix3[] rotationMatrices;
+	}
+
+	public class CalibrationData{
+		public byte[] outFrame;
+		public float[] calibrationPoints;
+	}
+
+	/**
+	 * <p>Finds up to {@link ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS} markers in the input
+	 * image and returns their codes and pose estimation in the CVMarkerData structure. The
+	 * markers are higlihted in the input image.</p>
+	 * 
+	 * @param frame The JPEG encoded input image.
+	 * @return A data structure containing the processed output image, the
+	 * detected marker codes and their respective locations.
+	 */
+	public MarkerData findMarkersInFrame(byte[] frame);
+
+	/**
+	 * <p>Attempts to detect a checkerboard calibration pattern in the input image.
+	 * If the pattenr is found the method returns an image with the pattern
+	 * highlighted and the spatial location of the calibration points in the 
+	 * output data structure.</p>
+	 * 
+	 * @param frame The JPEG encoded input image.
+	 * @return A data structure containing the processed output image and the
+	 * location of the calibration points. If the pattern was not found, the returnd
+	 * calibration points array is null.
+	 */
+	public CalibrationData findCalibrationPattern(byte[] frame);
+
+	/** 
+	 * <p>Obtains the intrinsic camera parameters necesary for calibration.</p>
+	 */
+	public void calibrateCamera(float[][] calibrationSamples, byte[] frame);
+
+	/**
+	 * <p>Removes camera lens distortion from the input image using the
+	 * camera parameters obtained by the calibrateCamera method.</p>
+	 * 
+	 * @return A JPEG encoded image that is the input image after distortion correction. If the
+	 * camera has not been calibrated or OpenCV failed to load returns null.
+	 */
+	public byte[] undistortFrame(byte[] frame);
+
+	/**
+	 * <p>Indicates if OpenCV has been sucessfully initialized and used
+	 * to obtain the camera parameters for calibration.</p>
+	 * 
+	 * @return True if and only if OpenCV initialized succesfully and calibrateCamera has been called previously.
+	 */
+	public boolean isCameraCalibrated();
+
+	public float getFocalPointX();
+	public float getFocalPointY();
+	public float getCameraCenterX();
+	public float getCameraCenterY();
+}

src/ve/ucv/ciens/ccg/nxtar/interfaces/MulticastEnabler.java

@@ -1,6 +0,0 @@
-package ve.ucv.ciens.ccg.nxtar.interfaces;
-
-public interface MulticastEnabler {
-	public void enableMulticast();
-	public void disableMulticast();
-}

src/ve/ucv/ciens/ccg/nxtar/interfaces/NetworkConnectionListener.java

@@ -1,5 +0,0 @@
-package ve.ucv.ciens.ccg.nxtar.interfaces;
-
-public interface NetworkConnectionListener {
-	public void networkStreamConnected(String streamName);
-}

src/ve/ucv/ciens/ccg/nxtar/interfaces/Toaster.java

@@ -1,6 +0,0 @@
-package ve.ucv.ciens.ccg.nxtar.interfaces;
-
-public interface Toaster {
-	public void showShortToast(String msg);
-	public void showLongToast(String msg);
-}

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

@@ -1,11 +1,31 @@
+/*
+ * 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;
 
 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.nxtar.interfaces.NetworkConnectionListener;
-import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.networkdata.MotorEvent;
+import ve.ucv.ciens.ccg.networkdata.MotorEventACK;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ApplicationEventsListener;
+import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
 
 import com.badlogic.gdx.Gdx;
@@ -15,18 +35,27 @@ public class RobotControlThread extends Thread {
 	private static final String TAG = "NXTAR_CORE_ROBOTTHREAD";
 	private static final String CLASS_NAME = RobotControlThread.class.getSimpleName();
 
-	private NetworkConnectionListener netListener;
+	private ApplicationEventsListener 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);
 		}
@@ -40,25 +69,110 @@ public class RobotControlThread extends Thread {
 		return SingletonHolder.INSTANCE;
 	}
 
-	public RobotControlThread setToaster(Toaster toaster){
-		this.toaster = toaster;
-		return this;
+	public void addNetworkConnectionListener(ApplicationEventsListener listener){
+		netListener = listener;
 	}
 
-	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)
-				netListener.networkStreamConnected(THREAD_NAME);
-			toaster.showShortToast("Client connected to RobotControlThread");
-			client.close();
+			client.setTcpNoDelay(true);
+			if(netListener != null) netListener.networkStreamConnected(THREAD_NAME);
+			os = new ObjectOutputStream(client.getOutputStream());
+			is = new ObjectInputStream(client.getInputStream());
+
 		}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

@@ -0,0 +1,126 @@
+/*
+ * 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;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.net.ServerSocket;
+import java.net.Socket;
+
+import ve.ucv.ciens.ccg.nxtar.interfaces.ApplicationEventsListener;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.Gdx;
+
+public class SensorReportThread extends Thread {
+	public static final String THREAD_NAME = "SensorReportThread";
+	private static final String TAG = "NXTAR_CORE_ROBOTTHREAD";
+	private static final String CLASS_NAME = SensorReportThread.class.getSimpleName();
+
+	private ApplicationEventsListener netListener;
+	private ServerSocket server;
+	private Socket client;
+	private Object pauseMonitor;
+	private boolean paused;
+	private boolean done;
+	private InputStream reader;
+	private Byte lightReading;
+
+	private SensorReportThread(){
+		paused = false;
+		done = false;
+		netListener = null;
+		pauseMonitor = null;
+		client = null;
+		lightReading = -1;
+
+		try{
+			server = new ServerSocket(ProjectConstants.SENSOR_REPORT_PORT);
+		}catch(IOException io){
+			Gdx.app.error(TAG, CLASS_NAME + ".RobotControlThread() :: Error creating server: " + io.getMessage(), io);
+			server = null;
+		}
+	}
+
+	private static class SingletonHolder{
+		public final static SensorReportThread INSTANCE = new SensorReportThread();
+	}
+
+	public static SensorReportThread getInstance(){
+		return SingletonHolder.INSTANCE;
+	}
+
+	public void addNetworkConnectionListener(ApplicationEventsListener listener){
+		netListener = listener;
+	}
+
+	public void pauseThread(){
+		synchronized(pauseMonitor){
+			paused = true;
+		}
+	}
+
+	public void resumeThread(){
+		synchronized(pauseMonitor){
+			paused = false;
+		}
+	}
+
+	public void finish(){
+		done = true;
+	}
+
+	public byte getLightSensorReading(){
+		byte data;
+
+		synchronized(lightReading){
+			data = lightReading.byteValue();
+		}
+
+		return data;
+	}
+
+	@Override
+	public void run(){
+		byte[] reading = new byte[1];
+
+		try{
+			client = server.accept();
+			client.setTcpNoDelay(true);
+			if(netListener != null) netListener.networkStreamConnected(THREAD_NAME);
+			reader = client.getInputStream();
+
+		}catch(IOException io){
+			Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
+			return;
+		}
+
+		while(!paused){
+			if(done) break;
+
+			try{
+				reader.read(reading);
+			}catch(IOException io){
+				Gdx.app.error(TAG, CLASS_NAME + ".run() :: IOException during sensor read: " + io.getMessage(), io);
+				break;
+			}
+
+			synchronized (lightReading) {
+				lightReading = reading[0];
+			}
+		}
+	}
+}

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

@@ -1,3 +1,18 @@
+/*
+ * 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;
 
 import java.io.IOException;
@@ -16,7 +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>
  * 
@@ -74,7 +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;
@@ -135,10 +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

@@ -1,31 +1,71 @@
+/*
+ * 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;
 
+import java.io.ByteArrayInputStream;
 import java.io.IOException;
-import java.net.ServerSocket;
+import java.io.ObjectInputStream;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
 import java.net.Socket;
 
-import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
-import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.networkdata.VideoFrameDataMessage;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ApplicationEventsListener;
+import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
 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 NetworkConnectionListener netListener;
-	private ServerSocket server;
+	private ApplicationEventsListener netListener;
+	private DatagramSocket socket;
+	private boolean protocolStarted;
+	private boolean done;
+	private boolean pause;
+	private boolean coreNotified;
+	private Object protocolPauseMonitor;
 	private Socket client;
-	private Toaster toaster;
+	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;
+		protocolStarted = false;
+		done = false;
+		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);
 		}
@@ -39,25 +79,182 @@ public class VideoStreamingThread extends Thread {
 		return SingletonHolder.INSTANCE;
 	}
 
-	public VideoStreamingThread setToaster(Toaster toaster){
-		this.toaster = toaster;
-		return this;
+	public void addNetworkConnectionListener(ApplicationEventsListener listener){
+		netListener = listener;
 	}
 
-	public void addNetworkConnectionListener(NetworkConnectionListener listener){
-		netListener = listener;
+	public void startStreaming(){
+		if(!protocolStarted){
+			Gdx.app.debug(TAG, CLASS_NAME + ".startStreaming() :: Requesting protocol start.");
+			synchronized(protocolPauseMonitor){
+				protocolStarted = true;
+				protocolPauseMonitor.notifyAll();
+			}
+		}
+	}
+
+	public void pauseStreaming(){
+		if(protocolStarted){
+			Gdx.app.debug(TAG, CLASS_NAME + ".pauseStreaming() :: Requesting protocol pause.");
+		}else
+			return;
+	}
+
+	public void resumeStreaming(){
+		if(protocolStarted){
+			Gdx.app.debug(TAG, CLASS_NAME + ".resumeStreaming() :: Requesting protocol resume.");
+			synchronized(protocolPauseMonitor){
+				protocolPauseMonitor.notifyAll();
+			}
+		}else
+			return;
+	}
+
+	public void finishStreaming(){
+		if(protocolStarted){
+			Gdx.app.debug(TAG, CLASS_NAME + ".finishStreaming() :: Requesting protocol end.");
+		}else
+			return;
+	}
+
+	public void finish(){
+		done = true;
+	}
+
+	private int byteArray2Int(byte[] array){
+		int number = 0;
+		for(int i = 0; i < 4; i++){
+			number |= (array[3-i] & 0xff) << (i << 3);
+		}
+		return number;
+	}
+
+	private void receiveUdp(){
+		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{
+				packet = new DatagramPacket(size, size.length);
+				socket.receive(packet);
+			}catch(IOException io){
+				Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: IOException receiving size " + io.getMessage());
+				lostFramesPerSecond += 1;
+				return;
+			}
+
+			//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Creating buffers.");
+			intSize = byteArray2Int(size);
+			data = new byte[intSize];
+
+			//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Reading message from socket.");
+			try{
+				packet = new DatagramPacket(data, data.length);
+				socket.receive(packet);
+			}catch(IOException io){
+				Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: IOException receiving data " + io.getMessage());
+				lostFramesPerSecond += 1;
+				return;
+			}
+
+			ByteArrayInputStream bais = new ByteArrayInputStream(data);
+
+			//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Saving message in monitor.");
+			try{
+				ObjectInputStream ois = new ObjectInputStream(bais);
+				tmpMessage = ois.readObject();
+
+				if(tmpMessage instanceof VideoFrameDataMessage){
+					//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received a data message.");
+					dataMessage = (VideoFrameDataMessage) tmpMessage;
+
+					//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);
+
+				}else{
+					Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received something unknown.");
+					lostFramesPerSecond += 1;
+				}
+			}catch(IOException io){
+				Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: IOException received deserializing message " + io.getMessage());
+				lostFramesPerSecond += 1;
+				return;
+			}catch(ClassNotFoundException cn){
+				Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: ClassNotFoundException received " + cn.getMessage());
+				lostFramesPerSecond += 1;
+				return;
+			}
+		}catch(Exception e){
+			Gdx.app.error(TAG, CLASS_NAME + ".receiveUdp() :: Exception received " + e.getMessage());
+			lostFramesPerSecond += 1;
+			return;
+		}
+	}
+
+	public int getFps(){
+		return fps;
+	}
+	
+	public int getLostFrames(){
+		return lostFrames;
 	}
 
 	@Override
 	public void run(){
-		try{
-			client = server.accept();
-			if(netListener != null)
+		int frames = 0;
+		lostFrames = 0;
+		then = System.currentTimeMillis();
+
+		while(!done){
+			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);
-			toaster.showShortToast("Client connected to VideoStreamingThread");
+			}
+			receiveUdp();
+			frames++;
+			now = System.currentTimeMillis();
+			delta = now - then;
+			if(delta >= 1000){
+				fps = frames;
+				frames = 0;
+				lostFrames = lostFramesPerSecond;
+				lostFramesPerSecond = 0;
+				then = now;
+				delta = 0;
+			}
+		}
+
+		try{
 			client.close();
 		}catch(IOException io){
-			Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
+			Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error closing client socket.", io);
+		}
+
+		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

@@ -0,0 +1,84 @@
+/*
+ * 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.monitors;
+
+import ve.ucv.ciens.ccg.nxtar.utils.Size;
+
+import com.badlogic.gdx.Gdx;
+
+public class VideoFrameMonitor{
+	private final String TAG = "VIDEO_FRAME_MONITOR";
+	private final String CLASS_NAME = VideoFrameMonitor.class.getSimpleName();
+
+	private byte[] frameA;
+	private byte[] frameB;
+	private Object frameMonitor;
+	private Size frameDimensions;
+
+	private VideoFrameMonitor(){
+		frameA = null;
+		frameB = null;
+		frameMonitor = new Object();
+		frameDimensions = new Size();
+	}
+
+	private static class SingletonHolder{
+		public static final VideoFrameMonitor INSTANCE = new VideoFrameMonitor();
+	}
+
+	public static VideoFrameMonitor getInstance(){
+		return SingletonHolder.INSTANCE;
+	}
+
+	public void setFrameDimensions(int width, int height){
+		try{
+			frameDimensions.setWidth(width);
+			frameDimensions.setHeight(height);
+		}catch(IllegalArgumentException ia){
+			Gdx.app.debug(TAG, CLASS_NAME + ".setFrameDimensions() :: Bad argument to Size: " + ia.getMessage());
+			frameDimensions.setWidth(0);
+			frameDimensions.setHeight(0);
+		}
+	}
+
+	public Size getFrameDimensions(){
+		return frameDimensions;
+	}
+
+	public void setNewFrame(byte[] frame){
+		byte[] temp;
+
+		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.");
+			frameA = frameB;
+			frameB = temp;
+			Gdx.app.debug(TAG, CLASS_NAME + ".setNewFrame() :: Swapping done.");
+		}
+	}
+
+	public byte[] getCurrentFrame(){
+		byte[] frame;
+
+		synchronized(frameMonitor){
+			//Gdx.app.debug(TAG, CLASS_NAME + ".getCurrentFrame() :: Fetching frameB.");
+			frame = frameB;
+		}
+		return frame;
+	}
+}

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

@@ -0,0 +1,165 @@
+/*
+ * 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.graphics.OrthographicCamera;
+import com.badlogic.gdx.math.Vector2;
+import com.badlogic.gdx.math.Vector3;
+
+public abstract class BaseState implements Screen, ControllerListener, InputProcessor{
+	protected NxtARCore core;
+	protected boolean stateActive;
+	protected OrthographicCamera pixelPerfectCamera;
+	protected Vector3 win2world;
+	protected Vector2 touchPointWorldCoords;
+
+	/*;;;;;;;;;;;;;;;;;
+	  ; STATE METHODS ;
+	  ;;;;;;;;;;;;;;;;;*/
+
+	public abstract void onStateSet();
+	public abstract void onStateUnset();
+
+	/*;;;;;;;;;;;;;;;;;;
+	  ; SCREEN METHODS ;
+	  ;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public abstract void render(float delta);
+
+	@Override
+	public abstract void dispose();
+
+	@Override
+	public void resize(int width, int height){ }
+
+	@Override
+	public void show(){ }
+
+	@Override
+	public void hide(){ }
+
+	@Override
+	public void pause(){ }
+
+	@Override
+	public void resume(){ }
+
+	/*;;;;;;;;;;;;;;;;;;
+	  ; HELPER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;*/
+
+	protected final void unprojectTouch(int screenX, int screenY){
+		win2world.set(screenX, screenY, 0.0f);
+		pixelPerfectCamera.unproject(win2world);
+		touchPointWorldCoords.set(win2world.x, win2world.y);
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; INPUT PROCESSOR METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean keyDown(int keycode){
+		return false;
+	};
+
+	@Override
+	public boolean keyUp(int keycode){
+		return false;
+	};
+
+	@Override
+	public boolean keyTyped(char character){
+		return false;
+	};
+
+	@Override
+	public boolean touchDown(int screenX, int screenY, int pointer, int button){
+		return false;
+	};
+
+	@Override
+	public boolean touchUp(int screenX, int screenY, int pointer, int button){
+		return false;
+	};
+
+	@Override
+	public boolean touchDragged(int screenX, int screenY, int pointer){
+		return false;
+	};
+
+	@Override
+	public boolean mouseMoved(int screenX, int screenY){
+		return false;
+	};
+
+	@Override
+	public boolean scrolled(int amount){
+		return false;
+	};
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; CONTROLLER LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@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/CameraCalibrationState.java

@@ -0,0 +1,414 @@
+/*
+ * 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 java.util.Arrays;
+
+import ve.ucv.ciens.ccg.nxtar.NxtARCore;
+import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.CalibrationData;
+import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+import ve.ucv.ciens.ccg.nxtar.utils.Size;
+
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.Input;
+import com.badlogic.gdx.controllers.Controller;
+import com.badlogic.gdx.controllers.mappings.Ouya;
+import com.badlogic.gdx.graphics.Color;
+import com.badlogic.gdx.graphics.GL20;
+import com.badlogic.gdx.graphics.OrthographicCamera;
+import com.badlogic.gdx.graphics.Pixmap;
+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.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 class CameraCalibrationState extends BaseState{
+	private static final String TAG = "CAMERA_CALIBRATION_STATE";
+	private static final String CLASS_NAME = CameraCalibrationState.class.getSimpleName();
+	private static final String SHADER_PATH = "shaders/bckg/bckg";
+
+	private NxtARCore core;
+
+	private float u_scaling[];
+	protected Sprite background;
+	private Texture backgroundTexture;
+	private ShaderProgram backgroundShader;
+
+	// Cameras.
+	private OrthographicCamera camera;
+
+	// Video stream graphics.
+	private Texture videoFrameTexture;
+	private Sprite renderableVideoFrame;
+	private Pixmap videoFrame;
+
+	// Gui components.
+	private TextButton takeSampleButton;
+	private Rectangle takeSampleButtonBBox;
+	private Texture buttonEnabledTexture;
+	private Texture buttonDisabledTexture;
+	private Texture buttonPressedTexture;
+	private NinePatch buttonEnabled9p;
+	private NinePatch buttonDisabled9p;
+	private NinePatch buttonPressed9p;
+	private BitmapFont font;
+
+	// Button touch helper fields.
+	private boolean takeSampleButtonTouched;
+	private int takeSampleButtonPointer;
+
+	// Monitors.
+	private VideoFrameMonitor frameMonitor;
+
+	private float[][] calibrationSamples;
+	private boolean takeSample;
+	private int lastSampleTaken;
+
+	public CameraCalibrationState(final NxtARCore core){
+		TextButtonStyle tbs;
+		FreeTypeFontGenerator generator;
+
+		this.core = core;
+		frameMonitor = VideoFrameMonitor.getInstance();
+
+		// Set up the cameras.
+		pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+		camera = new OrthographicCamera(1.0f, Gdx.graphics.getHeight() / Gdx.graphics.getWidth());
+
+		// 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);
+		background = new Sprite(backgroundTexture);
+		background.setSize(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+		background.setPosition(-(Gdx.graphics.getWidth() / 2), -(Gdx.graphics.getHeight() / 2));
+
+		// Load the background shader.
+		backgroundShader = new ShaderProgram(Gdx.files.internal(SHADER_PATH + "_vert.glsl"), Gdx.files.internal(SHADER_PATH + "_frag.glsl"));
+		if(!backgroundShader.isCompiled()){
+			Gdx.app.error(TAG, CLASS_NAME + ".CameraCalibrationState() :: Failed to compile the background shader.");
+			Gdx.app.error(TAG, CLASS_NAME + backgroundShader.getLog());
+			backgroundShader = null;
+		}
+
+		// Set up the background scaling.
+		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;
+
+		// Set up the sampling button.
+		// Create the font.
+		generator = new FreeTypeFontGenerator(Gdx.files.internal("data/fonts/d-puntillas-B-to-tiptoe.ttf"));
+		font = generator.generateFont(ProjectConstants.MENU_BUTTON_FONT_SIZE, ProjectConstants.FONT_CHARS, false);
+		generator.dispose();
+
+		// Load the textures.
+		buttonEnabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Yellow.png"));
+		buttonEnabled9p = new NinePatch(new TextureRegion(buttonEnabledTexture, 0, 0, buttonEnabledTexture.getWidth(), buttonEnabledTexture.getHeight()), 49, 49, 45, 45);
+		buttonDisabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Cyan.png"));
+		buttonDisabled9p = new NinePatch(new TextureRegion(buttonDisabledTexture, 0, 0, buttonDisabledTexture.getWidth(), buttonDisabledTexture.getHeight()), 49, 49, 45, 45);
+		buttonPressedTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Blue.png"));
+		buttonPressed9p = new NinePatch(new TextureRegion(buttonPressedTexture, 0, 0, buttonPressedTexture.getWidth(), buttonPressedTexture.getHeight()), 49, 49, 45, 45);
+
+		// Create the button style.
+		tbs = new TextButtonStyle();
+		tbs.font = font;
+		tbs.up = new NinePatchDrawable(buttonEnabled9p);
+		tbs.checked = new NinePatchDrawable(buttonPressed9p);
+		tbs.disabled = new NinePatchDrawable(buttonDisabled9p);
+		tbs.disabledFontColor = new Color(0, 0, 0, 1);
+
+		// Create the button itself.
+		takeSampleButton = new TextButton("Take calibration sample", tbs);
+		takeSampleButton.setText("Take calibration sample");
+		takeSampleButton.setDisabled(true);
+		takeSampleButtonBBox = new Rectangle(0, 0, takeSampleButton.getWidth(), takeSampleButton.getHeight());
+		takeSampleButton.setPosition(-(takeSampleButton.getWidth() / 2), -(Gdx.graphics.getHeight()/2) - 1 + (takeSampleButton.getHeight() / 2));
+		takeSampleButtonBBox.setPosition(takeSampleButton.getX(), takeSampleButton.getY());
+
+		// Set up the touch collision detection variables.
+		win2world = new Vector3(0.0f, 0.0f, 0.0f);
+		touchPointWorldCoords = new Vector2();
+		takeSampleButtonTouched = false;
+		takeSampleButtonPointer = -1;
+
+		// Initialize the calibration samples vector.
+		calibrationSamples = new float[ProjectConstants.CALIBRATION_SAMPLES][];
+		for(int i = 0; i < calibrationSamples.length; i++){
+			calibrationSamples[i] = new float[ProjectConstants.CALIBRATION_PATTERN_POINTS * 2];
+		}
+	}
+
+	@Override
+	public void onStateSet(){
+		Gdx.input.setInputProcessor(this);
+		Gdx.input.setCatchBackKey(true);
+		Gdx.input.setCatchMenuKey(true);
+
+		takeSample = false;
+		lastSampleTaken = 0;
+
+		for(int i = 0; i < calibrationSamples.length; i++){
+			for(int j = 0; j < calibrationSamples[i].length; j++){
+				calibrationSamples[i][j] = 0.0f;
+			}
+		}
+	}
+
+	@Override
+	public void onStateUnset(){ }
+
+	@Override
+	public void render(float delta){
+		String msg;
+		byte[] frame;
+		byte[] prevFrame = null;
+		Size dimensions = null;
+
+		// Clear the screen.
+		Gdx.gl.glClearColor(1, 1, 1, 1);
+		Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT);
+
+		// Render the background.
+		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();
+
+		// Fetch the current video frame.
+		frame = frameMonitor.getCurrentFrame();
+
+		// Apply the undistortion method if the camera has been calibrated already.
+		/*if(core.cvProc.isCameraCalibrated()){
+			frame = core.cvProc.undistortFrame(frame);
+		}*/
+
+		// Find the calibration points in the video frame.
+		CalibrationData data = core.cvProc.findCalibrationPattern(frame);
+
+		// Disable the sampling button if the calibration pattern was not found.
+		if(data.calibrationPoints != null && !core.cvProc.isCameraCalibrated()){
+			takeSampleButton.setDisabled(false);
+		}else{
+			takeSampleButton.setDisabled(true);
+		}
+
+		// If the user requested a sample be taken.
+		if(takeSample && !core.cvProc.isCameraCalibrated() && data.calibrationPoints != null){
+			// Disable sample taking.
+			takeSample = false;
+			Gdx.app.log(TAG, CLASS_NAME + ".render(): Sample taken.");
+
+			// Save the calibration points to the samples array.
+			for(int i = 0; i < data.calibrationPoints.length; i += 2){
+				Gdx.app.log(TAG, CLASS_NAME + ".render(): Value " + Integer.toString(i) + " = (" + Float.toString(data.calibrationPoints[i]) + ", " + Float.toString(data.calibrationPoints[i + 1]) + ")");
+				calibrationSamples[lastSampleTaken][i] = data.calibrationPoints[i];
+				calibrationSamples[lastSampleTaken][i + 1] = data.calibrationPoints[i + 1];
+			}
+
+			// Move to the next sample.
+			lastSampleTaken++;
+
+			msg = Integer.toString(lastSampleTaken) + " samples taken. ";
+			msg += Integer.toString(ProjectConstants.CALIBRATION_SAMPLES - lastSampleTaken) + " samples left.";
+			core.toast(msg, false);
+
+			// If enough samples has been taken then calibrate the camera.
+			if(lastSampleTaken == ProjectConstants.CALIBRATION_SAMPLES){
+				Gdx.app.log(TAG, CLASS_NAME + "render(): Last sample taken.");
+
+				core.cvProc.calibrateCamera(calibrationSamples, frame);
+				msg = "Camera successfully calibrated";
+				core.toast(msg, true);
+			}
+		}
+
+		if(frame != null && data != null && data.outFrame != null && !Arrays.equals(frame, prevFrame)){
+			// If the received frame is valid and is different from the previous frame.
+			// Make a texture from the frame.
+			dimensions = frameMonitor.getFrameDimensions();
+			videoFrame = new Pixmap(data.outFrame, 0, dimensions.getWidth() * dimensions.getHeight());
+			videoFrameTexture = new Texture(videoFrame);
+			videoFrameTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
+			videoFrame.dispose();
+
+			// Set up the frame texture as a rendereable sprite.
+			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);
+			}
+
+			// Render the frame.
+			if(!Ouya.runningOnOuya){
+				core.batch.setProjectionMatrix(camera.combined);
+			}else{
+				core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
+			}
+			core.batch.begin();{
+				renderableVideoFrame.draw(core.batch);
+			}core.batch.end();
+
+			// Clear texture memory.
+			videoFrameTexture.dispose();
+		}
+
+		// Render the user interface.
+		if(!Ouya.runningOnOuya){
+			core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
+			core.batch.begin();{
+				takeSampleButton.draw(core.batch, 1.0f);
+			}core.batch.end();
+		}else{
+			// TODO: Render OUYA gui.
+		}
+
+		// Save this frame as previous to avoid processing the same frame twice when network latency is high.
+		prevFrame = frame;
+	}
+
+	@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(){
+		if(videoFrameTexture != null)
+			videoFrameTexture.dispose();
+		backgroundTexture.dispose();
+		if(backgroundShader != null) backgroundShader.dispose();
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; INPUT LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean keyDown(int keycode){
+		if(keycode == Input.Keys.BACK){
+			core.nextState = game_states_t.MAIN_MENU;
+			return true;
+		}
+		return false;
+	}
+
+	@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(!takeSampleButton.isDisabled() && takeSampleButtonBBox.contains(touchPointWorldCoords) && !takeSampleButtonTouched){
+			takeSampleButton.setChecked(true);
+			takeSampleButtonTouched = true;
+			takeSampleButtonPointer = pointer;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Sample 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(!takeSampleButton.isDisabled() && takeSampleButtonBBox.contains(touchPointWorldCoords) && takeSampleButtonTouched){
+			takeSampleButton.setChecked(false);
+			takeSampleButtonTouched = false;
+			takeSampleButtonPointer = -1;
+			takeSample = true;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Sample button released.");
+		}
+
+		return true;
+	}
+
+	@Override
+	public boolean touchDragged(int screenX, int screenY, int pointer){
+		unprojectTouch(screenX, screenY);
+
+		if(!takeSampleButton.isDisabled() && takeSampleButtonTouched && pointer == takeSampleButtonPointer && !takeSampleButtonBBox.contains(touchPointWorldCoords)){
+			takeSampleButtonPointer = -1;
+			takeSampleButtonTouched = false;
+			takeSampleButton.setChecked(false);
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Sample button released.");
+		}
+
+		return true;
+	}
+
+	@Override
+	public boolean buttonDown(Controller controller, int buttonCode){
+		// TODO: Handle OUYA controls.
+
+		return false;
+	}
+
+	@Override
+	public boolean buttonUp(Controller controller, int buttonCode){
+		// TODO: Handle OUYA controls.
+
+		return false;
+	}
+
+	@Override
+	public boolean axisMoved(Controller controller, int axisCode, float value){
+		// TODO: Handle OUYA controls.
+
+		return false;
+	}
+}

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

@@ -0,0 +1,961 @@
+/*
+ * 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.networkdata.MotorEvent;
+import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
+import ve.ucv.ciens.ccg.nxtar.NxtARCore;
+import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t;
+import ve.ucv.ciens.ccg.nxtar.entities.EntityCreatorBase;
+import ve.ucv.ciens.ccg.nxtar.entities.MarkerTestEntityCreator;
+import ve.ucv.ciens.ccg.nxtar.graphics.CustomPerspectiveCamera;
+import ve.ucv.ciens.ccg.nxtar.graphics.RenderParameters;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.MarkerData;
+import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
+import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
+import ve.ucv.ciens.ccg.nxtar.systems.MarkerPositioningSystem;
+import ve.ucv.ciens.ccg.nxtar.systems.MarkerRenderingSystem;
+import ve.ucv.ciens.ccg.nxtar.systems.ObjectRenderingSystem;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.artemis.World;
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.Input;
+import com.badlogic.gdx.controllers.Controller;
+import com.badlogic.gdx.controllers.mappings.Ouya;
+import com.badlogic.gdx.graphics.GL20;
+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.Texture.TextureWrap;
+import com.badlogic.gdx.graphics.g2d.Sprite;
+import com.badlogic.gdx.graphics.g2d.TextureRegion;
+import com.badlogic.gdx.graphics.glutils.FrameBuffer;
+import com.badlogic.gdx.graphics.glutils.ShaderProgram;
+import com.badlogic.gdx.math.Matrix4;
+import com.badlogic.gdx.math.Vector2;
+import com.badlogic.gdx.math.Vector3;
+
+public class InGameState extends BaseState{
+	private static final String TAG                    = "IN_GAME_STATE";
+	private static final String CLASS_NAME             = InGameState.class.getSimpleName();
+	private static final String BACKGROUND_SHADER_PATH = "shaders/bckg/bckg";
+	private static final float  NEAR                   = 0.01f;
+	private static final float  FAR                    = 100.0f;
+	private static final float  FAR_PLUS_NEAR          = FAR + NEAR;
+	private static final float  FAR_LESS_NEAR          = FAR - NEAR;
+
+	// Background related fields.
+	private float                   uScaling[];
+	protected Sprite                background;
+	private Texture                 backgroundTexture;
+	private ShaderProgram           backgroundShader;
+
+	// 3D rendering fields.
+	private Matrix4                 projectionMatrix;
+	private FrameBuffer             frameBuffer;
+	private Sprite                  frameBufferSprite;
+
+	// Game objects.
+	private World                   gameWorld;
+	private EntityCreatorBase       entityCreator;
+
+	// Cameras.
+	private OrthographicCamera      unitaryOrthoCamera;
+	private OrthographicCamera      pixelPerfectOrthoCamera;
+	private CustomPerspectiveCamera perspectiveCamera;
+
+	// 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;
+	private Sprite                  headC;
+
+	// Button touch helper fields.
+	private boolean[]               motorButtonsTouched;
+	private int[]                   motorButtonsPointers;
+	private boolean[]               motorGamepadButtonPressed;
+
+	// 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.
+		pixelPerfectOrthoCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+		unitaryOrthoCamera = 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[7];
+		motorButtonsTouched[0] = false;
+		motorButtonsTouched[1] = false;
+		motorButtonsTouched[2] = false;
+		motorButtonsTouched[3] = false;
+		motorButtonsTouched[4] = false;
+		motorButtonsTouched[5] = false;
+		motorButtonsTouched[6] = false;
+
+		motorButtonsPointers = new int[7];
+		motorButtonsPointers[0] = -1;
+		motorButtonsPointers[1] = -1;
+		motorButtonsPointers[2] = -1;
+		motorButtonsPointers[3] = -1;
+		motorButtonsPointers[4] = -1;
+		motorButtonsPointers[5] = -1;
+		motorButtonsPointers[6] = -1;
+
+		motorGamepadButtonPressed = new boolean[7];
+		motorGamepadButtonPressed[0] = false;
+		motorGamepadButtonPressed[1] = false;
+		motorGamepadButtonPressed[2] = false;
+		motorGamepadButtonPressed[3] = false;
+		motorGamepadButtonPressed[4] = false;
+		motorGamepadButtonPressed[5] = false;
+		motorGamepadButtonPressed[6] = false;
+
+		// 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);
+		background = new Sprite(backgroundTexture);
+		background.setSize(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+		background.setPosition(-(Gdx.graphics.getWidth() / 2), -(Gdx.graphics.getHeight() / 2));
+
+		// Set up the shader.
+		backgroundShader = new ShaderProgram(Gdx.files.internal(BACKGROUND_SHADER_PATH + "_vert.glsl"), Gdx.files.internal(BACKGROUND_SHADER_PATH + "_frag.glsl"));
+		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;
+		}
+
+		uScaling = new float[2];
+		uScaling[0] = Gdx.graphics.getWidth() > Gdx.graphics.getHeight() ? 16.0f : 9.0f;
+		uScaling[1] = Gdx.graphics.getHeight() > Gdx.graphics.getWidth() ? 16.0f : 9.0f;
+
+		// Set up the 3D rendering.
+		projectionMatrix = new Matrix4().idt();
+		frameBuffer = null;
+		perspectiveCamera = null;
+		frameBufferSprite = null;
+
+		// Set up the game world.
+		gameWorld = new World();
+		entityCreator = new MarkerTestEntityCreator();
+		entityCreator.setWorld(gameWorld);
+		entityCreator.createAllEntities();
+		gameWorld.setSystem(new MarkerPositioningSystem());
+		gameWorld.setSystem(new MarkerRenderingSystem(), true);
+		gameWorld.setSystem(new ObjectRenderingSystem(), true);
+		gameWorld.initialize();
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;
+	  ; BASE STATE METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public void render(float delta){
+		int w, h;
+		byte[] frame;
+		MarkerData data;
+		TextureRegion region;
+		float focalPointX, focalPointY, cameraCenterX, cameraCenterY;
+
+		// Clear the screen.
+		Gdx.gl.glClearColor(1, 1, 1, 1);
+		Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT);
+
+		// Render the background.
+		core.batch.setProjectionMatrix(pixelPerfectOrthoCamera.combined);
+		core.batch.begin();{
+			if(backgroundShader != null){
+				core.batch.setShader(backgroundShader);
+				backgroundShader.setUniform2fv("u_scaling", uScaling, 0, 2);
+			}
+			background.draw(core.batch);
+			if(backgroundShader != null) core.batch.setShader(null);
+		}core.batch.end();
+
+		// Fetch the current video frame.
+		frame = frameMonitor.getCurrentFrame();
+		w = frameMonitor.getFrameDimensions().getWidth();
+		h = frameMonitor.getFrameDimensions().getHeight();
+
+		// Create the 3D perspective camera and the frame buffer object if they don't exist.
+		if(perspectiveCamera == null && frameBuffer == null){
+			frameBuffer = new FrameBuffer(Format.RGBA8888, w, h, true);
+			frameBuffer.getColorBufferTexture().setFilter(TextureFilter.Linear, TextureFilter.Linear);
+
+			perspectiveCamera = new CustomPerspectiveCamera(67, w, h);
+			perspectiveCamera.translate(0.0f, 0.0f, 0.0f);
+			perspectiveCamera.near = NEAR;
+			perspectiveCamera.far = FAR;
+			perspectiveCamera.lookAt(0.0f, 0.0f, -1.0f);
+			perspectiveCamera.update();
+		}
+
+		// Apply the undistortion method if the camera has been calibrated already.
+		/*if(core.cvProc.isCameraCalibrated()){
+			frame = core.cvProc.undistortFrame(frame);
+		}*/
+
+		// Attempt to find the markers in the current video frame.
+		data = core.cvProc.findMarkersInFrame(frame);
+
+		// If a valid frame was fetched.
+		if(data != null && data.outFrame != null){
+			// Update the game state.
+			gameWorld.setDelta(Gdx.graphics.getDeltaTime() * 1000);
+			gameWorld.getSystem(MarkerPositioningSystem.class).setMarkerData(data);
+			gameWorld.process();
+
+			// Decode the video frame.
+			videoFrame = new Pixmap(data.outFrame, 0, w * h);
+			videoFrameTexture = new Texture(videoFrame);
+			videoFrameTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
+			videoFrame.dispose();
+
+			// Convert the decoded frame into a renderable texture.
+			region = new TextureRegion(videoFrameTexture, 0, 0, w, h);
+			if(renderableVideoFrame == null)
+				renderableVideoFrame = new Sprite(region);
+			else
+				renderableVideoFrame.setRegion(region);
+			renderableVideoFrame.setOrigin(renderableVideoFrame.getWidth() / 2, renderableVideoFrame.getHeight() / 2);
+			renderableVideoFrame.setPosition(0, 0);
+
+			// Set the 3D frame buffer for rendering.
+			frameBuffer.begin();{
+				// Set OpenGL state.
+				Gdx.gl.glDisable(GL20.GL_CULL_FACE);
+				Gdx.gl.glEnable(GL20.GL_DEPTH_TEST);
+				Gdx.gl.glClearColor(0, 0, 0, 0);
+				Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT | GL20.GL_DEPTH_BUFFER_BIT);
+
+				// Build the projection matrix.
+				focalPointX   = core.cvProc.getFocalPointX();
+				focalPointY   = core.cvProc.getFocalPointY();
+				cameraCenterX = core.cvProc.getCameraCenterX();
+				cameraCenterY = core.cvProc.getCameraCenterY();
+
+				projectionMatrix.val[Matrix4.M00] = -2.0f * focalPointX / w;
+				projectionMatrix.val[Matrix4.M10] = 0.0f;
+				projectionMatrix.val[Matrix4.M20] = 0.0f;
+				projectionMatrix.val[Matrix4.M30] = 0.0f;
+
+				projectionMatrix.val[Matrix4.M01] = 0.0f;
+				projectionMatrix.val[Matrix4.M11] = 2.0f * focalPointY / h;
+				projectionMatrix.val[Matrix4.M21] = 0.0f;
+				projectionMatrix.val[Matrix4.M31] = 0.0f;
+
+				projectionMatrix.val[Matrix4.M02] = 2.0f * cameraCenterX / w - 1.0f;
+				projectionMatrix.val[Matrix4.M12] = 2.0f * cameraCenterY / h - 1.0f;
+				projectionMatrix.val[Matrix4.M22] = -FAR_PLUS_NEAR / FAR_LESS_NEAR;
+				projectionMatrix.val[Matrix4.M32] = -1.0f;
+
+				projectionMatrix.val[Matrix4.M03] = 0.0f;
+				projectionMatrix.val[Matrix4.M13] = 0.0f;
+				projectionMatrix.val[Matrix4.M23] = -2.0f * FAR * NEAR / FAR_LESS_NEAR;
+				projectionMatrix.val[Matrix4.M33] = 0.0f;
+
+				// Set rendering parameters.
+				perspectiveCamera.update(projectionMatrix, true);
+				RenderParameters.setModelViewProjectionMatrix(perspectiveCamera.combined);
+				RenderParameters.setEyePosition(perspectiveCamera.position);
+
+				// Call rendering systems.
+				gameWorld.getSystem(MarkerRenderingSystem.class).setMarkerData(data);
+				gameWorld.getSystem(MarkerRenderingSystem.class).process();
+				gameWorld.getSystem(ObjectRenderingSystem.class).process();
+
+				Gdx.gl.glDisable(GL20.GL_DEPTH_TEST);
+			}frameBuffer.end();
+
+			// Set the frame buffer object texture to a renderable sprite.
+			region = new TextureRegion(frameBuffer.getColorBufferTexture(), 0, 0, frameBuffer.getWidth(), frameBuffer.getHeight());
+			region.flip(false, true);
+			if(frameBufferSprite == null)
+				frameBufferSprite = new Sprite(region);
+			else
+				frameBufferSprite.setRegion(region);
+			frameBufferSprite.setOrigin(frameBufferSprite.getWidth() / 2, frameBufferSprite.getHeight() / 2);
+			frameBufferSprite.setPosition(0, 0);
+
+			// Set the position and orientation of the renderable video frame and the frame buffer.
+			if(!Ouya.runningOnOuya){
+				renderableVideoFrame.setSize(1.0f, renderableVideoFrame.getHeight() / renderableVideoFrame.getWidth() );
+				renderableVideoFrame.rotate90(true);
+				renderableVideoFrame.translate(-renderableVideoFrame.getWidth() / 2, 0.5f - renderableVideoFrame.getHeight());
+
+				frameBufferSprite.setSize(1.0f, frameBufferSprite.getHeight() / frameBufferSprite.getWidth() );
+				frameBufferSprite.rotate90(true);
+				frameBufferSprite.translate(-frameBufferSprite.getWidth() / 2, 0.5f - frameBufferSprite.getHeight());
+			}else{
+				float xSize = Gdx.graphics.getHeight() * (w / h);
+				renderableVideoFrame.setSize(xSize * ProjectConstants.OVERSCAN, Gdx.graphics.getHeight() * ProjectConstants.OVERSCAN);
+				renderableVideoFrame.rotate90(true);
+				renderableVideoFrame.translate(-renderableVideoFrame.getWidth() / 2, -renderableVideoFrame.getHeight() / 2);
+
+				frameBufferSprite.setSize(xSize * ProjectConstants.OVERSCAN, Gdx.graphics.getHeight() * ProjectConstants.OVERSCAN);
+				frameBufferSprite.rotate90(true);
+				frameBufferSprite.translate(-frameBufferSprite.getWidth() / 2, -frameBufferSprite.getHeight() / 2);
+			}
+
+			// Set the correct camera for the device.
+			if(!Ouya.runningOnOuya){
+				core.batch.setProjectionMatrix(unitaryOrthoCamera.combined);
+			}else{
+				core.batch.setProjectionMatrix(pixelPerfectOrthoCamera.combined);
+			}
+
+			// Render the video frame and the frame buffer.
+			core.batch.begin();{
+				renderableVideoFrame.draw(core.batch);
+				frameBufferSprite.draw(core.batch);
+			}core.batch.end();
+
+			// Clear the video frame from memory.
+			videoFrameTexture.dispose();
+		}
+
+		// Render the interface buttons.
+		if(!Ouya.runningOnOuya){
+			core.batch.setProjectionMatrix(pixelPerfectOrthoCamera.combined);
+			core.batch.begin();{
+				motorA.draw(core.batch);
+				motorB.draw(core.batch);
+				motorC.draw(core.batch);
+				motorD.draw(core.batch);
+				headA.draw(core.batch);
+				headB.draw(core.batch);
+				headC.draw(core.batch);
+			}core.batch.end();
+		}
+
+		data = null;
+	}
+
+	@Override
+	public void dispose(){
+		if(entityCreator != null)
+			entityCreator.dispose();
+
+		if(videoFrameTexture != null)
+			videoFrameTexture.dispose();
+
+		if(buttonTexture != null)
+			buttonTexture.dispose();
+
+		if(buttonTexture2 != null)
+			buttonTexture2.dispose();
+
+		backgroundTexture.dispose();
+
+		if(backgroundShader != null)
+			backgroundShader.dispose();
+
+		if(frameBuffer != null)
+			frameBuffer.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));
+
+		headC = new Sprite(buttonTexture2);
+		headC.setSize(headC.getWidth() * 0.3f, headC.getHeight() * 0.6f);
+		headC.setPosition(-(headC.getWidth() / 2), headA.getY() - headA.getHeight() - 10);
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; 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);
+			unitaryOrthoCamera.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_A);
+				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_A);
+				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_C);
+				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_C);
+				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);
+
+			}else if(headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Head C button pressed");
+
+				if(!motorButtonsTouched[4] && !motorButtonsTouched[5]){
+					motorButtonsTouched[6] = true;
+					motorButtonsPointers[6] = pointer;
+
+					event = new MotorEvent();
+					event.setMotor(motor_t.RECENTER);
+					event.setPower((byte)0x00);
+					queue.addEvent(event);
+				}
+			}else{
+				// TODO: Send input to the input handler system.
+			}
+
+			return true;
+		}
+
+		return false;
+	}
+
+	@Override
+	public boolean touchUp(int screenX, int screenY, int pointer, int button){
+		MotorEvent event;
+
+		if(!Ouya.runningOnOuya){
+			win2world.set(screenX, screenY, 0.0f);
+			unitaryOrthoCamera.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_A);
+					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_A);
+					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_C);
+					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_C);
+					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);
+				}
+
+			}else if(headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head C button released");
+
+				motorButtonsPointers[6] = -1;
+				motorButtonsTouched[6] = false;
+			}else{
+				// TODO: Pass input to the input handler system.
+			}
+
+			return true;
+		}
+
+		return false;
+	}
+
+	@Override
+	public boolean touchDragged(int screenX, int screenY, int pointer){
+		MotorEvent event;
+
+		if(!Ouya.runningOnOuya){
+			win2world.set(screenX, screenY, 0.0f);
+			unitaryOrthoCamera.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_A);
+					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_A);
+					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_C);
+					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_C);
+					event.setPower((byte) 0);
+					queue.addEvent(event);
+				}
+
+			}else if(pointer == motorButtonsPointers[4] && !headA.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: 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 + ".touchDragged() :: 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);
+				}
+
+			}else if(pointer == motorButtonsPointers[6] && !headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Head C button released");
+
+				motorButtonsPointers[6] = -1;
+				motorButtonsTouched[6] = false;
+			}else{
+				// TODO: Pass input to the input handler system.
+			}
+
+			return true;
+		}
+
+		return false;
+	}
+
+	@Override
+	public boolean keyDown(int keycode){
+		if(keycode == Input.Keys.BACK){
+			core.nextState = game_states_t.MAIN_MENU;
+			return true;
+		}
+
+		return false;
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; CONTROLLER LISTENER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
+
+	@Override
+	public boolean buttonDown(Controller controller, int buttonCode){
+		MotorEvent event;
+
+		if(stateActive){
+			Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode));
+
+			if(buttonCode == Ouya.BUTTON_L1){
+				motorGamepadButtonPressed[0] = true;
+
+				if(!motorGamepadButtonPressed[4]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_A);
+					event.setPower((byte)-100);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_R1){
+				motorGamepadButtonPressed[1] = true;
+
+				if(!motorGamepadButtonPressed[5]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_C);
+					event.setPower((byte)-100);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_DPAD_LEFT){
+				motorGamepadButtonPressed[2] = false;
+
+				if(!motorGamepadButtonPressed[3]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)-40);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_DPAD_RIGHT){
+				motorGamepadButtonPressed[3] = false;
+
+				if(!motorGamepadButtonPressed[2]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)40);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode ==  Ouya.BUTTON_L2){
+				motorGamepadButtonPressed[4] = false;
+
+				if(!motorGamepadButtonPressed[0]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_A);
+					event.setPower((byte)100);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode ==  Ouya.BUTTON_R2){
+				motorGamepadButtonPressed[5] = false;
+
+				if(!motorGamepadButtonPressed[1]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_C);
+					event.setPower((byte)100);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_Y){
+				motorGamepadButtonPressed[6] = true;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.RECENTER);
+				event.setPower((byte)0x00);
+				queue.addEvent(event);
+			}else{
+				// TODO: Pass input to the input handler system.
+			}
+
+			return true;
+		}else{
+			return false;
+		}
+	}
+
+	@Override
+	public boolean buttonUp(Controller controller, int buttonCode){
+		MotorEvent event;
+
+		if(stateActive){
+			Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode));
+
+			if(buttonCode == Ouya.BUTTON_L1){
+				motorGamepadButtonPressed[0] = false;
+
+				if(!motorGamepadButtonPressed[4]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_A);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_R1){
+				motorGamepadButtonPressed[1] = false;
+
+				if(!motorGamepadButtonPressed[5]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_C);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_DPAD_LEFT){
+				motorGamepadButtonPressed[2] = false;
+
+				if(!motorGamepadButtonPressed[3]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+			}else if(buttonCode == Ouya.BUTTON_DPAD_RIGHT){
+				motorGamepadButtonPressed[3] = false;
+
+				if(!motorGamepadButtonPressed[2]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+			}else if(buttonCode ==  Ouya.BUTTON_L2){
+				motorGamepadButtonPressed[4] = false;
+
+				if(!motorGamepadButtonPressed[0]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_A);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode ==  Ouya.BUTTON_R2){
+				motorGamepadButtonPressed[5] = false;
+
+				if(!motorGamepadButtonPressed[1]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_C);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_Y){
+				motorGamepadButtonPressed[6] = false;
+			}else{
+				// TODO: Pass input to the input handler system.
+			}
+
+			return true;
+		}else{
+			return false;
+		}
+	}
+
+	@Override
+	public boolean axisMoved(Controller controller, int axisCode, float value){
+		// TODO: Pass input to the input handler system.
+		return false;
+	}
+}

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

@@ -0,0 +1,318 @@
+/*
+ * 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.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";
+
+	protected final int NUM_MENU_BUTTONS = 2;
+
+	// Helper fields.
+	protected boolean clientConnected;
+	private float u_scaling[];
+
+	// Buttons and other gui components.
+	protected TextButton startButton;
+	protected Rectangle startButtonBBox;
+	protected Sprite clientConnectedLedOn;
+	protected Sprite clientConnectedLedOff;
+
+	protected TextButton calibrationButton;
+	protected Rectangle calibrationButtonBBox;
+	protected Sprite cameraCalibratedLedOn;
+	protected Sprite cameraCalibratedLedOff;
+
+	protected Sprite background;
+
+	// Graphic data for the start button.
+	private Texture menuButtonEnabledTexture;
+	private Texture menuButtonDisabledTexture;
+	private Texture menuButtonPressedTexture;
+	private NinePatch menuButtonEnabled9p;
+	private NinePatch menuButtonDisabled9p;
+	private NinePatch menuButtonPressed9p;
+	private BitmapFont font;
+
+	// Other graphics.
+	private Texture cameraCalibratedLedOffTexture;
+	private Texture cameraCalibratedLedOnTexture;
+	private Texture clientConnectedLedOffTexture;
+	private Texture clientConnectedLedOnTexture;
+	private Texture backgroundTexture;
+	private ShaderProgram backgroundShader;
+
+	// Button touch helper fields.
+	protected boolean startButtonTouched;
+	protected int startButtonTouchPointer;
+	protected boolean calibrationButtonTouched;
+	protected int calibrationButtonTouchPointer;
+
+	public MainMenuStateBase(){
+		TextureRegion region;
+		TextButtonStyle tbs;
+		FreeTypeFontGenerator generator;
+
+		this.pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+
+		// Create the start button background.
+		menuButtonEnabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Yellow.png"));
+		menuButtonEnabled9p = new NinePatch(new TextureRegion(menuButtonEnabledTexture, 0, 0, menuButtonEnabledTexture.getWidth(), menuButtonEnabledTexture.getHeight()), 49, 49, 45, 45);
+
+		menuButtonDisabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Cyan.png"));
+		menuButtonDisabled9p = new NinePatch(new TextureRegion(menuButtonDisabledTexture, 0, 0, menuButtonDisabledTexture.getWidth(), menuButtonDisabledTexture.getHeight()), 49, 49, 45, 45);
+
+		menuButtonPressedTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Blue.png"));
+		menuButtonPressed9p = new NinePatch(new TextureRegion(menuButtonPressedTexture, 0, 0, menuButtonPressedTexture.getWidth(), menuButtonPressedTexture.getHeight()), 49, 49, 45, 45);
+
+		// Create the start button font.
+		generator = new FreeTypeFontGenerator(Gdx.files.internal("data/fonts/d-puntillas-B-to-tiptoe.ttf"));
+		font = generator.generateFont(ProjectConstants.MENU_BUTTON_FONT_SIZE, ProjectConstants.FONT_CHARS, false);
+		generator.dispose();
+
+		// Create the start button.
+		tbs = new TextButtonStyle();
+		tbs.font = font;
+		tbs.up = new NinePatchDrawable(menuButtonEnabled9p);
+		tbs.checked = new NinePatchDrawable(menuButtonPressed9p);
+		tbs.disabled = new NinePatchDrawable(menuButtonDisabled9p);
+		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 calibration button.
+		calibrationButton = new TextButton("Calibrate camera", tbs);
+		calibrationButton.setText("Calibrate camera");
+		calibrationButton.setDisabled(true);
+		calibrationButtonBBox = new Rectangle(0, 0, calibrationButton.getWidth(), calibrationButton.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);
+
+		cameraCalibratedLedOnTexture = new Texture("data/gfx/gui/Anonymous_Button_Green.png");
+		region = new TextureRegion(cameraCalibratedLedOnTexture);
+		cameraCalibratedLedOn = new Sprite(region);
+
+		cameraCalibratedLedOffTexture = new Texture("data/gfx/gui/Anonymous_Button_Red.png");
+		region = new TextureRegion(cameraCalibratedLedOffTexture);
+		cameraCalibratedLedOff = 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.glsl"), Gdx.files.internal(SHADER_PATH + "_frag.glsl"));
+		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;
+		calibrationButtonTouched = false;
+		calibrationButtonTouchPointer = -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(){
+		menuButtonEnabledTexture.dispose();
+		menuButtonDisabledTexture.dispose();
+		menuButtonPressedTexture.dispose();
+		clientConnectedLedOnTexture.dispose();
+		clientConnectedLedOffTexture.dispose();
+		cameraCalibratedLedOnTexture.dispose();
+		cameraCalibratedLedOffTexture.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);
+		calibrationButton.setDisabled(false);
+	}
+
+	/*;;;;;;;;;;;;;;;;;;;;;;;;;;
+	  ; 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) && !calibrationButtonTouched){
+			startButton.setChecked(true);
+			startButtonTouched = true;
+			startButtonTouchPointer = pointer;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Start button pressed.");
+		}else if(!calibrationButton.isDisabled() && calibrationButtonBBox.contains(touchPointWorldCoords) && !startButtonTouched){
+			calibrationButton.setChecked(true);
+			calibrationButtonTouched = true;
+			calibrationButtonTouchPointer = pointer;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Calibration 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) && startButtonTouched){
+			startButton.setChecked(false);
+			startButtonTouched = false;
+			startButtonTouchPointer = -1;
+			core.nextState = game_states_t.IN_GAME;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Start button released.");
+		}else if(!calibrationButton.isDisabled() && calibrationButtonBBox.contains(touchPointWorldCoords) && calibrationButtonTouched){
+			calibrationButton.setChecked(false);
+			calibrationButtonTouched = false;
+			calibrationButtonTouchPointer = -1;
+			core.nextState = game_states_t.CALIBRATION;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Calibration 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.");
+		}else if(!calibrationButton.isDisabled() && calibrationButtonTouched && pointer == calibrationButtonTouchPointer && !calibrationButtonBBox.contains(touchPointWorldCoords)){
+			calibrationButtonTouchPointer = -1;
+			calibrationButtonTouched = false;
+			calibrationButton.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;
+	}
+}

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

@@ -0,0 +1,171 @@
+/*
+ * 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;
+	private int oButtonSelection;
+
+	public OuyaMainMenuState(final NxtARCore core){
+		super();
+
+		this.core = core;
+
+		startButton.setPosition(-(startButton.getWidth() / 2), -(startButton.getHeight() / 2));
+		startButtonBBox.setPosition(startButton.getX(), startButton.getY());
+
+		calibrationButton.setPosition(-(calibrationButton.getWidth() / 2), (startButton.getY() + startButton.getHeight()) + 10);
+		calibrationButtonBBox.setPosition(calibrationButton.getX(), calibrationButton.getY());
+
+		float ledYPos = (-(Gdx.graphics.getHeight() / 2) * 0.5f) + (calibrationButton.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);
+
+		// TODO: Set calibration led attributes.
+
+		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);
+
+		oButtonSelection = 0;
+		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);
+			}
+
+			// TODO: Render calibration leds.
+
+			startButton.draw(core.batch, 1.0f);
+			calibrationButton.draw(core.batch, 1.0f);
+
+			if(oButtonSelection == 0){
+				ouyaOButton.setPosition(startButton.getX() - ouyaOButton.getWidth() - 20, startButton.getY() + (ouyaOButton.getHeight() / 2));
+			}else if(oButtonSelection == 1){
+				ouyaOButton.setPosition(calibrationButton.getX() - ouyaOButton.getWidth() - 20, calibrationButton.getY() + (ouyaOButton.getHeight() / 2));
+			}
+			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){
+		// TODO: Test this.
+
+		if(stateActive){
+			if(buttonCode == Ouya.BUTTON_O){
+				Gdx.app.log(TAG, CLASS_NAME + ".buttonDown(): O button pressed.");
+
+				if(oButtonSelection == 0){
+					if(!clientConnected){
+						core.toast("Can't start the game. No client is connected.", true);
+					}else{
+						oButtonPressed = true;
+						startButton.setChecked(true);
+					}
+				}else if(oButtonSelection == 1){
+					if(!clientConnected){
+						core.toast("Can't calibrate the camera. No client is connected.", true);
+					}else{
+						oButtonPressed = true;
+						calibrationButton.setChecked(true);
+					}
+				}
+			}else if(buttonCode == Ouya.BUTTON_DPAD_UP){
+				Gdx.app.log(TAG, CLASS_NAME + ".buttonDown(): Dpad up button pressed.");
+				oButtonSelection = oButtonSelection - 1 < 0 ? NUM_MENU_BUTTONS - 1 : oButtonSelection - 1;
+			}else if(buttonCode == Ouya.BUTTON_DPAD_DOWN){
+				Gdx.app.log(TAG, CLASS_NAME + ".buttonDown(): Dpad down button pressed.");
+				oButtonSelection = (oButtonSelection + 1) % NUM_MENU_BUTTONS;
+			}
+
+			return true;
+		}else{
+			return false;
+		}
+	}
+
+	@Override
+	public boolean buttonUp(Controller controller, int buttonCode){
+		// TODO: Test this.
+
+		if(stateActive){
+			if(buttonCode == Ouya.BUTTON_O){
+				Gdx.app.log(TAG, CLASS_NAME + ".buttonDown(): O button released.");
+
+				if(oButtonPressed){
+					oButtonPressed = false;
+
+					if(oButtonSelection == 0){
+						startButton.setChecked(false);
+						core.nextState = game_states_t.IN_GAME;
+					}else if(oButtonSelection == 1){
+						calibrationButton.setChecked(false);
+						core.nextState = game_states_t.IN_GAME;
+					}
+				}
+			}
+
+			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 +1,71 @@
+/*
+ * 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){
+		super();
+
+		this.core = core;
+
+		startButton.setPosition(-(startButton.getWidth() / 2), -(startButton.getHeight() / 2));
+		startButtonBBox.setPosition(startButton.getX(), startButton.getY());
+
+		calibrationButton.setPosition(-(calibrationButton.getWidth() / 2), (startButton.getY() + startButton.getHeight()) + 10);
+		calibrationButtonBBox.setPosition(calibrationButton.getX(), calibrationButton.getY());
+
+		float ledYPos = (-(Gdx.graphics.getHeight() / 2) * 0.5f) + (calibrationButton.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);
+
+		// TODO: Set calibration led attributes.
+	}
+
+	@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);
+			}
+
+			// TODO: Render calibration led.
+
+			startButton.draw(core.batch, 1.0f);
+			calibrationButton.draw(core.batch, 1.0f);
+
+		}core.batch.end();
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/systems/MarkerPositioningSystem.java

@@ -0,0 +1,78 @@
+/*
+ * 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.systems;
+
+import ve.ucv.ciens.ccg.nxtar.components.GeometryComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MarkerCodeComponent;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.MarkerData;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.artemis.Aspect;
+import com.artemis.ComponentMapper;
+import com.artemis.Entity;
+import com.artemis.annotations.Mapper;
+import com.artemis.systems.EntityProcessingSystem;
+import com.badlogic.gdx.Gdx;
+
+public class MarkerPositioningSystem extends EntityProcessingSystem {
+	@Mapper ComponentMapper<MarkerCodeComponent> markerMapper;
+	@Mapper ComponentMapper<GeometryComponent> geometryMapper;
+
+	private static final String TAG = "MARKER_POSITIONING_SYSTEM";
+	private static final String CLASS_NAME = MarkerPositioningSystem.class.getSimpleName();
+
+	private MarkerData markers;
+
+	@SuppressWarnings("unchecked")
+	public MarkerPositioningSystem(){
+		super(Aspect.getAspectForAll(MarkerCodeComponent.class, GeometryComponent.class));
+
+		markers = null;
+	}
+
+	public void setMarkerData(MarkerData markers){
+		this.markers = markers;
+	}
+
+	@Override
+	protected void process(Entity e) {
+		MarkerCodeComponent marker;
+		GeometryComponent   geometry;
+
+		if(markers == null)
+			return;
+
+		Gdx.app.log(TAG, CLASS_NAME + ".process(): Getting components.");
+		marker   = markerMapper.get(e);
+		geometry = geometryMapper.get(e);
+
+		Gdx.app.log(TAG, CLASS_NAME + ".process(): Processing markers.");
+		for(int i = 0; i < ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS; i++){
+			if(markers.markerCodes[i] != 1){
+				if(markers.markerCodes[i] == marker.code){
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): Processing marker code " + Integer.toString(markers.markerCodes[i]) + ".");
+					geometry.position.set(markers.translationVectors[i]);
+					geometry.rotation.set(markers.rotationMatrices[i]);
+					break;
+				}
+			}else{
+				Gdx.app.log(TAG, CLASS_NAME + ".process(): Skipping marker number " + Integer.toString(i) + ".");
+			}
+		}
+
+		markers = null;
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/systems/MarkerRenderingSystem.java

@@ -0,0 +1,127 @@
+package ve.ucv.ciens.ccg.nxtar.systems;
+
+import ve.ucv.ciens.ccg.nxtar.components.GeometryComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MarkerCodeComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MeshComponent;
+import ve.ucv.ciens.ccg.nxtar.components.ShaderComponent;
+import ve.ucv.ciens.ccg.nxtar.graphics.RenderParameters;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.MarkerData;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.artemis.Aspect;
+import com.artemis.ComponentMapper;
+import com.artemis.Entity;
+import com.artemis.annotations.Mapper;
+import com.artemis.systems.EntityProcessingSystem;
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.graphics.GL20;
+import com.badlogic.gdx.math.Matrix4;
+
+public class MarkerRenderingSystem extends EntityProcessingSystem {
+	@Mapper ComponentMapper<MarkerCodeComponent> markerMapper;
+	@Mapper ComponentMapper<GeometryComponent> geometryMapper;
+	@Mapper ComponentMapper<ShaderComponent> shaderMapper;
+	@Mapper ComponentMapper<MeshComponent> meshMapper;
+
+	private static final String TAG = "MARKER_RENDERING_SYSTEM";
+	private static final String CLASS_NAME = MarkerRenderingSystem.class.getSimpleName();
+
+	/**
+	 * <p>A matrix representing 3D translations.</p>
+	 */
+	private Matrix4 translationMatrix;
+
+	/**
+	 * <p>A matrix representing 3D rotations.</p>
+	 */
+	private Matrix4 rotationMatrix;
+
+	/**
+	 * <p>A matrix representing 3D scalings.</p>
+	 */
+	private Matrix4 scalingMatrix;
+
+	/**
+	 * <p>The total transformation to be applied to an entity.</p>
+	 */
+	private Matrix4 combinedTransformationMatrix;
+
+	MarkerData markers;
+
+	@SuppressWarnings("unchecked")
+	public MarkerRenderingSystem(){
+		super(Aspect.getAspectForAll(MarkerCodeComponent.class, GeometryComponent.class, ShaderComponent.class, MeshComponent.class));
+
+		markers = null;
+		translationMatrix = new Matrix4().setToTranslation(0.0f, 0.0f, 0.0f);
+		rotationMatrix = new Matrix4().idt();
+		scalingMatrix = new Matrix4().setToScaling(0.0f, 0.0f, 0.0f);
+		combinedTransformationMatrix = new Matrix4();
+	}
+
+	public void setMarkerData(MarkerData markers){
+		this.markers = markers;
+	}
+
+	@Override
+	protected void process(Entity e) {
+		MarkerCodeComponent marker;
+		GeometryComponent   geometry;
+		ShaderComponent     shaderComp;
+		MeshComponent       meshComp;
+
+		if(markers == null)
+			return;
+
+		Gdx.app.log(TAG, CLASS_NAME + ".process(): Getting components.");
+		marker     = markerMapper.get(e);
+		geometry   = geometryMapper.get(e);
+		shaderComp = shaderMapper.get(e);
+		meshComp   = meshMapper.get(e);
+
+		Gdx.app.log(TAG, CLASS_NAME + ".process(): Processing markers.");
+		for(int i = 0; i < ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS; i++){
+			if(markers.markerCodes[i] != 1){
+				if(markers.markerCodes[i] == marker.code){
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): Rendering marker code " + Integer.toString(markers.markerCodes[i]) + ".");
+					// Set the geometric transformations.
+					translationMatrix.setToTranslation(geometry.position);
+
+					rotationMatrix.val[0] = geometry.rotation.val[0];
+					rotationMatrix.val[1] = geometry.rotation.val[1];
+					rotationMatrix.val[2] = geometry.rotation.val[2];
+					rotationMatrix.val[3] = 0;
+					rotationMatrix.val[4] = geometry.rotation.val[3];
+					rotationMatrix.val[5] = geometry.rotation.val[4];
+					rotationMatrix.val[6] = geometry.rotation.val[5];
+					rotationMatrix.val[7] = 0;
+					rotationMatrix.val[8] = geometry.rotation.val[6];
+					rotationMatrix.val[9] = geometry.rotation.val[7];
+					rotationMatrix.val[10] = geometry.rotation.val[8];
+					rotationMatrix.val[11] = 0;
+					rotationMatrix.val[12] = 0;
+					rotationMatrix.val[13] = 0;
+					rotationMatrix.val[14] = 0;
+					rotationMatrix.val[15] = 1;
+
+					scalingMatrix.setToScaling(geometry.scaling);
+					combinedTransformationMatrix.idt().mul(translationMatrix).mul(rotationMatrix).mul(scalingMatrix);
+					RenderParameters.setTransformationMatrix(combinedTransformationMatrix);
+
+					// Render the marker;
+					shaderComp.shader.getShaderProgram().begin();{
+						shaderComp.shader.setUniforms();
+						meshComp.model.render(shaderComp.shader.getShaderProgram(), GL20.GL_TRIANGLES);
+					}shaderComp.shader.getShaderProgram().end();
+
+					break;
+				}
+			}else{
+				Gdx.app.log(TAG, CLASS_NAME + ".process(): Skipping marker number " + Integer.toString(i) + ".");
+			}
+		}
+
+		markers = null;
+	}
+
+}

src/ve/ucv/ciens/ccg/nxtar/systems/ObjectRenderingSystem.java

@@ -0,0 +1,114 @@
+/*
+ * 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.systems;
+
+import ve.ucv.ciens.ccg.nxtar.components.GeometryComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MarkerCodeComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MeshComponent;
+import ve.ucv.ciens.ccg.nxtar.components.ShaderComponent;
+import ve.ucv.ciens.ccg.nxtar.graphics.LightSource;
+import ve.ucv.ciens.ccg.nxtar.graphics.RenderParameters;
+
+import com.artemis.Aspect;
+import com.artemis.ComponentMapper;
+import com.artemis.Entity;
+import com.artemis.annotations.Mapper;
+import com.artemis.systems.EntityProcessingSystem;
+import com.badlogic.gdx.graphics.Color;
+import com.badlogic.gdx.graphics.GL20;
+import com.badlogic.gdx.math.Matrix4;
+import com.badlogic.gdx.math.Vector3;
+
+/**
+ * <p>Entity processing system in charge of rendering 3D objects using OpenGL. The
+ * entities to be rendered must have a geometry, shader and mesh component associated.</p>
+ */
+public class ObjectRenderingSystem extends EntityProcessingSystem {
+	@Mapper ComponentMapper<GeometryComponent> geometryMapper;
+	@Mapper ComponentMapper<ShaderComponent> shaderMapper;
+	@Mapper ComponentMapper<MeshComponent> modelMapper;
+
+	private static final Vector3 LIGHT_POSITION = new Vector3(2.0f, 2.0f, 4.0f);
+	private static final Color AMBIENT_COLOR = new Color(0.0f, 0.1f, 0.2f, 1.0f);
+	private static final Color DIFFUSE_COLOR = new Color(1.0f, 1.0f, 1.0f, 1.0f);
+	private static final Color SPECULAR_COLOR = new Color(1.0f, 0.8f, 0.0f, 1.0f);
+	private static final float SHINYNESS = 50.0f;
+
+	/**
+	 * <p>A matrix representing 3D translations.</p>
+	 */
+	private Matrix4 translationMatrix;
+
+	/**
+	 * <p>A matrix representing 3D rotations.</p>
+	 */
+	private Matrix4 rotationMatrix;
+
+	/**
+	 * <p>A matrix representing 3D scalings.</p>
+	 */
+	private Matrix4 scalingMatrix;
+
+	/**
+	 * <p>The total transformation to be applied to an entity.</p>
+	 */
+	private Matrix4 combinedTransformationMatrix;
+
+	@SuppressWarnings("unchecked")
+	public ObjectRenderingSystem() {
+		super(Aspect.getAspectForAll(GeometryComponent.class, ShaderComponent.class, MeshComponent.class).exclude(MarkerCodeComponent.class));
+
+		RenderParameters.setLightSource1(new LightSource(LIGHT_POSITION, AMBIENT_COLOR, DIFFUSE_COLOR, SPECULAR_COLOR, SHINYNESS));
+
+		translationMatrix = new Matrix4().setToTranslation(0.0f, 0.0f, 0.0f);
+		rotationMatrix = new Matrix4().idt();
+		scalingMatrix = new Matrix4().setToScaling(0.0f, 0.0f, 0.0f);
+		combinedTransformationMatrix = new Matrix4();
+	}
+
+	/**
+	 * <p>Renders the entity passed by parameter, calculating it's corresponding geometric
+	 * transformation and setting and calling it's associated shader program.</p>
+	 * 
+	 * @param e The entity to be processed.
+	 */
+	@Override
+	protected void process(Entity e) {
+		GeometryComponent geometryComponent;
+		ShaderComponent shaderComponent;
+		MeshComponent meshComponent;
+
+		// Get the necessary components.
+		geometryComponent = geometryMapper.get(e);
+		meshComponent = modelMapper.get(e);
+		shaderComponent = shaderMapper.get(e);
+
+		// Calculate the geometric transformation for this entity.
+		translationMatrix.setToTranslation(geometryComponent.position);
+		rotationMatrix.set(geometryComponent.rotation);
+		scalingMatrix.setToScaling(geometryComponent.scaling);
+		combinedTransformationMatrix.idt().mul(translationMatrix).mul(rotationMatrix).mul(scalingMatrix);
+
+		// Set up the global rendering parameters for this frame.
+		RenderParameters.setTransformationMatrix(combinedTransformationMatrix);
+
+		// Render this entity.
+		shaderComponent.shader.getShaderProgram().begin();{
+			shaderComponent.shader.setUniforms();
+			meshComponent.model.render(shaderComponent.shader.getShaderProgram(), GL20.GL_TRIANGLES);
+		}shaderComponent.shader.getShaderProgram().end();
+	}
+}

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

@@ -1,12 +1,47 @@
+/*
+ * 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.utils;
 
-public abstract class ProjectConstants {
-	public static final int SERVER_UDP_PORT = 8889;
-	public static final int SERVER_TCP_PORT_1 = 9989;
-	public static final int SERVER_TCP_PORT_2 = 9990;
-	public static final String MULTICAST_ADDRESS = "230.0.0.1";
-	public static final int EXIT_SUCCESS = 0;
-	public static final int EXIT_FAILURE = 1;
+import com.badlogic.gdx.controllers.mappings.Ouya;
 
-	public static final boolean DEBUG = true;
+public abstract class ProjectConstants{
+	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 int     MENU_BUTTON_FONT_SIZE;
+	public static final String  FONT_CHARS                 = "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890";
+
+	public static final int     MAXIMUM_NUMBER_OF_MARKERS  = 5;
+	public static final int     CALIBRATION_PATTERN_POINTS = 54;
+	public static final int     CALIBRATION_SAMPLES        = 10;
+
+	static{
+		OVERSCAN = Ouya.runningOnOuya ? 0.9f : 1.0f;
+		MENU_BUTTON_FONT_SIZE = Ouya.runningOnOuya ? 60 : 40;
+	}
 }

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

@@ -0,0 +1,51 @@
+/*
+ * 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.utils;
+
+public class Size {
+	private int width;
+	private int height;
+
+	public Size(){
+		width = 0;
+		height = 0;
+	}
+
+	public Size(int width, int height){
+		this.width = (width >= 0) ? width : -1 * width;
+		this.height = (height >= 0) ? height : -1 * height;
+	}
+
+	public int getWidth(){
+		return width;
+	}
+
+	public int getHeight(){
+		return height;
+	}
+
+	public void setWidth(int width) throws IllegalArgumentException{
+		if(width < 0)
+			throw new IllegalArgumentException("Width must not be less than cero.");
+		this.width = width;
+	}
+
+	public void setHeight(int height) throws IllegalArgumentException{
+		if(height < 0)
+			throw new IllegalArgumentException("Height must not be less than cero.");
+		this.height = height;
+	}
+}