Trying to use TCP-based protocol

.gitignore

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+*.iml
+.gradle
+/local.properties
+/.idea/caches
+/.idea/libraries
+/.idea/modules.xml
+/.idea/workspace.xml
+/.idea/navEditor.xml
+/.idea/assetWizardSettings.xml
+.DS_Store
+/build
+/captures
+.externalNativeBuild
+.cxx
+local.properties
+
+#amplify-do-not-edit-begin
+amplify/\#current-cloud-backend
+amplify/.config/local-*
+amplify/logs
+amplify/mock-data
+amplify/backend/amplify-meta.json
+amplify/backend/.temp
+build/
+dist/
+node_modules/
+aws-exports.js
+awsconfiguration.json
+amplifyconfiguration.json
+amplifyconfiguration.dart
+amplify-build-config.json
+amplify-gradle-config.json
+amplifytools.xcconfig
+.secret-*
+**.sample
+#amplify-do-not-edit-end

app/.gitignore

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+/build

app/build.gradle

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+plugins {
+    id 'com.android.application'
+}
+
+android {
+    compileSdk 31
+
+    defaultConfig {
+        applicationId "com.vladd11.app.robot"
+        minSdk 28
+        targetSdk 31
+        versionCode 1
+        versionName "1.0"
+
+        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+    }
+
+    buildTypes {
+        debug {
+            buildConfigField "boolean", "BLUETOOTH", "true"
+        }
+        release {
+            buildConfigField "boolean", "BLUETOOTH", "true"
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+
+    packagingOptions {
+        exclude 'META-INF/INDEX.LIST'
+        exclude 'META-INF/io.netty.versions.properties'
+    }
+}
+
+dependencies {
+    implementation 'com.google.android.gms:play-services-location:18.0.0'
+    implementation 'com.github.mik3y:usb-serial-for-android:3.4.3'
+    implementation 'androidx.appcompat:appcompat:1.3.1'
+    implementation 'com.google.android.material:material:1.4.0'
+    implementation 'androidx.constraintlayout:constraintlayout:2.1.1'
+    testImplementation 'junit:junit:4.+'
+    androidTestImplementation 'androidx.test.ext:junit:1.1.3'
+    androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
+    implementation 'com.google.code.gson:gson:2.8.9'
+    implementation 'com.github.dinocore1:ubjson:0.1.8'
+    implementation 'com.squareup.okhttp3:okhttp:4.9.1'
+
+    implementation 'com.github.harry1453:android-bluetooth-serial:v1.1'
+
+    // RxJava is also required.
+    implementation 'io.reactivex.rxjava2:rxjava:2.1.12'
+    implementation 'io.reactivex.rxjava2:rxandroid:2.0.2'
+}

app/proguard-rules.pro

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+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile

app/src/androidTest/java/com/vladd11/app/robot/ExampleInstrumentedTest.java

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+package com.vladd11.app.robot;
+
+import android.content.Context;
+
+import androidx.test.platform.app.InstrumentationRegistry;
+import androidx.test.ext.junit.runners.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+    @Test
+    public void useAppContext() {
+        // Context of the app under test.
+        Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
+        assertEquals("com.vladd11.app.robot", appContext.getPackageName());
+    }
+}

app/src/main/AndroidManifest.xml

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+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.vladd11.app.robot">
+
+    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
+    <uses-permission android:name="android.permission.CAMERA" />
+    <uses-permission android:name="android.permission.WAKE_LOCK" />
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+    <uses-permission android:name="android.permission.INTERNET" />
+    <uses-feature android:name="android.hardware.camera" />
+
+    <application
+        android:networkSecurityConfig="@xml/net"
+        android:usesCleartextTraffic="true"
+        android:allowBackup="true"
+        android:icon="@mipmap/ic_launcher"
+        android:label="@string/app_name"
+        android:roundIcon="@mipmap/ic_launcher_round"
+        android:supportsRtl="true"
+        android:theme="@style/Theme.Robot">
+        <service android:name="org.eclipse.paho.android.service.MqttService">
+        </service>
+
+        <activity
+            android:name=".MainActivity"
+            android:exported="true">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+            <intent-filter>
+                <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
+            </intent-filter>
+
+            <meta-data
+                android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
+                android:resource="@xml/device_filter" />
+        </activity>
+    </application>
+
+</manifest>

app/src/main/java/com/vladd11/app/robot/Action.java

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+package com.vladd11.app.robot;
+
+public enum Action {
+    LEFT((byte) 0x0),
+    RIGHT((byte) 0x1),
+    FORWARD((byte) 0x2),
+    BACK((byte) 0x3),
+    STOP((byte) 0x4);
+
+    private final byte action;
+
+    Action(byte action) {
+        this.action = action;
+    }
+
+    public byte getAction() {
+        return action;
+    }
+}

app/src/main/java/com/vladd11/app/robot/ConnectionManager.java

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+package com.vladd11.app.robot;
+
+
+import android.location.Location;
+
+import com.google.gson.Gson;
+import com.google.gson.reflect.TypeToken;
+
+import java.io.ByteArrayOutputStream;
+import java.io.IOException;
+import java.io.OutputStream;
+import java.io.PrintWriter;
+import java.net.InetAddress;
+import java.net.Socket;
+import java.nio.ByteBuffer;
+import java.nio.charset.StandardCharsets;
+import java.util.ArrayDeque;
+import java.util.List;
+import java.util.Queue;
+
+public class ConnectionManager {
+    private static final String TAG = "ConnectionManager";
+    private Socket socket;
+    private OutputStream writer;
+
+    public void connect(OnConnectedListener onConnected) {
+        new Thread(() -> {
+            try {
+                socket = new Socket(InetAddress.getByName(Secrets.SERVER_ADDRESS), Secrets.SERVER_PORT);
+                writer = socket.getOutputStream();
+                onConnected.call();
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        }).start();
+    }
+
+    public void getLocationPoints(OnLocationPointsAvailableListener onResult) throws IOException {
+        writer.write("r{\"c\": [50.242092, 53.211953],\"e\":[50.240560, 53.213407]}".getBytes(StandardCharsets.UTF_8));
+        writer.flush();
+
+        ByteArrayOutputStream result = new ByteArrayOutputStream();
+        byte[] buffer = new byte[1024];
+        for (int length; (length = socket.getInputStream().read(buffer)) != -1; ) {
+            result.write(buffer, 0, length);
+            if (buffer[buffer.length - 1] == 0) {
+                break;
+            }
+        }
+
+        final List<List<Double>> rawCoordinates = new Gson().fromJson(result.toString("UTF-8"),
+                TypeToken.getParameterized(List.class, List.class).getType());
+        final Queue<Location> locationQueue = new ArrayDeque<>();
+        for (List<Double> coordinates : rawCoordinates) {
+            final Location location = new Location("");
+            location.setLatitude(coordinates.get(1));
+            location.setLongitude(coordinates.get(0));
+
+            locationQueue.add(location);
+        }
+        onResult.call(locationQueue);
+    }
+
+    public void receiveImageRequests(OnImageRequestReceivedListener listener) {
+        new Thread(() -> {
+            try {
+                while (true) {
+                    while (socket.getInputStream().read() != 128) {
+
+                    }
+
+                    listener.call(buffer -> {
+                        final Thread thread = new Thread(() -> {
+                            try {
+                                writer.write(106);
+                                writer.flush();
+
+                                for (int i = 0; i < buffer.remaining(); i++) {
+                                    writer.write(buffer.get());
+                                }
+                                writer.flush();
+
+                                writer.write(106);
+                                writer.flush();
+                            } catch (IOException e) {
+                                e.printStackTrace();
+                            }
+                        });
+                        thread.start();
+                        thread.join();
+                    });
+                }
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }).start();
+    }
+
+    public interface OnLocationPointsAvailableListener {
+        void call(Queue<Location> result);
+    }
+
+    public interface OnImageRequestReceivedListener {
+        void call(ImageReceivedListener listener);
+    }
+
+    public interface ImageReceivedListener {
+        void received(ByteBuffer buffer) throws InterruptedException;
+    }
+
+    public interface OnConnectedListener {
+        void call();
+    }
+}