Update source files

src/com/shigeodayo/ardrone/ARDrone.java

@@ -385,6 +385,12 @@ public class ARDrone implements ARDroneInterface {
 			manager.setSpeed(speed);
 	}
 
+	@Override
+	public void parallel(int lr,int fb) {
+		if (manager != null)
+			manager.parallel(lr, fb);
+	}
+
 	@Override
 	public void stop() {
 		if (manager != null)
@@ -492,4 +498,4 @@ public class ARDrone implements ARDroneInterface {
 		}
 		return inetaddr;
 	}
-}
\ No newline at end of file
+}

src/com/shigeodayo/ardrone/ARDroneInterface.java

@@ -82,6 +82,8 @@ public interface ARDroneInterface {
 
 	public void goLeft(int speed);
 
+	public void parallel(int lr,int fb);
+
 	public void stop();
 
 	public void move3D(int speedX, int speedY, int speedZ, int speedSpin);
@@ -94,4 +96,4 @@ public interface ARDroneInterface {
 	public void setMaxAltitude(int altitude);
 	// set min altitude
 	public void setMinAltitude(int altitude);
-}
\ No newline at end of file
+}

src/com/shigeodayo/ardrone/ARDroneInterface.java~

+/**
+   ARDroneForP5
+   https://github.com/shigeodayo/ARDroneForP5
+   Copyright (C) 2013, Shigeo YOSHIDA.
+
+ 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 com.shigeodayo.ardrone;
+
+public interface ARDroneInterface {
+
+	
+	// connection
+	public boolean connect();
+
+	public boolean connectVideo();
+
+	public boolean connectNav();
+
+	public void disconnect();
+
+	public void start();
+
+	// camera
+	public void setHorizontalCamera();// setFrontCameraStreaming()
+
+	public void setVerticalCamera();// setBellyCameraStreaming()
+
+	public void setHorizontalCameraWithVertical();// setFrontCameraWithSmallBellyStreaming()
+
+	public void setVerticalCameraWithHorizontal();// setBellyCameraWithSmallFrontStreaming()
+
+	public void toggleCamera();
+
+	// control command
+	public void landing();
+
+	public void takeOff();
+
+	public void reset();
+
+	public void forward();
+
+	public void forward(int speed);
+
+	public void backward();
+
+	public void backward(int speed);
+
+	public void spinRight();
+
+	public void spinRight(int speed);
+
+	public void spinLeft();
+
+	public void spinLeft(int speed);
+
+	public void up();
+
+	public void up(int speed);
+
+	public void down();
+
+	public void down(int speed);
+
+	public void goRight();
+
+	public void goRight(int speed);
+
+	public void goLeft();
+
+	public void goLeft(int speed);
+
+	public void stop();
+
+	public void move3D(int speedX, int speedY, int speedZ, int speedSpin);
+
+	// speed
+	public int getSpeed();
+	public void setSpeed(int speed);
+
+	// set max altitude
+	public void setMaxAltitude(int altitude);
+	// set min altitude
+	public void setMinAltitude(int altitude);
+}
\ No newline at end of file

src/com/shigeodayo/ardrone/command/CommandManager.java

@@ -191,6 +191,19 @@ public abstract class CommandManager extends AbstractManager {
 		goLeft();
 	}
 
+	public void parallel(int lr,int fb){		//original
+		float lr_speed=(float)(lr/100.0);
+		float fb_speed=(float)(fb/100.0);
+
+		command = "AT*PCMD=" + SEQ + ",1," + intOfFloat(lr_speed) +","+ intOfFloat(fb_speed) +",0,0"
+				+ "\r" + "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+
+	} 
+
+
+
+
 	public void stop() {
 		command = "AT*PCMD=" + SEQ + ",1,0,0,0,0";
 		continuance = true;
@@ -250,7 +263,7 @@ public abstract class CommandManager extends AbstractManager {
 	}
 
 	/*
-	 * Thank you Tarqunio !!
+	 * 
 	 */
 	public void move3D(int speedX, int speedY, int speedZ, int speedSpin) {
 		if (speedX > 100)
@@ -349,4 +362,4 @@ public abstract class CommandManager extends AbstractManager {
 		fb.put(0, f);
 		return ib.get(0);
 	}
-}
\ No newline at end of file
+}

src/com/shigeodayo/ardrone/command/CommandManager.java~

+/**
+   ARDroneForP5
+   https://github.com/shigeodayo/ARDroneForP5
+   Copyright (C) 2013, Shigeo YOSHIDA.
+
+ 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 com.shigeodayo.ardrone.command;
+
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.InetAddress;
+import java.nio.ByteBuffer;
+import java.nio.FloatBuffer;
+import java.nio.IntBuffer;
+
+import com.shigeodayo.ardrone.manager.AbstractManager;
+import com.shigeodayo.ardrone.utils.ARDroneConstants;
+
+public abstract class CommandManager extends AbstractManager {
+
+	protected static final String CR = "\r";
+	protected static final String SEQ = "$SEQ$";
+
+	private static int seq = 1;
+
+	private FloatBuffer fb = null;
+	private IntBuffer ib = null;
+
+	private boolean landing = true;
+	
+	private boolean continuance = false;
+	private String command = null;
+
+	/** speed */
+	private float speed = 0.05f; // 0.01f - 1.0f
+
+	protected String VIDEO_CODEC;
+
+	public CommandManager(InetAddress inetaddr) {
+		this.inetaddr = inetaddr;
+
+		ByteBuffer bb = ByteBuffer.allocate(4);
+		fb = bb.asFloatBuffer();
+		ib = bb.asIntBuffer();
+	}
+
+	public void setHorizontalCamera() {
+		command = "AT*CONFIG=" + SEQ + ",\"video:video_channel\",\"0\"";
+		continuance = false;
+	}
+
+	public void setVerticalCamera() {
+		command = "AT*CONFIG=" + SEQ + ",\"video:video_channel\",\"1\"";
+		continuance = false;
+	}
+
+	public void setHorizontalCameraWithVertical() {
+		command = "AT*CONFIG=" + SEQ + ",\"video:video_channel\",\"2\"";
+		continuance = false;
+	}
+
+	public void setVerticalCameraWithHorizontal() {
+		command = "AT*CONFIG=" + SEQ + ",\"video:video_channel\",\"3\"";
+		continuance = false;
+	}
+
+	public void toggleCamera() {
+		command = "AT*CONFIG=" + SEQ + ",\"video:video_channel\",\"4\"";
+		continuance = false;
+	}
+
+	public void landing() {
+		command = "AT*REF=" + SEQ + ",290717696";
+		continuance = false;
+		landing = true;
+		//System.out.println("landing");
+	}
+
+	public void takeOff() {
+		sendCommand("AT*FTRIM=" + SEQ);
+		command = "AT*REF=" + SEQ + ",290718208";
+		continuance = false;
+		landing = false;
+		//System.out.println("take off");
+	}
+
+	public void reset() {
+		command = "AT*REF=" + SEQ + ",290717952";
+		continuance = true;
+		landing = true;
+	}
+
+	/*public void forward() {
+		command = "AT*PCMD=" + SEQ + ",1,0," + intOfFloat(-speed) + ",0,0"
+				+ "\r" + "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+	}*/
+
+	public void forward(int speed) {
+		setSpeed(speed);
+		forward();
+	}
+
+	public void backward() {
+		command = "AT*PCMD=" + SEQ + ",1,0," + intOfFloat(speed) + ",0,0"
+				+ "\r" + "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+	}
+
+	public void backward(int speed) {
+		setSpeed(speed);
+		backward();
+	}
+
+	public void spinRight() {
+		command = "AT*PCMD=" + SEQ + ",1,0,0,0," + intOfFloat(speed) + "\r"
+				+ "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+	}
+
+	public void spinRight(int speed) {
+		setSpeed(speed);
+		spinRight();
+	}
+
+	public void spinLeft() {
+		command = "AT*PCMD=" + SEQ + ",1,0,0,0," + intOfFloat(-speed) + "\r"
+				+ "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+	}
+
+	public void spinLeft(int speed) {
+		setSpeed(speed);
+		spinLeft();
+	}
+
+	public void up() {
+		command = "AT*PCMD=" + SEQ + ",1," + intOfFloat(0) + ","
+				+ intOfFloat(0) + "," + intOfFloat(speed) + "," + intOfFloat(0)
+				+ "\r" + "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+	}
+
+	public void up(int speed) {
+		setSpeed(speed);
+		up();
+	}
+
+	public void down() {
+		command = "AT*PCMD=" + SEQ + ",1," + intOfFloat(0) + ","
+				+ intOfFloat(0) + "," + intOfFloat(-speed) + ","
+				+ intOfFloat(0) + "\r" + "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+	}
+
+	public void down(int speed) {
+		setSpeed(speed);
+		down();
+	}
+
+	public void goRight() {
+		command = "AT*PCMD=" + SEQ + ",1," + intOfFloat(speed) + ",0,0,0"
+				+ "\r" + "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+	}
+
+	public void goRight(int speed) {
+		setSpeed(speed);
+		goRight();
+	}
+
+	public void goLeft() {
+		command = "AT*PCMD=" + SEQ + ",1," + intOfFloat(-speed) + ",0,0,0"
+				+ "\r" + "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+	}
+
+	public void goLeft(int speed) {
+		setSpeed(speed);
+		goLeft();
+	}
+
+	public void parallel(int lr,int fb){		//original
+		float lr_speed=(float)(lr/100.0);
+		float fb_speed=(float)(fb/100.0);
+
+		command = "AT*PCMD=" + SEQ + ",1," + intOfFloat(lr_speed) +","+ intOfFloat(fb_speed) +",0,0"
+				+ "\r" + "AT*REF=" + SEQ + ",290718208";
+		continuance = true;
+
+	} 
+
+
+
+
+	public void stop() {
+		command = "AT*PCMD=" + SEQ + ",1,0,0,0,0";
+		continuance = true;
+	}
+
+	public void setSpeed(int speed) {
+		if (speed > 100)
+			speed = 100;
+		else if (speed < 1)
+			speed = 1;
+
+		this.speed = (float) (speed / 100.0);
+	}
+
+	public void enableVideoData() {
+		command = "AT*CONFIG=" + SEQ + ",\"general:video_enable\",\"TRUE\""
+				+ CR + "AT*FTRIM=" + SEQ;
+		continuance = false;
+	}
+
+	public void enableDemoData() {
+		command = "AT*CONFIG=" + SEQ + ",\"general:navdata_demo\",\"TRUE\""
+				+ CR + "AT*FTRIM=" + SEQ;
+		continuance = false;
+	}
+
+	public void disableBootStrap() {
+		command = "AT*CONFIG_IDS=" + SEQ + ",\"" + ARDroneConstants.SESSION_ID
+				+ "\",\"" + ARDroneConstants.PROFILE_ID + "\",\""
+				+ ARDroneConstants.APPLICATION_ID + "\"" + CR;
+	}
+
+	public void sendControlAck() {
+		command = "AT*CTRL=" + SEQ + ",0";
+		continuance = false;
+	}
+
+	public int getSpeed() {
+		return (int) (speed * 100);
+	}
+
+	public void disableAutomaticVideoBitrate() {
+		command = "AT*CONFIG=" + SEQ + ",\"video:bitrate_ctrl_mode\",\"0\"";
+		continuance = false;
+	}
+
+	public void setMaxAltitude(int altitude) {
+		command = "AT*CONFIG=" + SEQ + ",\"control:altitude_max\",\""
+				+ altitude + "\"";
+		continuance = false;
+	}
+
+	public void setMinAltitude(int altitude) {
+		command = "AT*CONFIG=" + SEQ + ",\"control:altitude_min\",\""
+				+ altitude + "\"";
+		continuance = false;
+	}
+
+	/*
+	 * 
+	 */
+	public void move3D(int speedX, int speedY, int speedZ, int speedSpin) {
+		if (speedX > 100)
+			speedX = 100;
+		else if (speedX < -100)
+			speedX = -100;
+		if (speedY > 100)
+			speedY = 100;
+		else if (speedY < -100)
+			speedY = -100;
+		if (speedZ > 100)
+			speedZ = 100;
+		else if (speedZ < -100)
+			speedZ = -100;
+
+		command = "AT*PCMD=" + SEQ + ",1," + intOfFloat(-speedY / 100.0f) + ","
+				+ intOfFloat(-speedX / 100.0f) + ","
+				+ intOfFloat(-speedZ / 100.0f) + ","
+				+ intOfFloat(-speedSpin / 100.0f) + "\r" + "AT*REF=" + SEQ
+				+ ",290718208";
+		continuance = true;
+	}
+
+	@Override
+	public void run() {
+		initializeDrone();
+		while (true) {
+			if (this.command != null) {
+				// sendCommand();
+				sendCommand(this.command);
+				if (!continuance) {
+					command = null;
+				}
+			} else {
+				if (landing) {
+					sendCommand("AT*PCMD=" + SEQ + ",1,0,0,0,0" + CR
+							+ "AT*REF=" + SEQ + ",290717696");
+				} else {
+					sendCommand("AT*PCMD=" + SEQ + ",1,0,0,0,0" + CR
+							+ "AT*REF=" + SEQ + ",290718208");
+				}
+			}
+
+			try {
+				Thread.sleep(20); // < 50ms
+			} catch (InterruptedException e) {
+				e.printStackTrace();
+			}
+
+			if (seq % 5 == 0) { // < 2000ms
+				sendCommand("AT*COMWDG=" + SEQ);
+			}
+
+		}
+	}
+
+	protected abstract void initializeDrone();
+
+	/*
+	 * private void initializeDrone() { sendCommand("AT*CONFIG=" + SEQ +
+	 * ",\"general:navdata_demo\",\"TRUE\"" + CR + "AT*FTRIM=" + SEQ); // 1
+	 * sendCommand("AT*PMODE=" + SEQ + ",2" + CR + "AT*MISC=" + SEQ +
+	 * ",2,20,2000,3000" + CR + "AT*FTRIM=" + SEQ + CR + "AT*REF=" + SEQ +
+	 * ",290717696"); // 2-5 sendCommand("AT*PCMD=" + SEQ + ",1,0,0,0,0" + CR +
+	 * "AT*REF=" + SEQ + ",290717696" + CR + "AT*COMWDG=" + SEQ); // 6-8
+	 * sendCommand("AT*PCMD=" + SEQ + ",1,0,0,0,0" + CR + "AT*REF=" + SEQ +
+	 * ",290717696" + CR + "AT*COMWDG=" + SEQ); // 6-8 sendCommand("AT*FTRIM=" +
+	 * SEQ); //System.out.println("Initialize completed!"); }
+	 */
+
+	/*
+	 * Thank you Dirk !! 
+	 */
+	protected synchronized void sendCommand(String command) {
+		int seqIndex = -1;
+		while ((seqIndex = command.indexOf(SEQ)) != -1)
+			command = command.substring(0, seqIndex) + (seq++)
+					+ command.substring(seqIndex + SEQ.length());
+
+		byte[] buffer = (command + CR).getBytes();
+		//System.out.println(command);
+		DatagramPacket packet = new DatagramPacket(buffer, buffer.length,
+				inetaddr, ARDroneConstants.PORT);
+
+		try {
+			socket.send(packet);
+			 //Thread.sleep(20); // < 50ms
+		} catch (IOException e) {
+			e.printStackTrace();
+		} /*catch (InterruptedException e) {
+			e.printStackTrace();
+		}*/
+	}
+
+	private int intOfFloat(float f) {
+		fb.put(0, f);
+		return ib.get(0);
+	}
+}

src/com/shigeodayo/ardrone/video/BufferedVideoImage.java

@@ -4,7 +4,6 @@ import java.nio.ByteBuffer;
 
 //#region Copyright Notice
 
-//Copyright  2007-2011, PARROT SA, all rights reserved. 
 
 //DISCLAIMER 
 //The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 

src/com/shigeodayo/ardrone/video/ImageSlice.java

 package com.shigeodayo.ardrone.video;
 
-//Copyright © 2007-2011, PARROT SA, all rights reserved. 
+
 
 //DISCLAIMER 
 //The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 
@@ -29,4 +29,4 @@ public class ImageSlice {
 			MacroBlocks[index] = new MacroBlock();
 		}
 	}
-}
\ No newline at end of file
+}

src/com/shigeodayo/ardrone/video/ImageSlice.java~

+package com.shigeodayo.ardrone.video;
+
+//Copyright © 2007-2011, PARROT SA, all rights reserved. 
+
+//DISCLAIMER 
+//The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 
+//and fitness for a particular purpose are disclaimed. In no event shall PARROT and contributors be liable for any direct, indirect, incidental, special, exemplary, or 
+//consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however 
+//caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of the use of this 
+//software, even if advised of the possibility of such damage. 
+
+//Author            : Daniel Schmidt
+//Publishing date   : 2010-01-06 
+//based on work by  : Wilke Jansoone
+
+//Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions
+//are met:
+//- Redistributions of source code must retain the above copyright notice, this list of conditions, the disclaimer and the original author of the source code.
+//- Neither the name of the PixVillage Team, nor the names of its contributors may be used to endorse or promote products derived from this software without 
+//specific prior written permission.
+
+public class ImageSlice {
+	MacroBlock[] MacroBlocks;
+
+	ImageSlice(int macroBlockCount) {
+		MacroBlocks = new MacroBlock[macroBlockCount];
+
+		for (int index = 0; index < macroBlockCount; index++) {
+			MacroBlocks[index] = new MacroBlock();
+		}
+	}
+}
\ No newline at end of file

src/com/shigeodayo/ardrone/video/MacroBlock.java

 package com.shigeodayo.ardrone.video;
 
-//Copyright © 2007-2011, PARROT SA, all rights reserved. 
+
 
 //DISCLAIMER 
 //The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 
@@ -44,4 +44,4 @@ public class MacroBlock {
 	}
 
 	// //#endregion
-}
\ No newline at end of file
+}

src/com/shigeodayo/ardrone/video/MacroBlock.java~

+package com.shigeodayo.ardrone.video;
+
+//Copyright © 2007-2011, PARROT SA, all rights reserved. 
+
+//DISCLAIMER 
+//The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 
+//and fitness for a particular purpose are disclaimed. In no event shall PARROT and contributors be liable for any direct, indirect, incidental, special, exemplary, or 
+//consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however 
+//caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of the use of this 
+//software, even if advised of the possibility of such damage. 
+
+//Author            : Daniel Schmidt
+//Publishing date   : 2010-01-06 
+//based on work by  : Wilke Jansoone
+
+//Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions
+//are met:
+//- Redistributions of source code must retain the above copyright notice, this list of conditions, the disclaimer and the original author of the source code.
+//- Neither the name of the PixVillage Team, nor the names of its contributors may be used to endorse or promote products derived from this software without 
+//specific prior written permission.
+
+public class MacroBlock {
+	// /#//#region ants
+
+	// private int _BlockWidth = 8;
+	// private int _BlockSize = 64;
+
+	// //#endregion
+
+	// //#region Properties
+
+	short[][] DataBlocks;
+
+	// //#endregion
+
+	// //#region ruction
+
+	MacroBlock() {
+		DataBlocks = new short[6][];
+
+		for (int index = 0; index < 6; index++) {
+			DataBlocks[index] = new short[64];
+		}
+	}
+
+	// //#endregion
+}
\ No newline at end of file

src/com/shigeodayo/ardrone/video/PictureFormats.java

 package com.shigeodayo.ardrone.video;
 
-//Copyright © 2007-2011, PARROT SA, all rights reserved. 
+
 
 //DISCLAIMER 
 //The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 

src/com/shigeodayo/ardrone/video/PictureFormats.java~

+package com.shigeodayo.ardrone.video;
+
+
+
+//DISCLAIMER 
+//The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 
+//and fitness for a particular purpose are disclaimed. In no event shall PARROT and contributors be liable for any direct, indirect, incidental, special, exemplary, or 
+//consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however 
+//caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of the use of this 
+//software, even if advised of the possibility of such damage. 
+
+//Author            : Daniel Schmidt
+//Publishing date   : 2010-01-06 
+//based on work by  : Wilke Jansoone
+
+//Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions
+//are met:
+//- Redistributions of source code must retain the above copyright notice, this list of conditions, the disclaimer and the original author of the source code.
+//- Neither the name of the PixVillage Team, nor the names of its contributors may be used to endorse or promote products derived from this software without 
+//specific prior written permission.
+
+public class PictureFormats {
+	// / <summary>
+	// / 176px x 144px
+	// / </summary>
+	public static final int Cif = 1;
+	// / <summary>
+	// / 320px x 240px
+	// / </summary>
+	public static final int Vga = 2;
+}

src/com/shigeodayo/ardrone/video/ReadRawFileImage.java

-//Copyright  2007-2011, PARROT SA, all rights reserved. 
 
 //DISCLAIMER 
 //The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 

src/com/shigeodayo/ardrone/video/ReadRawFileImage.java~

+
+//DISCLAIMER 
+//The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 
+//and fitness for a particular purpose are disclaimed. In no event shall PARROT and contributors be liable for any direct, indirect, incidental, special, exemplary, or 
+//consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however 
+//caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of the use of this 
+//software, even if advised of the possibility of such damage. 
+
+//Author            : Daniel Schmidt
+//Publishing date   : 2010-01-06 
+//based on work by  : Wilke Jansoone
+
+//Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions
+//are met:
+//- Redistributions of source code must retain the above copyright notice, this list of conditions, the disclaimer and the original author of the source code.
+//- Neither the name of the PixVillage Team, nor the names of its contributors may be used to endorse or promote products derived from this software without 
+//  specific prior written permission.
+
+//modified :Shigeo Yoshida, 2011-02-23
+package com.shigeodayo.ardrone.video;
+
+import java.awt.image.BufferedImage;
+import java.io.FileNotFoundException;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+
+public class ReadRawFileImage {
+
+	public ReadRawFileImage() {
+	}
+
+	public BufferedImage readUINT_RGBImage(byte[] rawData)
+			throws FileNotFoundException, IOException {
+		int length = 0;
+		try {
+			byte[] processedData = process(rawData);
+
+			int[] pixelData = new int[processedData.length / 3];
+			int raw, pixel = 0, j = 0;
+			for (int i = 0; i < pixelData.length; i++) {
+				pixel = 0;
+				raw = processedData[j++] & 0xFF;
+				pixel |= (raw << 16);
+				raw = processedData[j++] & 0xFF;
+				pixel |= (raw << 8);
+				raw = processedData[j++] & 0xFF;
+				pixel |= (raw << 0);
+
+				pixelData[i] = pixel;
+			}
+			// System.out.println(pixelData.length);
+			length = pixelData.length;
+
+			if (length == 76800) {
+				BufferedImage image = new BufferedImage(320, 240,
+						BufferedImage.TYPE_INT_RGB);
+
+				image.setRGB(0, 0, 320, 240, pixelData, 0, 320);
+				return image;
+			} else if (length == 25344) {
+				BufferedImage image = new BufferedImage(176, 144,
+						BufferedImage.TYPE_INT_RGB);
+
+				image.setRGB(0, 0, 176, 144, pixelData, 0, 176);
+				return image;
+			}
+			/*
+			 * BufferedImage image = new BufferedImage(640, 480,
+			 * BufferedImage.TYPE_INT_RGB);
+			 * 
+			 * image.setRGB(0, 0, 640, 480, pixelData, 0, 480);
+			 */
+
+		} catch (ArrayIndexOutOfBoundsException e) {
+			e.printStackTrace();
+			// System.out.println(length);
+		}
+		return null;
+	}
+
+	private byte[] process(final byte[] rawData) {
+		final BufferedVideoImage image = new BufferedVideoImage();
+		image.AddImageStream(ByteBuffer.wrap(rawData));
+
+		final uint[] outData = image.getPixelData();
+
+		ByteBuffer buffer = ByteBuffer.allocate(outData.length * 3);
+
+		for (int i = 0; i < outData.length; i++) {
+			int myInt = outData[i].intValue();
+			buffer.put((byte) ((myInt >> 16) & 0xFF));
+			buffer.put((byte) ((myInt >> 8) & 0xFF));
+			buffer.put((byte) (myInt & 0xFF));
+
+		}
+		return buffer.array();
+	}
+}

src/com/shigeodayo/ardrone/video/VideoImage.java

@@ -2,7 +2,6 @@ package com.shigeodayo.ardrone.video;
 
 //#region Copyright Notice
 
-//Copyright  2007-2011, PARROT SA, all rights reserved. 
 
 //DISCLAIMER 
 //The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 

src/com/shigeodayo/ardrone/video/uint.java

@@ -7,7 +7,7 @@ import java.io.DataInputStream;
 import java.nio.ByteBuffer;
 //import java.security.AllPermission;
 
-//Copyright  2007-2011, PARROT SA, all rights reserved. 
+ 
 
 //DISCLAIMER 
 //The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 

src/com/shigeodayo/ardrone/video/uint.java~

+package com.shigeodayo.ardrone.video;
+
+import java.io.ByteArrayInputStream;
+//import java.io.ByteArrayOutputStream;
+import java.io.DataInputStream;
+//import java.io.DataOutputStream;
+import java.nio.ByteBuffer;
+//import java.security.AllPermission;
+
+ 
+
+//DISCLAIMER 
+//The APIs is provided by PARROT and contributors "AS IS" and any express or implied warranties, including, but not limited to, the implied warranties of merchantability 
+//and fitness for a particular purpose are disclaimed. In no event shall PARROT and contributors be liable for any direct, indirect, incidental, special, exemplary, or 
+//consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however 
+//caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of the use of this 
+//software, even if advised of the possibility of such damage. 
+
+//Author            : Daniel Schmidt
+//Publishing date   : 2010-01-06 
+//based on work by  : Wilke Jansoone
+
+//Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions
+//are met:
+//- Redistributions of source code must retain the above copyright notice, this list of conditions, the disclaimer and the original author of the source code.
+//- Neither the name of the PixVillage Team, nor the names of its contributors may be used to endorse or promote products derived from this software without 
+//specific prior written permission.
+
+public class uint {
+
+	public String toString() {
+		return Integer.toString(base2, 2);
+	}
+
+	public uint(int base) {
+		this.base2 = base;
+
+	}
+
+	public uint(uint that) {
+		this.base2 = that.base2;
+	}
+
+	public uint(byte[] bp, int start) {
+		try {
+			byte[] b = new byte[4];
+			b[0] = bp[start + 3];
+			b[1] = bp[start + 2];
+			b[2] = bp[start + 1];
+			b[3] = bp[start + 0];
+
+			ByteArrayInputStream bas = new ByteArrayInputStream(b);
+			DataInputStream din = new DataInputStream(bas);
+
+			this.base2 = din.readInt();
+		} catch (Exception e) {
+			throw new RuntimeException("error creating uint", e);
+		}
+	}
+
+	public uint(ByteBuffer bp, int start) {
+		try {
+			ByteBuffer bb = ByteBuffer.allocate(4);
+			bb.put(bp.array()[start + 3]);
+			bb.put(bp.array()[start + 2]);
+			bb.put(bp.array()[start + 1]);
+			bb.put(bp.array()[start + 0]);
+			bb.flip();
+			this.base2 = bb.getInt();
+		} catch (Exception e) {
+			throw new RuntimeException("error creating uint", e);
+		}
+	}
+
+	private int base2;
+
+	public short times(short i) {
+		return (short) (intValue() * i);
+	}
+
+	public uint shiftRight(int i) {
+		// System.out.println("shiftRight[0] " + base2 + " " + i);
+
+		// String str = Integer.toBinaryString(base);
+		int base = base2;
+		// System.out.println("shiftRight[n][1] " + uint.toBinaryString(base));
+
+		base = base >>> i;
+
+		// System.out.println("shiftRight[n][2] " + uint.toBinaryString(base));
+
+		return new uint(base);
+	}
+
+	public uint shiftLeft(int i) {
+		int base = base2;
+		base <<= i;
+
+		return new uint(base);
+		// return Integer.parseInt(base, 2);
+	}
+
+	public int flipBits() {
+		int base = ~base2;
+
+		return base;
+	}
+
+	public int intValue() {
+		return base2;
+
+	}
+
+	public uint and(int andval) {
+		int retval = base2 & andval;
+		return new uint(retval);
+	}
+
+	public void shiftLeftEquals(int i) {
+		int base = base2;
+
+		base <<= i;
+
+		base2 = base;
+	}
+
+	public void shiftRightEquals(int i) {
+		int base = base2;
+
+		base >>>= i;
+
+		base2 = base;
+	}
+
+	public uint or(uint orval) {
+		int retval = base2 | orval.base2;
+		return new uint(retval);
+	}
+
+}