ilabs-flir 1.0.6 → 2.0.1

package/android/Flir/src/main/java/flir/android/FlirSdkManager.java

@@ -1,581 +1,583 @@
-package flir.android;
-
-import android.content.Context;
-import android.graphics.Bitmap;
-import android.util.Log;
-
-import com.flir.thermalsdk.androidsdk.ThermalSdkAndroid;
-import com.flir.thermalsdk.androidsdk.image.BitmapAndroid;
-import com.flir.thermalsdk.image.ImageBuffer;
-import com.flir.thermalsdk.image.Palette;
-import com.flir.thermalsdk.image.PaletteManager;
-import com.flir.thermalsdk.image.Point;
-import com.flir.thermalsdk.image.ThermalValue;
-import com.flir.thermalsdk.live.Camera;
-import com.flir.thermalsdk.live.CommunicationInterface;
-import com.flir.thermalsdk.live.ConnectParameters;
-import com.flir.thermalsdk.live.Identity;
-import com.flir.thermalsdk.live.connectivity.ConnectionStatusListener;
-import com.flir.thermalsdk.live.discovery.DiscoveredCamera;
-import com.flir.thermalsdk.live.discovery.DiscoveryEventListener;
-import com.flir.thermalsdk.live.discovery.DiscoveryFactory;
-import com.flir.thermalsdk.live.remote.OnReceived;
-import com.flir.thermalsdk.live.streaming.Stream;
-import com.flir.thermalsdk.live.streaming.ThermalStreamer;
-
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
-import java.util.concurrent.Executor;
-import java.util.concurrent.Executors;
-
-/**
- * Simplified FLIR SDK Manager - handles discovery, connection, and streaming
- * No filtering - returns all discovered devices (USB, Network, Emulator)
- */
-public class FlirSdkManager {
-    private static final String TAG = "FlirSdkManager";
-    
-    // Singleton instance
-    private static FlirSdkManager instance;
-    
-    // Core components
-    private final Context context;
-    // Use bounded thread pool to prevent thread explosion during rapid frame processing
-    private final Executor executor = Executors.newFixedThreadPool(2);
-    // Single-threaded executor for frame processing to ensure ordered processing
-    private final Executor frameExecutor = Executors.newSingleThreadExecutor();
-    // Frame processing guard - skip frames if still processing previous one
-    private volatile boolean isProcessingFrame = false;
-    private long lastFrameProcessedMs = 0;
-    private static final long MIN_FRAME_INTERVAL_MS = 50; // Max ~20 FPS frame processing
-    
-    // State
-    private boolean isInitialized = false;
-    private boolean isScanning = false;
-    private Camera camera;
-    private ThermalStreamer streamer;
-    private Stream activeStream;
-    private final List<Identity> discoveredDevices = Collections.synchronizedList(new ArrayList<>());
-    
-    // Listener
-    private Listener listener;
-    
-    /**
-     * Listener interface for SDK events
-     */
-    public interface Listener {
-        void onDeviceFound(Identity identity);
-        void onDeviceListUpdated(List<Identity> devices);
-        void onConnected(Identity identity);
-        void onDisconnected();
-        void onFrame(Bitmap bitmap);
-        void onError(String message);
-    }
-    
-    // Private constructor for singleton
-    private FlirSdkManager(Context context) {
-        this.context = context.getApplicationContext();
-    }
-    
-    /**
-     * Get singleton instance
-     */
-    public static synchronized FlirSdkManager getInstance(Context context) {
-        if (instance == null) {
-            instance = new FlirSdkManager(context);
-        }
-        return instance;
-    }
-    
-    /**
-     * Set listener for SDK events
-     */
-    public void setListener(Listener listener) {
-        this.listener = listener;
-    }
-    
-    /**
-     * Initialize the FLIR Thermal SDK
-     */
-    public void initialize() {
-        if (isInitialized) {
-            Log.d(TAG, "Already initialized");
-            return;
-        }
-        
-        try {
-            ThermalSdkAndroid.init(context);
-            isInitialized = true;
-            Log.d(TAG, "SDK initialized successfully");
-        } catch (Exception e) {
-            Log.e(TAG, "Failed to initialize SDK", e);
-            notifyError("SDK initialization failed: " + e.getMessage());
-        }
-    }
-    
-    /**
-     * Check if SDK is initialized
-     */
-    public boolean isInitialized() {
-        return isInitialized;
-    }
-    
-    /**
-     * Start scanning for all device types (USB, Network, Emulator)
-     * Returns ALL devices - no filtering
-     */
-    public void scan() {
-        if (!isInitialized) {
-            Log.e(TAG, "SDK not initialized");
-            notifyError("SDK not initialized");
-            return;
-        }
-        
-        if (isScanning) {
-            Log.d(TAG, "Already scanning");
-            return;
-        }
-        
-        isScanning = true;
-        discoveredDevices.clear();
-        
-        Log.d(TAG, "Starting discovery for EMULATOR, NETWORK, USB...");
-        
-        try {
-            DiscoveryFactory.getInstance().scan(
-                discoveryListener,
-                CommunicationInterface.EMULATOR,
-                CommunicationInterface.NETWORK,
-                CommunicationInterface.USB
-            );
-        } catch (Exception e) {
-            Log.e(TAG, "Failed to start scan", e);
-            isScanning = false;
-            notifyError("Scan failed: " + e.getMessage());
-        }
-    }
-    
-    /**
-     * Stop scanning for devices
-     */
-    public void stop() {
-        if (!isScanning) {
-            return;
-        }
-        
-        try {
-            DiscoveryFactory.getInstance().stop(
-                CommunicationInterface.EMULATOR,
-                CommunicationInterface.NETWORK,
-                CommunicationInterface.USB
-            );
-        } catch (Exception e) {
-            Log.e(TAG, "Failed to stop scan", e);
-        }
-        
-        isScanning = false;
-        Log.d(TAG, "Discovery stopped");
-    }
-    
-    /**
-     * Get list of discovered devices
-     */
-    public List<Identity> getDiscoveredDevices() {
-        return new ArrayList<>(discoveredDevices);
-    }
-    
-    /**
-     * Connect to a device
-     */
-    public void connect(Identity identity) {
-        if (identity == null) {
-            notifyError("Invalid identity");
-            return;
-        }
-        
-        // Disconnect if already connected
-        if (camera != null) {
-            disconnect();
-        }
-        
-        Log.d(TAG, "Connecting to: " + identity.deviceId);
-        
-        // Run connection on background thread since it's blocking
-        executor.execute(() -> {
-            try {
-                camera = new Camera();
-                camera.connect(identity, connectionStatusListener, new ConnectParameters());
-                
-                Log.d(TAG, "Connected to camera");
-                
-                if (listener != null) {
-                    listener.onConnected(identity);
-                }
-            } catch (Exception e) {
-                Log.e(TAG, "Connection failed", e);
-                camera = null;
-                notifyError("Connection failed: " + e.getMessage());
-            }
-        });
-    }
-    
-    /**
-     * Disconnect from current device
-     */
-    public void disconnect() {
-        stopStream();
-        
-        if (camera != null) {
-            try {
-                camera.disconnect();
-            } catch (Exception e) {
-                Log.e(TAG, "Error disconnecting", e);
-            }
-            camera = null;
-        }
-        
-        if (listener != null) {
-            listener.onDisconnected();
-        }
-        
-        Log.d(TAG, "Disconnected");
-    }
-    
-    /**
-     * Check if connected
-     */
-    public boolean isConnected() {
-        return camera != null;
-    }
-    
-    /**
-     * Start streaming from connected device
-     */
-    public void startStream() {
-        if (camera == null) {
-            notifyError("Not connected");
-            return;
-        }
-        
-        executor.execute(() -> {
-            try {
-                // Get available streams
-                List<Stream> streams = camera.getStreams();
-                if (streams == null || streams.isEmpty()) {
-                    notifyError("No streams available");
-                    return;
-                }
-                
-                // Find thermal stream
-                Stream thermalStream = null;
-                for (Stream stream : streams) {
-                    if (stream.isThermal()) {
-                        thermalStream = stream;
-                        break;
-                    }
-                }
-                
-                if (thermalStream == null) {
-                    thermalStream = streams.get(0);
-                }
-                
-                activeStream = thermalStream;
-                streamer = new ThermalStreamer(thermalStream);
-                
-                // Start receiving frames using OnReceived and OnRemoteError
-                thermalStream.start(
-                    (OnReceived<Void>) v -> {
-                        // FRAME DROP GUARD: Skip frame if still processing previous one
-                        // This prevents thread buildup and ensures smooth frame flow
-                        long now = System.currentTimeMillis();
-                        if (isProcessingFrame || (now - lastFrameProcessedMs < MIN_FRAME_INTERVAL_MS)) {
-                            // Drop frame - processing is behind or too soon since last frame
-                            return;
-                        }
-                        
-                        // Mark processing start before queuing task
-                        isProcessingFrame = true;
-                        
-                        // Use single-threaded frameExecutor to ensure ordered frame processing
-                        frameExecutor.execute(() -> {
-                            try {
-                                if (streamer != null) {
-                                    streamer.update();
-                                    
-                                    // Get ImageBuffer and convert to Bitmap
-                                    ImageBuffer imageBuffer = streamer.getImage();
-                                    if (imageBuffer != null && listener != null) {
-                                        BitmapAndroid bitmapAndroid = BitmapAndroid.createBitmap(imageBuffer);
-                                        Bitmap bitmap = bitmapAndroid.getBitMap();
-                                        if (bitmap != null) {
-                                            listener.onFrame(bitmap);
-                                        }
-                                    }
-                                }
-                            } catch (Exception e) {
-                                Log.e(TAG, "Error processing frame", e);
-                            } finally {
-                                // Reset frame processing guard to allow next frame
-                                lastFrameProcessedMs = System.currentTimeMillis();
-                                isProcessingFrame = false;
-                            }
-                        });
-                    },
-                    error -> {
-                        Log.e(TAG, "Stream error: " + error);
-                        notifyError("Stream error: " + error);
-                    }
-                );
-                
-                Log.d(TAG, "Streaming started");
-                
-            } catch (Exception e) {
-                Log.e(TAG, "Failed to start stream", e);
-                notifyError("Stream failed: " + e.getMessage());
-            }
-        });
-    }
-    
-    /**
-     * Stop streaming
-     */
-    public void stopStream() {
-        if (activeStream != null) {
-            try {
-                activeStream.stop();
-            } catch (Exception e) {
-                Log.e(TAG, "Error stopping stream", e);
-            }
-            activeStream = null;
-        }
-        
-        streamer = null;
-        
-        // Reset frame processing state
-        isProcessingFrame = false;
-        lastFrameProcessedMs = 0;
-        
-        Log.d(TAG, "Streaming stopped");
-    }
-    
-    /**
-     * Get temperature at a specific point in the image
-     * Queries the SDK directly - simple and no locks needed
-     * @param x X coordinate (0 to image width-1)
-     * @param y Y coordinate (0 to image height-1)
-     * @return Temperature in Celsius, or Double.NaN if not available
-     */
-    public double getTemperatureAt(int x, int y) {
-        if (streamer == null) {
-            return Double.NaN;
-        }
-        
-        final double[] result = {Double.NaN};
-        try {
-            streamer.withThermalImage(thermalImage -> {
-                try {
-                    int imgWidth = thermalImage.getWidth();
-                    int imgHeight = thermalImage.getHeight();
-                    
-                    int clampedX = Math.max(0, Math.min(imgWidth - 1, x));
-                    int clampedY = Math.max(0, Math.min(imgHeight - 1, y));
-                    
-                    ThermalValue value = thermalImage.getValueAt(new Point(clampedX, clampedY));
-                    if (value != null) {
-                        result[0] = value.asCelsius().value;
-                    }
-                } catch (Exception e) {
-                    Log.w(TAG, "Error querying temperature", e);
-                }
-            });
-        } catch (Exception e) {
-            Log.w(TAG, "Temperature query failed", e);
-        }
-        
-        return result[0];
-    }
-    
-    /**
-     * Get temperature at normalized coordinates (0.0 to 1.0)
-     * @param normalizedX X coordinate (0.0 to 1.0)
-     * @param normalizedY Y coordinate (0.0 to 1.0)
-     * @return Temperature in Celsius, or Double.NaN if not available
-     */
-    public double getTemperatureAtNormalized(double normalizedX, double normalizedY) {
-        if (streamer == null) {
-            return Double.NaN;
-        }
-        
-        final double[] result = {Double.NaN};
-        try {
-            streamer.withThermalImage(thermalImage -> {
-                try {
-                    int width = thermalImage.getWidth();
-                    int height = thermalImage.getHeight();
-                    
-                    int x = (int) (normalizedX * (width - 1));
-                    int y = (int) (normalizedY * (height - 1));
-                    
-                    x = Math.max(0, Math.min(width - 1, x));
-                    y = Math.max(0, Math.min(height - 1, y));
-                    
-                    ThermalValue value = thermalImage.getValueAt(new Point(x, y));
-                    if (value != null) {
-                        result[0] = value.asCelsius().value;
-                    }
-                } catch (Exception e) {
-                    Log.w(TAG, "Error querying temperature (normalized)", e);
-                }
-            });
-        } catch (Exception e) {
-            Log.w(TAG, "Temperature query failed", e);
-        }
-        
-        return result[0];
-    }
-    
-    /**
-     * Set palette for thermal image rendering
-     */
-    public void setPalette(String paletteName) {
-        if (streamer == null) {
-            Log.w(TAG, "No active streamer");
-            return;
-        }
-        
-        executor.execute(() -> {
-            try {
-                Palette palette = findPalette(paletteName);
-                if (palette != null) {
-                    streamer.withThermalImage(thermalImage -> {
-                        thermalImage.setPalette(palette);
-                    });
-                    Log.d(TAG, "Palette set to: " + paletteName);
-                }
-            } catch (Exception e) {
-                Log.e(TAG, "Error setting palette", e);
-            }
-        });
-    }
-    
-    /**
-     * Get list of available palettes
-     */
-    public List<String> getAvailablePalettes() {
-        List<String> names = new ArrayList<>();
-        try {
-            List<Palette> palettes = PaletteManager.getDefaultPalettes();
-            for (Palette p : palettes) {
-                names.add(p.name);
-            }
-        } catch (Exception e) {
-            Log.e(TAG, "Error getting palettes", e);
-        }
-        return names;
-    }
-    
-    // Find palette by name
-    private Palette findPalette(String name) {
-        try {
-            List<Palette> palettes = PaletteManager.getDefaultPalettes();
-            for (Palette p : palettes) {
-                if (p.name.equalsIgnoreCase(name)) {
-                    return p;
-                }
-            }
-            // Return first if not found
-            if (!palettes.isEmpty()) {
-                return palettes.get(0);
-            }
-        } catch (Exception e) {
-            Log.e(TAG, "Error finding palette", e);
-        }
-        return null;
-    }
-    
-    // Discovery listener - no filtering, returns all devices
-    private final DiscoveryEventListener discoveryListener = new DiscoveryEventListener() {
-        @Override
-        public void onCameraFound(DiscoveredCamera discoveredCamera) {
-            Identity identity = discoveredCamera.getIdentity();
-            Log.d(TAG, "Device found: " + identity.deviceId + 
-                       " type=" + identity.communicationInterface);
-            
-            // Add to list if not already present
-            synchronized (discoveredDevices) {
-                boolean exists = false;
-                for (Identity d : discoveredDevices) {
-                    if (d.deviceId.equals(identity.deviceId)) {
-                        exists = true;
-                        break;
-                    }
-                }
-                if (!exists) {
-                    discoveredDevices.add(identity);
-                }
-            }
-            
-            if (listener != null) {
-                listener.onDeviceFound(identity);
-                listener.onDeviceListUpdated(new ArrayList<>(discoveredDevices));
-            }
-        }
-        
-        @Override
-        public void onCameraLost(Identity identity) {
-            Log.d(TAG, "Device lost: " + identity.deviceId);
-            
-            synchronized (discoveredDevices) {
-                discoveredDevices.removeIf(d -> d.deviceId.equals(identity.deviceId));
-            }
-            
-            if (listener != null) {
-                listener.onDeviceListUpdated(new ArrayList<>(discoveredDevices));
-            }
-        }
-        
-        @Override
-        public void onDiscoveryError(CommunicationInterface iface, ErrorCode error) {
-            Log.e(TAG, "Discovery error: " + iface + " - " + error);
-            notifyError("Discovery error: " + error);
-        }
-        
-        @Override
-        public void onDiscoveryFinished(CommunicationInterface iface) {
-            Log.d(TAG, "Discovery finished for: " + iface);
-        }
-    };
-    
-    // Connection status listener
-    private final ConnectionStatusListener connectionStatusListener = new ConnectionStatusListener() {
-        @Override
-        public void onDisconnected(ErrorCode error) {
-            Log.d(TAG, "Disconnected: " + (error != null ? error : "clean"));
-            camera = null;
-            
-            if (listener != null) {
-                listener.onDisconnected();
-            }
-        }
-    };
-    
-    // Helper to notify errors
-    private void notifyError(String message) {
-        if (listener != null) {
-            listener.onError(message);
-        }
-    }
-    
-    /**
-     * Cleanup resources
-     */
-    public void destroy() {
-        stop();
-        disconnect();
-        discoveredDevices.clear();
-        listener = null;
-        instance = null;
-        Log.d(TAG, "Destroyed");
-    }
-}
+package flir.android;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.util.Log;
+
+import com.flir.thermalsdk.ErrorCode;
+import com.flir.thermalsdk.androidsdk.ThermalSdkAndroid;
+import com.flir.thermalsdk.androidsdk.image.BitmapAndroid;
+import com.flir.thermalsdk.image.ImageBuffer;
+import com.flir.thermalsdk.image.Palette;
+import com.flir.thermalsdk.image.PaletteManager;
+import com.flir.thermalsdk.image.Point;
+import com.flir.thermalsdk.image.ThermalImage;
+import com.flir.thermalsdk.image.ThermalValue;
+import com.flir.thermalsdk.live.Camera;
+import com.flir.thermalsdk.live.CommunicationInterface;
+import com.flir.thermalsdk.live.ConnectParameters;
+import com.flir.thermalsdk.live.Identity;
+import com.flir.thermalsdk.live.connectivity.ConnectionStatusListener;
+import com.flir.thermalsdk.live.discovery.DiscoveredCamera;
+import com.flir.thermalsdk.live.discovery.DiscoveryEventListener;
+import com.flir.thermalsdk.live.discovery.DiscoveryFactory;
+import com.flir.thermalsdk.live.remote.OnReceived;
+import com.flir.thermalsdk.live.streaming.Stream;
+import com.flir.thermalsdk.live.streaming.ThermalStreamer;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+import java.util.concurrent.Executor;
+import java.util.concurrent.Executors;
+
+/**
+ * Simplified FLIR SDK Manager - handles discovery, connection, and streaming
+ * No filtering - returns all discovered devices (USB, Network, Emulator)
+ */
+public class FlirSdkManager {
+    private static final String TAG = "FlirSdkManager";
+    
+    // Singleton instance
+    private static FlirSdkManager instance;
+    
+    // Core components
+    private final Context context;
+    // Use bounded thread pool to prevent thread explosion during rapid frame processing
+    private final Executor executor = Executors.newFixedThreadPool(2);
+    // Single-threaded executor for frame processing to ensure ordered processing
+    private final Executor frameExecutor = Executors.newSingleThreadExecutor();
+    // Frame processing guard - skip frames if still processing previous one
+    private volatile boolean isProcessingFrame = false;
+    private long lastFrameProcessedMs = 0;
+    private static final long MIN_FRAME_INTERVAL_MS = 50; // Max ~20 FPS frame processing
+    
+    // State
+    private boolean isInitialized = false;
+    private boolean isScanning = false;
+    private Camera camera;
+    private ThermalStreamer streamer;
+    private Stream activeStream;
+    private final List<Identity> discoveredDevices = Collections.synchronizedList(new ArrayList<>());
+    
+    // Listener
+    private Listener listener;
+    
+    /**
+     * Listener interface for SDK events
+     */
+    public interface Listener {
+        void onDeviceFound(Identity identity);
+        void onDeviceListUpdated(List<Identity> devices);
+        void onConnected(Identity identity);
+        void onDisconnected();
+        void onFrame(Bitmap bitmap);
+        void onError(String message);
+    }
+    
+    // Private constructor for singleton
+    private FlirSdkManager(Context context) {
+        this.context = context.getApplicationContext();
+    }
+    
+    /**
+     * Get singleton instance
+     */
+    public static synchronized FlirSdkManager getInstance(Context context) {
+        if (instance == null) {
+            instance = new FlirSdkManager(context);
+        }
+        return instance;
+    }
+    
+    /**
+     * Set listener for SDK events
+     */
+    public void setListener(Listener listener) {
+        this.listener = listener;
+    }
+    
+    /**
+     * Initialize the FLIR Thermal SDK
+     */
+    public void initialize() {
+        if (isInitialized) {
+            Log.d(TAG, "Already initialized");
+            return;
+        }
+        
+        try {
+            ThermalSdkAndroid.init(context);
+            isInitialized = true;
+            Log.d(TAG, "SDK initialized successfully");
+        } catch (Exception e) {
+            Log.e(TAG, "Failed to initialize SDK", e);
+            notifyError("SDK initialization failed: " + e.getMessage());
+        }
+    }
+    
+    /**
+     * Check if SDK is initialized
+     */
+    public boolean isInitialized() {
+        return isInitialized;
+    }
+    
+    /**
+     * Start scanning for all device types (USB, Network, Emulator)
+     * Returns ALL devices - no filtering
+     */
+    public void scan() {
+        if (!isInitialized) {
+            Log.e(TAG, "SDK not initialized");
+            notifyError("SDK not initialized");
+            return;
+        }
+        
+        if (isScanning) {
+            Log.d(TAG, "Already scanning");
+            return;
+        }
+        
+        isScanning = true;
+        discoveredDevices.clear();
+        
+        Log.d(TAG, "Starting discovery for EMULATOR, NETWORK, USB...");
+        
+        try {
+            DiscoveryFactory.getInstance().scan(
+                discoveryListener,
+                CommunicationInterface.EMULATOR,
+                CommunicationInterface.NETWORK,
+                CommunicationInterface.USB
+            );
+        } catch (Exception e) {
+            Log.e(TAG, "Failed to start scan", e);
+            isScanning = false;
+            notifyError("Scan failed: " + e.getMessage());
+        }
+    }
+    
+    /**
+     * Stop scanning for devices
+     */
+    public void stop() {
+        if (!isScanning) {
+            return;
+        }
+        
+        try {
+            DiscoveryFactory.getInstance().stop(
+                CommunicationInterface.EMULATOR,
+                CommunicationInterface.NETWORK,
+                CommunicationInterface.USB
+            );
+        } catch (Exception e) {
+            Log.e(TAG, "Failed to stop scan", e);
+        }
+        
+        isScanning = false;
+        Log.d(TAG, "Discovery stopped");
+    }
+    
+    /**
+     * Get list of discovered devices
+     */
+    public List<Identity> getDiscoveredDevices() {
+        return new ArrayList<>(discoveredDevices);
+    }
+    
+    /**
+     * Connect to a device
+     */
+    public void connect(Identity identity) {
+        if (identity == null) {
+            notifyError("Invalid identity");
+            return;
+        }
+        
+        // Disconnect if already connected
+        if (camera != null) {
+            disconnect();
+        }
+        
+        Log.d(TAG, "Connecting to: " + identity.deviceId);
+        
+        // Run connection on background thread since it's blocking
+        executor.execute(() -> {
+            try {
+                camera = new Camera();
+                camera.connect(identity, connectionStatusListener, new ConnectParameters());
+                
+                Log.d(TAG, "Connected to camera");
+                
+                if (listener != null) {
+                    listener.onConnected(identity);
+                }
+            } catch (Exception e) {
+                Log.e(TAG, "Connection failed", e);
+                camera = null;
+                notifyError("Connection failed: " + e.getMessage());
+            }
+        });
+    }
+    
+    /**
+     * Disconnect from current device
+     */
+    public void disconnect() {
+        stopStream();
+        
+        if (camera != null) {
+            try {
+                camera.disconnect();
+            } catch (Exception e) {
+                Log.e(TAG, "Error disconnecting", e);
+            }
+            camera = null;
+        }
+        
+        if (listener != null) {
+            listener.onDisconnected();
+        }
+        
+        Log.d(TAG, "Disconnected");
+    }
+    
+    /**
+     * Check if connected
+     */
+    public boolean isConnected() {
+        return camera != null;
+    }
+    
+    /**
+     * Start streaming from connected device
+     */
+    public void startStream() {
+        if (camera == null) {
+            notifyError("Not connected");
+            return;
+        }
+        
+        executor.execute(() -> {
+            try {
+                // Get available streams
+                List<Stream> streams = camera.getStreams();
+                if (streams == null || streams.isEmpty()) {
+                    notifyError("No streams available");
+                    return;
+                }
+                
+                // Find thermal stream
+                Stream thermalStream = null;
+                for (Stream stream : streams) {
+                    if (stream.isThermal()) {
+                        thermalStream = stream;
+                        break;
+                    }
+                }
+                
+                if (thermalStream == null) {
+                    thermalStream = streams.get(0);
+                }
+                
+                activeStream = thermalStream;
+                streamer = new ThermalStreamer(thermalStream);
+                
+                // Start receiving frames using OnReceived and OnRemoteError
+                thermalStream.start(
+                    (OnReceived<Void>) v -> {
+                        // FRAME DROP GUARD: Skip frame if still processing previous one
+                        // This prevents thread buildup and ensures smooth frame flow
+                        long now = System.currentTimeMillis();
+                        if (isProcessingFrame || (now - lastFrameProcessedMs < MIN_FRAME_INTERVAL_MS)) {
+                            // Drop frame - processing is behind or too soon since last frame
+                            return;
+                        }
+                        
+                        // Mark processing start before queuing task
+                        isProcessingFrame = true;
+                        
+                        // Use single-threaded frameExecutor to ensure ordered frame processing
+                        frameExecutor.execute(() -> {
+                            try {
+                                if (streamer != null) {
+                                    streamer.update();
+                                    
+                                    // Get ImageBuffer and convert to Bitmap
+                                    ImageBuffer imageBuffer = streamer.getImage();
+                                    if (imageBuffer != null && listener != null) {
+                                        BitmapAndroid bitmapAndroid = BitmapAndroid.createBitmap(imageBuffer);
+                                        Bitmap bitmap = bitmapAndroid.getBitMap();
+                                        if (bitmap != null) {
+                                            listener.onFrame(bitmap);
+                                        }
+                                    }
+                                }
+                            } catch (Exception e) {
+                                Log.e(TAG, "Error processing frame", e);
+                            } finally {
+                                // Reset frame processing guard to allow next frame
+                                lastFrameProcessedMs = System.currentTimeMillis();
+                                isProcessingFrame = false;
+                            }
+                        });
+                    },
+                    error -> {
+                        Log.e(TAG, "Stream error: " + error);
+                        notifyError("Stream error: " + error);
+                    }
+                );
+                
+                Log.d(TAG, "Streaming started");
+                
+            } catch (Exception e) {
+                Log.e(TAG, "Failed to start stream", e);
+                notifyError("Stream failed: " + e.getMessage());
+            }
+        });
+    }
+    
+    /**
+     * Stop streaming
+     */
+    public void stopStream() {
+        if (activeStream != null) {
+            try {
+                activeStream.stop();
+            } catch (Exception e) {
+                Log.e(TAG, "Error stopping stream", e);
+            }
+            activeStream = null;
+        }
+        
+        streamer = null;
+        
+        // Reset frame processing state
+        isProcessingFrame = false;
+        lastFrameProcessedMs = 0;
+        
+        Log.d(TAG, "Streaming stopped");
+    }
+    
+    /**
+     * Get temperature at a specific point in the image
+     * Queries the SDK directly - simple and no locks needed
+     * @param x X coordinate (0 to image width-1)
+     * @param y Y coordinate (0 to image height-1)
+     * @return Temperature in Celsius, or Double.NaN if not available
+     */
+    public double getTemperatureAt(int x, int y) {
+        if (streamer == null) {
+            return Double.NaN;
+        }
+        
+        final double[] result = {Double.NaN};
+        try {
+            streamer.withThermalImage(thermalImage -> {
+                try {
+                    int imgWidth = thermalImage.getWidth();
+                    int imgHeight = thermalImage.getHeight();
+                    
+                    int clampedX = Math.max(0, Math.min(imgWidth - 1, x));
+                    int clampedY = Math.max(0, Math.min(imgHeight - 1, y));
+                    
+                    ThermalValue value = thermalImage.getValueAt(new Point(clampedX, clampedY));
+                    if (value != null) {
+                        result[0] = value.asCelsius().value;
+                    }
+                } catch (Exception e) {
+                    Log.w(TAG, "Error querying temperature", e);
+                }
+            });
+        } catch (Exception e) {
+            Log.w(TAG, "Temperature query failed", e);
+        }
+        
+        return result[0];
+    }
+    
+    /**
+     * Get temperature at normalized coordinates (0.0 to 1.0)
+     * @param normalizedX X coordinate (0.0 to 1.0)
+     * @param normalizedY Y coordinate (0.0 to 1.0)
+     * @return Temperature in Celsius, or Double.NaN if not available
+     */
+    public double getTemperatureAtNormalized(double normalizedX, double normalizedY) {
+        if (streamer == null) {
+            return Double.NaN;
+        }
+        
+        final double[] result = {Double.NaN};
+        try {
+            streamer.withThermalImage(thermalImage -> {
+                try {
+                    int width = thermalImage.getWidth();
+                    int height = thermalImage.getHeight();
+                    
+                    int x = (int) (normalizedX * (width - 1));
+                    int y = (int) (normalizedY * (height - 1));
+                    
+                    x = Math.max(0, Math.min(width - 1, x));
+                    y = Math.max(0, Math.min(height - 1, y));
+                    
+                    ThermalValue value = thermalImage.getValueAt(new Point(x, y));
+                    if (value != null) {
+                        result[0] = value.asCelsius().value;
+                    }
+                } catch (Exception e) {
+                    Log.w(TAG, "Error querying temperature (normalized)", e);
+                }
+            });
+        } catch (Exception e) {
+            Log.w(TAG, "Temperature query failed", e);
+        }
+        
+        return result[0];
+    }
+    
+    /**
+     * Set palette for thermal image rendering
+     */
+    public void setPalette(String paletteName) {
+        if (streamer == null) {
+            Log.w(TAG, "No active streamer");
+            return;
+        }
+        
+        executor.execute(() -> {
+            try {
+                Palette palette = findPalette(paletteName);
+                if (palette != null) {
+                    streamer.withThermalImage(thermalImage -> {
+                        thermalImage.setPalette(palette);
+                    });
+                    Log.d(TAG, "Palette set to: " + paletteName);
+                }
+            } catch (Exception e) {
+                Log.e(TAG, "Error setting palette", e);
+            }
+        });
+    }
+    
+    /**
+     * Get list of available palettes
+     */
+    public List<String> getAvailablePalettes() {
+        List<String> names = new ArrayList<>();
+        try {
+            List<Palette> palettes = PaletteManager.getDefaultPalettes();
+            for (Palette p : palettes) {
+                names.add(p.name);
+            }
+        } catch (Exception e) {
+            Log.e(TAG, "Error getting palettes", e);
+        }
+        return names;
+    }
+    
+    // Find palette by name
+    private Palette findPalette(String name) {
+        try {
+            List<Palette> palettes = PaletteManager.getDefaultPalettes();
+            for (Palette p : palettes) {
+                if (p.name.equalsIgnoreCase(name)) {
+                    return p;
+                }
+            }
+            // Return first if not found
+            if (!palettes.isEmpty()) {
+                return palettes.get(0);
+            }
+        } catch (Exception e) {
+            Log.e(TAG, "Error finding palette", e);
+        }
+        return null;
+    }
+    
+    // Discovery listener - no filtering, returns all devices
+    private final DiscoveryEventListener discoveryListener = new DiscoveryEventListener() {
+        @Override
+        public void onCameraFound(DiscoveredCamera discoveredCamera) {
+            Identity identity = discoveredCamera.getIdentity();
+            Log.d(TAG, "Device found: " + identity.deviceId + 
+                       " type=" + identity.communicationInterface);
+            
+            // Add to list if not already present
+            synchronized (discoveredDevices) {
+                boolean exists = false;
+                for (Identity d : discoveredDevices) {
+                    if (d.deviceId.equals(identity.deviceId)) {
+                        exists = true;
+                        break;
+                    }
+                }
+                if (!exists) {
+                    discoveredDevices.add(identity);
+                }
+            }
+            
+            if (listener != null) {
+                listener.onDeviceFound(identity);
+                listener.onDeviceListUpdated(new ArrayList<>(discoveredDevices));
+            }
+        }
+        
+        @Override
+        public void onCameraLost(Identity identity) {
+            Log.d(TAG, "Device lost: " + identity.deviceId);
+            
+            synchronized (discoveredDevices) {
+                discoveredDevices.removeIf(d -> d.deviceId.equals(identity.deviceId));
+            }
+            
+            if (listener != null) {
+                listener.onDeviceListUpdated(new ArrayList<>(discoveredDevices));
+            }
+        }
+        
+        @Override
+        public void onDiscoveryError(CommunicationInterface iface, ErrorCode error) {
+            Log.e(TAG, "Discovery error: " + iface + " - " + error);
+            notifyError("Discovery error: " + error);
+        }
+        
+        @Override
+        public void onDiscoveryFinished(CommunicationInterface iface) {
+            Log.d(TAG, "Discovery finished for: " + iface);
+        }
+    };
+    
+    // Connection status listener
+    private final ConnectionStatusListener connectionStatusListener = new ConnectionStatusListener() {
+        @Override
+        public void onDisconnected(ErrorCode error) {
+            Log.d(TAG, "Disconnected: " + (error != null ? error : "clean"));
+            camera = null;
+            
+            if (listener != null) {
+                listener.onDisconnected();
+            }
+        }
+    };
+    
+    // Helper to notify errors
+    private void notifyError(String message) {
+        if (listener != null) {
+            listener.onError(message);
+        }
+    }
+    
+    /**
+     * Cleanup resources
+     */
+    public void destroy() {
+        stop();
+        disconnect();
+        discoveredDevices.clear();
+        listener = null;
+        instance = null;
+        Log.d(TAG, "Destroyed");
+    }
+}