/ - Diff - Colony - Robotics Club

Revision 407

cleaned up old files; fixed thread bug when connecting to colonet server

     <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
        "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
     <html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en">
     <head>
     	<title>Colony Control Applet - Carnegie Mellon Robotics Club</title>
     	<meta http-equiv="content-type" content="text/html; charset=UTF-8" />
     	<link rel="stylesheet" type="text/css" href="colonetstyle.css" />
     </head>
     <body>
     <div class="top">
     	<h1>Colonet</h1>
     	<p>Carnegie Mellon Robotics Club: Colony Project</p>
     	<img src="http://roboclub8.frc.ri.cmu.edu/mainwiki/roboclublogo.png" height="125px" width="110px" />
     </div>
     <div class="app">
     	<p>
     	<object
     		classid = "java:SimpleColonet.class"
     		type = "application/x-java-applet"
     		width = "900"
     		height = "600"
     		align = "bottom"
     		codebase = "http://roboclub1.frc.ri.cmu.edu/gui/"
     		name = "SimpleColonet"
     		title = "SimpleColonet" >
     		<param name = "code" value = "SimpleColonet.class" />
     	</object>
     	<br />
     	</p>
     </div>
     <div class="bottom">
     	<p><b>Colony Project Home page:</b><br />
     	<a href="http://www.robotcolony.org/">www.robotcolony.org</a></p>
     	<p><b>Colonet Developers:</b><br />
     	Gregory Tress, Eugene Edward Marinelli III, Jason Knichel, Suresh Nidhiry</p>
     	<p><b>Validator:</b><br />
     	<a href="http://validator.w3.org/check?uri=referer">
     	<img src="http://www.w3.org/Icons/valid-xhtml10-blue"
     		 alt="Valid XHTML 1.0 Transitional"
     		 height="31"
     		 width="88"
     		 border="0"
     		 />
     	</a>
     	<a href="http://jigsaw.w3.org/css-validator/validator?uri=http://roboclub1.frc.ri.cmu.edu/ColonetGUI/colonetstyle.css">
       	<img style="border:0;width:88px;height:31px"
            src="http://www.w3.org/Icons/valid-css-blue"
            alt="Valid CSS!" />
     	</a><br />
     	</p>
     </div>
     </body>
     </html>

     /*
     	BotGraph.java
     	Colony Project
     	Gregory Tress
     */
     import javax.swing.*;
     import java.awt.*;
     import java.awt.image.*;
     import java.awt.event.*;
     import java.net.*;
     import java.io.*;
     import java.util.Random;
     public class BotGraph extends JApplet implements ActionListener, MouseListener, Runnable
+    {
     	final int CANVAS_SIZE = 550;  //don't make this too large, or the applet will be slow.
     	final int BUFFER = 50;
     	final int RADIUS = 30;
     	JTextField txtHost;
     	JTextField txtPort;
     	JButton btnConnect;
     	JButton btnGraph;
     	JButton btnRandomize;
     	JLabel lblNumRobots;
     	JLabel lblHasToken;
     	JLabel lblTokenPasses;
     	JLabel lblConnectionStatus;
     	JTextArea txtInput;  //sample matrix is entered in this area
     	JTextArea txtInfo;
     	JPanel panel;
     	JPanel panelConnect;
     	JPanel panelControl;
     	JPanel panelStats;
     	GraphicsConfiguration gc;
     	volatile BufferedImage image;
     	volatile Graphics2D canvas;
     	int cx, cy;
     	Socket socket;
     	OutputStreamWriter out;			//TODO: add a BufferedWriter
     	DataListener datalistener;
     	Font botFont;
     	Random random = new Random();
     	volatile int tokenLoc;  //the token is currently here
     	volatile int numBots;
     	volatile int selectedBot;  //the user has selected this bot
     	volatile Rectangle[] botRect;  //contains boundary shapes around bots for click detection
     	Thread drawThread;
     	SelectionIndicator indicator;
     	Simulator simulator;
     	PacketMonitor packetMonitor;
     	public void init ()
+    	{
     		// We should invoke and wait to avoid browser display difficulties
     		Runnable r = new Runnable() {
     			public void run() {
     				createAndShowGUI();
+    			}
     		};
     		try {
     			SwingUtilities.invokeAndWait(r);
     		} catch (InterruptedException e) {
     			//Not really sure why we would be in this situation
     			System.out.println(e);
     		} catch (java.lang.reflect.InvocationTargetException e) {
     			//This should never happen. Seriously.
     			System.out.println(e);
+    		}
+    	}
     	public void destroy ()
+    	{
     		drawThread.interrupt();
     		indicator.interrupt();
     		simulator.interrupt();
     		packetMonitor.interrupt();
+    	}
     	private synchronized void createAndShowGUI ()
+    	{
     		// init graphical elements
     		panel = new JPanel(false);  //set automatic double-buffering to false. we are doing it manually.
     		// Set up connection area
     		txtHost = new JTextField("roboclub1.frc.ri.cmu.edu");
     		txtPort = new JTextField("10123");
     		btnConnect = new JButton("Connect");
     		lblConnectionStatus = new JLabel("Status: Offline");
     		panelConnect = new JPanel();
     		panelConnect.setLayout(new GridLayout(2,3));
     		panelConnect.add(new JLabel("Host"));
     		panelConnect.add(new JLabel("Port"));
     		panelConnect.add(lblConnectionStatus);
     		panelConnect.add(txtHost);
     		panelConnect.add(txtPort);
     		panelConnect.add(btnConnect);
     		panelConnect.setBorder(BorderFactory.createTitledBorder("Connection"));
     		// Set up elements in the east
     		panelControl = new JPanel();
     		panelControl.setLayout(new GridLayout(5,1));
     		lblNumRobots = new JLabel();
     		lblHasToken = new JLabel();
     		lblTokenPasses = new JLabel();
     		panelStats = new JPanel();
     		panelStats.setLayout(new GridLayout(3,2));
     		panelStats.add(new JLabel("Number of Bots  "));
     		panelStats.add(lblNumRobots);
     		panelStats.add(new JLabel("Token At  "));
     		panelStats.add(lblHasToken);
     		panelStats.add(new JLabel("Token Passes / sec     "));
     		panelStats.add(lblTokenPasses);
     		txtInput = new JTextArea("- 9 3 - 1\n- - - 5 -\n4 - - - 2\n- - - - -\n1 - - 3 -");
     		txtInput.setBorder(BorderFactory.createTitledBorder("Input Matrix"));
     		txtInfo = new JTextArea();
     		txtInfo.setBorder(BorderFactory.createTitledBorder("Info"));
     		txtInfo.setEditable(false);
     		btnGraph = new JButton("Run");
     		btnRandomize = new JButton("Randomize");
     		panelControl.add(panelStats);
     		panelControl.add(txtInput);
     		panelControl.add(txtInfo);
     		panelControl.add(btnRandomize);
     		panelControl.add(btnGraph);
     		this.getContentPane().setLayout(new BorderLayout());
     		this.getContentPane().add(panelConnect, BorderLayout.NORTH);
     		this.getContentPane().add(panelControl, BorderLayout.EAST);
     		this.getContentPane().add(panel, BorderLayout.CENTER);
     		this.setVisible(true);
     		btnGraph.addActionListener(this);
     		btnRandomize.addActionListener(this);
     		btnConnect.addActionListener(this);
     		panel.addMouseListener(this);
     		// Get the graphics configuration of the screen to create a buffer
     		gc = GraphicsEnvironment.getLocalGraphicsEnvironment()
     			.getDefaultScreenDevice().getDefaultConfiguration();
     		image = gc.createCompatibleImage(CANVAS_SIZE,CANVAS_SIZE);
     		canvas = image.createGraphics();
     		canvas.setStroke(new BasicStroke(2));  //set pen width
     		// Calculate center of canvas
     		cx = image.getWidth() / 2;
     		cy = image.getHeight() / 2;
     		botFont = new Font("Arial", Font.PLAIN, 30);
     		tokenLoc = 0;
     		numBots = 0;
     		selectedBot = 0;
     		// Set up dependent threads
     		indicator = new SelectionIndicator(canvas);
     		indicator.setRadius(RADIUS+3, 15);  //a tad more than the bot radius
     		simulator = new Simulator();
     		packetMonitor = new PacketMonitor();
     		datalistener = new DataListener();
+    	}
     	public synchronized void paint (Graphics g)
+    	{
     		/*	First, redraw the graphical components in the applet.
     			This paint method overrides the built-in paint of the
     			JApplet, and we don't want to deal with redrawing the
     			components manually. Fuck that shit. */
     		super.paint(g);
     		// Place the buffered image on the screen, inside the panel
     		panel.getGraphics().drawImage(image, 0, 0, Color.WHITE, this);
+    	}
     	public synchronized void update (Graphics g)
+    	{
     		paint(g);
+    	}
     	public void actionPerformed (ActionEvent e)
+    	{
     		Object source = e.getSource();
     		if (source == btnGraph)
+    		{
     			btnGraph.setEnabled(false);
     			lblConnectionStatus.setText("Status: Simulation mode => running");
     			//Start dependent threads
     			drawThread = new Thread(this, "drawThread");
     			drawThread.start();
     			indicator.start();
     			simulator.start();
     			packetMonitor.start();
+    		}
     		else if (source == btnConnect)
+    		{
     			doSocket();
+    		}
     		else if (source == btnRandomize)
+    		{
     			randomize();
+    		}
+    	}
     	private void randomize ()
+    	{
     		Random r = new Random();
     		StringBuilder s = new StringBuilder();
     		int count = r.nextInt(8) + 1;
     		for (int i = 0; i < count; i++)
+    		{
     			for (int j = 0; j < count; j++)
+    			{
     				if (r.nextBoolean())
     					s.append("" + (r.nextInt(16) + 1));
     				else
     					s.append("-");
     				if (j != count-1)
     					s.append(" ");
+    			}
     			if (i != count-1) s.append("\n");
+    		}
     		txtInput.setText(s.toString());
+    	}
     	private void doSocket ()
+    	{
     		//make sure hostname and port are valid
     		if (txtHost.getText().equals("") || txtPort.getText().equals("")) {
     			err("Please enter a hostname and port.");
     			return;
+    		}
     		int port = 0;
     		try {
     			port = Integer.parseInt(txtPort.getText());
     		} catch (Exception e) {
     			err("Invalid port");
     			return;
+    		}
     		//make sure we aren't already connected. if so, disconnect first.
     		if (socket != null && socket.isConnected()) {
     			try {
     				out.close();
     				socket.close();
     			} catch (IOException e) {}
+    		}
     		try {
     			socket = new Socket(txtHost.getText(), port);
     		} catch (UnknownHostException e) {
     			err("Unknown Host Exception");
     			return;
     		} catch (IOException e) {
     			err("IO Exception\n\n" + e);
     			return;
     		} catch (java.security.AccessControlException e) {
     			err("Permission denied by java.security.AccessControlException.\n\nYou may only connect to the server from which this applet was loaded.");
     			return;
+    		}
     		if (socket == null || !socket.isConnected()) {
     			err("Connection failed. Try connecting again.");
     			return;
+    		}
     		msg("Connected to " + txtHost.getText() + " on port " + port + "\n");
     		lblConnectionStatus.setText("Status: ONLINE");
     		try {
     			out = new OutputStreamWriter(socket.getOutputStream());
     		} catch (IOException e) {
     			warn("Could not get OutputStream from socket connection.");
+    		}
+    	}
     	public void drawRobot (int id, int x, int y)
+    	{
     		//save the bot in memory, so we can tell if we click on it later
     		botRect[id] = new Rectangle(x-RADIUS, y-RADIUS, 2*RADIUS, 2*RADIUS);
     		//draw the bot on the canvas
     		canvas.setColor(Color.BLACK);
     		canvas.drawOval(x-RADIUS, y-RADIUS, RADIUS*2, RADIUS*2);
     		//draw the label
     		canvas.setFont(botFont);
     		canvas.drawString("" + id, x-10, y+10);
+    	}
     	public void drawConnection (int start, int end, int radius, Color color)
+    	{
     		final int ARROW_LENGTH = 18;
     		double angle = 2.0 * Math.PI / numBots;
     		int startx, starty, endx, endy;
     		startx = cx - (int)(radius * Math.cos(start * angle));
     		starty = cy - (int)(radius * Math.sin(start * angle));
     		endx = cx - (int)(radius * Math.cos(end * angle));
     		endy = cy - (int)(radius * Math.sin(end * angle));
     		canvas.setColor(color);
     		canvas.drawLine(startx, starty, endx, endy);
     		//create arrow
     		if (color.equals(Color.BLACK)) return;
     		int big_dy = starty - endy;
     		int big_dx = endx - startx;
     		double theta = 0;
     		if (big_dx == 0 && starty > endy) //pointing up
     			theta = Math.PI/2;
     		else if (big_dx == 0 && starty < endy) //pointing down
     			theta = 3*Math.PI/2;
     		else if (big_dy == 0 && startx > endx) //pointing left
     			theta = Math.PI;
     		else if (big_dy == 0 && startx < endx) //pointing right
     			theta = 0;
     		else
     			theta = Math.atan(1.0 * big_dy / big_dx);
     		//create ploygon
     		Polygon poly = new Polygon();
     		int dx_arrow = Math.abs((int)(ARROW_LENGTH * Math.cos(theta)));
     		int dy_arrow = Math.abs((int)(ARROW_LENGTH * Math.sin(theta)));
     		int dy_half = (int)(ARROW_LENGTH/2 * Math.cos(theta));
     		int dx_half = (int)(ARROW_LENGTH/2 * Math.sin(theta));
     		int rx = (big_dx > 0) ? endx - dx_arrow : endx + dx_arrow;
     		int ry = (big_dy > 0) ? endy + dy_arrow : endy - dy_arrow;
     		//System.out.println("" + start + "->" + end + " : dx=" + big_dx + ",dy=" + big_dy + ",dy_arrow=" + dy_arrow + ",dx_arrow=" + dx_arrow + ",theta=" + theta + ",endx=" + endx + ",endy=" + endy + ",rx=" + rx + ",ry=" + ry);
     		poly.addPoint(endx, endy);
     		poly.addPoint(rx - dx_half, ry - dy_half);
     		poly.addPoint(rx + dx_half, ry + dy_half);
     		canvas.fillPolygon(poly);
+    	}
     	public void run ()
+    	{
     		while (true)
+    		{
     			step();
     			repaint();
     			try { Thread.sleep(90); }
     				catch (InterruptedException e) { return; }
+    		}
+    	}
     	public void step ()
+    	{
     		final int DIAMETER = image.getWidth() - 2*BUFFER;
     		final int BIGRADIUS = DIAMETER / 2;
     		final int TOKENRADIUS = 40;
     		boolean valid;
     		// clear image
     		canvas.setColor(Color.WHITE);
     		canvas.fillRect(0, 0, image.getWidth(), image.getHeight());
     		// parse the matrix, to see what robots exist
     		String [] rows = txtInput.getText().split("\n");
     		numBots = rows.length;
     		String [][] entries = new String[numBots][numBots];
     		valid = true;
     		for (int i = 0; i < numBots; i++)
+    		{
     			entries[i] = rows[i].split(" ");
     			if (entries[i].length != rows.length) valid = false;
+    		}
     		if (valid)
+    		{
     			lblNumRobots.setText("" + numBots);
     			lblHasToken.setText("" + tokenLoc);
     			this.showStatus("Matrix OK");
     			// draw outer ring
     			//canvas.setColor(Color.GREEN);
     			//canvas.drawOval(BUFFER, BUFFER, DIAMETER, DIAMETER);
     			// draw robots and find which one is seleced
     			double angle = 2.0 * Math.PI / numBots;
     			canvas.setColor(Color.BLACK);
     			botRect = new Rectangle[numBots];
     			int x, y;
     			if (selectedBot >= numBots) selectedBot = 0;
     			for (int i = 0; i < numBots; i++)
+    			{
     				x = cx - (int)(BIGRADIUS * Math.cos(i * angle));
     				y = cy - (int)(BIGRADIUS * Math.sin(i * angle));
     				drawRobot(i, x, y);
     				if (i == selectedBot) indicator.setCenter(x, y);
+    			}
     			// draw token marker
     			int tokenx, tokeny;
     			int tokenNum = tokenLoc;
     			tokenx = cx - (int)(BIGRADIUS * Math.cos(tokenNum * angle));
     			tokeny = cy - (int)(BIGRADIUS * Math.sin(tokenNum * angle));
     			canvas.setColor(Color.RED);
     			canvas.drawOval(tokenx-TOKENRADIUS, tokeny-TOKENRADIUS, 2*TOKENRADIUS, 2*TOKENRADIUS);
     			// create an inner circle along which the connections are made.
     			// let the diameter of this circle be 2*RADIUS less than the outerDiameter.
     			// see what connections exist
     			for (int row = 0; row < numBots; row++)
+    			{
     				for(int col = 0; col < numBots; col++)
+    				{
     					if (! entries[row][col].equals("-") && entries[col][row].equals("-") && row != col) //one-way
+    					{
     						//drawConnection(row, col, BIGRADIUS-RADIUS, Color.GRAY);
     						drawConnection(row, col, BIGRADIUS-RADIUS, new Color(200,200,200));
+    					}
     					else if (! entries[row][col].equals("-") && ! entries[col][row].equals("-") && row != col) //two-way
+    					{
     						drawConnection(row, col, BIGRADIUS-RADIUS, Color.BLACK);
+    					}
+    				}
+    			}
     			// draw the selection indicator
     			indicator.draw();
     			txtInfo.setText("Bot " + selectedBot + " is selected.\n");
     			txtInfo.append("Battery: ???\n");
     			txtInfo.append("Packet statistics: ???");
+    		}
     		else // if matrix is not valid
+    		{
     			this.showStatus("Error: Invalid matrix");
+    		}
+    	}
     	/*	At this point, moveToken is only called by the simulator.
     	*	In the future, it can be rewritten to account for non-standard
     	*	token passing or deleted if the information can be retrieved
     	*	directly from the Colonet server instead.
     	*/
     	public void moveToken ()
+    	{
     		try { tokenLoc = (tokenLoc+1)%numBots; }
     			catch (ArithmeticException e) { }  // in case numRobots is zero
     		packetMonitor.addTokenPass();
+    	}
     	//
     	// MouseEvent methods
     	//
     	public void mouseExited(MouseEvent e) {}
     	public void mouseEntered(MouseEvent e) {}
     	public void mouseReleased(MouseEvent e) {}
     	public void mouseClicked(MouseEvent e) {}
     	public void mousePressed(MouseEvent e)
+    	{
     		try {
     			for (int i = 0; i < numBots; i++)
+    			{
     				if (botRect[i].contains(e.getPoint()))
     					selectedBot = i;
+    			}
     		} catch (Exception ex) {
     			System.out.println(e);
+    		}
+    	}
     	private void msg (String text) {JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.INFORMATION_MESSAGE);}
     	private void warn (String text) {JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.WARNING_MESSAGE);}
     	private void err (String text) {JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.ERROR_MESSAGE);}
     	/*
     	*	SelectionIndicator thread.
     	*	Graphical representation of the selection marker
+    	*
     	*	step() and draw() are synchronized methods. step() is private and
     	*	used to update the position of the crosshairs. draw() is called
     	*	externally and should only run if all calculations in step() have
     	*	been completed.
     	*/
     	private class SelectionIndicator extends Thread
+    	{
     		final int INDICATOR_DELAY = 100;
     		final double DTHETA = 0.3;    //larger values make the marker rotate faster
     		Graphics2D g;   //canvas to draw on
     		boolean running;
     		int sx, sy;		//center
     		int r, dr;		//radius and width of marker
     		double theta;   //current angle
     		volatile Polygon poly1, poly2, poly3, poly4;
     		int px1, py1;
     		int rx1, ry1;
     		int px2, py2;
     		int rx2, ry2;
     		int px3, py3;
     		int rx3, ry3;
     		int px4, py4;
     		int rx4, ry4;
     		int steps;
     		public SelectionIndicator (Graphics2D g)
+    		{
     			super("SelectionIndicator");
     			this.g = g;
     			running = false;
     			steps = 0;
     			theta = 0;
     			rx1 = 0; ry1 = 0;
     			px1 = 0; py1 = 0;
     			rx2 = 0; ry2 = 0;
     			px2 = 0; py2 = 0;
     			rx3 = 0; ry3 = 0;
     			px3 = 0; py3 = 0;
     			rx4 = 0; ry4 = 0;
     			px4 = 0; py4 = 0;
+    		}
     		public synchronized void setCenter (int sx, int sy)
+    		{
     			if (sx == this.sx && sy == this.sy) return;
     			this.sx = sx;
     			this.sy = sy;
     			steps = 0;
+    		}
     		public synchronized void setRadius (int r, int dr)
+    		{
     			this.r = r;
     			this.dr = dr;
     			steps = 0;
+    		}
     		public void run ()
+    		{
     			running = true;
     			while (running)
+    			{
     				step();
     				try { Thread.sleep(INDICATOR_DELAY); }
     					catch (InterruptedException e) {  running = false; return; }
+    			}
+    		}
     		private synchronized void step ()
+    		{
     			Polygon poly1_new = new Polygon();
     			Polygon poly2_new = new Polygon();
     			Polygon poly3_new = new Polygon();
     			Polygon poly4_new = new Polygon();
     			//the step
     			theta = (theta + DTHETA/Math.PI) % (Math.PI);
     			//the calculation
     			//let p be the point of the pointy thing toward the center
     			//let r be the point at the opposite side
     			//recalculate radius, if it will look cool, lolz
     			int newr = r;
     			if (steps < 100) newr = (int)( r + 200/(steps+1) );
     			//precompute values for dx and dy
     			int dx_inner = (int)(newr * Math.cos(theta));
     			int dy_inner = (int)(newr * Math.sin(theta));
     			int dx_outer = (int)((newr+dr) * Math.cos(theta));
     			int dy_outer = (int)((newr+dr) * Math.sin(theta));
     			//calculate polygon constants
     			int dy_poly = (int)(dr/2 * Math.cos(theta));
     			int dx_poly = (int)(dr/2 * Math.sin(theta));
     			//determine critical points
     			px1 = sx + dx_inner;
     			py1 = sy - dy_inner;
     			rx1 = sx + dx_outer;
     			ry1 = sy - dy_outer;
     			px2 = sx - dx_inner;
     			py2 = sy + dy_inner;
     			rx2 = sx - dx_outer;
     			ry2 = sy + dy_outer;
     			px3 = sx - dy_inner;
     			py3 = sy - dx_inner;
     			rx3 = sx - dy_outer;
     			ry3 = sy - dx_outer;
     			px4 = sx + dy_inner;
     			py4 = sy + dx_inner;
     			rx4 = sx + dy_outer;
     			ry4 = sy + dx_outer;
     			//create polygons
     			poly1_new.addPoint(px1, py1);
     			poly1_new.addPoint(rx1+dx_poly, ry1+dy_poly);
     			poly1_new.addPoint(rx1-dx_poly, ry1-dy_poly);
     			poly2_new.addPoint(px2, py2);
     			poly2_new.addPoint(rx2+dx_poly, ry2+dy_poly);
     			poly2_new.addPoint(rx2-dx_poly, ry2-dy_poly);
     			poly3_new.addPoint(px3, py3);
     			poly3_new.addPoint(rx3-dy_poly, ry3+dx_poly);
     			poly3_new.addPoint(rx3+dy_poly, ry3-dx_poly);
     			poly4_new.addPoint(px4, py4);
     			poly4_new.addPoint(rx4-dy_poly, ry4+dx_poly);
     			poly4_new.addPoint(rx4+dy_poly, ry4-dx_poly);
     			//reassign updated polygons
     			poly1 = poly1_new;
     			poly2 = poly2_new;
     			poly3 = poly3_new;
     			poly4 = poly4_new;
     			if (steps < 300) steps++;
+    		}
     		public synchronized void draw ()
+    		{
     			if (!running) return;
     			g.setColor(Color.GRAY);
     			//draw polygons
     			g.fillPolygon(poly1);
     			g.fillPolygon(poly2);
     			g.fillPolygon(poly3);
     			g.fillPolygon(poly4);
+    		}
+    	}
     	/*
     	*	Simulator thread.
+    	*
     	*/
     	private class Simulator extends Thread
+    	{
     		final int SIMULATOR_DELAY = 300;
     		boolean running;
     		public Simulator ()
+    		{
     			super("Simulator");
     			running = false;
+    		}
     		public void run ()
+    		{
     			running = true;
     			while (running)
+    			{
     				step();
     				try { Thread.sleep(SIMULATOR_DELAY); }
     					catch (InterruptedException e) { running = false; return; }
+    			}
+    		}
     		private void step ()
+    		{
     			// simulate passing the token
     			moveToken();
+    		}
+    	}
     	/*
     	*	PacketMonitor thread.
+    	*
     	*	Currently, this counts the rate of token passes but will eventually
     	*	be modified to keep more important statistics.
     	*/
     	private class PacketMonitor extends Thread
+    	{
     		final int PACKETMONITOR_DELAY = 1000;
     		boolean running;
     		int tokenPasses;
     		public PacketMonitor ()
+    		{
     			super("PacketMonitor");
     			running = false;
     			tokenPasses = 0;
+    		}
     		public void run ()
+    		{
     			running = true;
     			while (running)
+    			{
     				displayTokenPasses();
     				try { Thread.sleep(PACKETMONITOR_DELAY); }
     					catch (InterruptedException e) { running = false; return; }
+    			}
+    		}
     		public synchronized void addTokenPass ()
+    		{
     			tokenPasses++;
+    		}
     		public synchronized void displayTokenPasses ()
+    		{
     			lblTokenPasses.setText("" + tokenPasses);
     			tokenPasses = 0;
+    		}
+    	}
     	/*
     	*	DataListener thread.
+    	*
     	*/
     	class DataListener extends Thread
+    	{
     		final int DATALISTENER_DELAY = 1000;
     		BufferedReader reader;
     		public DataListener ()
+    		{
     			super("Colonet DataListener");
+    		}
     		public void run ()
+    		{
     			String line;
     			try {
     				reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
     			} catch (IOException e) {
     				warn("Could not open input stream from socket.\nTry relooding the applet.");
+    			}
     			while (true)
+    			{
     				try {
     					if (reader.ready())
+    					{
     						line = reader.readLine();
     						if (line != null)
+    						{
     							msg("Incoming data: [" + line + "]");
+    						}
+    					}
     					Thread.sleep(DATALISTENER_DELAY);
     				} catch (InterruptedException e) {
     					return;
     				} catch (IOException e) {
     					warn("IOException while reading incoming data.");
+    				}
+    			}
+    		}
+    	}
     	/*
     	*	Matrix class
     	*	holds current sensor matrix data
     	*/
     	/*
     	private class Matrix
+    	{
     		int [][] grid;
     		public Matrix ()
+    		{
     			grid = new int[1][1];
+    		}
     		public String toString ()
+    		{
     			StringBuilder s = new StringBuilder();
     			for (int j = 0; j < grid.length; j++)
+    			{
     				for (int i = 0; i < grid[0].length; i++)
     					s.append(grid[i][j]);
     				if (j < grid.length-1) s.append("\n");
+    			}
     			return s.toString();
+    		}
+    	}
     	*/
+    }

     import java.awt.*;
     import java.awt.event.*;
     import java.applet.*;
     import javax.swing.*;
     import javax.swing.event.*;
     import java.net.*;
     import java.io.*;
     /**
      *		Colonet: The Colony Control Applet.
      *		This applet provides a graphical control mechanism for the robot colony designed
      *		for web deployment.
+     *
      *		@author Gregory Tress
      *		@version 0.1
+     *
      */
     public class SimpleColonet extends JApplet implements ActionListener, KeyListener, ChangeListener
+    {
     	/*
     	*   Graphical Applet Elements
     	*/
     	ColonetServerInterface csi;
     	DataListener datalistener;
     	// panelTop contains stuff on top
     	JPanel panelTop;
     	JPanel panelConnect;
     	JTextField txtHost;
     	JTextField txtPort;
     	JButton btnConnect;
     	// panelMove contains directional buttons for controlling the robot
     	JPanel panelMove;
     	JButton btnF, btnB, btnL, btnR, btnActivate;
     	boolean isMoving;
     	// panelCommands contains
     	JPanel panelCommands;
     	JButton btnClearLog;
     	JButton btnBuzzerOn;
     	JButton btnBuzzerOff;
     	JButton btnRequestBattery;
     	JButton btnChangeOrbColor;
     	JButton btnGetSensorData;
     	JComboBox cmbRobotNumber;
     	String robotNumber;
     	JColorChooser chooser;
     	JPanel panelChooser;
     	JPanel panelBottom;
     	JTextArea log;
     	JScrollPane spLog;
     	JPanel panelWebcam;
     	WebcamLoader webcamLoader;
     	boolean destroyed = false;
     	/**
     	 * Sets up user control elements.
     	 * Specifies layout for all GUI elements,
     	 * attaches all ActionListeners, KeyListeners, and ChangeListeners, and
     	 * creates threads for loading webcam image and listening for incoming data.
+    	 *
     	 */
     	public void init () {
     		Container content = getContentPane();
     		content.setLayout(new GridLayout(2,1));
     		txtHost = new JTextField();
     		txtPort = new JTextField();
     		btnConnect = new JButton("Connect");
     		panelConnect = new JPanel();
     		panelConnect.setLayout(new GridLayout(2,3));
     		panelConnect.add(new JLabel("Host"));
     		panelConnect.add(new JLabel("Port"));
     		panelConnect.add(new JLabel(" "));
     		panelConnect.add(txtHost);
     		panelConnect.add(txtPort);
     		panelConnect.add(btnConnect);
     		panelConnect.setBorder(BorderFactory.createTitledBorder("Connection"));
     		btnF = new JButton("Forward");
     		btnB = new JButton("Back");
     		btnL = new JButton("Left");
     		btnR = new JButton("Right");
     		btnActivate = new JButton("On/Stop");
     		panelMove = new JPanel();
     		panelMove.setLayout(new GridLayout(3,3));
     		panelMove.add(new JLabel(""));
     		panelMove.add(btnF);
     		panelMove.add(new JLabel(""));
     		panelMove.add(btnL);
     		panelMove.add(btnActivate);
     		panelMove.add(btnR);
     		panelMove.add(new JLabel(""));
     		panelMove.add(btnB);
     		panelMove.add(new JLabel(""));
     		panelMove.setBorder(BorderFactory.createTitledBorder("Movement Control"));
     		btnClearLog = new JButton("Clear Log");
     		btnBuzzerOn = new JButton("Buzzer On");
     		btnBuzzerOff = new JButton("Buzzer Off");
     		btnRequestBattery = new JButton("Request Battery");
     		btnChangeOrbColor = new JButton("Change Orb Color");
     		btnGetSensorData = new JButton("Get Sensor Data");
     		String [] robotList = {"All   ", "0", "1", "2", "3", "4", "5"};
     		cmbRobotNumber = new JComboBox(robotList);
     		panelCommands = new JPanel();
     		panelCommands.setLayout(new FlowLayout());
     		panelCommands.add(btnBuzzerOn);
     		panelCommands.add(btnBuzzerOff);
     		panelCommands.add(btnClearLog);
     		panelCommands.add(btnRequestBattery);
     		//panelCommands.add(btnChangeOrbColor);
     		panelCommands.add(btnGetSensorData);
     		panelCommands.add(new JLabel("Robot # to control"));
     		panelCommands.add(cmbRobotNumber);
     		panelCommands.setBorder(BorderFactory.createTitledBorder("Commands"));
     		chooser = new JColorChooser();
     		chooser.setPreviewPanel(new JPanel());
     		panelChooser = new JPanel();
     		panelChooser.setLayout(new BorderLayout());
     		panelChooser.add(chooser, BorderLayout.CENTER);
     		panelChooser.setBorder(BorderFactory.createTitledBorder("Orb"));
     		panelTop = new JPanel();
     		panelTop.setLayout(new BorderLayout());
     		panelTop.add(panelConnect, BorderLayout.NORTH);
     		panelTop.add(panelMove, BorderLayout.WEST);
     		panelTop.add(panelCommands, BorderLayout.CENTER);
     		panelTop.add(panelChooser, BorderLayout.EAST);
     		log = new JTextArea();
     		spLog = new JScrollPane(log, ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS, ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED);
     		spLog.setBorder(BorderFactory.createTitledBorder("Log"));
     		log.setEditable(false);
     		panelWebcam = new JPanel();
     		panelWebcam.setBorder(BorderFactory.createTitledBorder("Webcam"));
     		panelBottom = new JPanel();
     		panelBottom.setLayout(new GridLayout(1,2));
     		panelBottom.add(spLog);
     		panelBottom.add(panelWebcam);
     		content.add(panelTop);
     		content.add(panelBottom);
     		txtHost.setText("roboclub1.frc.ri.cmu.edu");
     		txtPort.setText("10123");
     		isMoving = false;
     		btnConnect.addActionListener(this);
     		btnClearLog.addActionListener(this);
     		btnBuzzerOn.addActionListener(this);
     		btnBuzzerOff.addActionListener(this);
     		btnRequestBattery.addActionListener(this);
     		btnChangeOrbColor.addActionListener(this);
     		btnGetSensorData.addActionListener(this);
     		btnActivate.addActionListener(this);
     		btnActivate.addKeyListener(this);
     		btnF.addActionListener(this);
     		btnF.addKeyListener(this);
     		btnB.addActionListener(this);
     		btnB.addKeyListener(this);
     		btnL.addActionListener(this);
     		btnL.addKeyListener(this);
     		btnR.addActionListener(this);
     		btnR.addKeyListener(this);
     		chooser.getSelectionModel().addChangeListener(this);
     		csi = new ColonetServerInterface(log);
     		webcamLoader = new WebcamLoader(this);
     		datalistener = new DataListener(log);
+    	}
     	/**
     	 * Attempt to shut down the applet cleanly.
     	 * Clean up leftover tasks when destroyed,
     	 * i.e., browser window is closed or appletviewer is stopped.
     	 * This method attempts to pause the destruction of the applet for 1000ms.
     	 * If successful, other threads will have the chance to receive the shutdown
     	 * signal and stop. Otherwise catches an exception.
     	 */
     	public void destroy ()
+    	{
     		try {
     			destroyed = true;
     			//Wait for a second to give other threads a chance to be interrupted and return.
     			//This may not be necessary but it seems to prevent some browser crashes.
     			Thread.sleep(1000);
     		} catch (InterruptedException e) {
     			err("Interrupted exception in destroy()");
+    		}
+    	}
     	public void actionPerformed (ActionEvent event) {
     		Object source = event.getSource();
     		if (source == btnConnect)
+    		{
     			csi.connect(txtHost.getText(), txtPort.getText());
     			webcamLoader.start();
     			datalistener.start();
+    		}
     		else if (source == btnClearLog)
     			log.setText("");
     		else if (source == btnBuzzerOn)
+    		{
     			csi.sendData(ColonetServerInterface.BUZZER_SET_FREQ + " 254", ColonetServerInterface.GLOBAL_DEST);
+    		}
     		else if (source == btnBuzzerOff)
+    		{
     			csi.sendData(ColonetServerInterface.BUZZER_OFF, ColonetServerInterface.GLOBAL_DEST);
+    		}
     		else if (source == btnRequestBattery)
+    		{
     			csi.sendRequest(ColonetServerInterface.BATTERY, ColonetServerInterface.GLOBAL_DEST);
+    		}
     		else if (source == btnGetSensorData)
+    		{
     			SensorDataWindow sd = new SensorDataWindow(this);
     			Dimension screenDim = Toolkit.getDefaultToolkit().getScreenSize();
     			sd.setBounds(screenDim.width/4, screenDim.height/4, screenDim.width/2, screenDim.height/2);
     			sd.setVisible(true);
+    		}
     		else if (source == btnActivate)
+    		{
     			isMoving = false;
     			csi.sendData(ColonetServerInterface.MOTORS_INIT, ColonetServerInterface.GLOBAL_DEST);
     			csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 0", ColonetServerInterface.GLOBAL_DEST);
     			csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 0", ColonetServerInterface.GLOBAL_DEST);
+    		}
     		else if (source == btnF)
+    		{
     			isMoving = true;
     			csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 200", ColonetServerInterface.GLOBAL_DEST);
     			csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 200", ColonetServerInterface.GLOBAL_DEST);
+    		}
     		else if (source == btnB)
+    		{
     			isMoving = true;
     			csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", ColonetServerInterface.GLOBAL_DEST);
     			csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", ColonetServerInterface.GLOBAL_DEST);
+    		}
     		else if (source == btnL)
+    		{
     			isMoving = true;
     			csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", ColonetServerInterface.GLOBAL_DEST);
     			csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 200", ColonetServerInterface.GLOBAL_DEST);
+    		}
     		else if (source == btnR)
+    		{
     			isMoving = true;
     			csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 200", ColonetServerInterface.GLOBAL_DEST);
     			csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", ColonetServerInterface.GLOBAL_DEST);
+    		}
+    	}
     	public void stateChanged (ChangeEvent e)
+    	{
     		//Update the orb color
     		int red = chooser.getColor().getRed();
     		int green = chooser.getColor().getGreen();
     		int blue = chooser.getColor().getBlue();
     		csi.sendData(ColonetServerInterface.ORB_SET + " " + red + " " + green + " " + blue, ColonetServerInterface.GLOBAL_DEST);
+    	}
     	/**
     	 * Display informational message box on the screen. Used for casual communicaton to the user.
     	 * @param text Text to display
     	 */
     	private void msg (String text) {
     		JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.INFORMATION_MESSAGE);
+    	}
     	/**
     	 * Display warning message box on the screen. Used for minor alerts or exceptions.
     	 * @param text Text to display
     	 */
     	private void warn (String text) {
     		JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.WARNING_MESSAGE);
+    	}
     	/**
     	 * Display error message box on the screen. Used for major errors or exceptions in the program.
     	 * @param text Text to display
     	 */
     	private void err (String text) {
     		JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.ERROR_MESSAGE);
+    	}
     	public void keyPressed (KeyEvent e) {
     		if (isMoving) return;
     		try {
     			if (e.getKeyCode() == KeyEvent.VK_UP) {
     				log.append("Key: Up\n");
     				isMoving = true;
             csi.sendData(ColonetServerInterface.MOVE_AVOID + " 200 0 0", ColonetServerInterface.GLOBAL_DEST);
     				//sendData(MOTOR1_SET + " 1 200");
     				//sendData(MOTOR2_SET + " 1 200");
+    			}
     			else if (e.getKeyCode() == KeyEvent.VK_DOWN) {
     				log.append("Key: Down\n");
     				isMoving = true;
     				csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", ColonetServerInterface.GLOBAL_DEST);
     				csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", ColonetServerInterface.GLOBAL_DEST);
+    			}
     			else if (e.getKeyCode() == KeyEvent.VK_LEFT) {
     				log.append("Key: Left\n");
     				isMoving = true;
     				csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", ColonetServerInterface.GLOBAL_DEST);
     				csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 200", ColonetServerInterface.GLOBAL_DEST);
+    			}
     			else if (e.getKeyCode() == KeyEvent.VK_RIGHT) {
     				log.append("Key: Right\n");
     				isMoving = true;
     				csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 200", ColonetServerInterface.GLOBAL_DEST);
     				csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", ColonetServerInterface.GLOBAL_DEST);
+    			}
     		} catch (Exception ex) {
     			log.append("Error sending command.\n");
+    		}
+    	}
     	public void keyReleased (KeyEvent e) {
     		if (!isMoving) return;
     		// if we are no longer pressing a direction key, stop the robot
     		if (e.getKeyCode() == KeyEvent.VK_UP ||
     			e.getKeyCode() == KeyEvent.VK_DOWN ||
     			e.getKeyCode() == KeyEvent.VK_LEFT ||
     			e.getKeyCode() == KeyEvent.VK_RIGHT)
     			log.append("Stopping robot\n");
     			isMoving = false;
     			csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 0", ColonetServerInterface.GLOBAL_DEST);
     			csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 0", ColonetServerInterface.GLOBAL_DEST);
+    	}
     	public void keyTyped (KeyEvent e) {
+    	}
     	/**
     	 * Listens for incoming data from the colonet server.
     	 * This includes responses to requests for robot data.
     	 */
     	class DataListener extends Thread
+    	{
     		JTextArea log;
     		BufferedReader reader;
     		/**
     		 * Create a new DataListener that listens for incoming data on the specified socket.
     		 * @param log TextArea to which incoming messages should be printed.
     		 * @param socket Socket on which to listen for data.
     		 */
     		public DataListener (JTextArea log)
+    		{
     			super("Colonet DataListener");
     			this.log = log;
+    		}
     		public void run ()
+    		{
     			String line;
     			log.append("Started listener for responses\n");
     			while (!destroyed)
+    			{
     				try {
     					if (csi.isReady())
+    					{
     						line = csi.getBufferedReader().readLine();
     						if (line != null) log.append("Message from server: " + line + "\n");
+    					}
     					Thread.sleep(500);
     				} catch (Exception e) {
     					warn("Error: " + e);
+    				}
+    			}
+    		}
+    	}
     	class WebcamLoader extends Thread
+    	{
     		URL path;
     		Image image;
     		MediaTracker mt;
     		int BUFFER = 16;  // this is arbitrary. it makes the image look nice.
     		public WebcamLoader (JApplet applet)
+    		{
     			super("Colonet WebcamLoader");
     			try {
     				path = new URL("http://roboclub1.frc.ri.cmu.edu/ColonetGUI/webcam/colonet.jpg");
     			} catch (MalformedURLException e) {
     				err("MalformedURLException.\nCannot load webcam image.");
+    			}
     			mt = new MediaTracker(applet);
+    		}
     		public void run ()
+    		{
     			while (!destroyed) {
     				try {
     					Thread.sleep(1000);
     					if (destroyed) return;
     					if (image != null) image.flush();
     					image = getImage(path);
     					mt.addImage(image, 1);
     					mt.waitForID(1);
     					panelWebcam.getGraphics().drawImage(image,
     						BUFFER,	//dx1 - the x coordinate of the first corner of the destination rectangle.
     						BUFFER,	//dy1 - the y coordinate of the first corner of the destination rectangle.
     						panelWebcam.getWidth() - BUFFER, 	//dx2 - the x coordinate of the second corner of the destination rectangle.
     						panelWebcam.getHeight() - BUFFER,	//dy2 - the y coordinate of the second corner of the destination rectangle.
 ,	//sx1 - the x coordinate of the first corner of the source rectangle.
 ,	//sy1 - the y coordinate of the first corner of the source rectangle.
     						image.getWidth(null),	//sx2 - the x coordinate of the second corner of the source rectangle.
     						image.getHeight(null),	//sy2 - the y coordinate of the second corner of the source rectangle.
     						null	//observer - object to be notified as more of the image is scaled and converted.
     						);
     				} catch (InterruptedException e) {
     					//Closing the browser window will probably couse an InterruptedException.
     					//I can't think of anything else to do than let it happen and then return.
     					return;
     				} catch (java.security.AccessControlException e) {
     					warn("java.security.AccessControlException in WebcamLoader.\n" +
     						"The image cannot be loaded from the specified location.\n" +
     						"Make sure you are accessing this applet from the correct server.");
     					destroyed = true;
+    				}
+    			}
+    		}
+    	}
     	class SensorDataWindow extends JFrame implements ActionListener
+    	{
     		JApplet applet;
     		JTextArea log;
     		JScrollPane spLog;
     		JButton btnClose;
     		JPanel panelButtons;
     		SensorDataLoader sdl;
     		public SensorDataWindow (JApplet applet)
+    		{
     			super("Sensor Data");
     			this.applet = applet;
     			log = new JTextArea();
     			log.setEditable(false);
     			spLog = new JScrollPane(log, ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS, ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED);
     			spLog.setBorder(BorderFactory.createTitledBorder("Log"));
     			Container content = this.getContentPane();
     			content.setLayout(new BorderLayout());
     			content.add(spLog, BorderLayout.CENTER);
     			btnClose = new JButton("Close Window");
     			btnClose.addActionListener(this);
     			panelButtons = new JPanel();
     			panelButtons.setLayout(new FlowLayout());
     			panelButtons.add(btnClose);
     			content.add(panelButtons, BorderLayout.SOUTH);
     			//start thread to continuously update data
     			sdl = new SensorDataLoader(this, this.applet);
     			sdl.start();
     			//if the window is closed,
     			//make sure we stop the thread.
     			this.addWindowListener(new SensorDataWindowListener());
+    		}
     		public void actionPerformed (ActionEvent event)
+    		{
     			Object source = event.getSource();
     			if (source == btnClose)
+    			{
     				this.setVisible(false);
     				sdl.stopMe();
+    			}
+    		}
     		class SensorDataWindowListener extends WindowAdapter
+    		{
     			public SensorDataWindowListener ()
+    			{
     				super();
+    			}
     			public void windowClosing (WindowEvent e)
+    			{
     				sdl.stopMe();
+    			}
+    		}
+    	}
     	class SensorDataLoader extends Thread
+    	{
     		SensorDataWindow window;
     		JApplet applet;
     		boolean running;
     		public SensorDataLoader (SensorDataWindow window, JApplet applet)
+    		{
     			this.window = window;
     			this.applet = applet;
+    		}
     		public void run ()
+    		{
     			running = true;
     			log.append("Sensor data loading started.\n");
     			while (running)
+    			{
     				try {
     					Thread.sleep(2000);
     				} catch (InterruptedException e) {
     					err("InterruptedException in SensorDataLoader\n" + e);
+    				}
     				log.append("<update data here ...>\n");
+    			}
     			log.append("Sensor data loading stopped.\n");
+    		}
     		public void stopMe ()
+    		{
     			running = false;
+    		}
+    	}
+    }

     <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
        "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
     <html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en">
     <head>
     	<title>Colony Control Applet - Carnegie Mellon Robotics Club</title>
     	<meta http-equiv="content-type" content="text/html; charset=UTF-8" />
     	<link rel="stylesheet" type="text/css" href="colonetstyle.css" />
     </head>
     <body>
     <div class="top">
     	<h1>Colonet: Robot Graph</h1>
     	<p>Carnegie Mellon Robotics Club: Colony Project</p>
     	<img src="http://roboclub8.frc.ri.cmu.edu/mainwiki/roboclublogo.png" height="125px" width="110px" alt="RoboClub Logo" />
     </div>
     <div class="app">
     	<p>
     	<object
     		classid = "java:BotGraph.class"
     		type = "application/x-java-applet"
     		width = "850"
     		height = "650"
     		align = "bottom"
     		codebase = "http://roboclub1.frc.ri.cmu.edu/gui/"
     		name = "BotGraph"
     		title = "BotGraph" >
     		<param name = "code" value = "BotGraph.class" />
     	</object>
     	<br />
     	Requires Java 5.
     	<br />
     	<a href="BotGraph.java">Source Code</a>
     	<br />
     	<br />
     	</p>
     </div>
     <div class="bottom">
     	<p><b>Colony Project Home page:</b><br />
     	<a href="http://www.robotcolony.org/">www.robotcolony.org</a></p>
     	<p><b>Validator:</b><br />
     	<a href="http://validator.w3.org/check?uri=referer">
     	<img src="http://www.w3.org/Icons/valid-xhtml10-blue"
     		 alt="Valid XHTML 1.0 Transitional"
     		 height="31"
     		 width="88"
     		 border="0"
     		 />
     	</a>
     	<a href="http://jigsaw.w3.org/css-validator/validator?uri=http://roboclub1.frc.ri.cmu.edu/ColonetGUI/colonetstyle.css">
       	<img style="border:0;width:88px;height:31px"
            src="http://www.w3.org/Icons/valid-css-blue"
            alt="Valid CSS!" />
     	</a><br />
     	</p>
     </div>

... This diff was truncated because it exceeds the maximum size that can be displayed.

Also available in: Unified diff

Project

General

Profile

Colony

Revision 407