Colony

//

//        Colonet.java

//

import javax.swing.*;

import javax.swing.event.*;

import javax.imageio.*;

import java.awt.*;

import java.awt.image.*;

import java.awt.event.*;

import java.net.*;

import java.io.*;

import java.util.*;

/**

* The Colonet Graphical User Interface Applet for use locally and over an internet connection.

* @author Gregory Tress

*

* To generate javadoc on this file or other java files, use javadoc *.java -d doc, where doc

* is the name of the folder into which the files should be written.

*/

public class Colonet extends JApplet implements ActionListener, MouseInputListener, KeyListener {

        // Used for images

        final int CANVAS_SIZE = 500;        //the applet may be slow if the canvas gets too large

        final int BUFFER = 50;

        final int RADIUS = 30;

        //Used for the robot controller

        final int VECTOR_CONTROLLER_HEIGHT = 220;

        final int VECTOR_CONTROLLER_WIDTH = 350;

        // Connection

        JTextField txtHost;

        JTextField txtPort;

        JButton btnConnect;

        JButton btnGetXBeeIDs;

        JLabel lblConnectionStatus;

        JTextArea txtMatrix;

        JTextArea txtInfo;

        JPanel panelConnect;

        JPanel panelServerInterface;

        Socket socket;

        OutputStreamWriter out;

        DataUpdater dataUpdater;

        // South

        JPanel panelSouth;

        JTextArea log;

        JScrollPane spLog;

        // Control

        JPanel panelControl;

        JTabbedPane tabPaneControl;

        JPanel panelRobotControl;

        JPanel panelRobotDirection;

        JPanel panelRobotDirectionButtons;

        JPanel panelRobotCommands;

        JButton btnF, btnB, btnL, btnR, btnActivate;

        JComboBox cmbRobotNum;

        JLabel lblBattery;

        JLabel lblSelected;

        BatteryIcon batteryIcon;

        JPanel panelBattery;

        VectorController vectorController;

        BufferedImage imageVectorControl;

        JButton btnAssignID;

        boolean setWaypoint;

        int setWaypointID;

        JButton btnCommand_MoveTo;

        JButton btnCommand_MoveAll;

        JButton btnCommand_StopTask;

        JButton btnCommand_ResumeTask;

        JButton btnCommand_ChargeNow;

        JButton btnCommand_StopCharging;

        // Task Manager

        JPanel panelTaskManager;

        JScrollPane spTaskManager;

        JPanel panelTaskManagerControls;

        JPanel panelTaskManagerControlsPriority;

        DefaultListModel taskListModel;

        JList taskList;

        JButton btnAddTask;

        JButton btnRemoveTask;

        JButton btnMoveTaskUp;

        JButton btnMoveTaskDown;

        JButton btnUpdateTasks;

        TaskAddWindow taskAddWindow;

        //Webcam

        WebcamPanel panelWebcam;

        GraphicsPanel panelGraph;

        GraphicsConfiguration gc;

        volatile BufferedImage image;

        volatile Graphics2D canvas;

        int cx, cy;

        JTabbedPane tabPaneMain;

        Font botFont;

        volatile int numBots;

        volatile int selectedBot;         //the user has selected this bot graphically

        volatile java.util.Map <Integer, RobotIcon> robotIcons;         //contains boundary shapes around bots for click detection

        volatile int[] xbeeID;

        Colonet self = this;

        WebcamLoader webcamLoader;

        volatile ColonetServerInterface csi;

        public void init () {

                // Set the default look and feel - choose one

                //String laf = UIManager.getSystemLookAndFeelClassName();

                String laf = UIManager.getCrossPlatformLookAndFeelClassName();

                //String laf = "com.sun.java.swing.plaf.motif.MotifLookAndFeel";

                try {

                        UIManager.setLookAndFeel(laf);

                } catch (UnsupportedLookAndFeelException exc) {

                        System.err.println ("Warning: UnsupportedLookAndFeel: " + laf);

                } catch (Exception exc) {

                        System.err.println ("Error loading " + laf + ": " + exc);

                }

                // 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("InterruptedException in init: " + e);

                } catch (java.lang.reflect.InvocationTargetException e) {

                        //This could happen for various reasons if there is a problem in createAndShowGUI

                        e.printStackTrace();

                }

        }

        public void destroy () {

                csi.disconnect();

        }

        private synchronized void createAndShowGUI () {

                // init graphical elements

                // 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

                panelGraph = new GraphicsPanel(image, false);         //set automatic double-buffering to false. we are doing it manually.

                panelWebcam = new WebcamPanel();

                tabPaneMain = new JTabbedPane();

                tabPaneMain.setFont(new Font("arial", Font.PLAIN, 16));

                tabPaneMain.add(panelWebcam, "Webcam");

                //tabPaneMain.add(panelGraph, "Graph");

                // Calculate center of canvas

                cx = image.getWidth() / 2;

                cy = image.getHeight() / 2;

                // Set up robots

                botFont = new Font("arial", Font.PLAIN, 14);

                numBots = 0;

                selectedBot = -1;

                robotIcons = new HashMap <Integer, RobotIcon> ();

                // Connection area

                txtMatrix = new JTextArea();

                txtMatrix.setBorder(BorderFactory.createTitledBorder("Info"));

                txtInfo = new JTextArea();

                txtInfo.setBorder(BorderFactory.createTitledBorder("Info"));

                txtInfo.setEditable(false);

                txtHost = new JTextField(this.getDocumentBase().getHost());

                txtHost.setBorder(BorderFactory.createTitledBorder("Host"));

                txtPort = new JTextField("10123");

                txtPort.setBorder(BorderFactory.createTitledBorder("Port"));

                btnConnect = new JButton("Connect");

                btnConnect.setFont(new Font("arial", Font.BOLD, 16));

                btnGetXBeeIDs = new JButton("Get XBee IDs");

                getRootPane().setDefaultButton(btnConnect);

                lblConnectionStatus = new JLabel("Status: Offline");

                panelConnect = new JPanel();

                panelConnect.setLayout(new GridLayout(6,1));

                panelConnect.add(lblConnectionStatus);

                panelConnect.add(txtHost);

                panelConnect.add(txtPort);

                panelConnect.add(btnConnect);

                //panelConnect.add(btnGetXBeeIDs);

                panelServerInterface = new JPanel();

                panelServerInterface.setLayout(new GridLayout(2,1));

                panelServerInterface.add(panelConnect);

                panelServerInterface.add(txtMatrix);

                // Robot direction panel

                panelRobotDirection = new JPanel();

                panelRobotDirectionButtons = new JPanel();

                Font f = new Font(null, Font.PLAIN, 18);

                btnF = new JButton("\u2191");

                btnF.setFont(f);

                btnB = new JButton("\u2193");

                btnB.setFont(f);

                btnL = new JButton("\u2190");

                btnL.setFont(f);

                btnR = new JButton("\u2192");

                btnR.setFont(f);

                btnActivate = new JButton("\u25A0");

                btnActivate.setFont(new Font(null, Font.BOLD, 36));

                panelRobotDirectionButtons.setLayout(new GridLayout(1,5));

                panelRobotDirectionButtons.add(btnActivate);

                panelRobotDirectionButtons.add(btnF);

                panelRobotDirectionButtons.add(btnB);

                panelRobotDirectionButtons.add(btnL);

                panelRobotDirectionButtons.add(btnR);

                imageVectorControl = gc.createCompatibleImage(VECTOR_CONTROLLER_WIDTH, VECTOR_CONTROLLER_HEIGHT);

                vectorController = new VectorController(imageVectorControl);

                panelRobotDirection.setLayout(new BorderLayout());

                //panelRobotDirection.add(vectorController, BorderLayout.CENTER);

                panelRobotDirection.add(panelRobotDirectionButtons, BorderLayout.SOUTH);

                // Robot Control and Commands

                panelRobotCommands = new JPanel();

                panelRobotCommands.setLayout(new GridLayout(5,2));

                cmbRobotNum = new JComboBox();

                // Battery subset

                batteryIcon = new BatteryIcon(0);

                lblBattery = new JLabel(batteryIcon);

                lblSelected = new JLabel("None");

                // Command subset

                setWaypoint = false;

                setWaypointID = -1;

                btnAssignID = new JButton("Assign ID");

                btnCommand_MoveTo = new JButton("Move to ...");

                btnCommand_MoveAll = new JButton("Move all ...");

                btnCommand_StopTask = new JButton("Stop Current Task");

                btnCommand_ResumeTask = new JButton("Resume Current Task");

                btnCommand_ChargeNow = new JButton("Recharge Now");

                btnCommand_StopCharging = new JButton("Stop Recharging");

                panelRobotCommands.add(new JLabel("Select Robot to Control: "));

                panelRobotCommands.add(cmbRobotNum);

                panelRobotCommands.add(new JLabel("Battery Level: "));

                panelRobotCommands.add(lblBattery);

                panelRobotCommands.add(new JLabel("Selected Icon: "));

                panelRobotCommands.add(lblSelected);

                panelRobotCommands.add(btnAssignID);

                panelRobotCommands.add(new JLabel(""));

                panelRobotCommands.add(btnCommand_MoveTo);

                panelRobotCommands.add(btnCommand_MoveAll);

                //panelRobotCommands.add(btnCommand_StopTask);

                //panelRobotCommands.add(btnCommand_ResumeTask);

                //panelRobotCommands.add(btnCommand_ChargeNow);

                //panelRobotCommands.add(btnCommand_StopCharging);

                panelRobotControl = new JPanel();

                panelRobotControl.setLayout(new GridLayout(2,1));

                panelRobotControl.add(panelRobotDirection);

                panelRobotControl.add(panelRobotCommands);

                // Task Manager

                panelTaskManager = new JPanel();

                panelTaskManager.setLayout(new BorderLayout());

                taskListModel = new DefaultListModel();

                taskList = new JList(taskListModel);

                taskList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);

                taskList.setSelectedIndex(0);

                spTaskManager = new JScrollPane(taskList);

                panelTaskManagerControls = new JPanel();

                panelTaskManagerControls.setLayout(new GridLayout(1,4));

                panelTaskManagerControlsPriority = new JPanel();

                panelTaskManagerControlsPriority.setLayout(new GridLayout(1,2));

                btnAddTask = new JButton("Add...");

                btnRemoveTask = new JButton("Remove");

                btnMoveTaskUp = new JButton("^");

                btnMoveTaskDown = new JButton("v");

                btnUpdateTasks = new JButton("Update");

                panelTaskManagerControlsPriority.add(btnMoveTaskUp);

                panelTaskManagerControlsPriority.add(btnMoveTaskDown);

                panelTaskManagerControls.add(btnAddTask);

                panelTaskManagerControls.add(btnRemoveTask);

                panelTaskManagerControls.add(btnUpdateTasks);

                panelTaskManagerControls.add(panelTaskManagerControlsPriority);

                panelTaskManager.add(spTaskManager, BorderLayout.CENTER);

                panelTaskManager.add(panelTaskManagerControls, BorderLayout.SOUTH);

                panelTaskManager.add(new JLabel("Current Task Queue"), BorderLayout.NORTH);

                taskAddWindow = new TaskAddWindow();

                // Message log

                log = new JTextArea();

                spLog = new JScrollPane(log, ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS,

                        ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED);

                spLog.setBorder(BorderFactory.createTitledBorder("Log"));

                spLog.setPreferredSize(new Dimension(0, 120));

                log.setEditable(false);

                // Main control mechanism

                panelControl = new JPanel();

                panelControl.setLayout(new GridLayout(1,1));

                tabPaneControl = new JTabbedPane(JTabbedPane.TOP);

                tabPaneControl.setFont(new Font("arial", Font.PLAIN, 16));

                tabPaneControl.setPreferredSize(new Dimension(VECTOR_CONTROLLER_WIDTH, 0));

                tabPaneControl.addTab("Connection", panelServerInterface);

                tabPaneControl.addTab("Robots", panelRobotControl);

                //tabPaneControl.addTab("Tasks", panelTaskManager);

                panelControl.add(tabPaneControl);

                // Set up elements in the south

                panelSouth = new JPanel();

                panelSouth.setLayout(new GridLayout(1,2));

                //panelSouth.add(spLog);