Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include "../../common/colonet_defs.h"

#define IS_TRIGGER_DOWN(status)   (status & (1))

#define IS_BUTTON_DOWN(status)    (status & (1<<1))

#define IS_RIGHT(status)          (status & (1<<2))

#define IS_X_CENTER(status)       (status & (1<<3))

#define IS_LEFT(status)           (status & (1<<4))

#define IS_DOWN(status)           (status & (1<<5))

#define IS_Y_CENTER(status)       (status & (1<<6))

#define IS_UP(status)             (status & (1<<7)) 

#define TRIGGER_PRESSED           1

#define TRIGGER_RELEASED          (1<<1)

#define BUTTON_PRESSED            (1<<2)

#define BUTTON_RELEASED           (1<<3)

#define MOVED_LEFT                (1<<4)

#define MOVED_CENTER_X            (1<<5)

#define MOVED_RIGHT               (1<<6)

#define MOVED_UP                  (1<<7)

#define MOVED_CENTER_Y            (1<<8)

#define MOVED_DOWN                (1<<9)

int joystick_status (void);

int joystick_change (int old, int new);

int last_status = 0; 

int cur_status = 0;

int main (void) {

  dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG);

	ADCSRA = 0;

	ADCSRA |= _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);

	orb_set_color(BLUE);

  int status, change;

  while (1) {

    last_status = cur_status;

    cur_status = joystick_status();

    change = joystick_change(old_status, cur_status);

    if (change | TRIGGER_PRESSED)

      orb_set_color(GREEN);

    if (change | TRIGGER_RELEASED)

      orb_set_color(BLUE);

    delay_ms(100);

  }

}

int joystick_change (int old, int new) {

  int trigger_change = 0;

  int button_change = 0;

  int x_change = 0;

  int y_change = 0;

  /* Check for trigger change */

  if (TRIGGER_DOWN(old) && !TRIGGER_DOWN(new))

    trigger_change = TRIGGER_RELEASED;

  if (!TRIGGER_DOWN(old) && TRIGGER_DOWN(new)) 

    trigger_change = TRIGGER_PRESSED;

  /* Check for button change */

  if (BUTTON_DOWN(old) && !BUTTON_DOWN(new))

    button_change = BUTTON_RELEASED;

  if (!BUTTON_DOWN(old) && BUTTON_DOWN(new))

    button_change = BUTTON_PRESSED;

  /* Check for X change */

  if (IS_X_CENTER(old) && IS_RIGHT(new))

    x_change = MOVE_RIGHT;

  if (IS_X_CENTER(old) && IS_LEFT(new))

    x_change = MOVE_LEFT;

  if (!IS_X_CENTER(old) && IS_X_CENTER(new))

    x_change = MOVE_X_CENTER;

  /* Check for Y change */

  if (IS_Y_CENTER(old) && IS_UP(new))

    y_change = MOVE_UP;

  if (IS_Y_CENTER(old) && IS_DOWN(new))

    y_change = MOVE_DOWN;

  if (!IS_Y_CENTER(old) && IS_Y_CENTER(new))

    y_change = MOVE_Y_CENTER;

  return trigger_change | button_change | x_change | y_change;

}

/**

 * Get the current status of the joystick.

 * This includes the X and Y axes and the buttons.

 * Whenever this is called, the status is saved as part of the state.

 */

int joystick_status (void) {

	int trigger_status = 0;

	int button_status = 0;

  /* For x and y status, use three LSB one-hot as follows: [L|C|R] and [U|C|D] */

	int x_status = 0; 

	int y_status = 0;

	int xval, yval;

	char buf[100];

  /*

  sprintf(buf, "trigger: %d  \t button: %d \t X: %d \t Y: %d \n", 

    analog_get8(AN0), analog_get8(AN1),

    analog_get8(AN4), analog_get8(AN5));

  usb_puts(buf);

  */

  if (trigger_status == 0 && analog_get8(AN0) > 200) {

    trigger_status = 1;

    sprintf(buf, "Trigger pressed\n");

    usb_puts(buf);

  }

  if (trigger_status == 1 && analog_get8(AN0) < 100) {

    trigger_status = 0;

    sprintf(buf, "Trigger released\n");

    usb_puts(buf);

  }

  if (button_status == 0 && analog_get8(AN1) > 200) {

    button_status = 1;

    sprintf(buf, "Button pressed\n");

    usb_puts(buf);

  }

  if (button_status == 1 && analog_get8(AN1) < 100) {

    button_status = 0;

    sprintf(buf, "Button released\n");

    usb_puts(buf);

  }

  xval = analog_get8(AN4);

  yval = analog_get8(AN5);

  if (x_status == 0 && xval > 150) {

    x_status = 1<<2;

    sprintf(buf, "moved left\n");

    usb_puts(buf);

  }

  else if (x_status == 0 && xval < 75) {

    x_status = 1;

    sprintf(buf, "moved right\n");

    usb_puts(buf);

  }

  else if (x_status == 1 && xval > 75) {

    x_status = 1<<1;

    sprintf(buf, "centered x\n");

    usb_puts(buf);

  }

  else if (x_status == -1 && xval < 150) {

    x_status = 1<<1;

    sprintf(buf, "centered x\n");

    usb_puts(buf);

  }

  if (y_status == 0 && yval > 150) {

    y_status = 1<<3;

    sprintf(buf, "moved up\n");

    usb_puts(buf);

  }

  else if (y_status == 0 && yval < 75) {

    y_status = 1;

    sprintf(buf, "moved down\n");

    usb_puts(buf);

  }

  else if (y_status == 1 && yval > 75) {

    y_status = 1<<1;

    sprintf(buf, "centered y\n");

    usb_puts(buf);

  }

  else if (y_status == -1 && yval < 150) {

    y_status = 1<<1;

    sprintf(buf, "centered y\n");

    usb_puts(buf);

  }

  return trigger_status | (button_status << 1) | (x_status << 2) | (y_status << 5);

}

########Update This Section########

#

#

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT = ../../../../..

endif

# Target file name (without extension).

TARGET = joystick

# Uncomment this to use the wireless library

 USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = /dev/ttyUSB0

#

#

###################################

# Hey Emacs, this is a -*- makefile -*-

#----------------------------------------------------------------------------

# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.

#

# Released to the Public Domain

#

# Additional material for this makefile was written by:

# Peter Fleury

# Tim Henigan

# Colin O'Flynn

# Reiner Patommel

# Markus Pfaff

# Sander Pool

# Frederik Rouleau

#

#----------------------------------------------------------------------------

# On command line:

#

# make all = Make software.

#

# make clean = Clean out built project files.

#

# make coff = Convert ELF to AVR COFF.

#

# make extcoff = Convert ELF to AVR Extended COFF.

#

# make program = Download the hex file to the device, using avrdude.

#                Please customize the avrdude settings below first!

#

# make debug = Start either simulavr or avarice as specified for debugging,

#              with avr-gdb or avr-insight as the front end for debugging.

#

# make filename.s = Just compile filename.c into the assembler code only.

#

# make filename.i = Create a preprocessed source file for use in submitting

#                   bug reports to the GCC project.

#

# To rebuild project do "make clean" then "make all".

#----------------------------------------------------------------------------

#if you want your code to work on the Firefly++ and not Firefly+

#then add the -DFFPP line to CDEFS

CDEFS =

#-DFFPP

# MCU name

MCU = atmega128

# Processor frequency.

#     This will define a symbol, F_CPU, in all source code files equal to the

#     processor frequency. You can then use this symbol in your source code to

#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done

#     automatically to create a 32-bit value in your source code.

F_CPU = 8000000

# Output format. (can be srec, ihex, binary)

FORMAT = ihex

# List C source files here. (C dependencies are automatically generated.)

SRC = $(wildcard *.c)

# List Assembler source files here.

#     Make them always end in a capital .S.  Files ending in a lowercase .s

#     will not be considered source files but generated files (assembler

#     output from the compiler), and will be deleted upon "make clean"!

#     Even though the DOS/Win* filesystem matches both .s and .S the same,

#     it will preserve the spelling of the filenames, and gcc itself does

#     care about how the name is spelled on its command-line.

ASRC =

# Optimization level, can be [0, 1, 2, 3, s].

#     0 = turn off optimization. s = optimize for size.

#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

OPT = s

# Debugging format.

#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.

#     AVR Studio 4.10 requires dwarf-2.

#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.

DEBUG =

# Compiler flag to set the C Standard level.

#     c89   = "ANSI" C

#     gnu89 = c89 plus GCC extensions

#     c99   = ISO C99 standard (not yet fully implemented)

#     gnu99 = c99 plus GCC extensions

CSTANDARD = -std=gnu99

# Place -D or -U options here

CDEFS += -DF_CPU=$(F_CPU)UL

CDEFS += -DFFP

# for wireless library

ifdef USE_WIRELESS

	CDEFS += -DROBOT

endif

# Place -I, -L options here

CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly

CINCS += -L$(COLONYROOT)/code/lib/bin

ifdef USE_WIRELESS

	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless

endif

#---------------- Compiler Options ----------------

#  -g*:          generate debugging information

#  -O*:          optimization level

#  -f...:        tuning, see GCC manual and avr-libc documentation

#  -Wall...:     warning level

#  -Wa,...:      tell GCC to pass this to the assembler.

#    -adhlns...: create assembler listing

CFLAGS =

# CFLAGS = -g$(DEBUG)

CFLAGS += $(CDEFS) $(CINCS)

CFLAGS += -O$(OPT)

CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

CFLAGS += -Wall -Wstrict-prototypes

CFLAGS += -Wa,-adhlns=$(<:.c=.lst)

CFLAGS += $(CSTANDARD)

#---------------- Assembler Options ----------------

#  -Wa,...:   tell GCC to pass this to the assembler.

#  -ahlms:    create listing

#  -gstabs:   have the assembler create line number information; note that

#             for use in COFF files, additional information about filenames

#             and function names needs to be present in the assembler source

#             files -- see avr-libc docs [FIXME: not yet described there]

ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs

#---------------- Library Options ----------------

# Minimalistic printf version

PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

# Floating point printf version (requires MATH_LIB = -lm below)

PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

# If this is left blank, then it will use the Standard printf version.

PRINTF_LIB =

#PRINTF_LIB = $(PRINTF_LIB_MIN)

#PRINTF_LIB = $(PRINTF_LIB_FLOAT)

# Minimalistic scanf version

SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

# Floating point + %[ scanf version (requires MATH_LIB = -lm below)

SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

# If this is left blank, then it will use the Standard scanf version.

SCANF_LIB =

#SCANF_LIB = $(SCANF_LIB_MIN)

#SCANF_LIB = $(SCANF_LIB_FLOAT)

MATH_LIB = -lm

#---------------- External Memory Options ----------------

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# used for variables (.data/.bss) and heap (malloc()).

#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# only used for heap (malloc()).

#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

EXTMEMOPTS =

#---------------- Linker Options ----------------

#  -Wl,...:     tell GCC to pass this to linker.

#    -Map:      create map file

#    --cref:    add cross reference to  map file

LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

LDFLAGS += $(EXTMEMOPTS)

LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)

ifdef USE_WIRELESS

	LDFLAGS += -lwireless

endif

LDFLAGS += -ldragonfly

#---------------- Programming Options (avrdude) ----------------

# Programming hardware: alf avr910 avrisp bascom bsd

# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

#

# Type: avrdude -c ?

# to get a full listing.

#

AVRDUDE_PROGRAMMER = avrisp

# programmer connected to serial device

AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex

#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

# Uncomment the following if you want avrdude's erase cycle counter.

# Note that this counter needs to be initialized first using -Yn,

# see avrdude manual.

#AVRDUDE_ERASE_COUNTER = -y

# Uncomment the following if you do /not/ wish a verification to be

# performed after programming the device.

#AVRDUDE_NO_VERIFY = -V

# Increase verbosity level.  Please use this when submitting bug

# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>

# to submit bug reports.

#AVRDUDE_VERBOSE = -v -v

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)

AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)

AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)

AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

#don't check for device signature

AVRDUDE_FLAGS += -F

#---------------- Debugging Options ----------------

# For simulavr only - target MCU frequency.

DEBUG_MFREQ = $(F_CPU)

# Set the DEBUG_UI to either gdb or insight.

# DEBUG_UI = gdb

DEBUG_UI = insight

# Set the debugging back-end to either avarice, simulavr.

DEBUG_BACKEND = avarice

#DEBUG_BACKEND = simulavr

# GDB Init Filename.

GDBINIT_FILE = __avr_gdbinit

# When using avarice settings for the JTAG

JTAG_DEV = /dev/com1

# Debugging port used to communicate between GDB / avarice / simulavr.

DEBUG_PORT = 4242

# Debugging host used to communicate between GDB / avarice / simulavr, normally

#     just set to localhost unless doing some sort of crazy debugging when

#     avarice is running on a different computer.

DEBUG_HOST = localhost

#============================================================================

# Define programs and commands.

SHELL = sh

CC = avr-gcc

OBJCOPY = avr-objcopy

OBJDUMP = avr-objdump

SIZE = avr-size

NM = avr-nm

AVRDUDE = avrdude

REMOVE = rm -f

REMOVEDIR = rm -rf

COPY = cp

WINSHELL = cmd

# Define Messages

# English

MSG_ERRORS_NONE = Errors: none

MSG_BEGIN = -------- begin --------

MSG_END = --------  end  --------

MSG_SIZE_BEFORE = Size before:

MSG_SIZE_AFTER = Size after:

MSG_COFF = Converting to AVR COFF:

MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

MSG_FLASH = Creating load file for Flash:

MSG_EEPROM = Creating load file for EEPROM:

MSG_EXTENDED_LISTING = Creating Extended Listing:

MSG_SYMBOL_TABLE = Creating Symbol Table:

MSG_LINKING = Linking:

MSG_COMPILING = Compiling:

MSG_ASSEMBLING = Assembling:

MSG_CLEANING = Cleaning project:

# Define all object files.

OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)

# Define all listing files.

LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)

# Compiler flags to generate dependency files.

GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d

# Combine all necessary flags and optional flags.

# Add target processor to flags.

ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)

ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

# Default target.

all: begin gccversion sizebefore build sizeafter end

build: elf hex eep lss sym

elf: $(TARGET).elf

hex: $(TARGET).hex

eep: $(TARGET).eep

lss: $(TARGET).lss

sym: $(TARGET).sym

# Eye candy.

# AVR Studio 3.x does not check make's exit code but relies on

# the following magic strings to be generated by the compile job.

begin:

	@echo

	@echo $(MSG_BEGIN)

end:

	@echo $(MSG_END)

	@echo

# Display size of file.

HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

ELFSIZE = $(SIZE) -A $(TARGET).elf

AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)

sizebefore:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

sizeafter:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

# Display compiler version information.

gccversion :

	@$(CC) --version

# Program the device.

program: $(TARGET).hex $(TARGET).eep

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

# Generate avr-gdb config/init file which does the following:

#     define the reset signal, load the target file, connect to target, and set

#     a breakpoint at main().

gdb-config:

	@$(REMOVE) $(GDBINIT_FILE)

	@echo define reset >> $(GDBINIT_FILE)

	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)

	@echo end >> $(GDBINIT_FILE)

	@echo file $(TARGET).elf >> $(GDBINIT_FILE)

	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)

ifeq ($(DEBUG_BACKEND),simulavr)

	@echo load  >> $(GDBINIT_FILE)

endif

	@echo break main >> $(GDBINIT_FILE)

debug: gdb-config $(TARGET).elf

ifeq ($(DEBUG_BACKEND), avarice)

	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.

	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \

	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)

	@$(WINSHELL) /c pause

else

	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \

	$(DEBUG_MFREQ) --port $(DEBUG_PORT)

endif

	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)

# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

COFFCONVERT=$(OBJCOPY) --debugging \

--change-section-address .data-0x800000 \

--change-section-address .bss-0x800000 \

--change-section-address .noinit-0x800000 \

--change-section-address .eeprom-0x810000

coff: $(TARGET).elf

	@echo

	@echo $(MSG_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

extcoff: $(TARGET).elf

	@echo

	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

# Create final output files (.hex, .eep) from ELF output file.

%.hex: %.elf

	@echo

	@echo $(MSG_FLASH) $@

	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf

	@echo

	@echo $(MSG_EEPROM) $@

	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

# Create extended listing file from ELF output file.

%.lss: %.elf

	@echo

	@echo $(MSG_EXTENDED_LISTING) $@

	$(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.

%.sym: %.elf

	@echo

	@echo $(MSG_SYMBOL_TABLE) $@

	$(NM) -n $< > $@

# Link: create ELF output file from object files.

.SECONDARY : $(TARGET).elf

.PRECIOUS : $(OBJ)

%.elf: $(OBJ)

	@echo

	@echo $(MSG_LINKING) $@

	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)

# Compile: create object files from C source files.

%.o : %.c

	@echo

	@echo $(MSG_COMPILING) $<

	$(CC) -c $(ALL_CFLAGS) $< -o $@

# Compile: create assembler files from C source files.

%.s : %.c

	$(CC) -S $(ALL_CFLAGS) $< -o $@

# Assemble: create object files from assembler source files.

%.o : %.S

	@echo

	@echo $(MSG_ASSEMBLING) $<

	$(CC) -c $(ALL_ASFLAGS) $< -o $@

# Create preprocessed source for use in sending a bug report.

%.i : %.c

	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@

# Target: clean project.

clean: begin clean_list end

clean_list :

	@echo

	@echo $(MSG_CLEANING)

	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).elf

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).sym

	$(REMOVE) $(TARGET).lss

	$(REMOVE) $(OBJ)

	$(REMOVE) $(LST)

	$(REMOVE) $(SRC:.c=.s)

	$(REMOVE) $(SRC:.c=.d)

	$(REMOVEDIR) .dep

# Include the dependency files.

-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)

# Listing of phony targets.

.PHONY : all begin finish end sizebefore sizeafter gccversion \

build elf hex eep lss sym coff extcoff \

clean clean_list program debug gdb-config

  JButton btnSetBounds;

  JButton btnClearBounds;

  RobotBoundary boundary;

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

    panelRobotCommands.add(btnClearBounds);

    lblConnectionStatus.setText("Status: Disconnected");

    btnF.setEnabled(false);

    btnB.setEnabled(false);

    btnL.setEnabled(false);

    btnR.setEnabled(false);

    btnActivate.setEnabled(false);

    btnAssignID.setEnabled(false);

    btnSetBounds.setEnabled(false);

    btnClearBounds.setEnabled(false);

    btnCommand_MoveTo.setEnabled(false);

    btnCommand_MoveAll.setEnabled(false);

    btnSetBounds.addActionListener(this);

    btnClearBounds.addActionListener(this);

    if (csi != null)

      return;

    csi = new ColonetServerInterface(self);

    csi.connect(txtHost.getText(), txtPort.getText());

    if (!csi.isReady()) {

      csi = null;

      return;

    }

    webcamLoader = new WebcamLoader(self);

    dataUpdater = new DataUpdater();

    dataUpdater.start();

    webcamLoader.start();

    Runnable r = new Runnable() {

      public void run () {

        btnConnect.setText("Disconnect");

        lblConnectionStatus.setText("Status: Connected");

          btnF.setEnabled(true);

          btnB.setEnabled(true);

          btnL.setEnabled(true);

          btnR.setEnabled(true);

          btnActivate.setEnabled(true);

          btnAssignID.setEnabled(true);

          btnSetBounds.setEnabled(true);

          btnClearBounds.setEnabled(true);

          btnCommand_MoveTo.setEnabled(true);

          btnCommand_MoveAll.setEnabled(true);

      }

    };

    SwingUtilities.invokeLater(r);

                btnClearBounds.setEnabled(false);

  /**

    * Parses a message that indicates a robot has reached its destination

   */

  public void parseMoveUpdate (String line) {

    System.out.println("Got move update: " + line);

    String [] str = line.split(" ");

    int id = Integer.parseInt(str[1]);

    robotIcons.cancelMoveTo(id);

  }

      } else if (source == btnClearBounds) {

        boundary.active = false;

        boundary.set = false;

        boundary.img_p1 = new Point(-1, -1);

        boundary.img_p2 = new Point(-1, -1);

        boundary.panel_p1 = new Point(-1, -1);

        boundary.panel_p2 = new Point(-1, -1);

        boundary.sendToServer();

      if (csi != null) {

        csi.sendBoundary(img_p1.x, img_p1.y, img_p2.x, img_p2.y);

      }

	public static final String ROBOT_REPORT_ARRIVED_AT_POSITION = "93"; //0x5D

      else if (line.startsWith(ColonetServerInterface.ROBOT_REPORT_ARRIVED_AT_POSITION))

        colonet.parseMoveUpdate(line);