root / trunk / code / projects / colonet / client / Colonet.java @ 768
History | View | Annotate | Download (37.8 KB)
| 1 | import javax.swing.*;
|
|---|---|
| 2 | import javax.swing.event.*;
|
| 3 | import javax.imageio.*;
|
| 4 | import java.awt.*;
|
| 5 | import java.awt.image.*;
|
| 6 | import java.awt.event.*;
|
| 7 | import java.net.*;
|
| 8 | import java.io.*;
|
| 9 | import java.util.*;
|
| 10 | |
| 11 | /**
|
| 12 | * The Colonet Graphical User Interface Applet for use locally and over an internet connection. |
| 13 | * @author Gregory Tress |
| 14 | * |
| 15 | * To generate javadoc on this file or other java files, use javadoc *.java -d doc, where doc |
| 16 | * is the name of the folder into which the files should be written. |
| 17 | */ |
| 18 | public class Colonet extends JApplet implements ActionListener, MouseInputListener, KeyListener { |
| 19 | |
| 20 | // Connection
|
| 21 | JTextField txtHost; |
| 22 | JTextField txtPort; |
| 23 | JButton btnConnect; |
| 24 | JButton btnGetXBeeIDs; |
| 25 | JLabel lblConnectionStatus; |
| 26 | JTextArea txtInfo; |
| 27 | JPanel panelConnect; |
| 28 | JPanel panelServerInterface; |
| 29 | Socket socket; |
| 30 | DataUpdater dataUpdater; |
| 31 | |
| 32 | // Control
|
| 33 | JTabbedPane tabPaneControl; |
| 34 | JPanel panelRobotControl; |
| 35 | JPanel panelRobotDirection; |
| 36 | JPanel panelRobotDirectionButtons; |
| 37 | JPanel panelRobotCommands; |
| 38 | JButton btnF, btnB, btnL, btnR, btnActivate; |
| 39 | JLabel lblBattery; |
| 40 | JLabel lblSelected; |
| 41 | BatteryIcon batteryIcon; |
| 42 | JPanel panelBattery; |
| 43 | VectorController vectorController; |
| 44 | BufferedImage imageVectorControl; |
| 45 | JButton btnAssignID; |
| 46 | JButton btnLocateStation; |
| 47 | boolean setStation;
|
| 48 | ChargingStation station; |
| 49 | boolean setWaypoint;
|
| 50 | int setWaypointID;
|
| 51 | JButton btnSetBounds; |
| 52 | JButton btnClearBounds; |
| 53 | RobotBoundary boundary; |
| 54 | JButton btnCommand_MoveTo; |
| 55 | JButton btnCommand_MoveAll; |
| 56 | JButton btnCommand_StopTask; |
| 57 | JButton btnCommand_ResumeTask; |
| 58 | JButton btnCommand_ChargeNow; |
| 59 | JButton btnCommand_StopCharging; |
| 60 | |
| 61 | // Task Manager
|
| 62 | JPanel panelTaskManager; |
| 63 | JScrollPane spTaskManager; |
| 64 | JPanel panelTaskManagerControls; |
| 65 | JPanel panelTaskManagerControlsPriority; |
| 66 | DefaultListModel taskListModel; |
| 67 | JList taskList; |
| 68 | JButton btnAddTask; |
| 69 | JButton btnRemoveTask; |
| 70 | JButton btnMoveTaskUp; |
| 71 | JButton btnMoveTaskDown; |
| 72 | JButton btnUpdateTasks; |
| 73 | TaskAddWindow taskAddWindow; |
| 74 | |
| 75 | // Webcam
|
| 76 | WebcamPanel panelWebcam; |
| 77 | GraphicsConfiguration gc; |
| 78 | JTabbedPane tabPaneMain; |
| 79 | WebcamLoader webcamLoader; |
| 80 | |
| 81 | // Robots
|
| 82 | volatile int selectedBot; //the user has selected this bot graphically |
| 83 | volatile RobotList robotIcons; //contains boundary shapes around bots for click detection |
| 84 | volatile int[] xbeeID; |
| 85 | |
| 86 | Colonet self = this;
|
| 87 | volatile ColonetServerInterface csi;
|
| 88 | |
| 89 | public void init () { |
| 90 | // Set the default look and feel
|
| 91 | String laf = ColonetConstants.LOOK_AND_FEEL; |
| 92 | try {
|
| 93 | UIManager.setLookAndFeel(laf); |
| 94 | } catch (UnsupportedLookAndFeelException exc) {
|
| 95 | System.err.println ("Warning: UnsupportedLookAndFeel: " + laf);
|
| 96 | } catch (Exception exc) {
|
| 97 | System.err.println ("Error loading " + laf + ": " + exc); |
| 98 | } |
| 99 | |
| 100 | // We should invoke and wait to avoid browser display difficulties
|
| 101 | Runnable r = new Runnable() {
|
| 102 | public void run() { |
| 103 | createAndShowGUI(); |
| 104 | } |
| 105 | }; |
| 106 | |
| 107 | try {
|
| 108 | SwingUtilities.invokeAndWait(r); |
| 109 | } catch (InterruptedException e) {
|
| 110 | //Not really sure why we would be in this situation
|
| 111 | System.out.println("InterruptedException in init: " + e);
|
| 112 | } catch (java.lang.reflect.InvocationTargetException e) {
|
| 113 | //This could happen for various reasons if there is a problem in createAndShowGUI
|
| 114 | e.printStackTrace(); |
| 115 | } |
| 116 | } |
| 117 | |
| 118 | public void destroy () { |
| 119 | if (csi != null) { |
| 120 | csi.disconnect(); |
| 121 | } |
| 122 | } |
| 123 | |
| 124 | private synchronized void createAndShowGUI () { |
| 125 | // Webcam
|
| 126 | gc = GraphicsEnvironment.getLocalGraphicsEnvironment().getDefaultScreenDevice().getDefaultConfiguration(); |
| 127 | panelWebcam = new WebcamPanel();
|
| 128 | tabPaneMain = new JTabbedPane();
|
| 129 | tabPaneMain.setFont(new Font("arial", Font.PLAIN, 14)); |
| 130 | tabPaneMain.add(panelWebcam, "Webcam");
|
| 131 | |
| 132 | // Robots
|
| 133 | selectedBot = -1;
|
| 134 | robotIcons = new RobotList();
|
| 135 | |
| 136 | // Connection area
|
| 137 | txtInfo = new JTextArea();
|
| 138 | txtInfo.setBorder(BorderFactory.createTitledBorder("Info"));
|
| 139 | txtHost = new JTextField(this.getDocumentBase().getHost()); |
| 140 | txtHost.setBorder(BorderFactory.createTitledBorder("Host"));
|
| 141 | txtPort = new JTextField("10123"); |
| 142 | txtPort.setBorder(BorderFactory.createTitledBorder("Port"));
|
| 143 | btnConnect = new JButton("Connect"); |
| 144 | btnConnect.setFont(new Font("arial", Font.BOLD, 16)); |
| 145 | btnGetXBeeIDs = new JButton("Get XBee IDs"); |
| 146 | getRootPane().setDefaultButton(btnConnect); |
| 147 | lblConnectionStatus = new JLabel("Status: Offline"); |
| 148 | panelConnect = new JPanel();
|
| 149 | panelConnect.setLayout(new GridLayout(6,1)); |
| 150 | panelConnect.add(lblConnectionStatus); |
| 151 | panelConnect.add(txtHost); |
| 152 | panelConnect.add(txtPort); |
| 153 | panelConnect.add(btnConnect); |
| 154 | panelServerInterface = new JPanel();
|
| 155 | panelServerInterface.setLayout(new GridLayout(2,1)); |
| 156 | panelServerInterface.add(panelConnect); |
| 157 | panelServerInterface.add(txtInfo); |
| 158 | |
| 159 | // Robot direction panel
|
| 160 | panelRobotDirection = new JPanel();
|
| 161 | panelRobotDirectionButtons = new JPanel();
|
| 162 | |
| 163 | Font f = new Font(null, Font.PLAIN, 16); |
| 164 | btnF = new JButton("\u2191"); |
| 165 | btnF.setFont(f); |
| 166 | btnB = new JButton("\u2193"); |
| 167 | btnB.setFont(f); |
| 168 | btnL = new JButton("\u2190"); |
| 169 | btnL.setFont(f); |
| 170 | btnR = new JButton("\u2192"); |
| 171 | btnR.setFont(f); |
| 172 | btnActivate = new JButton("\u25A0"); |
| 173 | btnActivate.setFont(new Font(null, Font.BOLD, 24)); |
| 174 | |
| 175 | panelRobotDirectionButtons.setLayout(new GridLayout(1,5)); |
| 176 | panelRobotDirectionButtons.add(btnActivate); |
| 177 | panelRobotDirectionButtons.add(btnF); |
| 178 | panelRobotDirectionButtons.add(btnB); |
| 179 | panelRobotDirectionButtons.add(btnL); |
| 180 | panelRobotDirectionButtons.add(btnR); |
| 181 | |
| 182 | imageVectorControl = gc.createCompatibleImage(ColonetConstants.VECTOR_CONTROLLER_WIDTH, ColonetConstants.VECTOR_CONTROLLER_HEIGHT); |
| 183 | vectorController = new VectorController(imageVectorControl, self);
|
| 184 | panelRobotDirection.setLayout(new BorderLayout());
|
| 185 | panelRobotDirection.add(vectorController, BorderLayout.CENTER); |
| 186 | panelRobotDirection.add(panelRobotDirectionButtons, BorderLayout.SOUTH); |
| 187 | |
| 188 | // Robot Control and Commands
|
| 189 | panelRobotCommands = new JPanel();
|
| 190 | panelRobotCommands.setLayout(new GridLayout(6,2)); |
| 191 | // Battery subset
|
| 192 | batteryIcon = new BatteryIcon(0); |
| 193 | lblBattery = new JLabel(batteryIcon);
|
| 194 | lblSelected = new JLabel("None"); |
| 195 | // Management subset
|
| 196 | setStation = false;
|
| 197 | setWaypoint = false;
|
| 198 | setWaypointID = -1;
|
| 199 | btnAssignID = new JButton("Assign ID"); |
| 200 | btnLocateStation = new JButton("Identify Station"); |
| 201 | boundary = new RobotBoundary();
|
| 202 | btnSetBounds = new JButton("Set Boundary"); |
| 203 | btnClearBounds = new JButton("Clear Boundary"); |
| 204 | // Control subset
|
| 205 | btnCommand_MoveTo = new JButton("Move to ..."); |
| 206 | btnCommand_MoveAll = new JButton("Move all ..."); |
| 207 | btnCommand_StopTask = new JButton("Stop Current Task"); |
| 208 | btnCommand_ResumeTask = new JButton("Resume Current Task"); |
| 209 | btnCommand_ChargeNow = new JButton("Recharge Now"); |
| 210 | btnCommand_StopCharging = new JButton("Stop Recharging"); |
| 211 | panelRobotCommands.add(new JLabel("Battery Level: ")); |
| 212 | panelRobotCommands.add(lblBattery); |
| 213 | panelRobotCommands.add(new JLabel("Selected Icon: ")); |
| 214 | panelRobotCommands.add(lblSelected); |
| 215 | panelRobotCommands.add(btnAssignID); |
| 216 | panelRobotCommands.add(btnLocateStation); |
| 217 | panelRobotCommands.add(btnCommand_ChargeNow); |
| 218 | panelRobotCommands.add(btnCommand_StopCharging); |
| 219 | panelRobotCommands.add(btnSetBounds); |
| 220 | panelRobotCommands.add(btnClearBounds); |
| 221 | panelRobotCommands.add(btnCommand_MoveTo); |
| 222 | panelRobotCommands.add(btnCommand_MoveAll); |
| 223 | //panelRobotCommands.add(btnCommand_StopTask);
|
| 224 | //panelRobotCommands.add(btnCommand_ResumeTask);
|
| 225 | panelRobotControl = new JPanel();
|
| 226 | panelRobotControl.setLayout(new GridLayout(2,1)); |
| 227 | panelRobotControl.add(panelRobotDirection); |
| 228 | panelRobotControl.add(panelRobotCommands); |
| 229 | |
| 230 | // Task Manager
|
| 231 | panelTaskManager = new JPanel();
|
| 232 | panelTaskManager.setLayout(new BorderLayout());
|
| 233 | taskListModel = new DefaultListModel();
|
| 234 | taskList = new JList(taskListModel);
|
| 235 | taskList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION); |
| 236 | taskList.setSelectedIndex(0);
|
| 237 | spTaskManager = new JScrollPane(taskList);
|
| 238 | panelTaskManagerControls = new JPanel();
|
| 239 | panelTaskManagerControls.setLayout(new GridLayout(1,4)); |
| 240 | panelTaskManagerControlsPriority = new JPanel();
|
| 241 | panelTaskManagerControlsPriority.setLayout(new GridLayout(1,2)); |
| 242 | btnAddTask = new JButton("Add..."); |
| 243 | btnRemoveTask = new JButton("Remove"); |
| 244 | btnMoveTaskUp = new JButton("^"); |
| 245 | btnMoveTaskDown = new JButton("v"); |
| 246 | btnUpdateTasks = new JButton("Update"); |
| 247 | panelTaskManagerControlsPriority.add(btnMoveTaskUp); |
| 248 | panelTaskManagerControlsPriority.add(btnMoveTaskDown); |
| 249 | panelTaskManagerControls.add(btnAddTask); |
| 250 | panelTaskManagerControls.add(btnRemoveTask); |
| 251 | panelTaskManagerControls.add(btnUpdateTasks); |
| 252 | panelTaskManagerControls.add(panelTaskManagerControlsPriority); |
| 253 | panelTaskManager.add(spTaskManager, BorderLayout.CENTER); |
| 254 | panelTaskManager.add(panelTaskManagerControls, BorderLayout.SOUTH); |
| 255 | panelTaskManager.add(new JLabel("Current Task Queue"), BorderLayout.NORTH); |
| 256 | taskAddWindow = new TaskAddWindow();
|
| 257 | |
| 258 | // Main control mechanism
|
| 259 | tabPaneControl = new JTabbedPane(JTabbedPane.TOP);
|
| 260 | tabPaneControl.setFont(new Font("arial", Font.PLAIN, 14)); |
| 261 | tabPaneControl.setPreferredSize(new Dimension(ColonetConstants.VECTOR_CONTROLLER_WIDTH, 0)); |
| 262 | tabPaneControl.addTab("Connection", panelServerInterface);
|
| 263 | tabPaneControl.addTab("Robots", panelRobotControl);
|
| 264 | //tabPaneControl.addTab("Tasks", panelTaskManager);
|
| 265 | |
| 266 | // Put all elements in the ContentPane
|
| 267 | this.getContentPane().setLayout(new BorderLayout()); |
| 268 | this.getContentPane().add(tabPaneMain, BorderLayout.CENTER);
|
| 269 | this.getContentPane().add(tabPaneControl, BorderLayout.EAST);
|
| 270 | this.setVisible(true); |
| 271 | |
| 272 | // Disable components before connecting
|
| 273 | btnConnect.setText("Connect");
|
| 274 | lblConnectionStatus.setText("Status: Disconnected");
|
| 275 | setComponentsEnabled(false);
|
| 276 | |
| 277 | /* Add all listeners here */
|
| 278 | // Task Management
|
| 279 | btnAddTask.addActionListener(this);
|
| 280 | btnRemoveTask.addActionListener(this);
|
| 281 | btnMoveTaskUp.addActionListener(this);
|
| 282 | btnMoveTaskDown.addActionListener(this);
|
| 283 | btnUpdateTasks.addActionListener(this);
|
| 284 | // Robot Control
|
| 285 | btnF.addActionListener(this);
|
| 286 | btnB.addActionListener(this);
|
| 287 | btnL.addActionListener(this);
|
| 288 | btnR.addActionListener(this);
|
| 289 | btnF.addKeyListener(this);
|
| 290 | btnB.addKeyListener(this);
|
| 291 | btnL.addKeyListener(this);
|
| 292 | btnR.addKeyListener(this);
|
| 293 | btnActivate.addActionListener(this);
|
| 294 | btnActivate.addKeyListener(this);
|
| 295 | btnCommand_MoveTo.addActionListener(this);
|
| 296 | btnCommand_MoveAll.addActionListener(this);
|
| 297 | btnCommand_StopTask.addActionListener(this);
|
| 298 | btnCommand_ResumeTask.addActionListener(this);
|
| 299 | btnCommand_ChargeNow.addActionListener(this);
|
| 300 | btnCommand_StopCharging.addActionListener(this);
|
| 301 | // Other
|
| 302 | btnConnect.addActionListener(this);
|
| 303 | btnGetXBeeIDs.addActionListener(this);
|
| 304 | btnAssignID.addActionListener(this);
|
| 305 | btnLocateStation.addActionListener(this);
|
| 306 | btnSetBounds.addActionListener(this);
|
| 307 | btnClearBounds.addActionListener(this);
|
| 308 | panelWebcam.addMouseListener(this);
|
| 309 | panelWebcam.addMouseMotionListener(this);
|
| 310 | } |
| 311 | |
| 312 | public ColonetServerInterface getCSI () {
|
| 313 | return csi;
|
| 314 | } |
| 315 | |
| 316 | public void paint (Graphics g) { |
| 317 | super.paint(g);
|
| 318 | } |
| 319 | |
| 320 | public void update (Graphics g) { |
| 321 | paint(g); |
| 322 | } |
| 323 | |
| 324 | /**
|
| 325 | * Gets the JTextArea used for displaying debugging information. |
| 326 | * |
| 327 | * @return the JTextArea where debugging information can be displayed. |
| 328 | */ |
| 329 | public JTextArea getInfoPanel () {
|
| 330 | return txtInfo;
|
| 331 | } |
| 332 | |
| 333 | /**
|
| 334 | * Parses a String containing BOM matrix information. |
| 335 | * The ColonetServerInterface receives lines of the BOM matrix. (For encoding |
| 336 | * information, see the ColonetServerInterface documentation.) The entire matrix is passed |
| 337 | * to the client when requested. This method takes a string of the form |
| 338 | * "[command code] [command code] [number of robots] [data0] [data1] ..." |
| 339 | * with tokens separated by spaces and containing no brackets. |
| 340 | * The [command code]s are predefined values identifying this String as a BOM data |
| 341 | * String, [number of robots] is an integer, and the values that follow are |
| 342 | * the sensor readings of the robots in order, starting with robot 0. Only [number of robots]^2 |
| 343 | * data entries will be read. The matrix values are saved locally until the next String is parsed. |
| 344 | * |
| 345 | * |
| 346 | * @param line the String containing BOM matrix information. |
| 347 | * @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots]^2 data entries in the String |
| 348 | */ |
| 349 | public void parseMatrix (String line) { |
| 350 | txtInfo.setText("");
|
| 351 | String [] str = line.split(" ");
|
| 352 | int num = Integer.parseInt(str[2]); |
| 353 | for (int i = 0; i < num; i++) { |
| 354 | for (int j = 0; j < num; j++) { |
| 355 | String next = str[3 + i*num + j];
|
| 356 | if (next.equals("-1")) { |
| 357 | txtInfo.append("-");
|
| 358 | } else {
|
| 359 | txtInfo.append(next); |
| 360 | } |
| 361 | |
| 362 | if (j < num - 1) { |
| 363 | txtInfo.append(" ");
|
| 364 | } |
| 365 | } |
| 366 | |
| 367 | if (i < num - 1) { |
| 368 | txtInfo.append("\n");
|
| 369 | } |
| 370 | } |
| 371 | repaint(); |
| 372 | } |
| 373 | |
| 374 | public void connect () { |
| 375 | if (csi != null) |
| 376 | return;
|
| 377 | csi = new ColonetServerInterface(self);
|
| 378 | csi.connect(txtHost.getText(), txtPort.getText()); |
| 379 | if (!csi.isReady()) {
|
| 380 | csi = null;
|
| 381 | return;
|
| 382 | } |
| 383 | webcamLoader = new WebcamLoader(self);
|
| 384 | dataUpdater = new DataUpdater();
|
| 385 | dataUpdater.start(); |
| 386 | webcamLoader.start(); |
| 387 | Runnable r = new Runnable() {
|
| 388 | public void run () { |
| 389 | btnConnect.setText("Disconnect");
|
| 390 | lblConnectionStatus.setText("Status: Connected");
|
| 391 | setComponentsEnabled(true);
|
| 392 | } |
| 393 | }; |
| 394 | SwingUtilities.invokeLater(r); |
| 395 | } |
| 396 | |
| 397 | public void disconnect () { |
| 398 | try {
|
| 399 | dataUpdater.interrupt(); |
| 400 | } catch (Exception e) {
|
| 401 | } |
| 402 | csi = null;
|
| 403 | Runnable r = new Runnable() {
|
| 404 | public void run () { |
| 405 | btnConnect.setText("Connect");
|
| 406 | lblConnectionStatus.setText("Status: Disconnected");
|
| 407 | setComponentsEnabled(false);
|
| 408 | boundary = null;
|
| 409 | station = null;
|
| 410 | } |
| 411 | }; |
| 412 | SwingUtilities.invokeLater(r); |
| 413 | } |
| 414 | |
| 415 | private void setComponentsEnabled (boolean enabled) { |
| 416 | btnF.setEnabled(enabled); |
| 417 | btnB.setEnabled(enabled); |
| 418 | btnL.setEnabled(enabled); |
| 419 | btnR.setEnabled(enabled); |
| 420 | btnActivate.setEnabled(enabled); |
| 421 | btnAssignID.setEnabled(enabled); |
| 422 | btnLocateStation.setEnabled(enabled); |
| 423 | btnSetBounds.setEnabled(enabled); |
| 424 | btnClearBounds.setEnabled(enabled); |
| 425 | btnCommand_ChargeNow.setEnabled(enabled); |
| 426 | btnCommand_StopCharging.setEnabled(enabled); |
| 427 | btnCommand_MoveTo.setEnabled(enabled); |
| 428 | btnCommand_MoveAll.setEnabled(enabled); |
| 429 | } |
| 430 | |
| 431 | /**
|
| 432 | * Parses a String containing a task queue update. |
| 433 | * Format is currently not specified. |
| 434 | * This method currently does nothing. |
| 435 | * |
| 436 | * @param line the String containing task queue update information. |
| 437 | */ |
| 438 | public void parseQueue (String line) { |
| 439 | |
| 440 | } |
| 441 | |
| 442 | /**
|
| 443 | * Parses a String containing XBee ID values. |
| 444 | * The ColonetServerInterface receives Strings of XBee information. (For encoding |
| 445 | * information, see the ColonetServerInterface documentation.) This method takes |
| 446 | * a string of the form "[command code] [command code] [number of robots] [id0] [id1] ..." |
| 447 | * with tokens separated by spaces and containing no brackets. |
| 448 | * The [command code]s are predefined values identifying this String as an XBee |
| 449 | * ID String, [number of robots] is an integer, and the values that follow are |
| 450 | * the IDs of the robots in order, starting with robot 0. Only [number of robots] |
| 451 | * will be read. The ID values are saved locally until the next String is parsed. |
| 452 | * The purpose of having this list is to ensure that robots are properly identified for control purposes. |
| 453 | * This keeps robot identification consistent between sessions and prevents arbitrary assignment. |
| 454 | * |
| 455 | * @param line the String containing XBee ID information. |
| 456 | * @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots] IDs in the String |
| 457 | * @see ColonetServerInterface#sendXBeeIDRequest() |
| 458 | */ |
| 459 | public void parseXBeeIDs (String line) { |
| 460 | String [] str = line.split(" ");
|
| 461 | int num = Integer.parseInt(str[2]); |
| 462 | xbeeID = new int[num]; |
| 463 | for (int i = 0; i < num; i++) { |
| 464 | xbeeID[i] = Integer.parseInt(str[i+3]);
|
| 465 | } |
| 466 | } |
| 467 | |
| 468 | /**
|
| 469 | * Parses a String containing battery information. |
| 470 | * The ColonetServerInterface receives Strings of battery information. (For encoding |
| 471 | * information, see the ColonetServerInterface documentation.) This method takes |
| 472 | * a string of the form "[command code] [command code] [robot ID] [value]" |
| 473 | * with tokens separated by spaces and containing no brackets. |
| 474 | * The [command code]s are predefined values identifying this String as a battery |
| 475 | * information String, [robot ID] is an integer, and [value] is a battery measurement. |
| 476 | * This updates the batery information for a single robot. |
| 477 | * |
| 478 | * |
| 479 | * @param line the String containing battery information. |
| 480 | * @see ColonetServerInterface#sendBatteryRequest(int) |
| 481 | */ |
| 482 | public void parseBattery (String line) { |
| 483 | int botNum, level;
|
| 484 | try {
|
| 485 | String [] str = line.split(" ");
|
| 486 | botNum = Integer.parseInt(str[2]);
|
| 487 | level = Integer.parseInt(str[3]);
|
| 488 | } catch (NumberFormatException e) {
|
| 489 | System.out.println("Could not parse battery update");
|
| 490 | return;
|
| 491 | } |
| 492 | |
| 493 | RobotIcon r = robotIcons.get(botNum); |
| 494 | if (r != null) { |
| 495 | r.battery = batteryIcon.convert(level); // set contextual battery meter
|
| 496 | batteryIcon.setLevel(level); // set solo battery meter
|
| 497 | } |
| 498 | super.repaint();
|
| 499 | } |
| 500 | |
| 501 | /**
|
| 502 | * Parses a String containing visual robot position information along with |
| 503 | * canonical ID assignments. |
| 504 | */ |
| 505 | public void parsePositions (String line) { |
| 506 | String [] str = line.split(" ");
|
| 507 | RobotList newList = new RobotList();
|
| 508 | |
| 509 | for (int i = 2; i < str.length; i+=3) { |
| 510 | int id = Integer.parseInt(str[i]);
|
| 511 | int x = Integer.parseInt(str[i+1]); |
| 512 | int y = Integer.parseInt(str[i+2]); |
| 513 | RobotIcon newIcon = new RobotIcon(id, x, y);
|
| 514 | // Save previous robot information
|
| 515 | RobotIcon oldIcon = robotIcons.get(id); |
| 516 | if (oldIcon != null) { |
| 517 | newIcon.battery = oldIcon.battery; |
| 518 | newIcon.destx = oldIcon.destx; |
| 519 | newIcon.desty = oldIcon.desty; |
| 520 | } |
| 521 | if (newIcon.id >= 0) { |
| 522 | newIcon.color = Color.GREEN; |
| 523 | } |
| 524 | newList.put(id, newIcon); |
| 525 | } |
| 526 | robotIcons = newList; |
| 527 | repaint(); |
| 528 | } |
| 529 | |
| 530 | /**
|
| 531 | * Parses a message that indicates a robot has reached its destination |
| 532 | */ |
| 533 | public void parseMoveUpdate (String line) { |
| 534 | System.out.println("Got move update: " + line);
|
| 535 | String [] str = line.split(" ");
|
| 536 | int id = Integer.parseInt(str[1]); |
| 537 | robotIcons.cancelMoveTo(id); |
| 538 | } |
| 539 | |
| 540 | /**
|
| 541 | * Set the ID of the selected robot |
| 542 | */ |
| 543 | public void setSelectedBot (int id) { |
| 544 | this.selectedBot = id;
|
| 545 | } |
| 546 | |
| 547 | /**
|
| 548 | * Returns the ID of the selected robot |
| 549 | */ |
| 550 | public int getSelectedBot () { |
| 551 | return this.selectedBot; |
| 552 | } |
| 553 | |
| 554 | //
|
| 555 | // MouseListener methods
|
| 556 | //
|
| 557 | public void mousePressed(MouseEvent e) { |
| 558 | //Start a new Thread to handle the MouseEvent
|
| 559 | (new MouseHandler(e)).start();
|
| 560 | } |
| 561 | public void mouseExited(MouseEvent e) { |
| 562 | } |
| 563 | public void mouseEntered(MouseEvent e) { |
| 564 | } |
| 565 | public void mouseReleased(MouseEvent e) { |
| 566 | (new MouseHandler(e)).start();
|
| 567 | } |
| 568 | public void mouseClicked(MouseEvent e) { |
| 569 | } |
| 570 | public void mouseDragged(MouseEvent e) { |
| 571 | (new MouseHandler(e)).start();
|
| 572 | } |
| 573 | public void mouseMoved(MouseEvent e) { |
| 574 | } |
| 575 | |
| 576 | //
|
| 577 | // KeyListener methods
|
| 578 | //
|
| 579 | public void keyPressed (KeyEvent e) { |
| 580 | //Start a new Thread to handle the KeyEvent
|
| 581 | (new KeyHandler(e)).start();
|
| 582 | repaint(); |
| 583 | } |
| 584 | public void keyReleased (KeyEvent e) { |
| 585 | } |
| 586 | public void keyTyped (KeyEvent e) { |
| 587 | } |
| 588 | |
| 589 | //
|
| 590 | // ActionListener method
|
| 591 | //
|
| 592 | public void actionPerformed (ActionEvent e) { |
| 593 | // Start a new Thread to handle the ActionEvent
|
| 594 | (new ActionHandler(e)).start();
|
| 595 | repaint(); |
| 596 | } |
| 597 | |
| 598 | class MouseHandler extends Thread { |
| 599 | MouseEvent e; |
| 600 | |
| 601 | public MouseHandler (MouseEvent event) {
|
| 602 | super("MouseHandler"); |
| 603 | this.e = event;
|
| 604 | } |
| 605 | |
| 606 | public void run () { |
| 607 | Point pt = panelWebcam.convertClick(e); |
| 608 | |
| 609 | // If we are selecting a waypoint (destination) for a specific bot
|
| 610 | if (setWaypoint && setWaypointID >= 0 && e.getID() == MouseEvent.MOUSE_PRESSED) { |
| 611 | // If the user clicks outside the boundary, do nothing
|
| 612 | if (boundary.isActive() && !boundary.contains(e.getX(), e.getY())) {
|
| 613 | return;
|
| 614 | } |
| 615 | setWaypoint = false;
|
| 616 | panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
|
| 617 | if (selectedBot < 0) { |
| 618 | return;
|
| 619 | } |
| 620 | |
| 621 | RobotIcon r = robotIcons.get(selectedBot); |
| 622 | if (r != null) { |
| 623 | r.destx = pt.x; |
| 624 | r.desty = pt.y; |
| 625 | if (csi != null) { |
| 626 | csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
| 627 | } |
| 628 | } |
| 629 | return;
|
| 630 | } |
| 631 | |
| 632 | // If we are ordering a charge (right-click on a station)
|
| 633 | if ((e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3)
|
| 634 | && e.getID() == MouseEvent.MOUSE_PRESSED |
| 635 | && station != null && station.contains(e.getX(), e.getY())) {
|
| 636 | if (selectedBot >= 0) |
| 637 | csi.sendRecharge(selectedBot); |
| 638 | return;
|
| 639 | } |
| 640 | |
| 641 | // Right-click also means we are moving a robot
|
| 642 | if ((e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3)
|
| 643 | && e.getID() == MouseEvent.MOUSE_PRESSED) {
|
| 644 | // If the user clicks outside the boundary, do nothing
|
| 645 | if (boundary.isActive() && !boundary.contains(e.getX(), e.getY())) {
|
| 646 | return;
|
| 647 | } |
| 648 | if (selectedBot < 0) { |
| 649 | return;
|
| 650 | } |
| 651 | |
| 652 | RobotIcon r = robotIcons.get(selectedBot); |
| 653 | if (r != null) { |
| 654 | r.destx = pt.x; |
| 655 | r.desty = pt.y; |
| 656 | if (csi != null) { |
| 657 | csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
| 658 | } |
| 659 | } |
| 660 | return;
|
| 661 | } |
| 662 | |
| 663 | // If we are setting all waypoints
|
| 664 | if (setWaypoint && e.getID() == MouseEvent.MOUSE_PRESSED) {
|
| 665 | // If the user clicks outside the boundary, do nothing
|
| 666 | if (boundary.isActive() && !boundary.contains(e.getX(), e.getY())) {
|
| 667 | return;
|
| 668 | } |
| 669 | setWaypoint = false;
|
| 670 | panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
|
| 671 | for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {
|
| 672 | RobotIcon r = entry.getValue(); |
| 673 | r.destx = pt.x; |
| 674 | r.desty = pt.y; |
| 675 | } |
| 676 | return;
|
| 677 | } |
| 678 | |
| 679 | // If we are drawing a boundary rectangle
|
| 680 | if (boundary != null && boundary.isSetting()) { |
| 681 | // Begin
|
| 682 | if (e.getID() == MouseEvent.MOUSE_PRESSED) {
|
| 683 | boundary.panel_p1 = new Point(e.getX(), e.getY());
|
| 684 | boundary.panel_p2 = new Point(e.getX(), e.getY());
|
| 685 | boundary.img_p1 = new Point(pt.x, pt.y);
|
| 686 | } |
| 687 | // Resize
|
| 688 | else if (e.getID() == MouseEvent.MOUSE_DRAGGED){ |
| 689 | boundary.panel_p2 = new Point(e.getX(), e.getY());
|
| 690 | } |
| 691 | // Finish
|
| 692 | else if (e.getID() == MouseEvent.MOUSE_RELEASED){ |
| 693 | boundary.panel_p2 = new Point(e.getX(), e.getY());
|
| 694 | boundary.img_p2 = new Point(pt.x, pt.y);
|
| 695 | panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
|
| 696 | boundary.set = false;
|
| 697 | boundary.active = true;
|
| 698 | boundary.sendToServer(); |
| 699 | } |
| 700 | return;
|
| 701 | } |
| 702 | |
| 703 | // If we are locating a charging station
|
| 704 | if (setStation) {
|
| 705 | setStation = false;
|
| 706 | station = new ChargingStation(e.getX(), e.getY());
|
| 707 | station.setActive(true);
|
| 708 | return;
|
| 709 | } |
| 710 | |
| 711 | // Otherwise, we are selecting a bot, or doing nothing
|
| 712 | RobotIcon r = robotIcons.getBoundingIcon(pt); |
| 713 | if (r != null) |
| 714 | selectedBot = r.id; |
| 715 | } |
| 716 | } |
| 717 | |
| 718 | class KeyHandler extends Thread { |
| 719 | KeyEvent e; |
| 720 | |
| 721 | public KeyHandler (KeyEvent event) {
|
| 722 | super("KeyHandler"); |
| 723 | this.e = event;
|
| 724 | } |
| 725 | |
| 726 | public void run () { |
| 727 | int code = e.getKeyCode();
|
| 728 | if (code == KeyEvent.VK_UP) {
|
| 729 | vectorController.setMaxForward(); |
| 730 | vectorController.sendToServer(); |
| 731 | } else if (code == KeyEvent.VK_DOWN) { |
| 732 | vectorController.setMaxReverse(); |
| 733 | vectorController.sendToServer(); |
| 734 | } else if (code == KeyEvent.VK_LEFT) { |
| 735 | vectorController.setMaxLeft(); |
| 736 | vectorController.sendToServer(); |
| 737 | } else if (code == KeyEvent.VK_RIGHT) { |
| 738 | vectorController.setMaxRight(); |
| 739 | vectorController.sendToServer(); |
| 740 | } else if (code == KeyEvent.VK_S) { |
| 741 | vectorController.setZero(); |
| 742 | vectorController.sendToServer(); |
| 743 | } |
| 744 | } |
| 745 | } |
| 746 | |
| 747 | class ActionHandler extends Thread { |
| 748 | ActionEvent e; |
| 749 | |
| 750 | public ActionHandler (ActionEvent event) {
|
| 751 | super("ActionHandler"); |
| 752 | this.e = event;
|
| 753 | } |
| 754 | |
| 755 | public void run () { |
| 756 | Object source = e.getSource(); |
| 757 | |
| 758 | // General Actions
|
| 759 | if (source == btnConnect) {
|
| 760 | if (csi == null) { |
| 761 | connect(); |
| 762 | } else {
|
| 763 | disconnect(); |
| 764 | } |
| 765 | } else if (source == btnGetXBeeIDs) { |
| 766 | csi.sendXBeeIDRequest(); |
| 767 | } else if (source == btnAssignID) { |
| 768 | String message; |
| 769 | if (selectedBot < 0) { |
| 770 | message = "That robot is unidentified. Please specify its ID.";
|
| 771 | } else {
|
| 772 | message = "That robot has ID " + selectedBot + ". You may reassign it now."; |
| 773 | } |
| 774 | String result = JOptionPane.showInputDialog(self, message, "Robot Identification", JOptionPane.QUESTION_MESSAGE);
|
| 775 | if (result == null) { |
| 776 | return;
|
| 777 | } |
| 778 | int newID = -1; |
| 779 | try {
|
| 780 | newID = Integer.parseInt(result); |
| 781 | } catch (Exception ex) {
|
| 782 | csi.warn("Invalid ID.");
|
| 783 | return;
|
| 784 | } |
| 785 | // Assign new ID and update display
|
| 786 | if (csi != null) { |
| 787 | csi.sendIDAssignment(selectedBot, newID); |
| 788 | } |
| 789 | selectedBot = newID; |
| 790 | lblSelected.setText("" + newID);
|
| 791 | } else if (source == btnLocateStation) { |
| 792 | setStation = true;
|
| 793 | } else if (source == btnF) { // Robot Movement Controls |
| 794 | vectorController.setMaxForward(); |
| 795 | vectorController.sendToServer(); |
| 796 | robotIcons.cancelMoveTo(selectedBot); |
| 797 | } else if (source == btnB) { |
| 798 | vectorController.setMaxReverse(); |
| 799 | vectorController.sendToServer(); |
| 800 | robotIcons.cancelMoveTo(selectedBot); |
| 801 | } else if (source == btnL) { |
| 802 | vectorController.setMaxLeft(); |
| 803 | vectorController.sendToServer(); |
| 804 | robotIcons.cancelMoveTo(selectedBot); |
| 805 | } else if (source == btnR) { |
| 806 | vectorController.setMaxRight(); |
| 807 | vectorController.sendToServer(); |
| 808 | robotIcons.cancelMoveTo(selectedBot); |
| 809 | } else if (source == btnActivate) { |
| 810 | vectorController.setZero(); |
| 811 | vectorController.sendToServer(); |
| 812 | robotIcons.cancelMoveTo(selectedBot); |
| 813 | } else if (source == btnSetBounds) { |
| 814 | boundary.set = true;
|
| 815 | panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
|
| 816 | } else if (source == btnClearBounds) { |
| 817 | boundary.active = false;
|
| 818 | boundary.set = false;
|
| 819 | boundary.img_p1 = new Point(-1, -1); |
| 820 | boundary.img_p2 = new Point(-1, -1); |
| 821 | boundary.panel_p1 = new Point(-1, -1); |
| 822 | boundary.panel_p2 = new Point(-1, -1); |
| 823 | boundary.sendToServer(); |
| 824 | } else if (source == btnCommand_MoveTo) { |
| 825 | if (selectedBot < 0) { |
| 826 | return;
|
| 827 | } |
| 828 | panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
|
| 829 | setWaypoint = true;
|
| 830 | setWaypointID = selectedBot; |
| 831 | } else if (source == btnCommand_MoveAll) { |
| 832 | panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
|
| 833 | setWaypoint = true;
|
| 834 | setWaypointID = -1;
|
| 835 | } else if (source == btnCommand_StopTask) { |
| 836 | |
| 837 | } else if (source == btnCommand_ResumeTask) { |
| 838 | |
| 839 | } else if (source == btnCommand_ChargeNow) { |
| 840 | if (selectedBot >= 0) |
| 841 | csi.sendRecharge(selectedBot); |
| 842 | else
|
| 843 | csi.sendRecharge(2);
|
| 844 | } else if (source == btnCommand_StopCharging) { |
| 845 | if (selectedBot >= 0) |
| 846 | csi.sendRechargeStop(selectedBot); |
| 847 | else
|
| 848 | csi.sendRechargeStop(2);
|
| 849 | } else if (source == btnAddTask) { // Queue Management |
| 850 | taskAddWindow.prompt(); |
| 851 | } else if (source == btnRemoveTask) { |
| 852 | if (taskList.getSelectedIndex() >= 0) { |
| 853 | csi.sendQueueRemove(taskList.getSelectedIndex()); |
| 854 | } |
| 855 | csi.sendQueueUpdate(); |
| 856 | } else if (source == btnMoveTaskUp) { |
| 857 | csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() - 1);
|
| 858 | csi.sendQueueUpdate(); |
| 859 | } else if (source == btnMoveTaskDown) { |
| 860 | csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() + 1);
|
| 861 | csi.sendQueueUpdate(); |
| 862 | } else if (source == btnUpdateTasks) { |
| 863 | csi.sendQueueUpdate(); |
| 864 | } |
| 865 | |
| 866 | } |
| 867 | } |
| 868 | |
| 869 | /*
|
| 870 | * DataUpdater thread. |
| 871 | * The purpose of this thread is to request data from the server at regular intervals. |
| 872 | * Types of data requested: XBee IDs, robot positions, battery levels. |
| 873 | * |
| 874 | */ |
| 875 | class DataUpdater extends Thread { |
| 876 | final int DATAUPDATER_DELAY = 200; |
| 877 | int count;
|
| 878 | public DataUpdater () {
|
| 879 | super("Colonet DataUpdater"); |
| 880 | count = 0;
|
| 881 | } |
| 882 | |
| 883 | public synchronized void run () { |
| 884 | while (true) { |
| 885 | try {
|
| 886 | if (csi != null && csi.isReady()) { |
| 887 | // XBee ID Request
|
| 888 | if (count % 5 == 0) { |
| 889 | csi.sendXBeeIDRequest(); |
| 890 | } |
| 891 | // Robot Position Request
|
| 892 | if (count % 1 == 0) { |
| 893 | csi.sendPositionRequest(); |
| 894 | } |
| 895 | // Battery Request
|
| 896 | if (count % 30 == 0) { |
| 897 | for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {
|
| 898 | RobotIcon r = entry.getValue(); |
| 899 | int id = r.id;
|
| 900 | if (id >= 0) { |
| 901 | csi.sendBatteryRequest(id); |
| 902 | } |
| 903 | } |
| 904 | } |
| 905 | } |
| 906 | count++; |
| 907 | if (count > 1000) |
| 908 | count = 0;
|
| 909 | Thread.sleep(DATAUPDATER_DELAY); |
| 910 | } catch (InterruptedException e) {
|
| 911 | return;
|
| 912 | } catch (NullPointerException e) {
|
| 913 | // This probably indicates that an object was destroyed by shutdown.
|
| 914 | return;
|
| 915 | } |
| 916 | } |
| 917 | } |
| 918 | } |
| 919 | |
| 920 | |
| 921 | /*
|
| 922 | * WebcamPanel class |
| 923 | * Contains the webcam image |
| 924 | */ |
| 925 | class WebcamPanel extends JPanel { |
| 926 | |
| 927 | volatile BufferedImage img;
|
| 928 | BufferedImage buffer; |
| 929 | |
| 930 | public WebcamPanel () {
|
| 931 | super(true); |
| 932 | } |
| 933 | |
| 934 | public synchronized void setImage (BufferedImage newimg) { |
| 935 | if (img != null) { |
| 936 | img.flush(); |
| 937 | } |
| 938 | System.gc(); |
| 939 | img = newimg; |
| 940 | repaint(); |
| 941 | } |
| 942 | |
| 943 | public synchronized void paint (Graphics g) { |
| 944 | if (img == null) { |
| 945 | return;
|
| 946 | } |
| 947 | |
| 948 | // Calculate scaling
|
| 949 | int maxWidth = getWidth() - 2*ColonetConstants.WEBCAM_BORDER; |
| 950 | int maxHeight = getHeight() - 2*ColonetConstants.WEBCAM_BORDER; |
| 951 | double widthRatio = 1.0 * maxWidth / img.getWidth(); |
| 952 | double heightRatio = 1.0 * maxHeight / img.getHeight(); |
| 953 | double scale = 0; |
| 954 | int newWidth = 0; |
| 955 | int newHeight = 0; |
| 956 | int x = 0; |
| 957 | int y = 0; |
| 958 | |
| 959 | if (widthRatio > heightRatio) { //height is the limiting factor |
| 960 | scale = heightRatio; |
| 961 | newHeight = maxHeight; |
| 962 | newWidth = (int) (img.getWidth() * scale);
|
| 963 | y = ColonetConstants.WEBCAM_BORDER; |
| 964 | x = (maxWidth - newWidth) / 2 + ColonetConstants.WEBCAM_BORDER;
|
| 965 | } else { //width is the limiting factor |
| 966 | scale = widthRatio; |
| 967 | newWidth = maxWidth; |
| 968 | newHeight = (int) (img.getHeight() * scale);
|
| 969 | x = ColonetConstants.WEBCAM_BORDER; |
| 970 | y = (maxHeight - newHeight) / 2 + ColonetConstants.WEBCAM_BORDER;
|
| 971 | } |
| 972 | |
| 973 | // Draw image onto the buffer
|
| 974 | buffer = new BufferedImage(getWidth(), getHeight(), BufferedImage.TYPE_INT_RGB);
|
| 975 | Graphics2D bufferedGraphics = (Graphics2D)buffer.getGraphics(); |
| 976 | bufferedGraphics.setColor(Color.GRAY); |
| 977 | bufferedGraphics.fillRect(0, 0, this.getWidth(), this.getHeight()); |
| 978 | Image imgScaled = img.getScaledInstance(newWidth, newHeight, Image.SCALE_FAST); |
| 979 | bufferedGraphics.drawImage(imgScaled, x, y, this);
|
| 980 | |
| 981 | // Draw boundary
|
| 982 | if (boundary != null && (boundary.isSetting() || boundary.isActive())) { |
| 983 | bufferedGraphics.setColor(Color.BLUE); |
| 984 | int width = boundary.panel_p2.x - boundary.panel_p1.x;
|
| 985 | int height = boundary.panel_p2.y - boundary.panel_p1.y;
|
| 986 | bufferedGraphics.drawRect(boundary.panel_p1.x, boundary.panel_p1.y, width, height); |
| 987 | } |
| 988 | |
| 989 | // Draw charging station
|
| 990 | if (station != null && station.isActive()) { |
| 991 | bufferedGraphics.setStroke(new BasicStroke(2)); |
| 992 | bufferedGraphics.setColor(Color.ORANGE); |
| 993 | int width = ColonetConstants.STATION_SIZE;
|
| 994 | bufferedGraphics.drawRect(station.getX() - width/2, station.getY() - width/2, width, width); |
| 995 | } |
| 996 | |
| 997 | // Draw Identifiers and battery levels
|
| 998 | if (robotIcons != null) { |
| 999 | bufferedGraphics.setStroke(new BasicStroke(2)); |
| 1000 | for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {
|
| 1001 | RobotIcon r = entry.getValue(); |
| 1002 | bufferedGraphics.setColor(r.color); |
| 1003 | // Identifier circle
|
| 1004 | int px = (int) (x + r.x * scale); |
| 1005 | int py = (int) (y + r.y * scale); |
| 1006 | int radius = ColonetConstants.ROBOT_RADIUS;
|
| 1007 | bufferedGraphics.drawOval(px-radius, py-radius, 2*radius, 2*radius); |
| 1008 | // ID, if applicable
|
| 1009 | if (r.id > 0) { |
| 1010 | bufferedGraphics.setFont(new Font("arial", Font.PLAIN, 36)); |
| 1011 | bufferedGraphics.drawString("" + r.id, px-10, py+10); |
| 1012 | } |
| 1013 | // Battery
|
| 1014 | if (r.battery >= 0) { |
| 1015 | int pixels = r.battery * ColonetConstants.BATTERY_WIDTH / 100; |
| 1016 | if (r.battery > 50) |
| 1017 | bufferedGraphics.setColor(Color.GREEN); |
| 1018 | else if (r.battery > 25) |
| 1019 | bufferedGraphics.setColor(Color.YELLOW); |
| 1020 | else
|
| 1021 | bufferedGraphics.setColor(Color.RED); |
| 1022 | bufferedGraphics.fillRect(px+20, py+20, pixels, ColonetConstants.BATTERY_HEIGHT); |
| 1023 | bufferedGraphics.setColor(Color.BLACK); |
| 1024 | bufferedGraphics.drawRect(px+20, py+20, ColonetConstants.BATTERY_WIDTH, ColonetConstants.BATTERY_HEIGHT); |
| 1025 | } |
| 1026 | // If the robot has a destination, draw the vector
|
| 1027 | if (r.destx >= 0) { |
| 1028 | bufferedGraphics.drawLine(px, py, (int)(x + r.destx * scale), (int)(y + r.desty * scale)); |
| 1029 | } |
| 1030 | } |
| 1031 | } |
| 1032 | |
| 1033 | // Identify currently-selected robot
|
| 1034 | RobotIcon r = robotIcons.get(selectedBot); |
| 1035 | if (r != null) { |
| 1036 | int px = (int) (x + r.x * scale); |
| 1037 | int py = (int) (y + r.y * scale); |
| 1038 | int radius = ColonetConstants.ROBOT_RADIUS;
|
| 1039 | bufferedGraphics.setColor(Color.BLACK); |
| 1040 | bufferedGraphics.drawOval(px-radius-6, py-radius-6, 2*radius+12, 2*radius+12); |
| 1041 | } |
| 1042 | |
| 1043 | //Display buffered content
|
| 1044 | g.drawImage(buffer, 0, 0, this); |
| 1045 | } |
| 1046 | |
| 1047 | /**
|
| 1048 | * Convert a click on the webcam panel to a coordinate that is consistent with the |
| 1049 | * original size of the image that the panel contains. |
| 1050 | */ |
| 1051 | public Point convertClick (MouseEvent e) {
|
| 1052 | if (img == null) { |
| 1053 | return new Point(e.getX(), e.getY()); |
| 1054 | } |
| 1055 | |
| 1056 | // Calculate scaling
|
| 1057 | int border = ColonetConstants.WEBCAM_BORDER;
|
| 1058 | int clickx = e.getX();
|
| 1059 | int clicky = e.getY();
|
| 1060 | int maxWidth = getWidth() - 2*border; |
| 1061 | int maxHeight = getHeight() - 2*border; |
| 1062 | double widthRatio = 1.0 * maxWidth / img.getWidth(); |
| 1063 | double heightRatio = 1.0 * maxHeight / img.getHeight(); |
| 1064 | double scale = 0; |
| 1065 | int newWidth = 0; |
| 1066 | int newHeight = 0; |
| 1067 | int px = 0; |
| 1068 | int py = 0; |
| 1069 | |
| 1070 | if (widthRatio > heightRatio) { //height is the limiting factor |
| 1071 | scale = heightRatio; |
| 1072 | newHeight = maxHeight; |
| 1073 | newWidth = (int) (img.getWidth() * scale);
|
| 1074 | py = clicky - border; |
| 1075 | px = clickx - border - (maxWidth - newWidth) / 2;
|
| 1076 | } else { //width is the limiting factor |
| 1077 | scale = widthRatio; |
| 1078 | newWidth = maxWidth; |
| 1079 | newHeight = (int) (img.getHeight() * scale);
|
| 1080 | px = clickx - border; |
| 1081 | py = clicky - border - (maxHeight - newHeight) / 2;
|
| 1082 | } |
| 1083 | py = (int) (py / scale);
|
| 1084 | px = (int) (px / scale);
|
| 1085 | return new Point(px, py); |
| 1086 | } |
| 1087 | |
| 1088 | } |
| 1089 | |
| 1090 | /*
|
| 1091 | * WebcamLoader class |
| 1092 | * Handles the loading of the webcam image. |
| 1093 | */ |
| 1094 | class WebcamLoader extends Thread |
| 1095 | {
|
| 1096 | URL imagePath; |
| 1097 | MediaTracker mt; |
| 1098 | BufferedImage image; |
| 1099 | Random rand; |
| 1100 | |
| 1101 | public WebcamLoader (JApplet applet)
|
| 1102 | {
|
| 1103 | super("ColonetWebcamLoader"); |
| 1104 | mt = new MediaTracker(applet);
|
| 1105 | ImageIO.setUseCache(false);
|
| 1106 | rand = new Random();
|
| 1107 | } |
| 1108 | |
| 1109 | public void run () |
| 1110 | {
|
| 1111 | while (true) { |
| 1112 | try {
|
| 1113 | Thread.sleep(ColonetConstants.WEBCAM_DELAY); |
| 1114 | if (image != null) |
| 1115 | image.flush(); |
| 1116 | System.gc(); |
| 1117 | try {
|
| 1118 | imagePath = new URL(ColonetConstants.WEBCAM_PATH + "?rand=" + rand.nextInt(100000)); |
| 1119 | } catch (MalformedURLException e) {
|
| 1120 | System.out.println("Malformed URL: could not form URL from: [" + ColonetConstants.WEBCAM_PATH + "]\n"); |
| 1121 | } |
| 1122 | image = ImageIO.read(imagePath); |
| 1123 | // The MediaTracker waitForID pauses the thread until the image is loaded.
|
| 1124 | // We don't want to display a half-downloaded image.
|
| 1125 | mt.addImage(image, 1);
|
| 1126 | while(!mt.checkID(1)) |
| 1127 | Thread.sleep(20);
|
| 1128 | mt.removeImage(image); |
| 1129 | // Save
|
| 1130 | panelWebcam.setImage(image); |
| 1131 | } catch (InterruptedException e) {
|
| 1132 | return;
|
| 1133 | } catch (java.security.AccessControlException e) {
|
| 1134 | csi.warn("Could not load webcam.\n" + e);
|
| 1135 | return;
|
| 1136 | } catch (IOException e) {
|
| 1137 | getInfoPanel().append("IOException while trying to load image.");
|
| 1138 | } |
| 1139 | } |
| 1140 | } |
| 1141 | } |
| 1142 | |
| 1143 | class RobotBoundary {
|
| 1144 | public volatile boolean active, set; |
| 1145 | public volatile Point img_p1, img_p2; |
| 1146 | public volatile Point panel_p1, panel_p2; |
| 1147 | |
| 1148 | public RobotBoundary () {
|
| 1149 | active = false;
|
| 1150 | set = false;
|
| 1151 | img_p1 = new Point(-1,-1); |
| 1152 | img_p2 = new Point(-1,-1); |
| 1153 | panel_p1 = new Point(-1,-1); |
| 1154 | panel_p2 = new Point(-1,-1); |
| 1155 | } |
| 1156 | |
| 1157 | public void sendToServer () { |
| 1158 | if (csi != null) { |
| 1159 | if (img_p1.x == -1 || img_p1.y == -1) |
| 1160 | csi.sendBoundaryClear(); |
| 1161 | else
|
| 1162 | csi.sendBoundary(img_p1.x, img_p1.y, img_p2.x, img_p2.y); |
| 1163 | } |
| 1164 | } |
| 1165 | |
| 1166 | public boolean isActive () { |
| 1167 | return active;
|
| 1168 | } |
| 1169 | |
| 1170 | public boolean isSetting () { |
| 1171 | return set;
|
| 1172 | } |
| 1173 | |
| 1174 | /**
|
| 1175 | * Returns a Rectangle designating the active area |
| 1176 | * in the coordinate system of the JPanel. |
| 1177 | * Returns null if the boundary is not active. |
| 1178 | */ |
| 1179 | public Rectangle toRectangle () {
|
| 1180 | if (!active)
|
| 1181 | return null; |
| 1182 | return new Rectangle (panel_p1.x, panel_p1.y, (panel_p2.x-panel_p1.x), (panel_p2.y-panel_p1.y)); |
| 1183 | } |
| 1184 | |
| 1185 | /**
|
| 1186 | * Determines whether a coordinate in the coordinate |
| 1187 | * system of the JPanel is contained within the boundary. |
| 1188 | * If the boundary is not active, then this method |
| 1189 | * returns false. |
| 1190 | */ |
| 1191 | public boolean contains (int px, int py) { |
| 1192 | Rectangle rect = this.toRectangle();
|
| 1193 | if (rect == null || !this.active) |
| 1194 | return false; |
| 1195 | return rect.contains(px, py);
|
| 1196 | } |
| 1197 | |
| 1198 | } |
| 1199 | |
| 1200 | class ChargingStation {
|
| 1201 | private int x, y; |
| 1202 | private boolean active; |
| 1203 | |
| 1204 | public ChargingStation () {
|
| 1205 | super();
|
| 1206 | } |
| 1207 | |
| 1208 | public ChargingStation (int x, int y) { |
| 1209 | this();
|
| 1210 | setLocation(x, y); |
| 1211 | } |
| 1212 | |
| 1213 | public int getX () { |
| 1214 | return x;
|
| 1215 | } |
| 1216 | |
| 1217 | public int getY () { |
| 1218 | return y;
|
| 1219 | } |
| 1220 | |
| 1221 | /**
|
| 1222 | * Sets the center of the charging station to |
| 1223 | * the specified coordinate point. |
| 1224 | */ |
| 1225 | public void setLocation (int x, int y) { |
| 1226 | this.x = x;
|
| 1227 | this.y = y;
|
| 1228 | } |
| 1229 | |
| 1230 | public boolean isActive () { |
| 1231 | return active;
|
| 1232 | } |
| 1233 | |
| 1234 | public void setActive (boolean status) { |
| 1235 | this.active = status;
|
| 1236 | } |
| 1237 | |
| 1238 | /**
|
| 1239 | * Determines whether a coordinate is contained within |
| 1240 | * the graphical area of the charging station. |
| 1241 | * Returns false if the charging station is not active. |
| 1242 | */ |
| 1243 | public boolean contains (int px, int py) { |
| 1244 | if (!active)
|
| 1245 | return false; |
| 1246 | int width = ColonetConstants.STATION_SIZE;
|
| 1247 | Rectangle rect = new Rectangle(this.x - width/2, this.y - width/2, width, width); |
| 1248 | return rect.contains(px, py);
|
| 1249 | } |
| 1250 | |
| 1251 | } |
| 1252 | |
| 1253 | } |