Revision 776
Code cleanup and documentation
| RobotIcon.java | ||
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import javax.swing.*; |
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import javax.swing.event.*; |
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import javax.imageio.*; |
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import java.awt.*; |
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import java.awt.image.*; |
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import java.awt.event.*; |
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import java.net.*; |
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import java.io.*; |
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import java.util.*; |
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/** |
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* RobotIcon class |
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* Provides a means for graphically representing and keeping track of webcam bots. |
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*/ |
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public class RobotIcon {
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private int id; // the XBee ID of the robot |
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private Color color; // the color used for painting the robot on screen. |
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private Point location; // the position of the robot in the coordinate system of the webcam image |
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private Point destination; // the destination of the robot, if homing or charging |
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private int battery; // the battery level, if available |
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public int x, y; |
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public int destx, desty; |
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public int id; |
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public Color color; |
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public int battery; |
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public RobotIcon (int id, int x, int y) {
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this.color = Color.RED; |
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this.x = x; |
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this.y = y; |
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this.id = id; |
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this.destx = -1; |
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this.desty = -1; |
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this.battery = -1; |
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setID(id); |
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setColor(Color.RED); |
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setLocation(x, y); |
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clearDestination(); |
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setBattery(-1); |
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} |
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/** |
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* Returns the ID of this RobotIcon. |
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*/ |
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public int getID () {
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return id; |
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} |
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/** |
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* Sets the ID of this RobotIcon. |
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*/ |
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public void setID (int newid) {
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this.id = newid; |
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} |
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/** |
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* Returns the Color used for representing this RobotIcon on screen. |
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*/ |
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public Color getColor () {
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return color; |
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} |
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/** |
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* Sets the Color used for representing this RobotIcon on screen. |
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*/ |
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public void setColor (Color newcolor) {
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this.color = newcolor; |
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} |
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/** |
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* Returns the battery level of this RobotIcon. |
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* TODO: what numbering system is this? |
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*/ |
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public int getBattery () {
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return battery; |
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} |
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/** |
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* Sets the battery level of this RobotIcon. |
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* TODO: what numbering system is this? |
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*/ |
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public void setBattery (int newbattery) {
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this.battery = newbattery; |
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} |
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/** |
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* Returns the location of this RobotIcon as a Point. The location is specified |
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* in the coordinate system of the original webcam image, NOT the coordinate |
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* system of the scaled image as seen on screen. |
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*/ |
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public Point getLocation () {
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return location; |
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} |
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/** |
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* Relocates this RobotIcon to a new coordinate point. |
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* |
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* Sets the location of this RobotIcon. The location should be specified in the |
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* coordinate system of the original webcam image, NOT the coordinate system of |
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* the scaled image as seen on screen. |
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*/ |
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public void move (int newX, int newY) {
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this.x = newX; |
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this.y = newY; |
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public void setLocation (int x, int y) {
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location.setLocation(x, y); |
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} |
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/** |
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* Sets the location of this RobotIcon. The location should be specified in the |
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* coordinate system of the original webcam image, NOT the coordinate system of |
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* the scaled image as seen on screen. |
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*/ |
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public void setLocation (Point p) {
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location.setLocation(p); |
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} |
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/** |
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* Returns the destination of this RobotIcon as a Point. The location is specified |
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* in the coordinate system of the original webcam image, NOT the coordinate |
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* system of the scaled image as seen on screen. If the RobotIcon has no current |
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* destination, then this method returns null. |
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*/ |
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public Point getDestination () {
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if (!hasDestination()) |
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return null; |
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return destination; |
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} |
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/** |
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* Determines whether this RobotIcon currently has a destination, e.g., for homing |
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* to a specific point in the environment or finding a charging bay. |
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*/ |
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public boolean hasDestination () {
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return (destination.x >= 0 && destination.y >= 0); |
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} |
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/** |
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* Sets the destination of this RobotIcon for the purposes of homing to a specific |
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* point in the environment of finding a charging bay. The destination point should |
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* be specified in the coordinate system of the original webcam image, NOT the |
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* coordinate system of the scaled image as seen on screen. |
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*/ |
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public void setDestination (int x, int y) {
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destination.setLocation(x, y); |
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} |
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/** |
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* Sets the destination of this RobotIcon for the purposes of homing to a specific |
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* point in the environment of finding a charging bay. The destination point should |
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* be specified in the coordinate system of the original webcam image, NOT the |
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* coordinate system of the scaled image as seen on screen. |
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*/ |
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public void setDestination (Point p) {
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destination.setLocation(p); |
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} |
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/** |
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* Clears the destination Point for this RobotIcon, indicating that the robot is |
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* no longer homing. |
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*/ |
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public void clearDestination () {
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setDestination(-1, -1); |
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} |
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/** |
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* Determines whether a given point is within the rectangle that circumscribes the |
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* robot's circlular icon. Used for clicking on robots in webcam view. |
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* |
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* robot's circlular icon. Used for click detection on robots in webcam view. The |
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* parameter point should be specified in the coordinate system of the original |
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* webcam image, NOT the coordinate system of the scaled image as seen on screen. |
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*/ |
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public boolean contains (int px, int py) {
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int radius = ColonetConstants.ROBOT_RADIUS; |
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Rectangle rect = new Rectangle(x-radius, y-radius, 2*radius, 2*radius); |
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return rect.contains(px, py); |
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return this.getBoundingRectangle().contains(px, py); |
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} |
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/** |
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* Returns the Rectangle object that circumscribes the RobotIcon identifier circle |
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* that is painted on screen. The Rectangle is in the coordinate system of the |
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* original webcam image NOT the coordinate system of the scaled image as seen |
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* on screen. |
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*/ |
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public Rectangle getBoundingRectangle () {
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int radius = ColonetConstants.ROBOT_RADIUS; |
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return new Rectangle(location.x-radius, location.y-radius, 2*radius, 2*radius); |
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} |
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/** |
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* Provides a text representation of this RobotIcon object |
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*/ |
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public String toString () {
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String s = "RobotIcon at (" + x + "," + y + "), id " + id;
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String s = "RobotIcon at (" + location.x + "," + location.y + "), id " + id;
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return s; |
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} |
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} |
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