Colony

import java.awt.*;

/**

*         RobotIcon class

*         Provides a means for graphically representing and keeping track of webcam bots.

*/

public class RobotIcon {

        private int id;  // the XBee ID of the robot

        private Color color;  // the color used for painting the robot on screen.

        private Point location;  // the position of the robot in the coordinate system of the webcam image

        private Point destination;  // the destination of the robot, if homing or charging

        private int battery;  // the battery level, if available

        public RobotIcon (int id, int x, int y) {

                setID(id);

                setColor(Color.RED);

                setLocation(x, y);

                clearDestination();

                setBattery(-1);

        }

        /**

        *  Returns the ID of this RobotIcon.

        */

        public int getID () {

          return id;

        }

        /** 

        *  Sets the ID of this RobotIcon.

        */

        public void setID (int newid) {

          this.id = newid;

        }

        /**

        *  Returns the Color used for representing this RobotIcon on screen.

        */

        public Color getColor () {

          return color;

        }

        /** 

        *  Sets the Color used for representing this RobotIcon on screen.

        */

        public void setColor (Color newcolor) {

          this.color = newcolor;

        }

        /**

        *  Returns the battery level of this RobotIcon.

        *  TODO: what numbering system is this?

        */ 

        public int getBattery () {

          return battery;

        }

        /**

        *  Sets the battery level of this RobotIcon.

        *  TODO: what numbering system is this?

        */

        public void setBattery (int newbattery) {

          this.battery = newbattery;

        }

        /**

        *  Returns the location of this RobotIcon as a Point. The location is specified 

        *  in the coordinate system of the original webcam image, NOT the coordinate

        *  system of the scaled image as seen on screen.

        */

        public Point getLocation () {

          return location;

        }

        /**

        *         Sets the location of this RobotIcon. The location should be specified in the

        *  coordinate system of the original webcam image, NOT the coordinate system of

        *  the scaled image as seen on screen.

        */

        public void setLocation (int x, int y) {

                location.setLocation(x, y);

        }

  /**

        *         Sets the location of this RobotIcon. The location should be specified in the

        *  coordinate system of the original webcam image, NOT the coordinate system of

        *  the scaled image as seen on screen.

        */

        public void setLocation (Point p) {

    location.setLocation(p);

        }

        /**

        *  Returns the destination of this RobotIcon as a Point. The location is specified 

        *  in the coordinate system of the original webcam image, NOT the coordinate

        *  system of the scaled image as seen on screen. If the RobotIcon has no current

        *  destination, then this method returns null.

        */

        public Point getDestination () {

          if (!hasDestination())

            return null;

          return destination;

        }

        /**

        *  Determines whether this RobotIcon currently has a destination, e.g., for homing

        *  to a specific point in the environment or finding a charging bay.

        */

        public boolean hasDestination () {

          return (destination.x >= 0 && destination.y >= 0);

        }

        /**

        *         Sets the destination of this RobotIcon for the purposes of homing to a specific

        *  point in the environment of finding a charging bay. The destination point should

        *  be specified in the coordinate system of the original webcam image, NOT the 

        *  coordinate system of the scaled image as seen on screen.

        */

        public void setDestination (int x, int y) {

                destination.setLocation(x, y);

        }

        /**

        *         Sets the destination of this RobotIcon for the purposes of homing to a specific

        *  point in the environment of finding a charging bay. The destination point should

        *  be specified in the coordinate system of the original webcam image, NOT the 

        *  coordinate system of the scaled image as seen on screen.

        */

        public void setDestination (Point p) {

                destination.setLocation(p);

        }

        /**

        *  Clears the destination Point for this RobotIcon, indicating that the robot is

        *  no longer homing.

        */

        public void clearDestination () {

          setDestination(-1, -1);

        }

        /**

        *         Determines whether a given point is within the rectangle that circumscribes the

        *         robot's circlular icon. Used for click detection on robots in webcam view. The

        *  parameter point should be specified in the coordinate system of the original

        *  webcam image, NOT the coordinate system of the scaled image as seen on screen.

        */

        public boolean contains (int px, int py) {

                return this.getBoundingRectangle().contains(px, py);

        }

        /**

        *  Returns the Rectangle object that circumscribes the RobotIcon identifier circle

        *  that is painted on screen. The Rectangle is in the coordinate system of the 

        *  original webcam image NOT the coordinate system of the scaled image as seen 

        *  on screen.

        */

        public Rectangle getBoundingRectangle () {

          int radius = ColonetConstants.ROBOT_RADIUS;

          return new Rectangle(location.x-radius, location.y-radius, 2*radius, 2*radius);

        }

  /**

  *  Provides a text representation of this RobotIcon object

  */

        public String toString () {

                String s = "RobotIcon at (" + location.x + "," + location.y + "), id " + id;

                return s;

        }

}