root / trunk / code / projects / colonet / client / Colonet.java @ 1310
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1 | 32 | gtress | import javax.swing.*; |
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2 | 320 | gtress | import javax.swing.event.*; |
3 | import javax.imageio.*; |
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4 | 32 | gtress | import java.awt.*; |
5 | import java.awt.image.*; |
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6 | import java.awt.event.*; |
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7 | import java.net.*; |
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8 | import java.io.*; |
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9 | 427 | gtress | import java.util.*; |
10 | 32 | gtress | |
11 | 320 | gtress | /**
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12 | 531 | emarinel | * The Colonet Graphical User Interface Applet for use locally and over an internet connection.
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13 | * @author Gregory Tress
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14 | 527 | emarinel | *
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15 | 531 | emarinel | * To generate javadoc on this file or other java files, use javadoc *.java -d doc, where doc
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16 | * is the name of the folder into which the files should be written.
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17 | 320 | gtress | */
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18 | 671 | gtress | public class Colonet extends JApplet implements ActionListener, MouseInputListener, KeyListener { |
19 | 320 | gtress | |
20 | 32 | gtress | // Connection
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21 | 527 | emarinel | JTextField txtHost;
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22 | JTextField txtPort;
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23 | JButton btnConnect;
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24 | 414 | gtress | JButton btnGetXBeeIDs;
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25 | 32 | gtress | JLabel lblConnectionStatus;
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26 | 527 | emarinel | JTextArea txtInfo;
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27 | 32 | gtress | JPanel panelConnect;
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28 | JPanel panelServerInterface;
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29 | 527 | emarinel | Socket socket;
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30 | DataUpdater dataUpdater; |
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31 | |||
32 | 32 | gtress | // Control
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33 | JTabbedPane tabPaneControl;
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34 | JPanel panelRobotControl;
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35 | JPanel panelRobotDirection;
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36 | 320 | gtress | JPanel panelRobotDirectionButtons;
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37 | 32 | gtress | JPanel panelRobotCommands;
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38 | JButton btnF, btnB, btnL, btnR, btnActivate;
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39 | 320 | gtress | JLabel lblBattery;
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40 | 428 | gtress | JLabel lblSelected;
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41 | 333 | gtress | BatteryIcon batteryIcon; |
42 | 320 | gtress | JPanel panelBattery;
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43 | VectorController vectorController; |
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44 | BufferedImage imageVectorControl;
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45 | 427 | gtress | JButton btnAssignID;
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46 | 702 | gtress | JButton btnLocateStation;
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47 | boolean setStation;
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48 | ChargingStation station; |
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49 | 428 | gtress | boolean setWaypoint;
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50 | 429 | gtress | int setWaypointID;
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51 | 739 | gtress | JButton btnSetBounds;
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52 | JButton btnClearBounds;
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53 | RobotBoundary boundary; |
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54 | 428 | gtress | JButton btnCommand_MoveTo;
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55 | 429 | gtress | JButton btnCommand_MoveAll;
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56 | 320 | gtress | JButton btnCommand_StopTask;
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57 | JButton btnCommand_ResumeTask;
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58 | JButton btnCommand_ChargeNow;
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59 | JButton btnCommand_StopCharging;
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60 | 527 | emarinel | |
61 | 32 | gtress | // Task Manager
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62 | JPanel panelTaskManager;
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63 | JScrollPane spTaskManager;
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64 | JPanel panelTaskManagerControls;
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65 | JPanel panelTaskManagerControlsPriority;
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66 | DefaultListModel taskListModel;
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67 | JList taskList;
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68 | JButton btnAddTask;
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69 | JButton btnRemoveTask;
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70 | JButton btnMoveTaskUp;
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71 | JButton btnMoveTaskDown;
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72 | 320 | gtress | JButton btnUpdateTasks;
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73 | TaskAddWindow taskAddWindow; |
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74 | 527 | emarinel | |
75 | 585 | gtress | // Webcam
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76 | 320 | gtress | WebcamPanel panelWebcam; |
77 | 32 | gtress | GraphicsConfiguration gc;
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78 | 320 | gtress | JTabbedPane tabPaneMain;
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79 | 585 | gtress | WebcamLoader webcamLoader; |
80 | |||
81 | // Robots
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82 | 531 | emarinel | volatile int selectedBot; //the user has selected this bot graphically |
83 | 671 | gtress | volatile RobotList robotIcons; //contains boundary shapes around bots for click detection |
84 | 320 | gtress | volatile int[] xbeeID; |
85 | 527 | emarinel | |
86 | 501 | gtress | Colonet self = this;
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87 | 549 | gtress | volatile ColonetServerInterface csi;
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88 | 32 | gtress | |
89 | public void init () { |
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90 | 701 | gtress | // Set the default look and feel
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91 | String laf = ColonetConstants.LOOK_AND_FEEL;
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92 | 531 | emarinel | try {
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93 | UIManager.setLookAndFeel(laf);
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94 | } catch (UnsupportedLookAndFeelException exc) { |
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95 | System.err.println ("Warning: UnsupportedLookAndFeel: " + laf); |
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96 | } catch (Exception exc) { |
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97 | System.err.println ("Error loading " + laf + ": " + exc); |
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98 | } |
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99 | |||
100 | 32 | gtress | // We should invoke and wait to avoid browser display difficulties
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101 | Runnable r = new Runnable() { |
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102 | public void run() { |
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103 | createAndShowGUI(); |
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104 | } |
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105 | }; |
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106 | 531 | emarinel | |
107 | 32 | gtress | try {
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108 | SwingUtilities.invokeAndWait(r);
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109 | } catch (InterruptedException e) { |
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110 | //Not really sure why we would be in this situation
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111 | 320 | gtress | System.out.println("InterruptedException in init: " + e); |
112 | 32 | gtress | } catch (java.lang.reflect.InvocationTargetException e) {
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113 | 320 | gtress | //This could happen for various reasons if there is a problem in createAndShowGUI
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114 | e.printStackTrace(); |
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115 | 32 | gtress | } |
116 | } |
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117 | 527 | emarinel | |
118 | 32 | gtress | public void destroy () { |
119 | 633 | emarinel | if (csi != null) { |
120 | csi.disconnect(); |
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121 | 570 | gtress | } |
122 | 32 | gtress | } |
123 | |||
124 | private synchronized void createAndShowGUI () { |
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125 | 585 | gtress | // Webcam
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126 | 527 | emarinel | gc = GraphicsEnvironment.getLocalGraphicsEnvironment().getDefaultScreenDevice().getDefaultConfiguration();
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127 | 320 | gtress | panelWebcam = new WebcamPanel();
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128 | tabPaneMain = new JTabbedPane(); |
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129 | 739 | gtress | tabPaneMain.setFont(new Font("arial", Font.PLAIN, 14)); |
130 | 320 | gtress | tabPaneMain.add(panelWebcam, "Webcam");
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131 | 527 | emarinel | |
132 | 585 | gtress | // Robots
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133 | 428 | gtress | selectedBot = -1;
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134 | 671 | gtress | robotIcons = new RobotList();
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135 | 527 | emarinel | |
136 | 32 | gtress | // Connection area
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137 | txtInfo = new JTextArea(); |
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138 | txtInfo.setBorder(BorderFactory.createTitledBorder("Info")); |
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139 | 470 | gtress | txtHost = new JTextField(this.getDocumentBase().getHost()); |
140 | 32 | gtress | txtHost.setBorder(BorderFactory.createTitledBorder("Host")); |
141 | txtPort = new JTextField("10123"); |
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142 | txtPort.setBorder(BorderFactory.createTitledBorder("Port")); |
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143 | btnConnect = new JButton("Connect"); |
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144 | 555 | emarinel | btnConnect.setFont(new Font("arial", Font.BOLD, 16)); |
145 | 414 | gtress | btnGetXBeeIDs = new JButton("Get XBee IDs"); |
146 | 389 | gtress | getRootPane().setDefaultButton(btnConnect); |
147 | 32 | gtress | lblConnectionStatus = new JLabel("Status: Offline"); |
148 | panelConnect = new JPanel(); |
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149 | panelConnect.setLayout(new GridLayout(6,1)); |
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150 | panelConnect.add(lblConnectionStatus); |
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151 | panelConnect.add(txtHost); |
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152 | panelConnect.add(txtPort); |
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153 | panelConnect.add(btnConnect); |
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154 | panelServerInterface = new JPanel(); |
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155 | panelServerInterface.setLayout(new GridLayout(2,1)); |
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156 | panelServerInterface.add(panelConnect); |
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157 | 585 | gtress | panelServerInterface.add(txtInfo); |
158 | 527 | emarinel | |
159 | 32 | gtress | // Robot direction panel
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160 | panelRobotDirection = new JPanel(); |
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161 | 320 | gtress | panelRobotDirectionButtons = new JPanel(); |
162 | 555 | emarinel | |
163 | 739 | gtress | Font f = new Font(null, Font.PLAIN, 16); |
164 | 555 | emarinel | btnF = new JButton("\u2191"); |
165 | btnF.setFont(f); |
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166 | btnB = new JButton("\u2193"); |
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167 | btnB.setFont(f); |
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168 | btnL = new JButton("\u2190"); |
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169 | btnL.setFont(f); |
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170 | btnR = new JButton("\u2192"); |
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171 | btnR.setFont(f); |
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172 | btnActivate = new JButton("\u25A0"); |
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173 | 710 | gtress | btnActivate.setFont(new Font(null, Font.BOLD, 24)); |
174 | 555 | emarinel | |
175 | 320 | gtress | panelRobotDirectionButtons.setLayout(new GridLayout(1,5)); |
176 | panelRobotDirectionButtons.add(btnActivate); |
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177 | panelRobotDirectionButtons.add(btnF); |
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178 | panelRobotDirectionButtons.add(btnB); |
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179 | panelRobotDirectionButtons.add(btnL); |
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180 | panelRobotDirectionButtons.add(btnR); |
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181 | 527 | emarinel | |
182 | 701 | gtress | imageVectorControl = gc.createCompatibleImage(ColonetConstants.VECTOR_CONTROLLER_WIDTH, ColonetConstants.VECTOR_CONTROLLER_HEIGHT); |
183 | 638 | gtress | vectorController = new VectorController(imageVectorControl, self);
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184 | 320 | gtress | panelRobotDirection.setLayout(new BorderLayout()); |
185 | 585 | gtress | panelRobotDirection.add(vectorController, BorderLayout.CENTER);
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186 | 320 | gtress | panelRobotDirection.add(panelRobotDirectionButtons, BorderLayout.SOUTH);
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187 | 527 | emarinel | |
188 | 32 | gtress | // Robot Control and Commands
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189 | panelRobotCommands = new JPanel(); |
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190 | 739 | gtress | panelRobotCommands.setLayout(new GridLayout(6,2)); |
191 | 333 | gtress | // Battery subset
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192 | 514 | gtress | batteryIcon = new BatteryIcon(0); |
193 | 333 | gtress | lblBattery = new JLabel(batteryIcon); |
194 | 428 | gtress | lblSelected = new JLabel("None"); |
195 | 664 | gtress | // Management subset
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196 | 702 | gtress | setStation = false;
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197 | 428 | gtress | setWaypoint = false;
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198 | 429 | gtress | setWaypointID = -1;
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199 | 427 | gtress | btnAssignID = new JButton("Assign ID"); |
200 | 739 | gtress | btnLocateStation = new JButton("Identify Station"); |
201 | boundary = new RobotBoundary();
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202 | btnSetBounds = new JButton("Set Boundary"); |
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203 | btnClearBounds = new JButton("Clear Boundary"); |
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204 | // Control subset
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205 | 428 | gtress | btnCommand_MoveTo = new JButton("Move to ..."); |
206 | 429 | gtress | btnCommand_MoveAll = new JButton("Move all ..."); |
207 | 320 | gtress | btnCommand_StopTask = new JButton("Stop Current Task"); |
208 | btnCommand_ResumeTask = new JButton("Resume Current Task"); |
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209 | btnCommand_ChargeNow = new JButton("Recharge Now"); |
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210 | btnCommand_StopCharging = new JButton("Stop Recharging"); |
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211 | panelRobotCommands.add(new JLabel("Battery Level: ")); |
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212 | panelRobotCommands.add(lblBattery); |
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213 | 428 | gtress | panelRobotCommands.add(new JLabel("Selected Icon: ")); |
214 | panelRobotCommands.add(lblSelected); |
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215 | 427 | gtress | panelRobotCommands.add(btnAssignID); |
216 | 702 | gtress | panelRobotCommands.add(btnLocateStation); |
217 | 739 | gtress | panelRobotCommands.add(btnCommand_ChargeNow); |
218 | panelRobotCommands.add(btnCommand_StopCharging); |
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219 | 664 | gtress | panelRobotCommands.add(btnSetBounds); |
220 | 682 | gtress | panelRobotCommands.add(btnClearBounds); |
221 | 428 | gtress | panelRobotCommands.add(btnCommand_MoveTo); |
222 | 429 | gtress | panelRobotCommands.add(btnCommand_MoveAll); |
223 | 427 | gtress | //panelRobotCommands.add(btnCommand_StopTask);
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224 | //panelRobotCommands.add(btnCommand_ResumeTask);
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225 | 32 | gtress | panelRobotControl = new JPanel(); |
226 | panelRobotControl.setLayout(new GridLayout(2,1)); |
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227 | panelRobotControl.add(panelRobotDirection); |
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228 | panelRobotControl.add(panelRobotCommands); |
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229 | 527 | emarinel | |
230 | 32 | gtress | // Task Manager
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231 | panelTaskManager = new JPanel(); |
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232 | panelTaskManager.setLayout(new BorderLayout()); |
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233 | taskListModel = new DefaultListModel(); |
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234 | taskList = new JList(taskListModel); |
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235 | taskList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
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236 | taskList.setSelectedIndex(0);
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237 | spTaskManager = new JScrollPane(taskList); |
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238 | panelTaskManagerControls = new JPanel(); |
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239 | 320 | gtress | panelTaskManagerControls.setLayout(new GridLayout(1,4)); |
240 | 32 | gtress | panelTaskManagerControlsPriority = new JPanel(); |
241 | panelTaskManagerControlsPriority.setLayout(new GridLayout(1,2)); |
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242 | btnAddTask = new JButton("Add..."); |
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243 | btnRemoveTask = new JButton("Remove"); |
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244 | btnMoveTaskUp = new JButton("^"); |
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245 | btnMoveTaskDown = new JButton("v"); |
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246 | 320 | gtress | btnUpdateTasks = new JButton("Update"); |
247 | 32 | gtress | panelTaskManagerControlsPriority.add(btnMoveTaskUp); |
248 | panelTaskManagerControlsPriority.add(btnMoveTaskDown); |
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249 | panelTaskManagerControls.add(btnAddTask); |
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250 | panelTaskManagerControls.add(btnRemoveTask); |
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251 | 320 | gtress | panelTaskManagerControls.add(btnUpdateTasks); |
252 | 32 | gtress | panelTaskManagerControls.add(panelTaskManagerControlsPriority); |
253 | panelTaskManager.add(spTaskManager, BorderLayout.CENTER);
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254 | panelTaskManager.add(panelTaskManagerControls, BorderLayout.SOUTH);
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255 | panelTaskManager.add(new JLabel("Current Task Queue"), BorderLayout.NORTH); |
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256 | 320 | gtress | taskAddWindow = new TaskAddWindow();
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257 | 527 | emarinel | |
258 | 32 | gtress | // Main control mechanism
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259 | tabPaneControl = new JTabbedPane(JTabbedPane.TOP); |
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260 | 739 | gtress | tabPaneControl.setFont(new Font("arial", Font.PLAIN, 14)); |
261 | 701 | gtress | tabPaneControl.setPreferredSize(new Dimension(ColonetConstants.VECTOR_CONTROLLER_WIDTH, 0)); |
262 | 32 | gtress | tabPaneControl.addTab("Connection", panelServerInterface);
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263 | tabPaneControl.addTab("Robots", panelRobotControl);
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264 | 514 | gtress | //tabPaneControl.addTab("Tasks", panelTaskManager);
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265 | 527 | emarinel | |
266 | 320 | gtress | // Put all elements in the ContentPane
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267 | 32 | gtress | this.getContentPane().setLayout(new BorderLayout()); |
268 | 320 | gtress | this.getContentPane().add(tabPaneMain, BorderLayout.CENTER); |
269 | 702 | gtress | this.getContentPane().add(tabPaneControl, BorderLayout.EAST); |
270 | 32 | gtress | this.setVisible(true); |
271 | 559 | gtress | |
272 | // Disable components before connecting
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273 | btnConnect.setText("Connect");
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274 | 682 | gtress | lblConnectionStatus.setText("Status: Disconnected");
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275 | 702 | gtress | setComponentsEnabled(false);
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276 | 527 | emarinel | |
277 | 320 | gtress | /* Add all listeners here */
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278 | // Task Management
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279 | 32 | gtress | btnAddTask.addActionListener(this);
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280 | btnRemoveTask.addActionListener(this);
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281 | btnMoveTaskUp.addActionListener(this);
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282 | btnMoveTaskDown.addActionListener(this);
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283 | 320 | gtress | btnUpdateTasks.addActionListener(this);
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284 | // Robot Control
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285 | btnF.addActionListener(this);
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286 | btnB.addActionListener(this);
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287 | btnL.addActionListener(this);
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288 | btnR.addActionListener(this);
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289 | btnF.addKeyListener(this);
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290 | btnB.addKeyListener(this);
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291 | btnL.addKeyListener(this);
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292 | btnR.addKeyListener(this);
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293 | btnActivate.addActionListener(this);
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294 | btnActivate.addKeyListener(this);
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295 | 428 | gtress | btnCommand_MoveTo.addActionListener(this);
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296 | 429 | gtress | btnCommand_MoveAll.addActionListener(this);
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297 | 320 | gtress | btnCommand_StopTask.addActionListener(this);
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298 | btnCommand_ResumeTask.addActionListener(this);
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299 | btnCommand_ChargeNow.addActionListener(this);
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300 | btnCommand_StopCharging.addActionListener(this);
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301 | // Other
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302 | 32 | gtress | btnConnect.addActionListener(this);
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303 | 414 | gtress | btnGetXBeeIDs.addActionListener(this);
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304 | 427 | gtress | btnAssignID.addActionListener(this);
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305 | 702 | gtress | btnLocateStation.addActionListener(this);
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306 | 682 | gtress | btnSetBounds.addActionListener(this);
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307 | btnClearBounds.addActionListener(this);
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308 | 527 | emarinel | panelWebcam.addMouseListener(this);
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309 | 670 | gtress | panelWebcam.addMouseMotionListener(this);
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310 | 32 | gtress | } |
311 | 638 | gtress | |
312 | public ColonetServerInterface getCSI () {
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313 | 739 | gtress | return csi;
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314 | 638 | gtress | } |
315 | 527 | emarinel | |
316 | 428 | gtress | public void paint (Graphics g) { |
317 | 531 | emarinel | super.paint(g);
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318 | 428 | gtress | } |
319 | 527 | emarinel | |
320 | 429 | gtress | public void update (Graphics g) { |
321 | 531 | emarinel | paint(g); |
322 | 429 | gtress | } |
323 | 527 | emarinel | |
324 | /**
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325 | 585 | gtress | * Gets the JTextArea used for displaying debugging information.
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326 | 333 | gtress | *
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327 | 585 | gtress | * @return the JTextArea where debugging information can be displayed.
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328 | 527 | emarinel | */
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329 | 585 | gtress | public JTextArea getInfoPanel () { |
330 | return txtInfo;
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331 | 320 | gtress | } |
332 | 527 | emarinel | |
333 | /**
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334 | 333 | gtress | * Parses a String containing BOM matrix information.
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335 | 531 | emarinel | * The ColonetServerInterface receives lines of the BOM matrix. (For encoding
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336 | * information, see the ColonetServerInterface documentation.) The entire matrix is passed
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337 | 527 | emarinel | * to the client when requested. This method takes a string of the form
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338 | 333 | gtress | * "[command code] [command code] [number of robots] [data0] [data1] ..."
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339 | 527 | emarinel | * with tokens separated by spaces and containing no brackets.
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340 | 333 | gtress | * The [command code]s are predefined values identifying this String as a BOM data
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341 | 527 | emarinel | * String, [number of robots] is an integer, and the values that follow are
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342 | 531 | emarinel | * the sensor readings of the robots in order, starting with robot 0. Only [number of robots]^2
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343 | * data entries will be read. The matrix values are saved locally until the next String is parsed.
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344 | 333 | gtress | *
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345 | 527 | emarinel | *
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346 | 333 | gtress | * @param line the String containing BOM matrix information.
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347 | * @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots]^2 data entries in the String
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348 | */
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349 | 320 | gtress | public void parseMatrix (String line) { |
350 | 585 | gtress | txtInfo.setText("");
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351 | 320 | gtress | String [] str = line.split(" "); |
352 | int num = Integer.parseInt(str[2]); |
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353 | for (int i = 0; i < num; i++) { |
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354 | for (int j = 0; j < num; j++) { |
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355 | String next = str[3 + i*num + j]; |
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356 | 531 | emarinel | if (next.equals("-1")) { |
357 | 585 | gtress | txtInfo.append("-");
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358 | 531 | emarinel | } else {
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359 | 585 | gtress | txtInfo.append(next); |
360 | 531 | emarinel | } |
361 | |||
362 | if (j < num - 1) { |
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363 | 585 | gtress | txtInfo.append(" ");
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364 | 531 | emarinel | } |
365 | 320 | gtress | } |
366 | 531 | emarinel | |
367 | if (i < num - 1) { |
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368 | 585 | gtress | txtInfo.append("\n");
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369 | 531 | emarinel | } |
370 | 136 | gtress | } |
371 | 510 | gtress | repaint(); |
372 | 136 | gtress | } |
373 | 527 | emarinel | |
374 | 420 | gtress | public void connect () { |
375 | 682 | gtress | if (csi != null) |
376 | return;
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377 | csi = new ColonetServerInterface(self);
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378 | csi.connect(txtHost.getText(), txtPort.getText()); |
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379 | if (!csi.isReady()) {
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380 | csi = null;
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381 | return;
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382 | } |
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383 | webcamLoader = new WebcamLoader(self);
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384 | dataUpdater = new DataUpdater();
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385 | dataUpdater.start(); |
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386 | webcamLoader.start(); |
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387 | Runnable r = new Runnable() { |
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388 | public void run () { |
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389 | btnConnect.setText("Disconnect");
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390 | lblConnectionStatus.setText("Status: Connected");
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391 | 702 | gtress | setComponentsEnabled(true);
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392 | 682 | gtress | } |
393 | }; |
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394 | SwingUtilities.invokeLater(r);
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395 | 420 | gtress | } |
396 | 527 | emarinel | |
397 | 420 | gtress | public void disconnect () { |
398 | 702 | gtress | try {
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399 | dataUpdater.interrupt(); |
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400 | } catch (Exception e) { |
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401 | } |
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402 | csi = null;
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403 | 559 | gtress | Runnable r = new Runnable() { |
404 | 702 | gtress | public void run () { |
405 | btnConnect.setText("Connect");
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406 | lblConnectionStatus.setText("Status: Disconnected");
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407 | setComponentsEnabled(false);
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408 | 708 | gtress | boundary = null;
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409 | station = null;
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410 | 702 | gtress | } |
411 | 559 | gtress | }; |
412 | SwingUtilities.invokeLater(r);
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413 | 420 | gtress | } |
414 | 702 | gtress | |
415 | private void setComponentsEnabled (boolean enabled) { |
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416 | btnF.setEnabled(enabled); |
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417 | btnB.setEnabled(enabled); |
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418 | btnL.setEnabled(enabled); |
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419 | btnR.setEnabled(enabled); |
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420 | btnActivate.setEnabled(enabled); |
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421 | btnAssignID.setEnabled(enabled); |
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422 | btnLocateStation.setEnabled(enabled); |
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423 | btnSetBounds.setEnabled(enabled); |
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424 | btnClearBounds.setEnabled(enabled); |
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425 | 739 | gtress | btnCommand_ChargeNow.setEnabled(enabled); |
426 | btnCommand_StopCharging.setEnabled(enabled); |
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427 | 702 | gtress | btnCommand_MoveTo.setEnabled(enabled); |
428 | btnCommand_MoveAll.setEnabled(enabled); |
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429 | } |
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430 | 527 | emarinel | |
431 | 333 | gtress | /**
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432 | * Parses a String containing a task queue update.
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433 | * Format is currently not specified.
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434 | * This method currently does nothing.
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435 | *
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436 | * @param line the String containing task queue update information.
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437 | */
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438 | 320 | gtress | public void parseQueue (String line) { |
439 | 585 | gtress | |
440 | 320 | gtress | } |
441 | 527 | emarinel | |
442 | 333 | gtress | /**
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443 | * Parses a String containing XBee ID values.
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444 | 531 | emarinel | * The ColonetServerInterface receives Strings of XBee information. (For encoding
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445 | * information, see the ColonetServerInterface documentation.) This method takes
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446 | 333 | gtress | * a string of the form "[command code] [command code] [number of robots] [id0] [id1] ..."
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447 | 527 | emarinel | * with tokens separated by spaces and containing no brackets.
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448 | 333 | gtress | * The [command code]s are predefined values identifying this String as an XBee
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449 | 527 | emarinel | * ID String, [number of robots] is an integer, and the values that follow are
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450 | 531 | emarinel | * the IDs of the robots in order, starting with robot 0. Only [number of robots]
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451 | * will be read. The ID values are saved locally until the next String is parsed.
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452 | 333 | gtress | * The purpose of having this list is to ensure that robots are properly identified for control purposes.
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453 | 527 | emarinel | * This keeps robot identification consistent between sessions and prevents arbitrary assignment.
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454 | 333 | gtress | *
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455 | * @param line the String containing XBee ID information.
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456 | * @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots] IDs in the String
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457 | * @see ColonetServerInterface#sendXBeeIDRequest()
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458 | */
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459 | 320 | gtress | public void parseXBeeIDs (String line) { |
460 | String [] str = line.split(" "); |
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461 | int num = Integer.parseInt(str[2]); |
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462 | xbeeID = new int[num]; |
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463 | 531 | emarinel | for (int i = 0; i < num; i++) { |
464 | 320 | gtress | xbeeID[i] = Integer.parseInt(str[i+3]); |
465 | 531 | emarinel | } |
466 | 320 | gtress | } |
467 | 527 | emarinel | |
468 | 333 | gtress | /**
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469 | * Parses a String containing battery information.
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470 | 531 | emarinel | * The ColonetServerInterface receives Strings of battery information. (For encoding
|
471 | * information, see the ColonetServerInterface documentation.) This method takes
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472 | 333 | gtress | * a string of the form "[command code] [command code] [robot ID] [value]"
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473 | 527 | emarinel | * with tokens separated by spaces and containing no brackets.
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474 | 333 | gtress | * The [command code]s are predefined values identifying this String as a battery
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475 | * information String, [robot ID] is an integer, and [value] is a battery measurement.
|
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476 | * This updates the batery information for a single robot.
|
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477 | *
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478 | 527 | emarinel | *
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479 | 333 | gtress | * @param line the String containing battery information.
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480 | * @see ColonetServerInterface#sendBatteryRequest(int)
|
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481 | */
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482 | 320 | gtress | public void parseBattery (String line) { |
483 | 739 | gtress | int botNum, level;
|
484 | try {
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485 | 625 | gtress | String [] str = line.split(" "); |
486 | botNum = Integer.parseInt(str[2]); |
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487 | level = Integer.parseInt(str[3]); |
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488 | } catch (NumberFormatException e) { |
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489 | System.out.println("Could not parse battery update"); |
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490 | return;
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