root / trunk / code / projects / colonet / client / Colonet.java @ 1310
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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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/**
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* The Colonet Graphical User Interface Applet for use locally and over an internet connection.
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* @author Gregory Tress
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*
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* To generate javadoc on this file or other java files, use javadoc *.java -d doc, where doc
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* is the name of the folder into which the files should be written.
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*/
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public class Colonet extends JApplet implements ActionListener, MouseInputListener, KeyListener { |
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// Connection
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JTextField txtHost;
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JTextField txtPort;
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JButton btnConnect;
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JButton btnGetXBeeIDs;
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JLabel lblConnectionStatus;
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JTextArea txtInfo;
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JPanel panelConnect;
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JPanel panelServerInterface;
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Socket socket;
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DataUpdater dataUpdater; |
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// Control
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JTabbedPane tabPaneControl;
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JPanel panelRobotControl;
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JPanel panelRobotDirection;
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JPanel panelRobotDirectionButtons;
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JPanel panelRobotCommands;
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JButton btnF, btnB, btnL, btnR, btnActivate;
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JLabel lblBattery;
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JLabel lblSelected;
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BatteryIcon batteryIcon; |
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JPanel panelBattery;
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VectorController vectorController; |
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BufferedImage imageVectorControl;
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JButton btnAssignID;
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JButton btnLocateStation;
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boolean setStation;
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ChargingStation station; |
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boolean setWaypoint;
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int setWaypointID;
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JButton btnSetBounds;
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JButton btnClearBounds;
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RobotBoundary boundary; |
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JButton btnCommand_MoveTo;
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JButton btnCommand_MoveAll;
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JButton btnCommand_StopTask;
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JButton btnCommand_ResumeTask;
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JButton btnCommand_ChargeNow;
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JButton btnCommand_StopCharging;
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// Task Manager
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JPanel panelTaskManager;
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JScrollPane spTaskManager;
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JPanel panelTaskManagerControls;
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JPanel panelTaskManagerControlsPriority;
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DefaultListModel taskListModel;
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JList taskList;
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JButton btnAddTask;
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JButton btnRemoveTask;
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JButton btnMoveTaskUp;
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JButton btnMoveTaskDown;
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JButton btnUpdateTasks;
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TaskAddWindow taskAddWindow; |
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// Webcam
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WebcamPanel panelWebcam; |
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GraphicsConfiguration gc;
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JTabbedPane tabPaneMain;
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WebcamLoader webcamLoader; |
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// Robots
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volatile int selectedBot; //the user has selected this bot graphically |
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volatile RobotList robotIcons; //contains boundary shapes around bots for click detection |
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volatile int[] xbeeID; |
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Colonet self = this;
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volatile ColonetServerInterface csi;
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public void init () { |
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// Set the default look and feel
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String laf = ColonetConstants.LOOK_AND_FEEL;
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try {
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UIManager.setLookAndFeel(laf);
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} catch (UnsupportedLookAndFeelException exc) { |
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System.err.println ("Warning: UnsupportedLookAndFeel: " + laf); |
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} catch (Exception exc) { |
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System.err.println ("Error loading " + laf + ": " + exc); |
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} |
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// We should invoke and wait to avoid browser display difficulties
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Runnable r = new Runnable() { |
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public void run() { |
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createAndShowGUI(); |
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} |
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}; |
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try {
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SwingUtilities.invokeAndWait(r);
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} catch (InterruptedException e) { |
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//Not really sure why we would be in this situation
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System.out.println("InterruptedException in init: " + e); |
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} catch (java.lang.reflect.InvocationTargetException e) {
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//This could happen for various reasons if there is a problem in createAndShowGUI
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e.printStackTrace(); |
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} |
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} |
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public void destroy () { |
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if (csi != null) { |
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csi.disconnect(); |
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} |
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} |
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private synchronized void createAndShowGUI () { |
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// Webcam
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gc = GraphicsEnvironment.getLocalGraphicsEnvironment().getDefaultScreenDevice().getDefaultConfiguration();
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panelWebcam = new WebcamPanel();
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tabPaneMain = new JTabbedPane(); |
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tabPaneMain.setFont(new Font("arial", Font.PLAIN, 14)); |
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tabPaneMain.add(panelWebcam, "Webcam");
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// Robots
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selectedBot = -1;
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robotIcons = new RobotList();
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// Connection area
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txtInfo = new JTextArea(); |
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txtInfo.setBorder(BorderFactory.createTitledBorder("Info")); |
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txtHost = new JTextField(this.getDocumentBase().getHost()); |
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txtHost.setBorder(BorderFactory.createTitledBorder("Host")); |
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txtPort = new JTextField("10123"); |
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txtPort.setBorder(BorderFactory.createTitledBorder("Port")); |
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btnConnect = new JButton("Connect"); |
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btnConnect.setFont(new Font("arial", Font.BOLD, 16)); |
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btnGetXBeeIDs = new JButton("Get XBee IDs"); |
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getRootPane().setDefaultButton(btnConnect); |
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lblConnectionStatus = new JLabel("Status: Offline"); |
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panelConnect = new JPanel(); |
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panelConnect.setLayout(new GridLayout(6,1)); |
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panelConnect.add(lblConnectionStatus); |
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panelConnect.add(txtHost); |
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panelConnect.add(txtPort); |
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panelConnect.add(btnConnect); |
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panelServerInterface = new JPanel(); |
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panelServerInterface.setLayout(new GridLayout(2,1)); |
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panelServerInterface.add(panelConnect); |
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panelServerInterface.add(txtInfo); |
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// Robot direction panel
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panelRobotDirection = new JPanel(); |
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panelRobotDirectionButtons = new JPanel(); |
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Font f = new Font(null, Font.PLAIN, 16); |
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btnF = new JButton("\u2191"); |
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btnF.setFont(f); |
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btnB = new JButton("\u2193"); |
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btnB.setFont(f); |
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btnL = new JButton("\u2190"); |
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btnL.setFont(f); |
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btnR = new JButton("\u2192"); |
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btnR.setFont(f); |
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btnActivate = new JButton("\u25A0"); |
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btnActivate.setFont(new Font(null, Font.BOLD, 24)); |
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panelRobotDirectionButtons.setLayout(new GridLayout(1,5)); |
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panelRobotDirectionButtons.add(btnActivate); |
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panelRobotDirectionButtons.add(btnF); |
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panelRobotDirectionButtons.add(btnB); |
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panelRobotDirectionButtons.add(btnL); |
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panelRobotDirectionButtons.add(btnR); |
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imageVectorControl = gc.createCompatibleImage(ColonetConstants.VECTOR_CONTROLLER_WIDTH, ColonetConstants.VECTOR_CONTROLLER_HEIGHT); |
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vectorController = new VectorController(imageVectorControl, self);
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panelRobotDirection.setLayout(new BorderLayout()); |
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panelRobotDirection.add(vectorController, BorderLayout.CENTER);
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panelRobotDirection.add(panelRobotDirectionButtons, BorderLayout.SOUTH);
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// Robot Control and Commands
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panelRobotCommands = new JPanel(); |
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panelRobotCommands.setLayout(new GridLayout(6,2)); |
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// Battery subset
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batteryIcon = new BatteryIcon(0); |
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lblBattery = new JLabel(batteryIcon); |
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lblSelected = new JLabel("None"); |
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// Management subset
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setStation = false;
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setWaypoint = false;
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setWaypointID = -1;
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btnAssignID = new JButton("Assign ID"); |
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btnLocateStation = new JButton("Identify Station"); |
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boundary = new RobotBoundary();
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btnSetBounds = new JButton("Set Boundary"); |
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btnClearBounds = new JButton("Clear Boundary"); |
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// Control subset
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btnCommand_MoveTo = new JButton("Move to ..."); |
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btnCommand_MoveAll = new JButton("Move all ..."); |
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btnCommand_StopTask = new JButton("Stop Current Task"); |
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btnCommand_ResumeTask = new JButton("Resume Current Task"); |
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btnCommand_ChargeNow = new JButton("Recharge Now"); |
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btnCommand_StopCharging = new JButton("Stop Recharging"); |
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panelRobotCommands.add(new JLabel("Battery Level: ")); |
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panelRobotCommands.add(lblBattery); |
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panelRobotCommands.add(new JLabel("Selected Icon: ")); |
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panelRobotCommands.add(lblSelected); |
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panelRobotCommands.add(btnAssignID); |
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panelRobotCommands.add(btnLocateStation); |
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panelRobotCommands.add(btnCommand_ChargeNow); |
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panelRobotCommands.add(btnCommand_StopCharging); |
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panelRobotCommands.add(btnSetBounds); |
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panelRobotCommands.add(btnClearBounds); |
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panelRobotCommands.add(btnCommand_MoveTo); |
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panelRobotCommands.add(btnCommand_MoveAll); |
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//panelRobotCommands.add(btnCommand_StopTask);
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//panelRobotCommands.add(btnCommand_ResumeTask);
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panelRobotControl = new JPanel(); |
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panelRobotControl.setLayout(new GridLayout(2,1)); |
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panelRobotControl.add(panelRobotDirection); |
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panelRobotControl.add(panelRobotCommands); |
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// Task Manager
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panelTaskManager = new JPanel(); |
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panelTaskManager.setLayout(new BorderLayout()); |
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taskListModel = new DefaultListModel(); |
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taskList = new JList(taskListModel); |
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taskList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
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taskList.setSelectedIndex(0);
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spTaskManager = new JScrollPane(taskList); |
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panelTaskManagerControls = new JPanel(); |
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panelTaskManagerControls.setLayout(new GridLayout(1,4)); |
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panelTaskManagerControlsPriority = new JPanel(); |
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panelTaskManagerControlsPriority.setLayout(new GridLayout(1,2)); |
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btnAddTask = new JButton("Add..."); |
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btnRemoveTask = new JButton("Remove"); |
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btnMoveTaskUp = new JButton("^"); |
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btnMoveTaskDown = new JButton("v"); |
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btnUpdateTasks = new JButton("Update"); |
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panelTaskManagerControlsPriority.add(btnMoveTaskUp); |
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panelTaskManagerControlsPriority.add(btnMoveTaskDown); |
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panelTaskManagerControls.add(btnAddTask); |
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panelTaskManagerControls.add(btnRemoveTask); |
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panelTaskManagerControls.add(btnUpdateTasks); |
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panelTaskManagerControls.add(panelTaskManagerControlsPriority); |
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panelTaskManager.add(spTaskManager, BorderLayout.CENTER);
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panelTaskManager.add(panelTaskManagerControls, BorderLayout.SOUTH);
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panelTaskManager.add(new JLabel("Current Task Queue"), BorderLayout.NORTH); |
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taskAddWindow = new TaskAddWindow();
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// Main control mechanism
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tabPaneControl = new JTabbedPane(JTabbedPane.TOP); |
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tabPaneControl.setFont(new Font("arial", Font.PLAIN, 14)); |
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tabPaneControl.setPreferredSize(new Dimension(ColonetConstants.VECTOR_CONTROLLER_WIDTH, 0)); |
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tabPaneControl.addTab("Connection", panelServerInterface);
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tabPaneControl.addTab("Robots", panelRobotControl);
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//tabPaneControl.addTab("Tasks", panelTaskManager);
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// Put all elements in the ContentPane
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this.getContentPane().setLayout(new BorderLayout()); |
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this.getContentPane().add(tabPaneMain, BorderLayout.CENTER); |
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this.getContentPane().add(tabPaneControl, BorderLayout.EAST); |
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this.setVisible(true); |
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// Disable components before connecting
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btnConnect.setText("Connect");
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lblConnectionStatus.setText("Status: Disconnected");
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setComponentsEnabled(false);
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/* Add all listeners here */
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// Task Management
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btnAddTask.addActionListener(this);
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btnRemoveTask.addActionListener(this);
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btnMoveTaskUp.addActionListener(this);
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btnMoveTaskDown.addActionListener(this);
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btnUpdateTasks.addActionListener(this);
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// Robot Control
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btnF.addActionListener(this);
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btnB.addActionListener(this);
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btnL.addActionListener(this);
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btnR.addActionListener(this);
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btnF.addKeyListener(this);
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btnB.addKeyListener(this);
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btnL.addKeyListener(this);
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btnR.addKeyListener(this);
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btnActivate.addActionListener(this);
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btnActivate.addKeyListener(this);
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btnCommand_MoveTo.addActionListener(this);
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btnCommand_MoveAll.addActionListener(this);
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btnCommand_StopTask.addActionListener(this);
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btnCommand_ResumeTask.addActionListener(this);
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btnCommand_ChargeNow.addActionListener(this);
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btnCommand_StopCharging.addActionListener(this);
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// Other
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btnConnect.addActionListener(this);
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btnGetXBeeIDs.addActionListener(this);
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btnAssignID.addActionListener(this);
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btnLocateStation.addActionListener(this);
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btnSetBounds.addActionListener(this);
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btnClearBounds.addActionListener(this);
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panelWebcam.addMouseListener(this);
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panelWebcam.addMouseMotionListener(this);
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} |
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public ColonetServerInterface getCSI () {
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return csi;
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} |
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public void paint (Graphics g) { |
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super.paint(g);
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} |
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public void update (Graphics g) { |
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paint(g); |
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} |
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/**
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* Gets the JTextArea used for displaying debugging information.
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*
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* @return the JTextArea where debugging information can be displayed.
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*/
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public JTextArea getInfoPanel () { |
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return txtInfo;
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} |
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/**
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* Parses a String containing BOM matrix information.
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* The ColonetServerInterface receives lines of the BOM matrix. (For encoding
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* information, see the ColonetServerInterface documentation.) The entire matrix is passed
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* to the client when requested. This method takes a string of the form
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* "[command code] [command code] [number of robots] [data0] [data1] ..."
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* with tokens separated by spaces and containing no brackets.
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* The [command code]s are predefined values identifying this String as a BOM data
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* String, [number of robots] is an integer, and the values that follow are
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* the sensor readings of the robots in order, starting with robot 0. Only [number of robots]^2
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* data entries will be read. The matrix values are saved locally until the next String is parsed.
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*
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*
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* @param line the String containing BOM matrix information.
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* @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots]^2 data entries in the String
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*/
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public void parseMatrix (String line) { |
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txtInfo.setText("");
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String [] str = line.split(" "); |
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int num = Integer.parseInt(str[2]); |
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for (int i = 0; i < num; i++) { |
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for (int j = 0; j < num; j++) { |
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String next = str[3 + i*num + j]; |
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if (next.equals("-1")) { |
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txtInfo.append("-");
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} else {
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txtInfo.append(next); |
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} |
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if (j < num - 1) { |
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txtInfo.append(" ");
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} |
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} |
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if (i < num - 1) { |
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txtInfo.append("\n");
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} |
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} |
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repaint(); |
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} |
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public void connect () { |
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if (csi != null) |
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return;
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csi = new ColonetServerInterface(self);
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csi.connect(txtHost.getText(), txtPort.getText()); |
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if (!csi.isReady()) {
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csi = null;
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return;
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} |
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webcamLoader = new WebcamLoader(self);
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dataUpdater = new DataUpdater();
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dataUpdater.start(); |
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webcamLoader.start(); |
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Runnable r = new Runnable() { |
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public void run () { |
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btnConnect.setText("Disconnect");
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lblConnectionStatus.setText("Status: Connected");
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setComponentsEnabled(true);
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} |
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}; |
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SwingUtilities.invokeLater(r);
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} |
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|
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public void disconnect () { |
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try {
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dataUpdater.interrupt(); |
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} catch (Exception e) { |
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} |
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csi = null;
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Runnable r = new Runnable() { |
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public void run () { |
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btnConnect.setText("Connect");
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lblConnectionStatus.setText("Status: Disconnected");
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setComponentsEnabled(false);
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boundary = null;
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station = null;
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} |
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}; |
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SwingUtilities.invokeLater(r);
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} |
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private void setComponentsEnabled (boolean enabled) { |
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btnF.setEnabled(enabled); |
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btnB.setEnabled(enabled); |
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btnL.setEnabled(enabled); |
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btnR.setEnabled(enabled); |
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btnActivate.setEnabled(enabled); |
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btnAssignID.setEnabled(enabled); |
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btnLocateStation.setEnabled(enabled); |
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btnSetBounds.setEnabled(enabled); |
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btnClearBounds.setEnabled(enabled); |
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btnCommand_ChargeNow.setEnabled(enabled); |
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btnCommand_StopCharging.setEnabled(enabled); |
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btnCommand_MoveTo.setEnabled(enabled); |
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btnCommand_MoveAll.setEnabled(enabled); |
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} |
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|
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/**
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* Parses a String containing a task queue update.
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* Format is currently not specified.
|
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* This method currently does nothing.
|
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*
|
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* @param line the String containing task queue update information.
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*/
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public void parseQueue (String line) { |
439 |
|
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} |
441 |
|
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/**
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* Parses a String containing XBee ID values.
|
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* The ColonetServerInterface receives Strings of XBee information. (For encoding
|
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* information, see the ColonetServerInterface documentation.) This method takes
|
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* a string of the form "[command code] [command code] [number of robots] [id0] [id1] ..."
|
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* with tokens separated by spaces and containing no brackets.
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* The [command code]s are predefined values identifying this String as an XBee
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* ID String, [number of robots] is an integer, and the values that follow are
|
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* the IDs of the robots in order, starting with robot 0. Only [number of robots]
|
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* will be read. The ID values are saved locally until the next String is parsed.
|
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* The purpose of having this list is to ensure that robots are properly identified for control purposes.
|
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* This keeps robot identification consistent between sessions and prevents arbitrary assignment.
|
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*
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* @param line the String containing XBee ID information.
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* @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots] IDs in the String
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* @see ColonetServerInterface#sendXBeeIDRequest()
|
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*/
|
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public void parseXBeeIDs (String line) { |
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String [] str = line.split(" "); |
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int num = Integer.parseInt(str[2]); |
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xbeeID = new int[num]; |
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for (int i = 0; i < num; i++) { |
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xbeeID[i] = Integer.parseInt(str[i+3]); |
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} |
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} |
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|
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/**
|
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* Parses a String containing battery information.
|
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* 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]"
|
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* with tokens separated by spaces and containing no brackets.
|
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* The [command code]s are predefined values identifying this String as a battery
|
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* information String, [robot ID] is an integer, and [value] is a battery measurement.
|
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* This updates the batery information for a single robot.
|
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*
|
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*
|
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* @param line the String containing battery information.
|
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* @see ColonetServerInterface#sendBatteryRequest(int)
|
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*/
|
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public void parseBattery (String line) { |
483 |
int botNum, level;
|
484 |
try {
|
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String [] str = line.split(" "); |
486 |
botNum = Integer.parseInt(str[2]); |
487 |
level = Integer.parseInt(str[3]); |
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} catch (NumberFormatException e) { |
489 |
System.out.println("Could not parse battery update"); |
490 |
return;
|
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} |
492 |
|
493 |
RobotIcon r = robotIcons.get(botNum); |
494 |
if (r != null) { |
495 |
r.setBattery(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 |