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import javax.swing.event.*;

public class Colonet extends JApplet implements ActionListener, MouseInputListener, Runnable {

	JPanel panelRobotDirectionButtons;

	VectorController vectorController;

	BufferedImage imageVectorControl;

	JButton btnUpdateTasks;

	TaskAddWindow taskAddWindow;

	ImagePanel panel;

	OutputStreamWriter out;

	volatile int[] xbeeID;

		// set the default look and feel - choose one

        //String laf = UIManager.getSystemLookAndFeelClassName();

		//String laf = UIManager.getCrossPlatformLookAndFeelClassName();

		String laf = "com.sun.java.swing.plaf.motif.MotifLookAndFeel";

			//This could happen for various reasons if there is a problem in createAndShowGUI

			e.printStackTrace();

		// Get the graphics configuration of the screen to create a buffer

		gc = GraphicsEnvironment.getLocalGraphicsEnvironment()

			.getDefaultScreenDevice().getDefaultConfiguration();

		image = gc.createCompatibleImage(CANVAS_SIZE,CANVAS_SIZE);

		canvas = image.createGraphics();

		canvas.setStroke(new BasicStroke(2));  //set pen width

		panel = new ImagePanel(false, image);  //set automatic double-buffering to false. we are doing it manually.

		// Calculate center of canvas

		cx = image.getWidth() / 2;

		cy = image.getHeight() / 2;

		botFont = new Font("Arial", Font.PLAIN, 14);

		tokenLoc = 0;

		numBots = 0;

		selectedBot = 0;

		txtMatrix = new JTextArea();

		panelRobotDirectionButtons = new JPanel();

		panelRobotDirectionButtons.setLayout(new GridLayout(1,5));

		panelRobotDirectionButtons.add(btnActivate);

		panelRobotDirectionButtons.add(btnF);

		panelRobotDirectionButtons.add(btnB);

		panelRobotDirectionButtons.add(btnL);

		panelRobotDirectionButtons.add(btnR);

		imageVectorControl = gc.createCompatibleImage(380, 210);

		vectorController = new VectorController(imageVectorControl);

		panelRobotDirection.setLayout(new BorderLayout());

		panelRobotDirection.add(vectorController, BorderLayout.CENTER);

		panelRobotDirection.add(panelRobotDirectionButtons, BorderLayout.SOUTH);

		panelTaskManagerControls.setLayout(new GridLayout(1,4));

		btnUpdateTasks = new JButton("Update");

		panelTaskManagerControls.add(btnUpdateTasks);

		// Task Manager Add Window

		taskAddWindow = new TaskAddWindow();

		tabPaneControl.setPreferredSize(new Dimension(400, 0));

		btnUpdateTasks.addActionListener(this);

		vectorController.addMouseMotionListener(this);

		vectorController.addMouseListener(this);

		this.addMouseMotionListener(this);	

		csi = new ColonetServerInterface(this);

		/*	Redraw the graphical components in the applet. 

		step();

			//create sample matrix and xbee map

			parseMatrix(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " + 

				ColonetServerInterface.REQUEST_BOM_MATRIX + 

				" 5 -1 9 3 -1 1 -1 -1 -1 5 -1 4 -1 -1 -1 2 -1 -1 -1 -1 -1 1 -1 -1 3 -1");

			parseXBeeIDs(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " + 

				ColonetServerInterface.REQUEST_XBEE_IDS +

				" 5 12345 76543 98786 87690 2");

		}

		// Robot Movement Controls

		else if (source == btnF) {

			vectorController.setMaxForward();

			vectorController.sendToServer();

			vectorController.setMaxReverse();

			vectorController.sendToServer();

			vectorController.setMaxLeft();

			vectorController.sendToServer();

			vectorController.setMaxRight();

			vectorController.sendToServer();

			vectorController.setZero();

			vectorController.sendToServer();

		}

		else if (source == btnAddTask) {

			taskAddWindow.prompt();

			if (taskList.getSelectedIndex() >= 0);

				csi.sendQueueRemove(taskList.getSelectedIndex());

			csi.sendQueueUpdate();

			csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() - 1);

			csi.sendQueueUpdate();

			csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() + 1);

			csi.sendQueueUpdate();

		} else if (source == btnUpdateTasks) {

			csi.sendQueueUpdate();

		try {

			canvas.drawString("" + xbeeID[id], x-20, y+2);

		} catch (Exception e) {

			canvas.drawString("???", x-22, y+2);

		}

	public JTextArea getLog () {

		return log;

	}

	public JTextArea getMatrixInput () {

		return txtMatrix;

	}

	public void parseMatrix (String line) {

		txtMatrix.setText("");

		String [] str = line.split(" ");

		int num = Integer.parseInt(str[2]);

		for (int i = 0; i < num; i++) {

			for (int j = 0; j < num; j++) {

				String next = str[3 + i*num + j];

				if (next.equals("-1"))

					txtMatrix.append("-");

				else 

					txtMatrix.append(next);

				if (j < num - 1) 

					txtMatrix.append(" ");

			}

			if (i < num - 1) 

				txtMatrix.append("\n");

		}

	}

	public void parseQueue (String line) {

		log.append("Got queue update\n");

	}

	public void parseXBeeIDs (String line) {

		log.append("Got XBee ID map: " + line + "\n");

		String [] str = line.split(" ");

		int num = Integer.parseInt(str[2]);

		xbeeID = new int[num];

		for (int i = 0; i < num; i++)

			xbeeID[i] = Integer.parseInt(str[i+3]);

		//update the list of robots to control

		cmbRobotNum.removeAllItems();

		cmbRobotNum.addItem(new String("   All   "));

		for (int i = 0; i < num; i++)

			cmbRobotNum.addItem(new String("" + xbeeID[i]));

	}

	public void mouseReleased(MouseEvent e) {

		vectorController.sendToServer();

	}

	public void mouseClicked(MouseEvent e) {

		mouseDragged(e);

	}

	public void mouseDragged(MouseEvent e) {

		vectorController.setPoint(e.getX(), e.getY());

		vectorController.repaint();

	}

	public void mouseMoved(MouseEvent e) {}

					if (csi.isReady()) {

						csi.sendXBeeIDRequest();

					}

	/*

	*	ImagePanel class

	*	Enables more efficient image handling in a component-controlled environment

	*/

	class ImagePanel extends JPanel {

		protected Image img;

		public ImagePanel (Image img) {

			super();

			this.img = img;

		}

		public ImagePanel (boolean isDoubleBuffered, Image img) {

			super(isDoubleBuffered);

			this.img = img;

		}

		public void paint (Graphics g) {

			// Place the buffered image on the screen, inside the panel

			g.drawImage(img, 0, 0, Color.WHITE, this);

		}

	}

	/*

	*	VectorController class

	*	Manages robot motion control graphically

	*/

	class VectorController extends ImagePanel {

		int x, y, cx, cy;

		int width, height;

		int side;

		public VectorController (Image img) {

			super (img);

			width = img.getWidth(null);

			height = img.getHeight(null);

			cx = img.getWidth(null)/2;

			cy = img.getHeight(null)/2;

			x = cx;

			y = cy;

			if (width < height)

				side = width;

			else

				side = height;

		}

		public void setPoint (int x, int y) {

			if (!isValidPoint(x, y))

				return;

			this.x = x;

			this.y = y;

			repaint();

		}

		public boolean isValidPoint (int x, int y) {

			double xterm = Math.pow(1.0*(x - cx)/(side/2), 2);

			double yterm = Math.pow(1.0*(y - cy)/(side/2), 2);

			return (xterm + yterm <= 1);

		}

		public int getVelocity () {

			int dx = x - cx;

			int dy = y - cy;

			int v = (int) Math.sqrt( Math.pow(dx, 2) + Math.pow(dy, 2) );

			return v;

		}

		public double getAngle () {

			int dx = x - cx;

			int dy = cy - y;

			double theta = Math.atan2(Math.abs(dx), Math.abs(dy));

			theta = (int) (1.0 * theta * 180 / Math.PI);  //transform to degrees

			if (dy < 0)

				theta = 180 - theta;

			theta *= Math.signum(dx);

			return theta;

		}

		public void paint (Graphics g) {

			g.setColor(Color.BLACK);

			g.fillRect(0, 0, width, height);

			((Graphics2D)g).setStroke(new BasicStroke(1));

			g.setColor(Color.RED);

			g.drawOval(cx-side/2, cy-side/2, side, side);

			((Graphics2D)g).setStroke(new BasicStroke(2));

			g.setColor(Color.GREEN);

			g.drawLine(cx, cy, x, y);

			g.fillOval(x-3, y-3, 6, 6);

		}

		public void setMaxForward () {

			setPoint(cx, cy - (side/2) + 1);

		}

		public void setMaxReverse () {

			setPoint(cx, cy + (side/2) - 1);

		}

		public void setMaxLeft () {

			setPoint(cx - (side/2) + 1, cy);

		}

		public void setMaxRight () {

			setPoint(cx + (side/2) - 1, cy);

		}

		public void setZero () {

			setPoint(cx, cy);

		}

		public void sendToServer () {

			if (csi != null)

				csi.sendData(ColonetServerInterface.MOVE + " " + 

					vectorController.getAngle() + " " + 

					vectorController.getVelocity(), ColonetServerInterface.GLOBAL_DEST);

		}

	}

	/*

	*	TaskAddWindow class

	*	makes it easy to add tasks to the queue

	*/

	class TaskAddWindow extends JFrame implements ActionListener, ListSelectionListener {

		JPanel panelButtons;

		JPanel panelParameters;

		JPanel panelSouth;

		JPanel panelSelection;

		JButton btnSubmit;

		JButton btnCancel;

		DefaultListModel availableListModel;

		JList availableList;

		JScrollPane spAvailableTasks;

		JTextArea txtDescription;

		JTextField txtParameters;

		MouseListener mouseListener;

		public TaskAddWindow () {

			super("Add a Task ... if you dare!");

			super.setSize(500,500);

			super.setLayout(new BorderLayout());

			// set up buttons

			btnSubmit = new JButton("Submit");

			btnCancel = new JButton("Cancel");

			panelButtons = new JPanel();

			panelButtons.setLayout(new FlowLayout());

			panelButtons.add(btnSubmit);

			panelButtons.add(btnCancel);

			this.getRootPane().setDefaultButton(btnSubmit);

			// set up task list

			availableListModel = new DefaultListModel();

			availableListModel.addElement("Map the Environment");

			availableListModel.addElement("Clean Up Chemical Spill");

			availableListModel.addElement("Grow Plants");

			availableListModel.addElement("Save the Cheerleader");

			availableListModel.addElement("Save the World");

			availableList = new JList(availableListModel);

			availableList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);

			availableList.setSelectedIndex(-1);

			spAvailableTasks = new JScrollPane(availableList);

			spAvailableTasks.setBorder(BorderFactory.createTitledBorder("Select A Task"));

			txtDescription = new JTextArea();

			txtDescription.setEditable(false);

			txtDescription.setLineWrap(true);

			txtDescription.setWrapStyleWord(true);

			txtDescription.setBorder(BorderFactory.createTitledBorder("Description"));

			//set up parameter area

			panelParameters = new JPanel();

			panelParameters.setLayout(new BorderLayout());

			txtParameters = new JTextField();

			panelParameters.add(new JLabel("Optional parameters for this task: "), BorderLayout.WEST);

			panelParameters.add(txtParameters);

			// assemble objects

			panelSelection = new JPanel();

			panelSelection.setLayout(new GridLayout(1,2));

			panelSelection.add(spAvailableTasks);

			panelSelection.add(txtDescription);

			panelSouth = new JPanel();

			panelSouth.setLayout(new GridLayout(2,1));

			panelSouth.add(panelParameters);

			panelSouth.add(panelButtons);

			this.getContentPane().add(panelSouth, BorderLayout.SOUTH);

			this.getContentPane().add(panelSelection, BorderLayout.CENTER);

			this.setLocationRelativeTo(null);

			// add listeners here

			availableList.addListSelectionListener(this);

			btnSubmit.addActionListener(this);

			btnCancel.addActionListener(this);

		}

		public void prompt () {

			this.setVisible(true);

		}

		private String getDescription (int index) {

			if (index < 0)

				return "";

			switch (index) {

				case 0: return "SLAM and junk";

				case 1: return "I'm not sure this works";

				case 2: return "Push them into the light";

				case 3: return "Watch out for clock repair guys";

				case 4: return "But make sure he's dead, geez, why would you let him get away? I mean come on, "

					+"he's just lying there and everyone's too busy looking at people flying through the sky to "

					+"notice? Oh yeah, that's a good transition to a new season, let's make the audience think "

					+"he's dead and then pull a fast one on them, they'll never see that coming.";

				default: return "Task not recognized";

			}

		}

		public void actionPerformed (ActionEvent e) {

			Object source = e.getSource();

			if (source == btnSubmit) {

				txtParameters.setText(txtParameters.getText().trim());

				this.setVisible(false);

			} else if (source == btnCancel) {

				this.setVisible(false);

			}

		}

		public void valueChanged (ListSelectionEvent e) {

			int index = availableList.getSelectedIndex();

			if (index >= 0)

				txtDescription.setText(getDescription(index));

		}

	}

	public static final String REQUEST_XBEE_IDS = "144";

	Colonet colonet;  //save the entire applet locally

	public ColonetServerInterface (Colonet colonet) {

		this.colonet = colonet;

		this.log = colonet.getLog();

		this.txtMatrix = colonet.getMatrixInput();

	public void sendXBeeIDRequest () {

		sendRequest(ColonetServerInterface.REQUEST_XBEE_IDS, "");

	}

	public void sendQueueUpdate () {

		sendQueueInstruction(ColonetServerInterface.QUEUE_UPDATE);

	}

			if (line.startsWith(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " +

				ColonetServerInterface.REQUEST_BOM_MATRIX))

				colonet.parseMatrix(line);

				colonet.parseQueue(line);

			if (line.startsWith(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " +

				ColonetServerInterface.REQUEST_XBEE_IDS))

				colonet.parseXBeeIDs(line);