root / trunk / code / projects / colonet / client / RobotIcon.java @ 1438
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| 1 | 644 | gtress | |
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| 2 | import java.awt.*; |
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| 3 | |||
| 4 | /**
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| 5 | * RobotIcon class
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| 6 | * Provides a means for graphically representing and keeping track of webcam bots.
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| 7 | */
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| 8 | public class RobotIcon { |
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| 9 | 776 | gtress | private int id; // the XBee ID of the robot |
| 10 | private Color color; // the color used for painting the robot on screen. |
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| 11 | private Point location; // the position of the robot in the coordinate system of the webcam image |
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| 12 | private Point destination; // the destination of the robot, if homing or charging |
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| 13 | private int battery; // the battery level, if available |
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| 14 | 644 | gtress | |
| 15 | public RobotIcon (int id, int x, int y) { |
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| 16 | 776 | gtress | setID(id); |
| 17 | setColor(Color.RED);
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| 18 | setLocation(x, y); |
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| 19 | clearDestination(); |
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| 20 | setBattery(-1);
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| 21 | 644 | gtress | } |
| 22 | 776 | gtress | |
| 23 | /**
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| 24 | * Returns the ID of this RobotIcon.
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| 25 | */
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| 26 | public int getID () { |
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| 27 | return id;
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| 28 | } |
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| 29 | |||
| 30 | /**
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| 31 | * Sets the ID of this RobotIcon.
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| 32 | */
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| 33 | public void setID (int newid) { |
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| 34 | this.id = newid;
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| 35 | } |
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| 36 | |||
| 37 | /**
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| 38 | * Returns the Color used for representing this RobotIcon on screen.
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| 39 | */
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| 40 | public Color getColor () { |
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| 41 | return color;
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| 42 | } |
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| 43 | |||
| 44 | /**
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| 45 | * Sets the Color used for representing this RobotIcon on screen.
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| 46 | */
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| 47 | public void setColor (Color newcolor) { |
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| 48 | this.color = newcolor;
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| 49 | } |
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| 50 | |||
| 51 | /**
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| 52 | * Returns the battery level of this RobotIcon.
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| 53 | * TODO: what numbering system is this?
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| 54 | */
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| 55 | public int getBattery () { |
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| 56 | return battery;
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| 57 | } |
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| 58 | |||
| 59 | /**
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| 60 | * Sets the battery level of this RobotIcon.
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| 61 | * TODO: what numbering system is this?
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| 62 | */
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| 63 | public void setBattery (int newbattery) { |
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| 64 | this.battery = newbattery;
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| 65 | } |
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| 66 | |||
| 67 | /**
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| 68 | * Returns the location of this RobotIcon as a Point. The location is specified
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| 69 | * in the coordinate system of the original webcam image, NOT the coordinate
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| 70 | * system of the scaled image as seen on screen.
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| 71 | */
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| 72 | public Point getLocation () { |
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| 73 | return location;
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| 74 | } |
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| 75 | 644 | gtress | |
| 76 | /**
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| 77 | 776 | gtress | * Sets the location of this RobotIcon. The location should be specified in the
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| 78 | * coordinate system of the original webcam image, NOT the coordinate system of
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| 79 | * the scaled image as seen on screen.
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| 80 | 644 | gtress | */
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| 81 | 776 | gtress | public void setLocation (int x, int y) { |
| 82 | 938 | rcahoon | location = new Point(x, y); |
| 83 | 644 | gtress | } |
| 84 | 776 | gtress | |
| 85 | /**
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| 86 | * Sets the location of this RobotIcon. The location should be specified in the
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| 87 | * coordinate system of the original webcam image, NOT the coordinate system of
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| 88 | * the scaled image as seen on screen.
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| 89 | */
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| 90 | public void setLocation (Point p) { |
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| 91 | 938 | rcahoon | location = p; |
| 92 | 776 | gtress | } |
| 93 | |||
| 94 | /**
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| 95 | * Returns the destination of this RobotIcon as a Point. The location is specified
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| 96 | * in the coordinate system of the original webcam image, NOT the coordinate
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| 97 | * system of the scaled image as seen on screen. If the RobotIcon has no current
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| 98 | * destination, then this method returns null.
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| 99 | */
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| 100 | public Point getDestination () { |
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| 101 | if (!hasDestination())
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| 102 | return null; |
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| 103 | return destination;
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| 104 | } |
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| 105 | |||
| 106 | /**
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| 107 | * Determines whether this RobotIcon currently has a destination, e.g., for homing
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| 108 | * to a specific point in the environment or finding a charging bay.
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| 109 | */
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| 110 | public boolean hasDestination () { |
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| 111 | 938 | rcahoon | return (destination != null && destination.x >= 0 && destination.y >= 0); |
| 112 | 776 | gtress | } |
| 113 | |||
| 114 | /**
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| 115 | * Sets the destination of this RobotIcon for the purposes of homing to a specific
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| 116 | * point in the environment of finding a charging bay. The destination point should
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| 117 | * be specified in the coordinate system of the original webcam image, NOT the
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| 118 | * coordinate system of the scaled image as seen on screen.
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| 119 | */
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| 120 | public void setDestination (int x, int y) { |
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| 121 | 938 | rcahoon | destination = new Point(x, y); |
| 122 | 776 | gtress | } |
| 123 | |||
| 124 | /**
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| 125 | * Sets the destination of this RobotIcon for the purposes of homing to a specific
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| 126 | * point in the environment of finding a charging bay. The destination point should
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| 127 | * be specified in the coordinate system of the original webcam image, NOT the
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| 128 | * coordinate system of the scaled image as seen on screen.
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| 129 | */
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| 130 | public void setDestination (Point p) { |
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| 131 | 938 | rcahoon | destination = p; |
| 132 | 776 | gtress | } |
| 133 | |||
| 134 | /**
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| 135 | * Clears the destination Point for this RobotIcon, indicating that the robot is
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| 136 | * no longer homing.
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| 137 | */
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| 138 | public void clearDestination () { |
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| 139 | setDestination(-1, -1); |
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| 140 | } |
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| 141 | 644 | gtress | |
| 142 | /**
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| 143 | * Determines whether a given point is within the rectangle that circumscribes the
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| 144 | 776 | gtress | * robot's circlular icon. Used for click detection on robots in webcam view. The
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| 145 | * parameter point should be specified in the coordinate system of the original
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| 146 | * webcam image, NOT the coordinate system of the scaled image as seen on screen.
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| 147 | 644 | gtress | */
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| 148 | public boolean contains (int px, int py) { |
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| 149 | 776 | gtress | return this.getBoundingRectangle().contains(px, py); |
| 150 | 644 | gtress | } |
| 151 | 776 | gtress | |
| 152 | /**
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| 153 | * Returns the Rectangle object that circumscribes the RobotIcon identifier circle
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| 154 | * that is painted on screen. The Rectangle is in the coordinate system of the
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| 155 | * original webcam image NOT the coordinate system of the scaled image as seen
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| 156 | * on screen.
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| 157 | */
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| 158 | public Rectangle getBoundingRectangle () { |
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| 159 | int radius = ColonetConstants.ROBOT_RADIUS;
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| 160 | return new Rectangle(location.x-radius, location.y-radius, 2*radius, 2*radius); |
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| 161 | } |
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| 162 | 644 | gtress | |
| 163 | 776 | gtress | /**
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| 164 | * Provides a text representation of this RobotIcon object
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| 165 | */
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| 166 | 644 | gtress | public String toString () { |
| 167 | 776 | gtress | String s = "RobotIcon at (" + location.x + "," + location.y + "), id " + id; |
| 168 | 644 | gtress | return s;
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| 169 | } |
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| 170 | } |