Colony

/*

*        ColonetServerInterface.java

*        Gregory Tress

*/

import java.net.*;

import java.io.*;

import javax.swing.JOptionPane;

import javax.swing.JTextArea;

public class ColonetServerInterface 

{

        /* STATIC FIELDS

         * Eugene Marinelli, Fan

         * 10/27/06

         *

         * Colonet Definitions - common definitions and structs used in all colonet 

         * applications

        Old packet structure:

    COMMAND PACKET STRUCTURE

        1:  SEND_TO_ROBOT

        2:  # of robot, or GLOBAL_DEST

        3:  COLONET_COMMMAND

        4:  message code (i.e. ORB_SET)

        5:  any data, as many that fit in the packet

        REQUEST PACKET STRUCTURE

        1:  REQUEST_FROM_SERVER

        2:  # of robot

        3:  COLONET_REQUEST

        4:  ???

  9/12/07 New server interface structure

    Client will no longer send full robot packets to the server.

    Commands will be defined as necessary.

        */

        //General Colonet Interface

        public static final String SEND_TO_ROBOT = "0";

        public static final String REQUEST_FROM_SERVER = "1";

        public static final String RESPONSE_TO_CLIENT_REQUEST = "2";

        public static final String REQUEST_BOM_MATRIX = "144";

        public static final String REQUEST_XBEE_IDS = "145";

        public static final String COLONET_COMMAND = "13"; //0x0D

        public static final String COLONET_REQUEST = "14"; //0x0E

        public static final String CORONET_RESPONSE = "15"; //0x0F

        public static final String GLOBAL_DEST = "200";

        //Queue instructions

        public static final String COLONET_QUEUE = "100";

        public static final String QUEUE_UPDATE = "101"; 

        public static final String QUEUE_ADD = "102";

        public static final String QUEUE_REMOVE = "103";

        public static final String QUEUE_REORDER = "104";

        //Use BATTERY to request battery level

        public static final String BATTERY = "56"; //0x38

        //MOTORS

        public static final String MOTORS_INIT = "23"; //0x17

        public static final String MOTOR1_SET = "24"; //0x18

        public static final String MOTOR2_SET = "25"; //0x19

        public static final String MOTORS_OFF = "26"; //0x1A

        public static final String MOVE = "27"; //0x1B

        public static final String MOVE_AVOID = "28"; //0x1C

        //BUZZER

        public static final String BUZZER_INIT = "0"; //0x00

        public static final String BUZZER_SET_VAL = "1"; //0x01

        public static final String BUZZER_SET_FREQ = "2"; //0x02

        public static final String BUZZER_CHIRP = "3"; //0x03

        public static final String BUZZER_OFF = "4"; //0x04

        //ORB

        public static final String ORB_INIT = "12"; //0x0C

        public static final String ORB_SET = "13"; //0x0D

        public static final String ORB_SET_COLOR = "14"; //0x0E

        public static final String ORB_DISABLE = "15"; //0x0F

        public static final String ORB_ENABLE = "16"; //0x10

        public static final String ORB_SET_DIO = "17"; //0x11

        public static final String LED_INIT = "18"; //0x12

        public static final String LED_USER = "19"; //0x13

        public static final String ORB_SET_NUM_NS = "20"; //0x14

        public static final String ORB_SET_NUM = "21"; //0x15

        public static final String ORB_SEND = "22"; //0x16

        Colonet colonet;  //save the entire applet locally

        Socket socket;

        OutputStreamWriter out;

        BufferedReader reader;

        DataListener dataListener;

        JTextArea log, txtMatrix;

        /*

        *        FUNCTION IMPLEMENTATIONS

        */

        public ColonetServerInterface (Colonet colonet) {

                this.colonet = colonet;

                this.log = colonet.getLog();

                this.txtMatrix = colonet.getMatrixInput();

                dataListener = new DataListener();

        }

        public Socket getSocket () {

                return socket;

        }

        public OutputStreamWriter getOutputStreamWriter () {

                return out;

        }

        public BufferedReader getBufferedReader () {

                return reader;

        }

        public boolean isReady () {

                if (socket == null || out == null || reader == null) return false;

                if (!socket.isConnected() || socket.isClosed() || socket.isInputShutdown() || socket.isOutputShutdown()) return false;

                return true;

        }

        public boolean isInputReady () {

                try {

                        if (reader.ready()) return true;

                } catch (Exception e) {

                        return false;

                }

                return false;

        }

        public String getLine () {

                if (this.isReady()) {

                        try {

                                return reader.readLine();

                        } catch (IOException e) {

                                return null;

                        }

                } else {

                  return null;

                }

        }

        /**

         * Create socket connection to Colonet server.

         * If successful, start threads for loading the webcam image and listening for incoming data.

         */

        public void connect (String strHost, String strPort) {

                //make sure hostname and port are valid

                if (strHost.equals("") || strPort.equals("")) {

                        err("Please enter a hostname and port.");

                        return;

                }

                int port = 0;

                try {

                        port = Integer.parseInt(strPort);

                } catch (Exception e) {

                        err("Invalid port");

                        return;

                }

                //make sure we aren't already connected.

                if (socket != null && socket.isConnected()) {

                        return;

                }

                try {

                        socket = new Socket(strHost, port);

                } catch (UnknownHostException e) {

                        log.append("Unknown host exception.\n");

                        err("Unknown Host Exception");

                        return;

                } catch (IOException e) {

                        log.append("IO Exception.\n");

                        err("IO Exception");

                        return;

                } catch (java.security.AccessControlException e) {

                        log.append("Access Control Exception.\n");

                        err("Permission denied by java.security.AccessControlException.\n\n"

                                +"You may only connect to the server from which this applet was loaded.");

                        return;

                }

                if (socket == null || !socket.isConnected()) {

                        log.append("Connection is not ready. Try connecting again.");

                        return;

                }

                try {

                        out = new OutputStreamWriter(socket.getOutputStream());

                        reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));

                } catch (IOException e) {

                        warn("Could not get transfer streams from socket connection.");

                }

                dataListener.start();

        }

        /*

        *        sendString - only this method should actually write data to the output stream

        */

        public void sendString (String s) {

                //make sure we can send

                if (!this.isReady()) {

                        log.setText("Could not send data.\n");

                        return;

                }

                //send packet

                try {

                        Thread.sleep(50);  //pause to be safe

                        out.write(s);

                        out.flush();

                        log.setText("Sent: " + s);

                } catch (IOException e) {

                        log.setText("Could not send data.\n");

                } catch (InterruptedException e) {

                        log.setText("Thread InterruptedException in sendData\n");

                }

        }

        public void sendData (String s, String robotNumber) { 

                //create packet

                String packet = "";

                packet += ColonetServerInterface.SEND_TO_ROBOT;

                packet += " " + robotNumber;

                packet += " " + ColonetServerInterface.COLONET_COMMAND;

                packet += " " + s;  //add  the command code here

                packet += "\n";

                sendString(packet);

        }

        public void sendRequest (String s, String robotNumber) {

                //create packet

                String packet = "";

                packet += ColonetServerInterface.REQUEST_FROM_SERVER;

                //packet += " " + robotNumber;

                //packet += " " + ColonetServerInterface.COLONET_REQUEST;

                packet += " " + s;  //add  the command code here

                packet += "\n";

                sendString(packet);

        }

        public void sendSensorDataRequest () {

                sendRequest(ColonetServerInterface.REQUEST_BOM_MATRIX, "");

        }

        public void sendXBeeIDRequest () {

                sendRequest(ColonetServerInterface.REQUEST_XBEE_IDS, "");

        }

        /*

        *        Queue management

        */

        public void sendQueueInstruction (String inst) {

                String packet = "";

                packet += ColonetServerInterface.COLONET_QUEUE;

                packet += " " + inst;

                packet += "\n";

                sendString(packet);

        }

        public void sendQueueAdd (int pos, String data, String description) {

                String packet = "";

                packet += ColonetServerInterface.QUEUE_ADD;

                packet += " " + pos;

                packet += " " + data;

                packet += " [" + description + "]";

                packet += "\n";

                sendQueueInstruction(packet);

        }

        public void sendQueueRemove (int pos) {

                String packet = "";

                packet += ColonetServerInterface.QUEUE_REMOVE;

                packet += " " + pos;

                packet += "\n";

                sendQueueInstruction(packet);

        }

        public void sendQueueReorder (int pos1, int pos2) {

                String packet = "";

                packet += ColonetServerInterface.QUEUE_REORDER;

                packet += " " + pos1;

                packet += " " + pos2;

                packet += "\n";

                sendQueueInstruction(packet);

        }

        public void sendQueueUpdate () {

                sendQueueInstruction(ColonetServerInterface.QUEUE_UPDATE);

        }

        /**

         * Display informational message box on the screen. Used for casual communicaton to the user.

         * @param text Text to display

         */

        public void msg (String text) {

                JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.INFORMATION_MESSAGE);

        }

        /**

         * Display warning message box on the screen. Used for minor alerts or exceptions.

         * @param text Text to display

         */

        public void warn (String text) {

                JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.WARNING_MESSAGE);

        }

        /**

         * Display error message box on the screen. Used for major errors or exceptions in the program.

         * @param text Text to display

         */

        public void err (String text) {

                JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.ERROR_MESSAGE);

        }

        /*

        *        DataListener thread.

        *

        */

        class DataListener extends Thread {

                final int DATALISTENER_DELAY = 222;

                public DataListener () {

                        super("Colonet DataListener");

                }

                public void run () {

                        String line;

                        while (true) { 

                                try {

                                        line = getLine();

                                        if (line != null) {

                                                parseData(line);

                                        }

                                        Thread.sleep(DATALISTENER_DELAY);

                                } catch (InterruptedException e) {

                                        return;

                                } 

                        }

                }

                public void parseData (String line) {

                        //log.append("Incoming data: [" + line + "]\n");

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

                                ColonetServerInterface.REQUEST_BOM_MATRIX))

                                colonet.parseMatrix(line);

                        else if (line.startsWith(ColonetServerInterface.COLONET_QUEUE))

                                colonet.parseQueue(line);

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

                                ColonetServerInterface.REQUEST_XBEE_IDS))

                                colonet.parseXBeeIDs(line);

                }

        }

}