Colony

import javax.swing.event.*;

import javax.imageio.*;

/**

*	The Colonet Graphical User Interface Applet for use locally and over an internet connection.

*	@author Gregory Tress

*	

*

*/

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

	final int CANVAS_SIZE = 500;  //the applet may be slow if the canvas gets too large

	JTextArea txtMatrix;

	JPanel panelRobotDirectionButtons;

	JComboBox cmbRobotNum;

	JLabel lblBattery;

	VectorController vectorController;

	BufferedImage imageVectorControl;

	JButton btnCommand_StopTask;

	JButton btnCommand_ResumeTask;

	JButton btnCommand_ChargeNow;

	JButton btnCommand_StopCharging;

	JButton btnUpdateTasks;

	TaskAddWindow taskAddWindow;

	//Webcam and Graph

	WebcamPanel panelWebcam;

	GraphicsPanel panelGraph;

	JTabbedPane tabPaneMain;

	OutputStreamWriter out;

	DataUpdater dataUpdater;  

	volatile int[] xbeeID;

	Simulator simulator;

	WebcamLoader webcamLoader;

		// 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";

			System.out.println("InterruptedException in init: " + e);

			//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

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

		panelWebcam = new WebcamPanel();

		tabPaneMain = new JTabbedPane();

		tabPaneMain.add(panelWebcam, "Webcam");

		tabPaneMain.add(panelGraph, "Graph");

		// 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();

		txtMatrix.setBorder(BorderFactory.createTitledBorder("Input Matrix"));

		txtHost = new JTextField("roboclub9.frc.ri.cmu.edu");

		//panelConnect.add(btnGraph);

		panelServerInterface.add(txtMatrix);

		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(395, 220);

		vectorController = new VectorController(imageVectorControl);

		panelRobotDirection.setLayout(new BorderLayout());

		panelRobotDirection.add(vectorController, BorderLayout.CENTER);

		panelRobotDirection.add(panelRobotDirectionButtons, BorderLayout.SOUTH);

		panelRobotCommands.setLayout(new GridLayout(5,2));

		cmbRobotNum = new JComboBox();

		lblBattery = new JLabel("Unknown");

		btnCommand_StopTask = new JButton("Stop Current Task");

		btnCommand_ResumeTask = new JButton("Resume Current Task");

		btnCommand_ChargeNow = new JButton("Recharge Now");

		btnCommand_StopCharging = new JButton("Stop Recharging");

		panelRobotCommands.add(new JLabel("Select Robot to Control: "));

		panelRobotCommands.add(cmbRobotNum);

		panelRobotCommands.add(new JLabel("Battery Level: "));

		panelRobotCommands.add(lblBattery);

		panelRobotCommands.add(btnCommand_StopTask);

		panelRobotCommands.add(btnCommand_ResumeTask);

		panelRobotCommands.add(btnCommand_ChargeNow);

		panelRobotCommands.add(btnCommand_StopCharging);

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

		btnUpdateTasks = new JButton("Update");

		panelTaskManagerControls.add(btnUpdateTasks);

		taskAddWindow = new TaskAddWindow();

		spLog.setPreferredSize(new Dimension(0, 120));

		tabPaneControl.setPreferredSize(new Dimension(330, 0));

		//panelSouth.add(spLog);

		// Put all elements in the ContentPane

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

		/* Add all listeners here */

		// Task Management

		btnUpdateTasks.addActionListener(this);

		// Robot Control

		btnF.addActionListener(this);

		btnB.addActionListener(this);

		btnL.addActionListener(this);

		btnR.addActionListener(this);

		btnF.addKeyListener(this);

		btnB.addKeyListener(this);

		btnL.addKeyListener(this);

		btnR.addKeyListener(this);

		btnActivate.addActionListener(this);

		btnActivate.addKeyListener(this);

		cmbRobotNum.addKeyListener(this);

		vectorController.addMouseMotionListener(this);

		vectorController.addMouseListener(this);

		btnCommand_StopTask.addActionListener(this);

		btnCommand_ResumeTask.addActionListener(this);

		btnCommand_ChargeNow.addActionListener(this);

		btnCommand_StopCharging.addActionListener(this);

		// Other

		panelGraph.addMouseListener(this);

		this.addMouseMotionListener(this);	

		simulator = new Simulator();

		webcamLoader = new WebcamLoader(this);

		dataUpdater = new DataUpdater();

		csi = new ColonetServerInterface(this);

		/*	Redraw the graphical components in the applet. 

		step();

		txtMatrix.setText(s.toString());

		try {

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

		} catch (Exception e) {

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

		}

		String [] rows = txtMatrix.getText().split("\n");

		} else {  // if matrix is not valid

	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) {

		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

		//but save the old value first

		Object oldSelection = cmbRobotNum.getSelectedItem();

		cmbRobotNum.removeAllItems();

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

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

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

		cmbRobotNum.setSelectedItem(oldSelection);

	}

	public void parseBattery (String line) {

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

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

		int batteryVal = Integer.parseInt(str[3]);

		if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex()-1 == botNum)

			lblBattery.setText("" + batteryVal);

	}

	// MouseListener methods

	public void mouseExited(MouseEvent e) {

	}

	public void mouseEntered(MouseEvent e) {

	}

	public void mouseReleased(MouseEvent e) {

		vectorController.notifyMouseEvent(e, true);

	}

	public void mouseClicked(MouseEvent e) {

		vectorController.notifyMouseEvent(e, false);

	}

				if (botRect[i].contains(e.getPoint())) {

					cmbRobotNum.setSelectedIndex(i+1);

				}

	}

	public void mouseDragged(MouseEvent e) {

		vectorController.notifyMouseEvent(e, false);

	}

	public void mouseMoved(MouseEvent e) {

	}

	//

	// KeyListener methods

	//

	public void keyPressed (KeyEvent e) {

		int code = e.getKeyCode();

		if (code == KeyEvent.VK_UP) {

			vectorController.setMaxForward();

			vectorController.sendToServer();

		} else if (code == KeyEvent.VK_DOWN) {

			vectorController.setMaxReverse();

			vectorController.sendToServer();

		} else if (code == KeyEvent.VK_LEFT) {

			vectorController.setMaxLeft();

			vectorController.sendToServer();

		} else if (code == KeyEvent.VK_RIGHT) {

			vectorController.setMaxRight();

			vectorController.sendToServer();

		} else if (code == KeyEvent.VK_S) {

			vectorController.setZero();

			vectorController.sendToServer();

		}

	public void keyReleased (KeyEvent e) {

	}

	public void keyTyped (KeyEvent e) {

	}

	//

	// ActionListener method

	//

	public void actionPerformed (ActionEvent e) {

		Object source = e.getSource();

		if (source == btnGraph) {

			btnGraph.setEnabled(false);

			//Start dependent threads

			drawThread = new Thread(this, "drawThread");

			drawThread.start();

			indicator.start();

			simulator.start();

			webcamLoader.start();

		} else if (source == btnConnect) {

			csi.connect(txtHost.getText(), txtPort.getText());

			dataUpdater.start();

			drawThread = new Thread(this, "drawThread");

			drawThread.start();

			indicator.start();

			simulator.start();

			webcamLoader.start();

		}

		// Robot Movement Controls

		else if (source == btnF) {

			vectorController.setMaxForward();

			vectorController.sendToServer();

		} else if (source == btnB) {

			vectorController.setMaxReverse();

			vectorController.sendToServer();

		} else if (source == btnL) {

			vectorController.setMaxLeft();

			vectorController.sendToServer();

		} else if (source == btnR) {

			vectorController.setMaxRight();

			vectorController.sendToServer();

		} else if (source == btnActivate) {

			vectorController.setZero();

			vectorController.sendToServer();

		}

		// Robot Commands (non-movement)

		else if (source == btnCommand_StopTask) {

		} else if (source == btnCommand_ResumeTask) {

		} else if (source == btnCommand_ChargeNow) {

		} else if (source == btnCommand_StopCharging) {

		}

		// Queue Management

		else if (source == btnAddTask) {

			taskAddWindow.prompt();

		} else if (source == btnRemoveTask) {

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

				csi.sendQueueRemove(taskList.getSelectedIndex());

			csi.sendQueueUpdate();

		} else if (source == btnMoveTaskUp) {

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

			csi.sendQueueUpdate();

		} else if (source == btnMoveTaskDown) {

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

			csi.sendQueueUpdate();

		} else if (source == btnUpdateTasks) {

			csi.sendQueueUpdate();

		}

	}

		final int INDICATOR_DELAY = 180;

		final double DTHETA = 0.4;    //larger values make the marker rotate faster

			newr = (int)( r + 200/(steps+1) );

			// don't do anything! the colonet should work on its own!

	*	DataUpdater thread.

	*   The purpose of this thread is to request data from the server at regular intervals.

	class DataUpdater extends Thread {

		final int DATAUPDATER_DELAY = 4000;

		public DataUpdater () {

			super("Colonet DataUpdater");

		}

		public void run () {

			String line;

			while (true) {

				try {

					//request more data

					if (csi != null && csi.isReady()) {

						csi.sendSensorDataRequest();

						csi.sendXBeeIDRequest();

						if (cmbRobotNum.getSelectedIndex() > 0)

							csi.sendBatteryRequest(cmbRobotNum.getSelectedIndex()-1);

					}

					Thread.sleep(DATAUPDATER_DELAY);

				} catch (InterruptedException e) {

					return;

				} 

			}

		}

	}

	/*

	*	GraphicsPanel class

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

	*/

	class GraphicsPanel extends JPanel {

		protected Image img;

		public GraphicsPanel (Image img) {

			super();

			this.img = img;

		public GraphicsPanel (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);

		}

	}

	/*

	*	WebcamPanel class

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

	*/

	class WebcamPanel extends JPanel {

		int BORDER = 16;  // this is arbitrary. it makes the image look nice inside a border.

		int BOT_RADIUS = 40;

		volatile BufferedImage img;

		volatile Point [] points;

		public WebcamPanel () {

			super();

		}

		public synchronized void setImage (BufferedImage newimg) {

			if (img != null) {

				img.flush();

				img = null;

				img = new BufferedImage(1, 1, BufferedImage.TYPE_INT_RGB);

			System.gc();

			img = newimg;

		public synchronized void setPoints (Point [] newpoints) {

			this.points = newpoints;

		public synchronized void paint (Graphics g) {

			if (img == null)

				return;

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

			g.drawImage(img, 

						BORDER,	//dx1 - the x coordinate of the first corner of the destination rectangle.

						BORDER,	//dy1 - the y coordinate of the first corner of the destination rectangle.

						this.getWidth() - BORDER, 	//dx2 - the x coordinate of the second corner of the destination rectangle.

						this.getHeight() - BORDER,	//dy2 - the y coordinate of the second corner of the destination rectangle.

						0,	//sx1 - the x coordinate of the first corner of the source rectangle.

						0,	//sy1 - the y coordinate of the first corner of the source rectangle.

						image.getWidth(),	//sx2 - the x coordinate of the second corner of the source rectangle.

						image.getHeight(),	//sy2 - the y coordinate of the second corner of the source rectangle.

						null	//observer - object to be notified as more of the image is scaled and converted.

						);

			// Draw Identifiers

			if (points == null)

				return;

			g.setColor(Color.RED);

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

			for (int i = 0; i < points.length; i++) {

				g.drawOval(points[i].x - BOT_RADIUS, points[i].y - BOT_RADIUS, 2*BOT_RADIUS, 2*BOT_RADIUS);

			}

	*	WebcamLoader class

	*	Handles the loading of the webcam image.

	class WebcamLoader extends Thread 

	{

		final int WEBCAMLOADER_DELAY = 1000;

		final String IMAGE_PATH = "http://roboclub9.frc.ri.cmu.edu/colonet.jpg";

		final String LOCATIONS_PATH = "http://roboclub9.frc.ri.cmu.edu/colonet/locations.txt";

		URL imagePath;

		URI locationsPath;

		MediaTracker mt;

		BufferedImage image;

		public WebcamLoader (JApplet applet)

		{

			super("ColonetWebcamLoader");

			mt = new MediaTracker(applet);

			ImageIO.setUseCache(false);

			try {

				imagePath = new URL(IMAGE_PATH);

			} catch (MalformedURLException e) {

				System.out.println("Malformed URL: could not form URL from: [" + IMAGE_PATH + "]\n");

			}

			try {

				locationsPath = new URI(LOCATIONS_PATH);

			} catch (URISyntaxException x) {

				System.out.println("Malformed URI: could not form URI from: [" + LOCATIONS_PATH + "]\n");

			}

		public synchronized void run ()

		{

					Thread.sleep(WEBCAMLOADER_DELAY);

					if (image != null) 

						image.flush();

					System.gc();

					image = ImageIO.read(imagePath);

					// The MediaTracker waitForID pauses the thread until the image is loaded.

					// We don't want to display a half-downloaded image.

					mt.addImage(image, 1);

					mt.waitForID(1);

					mt.removeImage(image);

					// Save

					panelWebcam.setImage(image);

					parseLocations(locationsPath.toURL());

				} catch (java.security.AccessControlException e) {

					csi.warn("java.security.AccessControlException in WebcamLoader.\n" + 

						"The image cannot be loaded from the specified location.\n" + 

						"Make sure you are accessing this applet from the correct server.");

					return;

				} catch (IOException e) {

					log.append("IOException while trying to load image.");

				}

		private void parseLocations (URL url) {

			URLConnection conn = null;

			DataInputStream data = null;

			String line;

			String [] lines = new String[30];

			StringBuffer buf = new StringBuffer();

			int i = 0;

			try {

				conn = url.openConnection();

				conn.connect();

				data = new DataInputStream(new BufferedInputStream(conn.getInputStream()));

				while ((line = data.readLine()) != null) {

					buf.append(line + ";");

					lines[i] = line;

					i++;

				}

				data.close();

			} catch (IOException e) {

				System.out.println("IOException:" + e.getMessage());

			}

			//log.append("Got robot locations: " + buf + "\n");

			// Get Point values from strings

			Point [] points = new Point[i];

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

				String [] parts = lines[j].split(",");

				int xval = Integer.parseInt(parts[0]);

				int yval = Integer.parseInt(parts[1]);

				Point p = new Point(xval, yval);

				points[j] = p;

			}

			if (points.length != 0)

				panelWebcam.setPoints(points);

		}

	/*

	*	VectorController class

	*	Manages robot motion control graphically

	*/

	class VectorController extends GraphicsPanel {

		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 void notifyMouseEvent (MouseEvent e, boolean send) {

			if (!isValidPoint(e.getX(), e.getY()))

				return;

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

			vectorController.repaint();

			if (send)

				vectorController.sendToServer();

		}

		public int getSpeed () {

			int dx = x - cx;

			int dy = y - cy;

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

			return v;

		}

		public int 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 (int) 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 () {

			//log.append("Attempitng to send angle = " + vectorController.getAngle() + ", velocity = " + vectorController.getVelocity() + "\n");

			String dest = ColonetServerInterface.GLOBAL_DEST;

			if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex() > 0)

				dest = "" + (cmbRobotNum.getSelectedIndex()-1);

			if (csi != null) {

				if (cx == 0 && cy == 0) {

					csi.sendData(ColonetServerInterface.MOTORS_OFF, dest);

				} else {

					//Directional commands

					/*

					if (x > cx && y == cy) {  //move right

						csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", dest);

						csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 200", dest);

					} else if (x < cx && y == cy) {  //move left

						csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 200", dest);

						csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", dest);

					} else if (x == cx && y > cy) {  //move forward

						csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 225", dest);

						csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 225", dest);

					} else if (x == cx && y < cy) {  //move backward

						csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 225", dest);

						csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 225", dest);

					} else if (x == cx && y == cy) {  //stop!

						csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 0", dest);

						csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 0", dest);

					}

					*/

				}

			}

			//The move command doesn't really work...or does it?

			csi.sendData(ColonetServerInterface.MOVE + " " + 

				vectorController.getSpeed() + " " + 

				vectorController.getAngle(), 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");

			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));

		}

	}