Colony

"Colonet.java"

"ColonetServerInterface.java"

link /Users/gmtress/Documents/Colony/roboclub_repository/colony/trunk/code/projects/colonet/ColonetGUI/build/Colonet.jar

//

//  Colonet.java

//

import javax.swing.*;

import java.awt.*;

import java.awt.image.*;

import java.awt.event.*;

import java.net.*;

import java.io.*;

import java.util.Random;

import java.applet.*;

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

	final int CANVAS_SIZE = 500;  //don't make this too large, or the applet will be slow.

	final int BUFFER = 50;

	final int RADIUS = 30;

	// Connection

	JTextField txtHost;				

	JTextField txtPort;				

	JButton btnConnect;	

	JButton btnGraph;

	JLabel lblConnectionStatus;

	JTextArea txtInput;

	JTextArea txtInfo; 

	JPanel panelConnect;

	JPanel panelServerInterface;

	// Stats

	JLabel lblBattery;

	JLabel lblTokenPasses;

	JLabel lblHastToken;

	JPanel panelStats;

	// South

	JPanel panelSouth;

	JTextArea log;

	JScrollPane spLog;

	// Control

	JPanel panelControl;

	JTabbedPane tabPaneControl;

	JPanel panelRobotControl;

	JPanel panelRobotDirection;

	JPanel panelRobotCommands;

	JButton btnF, btnB, btnL, btnR, btnActivate;

	// Task Manager

	JPanel panelTaskManager;

	JScrollPane spTaskManager;

	JPanel panelTaskManagerControls;

	JPanel panelTaskManagerControlsPriority;

	DefaultListModel taskListModel;

	JList taskList;

	JButton btnAddTask;

	JButton btnRemoveTask;

	JButton btnMoveTaskUp;

	JButton btnMoveTaskDown;

	// Graphics

	JPanel panel;

	GraphicsConfiguration gc;

	volatile BufferedImage image;

	volatile Graphics2D canvas;

	int cx, cy;

	Socket socket;					

	OutputStreamWriter out;			//TODO: add a BufferedWriter

	DataListener datalistener;  

	Font botFont;

	Random random = new Random();

	volatile int tokenLoc;  //the token is currently here

	volatile int numBots;

	volatile int selectedBot;  //the user has selected this bot

	volatile Rectangle[] botRect;  //contains boundary shapes around bots for click detection

	Thread drawThread;

	SelectionIndicator indicator;

	PacketMonitor packetMonitor;

	public void init () {

		// set the default look and feel

        String laf = UIManager.getSystemLookAndFeelClassName();

        try {

            UIManager.setLookAndFeel(laf);

        } catch (UnsupportedLookAndFeelException exc) {

            System.err.println ("Warning: UnsupportedLookAndFeel: " + laf);

        } catch (Exception exc) {

            System.err.println ("Error loading " + laf + ": " + exc);

        }

		// We should invoke and wait to avoid browser display difficulties

		Runnable r = new Runnable() {

			public void run() {

				createAndShowGUI();

			}

		};

		try {

			SwingUtilities.invokeAndWait(r);

		} catch (InterruptedException e) {

			//Not really sure why we would be in this situation

			System.out.println(e);

		} catch (java.lang.reflect.InvocationTargetException e) {

			//This should never happen. Seriously.

			System.out.println(e);

		}

	}

	public void destroy () {

		try { drawThread.interrupt(); } catch (Exception e) { }

		try { indicator.interrupt(); } catch (Exception e) { }

		try { packetMonitor.interrupt(); } catch (Exception e) { }

	}

	private synchronized void createAndShowGUI () {

		// init graphical elements

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

		// Connection area

		txtInput = new JTextArea("- 9 3 - 1\n- - - 5 -\n4 - - - 2\n- - - - -\n1 - - 3 -");

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

		txtInfo = new JTextArea();

		txtInfo.setBorder(BorderFactory.createTitledBorder("Info"));

		txtInfo.setEditable(false);

		btnGraph = new JButton("Run");

		txtHost = new JTextField("roboclub1.frc.ri.cmu.edu");

		txtHost.setBorder(BorderFactory.createTitledBorder("Host"));

		txtPort = new JTextField("10123");

		txtPort.setBorder(BorderFactory.createTitledBorder("Port"));

		btnConnect = new JButton("Connect");

		lblConnectionStatus = new JLabel("Status: Offline");

		panelConnect = new JPanel();

		panelConnect.setLayout(new GridLayout(6,1));

		panelConnect.add(lblConnectionStatus);

		panelConnect.add(txtHost);

		panelConnect.add(txtPort);

		panelConnect.add(btnConnect);

		panelConnect.add(txtInfo);

		panelConnect.add(btnGraph);

		panelServerInterface = new JPanel();

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

		panelServerInterface.add(panelConnect);

		panelServerInterface.add(txtInput);

		// Status Elements

		lblTokenPasses = new JLabel();

		lblBattery = new JLabel("???");

		panelStats = new JPanel();

		panelStats.setLayout(new GridLayout(4,2));

		panelStats.add(new JLabel("Token Passes / sec          "));

		panelStats.add(lblTokenPasses);

		panelStats.add(new JLabel("Battery     "));

		panelStats.add(lblBattery);

		panelStats.add(new JLabel("Token Passes / sec     "));

		panelStats.add(lblTokenPasses);

		//TODO: add panelStats somewhere!

		// Robot direction panel

		panelRobotDirection = new JPanel();

		btnF = new JButton("^");

		btnB = new JButton("v");

		btnL = new JButton("<");

		btnR = new JButton(">");

		btnActivate = new JButton("o");

		panelRobotDirection = new JPanel();

		panelRobotDirection.setLayout(new GridLayout(3,3));

		panelRobotDirection.add(new JLabel(""));

		panelRobotDirection.add(btnF);

		panelRobotDirection.add(new JLabel(""));

		panelRobotDirection.add(btnL);

		panelRobotDirection.add(btnActivate);

		panelRobotDirection.add(btnR);

		panelRobotDirection.add(new JLabel(""));

		panelRobotDirection.add(btnB);

		panelRobotDirection.add(new JLabel(""));

		// Robot Control and Commands

		panelRobotCommands = new JPanel();

		panelRobotCommands.setLayout(new FlowLayout());

		panelRobotCommands.add(new JLabel("Commands go here"));

		panelRobotControl = new JPanel();

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

		panelRobotControl.add(panelRobotDirection);

		panelRobotControl.add(panelRobotCommands);

		// Task Manager

		panelTaskManager = new JPanel();

		panelTaskManager.setLayout(new BorderLayout());

		taskListModel = new DefaultListModel();

		taskListModel.addElement("Map the Environment");

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

		taskListModel.addElement("Grow Plants");

		taskListModel.addElement("Save the Cheerleader");

		taskListModel.addElement("Save the World");

		taskList = new JList(taskListModel);

		taskList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);

		taskList.setSelectedIndex(0);

		spTaskManager = new JScrollPane(taskList);

		panelTaskManagerControls = new JPanel();

		panelTaskManagerControls.setLayout(new GridLayout(1,3));

		panelTaskManagerControlsPriority = new JPanel();

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

		btnAddTask = new JButton("Add...");

		btnRemoveTask = new JButton("Remove");

		btnMoveTaskUp = new JButton("^");

		btnMoveTaskDown = new JButton("v");

		panelTaskManagerControlsPriority.add(btnMoveTaskUp);

		panelTaskManagerControlsPriority.add(btnMoveTaskDown);

		panelTaskManagerControls.add(btnAddTask);

		panelTaskManagerControls.add(btnRemoveTask);

		panelTaskManagerControls.add(panelTaskManagerControlsPriority);

		panelTaskManager.add(spTaskManager, BorderLayout.CENTER);

		panelTaskManager.add(panelTaskManagerControls, BorderLayout.SOUTH);

		panelTaskManager.add(new JLabel("Current Task Queue"), BorderLayout.NORTH);

		// Message log

		log = new JTextArea();

		spLog = new JScrollPane(log,

			ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS, 

			ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED);

		spLog.setBorder(BorderFactory.createTitledBorder("Log"));

		spLog.setPreferredSize(new Dimension(0, 150));

		log.setEditable(false);

		// Main control mechanism

		panelControl = new JPanel();

		panelControl.setLayout(new GridLayout(1,1));

		tabPaneControl = new JTabbedPane(JTabbedPane.TOP);

		tabPaneControl.setPreferredSize(new Dimension(300, 0));

		tabPaneControl.addTab("Connection", panelServerInterface);

		tabPaneControl.addTab("Robots", panelRobotControl);

		tabPaneControl.addTab("Tasks", panelTaskManager);

		panelControl.add(tabPaneControl);

		// Set up elements in the south

		panelSouth = new JPanel();

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

		panelSouth.add(spLog);

		this.getContentPane().setLayout(new BorderLayout());

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

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

		this.getContentPane().add(panelControl, BorderLayout.EAST);

		this.setVisible(true);

		btnAddTask.addActionListener(this);

		btnRemoveTask.addActionListener(this);

		btnMoveTaskUp.addActionListener(this);

		btnMoveTaskDown.addActionListener(this);

		btnGraph.addActionListener(this);

		btnConnect.addActionListener(this);

		panel.addMouseListener(this);

		// 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

		// Calculate center of canvas

		cx = image.getWidth() / 2;

		cy = image.getHeight() / 2;

		botFont = new Font("Arial", Font.PLAIN, 30);

		tokenLoc = 0;

		numBots = 0;

		selectedBot = 0;

		// Set up dependent threads

		indicator = new SelectionIndicator(canvas);

		indicator.setRadius(RADIUS+3, 15);  //a tad more than the bot radius

		packetMonitor = new PacketMonitor();

		datalistener = new DataListener();

	}

	public synchronized void paint (Graphics g)

	{

		/*	First, redraw the graphical components in the applet. 

			This paint method overrides the built-in paint of the 

			JApplet, and we don't want to deal with redrawing the

			components manually. Fuck that shit. */

		super.paint(g);

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

		panel.getGraphics().drawImage(image, 0, 0, Color.WHITE, this);

	}

	public synchronized void update (Graphics g)

	{

		paint(g);

	}

	public void actionPerformed (ActionEvent e)

	{

		Object source = e.getSource();

		if (source == btnGraph) {

			btnGraph.setEnabled(false);

			lblConnectionStatus.setText("Simulating");

			//Start dependent threads

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

			drawThread.start();

			indicator.start();

			packetMonitor.start();

		} else if (source == btnConnect) {

			doSocket();

		} else if (source == btnRemoveTask) {

			try {

				taskListModel.remove(taskList.getSelectedIndex());

			} catch (ArrayIndexOutOfBoundsException ex) {

			}

		}

	}

	private void randomize ()

	{

		Random r = new Random();

		StringBuilder s = new StringBuilder();

		int count = r.nextInt(8) + 1;

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

		{

			for (int j = 0; j < count; j++)

			{

				if (r.nextBoolean())	

					s.append("" + (r.nextInt(16) + 1));

				else 

					s.append("-");

				if (j != count-1)

					s.append(" ");

			}

			if (i != count-1) s.append("\n");

		}

		txtInput.setText(s.toString());

	}

	private void doSocket ()

	{

		//make sure hostname and port are valid

		if (txtHost.getText().equals("") || txtPort.getText().equals("")) {

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

			return;

		}

		int port = 0;

		try {

			port = Integer.parseInt(txtPort.getText());

		} catch (Exception e) {

			err("Invalid port");

			return;

		}

		//make sure we aren't already connected. if so, disconnect first.

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

			try {

				out.close();

				socket.close();

			} catch (IOException e) {}

		}

		try {

			socket = new Socket(txtHost.getText(), port);

		} catch (UnknownHostException e) {

			err("Unknown Host Exception");

			return;

		} catch (IOException e) {

			err("IO Exception\n\n" + e);

			return;

		} catch (java.security.AccessControlException e) {

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

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

			return;

		}

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

			err("Connection failed. Try connecting again.");

			return;

		}

		msg("Connected to " + txtHost.getText() + " on port " + port + "\n");

		lblConnectionStatus.setText("Online");

		try {

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

		} catch (IOException e) {

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

		}

	}

	public void drawRobot (int id, int x, int y) 

	{

		//save the bot in memory, so we can tell if we click on it later

		botRect[id] = new Rectangle(x-RADIUS, y-RADIUS, 2*RADIUS, 2*RADIUS);

		//draw the bot on the canvas

		canvas.setColor(Color.BLACK);

		canvas.drawOval(x-RADIUS, y-RADIUS, RADIUS*2, RADIUS*2);

		//draw the label

		canvas.setFont(botFont);

		canvas.drawString("" + id, x-10, y+10);

	}

	public void drawConnection (int start, int end, int radius, Color color)

	{

		final int ARROW_LENGTH = 18;

		double angle = 2.0 * Math.PI / numBots;

		int startx, starty, endx, endy;

		startx = cx - (int)(radius * Math.cos(start * angle));

		starty = cy - (int)(radius * Math.sin(start * angle));

		endx = cx - (int)(radius * Math.cos(end * angle));

		endy = cy - (int)(radius * Math.sin(end * angle));

		canvas.setColor(color);

		canvas.drawLine(startx, starty, endx, endy);

		//create arrow

		if (color.equals(Color.BLACK)) return;

		int big_dy = starty - endy;

		int big_dx = endx - startx;

		double theta = 0;

		if (big_dx == 0 && starty > endy) //pointing up

			theta = Math.PI/2;

		else if (big_dx == 0 && starty < endy) //pointing down 

			theta = 3*Math.PI/2;

		else if (big_dy == 0 && startx > endx) //pointing left

			theta = Math.PI;

		else if (big_dy == 0 && startx < endx) //pointing right

			theta = 0;

		else

			theta = Math.atan(1.0 * big_dy / big_dx);

		//create ploygon

		Polygon poly = new Polygon();

		int dx_arrow = Math.abs((int)(ARROW_LENGTH * Math.cos(theta)));

		int dy_arrow = Math.abs((int)(ARROW_LENGTH * Math.sin(theta)));

		int dy_half = (int)(ARROW_LENGTH/2 * Math.cos(theta));

		int dx_half = (int)(ARROW_LENGTH/2 * Math.sin(theta));

		int rx = (big_dx > 0) ? endx - dx_arrow : endx + dx_arrow;

		int ry = (big_dy > 0) ? endy + dy_arrow : endy - dy_arrow;

		//System.out.println("" + start + "->" + end + " : dx=" + big_dx + ",dy=" + big_dy + ",dy_arrow=" + dy_arrow + ",dx_arrow=" + dx_arrow + ",theta=" + theta + ",endx=" + endx + ",endy=" + endy + ",rx=" + rx + ",ry=" + ry);

		poly.addPoint(endx, endy);

		poly.addPoint(rx - dx_half, ry - dy_half);

		poly.addPoint(rx + dx_half, ry + dy_half);

		canvas.fillPolygon(poly);

	}

	public void run ()

	{

		while (true)

		{

			step();

			repaint();

			try { Thread.sleep(90); }

				catch (InterruptedException e) { return; }

		}

	}

	public void step () 

	{

		final int DIAMETER = image.getWidth() - 2*BUFFER;

		final int BIGRADIUS = DIAMETER / 2;

		final int TOKENRADIUS = 40;

		boolean valid;

		// clear image

		canvas.setColor(Color.WHITE);

		canvas.fillRect(0, 0, image.getWidth(), image.getHeight());

		// parse the matrix, to see what robots exist

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

		numBots = rows.length;

		String [][] entries = new String[numBots][numBots];

		valid = true;

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

		{

			entries[i] = rows[i].split(" ");

			if (entries[i].length != rows.length) valid = false;

		}

		if (valid)

		{

			this.showStatus("Matrix OK");

			// draw robots and find which one is seleced

			double angle = 2.0 * Math.PI / numBots;

			canvas.setColor(Color.BLACK);

			botRect = new Rectangle[numBots];

			int x, y;

			if (selectedBot >= numBots) selectedBot = 0;

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

			{

				x = cx - (int)(BIGRADIUS * Math.cos(i * angle));

				y = cy - (int)(BIGRADIUS * Math.sin(i * angle));

				drawRobot(i, x, y);

				if (i == selectedBot) indicator.setCenter(x, y);

			}

			// draw token marker

			int tokenx, tokeny;

			int tokenNum = tokenLoc;

			tokenx = cx - (int)(BIGRADIUS * Math.cos(tokenNum * angle));

			tokeny = cy - (int)(BIGRADIUS * Math.sin(tokenNum * angle));

			canvas.setColor(Color.RED);

			canvas.drawOval(tokenx-TOKENRADIUS, tokeny-TOKENRADIUS, 2*TOKENRADIUS, 2*TOKENRADIUS);

			// create an inner circle along which the connections are made.

			// let the diameter of this circle be 2*RADIUS less than the outerDiameter.

			// see what connections exist

			for (int row = 0; row < numBots; row++)

			{

				for(int col = 0; col < numBots; col++)

				{

					if (! entries[row][col].equals("-") && entries[col][row].equals("-") && row != col) //one-way

					{

						//drawConnection(row, col, BIGRADIUS-RADIUS, Color.GRAY);

						drawConnection(row, col, BIGRADIUS-RADIUS, new Color(200,200,200));

					}

					else if (! entries[row][col].equals("-") && ! entries[col][row].equals("-") && row != col) //two-way

					{

						drawConnection(row, col, BIGRADIUS-RADIUS, Color.BLACK);

					}

				}

			}

			// draw the selection indicator

			indicator.draw();

			txtInfo.setText("Packet statistics: ???");

		}

		else // if matrix is not valid

		{

			this.showStatus("Error: Invalid matrix");

		}

	}

	/*	At this point, moveToken is only called by the simulator.

	*	In the future, it can be rewritten to account for non-standard

	*	token passing or deleted if the information can be retrieved

	*	directly from the Colonet server instead.

	*/

	public void moveToken ()

	{

		try { tokenLoc = (tokenLoc+1)%numBots; }

			catch (ArithmeticException e) { }  // in case numRobots is zero

		packetMonitor.addTokenPass();

	}

	//

	// MouseEvent methods

	//

	public void mouseExited(MouseEvent e) {}

	public void mouseEntered(MouseEvent e) {}

	public void mouseReleased(MouseEvent e) {}

	public void mouseClicked(MouseEvent e) {}

	public void mousePressed(MouseEvent e)

	{

		try {

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

			{

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

					selectedBot = i;

			}

		} catch (Exception ex) {

			System.out.println(e);

		}

	}

	private void msg (String text) {JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.INFORMATION_MESSAGE);}

	private void warn (String text) {JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.WARNING_MESSAGE);}

	private void err (String text) {JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.ERROR_MESSAGE);}

	/*

	*	SelectionIndicator thread.

	*	Graphical representation of the selection marker

	*

	*	step() and draw() are synchronized methods. step() is private and 

	*	used to update the position of the crosshairs. draw() is called 

	*	externally and should only run if all calculations in step() have

	*	been completed.

	*/

	private class SelectionIndicator extends Thread

	{

		final int INDICATOR_DELAY = 100;

		final double DTHETA = 0.3;    //larger values make the marker rotate faster

		Graphics2D g;   //canvas to draw on

		boolean running;

		int sx, sy;		//center

		int r, dr;		//radius and width of marker

		double theta;   //current angle

		volatile Polygon poly1, poly2, poly3, poly4;

		int px1, py1;

		int rx1, ry1;

		int px2, py2;

		int rx2, ry2;

		int px3, py3;

		int rx3, ry3;

		int px4, py4;

		int rx4, ry4;

		int steps;

		public SelectionIndicator (Graphics2D g)

		{

			super("SelectionIndicator");

			this.g = g;

			running = false;

			steps = 0;

			theta = 0;

			rx1 = 0; ry1 = 0;

			px1 = 0; py1 = 0;

			rx2 = 0; ry2 = 0;

			px2 = 0; py2 = 0;

			rx3 = 0; ry3 = 0;

			px3 = 0; py3 = 0;

			rx4 = 0; ry4 = 0;

			px4 = 0; py4 = 0;

		}

		public synchronized void setCenter (int sx, int sy)

		{

			if (sx == this.sx && sy == this.sy) return;

			this.sx = sx;

			this.sy = sy;

			steps = 0;

		}

		public synchronized void setRadius (int r, int dr)

		{

			this.r = r;

			this.dr = dr;

			steps = 0;

		}

		public void run ()

		{

			running = true;

			while (running)

			{

				step();

				try { Thread.sleep(INDICATOR_DELAY); }

					catch (InterruptedException e) {  running = false; return; }

			}

		}

		private synchronized void step ()

		{

			Polygon poly1_new = new Polygon();

			Polygon poly2_new = new Polygon();

			Polygon poly3_new = new Polygon();

			Polygon poly4_new = new Polygon();

			//the step

			theta = (theta + DTHETA/Math.PI) % (Math.PI);

			//the calculation

			//let p be the point of the pointy thing toward the center

			//let r be the point at the opposite side

			//recalculate radius, if it will look cool, lolz

			int newr = r;

			if (steps < 100) newr = (int)( r + 200/(steps+1) );

			//precompute values for dx and dy

			int dx_inner = (int)(newr * Math.cos(theta));

			int dy_inner = (int)(newr * Math.sin(theta));

			int dx_outer = (int)((newr+dr) * Math.cos(theta));

			int dy_outer = (int)((newr+dr) * Math.sin(theta));

			//calculate polygon constants

			int dy_poly = (int)(dr/2 * Math.cos(theta));

			int dx_poly = (int)(dr/2 * Math.sin(theta));

			//determine critical points

			px1 = sx + dx_inner;

			py1 = sy - dy_inner;

			rx1 = sx + dx_outer;

			ry1 = sy - dy_outer;

			px2 = sx - dx_inner;

			py2 = sy + dy_inner;

			rx2 = sx - dx_outer;

			ry2 = sy + dy_outer;

			px3 = sx - dy_inner;

			py3 = sy - dx_inner;

			rx3 = sx - dy_outer;

			ry3 = sy - dx_outer;

			px4 = sx + dy_inner;

			py4 = sy + dx_inner;

			rx4 = sx + dy_outer;

			ry4 = sy + dx_outer;

			//create polygons

			poly1_new.addPoint(px1, py1);

			poly1_new.addPoint(rx1+dx_poly, ry1+dy_poly);

			poly1_new.addPoint(rx1-dx_poly, ry1-dy_poly);

			poly2_new.addPoint(px2, py2);

			poly2_new.addPoint(rx2+dx_poly, ry2+dy_poly);

			poly2_new.addPoint(rx2-dx_poly, ry2-dy_poly);

			poly3_new.addPoint(px3, py3);

			poly3_new.addPoint(rx3-dy_poly, ry3+dx_poly);

			poly3_new.addPoint(rx3+dy_poly, ry3-dx_poly);

			poly4_new.addPoint(px4, py4);

			poly4_new.addPoint(rx4-dy_poly, ry4+dx_poly);

			poly4_new.addPoint(rx4+dy_poly, ry4-dx_poly);

			//reassign updated polygons

			poly1 = poly1_new;

			poly2 = poly2_new;

			poly3 = poly3_new;

			poly4 = poly4_new;

			if (steps < 300) steps++;

		}

		public synchronized void draw ()

		{

			if (!running) return;

			g.setColor(Color.GRAY);

			//draw polygons

			g.fillPolygon(poly1);

			g.fillPolygon(poly2);

			g.fillPolygon(poly3);

			g.fillPolygon(poly4);

		}

	}

	/*

	*	Simulator thread.

	*

	*/

	private class Simulator extends Thread

	{

		final int SIMULATOR_DELAY = 300;

		boolean running;

		public Simulator ()

		{

			super("Simulator");

			running = false;

		}

		public void run ()

		{

			running = true;

			while (running)

			{

				step();

				try { Thread.sleep(SIMULATOR_DELAY); }

					catch (InterruptedException e) { running = false; return; }

			}

		}

		private void step ()

		{

			// simulate passing the token

			moveToken();

		}

	}

	/*

	*	PacketMonitor thread.

	*

	*	Currently, this counts the rate of token passes but will eventually 

	*	be modified to keep more important statistics.

	*/

	private class PacketMonitor extends Thread

	{

		final int PACKETMONITOR_DELAY = 1000;

		boolean running;

		int tokenPasses;

		public PacketMonitor ()

		{

			super("PacketMonitor");

			running = false;

			tokenPasses = 0;

		}

		public void run ()

		{

			running = true;

			while (running)

			{

				displayTokenPasses();

				try { Thread.sleep(PACKETMONITOR_DELAY); }

					catch (InterruptedException e) { running = false; return; }

			}

		}

		public synchronized void addTokenPass ()

		{

			tokenPasses++;

		}

		public synchronized void displayTokenPasses ()

		{

			lblTokenPasses.setText("" + tokenPasses);

			tokenPasses = 0;

		}

	}

	/*

	*	DataListener thread.

	*

	*/

	class DataListener extends Thread

	{

		final int DATALISTENER_DELAY = 1000;

		BufferedReader reader;

		public DataListener ()

		{

			super("Colonet DataListener");

		}

		public void run ()

		{

			String line;

			try {

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

			} catch (IOException e) {

				warn("Could not open input stream from socket.\nTry relooding the applet.");

			}

			while (true)

			{

				try {

					if (reader.ready())

					{

						line = reader.readLine();

						if (line != null)

						{

							msg("Incoming data: [" + line + "]");

						}

					}

					Thread.sleep(DATALISTENER_DELAY);

				} catch (InterruptedException e) {

					return;

				} catch (IOException e) {

					warn("IOException while reading incoming data.");

				}

			}

		}

	}

}

#! /bin/bash

sudo cp * /var/www/gui/

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"

   "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">

<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en">

<head>

	<title>Colony Control Applet - Carnegie Mellon Robotics Club</title>

	<meta http-equiv="content-type" content="text/html; charset=UTF-8" />

	<link rel="stylesheet" type="text/css" href="colonetstyle.css" />

</head>

<body>

<div class="top">

	<h1>Colonet</h1>

	<p>Carnegie Mellon Robotics Club: Colony Project</p>

	<img src="http://roboclub8.frc.ri.cmu.edu/mainwiki/roboclublogo.png" height="125px" width="110px" />

</div>

<div class="app">

	<p>

	<object

		classid = "java:SimpleColonet.class"

		type = "application/x-java-applet"

		width = "900"

		height = "600"

		align = "bottom"

		codebase = "http://roboclub1.frc.ri.cmu.edu/gui/" 

		name = "SimpleColonet"

		title = "SimpleColonet" >

		<param name = "code" value = "SimpleColonet.class" />

	</object>

	<br />

	</p>

</div>

<div class="bottom">

	<p><b>Colony Project Home page:</b><br />

	<a href="http://www.robotcolony.org/">www.robotcolony.org</a></p>

	<p><b>Colonet Developers:</b><br />

	Gregory Tress, Eugene Edward Marinelli III, Jason Knichel, Suresh Nidhiry</p>

	<p><b>Validator:</b><br />

	<a href="http://validator.w3.org/check?uri=referer">

	<img src="http://www.w3.org/Icons/valid-xhtml10-blue"

		 alt="Valid XHTML 1.0 Transitional"

		 height="31"

		 width="88" 

		 border="0"

		 />

	</a>

	<a href="http://jigsaw.w3.org/css-validator/validator?uri=http://roboclub1.frc.ri.cmu.edu/ColonetGUI/colonetstyle.css">

  	<img style="border:0;width:88px;height:31px"

       src="http://www.w3.org/Icons/valid-css-blue" 

       alt="Valid CSS!" />

	</a><br />

	</p>

</div>

</body>

</html>

<?xml version="1.0" encoding="UTF-8"?>

<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">

<plist version="1.0">

<dict>

	<key>ActivePerspectiveName</key>

	<string>Project</string>

	<key>AllowedModules</key>

	<array>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>PBXSmartGroupTreeModule</string>

			<key>Name</key>

			<string>Groups and Files Outline View</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>PBXNavigatorGroup</string>

			<key>Name</key>

			<string>Editor</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>XCTaskListModule</string>

			<key>Name</key>

			<string>Task List</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>XCDetailModule</string>

			<key>Name</key>

			<string>File and Smart Group Detail Viewer</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>1</string>

			<key>Module</key>

			<string>PBXBuildResultsModule</string>

			<key>Name</key>

			<string>Detailed Build Results Viewer</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>1</string>

			<key>Module</key>

			<string>PBXProjectFindModule</string>

			<key>Name</key>

			<string>Project Batch Find Tool</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>PBXRunSessionModule</string>

			<key>Name</key>

			<string>Run Log</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>PBXBookmarksModule</string>

			<key>Name</key>

			<string>Bookmarks Tool</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>PBXClassBrowserModule</string>

			<key>Name</key>

			<string>Class Browser</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>PBXCVSModule</string>

			<key>Name</key>

			<string>Source Code Control Tool</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>PBXDebugBreakpointsModule</string>

			<key>Name</key>

			<string>Debug Breakpoints Tool</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>XCDockableInspector</string>

			<key>Name</key>

			<string>Inspector</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>n</string>

			<key>Module</key>

			<string>PBXOpenQuicklyModule</string>

			<key>Name</key>

			<string>Open Quickly Tool</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>1</string>

			<key>Module</key>

			<string>PBXDebugSessionModule</string>

			<key>Name</key>

			<string>Debugger</string>

		</dict>

		<dict>

			<key>BundleLoadPath</key>

			<string></string>

			<key>MaxInstances</key>

			<string>1</string>

			<key>Module</key>

			<string>PBXDebugCLIModule</string>

			<key>Name</key>

			<string>Debug Console</string>

		</dict>

	</array>

	<key>Description</key>

	<string>DefaultDescriptionKey</string>

	<key>DockingSystemVisible</key>

	<false/>

	<key>Extension</key>

	<string>mode1</string>

	<key>FavBarConfig</key>

	<dict>

		<key>PBXProjectModuleGUID</key>

		<string>A341617D0C989B510007BEF2</string>

		<key>XCBarModuleItemNames</key>

		<dict/>

		<key>XCBarModuleItems</key>

		<array/>

	</dict>

	<key>FirstTimeWindowDisplayed</key>

	<false/>

	<key>Identifier</key>

	<string>com.apple.perspectives.project.mode1</string>

	<key>MajorVersion</key>

	<integer>31</integer>

	<key>MinorVersion</key>

	<integer>1</integer>

	<key>Name</key>

	<string>Default</string>

	<key>Notifications</key>

	<array/>

	<key>OpenEditors</key>

	<array/>

	<key>PerspectiveWidths</key>

	<array>

		<integer>-1</integer>

		<integer>-1</integer>

	</array>

	<key>Perspectives</key>

	<array>

		<dict>

			<key>ChosenToolbarItems</key>

			<array>

				<string>active-target-popup</string>

				<string>action</string>

				<string>NSToolbarFlexibleSpaceItem</string>

				<string>buildOrClean</string>

				<string>build-and-runOrDebug</string>

				<string>com.apple.ide.PBXToolbarStopButton</string>

				<string>get-info</string>

				<string>toggle-editor</string>

				<string>NSToolbarFlexibleSpaceItem</string>

				<string>com.apple.pbx.toolbar.searchfield</string>

			</array>

			<key>ControllerClassBaseName</key>

			<string></string>

			<key>IconName</key>

			<string>WindowOfProjectWithEditor</string>

			<key>Identifier</key>

			<string>perspective.project</string>

			<key>IsVertical</key>

			<false/>

			<key>Layout</key>

			<array>

				<dict>

					<key>ContentConfiguration</key>

					<dict>

						<key>PBXBottomSmartGroupGIDs</key>

						<array>

							<string>1C37FBAC04509CD000000102</string>

							<string>1C37FAAC04509CD000000102</string>

							<string>1C08E77C0454961000C914BD</string>

							<string>1C37FABC05509CD000000102</string>

							<string>1C37FABC05539CD112110102</string>

							<string>E2644B35053B69B200211256</string>

							<string>1C37FABC04509CD000100104</string>

							<string>1CC0EA4004350EF90044410B</string>

							<string>1CC0EA4004350EF90041110B</string>

						</array>

						<key>PBXProjectModuleGUID</key>

						<string>1CE0B1FE06471DED0097A5F4</string>

						<key>PBXProjectModuleLabel</key>

						<string>Files</string>

						<key>PBXProjectStructureProvided</key>

						<string>yes</string>

						<key>PBXSmartGroupTreeModuleColumnData</key>

						<dict>

							<key>PBXSmartGroupTreeModuleColumnWidthsKey</key>

							<array>

								<real>186</real>

							</array>

							<key>PBXSmartGroupTreeModuleColumnsKey_v4</key>

							<array>

								<string>MainColumn</string>

							</array>

						</dict>

						<key>PBXSmartGroupTreeModuleOutlineStateKey_v7</key>

						<dict>

							<key>PBXSmartGroupTreeModuleOutlineStateExpansionKey</key>

							<array>

								<string>00E6828FFEC88D1A11DB9C8B</string>

								<string>1C37FBAC04509CD000000102</string>

								<string>A341619F0C989DE00007BEF2</string>

								<string>1C37FAAC04509CD000000102</string>

								<string>1C37FABC05509CD000000102</string>

							</array>

							<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>

							<array>

								<array>

									<integer>19</integer>

								</array>

							</array>

							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>

							<string>{{0, 36}, {186, 338}}</string>

						</dict>

						<key>PBXTopSmartGroupGIDs</key>

						<array/>

						<key>XCIncludePerspectivesSwitch</key>

						<true/>

						<key>XCSharingToken</key>

						<string>com.apple.Xcode.GFSharingToken</string>

					</dict>

					<key>GeometryConfiguration</key>

					<dict>

						<key>Frame</key>

						<string>{{0, 0}, {203, 356}}</string>

						<key>GroupTreeTableConfiguration</key>

						<array>

							<string>MainColumn</string>

							<real>186</real>

						</array>

						<key>RubberWindowFrame</key>

						<string>34 131 690 397 0 0 1280 832 </string>

					</dict>

					<key>Module</key>

					<string>PBXSmartGroupTreeModule</string>

					<key>Proportion</key>

					<string>203pt</string>

				</dict>

				<dict>

					<key>Dock</key>

					<array>

						<dict>

							<key>ContentConfiguration</key>

							<dict>

								<key>PBXProjectModuleGUID</key>

								<string>1CE0B20306471E060097A5F4</string>

								<key>PBXProjectModuleLabel</key>

								<string>MyNewFile14.java</string>

								<key>PBXSplitModuleInNavigatorKey</key>

								<dict>

									<key>Split0</key>

									<dict>

										<key>PBXProjectModuleGUID</key>

										<string>1CE0B20406471E060097A5F4</string>

										<key>PBXProjectModuleLabel</key>

										<string>MyNewFile14.java</string>

									</dict>

									<key>SplitCount</key>

									<string>1</string>

								</dict>

								<key>StatusBarVisibility</key>

								<true/>

							</dict>

							<key>GeometryConfiguration</key>

							<dict>

								<key>Frame</key>

								<string>{{0, 0}, {482, 0}}</string>

								<key>RubberWindowFrame</key>

								<string>34 131 690 397 0 0 1280 832 </string>

							</dict>

							<key>Module</key>

							<string>PBXNavigatorGroup</string>

							<key>Proportion</key>

							<string>0pt</string>

						</dict>

						<dict>

							<key>BecomeActive</key>

							<true/>

							<key>ContentConfiguration</key>

							<dict>

								<key>PBXProjectModuleGUID</key>

								<string>1CE0B20506471E060097A5F4</string>

								<key>PBXProjectModuleLabel</key>

								<string>Detail</string>

							</dict>

							<key>GeometryConfiguration</key>

							<dict>

								<key>Frame</key>

								<string>{{0, 5}, {482, 351}}</string>

								<key>RubberWindowFrame</key>

								<string>34 131 690 397 0 0 1280 832 </string>

							</dict>

							<key>Module</key>

							<string>XCDetailModule</string>

							<key>Proportion</key>

							<string>351pt</string>

						</dict>

					</array>

					<key>Proportion</key>

					<string>482pt</string>

				</dict>

			</array>

			<key>Name</key>

			<string>Project</string>

			<key>ServiceClasses</key>

			<array>

				<string>XCModuleDock</string>

				<string>PBXSmartGroupTreeModule</string>

				<string>XCModuleDock</string>

				<string>PBXNavigatorGroup</string>

				<string>XCDetailModule</string>

			</array>

			<key>TableOfContents</key>

			<array>

				<string>A341618E0C989C770007BEF2</string>

				<string>1CE0B1FE06471DED0097A5F4</string>

				<string>A341618F0C989C770007BEF2</string>

				<string>1CE0B20306471E060097A5F4</string>

				<string>1CE0B20506471E060097A5F4</string>

			</array>

			<key>ToolbarConfiguration</key>

			<string>xcode.toolbar.config.default</string>

		</dict>

		<dict>

			<key>ControllerClassBaseName</key>

			<string></string>

			<key>IconName</key>

			<string>WindowOfProject</string>

			<key>Identifier</key>

			<string>perspective.morph</string>

			<key>IsVertical</key>

			<integer>0</integer>

			<key>Layout</key>

			<array>

				<dict>

					<key>BecomeActive</key>

					<integer>1</integer>

					<key>ContentConfiguration</key>

					<dict>

						<key>PBXBottomSmartGroupGIDs</key>

						<array>

							<string>1C37FBAC04509CD000000102</string>

							<string>1C37FAAC04509CD000000102</string>

							<string>1C08E77C0454961000C914BD</string>

							<string>1C37FABC05509CD000000102</string>

							<string>1C37FABC05539CD112110102</string>

							<string>E2644B35053B69B200211256</string>

							<string>1C37FABC04509CD000100104</string>

							<string>1CC0EA4004350EF90044410B</string>

							<string>1CC0EA4004350EF90041110B</string>

						</array>

						<key>PBXProjectModuleGUID</key>

						<string>11E0B1FE06471DED0097A5F4</string>

						<key>PBXProjectModuleLabel</key>

						<string>Files</string>

						<key>PBXProjectStructureProvided</key>

						<string>yes</string>

						<key>PBXSmartGroupTreeModuleColumnData</key>

						<dict>

							<key>PBXSmartGroupTreeModuleColumnWidthsKey</key>

							<array>

								<real>186</real>

							</array>

							<key>PBXSmartGroupTreeModuleColumnsKey_v4</key>

							<array>

								<string>MainColumn</string>

							</array>

						</dict>

						<key>PBXSmartGroupTreeModuleOutlineStateKey_v7</key>

						<dict>

							<key>PBXSmartGroupTreeModuleOutlineStateExpansionKey</key>

							<array>

								<string>29B97314FDCFA39411CA2CEA</string>

								<string>1C37FABC05509CD000000102</string>

							</array>

							<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>

							<array>

								<array>

									<integer>0</integer>

								</array>

							</array>

							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>

							<string>{{0, 0}, {186, 337}}</string>

						</dict>

						<key>PBXTopSmartGroupGIDs</key>

						<array/>

						<key>XCIncludePerspectivesSwitch</key>

						<integer>1</integer>

						<key>XCSharingToken</key>

						<string>com.apple.Xcode.GFSharingToken</string>

					</dict>

					<key>GeometryConfiguration</key>

					<dict>

						<key>Frame</key>

						<string>{{0, 0}, {203, 355}}</string>

						<key>GroupTreeTableConfiguration</key>

						<array>

							<string>MainColumn</string>

							<real>186</real>

						</array>

						<key>RubberWindowFrame</key>

						<string>373 269 690 397 0 0 1440 878 </string>

					</dict>

					<key>Module</key>

					<string>PBXSmartGroupTreeModule</string>

					<key>Proportion</key>

					<string>100%</string>

				</dict>

			</array>

			<key>Name</key>

			<string>Morph</string>

			<key>PreferredWidth</key>

			<integer>300</integer>

			<key>ServiceClasses</key>

			<array>

				<string>XCModuleDock</string>

				<string>PBXSmartGroupTreeModule</string>

			</array>

			<key>TableOfContents</key>

			<array>