Colony

import java.awt.*;

import java.awt.event.*;

import java.applet.*;

import javax.swing.*;

import javax.swing.event.*;

import java.net.*;

import java.io.*;

/**

 *                Colonet: The Colony Control Applet.

 *                This applet provides a graphical control mechanism for the robot colony designed

 *                for web deployment.

 *

 *                @author Gregory Tress

 *                @version 0.1

 *

 */

public class SimpleColonet extends JApplet implements ActionListener, KeyListener, ChangeListener

{

        /*

        *   Graphical Applet Elements

        */

        ColonetServerInterface csi;

        DataListener datalistener;      

        // panelTop contains stuff on top

        JPanel panelTop;                                

        JPanel panelConnect;                        

        JTextField txtHost;                                

        JTextField txtPort;                                

        JButton btnConnect;                                

        // panelMove contains directional buttons for controlling the robot

        JPanel panelMove;

        JButton btnF, btnB, btnL, btnR, btnActivate;

        boolean isMoving;

        // panelCommands contains 

        JPanel panelCommands;

        JButton btnClearLog;

        JButton btnBuzzerOn;

        JButton btnBuzzerOff;

        JButton btnRequestBattery;

        JButton btnChangeOrbColor;

        JButton btnGetSensorData;

        JComboBox cmbRobotNumber;

        String robotNumber;

        JColorChooser chooser;

        JPanel panelChooser;

        JPanel panelBottom;

        JTextArea log;

        JScrollPane spLog;

        JPanel panelWebcam;

        WebcamLoader webcamLoader;

        boolean destroyed = false;

        /**

         * Sets up user control elements.

         * Specifies layout for all GUI elements,

         * attaches all ActionListeners, KeyListeners, and ChangeListeners, and

         * creates threads for loading webcam image and listening for incoming data.

         *

         */

        public void init () {

                Container content = getContentPane();

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

                txtHost = new JTextField();

                txtPort = new JTextField();

                btnConnect = new JButton("Connect");

                panelConnect = new JPanel();

                panelConnect.setLayout(new GridLayout(2,3));

                panelConnect.add(new JLabel("Host"));

                panelConnect.add(new JLabel("Port"));

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

                panelConnect.add(txtHost);

                panelConnect.add(txtPort);

                panelConnect.add(btnConnect);

                panelConnect.setBorder(BorderFactory.createTitledBorder("Connection"));

                btnF = new JButton("Forward");

                btnB = new JButton("Back");

                btnL = new JButton("Left");

                btnR = new JButton("Right");

                btnActivate = new JButton("On/Stop");

                panelMove = new JPanel();

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

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

                panelMove.add(btnF);

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

                panelMove.add(btnL);

                panelMove.add(btnActivate);

                panelMove.add(btnR);

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

                panelMove.add(btnB);

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

                panelMove.setBorder(BorderFactory.createTitledBorder("Movement Control"));

                btnClearLog = new JButton("Clear Log");

                btnBuzzerOn = new JButton("Buzzer On");

                btnBuzzerOff = new JButton("Buzzer Off");

                btnRequestBattery = new JButton("Request Battery");

                btnChangeOrbColor = new JButton("Change Orb Color");

                btnGetSensorData = new JButton("Get Sensor Data");

                String [] robotList = {"All   ", "0", "1", "2", "3", "4", "5"};

                cmbRobotNumber = new JComboBox(robotList);

                panelCommands = new JPanel();

                panelCommands.setLayout(new FlowLayout());

                panelCommands.add(btnBuzzerOn);

                panelCommands.add(btnBuzzerOff);

                panelCommands.add(btnClearLog);

                panelCommands.add(btnRequestBattery);

                //panelCommands.add(btnChangeOrbColor);

                panelCommands.add(btnGetSensorData);

                panelCommands.add(new JLabel("Robot # to control"));

                panelCommands.add(cmbRobotNumber);

                panelCommands.setBorder(BorderFactory.createTitledBorder("Commands"));

                chooser = new JColorChooser();

                chooser.setPreviewPanel(new JPanel());

                panelChooser = new JPanel();

                panelChooser.setLayout(new BorderLayout());

                panelChooser.add(chooser, BorderLayout.CENTER);

                panelChooser.setBorder(BorderFactory.createTitledBorder("Orb"));

                panelTop = new JPanel();

                panelTop.setLayout(new BorderLayout());

                panelTop.add(panelConnect, BorderLayout.NORTH);

                panelTop.add(panelMove, BorderLayout.WEST);

                panelTop.add(panelCommands, BorderLayout.CENTER);

                panelTop.add(panelChooser, BorderLayout.EAST);

                log = new JTextArea();

                spLog = new JScrollPane(log, ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS, ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED);

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

                log.setEditable(false);

                panelWebcam = new JPanel();

                panelWebcam.setBorder(BorderFactory.createTitledBorder("Webcam"));

                panelBottom = new JPanel();

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

                panelBottom.add(spLog);

                panelBottom.add(panelWebcam);

                content.add(panelTop);

                content.add(panelBottom);

                txtHost.setText("roboclub1.frc.ri.cmu.edu");

                txtPort.setText("10123");

                isMoving = false;

                btnConnect.addActionListener(this);

                btnClearLog.addActionListener(this);

                btnBuzzerOn.addActionListener(this);

                btnBuzzerOff.addActionListener(this);

                btnRequestBattery.addActionListener(this);

                btnChangeOrbColor.addActionListener(this);

                btnGetSensorData.addActionListener(this);

                btnActivate.addActionListener(this);

                btnActivate.addKeyListener(this);

                btnF.addActionListener(this);

                btnF.addKeyListener(this);

                btnB.addActionListener(this);

                btnB.addKeyListener(this);

                btnL.addActionListener(this);

                btnL.addKeyListener(this);

                btnR.addActionListener(this);

                btnR.addKeyListener(this);

                chooser.getSelectionModel().addChangeListener(this);

                csi = new ColonetServerInterface(log);

                webcamLoader = new WebcamLoader(this);

                datalistener = new DataListener(log);

        }

        /**

         * Attempt to shut down the applet cleanly. 

         * Clean up leftover tasks when destroyed,

         * i.e., browser window is closed or appletviewer is stopped. 

         * This method attempts to pause the destruction of the applet for 1000ms.

         * If successful, other threads will have the chance to receive the shutdown

         * signal and stop. Otherwise catches an exception.

         */

        public void destroy ()

        {

                try {

                        destroyed = true;

                        //Wait for a second to give other threads a chance to be interrupted and return.

                        //This may not be necessary but it seems to prevent some browser crashes. 

                        Thread.sleep(1000);

                } catch (InterruptedException e) {

                        err("Interrupted exception in destroy()");

                }

        }

        public void actionPerformed (ActionEvent event) {

                Object source = event.getSource();

                if (source == btnConnect)

                {

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

                        webcamLoader.start();

                        datalistener.start();

                }

                else if (source == btnClearLog)

                        log.setText("");

                else if (source == btnBuzzerOn)

                {

                        csi.sendData(ColonetServerInterface.BUZZER_SET_FREQ + " 254", ColonetServerInterface.GLOBAL_DEST);

                }

                else if (source == btnBuzzerOff)

                {

                        csi.sendData(ColonetServerInterface.BUZZER_OFF, ColonetServerInterface.GLOBAL_DEST);

                }

                else if (source == btnRequestBattery)

                {

                        csi.sendRequest(ColonetServerInterface.BATTERY, ColonetServerInterface.GLOBAL_DEST);

                }

                else if (source == btnGetSensorData)

                {

                        SensorDataWindow sd = new SensorDataWindow(this);

                        Dimension screenDim = Toolkit.getDefaultToolkit().getScreenSize();

                        sd.setBounds(screenDim.width/4, screenDim.height/4, screenDim.width/2, screenDim.height/2);

                        sd.setVisible(true);

                }

                else if (source == btnActivate)

                {

                        isMoving = false;

                        csi.sendData(ColonetServerInterface.MOTORS_INIT, ColonetServerInterface.GLOBAL_DEST);

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

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

                }

                else if (source == btnF)

                {

                        isMoving = true;

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

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

                }

                else if (source == btnB)

                {

                        isMoving = true;

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

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

                }

                else if (source == btnL)

                {

                        isMoving = true;

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

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

                }

                else if (source == btnR)

                {

                        isMoving = true;

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

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

                }

        }

        public void stateChanged (ChangeEvent e) 

        {

                //Update the orb color

                int red = chooser.getColor().getRed();

                int green = chooser.getColor().getGreen();

                int blue = chooser.getColor().getBlue();

                csi.sendData(ColonetServerInterface.ORB_SET + " " + red + " " + green + " " + blue, ColonetServerInterface.GLOBAL_DEST);

        }

        /**

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

         * @param text Text to display

         */

        private 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

         */

        private 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

         */

        private void err (String text) {

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

        }

        public void keyPressed (KeyEvent e) {

                if (isMoving) return;

                try {

                        if (e.getKeyCode() == KeyEvent.VK_UP) {

                                log.append("Key: Up\n");

                                isMoving = true;

        csi.sendData(ColonetServerInterface.MOVE_AVOID + " 200 0 0", ColonetServerInterface.GLOBAL_DEST);

                                //sendData(MOTOR1_SET + " 1 200");

                                //sendData(MOTOR2_SET + " 1 200");

                        }

                        else if (e.getKeyCode() == KeyEvent.VK_DOWN) {

                                log.append("Key: Down\n");

                                isMoving = true;

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

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

                        }

                        else if (e.getKeyCode() == KeyEvent.VK_LEFT) {

                                log.append("Key: Left\n");

                                isMoving = true;

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

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

                        }

                        else if (e.getKeyCode() == KeyEvent.VK_RIGHT) {

                                log.append("Key: Right\n");

                                isMoving = true;

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

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

                        }

                } catch (Exception ex) {

                        log.append("Error sending command.\n");

                }

        }

        public void keyReleased (KeyEvent e) {

                if (!isMoving) return;

                // if we are no longer pressing a direction key, stop the robot

                if (e.getKeyCode() == KeyEvent.VK_UP ||

                        e.getKeyCode() == KeyEvent.VK_DOWN ||

                        e.getKeyCode() == KeyEvent.VK_LEFT ||

                        e.getKeyCode() == KeyEvent.VK_RIGHT)

                        log.append("Stopping robot\n");

                        isMoving = false;

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

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

        }

        public void keyTyped (KeyEvent e) {

        }

        /**

         * Listens for incoming data from the colonet server. 

         * This includes responses to requests for robot data.

         */

        class DataListener extends Thread

        {

                JTextArea log;

                BufferedReader reader;

                /**

                 * Create a new DataListener that listens for incoming data on the specified socket.

                 * @param log TextArea to which incoming messages should be printed.

                 * @param socket Socket on which to listen for data.

                 */

                public DataListener (JTextArea log)

                {

                        super("Colonet DataListener");

                        this.log = log;

                }

                public void run ()

                {

                        String line;

                        log.append("Started listener for responses\n");

                        while (!destroyed)

                        {

                                try {

                                        if (csi.isReady())

                                        {

                                                line = csi.getBufferedReader().readLine();

                                                if (line != null) log.append("Message from server: " + line + "\n");

                                        }

                                        Thread.sleep(500);

                                } catch (Exception e) {

                                        warn("Error: " + e);

                                }

                        }

                }

        }

        class WebcamLoader extends Thread 

        {

                URL path;

                Image image;

                MediaTracker mt;

                int BUFFER = 16;  // this is arbitrary. it makes the image look nice.

                public WebcamLoader (JApplet applet)

                {

                        super("Colonet WebcamLoader");

                        try {

                                path = new URL("http://roboclub1.frc.ri.cmu.edu/ColonetGUI/webcam/colonet.jpg");

                        } catch (MalformedURLException e) {

                                err("MalformedURLException.\nCannot load webcam image.");

                        }

                        mt = new MediaTracker(applet);

                }

                public void run ()

                {

                        while (!destroyed) {

                                try {

                                        Thread.sleep(1000);

                                        if (destroyed) return;

                                        if (image != null) image.flush();

                                        image = getImage(path);

                                        mt.addImage(image, 1);

                                        mt.waitForID(1);

                                        panelWebcam.getGraphics().drawImage(image, 

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

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

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

                                                panelWebcam.getHeight() - BUFFER,        //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(null),        //sx2 - the x coordinate of the second corner of the source rectangle.

                                                image.getHeight(null),        //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.

                                                );

                                } catch (InterruptedException e) {

                                        //Closing the browser window will probably couse an InterruptedException.

                                        //I can't think of anything else to do than let it happen and then return.

                                        return;

                                } catch (java.security.AccessControlException e) {

                                        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.");

                                        destroyed = true;

                                }

                        }

                }

        }

        class SensorDataWindow extends JFrame implements ActionListener

        {

                JApplet applet;

                JTextArea log;

                JScrollPane spLog;

                JButton btnClose;

                JPanel panelButtons;

                SensorDataLoader sdl;

                public SensorDataWindow (JApplet applet)

                {

                        super("Sensor Data");

                        this.applet = applet;

                        log = new JTextArea();

                        log.setEditable(false);

                        spLog = new JScrollPane(log, ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS, ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED);

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

                        Container content = this.getContentPane();

                        content.setLayout(new BorderLayout());

                        content.add(spLog, BorderLayout.CENTER);

                        btnClose = new JButton("Close Window");

                        btnClose.addActionListener(this);

                        panelButtons = new JPanel();

                        panelButtons.setLayout(new FlowLayout());

                        panelButtons.add(btnClose);

                        content.add(panelButtons, BorderLayout.SOUTH);

                        //start thread to continuously update data

                        sdl = new SensorDataLoader(this, this.applet);

                        sdl.start();

                        //if the window is closed,

                        //make sure we stop the thread.

                        this.addWindowListener(new SensorDataWindowListener());

                }

                public void actionPerformed (ActionEvent event)

                {

                        Object source = event.getSource();

                        if (source == btnClose)

                        {

                                this.setVisible(false);

                                sdl.stopMe();

                        }

                }

                class SensorDataWindowListener extends WindowAdapter

                {

                        public SensorDataWindowListener ()

                        {

                                super();

                        }

                        public void windowClosing (WindowEvent e)

                        {

                                sdl.stopMe();

                        }

                }

        }

        class SensorDataLoader extends Thread

        {

                SensorDataWindow window;

                JApplet applet;

                boolean running;

                public SensorDataLoader (SensorDataWindow window, JApplet applet)

                {

                        this.window = window;

                        this.applet = applet;

                }

                public void run ()

                {

                        running = true;

                        log.append("Sensor data loading started.\n");

                        while (running)

                        {

                                try {

                                        Thread.sleep(2000);

                                } catch (InterruptedException e) {

                                        err("InterruptedException in SensorDataLoader\n" + e);

                                }

                                log.append("<update data here ...>\n");

                        }

                        log.append("Sensor data loading stopped.\n");

                }

                public void stopMe ()

                {

                        running = false;

                }

        }

}