root / trunk / code / projects / colonet / ColonetGUI / ColonetServerInterface.java @ 333
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1 | 32 | gtress | /*
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2 | * ColonetServerInterface.java
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3 | * Gregory Tress
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4 | */
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5 | |||
6 | import java.net.*; |
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7 | import java.io.*; |
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8 | import javax.swing.JOptionPane; |
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9 | import javax.swing.JTextArea; |
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10 | |||
11 | 333 | gtress | /**
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12 | * The Colonet server interface class. This class handles direct communication with the Colonet server. The general
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13 | * contract is that this class will encapsulate the process of sending commands and requests to the server and
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14 | * receiving responses. This class should provide methods to send specific commands and requests so that the
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15 | * Colonet can easily communicate with the server. When data is received from the server, the ColonetServerInterface
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16 | * decides how to handle it and in many cases this means simply passing it to the Colonet.
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17 | * <p>
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18 | * The motivation is that any number of Colonet-type classes could be designed for different purposes if needed, with
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19 | * this class being used by each one for communication.
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20 | * For instance, if an application is designed which only monitors sensor data, or that only has access to
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21 | * the task queue, etc., the application could easily plug in to this interface.
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22 | * The Colonet should generally not contain communication-specific code or Strings of command and request data.
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23 | * If additional commands and requests are needed for permanent implementation, it is suggested that convenience
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24 | * classes be created in the ColonetServerInterface and called from the Colonet.
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25 | *
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26 | * @author Gregory Tress
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27 | */
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28 | 32 | gtress | public class ColonetServerInterface |
29 | { |
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30 | |||
31 | /* STATIC FIELDS
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32 | * Eugene Marinelli, Fan
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33 | * 10/27/06
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34 | *
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35 | * Colonet Definitions - common definitions and structs used in all colonet
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36 | * applications
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37 | 67 | gtress | |
38 | Old packet structure:
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39 | 38 | gtress | |
40 | 107 | gtress | COMMAND PACKET STRUCTURE
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41 | 32 | gtress | 1: SEND_TO_ROBOT
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42 | 2: # of robot, or GLOBAL_DEST
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43 | 3: COLONET_COMMMAND
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44 | 4: message code (i.e. ORB_SET)
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45 | 5: any data, as many that fit in the packet
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46 | |||
47 | REQUEST PACKET STRUCTURE
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48 | 67 | gtress | 1: REQUEST_FROM_SERVER
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49 | 32 | gtress | 2: # of robot
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50 | 3: COLONET_REQUEST
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51 | 4: ???
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52 | 38 | gtress | |
53 | 9/12/07 New server interface structure
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54 | Client will no longer send full robot packets to the server.
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55 | Commands will be defined as necessary.
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56 | 32 | gtress | */
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57 | 38 | gtress | |
58 | 76 | gtress | //General Colonet Interface
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59 | 32 | gtress | public static final String SEND_TO_ROBOT = "0"; |
60 | 67 | gtress | public static final String REQUEST_FROM_SERVER = "1"; |
61 | 32 | gtress | public static final String RESPONSE_TO_CLIENT_REQUEST = "2"; |
62 | 76 | gtress | public static final String REQUEST_BOM_MATRIX = "144"; |
63 | 155 | gtress | public static final String REQUEST_XBEE_IDS = "145"; |
64 | 76 | gtress | |
65 | 32 | gtress | public static final String COLONET_COMMAND = "13"; //0x0D |
66 | public static final String COLONET_REQUEST = "14"; //0x0E |
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67 | public static final String CORONET_RESPONSE = "15"; //0x0F |
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68 | 76 | gtress | public static final String GLOBAL_DEST = "200"; |
69 | 32 | gtress | |
70 | 107 | gtress | //Queue instructions
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71 | public static final String COLONET_QUEUE = "100"; |
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72 | public static final String QUEUE_UPDATE = "101"; |
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73 | public static final String QUEUE_ADD = "102"; |
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74 | public static final String QUEUE_REMOVE = "103"; |
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75 | public static final String QUEUE_REORDER = "104"; |
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76 | |||
77 | 32 | gtress | //Use BATTERY to request battery level
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78 | public static final String BATTERY = "56"; //0x38 |
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79 | |||
80 | //MOTORS
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81 | public static final String MOTORS_INIT = "23"; //0x17 |
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82 | public static final String MOTOR1_SET = "24"; //0x18 |
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83 | public static final String MOTOR2_SET = "25"; //0x19 |
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84 | public static final String MOTORS_OFF = "26"; //0x1A |
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85 | public static final String MOVE = "27"; //0x1B |
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86 | 39 | gtress | public static final String MOVE_AVOID = "28"; //0x1C |
87 | 32 | gtress | |
88 | //BUZZER
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89 | public static final String BUZZER_INIT = "0"; //0x00 |
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90 | public static final String BUZZER_SET_VAL = "1"; //0x01 |
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91 | public static final String BUZZER_SET_FREQ = "2"; //0x02 |
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92 | public static final String BUZZER_CHIRP = "3"; //0x03 |
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93 | public static final String BUZZER_OFF = "4"; //0x04 |
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94 | |||
95 | //ORB
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96 | public static final String ORB_INIT = "12"; //0x0C |
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97 | public static final String ORB_SET = "13"; //0x0D |
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98 | public static final String ORB_SET_COLOR = "14"; //0x0E |
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99 | public static final String ORB_DISABLE = "15"; //0x0F |
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100 | public static final String ORB_ENABLE = "16"; //0x10 |
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101 | public static final String ORB_SET_DIO = "17"; //0x11 |
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102 | public static final String LED_INIT = "18"; //0x12 |
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103 | public static final String LED_USER = "19"; //0x13 |
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104 | public static final String ORB_SET_NUM_NS = "20"; //0x14 |
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105 | public static final String ORB_SET_NUM = "21"; //0x15 |
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106 | public static final String ORB_SEND = "22"; //0x16 |
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107 | |||
108 | 136 | gtress | |
109 | 333 | gtress | Colonet colonet; //save reference to the entire applet locally
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110 | 32 | gtress | Socket socket;
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111 | OutputStreamWriter out;
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112 | BufferedReader reader;
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113 | 76 | gtress | DataListener dataListener; |
114 | JTextArea log, txtMatrix;
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115 | 32 | gtress | |
116 | 136 | gtress | |
117 | 32 | gtress | /*
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118 | * FUNCTION IMPLEMENTATIONS
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119 | */
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120 | |||
121 | 333 | gtress | /**
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122 | * Constructs a new ColonetServerInterface. When constructing a ColonetServerInterface, a valid Colonet object
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123 | * reference must be provided to ensure that data is routed correctly.
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124 | *
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125 | * @param colonet The Colonet object to save locally. This reference cannot be changed once the
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126 | * ColonetSreverInterface has been contsructed.
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127 | * @throws NullPointerException if colonet is null
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128 | *
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129 | */
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130 | 136 | gtress | public ColonetServerInterface (Colonet colonet) {
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131 | this.colonet = colonet;
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132 | this.log = colonet.getLog();
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133 | this.txtMatrix = colonet.getMatrixInput();
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134 | 76 | gtress | dataListener = new DataListener();
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135 | 32 | gtress | } |
136 | |||
137 | public Socket getSocket () { |
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138 | return socket;
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139 | } |
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140 | |||
141 | public OutputStreamWriter getOutputStreamWriter () { |
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142 | return out;
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143 | } |
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144 | |||
145 | public BufferedReader getBufferedReader () { |
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146 | return reader;
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147 | } |
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148 | |||
149 | public boolean isReady () { |
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150 | 333 | gtress | if (socket == null || out == null || reader == null) |
151 | return false; |
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152 | if (!socket.isConnected() || socket.isClosed() || socket.isInputShutdown() || socket.isOutputShutdown())
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153 | return false; |
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154 | 32 | gtress | return true; |
155 | } |
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156 | |||
157 | public boolean isInputReady () { |
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158 | try {
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159 | if (reader.ready()) return true; |
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160 | } catch (Exception e) { |
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161 | return false; |
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162 | } |
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163 | return false; |
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164 | } |
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165 | |||
166 | 39 | gtress | public String getLine () { |
167 | if (this.isReady()) { |
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168 | try {
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169 | return reader.readLine();
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170 | } catch (IOException e) { |
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171 | return null; |
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172 | } |
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173 | } else {
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174 | return null; |
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175 | } |
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176 | } |
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177 | 38 | gtress | |
178 | 32 | gtress | /**
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179 | * Create socket connection to Colonet server.
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180 | 333 | gtress | * If successful, start thread for listening for incoming data.
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181 | 32 | gtress | */
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182 | public void connect (String strHost, String strPort) { |
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183 | //make sure hostname and port are valid
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184 | if (strHost.equals("") || strPort.equals("")) { |
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185 | err("Please enter a hostname and port.");
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186 | return;
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187 | } |
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188 | int port = 0; |
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189 | try {
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190 | port = Integer.parseInt(strPort);
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191 | } catch (Exception e) { |
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192 | err("Invalid port");
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193 | return;
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194 | } |
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195 | |||
196 | 181 | gtress | //make sure we aren't already connected.
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197 | 32 | gtress | if (socket != null && socket.isConnected()) { |
198 | 181 | gtress | return;
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199 | 32 | gtress | } |
200 | |||
201 | try {
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202 | socket = new Socket(strHost, port); |
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203 | } catch (UnknownHostException e) { |
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204 | log.append("Unknown host exception.\n");
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205 | err("Unknown Host Exception");
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206 | return;
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207 | } catch (IOException e) { |
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208 | log.append("IO Exception.\n");
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209 | err("IO Exception");
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210 | return;
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211 | } catch (java.security.AccessControlException e) {
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212 | log.append("Access Control Exception.\n");
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213 | 67 | gtress | err("Permission denied by java.security.AccessControlException.\n\n"
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214 | +"You may only connect to the server from which this applet was loaded.");
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215 | 32 | gtress | return;
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216 | } |
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217 | if (socket == null || !socket.isConnected()) { |
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218 | 273 | gtress | log.append("Connection is not ready. Try connecting again.\n");
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219 | 32 | gtress | return;
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220 | } |
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221 | try {
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222 | out = new OutputStreamWriter(socket.getOutputStream()); |
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223 | reader = new BufferedReader(new InputStreamReader(socket.getInputStream())); |
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224 | } catch (IOException e) { |
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225 | warn("Could not get transfer streams from socket connection.");
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226 | } |
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227 | 76 | gtress | dataListener.start(); |
228 | 32 | gtress | |
229 | } |
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230 | |||
231 | 107 | gtress | /*
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232 | * sendString - only this method should actually write data to the output stream
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233 | */
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234 | 333 | gtress | private void sendString (String s) { |
235 | 32 | gtress | //make sure we can send
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236 | if (!this.isReady()) { |
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237 | 273 | gtress | log.append("Could not send data.\n");
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238 | 32 | gtress | return;
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239 | } |
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240 | //send packet
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241 | try {
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242 | 181 | gtress | Thread.sleep(50); //pause to be safe |
243 | 107 | gtress | out.write(s); |
244 | 32 | gtress | out.flush(); |
245 | 273 | gtress | //log.append("Sent: " + s + "\n");
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246 | 32 | gtress | } catch (IOException e) { |
247 | 172 | gtress | log.setText("Could not send data.\n");
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248 | 107 | gtress | } catch (InterruptedException e) { |
249 | 172 | gtress | log.setText("Thread InterruptedException in sendData\n");
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250 | 67 | gtress | } |
251 | 32 | gtress | } |
252 | |||
253 | 333 | gtress | /**
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254 | * General send-to-server method. This method is used by other command methods, which are usually convenience
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255 | * methods that simply specify arguments to this method. A command consists of a String which holds integers
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256 | * separated by spaces. This method should not be used directly unless you know the format of the particular
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257 | * command you are sending. If implementing a particular command for permanent use, it is recommended that
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258 | * you create a new wrapper method specific to that command in the ColonetServerInterface file.
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259 | *
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260 | * Note that no checking is performed in this method to ensure the correct formatting of the String arguments.
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261 | * If malformed commands or robot numbers are specified, the behavior of the request at the server will be
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262 | * undefined and could result in server failure.
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263 | *
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264 | * @param s The command String in its correct format. The format of a command String is ultimately specified
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265 | * by the Colonet server application and may change.
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266 | * @param robotNumber The number of the robot that is the subject of the command, if any. The robot number
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267 | * is specified as a single integer in a String. If the command does not have a single robot subject, this
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268 | * argument can be null or an empty String, whichever is convenient.
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269 | */
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270 | 181 | gtress | public void sendData (String s, String robotNumber) { |
271 | 107 | gtress | //create packet
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272 | String packet = ""; |
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273 | packet += ColonetServerInterface.SEND_TO_ROBOT; |
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274 | 333 | gtress | if (robotNumber != null) |
275 | packet += " " + robotNumber;
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276 | 107 | gtress | packet += " " + ColonetServerInterface.COLONET_COMMAND;
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277 | packet += " " + s; //add the command code here |
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278 | packet += "\n";
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279 | sendString(packet); |
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280 | } |
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281 | |||
282 | 333 | gtress | /**
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283 | * General request-from-server method. This method is used by other request methods, which are usually convenience
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284 | * methods that simply specify arguments to this method. A request consists of a String which holds integers
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285 | * separated by spaces. This method should not be used directly unless you know the format of the particular
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286 | * request you are making. If implementing a particular request, it is recommended that you create a new method
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287 | * specific to that request in the ColonetServerInterface file.
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288 | *
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289 | */
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290 | private void sendRequest (String s, String robotNumber) { |
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291 | 32 | gtress | //create packet
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292 | 107 | gtress | String packet = ""; |
293 | packet += ColonetServerInterface.REQUEST_FROM_SERVER; |
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294 | 270 | gtress | packet += " " + robotNumber;
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295 | 76 | gtress | //packet += " " + ColonetServerInterface.COLONET_REQUEST;
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296 | 32 | gtress | packet += " " + s; //add the command code here |
297 | packet += "\n";
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298 | 107 | gtress | sendString(packet); |
299 | 32 | gtress | } |
300 | 107 | gtress | |
301 | 333 | gtress | /**
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302 | * Sends a request to the server to report the entire BOM sensor matrix. The server will reply at its convenience.
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303 | * No guarantee is made (end-to-end or otherwise) that the server will respond in a timely manner or at all
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304 | * to any individual request.
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305 | */
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306 | 107 | gtress | public void sendSensorDataRequest () { |
307 | sendRequest(ColonetServerInterface.REQUEST_BOM_MATRIX, "");
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308 | } |
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309 | |||
310 | 333 | gtress | /**
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311 | * Sends a request to the server to report a list of XBee IDs. The server will reply at its convenience.
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312 | * The purpose of having this list is to ensure that robots are properly identified for control purposes.
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313 | * This keeps robot identification consistent between sessions and prevents arbitrary assignment.
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314 | * No guarantee is made (end-to-end or otherwise) that the server will respond in a timely manner or at all
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315 | * to any individual request.
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316 | *
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317 | * @see Colonet#parseXBeeIDs(String)
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318 | */
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319 | 136 | gtress | public void sendXBeeIDRequest () { |
320 | sendRequest(ColonetServerInterface.REQUEST_XBEE_IDS, "");
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321 | } |
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322 | |||
323 | 333 | gtress | /**
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324 | * Sends a battery request for a specific robot to the server. The server will reply at its convenience.
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325 | * Behavior is undefined if an invalid robot number is specified. The server will probably not respond in
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326 | * this case.
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327 | * No guarantee is made (end-to-end or otherwise) that the server will respond in a timely manner or at all
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328 | * to any individual request.
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329 | *
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330 | * @param robotNum The number of the robot for which we are requesting the battery. Note that this value
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331 | * is sent as-is to the server. No mapping to or from XBee IDs is performed. The contract for this is
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332 | * currently undefined.
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333 | * @see Colonet#parseBattery(String)
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334 | */
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335 | 270 | gtress | public void sendBatteryRequest (int robotNum) { |
336 | 333 | gtress | sendData(ColonetServerInterface.BATTERY, "" + robotNum);
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337 | 270 | gtress | } |
338 | |||
339 | 107 | gtress | /*
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340 | * Queue management
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341 | */
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342 | 333 | gtress | private void sendQueueInstruction (String inst) { |
343 | 107 | gtress | String packet = ""; |
344 | packet += ColonetServerInterface.COLONET_QUEUE; |
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345 | packet += " " + inst;
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346 | packet += "\n";
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347 | sendString(packet); |
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348 | } |
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349 | |||
350 | 333 | gtress | /**
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351 | * Notifies the Colonet server to add a task to the current task queue. The Colonet server holds the canonical
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352 | * task queue. Any applet can send tasks to add to the queue. Local copies of the queue in the applet are for
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353 | * display purposes only, and are not authoritative when adding tasks. All clients send additions asynchronously,
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354 | * and as a result no guarantee is made that a task will be added in the specificed location in the queue or at
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355 | * all. If an invalid position is specified, the task will probably not be added to the queue and may cause
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356 | * server failure. Due to the asynchronous nature of the queue, we cannot easily account for concurrent
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357 | * modification failures on the client side.
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358 | *
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359 | * @param pos The position in the queue at which we would like the task to be placed. Note that this is not
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360 | * guaranteed. Invalid positions may cause the task to be discarded at the server.
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361 | * @param data The String containing the command code(s) for the task and any arguments necessary to fully
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362 | * define the behavior of the task. This format is currently not specified. In the future, the canonical format
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363 | * of the data String will ultimately be defined by the Colonet server.
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364 | * @param description A String that contains a description of the task. This will be the message displayed to
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365 | * the user when information about the task is requested.
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366 | */
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367 | 107 | gtress | public void sendQueueAdd (int pos, String data, String description) { |
368 | String packet = ""; |
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369 | packet += ColonetServerInterface.QUEUE_ADD; |
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370 | packet += " " + pos;
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371 | packet += " " + data;
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372 | packet += " [" + description + "]"; |
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373 | packet += "\n";
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374 | sendQueueInstruction(packet); |
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375 | } |
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376 | |||
377 | 333 | gtress | /**
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378 | * Notifies the Colonet server to remove a task from the current task queue. The Colonet server holds the canonical
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379 | * task queue. Any applet can remove a task from the queue. Local copies of the queue in the applet are for
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380 | * display purposes only, and are not authoritative when removing tasks. All clients remove tasks asynchronously,
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381 | * and as a result no guarantee is made that the correct task will actually be removed.
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382 | * If an invalid position is specified, the state of the queue is undefined and server failure may result.
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383 | * Due to the asynchronous nature of the queue, we cannot easily account for concurrent
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384 | * modification failures on the client side.
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385 | *
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386 | * @param pos The position in the queue at which we would like the task to be removed. Note that this is not
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387 | * guaranteed. Invalid positions may result in a corrupted queue.
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388 | */
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389 | 107 | gtress | public void sendQueueRemove (int pos) { |
390 | String packet = ""; |
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391 | packet += ColonetServerInterface.QUEUE_REMOVE; |
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392 | packet += " " + pos;
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393 | packet += "\n";
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394 | sendQueueInstruction(packet); |
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395 | } |
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396 | 32 | gtress | |
397 | 333 | gtress | /**
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398 | * Notifies the Colonet server to reorder tasks in the current task queue. The Colonet server holds the canonical
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399 | * task queue. Any applet can reorder tasks in the queue. Local copies of the queue in the applet are for
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400 | * display purposes only, and are not authoritative when reordering tasks. All clients reorder tasks asynchronously,
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401 | * and as a result no guarantee is made that the correct tasks will actually be reordered.
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402 | * If an invalid position is specified, the state of the queue is undefined and server failure may result.
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403 | * Due to the asynchronous nature of the queue, we cannot easily account for concurrent
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404 | * modification failures on the client side.
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405 | *
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406 | * @param pos1 The queue position of a task which we would like to reorder.
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407 | * @param pos2 The queue position of a task which we would like to reorder.
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408 | */
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409 | 107 | gtress | public void sendQueueReorder (int pos1, int pos2) { |
410 | String packet = ""; |
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411 | packet += ColonetServerInterface.QUEUE_REORDER; |
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412 | packet += " " + pos1;
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413 | packet += " " + pos2;
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414 | packet += "\n";
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415 | sendQueueInstruction(packet); |
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416 | } |
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417 | 32 | gtress | |
418 | 136 | gtress | public void sendQueueUpdate () { |
419 | sendQueueInstruction(ColonetServerInterface.QUEUE_UPDATE); |
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420 | } |
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421 | 32 | gtress | |
422 | /**
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423 | * Display informational message box on the screen. Used for casual communicaton to the user.
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424 | * @param text Text to display
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425 | */
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426 | 35 | gtress | public void msg (String text) { |
427 | 32 | gtress | JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.INFORMATION_MESSAGE); |
428 | } |
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429 | |||
430 | /**
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431 | * Display warning message box on the screen. Used for minor alerts or exceptions.
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432 | * @param text Text to display
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433 | */
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434 | 35 | gtress | public void warn (String text) { |
435 | 32 | gtress | JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.WARNING_MESSAGE); |
436 | } |
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437 | |||
438 | /**
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439 | * Display error message box on the screen. Used for major errors or exceptions in the program.
|
||
440 | * @param text Text to display
|
||
441 | */
|
||
442 | 35 | gtress | public void err (String text) { |
443 | 32 | gtress | JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.ERROR_MESSAGE); |
444 | } |
||
445 | |||
446 | 76 | gtress | |
447 | /*
|
||
448 | * DataListener thread.
|
||
449 | *
|
||
450 | */
|
||
451 | class DataListener extends Thread { |
||
452 | final int DATALISTENER_DELAY = 222; |
||
453 | |||
454 | public DataListener () {
|
||
455 | super("Colonet DataListener"); |
||
456 | } |
||
457 | |||
458 | public void run () { |
||
459 | String line;
|
||
460 | while (true) { |
||
461 | try {
|
||
462 | line = getLine(); |
||
463 | if (line != null) { |
||
464 | parseData(line); |
||
465 | } |
||
466 | Thread.sleep(DATALISTENER_DELAY);
|
||
467 | } catch (InterruptedException e) { |
||
468 | return;
|
||
469 | } |
||
470 | } |
||
471 | } |
||
472 | |||
473 | public void parseData (String line) { |
||
474 | 333 | gtress | // Sensor Matrix
|
475 | 136 | gtress | if (line.startsWith(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " + |
476 | ColonetServerInterface.REQUEST_BOM_MATRIX)) |
||
477 | colonet.parseMatrix(line); |
||
478 | 270 | gtress | // Task Queue
|
479 | 155 | gtress | else if (line.startsWith(ColonetServerInterface.COLONET_QUEUE)) |
480 | 136 | gtress | colonet.parseQueue(line); |
481 | 270 | gtress | // XBee IDs
|
482 | 155 | gtress | else if (line.startsWith(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " + |
483 | 136 | gtress | ColonetServerInterface.REQUEST_XBEE_IDS)) |
484 | colonet.parseXBeeIDs(line); |
||
485 | 270 | gtress | // Battery
|
486 | 333 | gtress | else if (line.charAt(0) == Integer.parseInt(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST) |
487 | && line.charAt(2) == Integer.parseInt(ColonetServerInterface.BATTERY)) |
||
488 | colonet.parseBattery(line); |
||
489 | /*
|
||
490 | 270 | gtress | else if (line.startsWith(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " +
|
491 | ColonetServerInterface.BATTERY))
|
||
492 | colonet.parseBattery(line);
|
||
493 | 333 | gtress | */
|
494 | // Unknown type
|
||
495 | else
|
||
496 | System.out.println("Got data:" + line); |
||
497 | |||
498 | 76 | gtress | } |
499 | 32 | gtress | |
500 | 76 | gtress | } |
501 | |||
502 | 32 | gtress | } |