root / trunk / code / projects / colonet / ColonetGUI / Colonet.java @ 385
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//
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// Colonet.java
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//
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import javax.swing.*; |
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import javax.swing.event.*; |
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import javax.imageio.*; |
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import java.awt.*; |
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import java.awt.image.*; |
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import java.awt.event.*; |
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import java.net.*; |
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import java.io.*; |
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import java.util.Random; |
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/**
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* The Colonet Graphical User Interface Applet for use locally and over an internet connection.
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* @author Gregory Tress
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*
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* To generate javadoc on this file or other java files, use javadoc *.java -d doc, where doc
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* is the name of the folder into which the files should be written.
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*/
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public class Colonet extends JApplet implements ActionListener, MouseInputListener, KeyListener, Runnable { |
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// Used for the robot graph
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final int CANVAS_SIZE = 500; //the applet may be slow if the canvas gets too large |
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final int BUFFER = 50; |
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final int RADIUS = 30; |
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//Used for the robot controller
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final int VECTOR_CONTROLLER_HEIGHT = 220; |
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final int VECTOR_CONTROLLER_WIDTH = 250; |
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// Connection
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JTextField txtHost;
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JTextField txtPort;
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JButton btnConnect;
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JButton btnGraph;
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JLabel lblConnectionStatus;
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JTextArea txtMatrix;
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JTextArea txtInfo;
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JPanel panelConnect;
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JPanel panelServerInterface;
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// South
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JPanel panelSouth;
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JTextArea log;
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JScrollPane spLog;
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// Control
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JPanel panelControl;
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JTabbedPane tabPaneControl;
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JPanel panelRobotControl;
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JPanel panelRobotDirection;
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JPanel panelRobotDirectionButtons;
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JPanel panelRobotCommands;
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JButton btnF, btnB, btnL, btnR, btnActivate;
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JComboBox cmbRobotNum;
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JLabel lblBattery;
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BatteryIcon batteryIcon; |
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JPanel panelBattery;
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VectorController vectorController; |
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BufferedImage imageVectorControl;
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JButton btnCommand_StopTask;
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JButton btnCommand_ResumeTask;
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JButton btnCommand_ChargeNow;
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JButton btnCommand_StopCharging;
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// Task Manager
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JPanel panelTaskManager;
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JScrollPane spTaskManager;
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JPanel panelTaskManagerControls;
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JPanel panelTaskManagerControlsPriority;
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DefaultListModel taskListModel;
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JList taskList;
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JButton btnAddTask;
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JButton btnRemoveTask;
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JButton btnMoveTaskUp;
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JButton btnMoveTaskDown;
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JButton btnUpdateTasks;
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TaskAddWindow taskAddWindow; |
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//Webcam and Graph
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WebcamPanel panelWebcam; |
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GraphicsPanel panelGraph; |
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GraphicsConfiguration gc;
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volatile BufferedImage image; |
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volatile Graphics2D canvas; |
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int cx, cy;
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JTabbedPane tabPaneMain;
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Socket socket;
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OutputStreamWriter out;
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DataUpdater dataUpdater; |
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Font botFont;
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volatile int tokenLoc; //the token is currently here |
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volatile int numBots; |
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volatile int selectedBot; //the user has selected this bot |
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volatile Rectangle[] botRect; //contains boundary shapes around bots for click detection |
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volatile int[] xbeeID; |
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Thread drawThread;
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Simulator simulator; |
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SelectionIndicator indicator; |
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WebcamLoader webcamLoader; |
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ColonetServerInterface csi; |
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public void init () { |
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// set the default look and feel - choose one
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//String laf = UIManager.getSystemLookAndFeelClassName();
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String laf = UIManager.getCrossPlatformLookAndFeelClassName(); |
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//String laf = "com.sun.java.swing.plaf.motif.MotifLookAndFeel";
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try {
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UIManager.setLookAndFeel(laf);
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} catch (UnsupportedLookAndFeelException exc) { |
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System.err.println ("Warning: UnsupportedLookAndFeel: " + laf); |
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} catch (Exception exc) { |
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System.err.println ("Error loading " + laf + ": " + exc); |
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} |
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// We should invoke and wait to avoid browser display difficulties
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Runnable r = new Runnable() { |
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public void run() { |
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createAndShowGUI(); |
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} |
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}; |
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try {
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SwingUtilities.invokeAndWait(r);
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} catch (InterruptedException e) { |
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//Not really sure why we would be in this situation
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System.out.println("InterruptedException in init: " + e); |
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} catch (java.lang.reflect.InvocationTargetException e) {
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//This could happen for various reasons if there is a problem in createAndShowGUI
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e.printStackTrace(); |
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} |
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} |
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public void destroy () { |
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try { drawThread.interrupt(); } catch (Exception e) { } |
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try { indicator.interrupt(); } catch (Exception e) { } |
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} |
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private synchronized void createAndShowGUI () { |
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// init graphical elements
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// Get the graphics configuration of the screen to create a buffer
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gc = GraphicsEnvironment.getLocalGraphicsEnvironment()
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.getDefaultScreenDevice().getDefaultConfiguration(); |
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image = gc.createCompatibleImage(CANVAS_SIZE,CANVAS_SIZE); |
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canvas = image.createGraphics(); |
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canvas.setStroke(new BasicStroke(2)); //set pen width |
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panelGraph = new GraphicsPanel(image, false); //set automatic double-buffering to false. we are doing it manually. |
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panelWebcam = new WebcamPanel();
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tabPaneMain = new JTabbedPane(); |
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tabPaneMain.add(panelWebcam, "Webcam");
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tabPaneMain.add(panelGraph, "Graph");
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// Calculate center of canvas
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cx = image.getWidth() / 2;
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cy = image.getHeight() / 2;
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botFont = new Font("Arial", Font.PLAIN, 14); |
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tokenLoc = 0;
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numBots = 0;
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selectedBot = 0;
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// Connection area
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txtMatrix = new JTextArea(); |
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txtMatrix.setBorder(BorderFactory.createTitledBorder("Input Matrix")); |
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txtInfo = new JTextArea(); |
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txtInfo.setBorder(BorderFactory.createTitledBorder("Info")); |
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txtInfo.setEditable(false);
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btnGraph = new JButton("Run"); |
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txtHost = new JTextField("localhost"); |
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txtHost.setBorder(BorderFactory.createTitledBorder("Host")); |
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txtPort = new JTextField("10123"); |
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txtPort.setBorder(BorderFactory.createTitledBorder("Port")); |
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btnConnect = new JButton("Connect"); |
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lblConnectionStatus = new JLabel("Status: Offline"); |
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panelConnect = new JPanel(); |
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panelConnect.setLayout(new GridLayout(6,1)); |
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panelConnect.add(lblConnectionStatus); |
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panelConnect.add(txtHost); |
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panelConnect.add(txtPort); |
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panelConnect.add(btnConnect); |
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//panelConnect.add(btnGraph);
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panelServerInterface = new JPanel(); |
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panelServerInterface.setLayout(new GridLayout(2,1)); |
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panelServerInterface.add(panelConnect); |
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panelServerInterface.add(txtMatrix); |
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// Robot direction panel
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panelRobotDirection = new JPanel(); |
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panelRobotDirectionButtons = new JPanel(); |
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btnF = new JButton("^"); |
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btnB = new JButton("v"); |
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btnL = new JButton("<"); |
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btnR = new JButton(">"); |
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btnActivate = new JButton("o"); |
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panelRobotDirectionButtons.setLayout(new GridLayout(1,5)); |
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panelRobotDirectionButtons.add(btnActivate); |
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panelRobotDirectionButtons.add(btnF); |
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panelRobotDirectionButtons.add(btnB); |
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panelRobotDirectionButtons.add(btnL); |
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panelRobotDirectionButtons.add(btnR); |
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imageVectorControl = gc.createCompatibleImage(VECTOR_CONTROLLER_WIDTH, VECTOR_CONTROLLER_HEIGHT); |
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vectorController = new VectorController(imageVectorControl);
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panelRobotDirection.setLayout(new BorderLayout()); |
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panelRobotDirection.add(vectorController, BorderLayout.CENTER);
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panelRobotDirection.add(panelRobotDirectionButtons, BorderLayout.SOUTH);
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// Robot Control and Commands
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panelRobotCommands = new JPanel(); |
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panelRobotCommands.setLayout(new GridLayout(5,2)); |
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cmbRobotNum = new JComboBox(); |
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// Battery subset
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lblBattery = new JLabel(); |
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batteryIcon = new BatteryIcon(25); |
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//batteryIcon = new BatteryIcon(50, lblBattery.getMaximumSize().height, lblBattery.getMaximumSize().height);
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lblBattery = new JLabel(batteryIcon); |
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btnCommand_StopTask = new JButton("Stop Current Task"); |
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btnCommand_ResumeTask = new JButton("Resume Current Task"); |
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btnCommand_ChargeNow = new JButton("Recharge Now"); |
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btnCommand_StopCharging = new JButton("Stop Recharging"); |
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panelRobotCommands.add(new JLabel("Select Robot to Control: ")); |
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panelRobotCommands.add(cmbRobotNum); |
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panelRobotCommands.add(new JLabel("Battery Level: ")); |
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panelRobotCommands.add(lblBattery); |
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panelRobotCommands.add(btnCommand_StopTask); |
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panelRobotCommands.add(btnCommand_ResumeTask); |
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panelRobotCommands.add(btnCommand_ChargeNow); |
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panelRobotCommands.add(btnCommand_StopCharging); |
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panelRobotControl = new JPanel(); |
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panelRobotControl.setLayout(new GridLayout(2,1)); |
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panelRobotControl.add(panelRobotDirection); |
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panelRobotControl.add(panelRobotCommands); |
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// Task Manager
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panelTaskManager = new JPanel(); |
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panelTaskManager.setLayout(new BorderLayout()); |
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taskListModel = new DefaultListModel(); |
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taskList = new JList(taskListModel); |
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taskList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
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taskList.setSelectedIndex(0);
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spTaskManager = new JScrollPane(taskList); |
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panelTaskManagerControls = new JPanel(); |
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panelTaskManagerControls.setLayout(new GridLayout(1,4)); |
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panelTaskManagerControlsPriority = new JPanel(); |
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panelTaskManagerControlsPriority.setLayout(new GridLayout(1,2)); |
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btnAddTask = new JButton("Add..."); |
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btnRemoveTask = new JButton("Remove"); |
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btnMoveTaskUp = new JButton("^"); |
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btnMoveTaskDown = new JButton("v"); |
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btnUpdateTasks = new JButton("Update"); |
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panelTaskManagerControlsPriority.add(btnMoveTaskUp); |
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panelTaskManagerControlsPriority.add(btnMoveTaskDown); |
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panelTaskManagerControls.add(btnAddTask); |
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panelTaskManagerControls.add(btnRemoveTask); |
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panelTaskManagerControls.add(btnUpdateTasks); |
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panelTaskManagerControls.add(panelTaskManagerControlsPriority); |
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panelTaskManager.add(spTaskManager, BorderLayout.CENTER);
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panelTaskManager.add(panelTaskManagerControls, BorderLayout.SOUTH);
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panelTaskManager.add(new JLabel("Current Task Queue"), BorderLayout.NORTH); |
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taskAddWindow = new TaskAddWindow();
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// Message log
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log = new JTextArea(); |
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spLog = new JScrollPane(log, |
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ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS,
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ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED);
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spLog.setBorder(BorderFactory.createTitledBorder("Log")); |
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spLog.setPreferredSize(new Dimension(0, 120)); |
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log.setEditable(false);
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// Main control mechanism
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panelControl = new JPanel(); |
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panelControl.setLayout(new GridLayout(1,1)); |
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tabPaneControl = new JTabbedPane(JTabbedPane.TOP); |
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tabPaneControl.setPreferredSize(new Dimension(VECTOR_CONTROLLER_WIDTH, 0)); |
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tabPaneControl.addTab("Connection", panelServerInterface);
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tabPaneControl.addTab("Robots", panelRobotControl);
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tabPaneControl.addTab("Tasks", panelTaskManager);
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panelControl.add(tabPaneControl); |
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// Set up elements in the south
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panelSouth = new JPanel(); |
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panelSouth.setLayout(new GridLayout(1,2)); |
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//panelSouth.add(spLog);
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// Put all elements in the ContentPane
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this.getContentPane().setLayout(new BorderLayout()); |
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this.getContentPane().add(tabPaneMain, BorderLayout.CENTER); |
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this.getContentPane().add(panelSouth, BorderLayout.SOUTH); |
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this.getContentPane().add(panelControl, BorderLayout.EAST); |
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this.setVisible(true); |
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/* Add all listeners here */
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// Task Management
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btnAddTask.addActionListener(this);
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btnRemoveTask.addActionListener(this);
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btnMoveTaskUp.addActionListener(this);
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btnMoveTaskDown.addActionListener(this);
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btnUpdateTasks.addActionListener(this);
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// Robot Control
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btnF.addActionListener(this);
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btnB.addActionListener(this);
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btnL.addActionListener(this);
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btnR.addActionListener(this);
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btnF.addKeyListener(this);
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btnB.addKeyListener(this);
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btnL.addKeyListener(this);
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btnR.addKeyListener(this);
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btnActivate.addActionListener(this);
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btnActivate.addKeyListener(this);
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cmbRobotNum.addKeyListener(this);
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vectorController.addMouseMotionListener(this);
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vectorController.addMouseListener(this);
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btnCommand_StopTask.addActionListener(this);
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btnCommand_ResumeTask.addActionListener(this);
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btnCommand_ChargeNow.addActionListener(this);
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btnCommand_StopCharging.addActionListener(this);
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// Other
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btnGraph.addActionListener(this);
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btnConnect.addActionListener(this);
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panelGraph.addMouseListener(this);
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this.addMouseMotionListener(this); |
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// Set up dependent threads
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indicator = new SelectionIndicator(canvas);
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indicator.setRadius(RADIUS+3, 15); //a tad more than the bot radius |
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simulator = new Simulator();
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webcamLoader = new WebcamLoader(this); |
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dataUpdater = new DataUpdater();
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csi = new ColonetServerInterface(this); |
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} |
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public synchronized void paint (Graphics g) { |
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/* Redraw the graphical components in the applet.
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This paint method overrides the built-in paint of the
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JApplet, and we don't want to deal with redrawing the
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components manually. Fuck that shit. */
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step(); |
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super.paint(g);
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} |
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public synchronized void update (Graphics g) { |
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paint(g); |
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} |
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public void drawRobot (int id, int x, int y) { |
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//save the bot in memory, so we can tell if we click on it later
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botRect[id] = new Rectangle(x-RADIUS, y-RADIUS, 2*RADIUS, 2*RADIUS); |
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//draw the bot on the canvas
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canvas.setColor(Color.BLACK);
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canvas.drawOval(x-RADIUS, y-RADIUS, RADIUS*2, RADIUS*2); |
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//draw the label
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canvas.setFont(botFont); |
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try {
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canvas.drawString("" + xbeeID[id], x-20, y+2); |
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} catch (Exception e) { |
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canvas.drawString("???", x-22, y+2); |
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} |
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} |
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public void drawConnection (int start, int end, int radius, Color color) { |
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final int ARROW_LENGTH = 18; |
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double angle = 2.0 * Math.PI / numBots; |
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int startx, starty, endx, endy;
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startx = cx - (int)(radius * Math.cos(start * angle)); |
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starty = cy - (int)(radius * Math.sin(start * angle)); |
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endx = cx - (int)(radius * Math.cos(end * angle)); |
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endy = cy - (int)(radius * Math.sin(end * angle)); |
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canvas.setColor(color); |
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canvas.drawLine(startx, starty, endx, endy); |
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//create arrow
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if (color.equals(Color.BLACK)) return; |
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int big_dy = starty - endy;
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int big_dx = endx - startx;
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double theta = 0; |
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if (big_dx == 0 && starty > endy) //pointing up |
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theta = Math.PI/2; |
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else if (big_dx == 0 && starty < endy) //pointing down |
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theta = 3*Math.PI/2; |
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else if (big_dy == 0 && startx > endx) //pointing left |
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theta = Math.PI;
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else if (big_dy == 0 && startx < endx) //pointing right |
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theta = 0;
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else
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theta = Math.atan(1.0 * big_dy / big_dx); |
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//create ploygon
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Polygon poly = new Polygon(); |
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int dx_arrow = Math.abs((int)(ARROW_LENGTH * Math.cos(theta))); |
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int dy_arrow = Math.abs((int)(ARROW_LENGTH * Math.sin(theta))); |
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int dy_half = (int)(ARROW_LENGTH/2 * Math.cos(theta)); |
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int dx_half = (int)(ARROW_LENGTH/2 * Math.sin(theta)); |
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int rx = (big_dx > 0) ? endx - dx_arrow : endx + dx_arrow; |
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int ry = (big_dy > 0) ? endy + dy_arrow : endy - dy_arrow; |
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poly.addPoint(endx, endy); |
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poly.addPoint(rx - dx_half, ry - dy_half); |
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poly.addPoint(rx + dx_half, ry + dy_half); |
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canvas.fillPolygon(poly); |
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} |
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public void run () { |
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while (true) { |
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repaint(); |
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try {
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Thread.sleep(90); |
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} catch (InterruptedException e) { |
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return;
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} |
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} |
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} |
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|
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private void step () { |
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final int DIAMETER = image.getWidth() - 2*BUFFER; |
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final int BIGRADIUS = DIAMETER / 2; |
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final int TOKENRADIUS = 40; |
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boolean valid;
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// clear image
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canvas.setColor(Color.WHITE);
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canvas.fillRect(0, 0, image.getWidth(), image.getHeight()); |
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// parse the matrix, to see what robots exist
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String [] rows = txtMatrix.getText().split("\n"); |
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numBots = rows.length; |
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String [][] entries = new String[numBots][numBots]; |
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valid = true;
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for (int i = 0; i < numBots; i++) { |
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entries[i] = rows[i].split(" ");
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if (entries[i].length != rows.length) valid = false; |
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} |
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if (valid) {
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this.showStatus("Running"); |
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// draw robots and find which one is seleced
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double angle = 2.0 * Math.PI / numBots; |
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canvas.setColor(Color.BLACK);
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botRect = new Rectangle[numBots]; |
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int x, y;
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if (selectedBot >= numBots) selectedBot = 0; |
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for (int i = 0; i < numBots; i++) { |
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x = cx - (int)(BIGRADIUS * Math.cos(i * angle)); |
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y = cy - (int)(BIGRADIUS * Math.sin(i * angle)); |
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drawRobot(i, x, y); |
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if (i == selectedBot) indicator.setCenter(x, y);
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} |
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// draw token marker
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int tokenx, tokeny;
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int tokenNum = tokenLoc;
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tokenx = cx - (int)(BIGRADIUS * Math.cos(tokenNum * angle)); |
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tokeny = cy - (int)(BIGRADIUS * Math.sin(tokenNum * angle)); |
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canvas.setColor(Color.RED);
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canvas.drawOval(tokenx-TOKENRADIUS, tokeny-TOKENRADIUS, 2*TOKENRADIUS, 2*TOKENRADIUS); |
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|
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// create an inner circle along which the connections are made.
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// let the diameter of this circle be 2*RADIUS less than the outerDiameter.
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// see what connections exist
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for (int row = 0; row < numBots; row++) { |
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for(int col = 0; col < numBots; col++) { |
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if (!entries[row][col].equals("-") && entries[col][row].equals("-") && row != col) { |
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//TODO: Make a standard gray
|
477 |
drawConnection(row, col, BIGRADIUS-RADIUS, new Color(200,200,200)); |
478 |
} else if (!entries[row][col].equals("-") && ! entries[col][row].equals("-") && row != col) { |
479 |
drawConnection(row, col, BIGRADIUS-RADIUS, Color.BLACK);
|
480 |
} |
481 |
} |
482 |
} |
483 |
|
484 |
// draw the selection indicator
|
485 |
indicator.draw(); |
486 |
|
487 |
} else { // if matrix is not valid |
488 |
this.showStatus("Error: Invalid matrix"); |
489 |
} |
490 |
|
491 |
} |
492 |
|
493 |
/**
|
494 |
* Gets the JTextArea used for storing the activity log. This method returns a reference to the
|
495 |
* JTextArea that stores the log. The log can contain any activity that is revelant to the use
|
496 |
* of the applet, and may optionally display debugging information.
|
497 |
*
|
498 |
* @return the JTextArea where BOM matrix information is stored.
|
499 |
*/
|
500 |
public JTextArea getLog () { |
501 |
return log;
|
502 |
} |
503 |
|
504 |
/**
|
505 |
* Gets the JTextArea used for storing the BOM matrix data. This method returns a reference to the
|
506 |
* JTextArea that stores the BOM matrix. The values in the matrix are stored as integers separated
|
507 |
* by spaces, and the lines should be separated by a newline.
|
508 |
*
|
509 |
* @return the JTextArea where BOM matrix information is stored.
|
510 |
*/
|
511 |
public JTextArea getMatrixInput () { |
512 |
return txtMatrix;
|
513 |
} |
514 |
|
515 |
/**
|
516 |
* Parses a String containing BOM matrix information.
|
517 |
* The ColonetServerInterface receives lines of the BOM matrix. (For encoding
|
518 |
* information, see the ColonetServerInterface documentation.) The entire matrix is passed
|
519 |
* to the client when requested. This method takes a string of the form
|
520 |
* "[command code] [command code] [number of robots] [data0] [data1] ..."
|
521 |
* with tokens separated by spaces and containing no brackets.
|
522 |
* The [command code]s are predefined values identifying this String as a BOM data
|
523 |
* String, [number of robots] is an integer, and the values that follow are
|
524 |
* the sensor readings of the robots in order, starting with robot 0. Only [number of robots]^2
|
525 |
* data entries will be read. The matrix values are saved locally until the next String is parsed.
|
526 |
*
|
527 |
*
|
528 |
* @param line the String containing BOM matrix information.
|
529 |
* @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots]^2 data entries in the String
|
530 |
*/
|
531 |
public void parseMatrix (String line) { |
532 |
txtMatrix.setText("");
|
533 |
String [] str = line.split(" "); |
534 |
int num = Integer.parseInt(str[2]); |
535 |
for (int i = 0; i < num; i++) { |
536 |
for (int j = 0; j < num; j++) { |
537 |
String next = str[3 + i*num + j]; |
538 |
if (next.equals("-1")) |
539 |
txtMatrix.append("-");
|
540 |
else
|
541 |
txtMatrix.append(next); |
542 |
if (j < num - 1) |
543 |
txtMatrix.append(" ");
|
544 |
} |
545 |
if (i < num - 1) |
546 |
txtMatrix.append("\n");
|
547 |
} |
548 |
|
549 |
} |
550 |
|
551 |
/**
|
552 |
* Parses a String containing a task queue update.
|
553 |
* Format is currently not specified.
|
554 |
* This method currently does nothing.
|
555 |
*
|
556 |
* @param line the String containing task queue update information.
|
557 |
*/
|
558 |
public void parseQueue (String line) { |
559 |
log.append("Got queue update\n");
|
560 |
//TODO: display new queue data in tasks tab
|
561 |
} |
562 |
|
563 |
/**
|
564 |
* Parses a String containing XBee ID values.
|
565 |
* The ColonetServerInterface receives Strings of XBee information. (For encoding
|
566 |
* information, see the ColonetServerInterface documentation.) This method takes
|
567 |
* a string of the form "[command code] [command code] [number of robots] [id0] [id1] ..."
|
568 |
* with tokens separated by spaces and containing no brackets.
|
569 |
* The [command code]s are predefined values identifying this String as an XBee
|
570 |
* ID String, [number of robots] is an integer, and the values that follow are
|
571 |
* the IDs of the robots in order, starting with robot 0. Only [number of robots]
|
572 |
* will be read. The ID values are saved locally until the next String is parsed.
|
573 |
* The purpose of having this list is to ensure that robots are properly identified for control purposes.
|
574 |
* This keeps robot identification consistent between sessions and prevents arbitrary assignment.
|
575 |
*
|
576 |
* @param line the String containing XBee ID information.
|
577 |
* @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots] IDs in the String
|
578 |
* @see ColonetServerInterface#sendXBeeIDRequest()
|
579 |
*/
|
580 |
public void parseXBeeIDs (String line) { |
581 |
//TODO: check if this string actually has xbee command codes
|
582 |
|
583 |
String [] str = line.split(" "); |
584 |
int num = Integer.parseInt(str[2]); |
585 |
xbeeID = new int[num]; |
586 |
for (int i = 0; i < num; i++) |
587 |
xbeeID[i] = Integer.parseInt(str[i+3]); |
588 |
|
589 |
//update the list of robots to control
|
590 |
//but save the old value first
|
591 |
Object oldSelection = cmbRobotNum.getSelectedItem();
|
592 |
cmbRobotNum.removeAllItems(); |
593 |
cmbRobotNum.addItem(new String(" All ")); |
594 |
for (int i = 0; i < num; i++) |
595 |
cmbRobotNum.addItem(new String("" + xbeeID[i])); |
596 |
cmbRobotNum.setSelectedItem(oldSelection); |
597 |
} |
598 |
|
599 |
/**
|
600 |
* Parses a String containing battery information.
|
601 |
* The ColonetServerInterface receives Strings of battery information. (For encoding
|
602 |
* information, see the ColonetServerInterface documentation.) This method takes
|
603 |
* a string of the form "[command code] [command code] [robot ID] [value]"
|
604 |
* with tokens separated by spaces and containing no brackets.
|
605 |
* The [command code]s are predefined values identifying this String as a battery
|
606 |
* information String, [robot ID] is an integer, and [value] is a battery measurement.
|
607 |
* This updates the batery information for a single robot.
|
608 |
*
|
609 |
*
|
610 |
* @param line the String containing battery information.
|
611 |
* @see ColonetServerInterface#sendBatteryRequest(int)
|
612 |
*/
|
613 |
public void parseBattery (String line) { |
614 |
System.out.println("Got battery update: " + line); |
615 |
String [] str = line.split(" "); |
616 |
int botNum = (int) line.charAt(4); |
617 |
int batteryVal = (int) line.charAt(6); |
618 |
if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex()-1 == botNum) { |
619 |
//TODO: update battery info graphically
|
620 |
} |
621 |
// For now, just update the bar whenever we get an update.
|
622 |
batteryIcon.setLevel((int) (100.0 * batteryVal / 255)); |
623 |
} |
624 |
|
625 |
//
|
626 |
// MouseListener methods
|
627 |
//
|
628 |
public void mouseExited(MouseEvent e) { |
629 |
} |
630 |
public void mouseEntered(MouseEvent e) { |
631 |
} |
632 |
public void mouseReleased(MouseEvent e) { |
633 |
vectorController.notifyMouseEvent(e, true);
|
634 |
} |
635 |
public void mouseClicked(MouseEvent e) { |
636 |
vectorController.notifyMouseEvent(e, false);
|
637 |
} |
638 |
public void mousePressed(MouseEvent e) { |
639 |
try {
|
640 |
for (int i = 0; i < numBots; i++) { |
641 |
if (botRect[i].contains(e.getPoint())) {
|
642 |
selectedBot = i; |
643 |
cmbRobotNum.setSelectedIndex(i+1);
|
644 |
} |
645 |
} |
646 |
} catch (Exception ex) { |
647 |
} |
648 |
} |
649 |
public void mouseDragged(MouseEvent e) { |
650 |
vectorController.notifyMouseEvent(e, false);
|
651 |
} |
652 |
public void mouseMoved(MouseEvent e) { |
653 |
} |
654 |
|
655 |
//
|
656 |
// KeyListener methods
|
657 |
//
|
658 |
public void keyPressed (KeyEvent e) { |
659 |
int code = e.getKeyCode();
|
660 |
if (code == KeyEvent.VK_UP) { |
661 |
vectorController.setMaxForward(); |
662 |
vectorController.sendToServer(); |
663 |
} else if (code == KeyEvent.VK_DOWN) { |
664 |
vectorController.setMaxReverse(); |
665 |
vectorController.sendToServer(); |
666 |
} else if (code == KeyEvent.VK_LEFT) { |
667 |
vectorController.setMaxLeft(); |
668 |
vectorController.sendToServer(); |
669 |
} else if (code == KeyEvent.VK_RIGHT) { |
670 |
vectorController.setMaxRight(); |
671 |
vectorController.sendToServer(); |
672 |
} else if (code == KeyEvent.VK_S) { |
673 |
vectorController.setZero(); |
674 |
vectorController.sendToServer(); |
675 |
} |
676 |
} |
677 |
public void keyReleased (KeyEvent e) { |
678 |
} |
679 |
public void keyTyped (KeyEvent e) { |
680 |
} |
681 |
|
682 |
|
683 |
//
|
684 |
// ActionListener method
|
685 |
//
|
686 |
public void actionPerformed (ActionEvent e) { |
687 |
Object source = e.getSource();
|
688 |
if (source == btnGraph) {
|
689 |
btnGraph.setEnabled(false);
|
690 |
//Start dependent threads
|
691 |
drawThread = new Thread(this, "drawThread"); |
692 |
drawThread.start(); |
693 |
indicator.start(); |
694 |
simulator.start(); |
695 |
webcamLoader.start(); |
696 |
} else if (source == btnConnect) { |
697 |
csi.connect(txtHost.getText(), txtPort.getText()); |
698 |
dataUpdater.start(); |
699 |
drawThread = new Thread(this, "drawThread"); |
700 |
drawThread.start(); |
701 |
indicator.start(); |
702 |
simulator.start(); |
703 |
webcamLoader.start(); |
704 |
} |
705 |
// Robot Movement Controls
|
706 |
else if (source == btnF) { |
707 |
vectorController.setMaxForward(); |
708 |
vectorController.sendToServer(); |
709 |
} else if (source == btnB) { |
710 |
vectorController.setMaxReverse(); |
711 |
vectorController.sendToServer(); |
712 |
} else if (source == btnL) { |
713 |
vectorController.setMaxLeft(); |
714 |
vectorController.sendToServer(); |
715 |
} else if (source == btnR) { |
716 |
vectorController.setMaxRight(); |
717 |
vectorController.sendToServer(); |
718 |
} else if (source == btnActivate) { |
719 |
vectorController.setZero(); |
720 |
vectorController.sendToServer(); |
721 |
} |
722 |
// Robot Commands (non-movement)
|
723 |
else if (source == btnCommand_StopTask) { |
724 |
|
725 |
} else if (source == btnCommand_ResumeTask) { |
726 |
|
727 |
} else if (source == btnCommand_ChargeNow) { |
728 |
|
729 |
} else if (source == btnCommand_StopCharging) { |
730 |
|
731 |
} |
732 |
|
733 |
// Queue Management
|
734 |
else if (source == btnAddTask) { |
735 |
taskAddWindow.prompt(); |
736 |
} else if (source == btnRemoveTask) { |
737 |
if (taskList.getSelectedIndex() >= 0); |
738 |
csi.sendQueueRemove(taskList.getSelectedIndex()); |
739 |
csi.sendQueueUpdate(); |
740 |
} else if (source == btnMoveTaskUp) { |
741 |
csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() - 1);
|
742 |
csi.sendQueueUpdate(); |
743 |
} else if (source == btnMoveTaskDown) { |
744 |
csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() + 1);
|
745 |
csi.sendQueueUpdate(); |
746 |
} else if (source == btnUpdateTasks) { |
747 |
csi.sendQueueUpdate(); |
748 |
} |
749 |
} |
750 |
|
751 |
/*
|
752 |
* SelectionIndicator thread.
|
753 |
* Graphical representation of the selection marker
|
754 |
*
|
755 |
* step() and draw() are synchronized methods. step() is private and
|
756 |
* used to update the position of the crosshairs. draw() is called
|
757 |
* externally and should only run if all calculations in step() have
|
758 |
* been completed.
|
759 |
*/
|
760 |
private class SelectionIndicator extends Thread { |
761 |
|
762 |
final int INDICATOR_DELAY = 180; |
763 |
final double DTHETA = 0.4; //larger values make the marker rotate faster |
764 |
Graphics2D g; //canvas to draw on |
765 |
boolean running;
|
766 |
|
767 |
int sx, sy; //center |
768 |
int r, dr; //radius and width of marker |
769 |
double theta; //current angle |
770 |
|
771 |
volatile Polygon poly1, poly2, poly3, poly4; |
772 |
|
773 |
int px1, py1;
|
774 |
int rx1, ry1;
|
775 |
int px2, py2;
|
776 |
int rx2, ry2;
|
777 |
int px3, py3;
|
778 |
int rx3, ry3;
|
779 |
int px4, py4;
|
780 |
int rx4, ry4;
|
781 |
|
782 |
int steps;
|
783 |
|
784 |
public SelectionIndicator (Graphics2D g) { |
785 |
super("SelectionIndicator"); |
786 |
this.g = g;
|
787 |
running = false;
|
788 |
steps = 0;
|
789 |
|
790 |
theta = 0;
|
791 |
rx1 = 0; ry1 = 0; |
792 |
px1 = 0; py1 = 0; |
793 |
rx2 = 0; ry2 = 0; |
794 |
px2 = 0; py2 = 0; |
795 |
rx3 = 0; ry3 = 0; |
796 |
px3 = 0; py3 = 0; |
797 |
rx4 = 0; ry4 = 0; |
798 |
px4 = 0; py4 = 0; |
799 |
} |
800 |
|
801 |
public synchronized void setCenter (int sx, int sy) { |
802 |
if (sx == this.sx && sy == this.sy) return; |
803 |
this.sx = sx;
|
804 |
this.sy = sy;
|
805 |
steps = 0;
|
806 |
} |
807 |
|
808 |
public synchronized void setRadius (int r, int dr) { |
809 |
this.r = r;
|
810 |
this.dr = dr;
|
811 |
steps = 0;
|
812 |
} |
813 |
|
814 |
public void run () { |
815 |
running = true;
|
816 |
while (running) {
|
817 |
step(); |
818 |
try {
|
819 |
Thread.sleep(INDICATOR_DELAY);
|
820 |
} catch (InterruptedException e) { |
821 |
running = false;
|
822 |
return;
|
823 |
} |
824 |
} |
825 |
} |
826 |
|
827 |
private synchronized void step () { |
828 |
Polygon poly1_new = new Polygon(); |
829 |
Polygon poly2_new = new Polygon(); |
830 |
Polygon poly3_new = new Polygon(); |
831 |
Polygon poly4_new = new Polygon(); |
832 |
|
833 |
//the step
|
834 |
theta = (theta + DTHETA/Math.PI) % (Math.PI); |
835 |
|
836 |
//the calculation
|
837 |
//let p be the point of the pointy thing toward the center
|
838 |
//let r be the point at the opposite side
|
839 |
|
840 |
//recalculate radius, if it will look cool, lolz
|
841 |
int newr = r;
|
842 |
if (steps < 100) |
843 |
newr = (int)( r + 200/(steps+1) ); |
844 |
|
845 |
//precompute values for dx and dy
|
846 |
int dx_inner = (int)(newr * Math.cos(theta)); |
847 |
int dy_inner = (int)(newr * Math.sin(theta)); |
848 |
int dx_outer = (int)((newr+dr) * Math.cos(theta)); |
849 |
int dy_outer = (int)((newr+dr) * Math.sin(theta)); |
850 |
|
851 |
//calculate polygon constants
|
852 |
int dy_poly = (int)(dr/2 * Math.cos(theta)); |
853 |
int dx_poly = (int)(dr/2 * Math.sin(theta)); |
854 |
|
855 |
//determine critical points
|
856 |
//kansas city shuffle!
|
857 |
px1 = sx + dx_inner; |
858 |
py1 = sy - dy_inner; |
859 |
rx1 = sx + dx_outer; |
860 |
ry1 = sy - dy_outer; |
861 |
px2 = sx - dx_inner; |
862 |
py2 = sy + dy_inner; |
863 |
rx2 = sx - dx_outer; |
864 |
ry2 = sy + dy_outer; |
865 |
px3 = sx - dy_inner; |
866 |
py3 = sy - dx_inner; |
867 |
rx3 = sx - dy_outer; |
868 |
ry3 = sy - dx_outer; |
869 |
px4 = sx + dy_inner; |
870 |
py4 = sy + dx_inner; |
871 |
rx4 = sx + dy_outer; |
872 |
ry4 = sy + dx_outer; |
873 |
|
874 |
//create polygons
|
875 |
poly1_new.addPoint(px1, py1); |
876 |
poly1_new.addPoint(rx1+dx_poly, ry1+dy_poly); |
877 |
poly1_new.addPoint(rx1-dx_poly, ry1-dy_poly); |
878 |
poly2_new.addPoint(px2, py2); |
879 |
poly2_new.addPoint(rx2+dx_poly, ry2+dy_poly); |
880 |
poly2_new.addPoint(rx2-dx_poly, ry2-dy_poly); |
881 |
poly3_new.addPoint(px3, py3); |
882 |
poly3_new.addPoint(rx3-dy_poly, ry3+dx_poly); |
883 |
poly3_new.addPoint(rx3+dy_poly, ry3-dx_poly); |
884 |
poly4_new.addPoint(px4, py4); |
885 |
poly4_new.addPoint(rx4-dy_poly, ry4+dx_poly); |
886 |
poly4_new.addPoint(rx4+dy_poly, ry4-dx_poly); |
887 |
|
888 |
//reassign updated polygons
|
889 |
poly1 = poly1_new; |
890 |
poly2 = poly2_new; |
891 |
poly3 = poly3_new; |
892 |
poly4 = poly4_new; |
893 |
|
894 |
if (steps < 300) steps++; |
895 |
} |
896 |
|
897 |
public synchronized void draw () { |
898 |
if (!running) return; |
899 |
g.setColor(Color.GRAY);
|
900 |
//draw polygons
|
901 |
g.fillPolygon(poly1); |
902 |
g.fillPolygon(poly2); |
903 |
g.fillPolygon(poly3); |
904 |
g.fillPolygon(poly4); |
905 |
} |
906 |
|
907 |
} |
908 |
|
909 |
/*
|
910 |
* Simulator thread.
|
911 |
*
|
912 |
*/
|
913 |
private class Simulator extends Thread { |
914 |
final int SIMULATOR_DELAY = 300; |
915 |
boolean running;
|
916 |
|
917 |
public Simulator () {
|
918 |
super("Simulator"); |
919 |
running = false;
|
920 |
} |
921 |
|
922 |
public void run () { |
923 |
running = true;
|
924 |
while (running) {
|
925 |
step(); |
926 |
try {
|
927 |
Thread.sleep(SIMULATOR_DELAY);
|
928 |
} catch (InterruptedException e) { |
929 |
running = false;
|
930 |
return;
|
931 |
} |
932 |
} |
933 |
} |
934 |
|
935 |
private void step () { |
936 |
// don't do anything! the colonet should work on its own!
|
937 |
} |
938 |
|
939 |
} |
940 |
|
941 |
/*
|
942 |
* DataUpdater thread.
|
943 |
* The purpose of this thread is to request data from the server at regular intervals.
|
944 |
*
|
945 |
*/
|
946 |
class DataUpdater extends Thread { |
947 |
final int DATAUPDATER_DELAY = 4000; |
948 |
|
949 |
public DataUpdater () {
|
950 |
super("Colonet DataUpdater"); |
951 |
} |
952 |
|
953 |
public void run () { |
954 |
String line;
|
955 |
while (true) { |
956 |
try {
|
957 |
//request more data
|
958 |
if (csi != null && csi.isReady()) { |
959 |
//csi.sendSensorDataRequest();
|
960 |
//csi.sendXBeeIDRequest();
|
961 |
if (cmbRobotNum.getSelectedIndex() > 0) |
962 |
csi.sendBatteryRequest(cmbRobotNum.getSelectedIndex()-1);
|
963 |
else
|
964 |
csi.sendBatteryRequest(200);
|
965 |
} |
966 |
Thread.sleep(DATAUPDATER_DELAY);
|
967 |
} catch (InterruptedException e) { |
968 |
return;
|
969 |
} |
970 |
} |
971 |
} |
972 |
|
973 |
} |
974 |
|
975 |
/*
|
976 |
* GraphicsPanel class
|
977 |
* An extension of JPanel, designed for holding an image that will be repainted regularly.
|
978 |
*/
|
979 |
class GraphicsPanel extends JPanel { |
980 |
protected Image img; |
981 |
|
982 |
public GraphicsPanel (Image img) { |
983 |
super();
|
984 |
this.img = img;
|
985 |
} |
986 |
|
987 |
public GraphicsPanel (Image img, boolean isDoubleBuffered) { |
988 |
super(isDoubleBuffered);
|
989 |
this.img = img;
|
990 |
} |
991 |
|
992 |
public void paint (Graphics g) { |
993 |
// Place the buffered image on the screen, inside the panel
|
994 |
g.drawImage(img, 0, 0, Color.WHITE, this); |
995 |
} |
996 |
|
997 |
} |
998 |
|
999 |
/*
|
1000 |
* WebcamPanel class
|
1001 |
* Enables more efficient image handling in a component-controlled environment
|
1002 |
*/
|
1003 |
class WebcamPanel extends JPanel { |
1004 |
int BORDER = 16; // this is arbitrary. it makes the image look nice inside a border. |
1005 |
int BOT_RADIUS = 40; |
1006 |
volatile BufferedImage img; |
1007 |
volatile Point [] points; |
1008 |
|
1009 |
public WebcamPanel () {
|
1010 |
super();
|
1011 |
} |
1012 |
|
1013 |
public synchronized void setImage (BufferedImage newimg) { |
1014 |
if (img != null) { |
1015 |
img.flush(); |
1016 |
img = null;
|
1017 |
img = new BufferedImage(1, 1, BufferedImage.TYPE_INT_RGB); |
1018 |
} |
1019 |
System.gc();
|
1020 |
img = newimg; |
1021 |
} |
1022 |
|
1023 |
public synchronized void setPoints (Point [] newpoints) { |
1024 |
this.points = newpoints;
|
1025 |
} |
1026 |
|
1027 |
public synchronized void paint (Graphics g) { |
1028 |
|
1029 |
if (img == null) |
1030 |
return;
|
1031 |
// Place the image on the screen, inside the panel
|
1032 |
g.drawImage(img, |
1033 |
BORDER, //dx1 - the x coordinate of the first corner of the destination rectangle.
|
1034 |
BORDER, //dy1 - the y coordinate of the first corner of the destination rectangle.
|
1035 |
this.getWidth() - BORDER, //dx2 - the x coordinate of the second corner of the destination rectangle. |
1036 |
this.getHeight() - BORDER, //dy2 - the y coordinate of the second corner of the destination rectangle. |
1037 |
0, //sx1 - the x coordinate of the first corner of the source rectangle. |
1038 |
0, //sy1 - the y coordinate of the first corner of the source rectangle. |
1039 |
image.getWidth(), //sx2 - the x coordinate of the second corner of the source rectangle.
|
1040 |
image.getHeight(), //sy2 - the y coordinate of the second corner of the source rectangle.
|
1041 |
null //observer - object to be notified as more of the image is scaled and converted. |
1042 |
); |
1043 |
|
1044 |
// Draw Identifiers
|
1045 |
if (points == null) |
1046 |
return;
|
1047 |
g.setColor(Color.RED);
|
1048 |
((Graphics2D)g).setStroke(new BasicStroke(2)); |
1049 |
for (int i = 0; i < points.length; i++) { |
1050 |
g.drawOval(points[i].x - BOT_RADIUS, points[i].y - BOT_RADIUS, 2*BOT_RADIUS, 2*BOT_RADIUS); |
1051 |
} |
1052 |
|
1053 |
} |
1054 |
|
1055 |
} |
1056 |
|
1057 |
/*
|
1058 |
* WebcamLoader class
|
1059 |
* Handles the loading of the webcam image.
|
1060 |
*/
|
1061 |
class WebcamLoader extends Thread |
1062 |
{ |
1063 |
final int WEBCAMLOADER_DELAY = 1000; |
1064 |
final String IMAGE_PATH = "http://roboclub9.frc.ri.cmu.edu/colonet.jpg"; |
1065 |
final String LOCATIONS_PATH = "http://roboclub9.frc.ri.cmu.edu/colonet/locations.txt"; |
1066 |
|
1067 |
URL imagePath;
|
1068 |
URI locationsPath;
|
1069 |
|
1070 |
MediaTracker mt;
|
1071 |
BufferedImage image;
|
1072 |
|
1073 |
public WebcamLoader (JApplet applet) |
1074 |
{ |
1075 |
super("ColonetWebcamLoader"); |
1076 |
mt = new MediaTracker(applet); |
1077 |
ImageIO.setUseCache(false); |
1078 |
try {
|
1079 |
imagePath = new URL(IMAGE_PATH); |
1080 |
} catch (MalformedURLException e) { |
1081 |
System.out.println("Malformed URL: could not form URL from: [" + IMAGE_PATH + "]\n"); |
1082 |
} |
1083 |
try {
|
1084 |
locationsPath = new URI(LOCATIONS_PATH); |
1085 |
} catch (URISyntaxException x) { |
1086 |
System.out.println("Malformed URI: could not form URI from: [" + LOCATIONS_PATH + "]\n"); |
1087 |
} |
1088 |
|
1089 |
} |
1090 |
|
1091 |
public synchronized void run () |
1092 |
{ |
1093 |
while (true) { |
1094 |
try {
|
1095 |
Thread.sleep(WEBCAMLOADER_DELAY);
|
1096 |
if (image != null) |
1097 |
image.flush(); |
1098 |
System.gc();
|
1099 |
image = ImageIO.read(imagePath);
|
1100 |
// The MediaTracker waitForID pauses the thread until the image is loaded.
|
1101 |
// We don't want to display a half-downloaded image.
|
1102 |
mt.addImage(image, 1);
|
1103 |
mt.waitForID(1);
|
1104 |
mt.removeImage(image); |
1105 |
// Save
|
1106 |
panelWebcam.setImage(image); |
1107 |
parseLocations(locationsPath.toURL()); |
1108 |
} catch (InterruptedException e) { |
1109 |
return;
|
1110 |
} catch (java.security.AccessControlException e) {
|
1111 |
csi.warn("java.security.AccessControlException in WebcamLoader.\n" +
|
1112 |
"The image cannot be loaded from the specified location.\n" +
|
1113 |
"Make sure you are accessing this applet from the correct server.");
|
1114 |
return;
|
1115 |
} catch (IOException e) { |
1116 |
log.append("IOException while trying to load image.");
|
1117 |
} |
1118 |
} |
1119 |
} |
1120 |
|
1121 |
private void parseLocations (URL url) { |
1122 |
URLConnection conn = null; |
1123 |
DataInputStream data = null; |
1124 |
String line;
|
1125 |
String [] lines = new String[30]; |
1126 |
StringBuffer buf = new StringBuffer(); |
1127 |
int i = 0; |
1128 |
|
1129 |
try {
|
1130 |
conn = url.openConnection(); |
1131 |
conn.connect(); |
1132 |
data = new DataInputStream(new BufferedInputStream(conn.getInputStream())); |
1133 |
while ((line = data.readLine()) != null) { |
1134 |
buf.append(line + ";");
|
1135 |
lines[i] = line; |
1136 |
i++; |
1137 |
} |
1138 |
data.close(); |
1139 |
} catch (IOException e) { |
1140 |
System.out.println("IOException:" + e.getMessage()); |
1141 |
} |
1142 |
//log.append("Got robot locations: " + buf + "\n");
|
1143 |
|
1144 |
// Get Point values from strings
|
1145 |
Point [] points = new Point[i]; |
1146 |
for (int j = 0; j < i; j++) { |
1147 |
String [] parts = lines[j].split(","); |
1148 |
int xval = Integer.parseInt(parts[0]); |
1149 |
int yval = Integer.parseInt(parts[1]); |
1150 |
Point p = new Point(xval, yval); |
1151 |
points[j] = p; |
1152 |
} |
1153 |
if (points.length != 0) |
1154 |
panelWebcam.setPoints(points); |
1155 |
|
1156 |
} |
1157 |
} |
1158 |
|
1159 |
|
1160 |
/*
|
1161 |
* VectorController class
|
1162 |
* Manages robot motion control graphically
|
1163 |
*/
|
1164 |
class VectorController extends GraphicsPanel { |
1165 |
int x, y, cx, cy;
|
1166 |
int width, height;
|
1167 |
int side;
|
1168 |
|
1169 |
public VectorController (Image img) { |
1170 |
super (img);
|
1171 |
width = img.getWidth(null);
|
1172 |
height = img.getHeight(null);
|
1173 |
cx = img.getWidth(null)/2; |
1174 |
cy = img.getHeight(null)/2; |
1175 |
x = cx; |
1176 |
y = cy; |
1177 |
if (width < height)
|
1178 |
side = width; |
1179 |
else
|
1180 |
side = height; |
1181 |
} |
1182 |
|
1183 |
public void setPoint (int x, int y) { |
1184 |
if (!isValidPoint(x, y))
|
1185 |
return;
|
1186 |
this.x = x;
|
1187 |
this.y = y;
|
1188 |
repaint(); |
1189 |
} |
1190 |
|
1191 |
public boolean isValidPoint (int x, int y) { |
1192 |
double xterm = Math.pow(1.0*(x - cx)/(side/2), 2); |
1193 |
double yterm = Math.pow(1.0*(y - cy)/(side/2), 2); |
1194 |
return (xterm + yterm <= 1); |
1195 |
} |
1196 |
|
1197 |
public void notifyMouseEvent (MouseEvent e, boolean send) { |
1198 |
if (!isValidPoint(e.getX(), e.getY()))
|
1199 |
return;
|
1200 |
vectorController.setPoint(e.getX(), e.getY()); |
1201 |
vectorController.repaint(); |
1202 |
if (send)
|
1203 |
vectorController.sendToServer(); |
1204 |
} |
1205 |
|
1206 |
public int getSpeed () { |
1207 |
int dx = x - cx;
|
1208 |
int dy = y - cy;
|
1209 |
int v = (int) Math.sqrt( Math.pow(dx, 2) + Math.pow(dy, 2) ); |
1210 |
return v;
|
1211 |
} |
1212 |
|
1213 |
/**
|
1214 |
* Returns the angle of the control vector in positive degrees west of north,
|
1215 |
* or negative degrees east of north, whichever is less than or equal to
|
1216 |
* 180 degrees total.
|
1217 |
*/
|
1218 |
public int getAngle () { |
1219 |
int dx = x - cx;
|
1220 |
int dy = cy - y;
|
1221 |
// find reference angle in radians
|
1222 |
double theta = Math.atan2(Math.abs(dx), Math.abs(dy)); |
1223 |
// transform to degrees
|
1224 |
theta = theta * 180 / Math.PI; |
1225 |
// adjust for quadrant
|
1226 |
if (dx < 0 && dy < 0) |
1227 |
theta = 90 + theta;
|
1228 |
else if (dx < 0 && dy >= 0) |
1229 |
theta = 90 - theta;
|
1230 |
else if (dx >= 0 && dy < 0) |
1231 |
theta = -90 - theta;
|
1232 |
else
|
1233 |
theta = -90 + theta;
|
1234 |
return (int) theta; |
1235 |
} |
1236 |
|
1237 |
public void paint (Graphics g) { |
1238 |
g.setColor(Color.BLACK);
|
1239 |
g.fillRect(0, 0, width, height); |
1240 |
((Graphics2D)g).setStroke(new BasicStroke(1)); |
1241 |
g.setColor(Color.RED);
|
1242 |
g.drawOval(cx-side/2, cy-side/2, side, side); |
1243 |
((Graphics2D)g).setStroke(new BasicStroke(2)); |
1244 |
g.setColor(Color.GREEN);
|
1245 |
g.drawLine(cx, cy, x, y); |
1246 |
g.fillOval(x-3, y-3, 6, 6); |
1247 |
} |
1248 |
|
1249 |
public void setMaxForward () { |
1250 |
setPoint(cx, cy - (side/2) + 1); |
1251 |
} |
1252 |
|
1253 |
public void setMaxReverse () { |
1254 |
setPoint(cx, cy + (side/2) - 1); |
1255 |
} |
1256 |
|
1257 |
public void setMaxLeft () { |
1258 |
setPoint(cx - (side/2) + 1, cy); |
1259 |
} |
1260 |
|
1261 |
public void setMaxRight () { |
1262 |
setPoint(cx + (side/2) - 1, cy); |
1263 |
} |
1264 |
|
1265 |
public void setZero () { |
1266 |
setPoint(cx, cy); |
1267 |
} |
1268 |
|
1269 |
public void sendToServer () { |
1270 |
System.out.println("Attempting to send angle = " + getAngle() + ", speed = " + getSpeed() + ""); |
1271 |
String dest = ColonetServerInterface.GLOBAL_DEST;
|
1272 |
if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex() > 0) |
1273 |
dest = "" + (cmbRobotNum.getSelectedIndex()-1); |
1274 |
|
1275 |
if (csi != null) { |
1276 |
if (cx == 0 && cy == 0) { |
1277 |
csi.sendData(ColonetServerInterface.MOTORS_OFF, dest); |
1278 |
} else {
|
1279 |
csi.sendData(ColonetServerInterface.MOVE + " " + getSpeed() + " " + getAngle(), dest); |
1280 |
/*
|
1281 |
//Directional commands
|
1282 |
if (x > cx && y == cy) { //move right
|
1283 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", dest);
|
1284 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 200", dest);
|
1285 |
} else if (x < cx && y == cy) { //move left
|
1286 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 200", dest);
|
1287 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", dest);
|
1288 |
} else if (x == cx && y > cy) { //move forward
|
1289 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 225", dest);
|
1290 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 225", dest);
|
1291 |
} else if (x == cx && y < cy) { //move backward
|
1292 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 225", dest);
|
1293 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 225", dest);
|
1294 |
} else if (x == cx && y == cy) { //stop!
|
1295 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 0", dest);
|
1296 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 0", dest);
|
1297 |
}
|
1298 |
*/
|
1299 |
} |
1300 |
} |
1301 |
} |
1302 |
|
1303 |
} |
1304 |
|
1305 |
/*
|
1306 |
* TaskAddWindow class
|
1307 |
* A window that provides a simple way to add tasks to a task queue.
|
1308 |
*/
|
1309 |
class TaskAddWindow extends JFrame implements ActionListener, ListSelectionListener { |
1310 |
JPanel panelButtons;
|
1311 |
JPanel panelParameters;
|
1312 |
JPanel panelSouth;
|
1313 |
JPanel panelSelection;
|
1314 |
JButton btnSubmit;
|
1315 |
JButton btnCancel;
|
1316 |
DefaultListModel availableListModel;
|
1317 |
JList availableList;
|
1318 |
JScrollPane spAvailableTasks;
|
1319 |
JTextArea txtDescription;
|
1320 |
JTextField txtParameters;
|
1321 |
MouseListener mouseListener;
|
1322 |
|
1323 |
public TaskAddWindow () {
|
1324 |
super("Add a Task"); |
1325 |
super.setSize(500,500); |
1326 |
super.setLayout(new BorderLayout()); |
1327 |
|
1328 |
// set up buttons
|
1329 |
btnSubmit = new JButton("Submit"); |
1330 |
btnCancel = new JButton("Cancel"); |
1331 |
panelButtons = new JPanel(); |
1332 |
panelButtons.setLayout(new FlowLayout()); |
1333 |
panelButtons.add(btnSubmit); |
1334 |
panelButtons.add(btnCancel); |
1335 |
this.getRootPane().setDefaultButton(btnSubmit);
|
1336 |
|
1337 |
// set up task list
|
1338 |
availableListModel = new DefaultListModel(); |
1339 |
availableListModel.addElement("Map the Environment");
|
1340 |
availableListModel.addElement("Clean Up Chemical Spill");
|
1341 |
availableListModel.addElement("Grow Plants");
|
1342 |
availableListModel.addElement("Save the Cheerleader");
|
1343 |
availableListModel.addElement("Save the World");
|
1344 |
availableList = new JList(availableListModel); |
1345 |
availableList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
|
1346 |
availableList.setSelectedIndex(-1);
|
1347 |
spAvailableTasks = new JScrollPane(availableList); |
1348 |
spAvailableTasks.setBorder(BorderFactory.createTitledBorder("Select A Task")); |
1349 |
txtDescription = new JTextArea(); |
1350 |
txtDescription.setEditable(false);
|
1351 |
txtDescription.setLineWrap(true);
|
1352 |
txtDescription.setWrapStyleWord(true);
|
1353 |
txtDescription.setBorder(BorderFactory.createTitledBorder("Description")); |
1354 |
|
1355 |
//set up parameter area
|
1356 |
panelParameters = new JPanel(); |
1357 |
panelParameters.setLayout(new BorderLayout()); |
1358 |
txtParameters = new JTextField(); |
1359 |
panelParameters.add(new JLabel("Optional parameters for this task: "), BorderLayout.WEST); |
1360 |
panelParameters.add(txtParameters); |
1361 |
|
1362 |
// assemble objects
|
1363 |
panelSelection = new JPanel(); |
1364 |
panelSelection.setLayout(new GridLayout(1,2)); |
1365 |
panelSelection.add(spAvailableTasks); |
1366 |
panelSelection.add(txtDescription); |
1367 |
|
1368 |
panelSouth = new JPanel(); |
1369 |
panelSouth.setLayout(new GridLayout(2,1)); |
1370 |
panelSouth.add(panelParameters); |
1371 |
panelSouth.add(panelButtons); |
1372 |
|
1373 |
this.getContentPane().add(panelSouth, BorderLayout.SOUTH); |
1374 |
this.getContentPane().add(panelSelection, BorderLayout.CENTER); |
1375 |
this.setLocationRelativeTo(null); |
1376 |
|
1377 |
// add listeners here
|
1378 |
availableList.addListSelectionListener(this);
|
1379 |
btnSubmit.addActionListener(this);
|
1380 |
btnCancel.addActionListener(this);
|
1381 |
} |
1382 |
|
1383 |
public void prompt () { |
1384 |
this.setVisible(true); |
1385 |
} |
1386 |
|
1387 |
private String getDescription (int index) { |
1388 |
if (index < 0) |
1389 |
return ""; |
1390 |
switch (index) {
|
1391 |
case 0: return "SLAM and junk"; |
1392 |
case 1: return "I'm not sure this works"; |
1393 |
case 2: return "Push them into the light"; |
1394 |
case 3: return "..."; |
1395 |
case 4: return "..."; |
1396 |
|
1397 |
default: return "Task not recognized"; |
1398 |
} |
1399 |
} |
1400 |
|
1401 |
public void actionPerformed (ActionEvent e) { |
1402 |
Object source = e.getSource();
|
1403 |
if (source == btnSubmit) {
|
1404 |
txtParameters.setText(txtParameters.getText().trim()); |
1405 |
|
1406 |
|
1407 |
this.setVisible(false); |
1408 |
} else if (source == btnCancel) { |
1409 |
this.setVisible(false); |
1410 |
} |
1411 |
} |
1412 |
|
1413 |
public void valueChanged (ListSelectionEvent e) { |
1414 |
int index = availableList.getSelectedIndex();
|
1415 |
if (index >= 0) |
1416 |
txtDescription.setText(getDescription(index)); |
1417 |
} |
1418 |
|
1419 |
} |
1420 |
|
1421 |
class BatteryIcon implements Icon { |
1422 |
private int width; |
1423 |
private int height; |
1424 |
private int level; |
1425 |
|
1426 |
/**
|
1427 |
* Constructs a new BatteryIcon with all default parameters.
|
1428 |
* Default width and height are 50.
|
1429 |
* Default level is 100.
|
1430 |
*/
|
1431 |
public BatteryIcon(){
|
1432 |
this(100, 50, 50); |
1433 |
} |
1434 |
|
1435 |
/**
|
1436 |
* Constructs a new BatteryIcon with default width and height, and with the specified level.
|
1437 |
* Default width and height are 50.
|
1438 |
*/
|
1439 |
public BatteryIcon(int startLevel){ |
1440 |
this(startLevel, 50, 50); |
1441 |
} |
1442 |
|
1443 |
/**
|
1444 |
* Constructs a new BatteryIcon with the specified level, width, and height.
|
1445 |
*/
|
1446 |
public BatteryIcon(int startLevel, int w, int h){ |
1447 |
level = startLevel; |
1448 |
width = w; |
1449 |
height = h; |
1450 |
} |
1451 |
|
1452 |
public void paintIcon(Component c, Graphics g, int x, int y) { |
1453 |
Graphics2D g2d = (Graphics2D) g.create(); |
1454 |
//clear the background
|
1455 |
g2d.setColor(Color.WHITE);
|
1456 |
g2d.fillRect(x + 1, y + 1, width - 2, height - 2); |
1457 |
//outline
|
1458 |
g2d.setColor(Color.BLACK);
|
1459 |
g2d.drawRect((int)(x + width*.3), y + 2, (int)(width*.4), height - 4); |
1460 |
//battery life rectangle
|
1461 |
g2d.setColor(Color.GREEN);
|
1462 |
int greenX = (int)(x + 1 + width*.3); |
1463 |
int greenY = (int)((y+3) + Math.abs(level-100.0)*(height-6)/(100)); |
1464 |
int greenWidth = (int)(width*.4 - 2)+1; |
1465 |
int greenHeight = 1+(int)(level-0.0)*(height-6)/(100); |
1466 |
g2d.fillRect(greenX, greenY, greenWidth, greenHeight); |
1467 |
//text
|
1468 |
g2d.setColor(Color.BLACK);
|
1469 |
g2d.drawString(level + "%", greenX + greenWidth/2 - 10, greenY + greenHeight/2 + 5); |
1470 |
|
1471 |
g2d.dispose(); |
1472 |
} |
1473 |
|
1474 |
/**
|
1475 |
* Sets the battery level for this BatteryIcon. The level should be given in raw form, i.e. 0-255 directly
|
1476 |
* from the robot. The value will be converted to a representative percentage automatically.
|
1477 |
*
|
1478 |
* @param newLevel the new battery reading from the robot that this BatteryIcon will display.
|
1479 |
*/
|
1480 |
public void setLevel(int newLevel) { |
1481 |
level = convert(newLevel); |
1482 |
} |
1483 |
|
1484 |
public int getIconWidth() { |
1485 |
return width;
|
1486 |
} |
1487 |
|
1488 |
public int getIconHeight() { |
1489 |
return height;
|
1490 |
} |
1491 |
|
1492 |
/**
|
1493 |
* Converts a robot battery reading into representable form.
|
1494 |
* Readings from the robot are returned as raw values, 0-255. This method converts the reading into a value
|
1495 |
* from 0 to 100 so that the practical remaining charge is represented.
|
1496 |
*
|
1497 |
* @param level The battery level as returned by the robot.
|
1498 |
* @returns The representable battery percentage.
|
1499 |
*/
|
1500 |
private int convert (int level) { |
1501 |
// TODO: make this a forreals conversion.
|
1502 |
return (int) (1.0 * level / 255); |
1503 |
} |
1504 |
|
1505 |
} |
1506 |
|
1507 |
|
1508 |
} |