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Revision 425

Added by Greg Tress about 16 years ago

compatibility updates with colonet server

View differences:

trunk/code/projects/colonet/ColonetGUI/Colonet.java
594 594 
	* @see ColonetServerInterface#sendXBeeIDRequest()
595 595 
	*/
596 596 
	public void parseXBeeIDs (String line) {
597 
		//TODO: check if this string actually has xbee command codes
598 
		System.out.println("Got XBee ID String: \n" + line);
599 597
600 598 
		String [] str = line.split(" ");
601 599 
		int num = Integer.parseInt(str[2]);
......
628 626 
	* @see ColonetServerInterface#sendBatteryRequest(int)
629 627 
	*/
630 628 
	public void parseBattery (String line) {
631 
		System.out.println("Got battery update: " + line);
632 629 
		String [] str = line.split(" ");
633 
		int botNum = (int) line.charAt(4);
634 
		int batteryVal = (int) line.charAt(6);
635 
		if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex()-1 == botNum) {
636 
			//TODO: update battery info graphically
630 
		int botNum = Integer.parseInt(str[2]);
631 
		int level = Integer.parseInt(str[3]);
632 
		int selectedBot = 0;
633 
		try {
634 
		    selectedBot = Integer.parseInt((String)cmbRobotNum.getSelectedItem());
635 
		} catch (Exception e) {
637 636 
		}
638 
		// For now, just update the bar whenever we get an update.
639 
		batteryIcon.setLevel((int) (100.0 * batteryVal / 255));
637 
		if (selectedBot == botNum) {
638 
			batteryIcon.setLevel(level);
639 
		}
640 640 
	}
641 641
642 642 
	//
......
920 920 
	*
921 921 
	*/
922 922 
	class DataUpdater extends Thread {
923 
		final int DATAUPDATER_DELAY = 4000;
923 
		final int DATAUPDATER_DELAY = 2200;
924 924
925 925 
		public DataUpdater () {
926 926 
			super("Colonet DataUpdater");
......
933 933 
					//request more data
934 934 
					if (csi != null && csi.isReady()) {
935 935 
						//csi.sendSensorDataRequest();
936 
						//csi.sendXBeeIDRequest();
937 
						if (cmbRobotNum.getSelectedIndex() > 0)
938 
							csi.sendBatteryRequest(cmbRobotNum.getSelectedIndex()-1);
939 
						else
936 
						csi.sendXBeeIDRequest();
937 
						if (cmbRobotNum.getSelectedIndex() > 0) {
938 
						    String sel = (String) cmbRobotNum.getSelectedItem();
939 
						    int num = Integer.parseInt(sel);
940 
							csi.sendBatteryRequest(num);
941 
						} else {
940 942 
							csi.sendBatteryRequest(200);
943 
						}
941 944 
					}
942 945 
					Thread.sleep(DATAUPDATER_DELAY);
943 946 
				} catch (InterruptedException e) {
......
1243 1246 
		public void sendToServer () {
1244 1247 
			System.out.println("Attempting to send angle = " + getAngle() + ", speed = " + getSpeed() + "");
1245 1248 
			String dest = ColonetServerInterface.GLOBAL_DEST;
1246 
			if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex() > 0)
1247 
				dest = "" + (cmbRobotNum.getSelectedIndex()-1);
1249 
			if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex() > 0) {
1250 
				dest = (String)cmbRobotNum.getSelectedItem();
1251 
			}
1248 1252
1249 1253 
			if (csi != null) {
1250 1254 
				/*
......
1440 1444 
	        g2d.drawString(level + "%", greenX + greenWidth/2 - 10, greenY + greenHeight/2 + 5);
1441 1445
1442 1446 
	        g2d.dispose();
1447 
	        System.out.println("Painted icon");
1443 1448 
	    }
1444 1449
1445 1450 
		/**
......
1450 1455 
		*/
1451 1456 
	    public void setLevel(int newLevel) {
1452 1457 
	    	level = convert(newLevel);
1458 
	    	repaint();
1459 
	    	System.out.println("Updated level to " + level);
1453 1460 
	    }
1454 1461
1455 1462 
	    public int getIconWidth() {
......
1470 1477 
		*/
1471 1478 
		private int convert (int level) {
1472 1479 
			// TODO: make this a forreals conversion.
1473 
			return (int) (1.0 * level / 255);
1480 
			return (int) (100.0 * level / 128);
1474 1481 
		}
1475 1482
1476 1483 
	}
trunk/code/projects/colonet/ColonetGUI/ColonetServerInterface.java
314 314 
	* @see Colonet#parseXBeeIDs(String)
315 315 
	*/
316 316 
	public void sendXBeeIDRequest () {
317 
		System.out.println("Sending XBee ID request");
318 317 
		sendRequest(ColonetServerInterface.REQUEST_XBEE_IDS, "");
319 318 
	}
320 319
......
331 330 
	* @see Colonet#parseBattery(String)
332 331 
	*/
333 332 
	public void sendBatteryRequest (int robotNum) {
334 
		sendData(ColonetServerInterface.BATTERY, "" + robotNum);
333 
		//create packet
334 
		String packet = "";
335 
		packet += ColonetServerInterface.SEND_TO_ROBOT;
336 
		packet += " " + robotNum;
337 
		packet += " " + ColonetServerInterface.COLONET_REQUEST;
338 
		packet += " " + ColonetServerInterface.BATTERY;  //add  the command code here
339 
		packet += "\n";
340 
		sendString(packet);
335 341 
	}
336 342
337 343 
	/*
......
485 491 
				ColonetServerInterface.REQUEST_XBEE_IDS))
486 492 
				colonet.parseXBeeIDs(line);
487 493 
			// Battery
488 
			else if (line.charAt(0) == Integer.parseInt(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST)
489 
				&& line.charAt(2) == Integer.parseInt(ColonetServerInterface.BATTERY))
490 
				colonet.parseBattery(line);
491 
			/*
492 494 
			else if (line.startsWith(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " +
493 495 
				ColonetServerInterface.BATTERY))
494 496 
				colonet.parseBattery(line);
495 
			*/
496 497 
			// Unknown type
497 498 
			else
498 499 
				System.out.println("Got data:" + line);

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