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Revision 429

Added by Greg Tress over 16 years ago

Added support for controlling multiple robots, but there is an image loading problem

View differences:

Colonet.java
68 68 
	BufferedImage imageVectorControl;
69 69 
	JButton btnAssignID;
70 70 
	boolean setWaypoint;
71 
	int setWaypointID;
71 72 
	JButton btnCommand_MoveTo;
73 
	JButton btnCommand_MoveAll;
72 74 
	JButton btnCommand_StopTask;
73 75 
	JButton btnCommand_ResumeTask;
74 76 
	JButton btnCommand_ChargeNow;
......
155 157 
		panelWebcam = new WebcamPanel();
156 158 
		tabPaneMain = new JTabbedPane();
157 159 
		tabPaneMain.add(panelWebcam, "Webcam");
158 
		tabPaneMain.add(panelGraph, "Graph");
160 
		//tabPaneMain.add(panelGraph, "Graph");
159 161
160 162 
		// Calculate center of canvas
161 163 
		cx = image.getWidth() / 2;
......
224 226 
		lblSelected = new JLabel("None");
225 227 
		// Command subset
226 228 
		setWaypoint = false;
229 
		setWaypointID = -1;
227 230 
		btnAssignID = new JButton("Assign ID");
228 231 
		btnCommand_MoveTo = new JButton("Move to ...");
232 
		btnCommand_MoveAll = new JButton("Move all ...");
229 233 
		btnCommand_StopTask = new JButton("Stop Current Task");
230 234 
		btnCommand_ResumeTask = new JButton("Resume Current Task");
231 235 
		btnCommand_ChargeNow = new JButton("Recharge Now");
......
237 241 
		panelRobotCommands.add(new JLabel("Selected Icon: "));
238 242 
		panelRobotCommands.add(lblSelected);
239 243 
		panelRobotCommands.add(btnAssignID);
244 
		panelRobotCommands.add(new JLabel(""));
240 245 
		panelRobotCommands.add(btnCommand_MoveTo);
246 
		panelRobotCommands.add(btnCommand_MoveAll);
241 247 
		//panelRobotCommands.add(btnCommand_StopTask);
242 248 
		//panelRobotCommands.add(btnCommand_ResumeTask);
243 249 
		//panelRobotCommands.add(btnCommand_ChargeNow);
......
327 333 
		btnActivate.addKeyListener(this);
328 334 
		cmbRobotNum.addKeyListener(this);
329 335 
		btnCommand_MoveTo.addActionListener(this);
336 
		btnCommand_MoveAll.addActionListener(this);
330 337 
		btnCommand_StopTask.addActionListener(this);
331 338 
		btnCommand_ResumeTask.addActionListener(this);
332 339 
		btnCommand_ChargeNow.addActionListener(this);
......
357 364 
	public void paint (Graphics g) {
358 365 
	    super.paint(g);
359 366 
	}
367
368 
	public void update (Graphics g) {
369 
	    paint(g);
370 
	}
360 371
361 372 
	/**
362 373 
	* Gets the JTextArea used for storing the activity log. This method returns a reference to the
......
528 539 
	public void mousePressed(MouseEvent e) {
529 540
530 541 
	    // If we are selecting a waypoint (destination) for a specific bot
531 
	    if (setWaypoint) {
542 
	    if (setWaypoint && setWaypointID  >= 0) {
543 
	        setWaypoint = false;
544 
	        panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
532 545 
	        if (selectedBot < 0 || robotIcons.get(selectedBot).id < 0)
533 546 
	            return;
534 
	        int px = e.getX();
535 
	        int py = e.getY();
536 547
537 548 
	        RobotIcon r = robotIcons.get(selectedBot);
538 549 
	        r.destx = e.getX();
539 550 
	        r.desty = e.getY();
540
551 
	        return;
552 
	    }
553
554 
	    // If we are setting all waypoints
555 
	    if (setWaypoint) {
541 556 
	        setWaypoint = false;
542 557 
	        panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
558 
	        for (int i = 0; i < robotIcons.size(); i++) {
559 
	            RobotIcon r = robotIcons.get(i);
560 
	            if (r.id < 0)
561 
	                continue;
562 
	            r.destx = e.getX();
563 
	            r.desty = e.getY();
564 
	        }
543 565 
	        return;
544 566 
	    }
545 567
......
646 668 
		}
647 669 
		// Robot Commands (non-movement)
648 670 
		else if (source == btnCommand_MoveTo) {
671 
		    if (selectedBot < 0)
672 
		        return;
649 673 
		    panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
650 674 
		    setWaypoint = true;
675 
		    setWaypointID = selectedBot;
651 676
677 
		} else if (source == btnCommand_MoveAll) {
678 
		    panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
679 
		    setWaypoint = true;
680 
		    setWaypointID = -1;
681
652 682 
		} else if (source == btnCommand_StopTask) {
653 683
654 684 
		} else if (source == btnCommand_ResumeTask) {
......
914 944 
				img.flush();
915 945 
				img = null;
916 946 
				img = new BufferedImage(1, 1, BufferedImage.TYPE_INT_RGB);
947 
				txtMatrix.append("c");
917 948 
			}
949 
			System.gc();
918 950 
			img = newimg;
919 
			repaint();
920 951 
		}
921 952
922 953 
		public synchronized void setPoints (Point [] newpoints) {
......
1031 1062 
					Thread.sleep(WEBCAMLOADER_DELAY);
1032 1063 
					if (image != null)
1033 1064 
						image.flush();
1065 
					System.gc();
1034 1066 
					image = ImageIO.read(imagePath);
1035 1067 
					// The MediaTracker waitForID pauses the thread until the image is loaded.
1036 1068 
					// We don't want to display a half-downloaded image.
......
1039 1071 
					mt.removeImage(image);
1040 1072 
					// Save
1041 1073 
					panelWebcam.setImage(image);
1042 
					//parseLocations(locationsPath.toURL());
1043 
					panelWebcam.setPoints(null);  //temporary simulation code
1074 
					parseLocations(locationsPath.toURL());
1075 
					//panelWebcam.setPoints(null);  //temporary simulation code
1044 1076 
				} catch (InterruptedException e) {
1045 1077 
					return;
1046 1078 
				} catch (java.security.AccessControlException e) {
......
1096 1128 
	*/
1097 1129 
	class RobotIcon {
1098 1130 
		public final int RADIUS = 30;
1099 
		public final int CLOSE = 30;
1131 
		public final int CLOSE = 70;
1100 1132
1101 1133 
		public int x, y;
1102 1134 
		public int destx, desty;

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