/ - Diff - Colony - Robotics Club

Revision 531

Added by Eugene Marinelli about 16 years ago

more cleanup of client

     static int robot_x, robot_y;
     static volatile int updated_robot_pos_ready;
     #define ERROR_MAG_TO_MOTOR_DIFFENTIAL_CONST (10)
     #define ERROR_MAG_TO_MOTOR_DIFFENTIAL_CONST (80)
     /* Internal function prototypes */
     static unsigned int two_bytes_to_int(char high, char low);
-...
       robot_x = 0;
       robot_y = 0;
       updated_robot_pos_ready = 1;
       updated_robot_pos_ready = 0;
       return 0;
+    }
-...
+    }
     void request_abs_position() {
       //usb_puts("requesting_abs_position\n");
       usb_puts("requesting_abs_position\n");
       ColonetRobotServerPacket pkt;
       pkt.client_id = -1;
-...
+    }
     static void move_to_position_routine(int target_x, int target_y) {
      int last_x = robot_x, last_y = robot_y;
       int last_x = robot_x, last_y = robot_y;
      while (distsquared(robot_x, robot_y, target_x, target_y) >
       char buf[40];
       sprintf(buf, "cur dist is %d\n", distsquared(robot_x, robot_y, target_x, target_y));
       usb_puts(buf);
       sprintf(buf, "radius squared is %d\n", TARGET_POSITION_STOP_DISTANCE_THRESHOLD*TARGET_POSITION_STOP_DISTANCE_THRESHOLD);
       usb_puts(buf);
       while (distsquared(robot_x, robot_y, target_x, target_y) >
             TARGET_POSITION_STOP_DISTANCE_THRESHOLD*TARGET_POSITION_STOP_DISTANCE_THRESHOLD) {
         request_abs_position(); // While we're doing this computation, server can be reporting next position.
         int count = 0;
         while (!updated_robot_pos_ready) { // ghetto condition variable
           wl_do();
           if (count++ == 10000) { // in case the server missed it...
             request_abs_position();
             count = 0;
+          }
+        }
         int cur_robot_x = robot_x;
         int cur_robot_y = robot_y;
         char buf[40];
         sprintf(buf, "Position: %d %d\n", cur_robot_x, cur_robot_y);
         sprintf(buf, "Current position: %d %d\n", cur_robot_x, cur_robot_y);
         usb_puts(buf);
         sprintf(buf, "Target position: %d %d\n", target_x, target_y);
         usb_puts(buf);
         updated_robot_pos_ready = 0;
         request_abs_position(); // While we're doing this computation, server can be reporting next position.
-...
         float e_y = r_y - v_y;
         float e_mag = sqrt_approx(e_x * e_x + e_y * e_y);
         sprintf(buf, "Error: <%f,%f>; mag: %f\n", e_x, e_y, e_mag);
         usb_puts(buf);
         /* Motor differential proportional to magnitude of directional error. */
         int motor_differential = (int)(e_mag * ERROR_MAG_TO_MOTOR_DIFFENTIAL_CONST);
-...
           motor_differential = -motor_differential;
+        }
         sprintf(buf, "motor_diff: %d\n", motor_differential);
         usb_puts(buf);
         last_x = cur_robot_x;
         last_y = cur_robot_y;
         sprintf(buf, "motor_diff: %d\n", motor_differential);
         usb_puts(buf);
         set_motors_with_differential(motor_differential);
+      }
       usb_puts("reached destination!\n");
+    }
     /* Private functions */
-...
       int_args[2] = two_bytes_to_int(args[4], args[5]);
       if (type == COLONET_REQUEST) {
         usb_puts("received a COLONET_REQUEST\n");
         sprintf(buf, "received colonet request: pkt msgcode is %d\n", pkt->msg_code);
         usb_puts(buf);
         switch (pkt->msg_code) {
           //Sharp
-...
           break;
+        }
       } else if (type == COLONET_COMMAND) {
         usb_puts("colonet command ... %d\n", pkt->msg_code);
         sprintf(buf, "colonet command ... pkt->msg_code=%d\n", pkt->msg_code);
         usb_puts(buf);
     /* TODO uncomment this stuff */
     /*     if (pkt.msg_code >= USER_DEFINED_MSG_ID_START && */
-...
           robot_x = int_args[0];
           robot_y = int_args[1];
           updated_robot_pos_ready;
           updated_robot_pos_ready = 1;
           sprintf(buf, "pos is: %d %d\n", robot_x, robot_y);
           usb_puts(buf);
           break;
         case MOVE_TO_ABSOLUTE_POSITION:
           usb_puts("move to abs position!\n");
           usb_puts("move to abs position2!\n");
           move_to_position_routine(int_args[0], int_args[1]);
           break;

     #include <stdio.h>
     #include <stdlib.h>
     #define MINH 100 //min threshold level
     #define MAXH 220 //max threshold level
     #define MINH 150 //min threshold level
     #define MAXH 200 //max threshold level
     #define DEBUG 0 //Debug to find threshold level
     struct CenterP {

     //
     //  Colonet.java
     //	Colonet.java
     //
     import javax.swing.*;
-...
     import java.io.*;
     import java.util.*;
     /**
     *	The Colonet Graphical User Interface Applet for use locally and over an internet connection.
     *	@author Gregory Tress
     * The Colonet Graphical User Interface Applet for use locally and over an internet connection.
     * @author Gregory Tress
+    *
     *	To generate javadoc on this file or other java files, use javadoc *.java -d doc, where doc
     *	is the name of the folder into which the files should be written.
     * To generate javadoc on this file or other java files, use javadoc *.java -d doc, where doc
     * is the name of the folder into which the files should be written.
     */
     public class Colonet extends JApplet implements ActionListener, MouseInputListener, KeyListener, Runnable {
     	// Used for images
     	final int CANVAS_SIZE = 500;  //the applet may be slow if the canvas gets too large
     	final int CANVAS_SIZE = 500;	//the applet may be slow if the canvas gets too large
     	final int BUFFER = 50;
     	final int RADIUS = 30;
-...
     	final int VECTOR_CONTROLLER_HEIGHT = 220;
     	final int VECTOR_CONTROLLER_WIDTH = 350;
     	// Connection
     	JTextField txtHost;
     	JTextField txtPort;
-...
     	Font botFont;
     	volatile int numBots;
     	volatile int selectedBot;  //the user has selected this bot graphically
     	volatile java.util.List <RobotIcon> robotIcons;  //contains boundary shapes around bots for click detection
     	volatile int selectedBot;	 //the user has selected this bot graphically
     	volatile java.util.List <RobotIcon> robotIcons;	 //contains boundary shapes around bots for click detection
     	volatile int[] xbeeID;
     	Colonet self = this;
-...
     	WebcamLoader webcamLoader;
     	ColonetServerInterface csi;
     	public void init () {
     		// Set the default look and feel - choose one
             //String laf = UIManager.getSystemLookAndFeelClassName();
     		//String laf = UIManager.getSystemLookAndFeelClassName();
     		String laf = UIManager.getCrossPlatformLookAndFeelClassName();
     		//String laf = "com.sun.java.swing.plaf.motif.MotifLookAndFeel";
             try {
                 UIManager.setLookAndFeel(laf);
             } catch (UnsupportedLookAndFeelException exc) {
                 System.err.println ("Warning: UnsupportedLookAndFeel: " + laf);
             } catch (Exception exc) {
                 System.err.println ("Error loading " + laf + ": " + exc);
+            }
     		try {
     			UIManager.setLookAndFeel(laf);
     		} catch (UnsupportedLookAndFeelException exc) {
     			System.err.println ("Warning: UnsupportedLookAndFeel: " + laf);
     		} catch (Exception exc) {
     			System.err.println ("Error loading " + laf + ": " + exc);
+    		}
     		// We should invoke and wait to avoid browser display difficulties
     		Runnable r = new Runnable() {
     			public void run() {
     				createAndShowGUI();
+    			}
     		};
     		try {
     			SwingUtilities.invokeAndWait(r);
     		} catch (InterruptedException e) {
-...
     		gc = GraphicsEnvironment.getLocalGraphicsEnvironment().getDefaultScreenDevice().getDefaultConfiguration();
     		image = gc.createCompatibleImage(CANVAS_SIZE,CANVAS_SIZE);
     		canvas = image.createGraphics();
     		canvas.setStroke(new BasicStroke(2));  //set pen width
     		panelGraph = new GraphicsPanel(image, false);  //set automatic double-buffering to false. we are doing it manually.
     		canvas.setStroke(new BasicStroke(2));	 //set pen width
     		panelGraph = new GraphicsPanel(image, false);	 //set automatic double-buffering to false. we are doing it manually.
     		panelWebcam = new WebcamPanel();
     		tabPaneMain = new JTabbedPane();
     		tabPaneMain.add(panelWebcam, "Webcam");
-...
     		// Message log
     		log = new JTextArea();
     		spLog = new JScrollPane(log,
     			ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS,
     		spLog = new JScrollPane(log, ScrollPaneConstants.VERTICAL_SCROLLBAR_ALWAYS,
     			ScrollPaneConstants.HORIZONTAL_SCROLLBAR_AS_NEEDED);
     		spLog.setBorder(BorderFactory.createTitledBorder("Log"));
     		spLog.setPreferredSize(new Dimension(0, 120));
-...
     		btnGetXBeeIDs.addActionListener(this);
     		btnAssignID.addActionListener(this);
     		panelWebcam.addMouseListener(this);
+    	}
     	public void run () {
-...
+    	}
     	public void paint (Graphics g) {
     	    super.paint(g);
     		super.paint(g);
+    	}
     	public void update (Graphics g) {
     	    paint(g);
     		paint(g);
+    	}
     	/**
-...
     	/**
     	* Parses a String containing BOM matrix information.
     	* The ColonetServerInterface receives lines of the BOM matrix.  (For encoding
     	* information, see the ColonetServerInterface documentation.)  The entire matrix is passed
     	* The ColonetServerInterface receives lines of the BOM matrix.	(For encoding
     	* information, see the ColonetServerInterface documentation.)	 The entire matrix is passed
     	* to the client when requested. This method takes a string of the form
     	* "[command code] [command code] [number of robots] [data0] [data1] ..."
     	* with tokens separated by spaces and containing no brackets.
     	* The [command code]s are predefined values identifying this String as a BOM data
     	* String, [number of robots] is an integer, and the values that follow are
     	* the sensor readings of the robots in order, starting with robot 0.  Only [number of robots]^2
     	* data entries will be read.  The matrix values are saved locally until the next String is parsed.
     	* the sensor readings of the robots in order, starting with robot 0.	Only [number of robots]^2
     	* data entries will be read.	The matrix values are saved locally until the next String is parsed.
+    	*
+    	*
     	* @param line the String containing BOM matrix information.
-...
     		for (int i = 0; i < num; i++) {
     			for (int j = 0; j < num; j++) {
     				String next = str[3 + i*num + j];
     				if (next.equals("-1"))
     				if (next.equals("-1")) {
     					txtMatrix.append("-");
     				else
     				} else {
     					txtMatrix.append(next);
     				if (j < num - 1)
+    				}
     				if (j < num - 1) {
     					txtMatrix.append(" ");
+    				}
+    			}
     			if (i < num - 1)
     			if (i < num - 1) {
     				txtMatrix.append("\n");
+    			}
+    		}
     		repaint();
+    	}
     	public void connect () {
     	    lblConnectionStatus.setText("Status: Connecting...");
     	    webcamLoader = new WebcamLoader(this);
     		lblConnectionStatus.setText("Status: Connecting...");
     		webcamLoader = new WebcamLoader(this);
     		dataUpdater = new DataUpdater();
     		csi = new ColonetServerInterface(this);
     		csi.connect(txtHost.getText(), txtPort.getText());
     		if (!csi.isReady()) {
     		    lblConnectionStatus.setText("Status: Offline");
     			return;
+    	    }
     		btnConnect.setText("Disconnect");
     		lblConnectionStatus.setText("Status: Connected");
     		dataUpdater.start();
     		webcamLoader.start();
     			lblConnectionStatus.setText("Status: Offline");
     		} else {
     			btnConnect.setText("Disconnect");
     			lblConnectionStatus.setText("Status: Connected");
     			dataUpdater.start();
     			webcamLoader.start();
+    		}
+    	}
     	public void disconnect () {
     	    lblConnectionStatus.setText("Status: Disconnecting...");
     	    dataUpdater.interrupt();
     	    csi.disconnect();
     	    csi = null;
     	    btnConnect.setText("Connect");
     	    lblConnectionStatus.setText("Status: Disconnected");
     		lblConnectionStatus.setText("Status: Disconnecting...");
     		dataUpdater.interrupt();
     		csi.disconnect();
     		csi = null;
     		btnConnect.setText("Connect");
     		lblConnectionStatus.setText("Status: Disconnected");
+    	}
     	/**
-...
     	/**
     	* Parses a String containing XBee ID values.
     	* The ColonetServerInterface receives Strings of XBee information.  (For encoding
     	* information, see the ColonetServerInterface documentation.)  This method takes
     	* The ColonetServerInterface receives Strings of XBee information.	(For encoding
     	* information, see the ColonetServerInterface documentation.)	 This method takes
     	* a string of the form "[command code] [command code] [number of robots] [id0] [id1] ..."
     	* with tokens separated by spaces and containing no brackets.
     	* The [command code]s are predefined values identifying this String as an XBee
     	* ID String, [number of robots] is an integer, and the values that follow are
     	* the IDs of the robots in order, starting with robot 0.  Only [number of robots]
     	* will be read.  The ID values are saved locally until the next String is parsed.
     	* the IDs of the robots in order, starting with robot 0.	Only [number of robots]
     	* will be read.	 The ID values are saved locally until the next String is parsed.
     	* The purpose of having this list is to ensure that robots are properly identified for control purposes.
     	* This keeps robot identification consistent between sessions and prevents arbitrary assignment.
+    	*
-...
     		String [] str = line.split(" ");
     		int num = Integer.parseInt(str[2]);
     		xbeeID = new int[num];
     		for (int i = 0; i < num; i++)
     		for (int i = 0; i < num; i++) {
     			xbeeID[i] = Integer.parseInt(str[i+3]);
+    		}
     		//update the list of robots to control
     		//but save the old value first
     		Object oldSelection = cmbRobotNum.getSelectedItem();
     		cmbRobotNum.removeAllItems();
     		cmbRobotNum.addItem(new String("   All   "));
     		for (int i = 0; i < num; i++)
     		cmbRobotNum.addItem(new String("	 All	 "));
     		for (int i = 0; i < num; i++) {
     			cmbRobotNum.addItem(new String("" + xbeeID[i]));
+    		}
     		cmbRobotNum.setSelectedItem(oldSelection);
     		repaint();
+    	}
     	/**
     	* Parses a String containing battery information.
     	* The ColonetServerInterface receives Strings of battery information.  (For encoding
     	* information, see the ColonetServerInterface documentation.)  This method takes
     	* The ColonetServerInterface receives Strings of battery information.	 (For encoding
     	* information, see the ColonetServerInterface documentation.)	 This method takes
     	* a string of the form "[command code] [command code] [robot ID] [value]"
     	* with tokens separated by spaces and containing no brackets.
     	* The [command code]s are predefined values identifying this String as a battery
-...
     		int level = Integer.parseInt(str[3]);
     		int selected = -1;
     		try {
     		    selected = Integer.parseInt((String)cmbRobotNum.getSelectedItem());
     			selected = Integer.parseInt((String)cmbRobotNum.getSelectedItem());
     		} catch (Exception e) {
     			System.out.println("Exception in parseBattery.");
+    		}
     		if (selected == botNum) {
     			batteryIcon.setLevel(level);
+    		}
-...
     			int x = Integer.parseInt(str[i+1]);
     			int y = Integer.parseInt(str[i+2]);
     			RobotIcon newIcon = new RobotIcon(id, x, y);
                 if (newIcon.id >= 0)
                     newIcon.color = Color.GREEN;
     			if (newIcon.id >= 0) {
     				newIcon.color = Color.GREEN;
+    			}
     			newList.add(newIcon);
+    		}
     		robotIcons = newList;
     		repaint();
+    	}
     	//
     	// MouseListener methods
     	//
     	public void mousePressed(MouseEvent e) {
     	    //Start a new Thread to handle the MouseEvent
     	    (new MouseHandler(e)).start();
     		//Start a new Thread to handle the MouseEvent
     		(new MouseHandler(e)).start();
+    	}
     	public void mouseExited(MouseEvent e) {
+    	}
-...
     	//
     	public void keyPressed (KeyEvent e) {
     		//Start a new Thread to handle the KeyEvent
     	    (new KeyHandler(e)).start();
     		(new KeyHandler(e)).start();
+    	}
     	public void keyReleased (KeyEvent e) {
+    	}
-...
+    	}
     	class MouseHandler extends Thread {
     		MouseEvent e;
     	    MouseEvent e;
     		public MouseHandler (MouseEvent event) {
     			super("MouseHandler");
     			this.e = event;
+    		}
     	    public MouseHandler (MouseEvent event) {
     	        super("MouseHandler");
     	        this.e = event;
+    	    }
     		public void run () {
     			Point pt = panelWebcam.convertClick(e);
     	    public void run () {
     			// If we are selecting a waypoint (destination) for a specific bot
     			if (setWaypoint && setWaypointID	>= 0) {
     				setWaypoint = false;
     				panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
     				if (selectedBot < 0) {
     					return;
+    				}
     	        Point pt = panelWebcam.convertClick(e);
     				RobotIcon r = robotIcons.get(selectedBot);
     				r.destx = pt.x;
     				r.desty = pt.y;
     	        // If we are selecting a waypoint (destination) for a specific bot
     	        if (setWaypoint && setWaypointID  >= 0) {
     	            setWaypoint = false;
     	            panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
     	            if (selectedBot < 0)
     	                return;
     				if (csi != null) {
     					csi.sendAbsoluteMove(r.id, r.destx, r.desty);
     	            RobotIcon r = robotIcons.get(selectedBot);
     	            r.destx = pt.x;
     	            r.desty = pt.y;
+    				}
     				return;
+    			}
     	            if (csi != null)
     	                csi.sendAbsoluteMove(r.id, r.destx, r.desty);
     			// Right-click also means we are moving a robot
     			if (e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) {
     				if (selectedBot < 0) {
     					return;
+    				}
     	            return;
+    	        }
     				RobotIcon r = robotIcons.get(selectedBot);
     				r.destx = pt.x;
     				r.desty = pt.y;
     	        // Right-click also means we are moving a robot
     	        if (e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) {
     	            if (selectedBot < 0)
     	                return;
     				if (csi != null) {
     					csi.sendAbsoluteMove(r.id, r.destx, r.desty);
+    				}
     	            RobotIcon r = robotIcons.get(selectedBot);
     	            r.destx = pt.x;
     	            r.desty = pt.y;
     				return;
+    			}
     	            if (csi != null)
     	                csi.sendAbsoluteMove(r.id, r.destx, r.desty);
     			// If we are setting all waypoints
     			if (setWaypoint) {
     				setWaypoint = false;
     				panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
     				for (int i = 0; i < robotIcons.size(); i++) {
     					RobotIcon r = robotIcons.get(i);
     					r.destx = pt.x;
     					r.desty = pt.y;
+    				}
     				return;
+    			}
     	            return;
+    	        }
     	        // If we are setting all waypoints
     	        if (setWaypoint) {
     	            setWaypoint = false;
     	            panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));
     	            for (int i = 0; i < robotIcons.size(); i++) {
     	                RobotIcon r = robotIcons.get(i);
     	                r.destx = pt.x;
     	                r.desty = pt.y;
+    	            }
     	            return;
+    	        }
     	        // Otherwise, we are selecting a bot, or doing nothing
     		    for (int i = 0; i < robotIcons.size(); i++) {
     		        RobotIcon r = robotIcons.get(i);
     		        if (r.contains(pt.x, pt.y)) {
     		            selectedBot = i;
     		            lblSelected.setText(" " + r.id);
     			// Otherwise, we are selecting a bot, or doing nothing
     			for (int i = 0; i < robotIcons.size(); i++) {
     				RobotIcon r = robotIcons.get(i);
     				if (r.contains(pt.x, pt.y)) {
     					selectedBot = i;
     					lblSelected.setText(" " + r.id);
     					// Try to select the clicked bot, if its XBee ID is detected.
     					for (int j = 1; j < cmbRobotNum.getItemCount(); j++) {
     						if (Integer.parseInt(cmbRobotNum.getItemAt(j).toString()) == robotIcons.get(selectedBot).id)
     						if (Integer.parseInt(cmbRobotNum.getItemAt(j).toString()) == robotIcons.get(selectedBot).id) {
     							cmbRobotNum.setSelectedIndex(j);
+    						}
+    					}
     					return;
+    		        }
+    		    }
+    				}
+    			}
     		    repaint();
+    	    }
     			repaint();
+    		}
+    	}
     	class KeyHandler extends Thread {
     		KeyEvent e;
     		public KeyHandler (KeyEvent event) {
-...
+    	}
     	class ActionHandler extends Thread {
     		ActionEvent e;
     	    ActionEvent e;
     		public ActionHandler (ActionEvent event) {
     			super("ActionHandler");
     			this.e = event;
+    		}
     	    public ActionHandler (ActionEvent event) {
     	        super("ActionHandler");
     	        this.e = event;
+    	    }
     		public void run () {
     			Object source = e.getSource();
     	    public void run () {
     	        Object source = e.getSource();
     			// General Actions
     			if (source == btnConnect) {
     				if (csi == null) {
     					connect();
     				} else {
     					disconnect();
+    				}
     			} else if (source == btnGetXBeeIDs) {
     				csi.sendXBeeIDRequest();
     			} else if (source == btnAssignID) {
     				String message;
     				if (selectedBot < 0) {
     					return;
+    				}
     				int curID = robotIcons.get(selectedBot).id;
     		    // General Actions
     		    if (source == btnConnect) {
     		        if (csi == null)
     			        connect();
     			    else
     			        disconnect();
     		    } else if (source == btnGetXBeeIDs) {
     			    csi.sendXBeeIDRequest();
     		    } else if (source == btnAssignID) {
     		        String message;
     		        if (selectedBot < 0)
     		            return;
     		        int curID = robotIcons.get(selectedBot).id;
     		        if (curID < 0)
     		            message = "That robot is unidentified. Please specify its ID.";
     		        else
     		            message = "That robot has ID " + curID + ". You may reassign it now.";
     		        String result = JOptionPane.showInputDialog(self, message, "Robot Identification", JOptionPane.QUESTION_MESSAGE);
     		        if (result == null)
     		            return;
     	            int newID = -1;
     		        try {
     		            newID = Integer.parseInt(result);
     		        } catch (Exception ex) {
     		            csi.warn("Invalid ID.");
     		            return;
+    		        }
     		        // Assign new ID and update display
     			    csi.sendIDAssignment(curID, newID);
     		        robotIcons.get(selectedBot).id = newID;
     		        robotIcons.get(selectedBot).color = Color.GREEN;
     		        lblSelected.setText(" " + newID);
     				if (curID < 0) {
     					message = "That robot is unidentified. Please specify its ID.";
     				} else {
     					message = "That robot has ID " + curID + ". You may reassign it now.";
+    				}
     				String result = JOptionPane.showInputDialog(self, message, "Robot Identification", JOptionPane.QUESTION_MESSAGE);
     				if (result == null) {
     					return;
+    				}
     				int newID = -1;
     				try {
     					newID = Integer.parseInt(result);
     				} catch (Exception ex) {
     					csi.warn("Invalid ID.");
     					return;
+    				}
     				// Assign new ID and update display
     				csi.sendIDAssignment(curID, newID);
     				robotIcons.get(selectedBot).id = newID;
     				robotIcons.get(selectedBot).color = Color.GREEN;
     				lblSelected.setText(" " + newID);
     			} else if (source == btnF) { // Robot Movement Controls
     				vectorController.setMaxForward();
     				vectorController.sendToServer();
     			} else if (source == btnB) {
     				vectorController.setMaxReverse();
     				vectorController.sendToServer();
     			} else if (source == btnL) {
     				vectorController.setMaxLeft();
     				vectorController.sendToServer();
     			} else if (source == btnR) {
     				vectorController.setMaxRight();
     				vectorController.sendToServer();
     			} else if (source == btnActivate) {
     				vectorController.setZero();
     				vectorController.sendToServer();
     			} else if (source == btnCommand_MoveTo) { // Robot Commands (non-movement)
     				if (selectedBot < 0) {
     					return;
+    				}
     				panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
     				setWaypoint = true;
     				setWaypointID = selectedBot;
     			} else if (source == btnCommand_MoveAll) {
     				panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
     				setWaypoint = true;
     				setWaypointID = -1;
     			} else if (source == btnCommand_StopTask) {
     			} else if (source == btnCommand_ResumeTask) {
+    		    }
     			} else if (source == btnCommand_ChargeNow) {
     		    // Robot Movement Controls
     		    else if (source == btnF) {
     			    vectorController.setMaxForward();
     			    vectorController.sendToServer();
     		    } else if (source == btnB) {
     			    vectorController.setMaxReverse();
     			    vectorController.sendToServer();
     		    } else if (source == btnL) {
     			    vectorController.setMaxLeft();
     			    vectorController.sendToServer();
     		    } else if (source == btnR) {
     			    vectorController.setMaxRight();
     			    vectorController.sendToServer();
     		    } else if (source == btnActivate) {
     			    vectorController.setZero();
     			    vectorController.sendToServer();
+    		    }
     		    // Robot Commands (non-movement)
     		    else if (source == btnCommand_MoveTo) {
     		        if (selectedBot < 0)
     		            return;
     		        panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
     		        setWaypoint = true;
     		        setWaypointID = selectedBot;
     			} else if (source == btnCommand_StopCharging) {
     		    } else if (source == btnCommand_MoveAll) {
     		        panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
     		        setWaypoint = true;
     		        setWaypointID = -1;
     			} else if (source == btnAddTask) { // Queue Management
     				taskAddWindow.prompt();
     			} else if (source == btnRemoveTask) {
     				if (taskList.getSelectedIndex() >= 0) {
     					csi.sendQueueRemove(taskList.getSelectedIndex());
+    				}
     				csi.sendQueueUpdate();
     			} else if (source == btnMoveTaskUp) {
     				csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() - 1);
     				csi.sendQueueUpdate();
     			} else if (source == btnMoveTaskDown) {
     				csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() + 1);
     				csi.sendQueueUpdate();
     			} else if (source == btnUpdateTasks) {
     				csi.sendQueueUpdate();
+    			}
     		    } else if (source == btnCommand_StopTask) {
     		    } else if (source == btnCommand_ResumeTask) {
     		    } else if (source == btnCommand_ChargeNow) {
     		    } else if (source == btnCommand_StopCharging) {
+    		    }
     		    // Queue Management
     		    else if (source == btnAddTask) {
     			    taskAddWindow.prompt();
     		    } else if (source == btnRemoveTask) {
     			    if (taskList.getSelectedIndex() >= 0);
     				    csi.sendQueueRemove(taskList.getSelectedIndex());
     			    csi.sendQueueUpdate();
     		    } else if (source == btnMoveTaskUp) {
     			    csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() - 1);
     			    csi.sendQueueUpdate();
     		    } else if (source == btnMoveTaskDown) {
     			    csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() + 1);
     			    csi.sendQueueUpdate();
     		    } else if (source == btnUpdateTasks) {
     			    csi.sendQueueUpdate();
+    		    }
     	        repaint();
+    	    }
     			repaint();
+    		}
+    	}
     	/*
     	*	DataUpdater thread.
     	*   The purpose of this thread is to request data from the server at regular intervals.
     	* DataUpdater thread.
     	*		The purpose of this thread is to request data from the server at regular intervals.
+    	*
     	*/
     	class DataUpdater extends Thread {
-...
     				try {
     					//request more data
     					if (csi != null && csi.isReady()) {
                             csi.sendPositionRequest();
     												csi.sendPositionRequest();
     						csi.sendXBeeIDRequest();
     						if (cmbRobotNum.getSelectedIndex() > 0) {
     						    String sel = (String) cmbRobotNum.getSelectedItem();
     						    int num = Integer.parseInt(sel);
     								String sel = (String) cmbRobotNum.getSelectedItem();
     								int num = Integer.parseInt(sel);
     							csi.sendBatteryRequest(num);
+    						}
+    					}
-...
+    	}
     	/*
     	*	GraphicsPanel class
     	*	An extension of JPanel, designed for holding an image that will be repainted regularly.
     	* GraphicsPanel class
     	* An extension of JPanel, designed for holding an image that will be repainted regularly.
     	*/
     	class GraphicsPanel extends JPanel {
     		protected Image img;
-...
     			// Place the buffered image on the screen, inside the panel
     			g.drawImage(img, 0, 0, Color.WHITE, this);
+    		}
+    	}
     	/*
     	*	WebcamPanel class
     	*	Enables more efficient image handling in a component-controlled environment
     	* WebcamPanel class
     	* Enables more efficient image handling in a component-controlled environment
     	*/
     	class WebcamPanel extends JPanel {
     		int BORDER = 16;  // this is arbitrary. it makes the image look nice inside a border.
     		int BORDER = 16;	// this is arbitrary. it makes the image look nice inside a border.
     		int BOT_RADIUS = 40;
     		volatile BufferedImage img;
     		BufferedImage buffer;
-...
     			int x = 0;
     			int y = 0;
     			if (widthRatio > heightRatio) {  //height is the limiting factor
     			    scale = heightRatio;
     			    newHeight = maxHeight;
     			    newWidth = (int) (img.getWidth() * scale);
     			    y = BORDER;
     			    x = (maxWidth - newWidth) / 2 + BORDER;
     			} else {  //width is the limiting factor
     			    scale = widthRatio;
     			    newWidth = maxWidth;
     			    newHeight = (int) (img.getHeight() * scale);
     			    x = BORDER;
     			    y = (maxHeight - newHeight) / 2 + BORDER;
     			if (widthRatio > heightRatio) {	 //height is the limiting factor
     					scale = heightRatio;
     					newHeight = maxHeight;
     					newWidth = (int) (img.getWidth() * scale);
     					y = BORDER;
     					x = (maxWidth - newWidth) / 2 + BORDER;
     			} else {	//width is the limiting factor
     					scale = widthRatio;
     					newWidth = maxWidth;
     					newHeight = (int) (img.getHeight() * scale);
     					x = BORDER;
     					y = (maxHeight - newHeight) / 2 + BORDER;
+    			}
     			// Draw everything onto the buffer
-...
     			// Draw Identifiers and battery levels
     			if (robotIcons != null) {
     			    bufferedGraphics.setStroke(new BasicStroke(2));
     			    for (int i = 0; i < robotIcons.size(); i++) {
     				    RobotIcon r = robotIcons.get(i);
     				    bufferedGraphics.setColor(r.color);
     				    // Identifier circle
     				    int px = (int) (x + r.x * scale);
     				    int py = (int) (y + r.y * scale);
     				    bufferedGraphics.drawOval(px-RADIUS, py-RADIUS, 2*r.RADIUS, 2*r.RADIUS);
     				    // Battery
     				    //if (r.battery >= 0) {
     				        bufferedGraphics.setColor(Color.GREEN);
     				        bufferedGraphics.fillRect(px+20, py+20, 30, 10);
     				        bufferedGraphics.setColor(Color.BLACK);
     				        bufferedGraphics.drawRect(px+20, py+20, 50, 10);
     				    //}
     				    // If the robot has a destination, draw the vector
     				    if (r.destx >= 0) {
     				        bufferedGraphics.drawLine(px, py, (int)(x + r.destx * scale), (int)(y + r.desty * scale));
+    				    }
+    			    }
     					bufferedGraphics.setStroke(new BasicStroke(2));
     					for (int i = 0; i < robotIcons.size(); i++) {
     						RobotIcon r = robotIcons.get(i);
     						bufferedGraphics.setColor(r.color);
     						// Identifier circle
     						int px = (int) (x + r.x * scale);
     						int py = (int) (y + r.y * scale);
     						bufferedGraphics.drawOval(px-RADIUS, py-RADIUS, 2*r.RADIUS, 2*r.RADIUS);
     						// Battery
     						//if (r.battery >= 0) {
     								bufferedGraphics.setColor(Color.GREEN);
     								bufferedGraphics.fillRect(px+20, py+20, 30, 10);
     								bufferedGraphics.setColor(Color.BLACK);
     								bufferedGraphics.drawRect(px+20, py+20, 50, 10);
     						//}
     						// If the robot has a destination, draw the vector
     						if (r.destx >= 0) {
     								bufferedGraphics.drawLine(px, py, (int)(x + r.destx * scale), (int)(y + r.desty * scale));
+    						}
+    					}
+    			}
     			// Identify currently-selected robot
     			if (selectedBot >= 0) {
     			    bufferedGraphics.setColor(Color.BLACK);
     			    RobotIcon r = robotIcons.get(selectedBot);
     			    int px = (int) (x + r.x * scale);
     			    int py = (int) (y + r.y * scale);
     			    bufferedGraphics.drawOval(px-RADIUS-6, py-RADIUS-6, 2*r.RADIUS+12, 2*r.RADIUS+12);
     					bufferedGraphics.setColor(Color.BLACK);
     					RobotIcon r = robotIcons.get(selectedBot);
     					int px = (int) (x + r.x * scale);
     					int py = (int) (y + r.y * scale);
     					bufferedGraphics.drawOval(px-RADIUS-6, py-RADIUS-6, 2*r.RADIUS+12, 2*r.RADIUS+12);
+    			}
     			//Display buffered content
-...
     		public Point convertClick (MouseEvent e) {
     			// Calculate scaling
     			int clickx = e.getX();
     		    int clicky = e.getY();
     				int clicky = e.getY();
     			int maxWidth = getWidth() - 2*BORDER;
     			int maxHeight = getHeight() - 2*BORDER;
     			double widthRatio = 1.0 * maxWidth / img.getWidth();
-...
     			int px = 0;
     			int py = 0;
     			if (widthRatio > heightRatio) {  //height is the limiting factor
     			    scale = heightRatio;
     			    newHeight = maxHeight;
     			    newWidth = (int) (img.getWidth() * scale);
     			    py = clicky - BORDER;
     			    px = clickx - BORDER - (maxWidth - newWidth) / 2;
     			    py *= scale;
     			    px *= scale;
     			} else {  //width is the limiting factor
     			    scale = widthRatio;
     			    newWidth = maxWidth;
     			    newHeight = (int) (img.getHeight() * scale);
     			    px = clickx - BORDER;
     			    py = clicky - BORDER - (maxHeight - newHeight) / 2;
     			    px *= scale;
     			    py *= scale;
     			if (widthRatio > heightRatio) {	 //height is the limiting factor
     					scale = heightRatio;
     					newHeight = maxHeight;
     					newWidth = (int) (img.getWidth() * scale);
     					py = clicky - BORDER;
     					px = clickx - BORDER - (maxWidth - newWidth) / 2;
     					py *= scale;
     					px *= scale;
     			} else {	//width is the limiting factor
     					scale = widthRatio;
     					newWidth = maxWidth;
     					newHeight = (int) (img.getHeight() * scale);
     					px = clickx - BORDER;
     					py = clicky - BORDER - (maxHeight - newHeight) / 2;
     					px *= scale;
     					py *= scale;
+    			}
     		    return new Point(px, py);
     				return new Point(px, py);
+    		}
+    	}
     	/*
     	*	WebcamLoader class
     	*	Handles the loading of the webcam image.
     	* WebcamLoader class
     	* Handles the loading of the webcam image.
     	*/
     	class WebcamLoader extends Thread
+    	{
-...
     						image.flush();
     					System.gc();
     					try {
     				        imagePath = new URL(IMAGE_PATH + "?rand=" + rand.nextInt(50000));
     			        } catch (MalformedURLException e) {
     				        System.out.println("Malformed URL: could not form URL from: [" + IMAGE_PATH + "]\n");
+    			        }
     								imagePath = new URL(IMAGE_PATH + "?rand=" + rand.nextInt(50000));
     							} catch (MalformedURLException e) {
     								System.out.println("Malformed URL: could not form URL from: [" + IMAGE_PATH + "]\n");
+    							}
     					image = ImageIO.read(imagePath);
     					// The MediaTracker waitForID pauses the thread until the image is loaded.
     					// We don't want to display a half-downloaded image.
-...
+    	}
     	/*
     	*  RobotIcon class
     	*  Provides a means for graphically representing and keeping track of webcam bots.
     	*	 RobotIcon class
     	*	 Provides a means for graphically representing and keeping track of webcam bots.
     	*/
     	class RobotIcon {
     		public final int RADIUS = 30;
-...
     		public int destx, desty;
     		public int id;
     		public Color color;
             public int battery;
     				public int battery;
     		public RobotIcon (int id, int x, int y) {
     			this.color = Color.RED;
-...
+    		}
     		/**
     		*  Relocates this RobotIcon to a new coordinate point.
     		*	 Relocates this RobotIcon to a new coordinate point.
+    		*
     		*/
     		public void move (int newX, int newY) {
-...
+    		}
     		/**
     		*  Determines if a given point is within a reasonable range of the current location
     		*  to be considered the same robot when moving. The threshold is determined by the
     		*  CLOSE value.
     		*	 Determines if a given point is within a reasonable range of the current location
     		*	 to be considered the same robot when moving. The threshold is determined by the
     		*	 CLOSE value.
+    		*
     		*  @returns Whether or not the given point is reasonably close to the current location.
     		*	 @returns Whether or not the given point is reasonably close to the current location.
+    		*
     		*/
     		public boolean isClose (int nx, int ny) {
-...
+    		}
     		/**
     		*  Determines whether a given point is within the rectangle that circumscribes the
     		*  robot's circlular icon. Used for clicking on robots in webcam view.
+            *
             */
     		*	 Determines whether a given point is within the rectangle that circumscribes the
     		*	 robot's circlular icon. Used for clicking on robots in webcam view.
+    				*
     				*/
     		public boolean contains (int px, int py) {
     		    Rectangle rect = new Rectangle(x-RADIUS, y-RADIUS, 2*RADIUS, 2*RADIUS);
     		    return rect.contains(px, py);
     				Rectangle rect = new Rectangle(x-RADIUS, y-RADIUS, 2*RADIUS, 2*RADIUS);
     				return rect.contains(px, py);
+    		}
     		public String toString () {
-...
     	/*
     	*	VectorController class
     	*	Manages robot motion control graphically
     	* VectorController class
     	* Manages robot motion control graphically
     	*/
     	class VectorController extends GraphicsPanel implements MouseListener, MouseMotionListener {
     		int x, y, cx, cy;
-...
     				*/
     				//Directional commands
     				if (x > cx && y == cy) {  //move right
     				if (x > cx && y == cy) {	//move right
     					csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", dest);
     					csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 200", dest);
     				} else if (x < cx && y == cy) {  //move left
     				} else if (x < cx && y == cy) {	 //move left
     					csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 200", dest);
     					csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", dest);
     				} else if (x == cx && y > cy) {  //move forward
     				} else if (x == cx && y > cy) {	 //move forward
     					csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 225", dest);
     					csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 225", dest);
     				} else if (x == cx && y < cy) {  //move backward
     				} else if (x == cx && y < cy) {	 //move backward
     					csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 225", dest);
     					csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 225", dest);
     				} else if (x == cx && y == cy) {  //stop!
     				} else if (x == cx && y == cy) {	//stop!
     					csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 0", dest);
     					csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 0", dest);
+    				}
-...
+    	}
     	/*
     	*	TaskAddWindow class
     	*	A window that provides a simple way to add tasks to a task queue.
     	* TaskAddWindow class
     	* A window that provides a simple way to add tasks to a task queue.
     	*/
     	class TaskAddWindow extends JFrame implements ActionListener, ListSelectionListener {
     		JPanel panelButtons;
-...
+    	}
     	/*
     	*  BatteryIcon class
     	*  Graphical representation of battery level
     	*	 BatteryIcon class
     	*	 Graphical representation of battery level
     	*/
     	class BatteryIcon implements Icon {
     		private int width;
     	    private int height;
     	    private int level;
     			private int height;
     			private int level;
     		/**
     		* Constructs a new BatteryIcon with all default parameters.
     		* Default width and height are 50.
     		* Default level is 100.
     		*/
     	    public BatteryIcon(){
     	    	this(100, 50, 50);
+    	    }
     			public BatteryIcon(){
     				this(100, 50, 50);
+    			}
     		/**
     		* Constructs a new BatteryIcon with default width and height, and with the specified level.
     		* Default width and height are 50.
     		*/
     	    public BatteryIcon(int startLevel){
     	    	this(startLevel, 50, 50);
+    	    }
     			public BatteryIcon(int startLevel){
     				this(startLevel, 50, 50);
+    			}
     		/**
     		* Constructs a new BatteryIcon with the specified level, width, and height.
     		*/
     	    public BatteryIcon(int startLevel, int w, int h){
     	    	level = startLevel;
     	    	width = w;
     	    	height = h;
+    	    }
     			public BatteryIcon(int startLevel, int w, int h){
     				level = startLevel;
     				width = w;
     				height = h;
+    			}
     	    public void paintIcon(Component c, Graphics g, int x, int y) {
     	        Graphics2D g2d = (Graphics2D) g.create();
     	        //clear the background
     	        g2d.setColor(Color.WHITE);
     	        g2d.fillRect(x + 1, y + 1, width - 2, height - 2);
     	        //outline
     	        g2d.setColor(Color.BLACK);
     	        g2d.drawRect((int)(x + width*.3), y + 2, (int)(width*.4), height - 4);
     	        //battery life rectangle
     			public void paintIcon(Component c, Graphics g, int x, int y) {
     					Graphics2D g2d = (Graphics2D) g.create();
     					//clear the background
     					g2d.setColor(Color.WHITE);
     					g2d.fillRect(x + 1, y + 1, width - 2, height - 2);
     					//outline
     					g2d.setColor(Color.BLACK);
     					g2d.drawRect((int)(x + width*.3), y + 2, (int)(width*.4), height - 4);
     					//battery life rectangle
     			if (level > 50)
     				g2d.setColor(Color.GREEN);
     			else if (level > 25)
     				g2d.setColor(Color.YELLOW);
     			else
     				g2d.setColor(Color.RED);
     	        int greenX = (int)(x + 1 + width*.3);
     	        int greenY = (int)((y+3) + Math.abs(level-100.0)*(height-6)/(100));
     	        int greenWidth = (int)(width*.4 - 2)+1;
     	        int greenHeight = 1+(int)(level-0.0)*(height-6)/(100);
     	        g2d.fillRect(greenX, greenY, greenWidth, greenHeight);
     	        //text
     	        g2d.setColor(Color.BLACK);
     	        g2d.drawString(level + "%", greenX + greenWidth/2 - 10, greenY + greenHeight/2 + 5);
     					int greenX = (int)(x + 1 + width*.3);
     					int greenY = (int)((y+3) + Math.abs(level-100.0)*(height-6)/(100));
     					int greenWidth = (int)(width*.4 - 2)+1;
     					int greenHeight = 1+(int)(level-0.0)*(height-6)/(100);
     					g2d.fillRect(greenX, greenY, greenWidth, greenHeight);
     					//text
     					g2d.setColor(Color.BLACK);
     					g2d.drawString(level + "%", greenX + greenWidth/2 - 10, greenY + greenHeight/2 + 5);
     	        g2d.dispose();
+    	    }
     					g2d.dispose();
+    			}
     		/**
     		* Sets the battery level for this BatteryIcon. The level should be given in raw form, i.e. 0-255 directly
-...
+    		*
     		* @param newLevel the new battery reading from the robot that this BatteryIcon will display.
     		*/
     	    public void setLevel(int newLevel) {
     	    	level = convert(newLevel);
     	    	repaint();
     	    	System.out.println("Updated level to " + level);
+    	    }
     			public void setLevel(int newLevel) {
     				level = convert(newLevel);
     				repaint();
     				System.out.println("Updated level to " + level);
+    			}
     	    public int getIconWidth() {
     	        return width;
+    	    }
     			public int getIconWidth() {
     					return width;
+    			}
     	    public int getIconHeight() {
     	        return height;
+    	    }
     			public int getIconHeight() {
     					return height;
+    			}
     		/**
     		* Converts a robot battery reading into representable form.

     */
     public class ColonetServerInterface
+    {
     	/* STATIC FIELDS
     	 * Eugene Marinelli, Fan
     	 * 10/27/06
+    	 *
     	 * Colonet Definitions - common definitions and structs used in all colonet
     	 * applications
     /*	Old packet structure:
     	Old packet structure:
         COMMAND PACKET STRUCTURE
 :  SEND_TO_ROBOT
 :  # of robot, or GLOBAL_DEST
-...
     	public static final String ORB_SET_NUM = "21"; //0x15
     	public static final String ORB_SEND = "22"; //0x16
     	Colonet colonet;  //save reference to the entire applet locally
     	Socket socket;
     	OutputStreamWriter out;
-...
     	DataListener dataListener;
     	JTextArea log, txtMatrix;
     	/*
     	*	FUNCTION IMPLEMENTATIONS
     	*/
-...
     	* reference must be provided to ensure that data is routed correctly.
+    	*
     	* @param colonet The Colonet object to save locally. This reference cannot be changed once the
     	*		ColonetSreverInterface has been contsructed.
     	*   ColonetSreverInterface has been contsructed.
     	* @throws NullPointerException if colonet is null
+    	*
     	*/

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Revision 531