Revision 545
Fixed robot selection
| Colonet.java | ||
|---|---|---|
| 424 | 424 |
} |
| 425 | 425 |
|
| 426 | 426 |
public void connect () {
|
| 427 |
lblConnectionStatus.setText("Status: Connecting...");
|
|
| 428 |
webcamLoader = new WebcamLoader(this); |
|
| 429 |
dataUpdater = new DataUpdater(); |
|
| 427 |
if (csi != null) |
|
| 428 |
return; |
|
| 430 | 429 |
csi = new ColonetServerInterface(this); |
| 431 | 430 |
csi.connect(txtHost.getText(), txtPort.getText()); |
| 432 | 431 |
if (!csi.isReady()) {
|
| 433 |
lblConnectionStatus.setText("Status: Offline");
|
|
| 434 |
} else {
|
|
| 435 |
btnConnect.setText("Disconnect");
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|
| 436 |
lblConnectionStatus.setText("Status: Connected");
|
|
| 437 |
dataUpdater.start(); |
|
| 438 |
webcamLoader.start(); |
|
| 432 |
csi = null; |
|
| 433 |
return; |
|
| 439 | 434 |
} |
| 435 |
webcamLoader = new WebcamLoader(this); |
|
| 436 |
dataUpdater = new DataUpdater(); |
|
| 437 |
dataUpdater.start(); |
|
| 438 |
webcamLoader.start(); |
|
| 439 |
btnConnect.setText("Disconnect");
|
|
| 440 |
lblConnectionStatus.setText("Status: Connected");
|
|
| 440 | 441 |
} |
| 441 | 442 |
|
| 442 | 443 |
public void disconnect () {
|
| ... | ... | |
| 609 | 610 |
return; |
| 610 | 611 |
} |
| 611 | 612 |
|
| 612 |
RobotIcon r = robotIcons.get(selectedBot); |
|
| 613 |
r.destx = pt.x; |
|
| 614 |
r.desty = pt.y; |
|
| 615 |
|
|
| 616 |
if (csi != null) {
|
|
| 617 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
|
| 613 |
for (int i = 0; i < robotIcons.size(); i++) {
|
|
| 614 |
RobotIcon r = robotIcons.get(i); |
|
| 615 |
if (r.id == selectedBot) {
|
|
| 616 |
r.destx = pt.x; |
|
| 617 |
r.desty = pt.y; |
|
| 618 |
if (csi != null) {
|
|
| 619 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
|
| 620 |
} |
|
| 621 |
} |
|
| 618 | 622 |
} |
| 619 | 623 |
|
| 620 | 624 |
return; |
| ... | ... | |
| 626 | 630 |
return; |
| 627 | 631 |
} |
| 628 | 632 |
|
| 629 |
RobotIcon r = robotIcons.get(selectedBot); |
|
| 630 |
r.destx = pt.x; |
|
| 631 |
r.desty = pt.y; |
|
| 632 |
|
|
| 633 |
if (csi != null) {
|
|
| 634 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
|
| 633 |
for (int i = 0; i < robotIcons.size(); i++) {
|
|
| 634 |
RobotIcon r = robotIcons.get(i); |
|
| 635 |
if (r.id == selectedBot) {
|
|
| 636 |
r.destx = pt.x; |
|
| 637 |
r.desty = pt.y; |
|
| 638 |
if (csi != null) {
|
|
| 639 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
|
| 640 |
} |
|
| 641 |
} |
|
| 635 | 642 |
} |
| 636 | 643 |
|
| 637 | 644 |
return; |
| ... | ... | |
| 654 | 661 |
for (int i = 0; i < robotIcons.size(); i++) {
|
| 655 | 662 |
RobotIcon r = robotIcons.get(i); |
| 656 | 663 |
if (r.contains(pt.x, pt.y)) {
|
| 657 |
selectedBot = i;
|
|
| 658 |
lblSelected.setText(" " + r.id);
|
|
| 664 |
selectedBot = r.id;
|
|
| 665 |
lblSelected.setText("" + r.id);
|
|
| 659 | 666 |
// Try to select the clicked bot, if its XBee ID is detected. |
| 660 | 667 |
for (int j = 1; j < cmbRobotNum.getItemCount(); j++) {
|
| 661 |
if (Integer.parseInt(cmbRobotNum.getItemAt(j).toString()) == robotIcons.get(selectedBot).id) {
|
|
| 668 |
if (Integer.parseInt(cmbRobotNum.getItemAt(j).toString()) == selectedBot) {
|
|
| 662 | 669 |
cmbRobotNum.setSelectedIndex(j); |
| 663 | 670 |
} |
| 664 | 671 |
} |
| ... | ... | |
| 722 | 729 |
csi.sendXBeeIDRequest(); |
| 723 | 730 |
} else if (source == btnAssignID) {
|
| 724 | 731 |
String message; |
| 725 |
if (selectedBot < 0) {
|
|
| 726 |
return; |
|
| 727 |
} |
|
| 728 |
int curID = robotIcons.get(selectedBot).id; |
|
| 729 |
|
|
| 732 |
int curID = selectedBot; |
|
| 730 | 733 |
if (curID < 0) {
|
| 731 | 734 |
message = "That robot is unidentified. Please specify its ID."; |
| 732 | 735 |
} else {
|
| ... | ... | |
| 745 | 748 |
} |
| 746 | 749 |
// Assign new ID and update display |
| 747 | 750 |
csi.sendIDAssignment(curID, newID); |
| 748 |
robotIcons.get(selectedBot).id = newID; |
|
| 749 |
robotIcons.get(selectedBot).color = Color.GREEN; |
|
| 750 |
lblSelected.setText(" " + newID);
|
|
| 751 |
for (int i = 0; i < robotIcons.size(); i++) {
|
|
| 752 |
RobotIcon r = robotIcons.get(i); |
|
| 753 |
if (r.id == curID) {
|
|
| 754 |
r.id = newID; |
|
| 755 |
r.color = Color.GREEN; |
|
| 756 |
break; |
|
| 757 |
} |
|
| 758 |
} |
|
| 759 |
lblSelected.setText("" + newID);
|
|
| 751 | 760 |
} else if (source == btnF) { // Robot Movement Controls
|
| 752 | 761 |
vectorController.setMaxForward(); |
| 753 | 762 |
vectorController.sendToServer(); |
| ... | ... | |
| 946 | 955 |
} |
| 947 | 956 |
|
| 948 | 957 |
// Identify currently-selected robot |
| 949 |
if (selectedBot >= 0 && selectedBot < robotIcons.size()) {
|
|
| 950 |
bufferedGraphics.setColor(Color.BLACK); |
|
| 951 |
RobotIcon r = robotIcons.get(selectedBot); |
|
| 952 |
int px = (int) (x + r.x * scale); |
|
| 953 |
int py = (int) (y + r.y * scale); |
|
| 954 |
bufferedGraphics.drawOval(px-RADIUS-6, py-RADIUS-6, 2*r.RADIUS+12, 2*r.RADIUS+12); |
|
| 958 |
for (int i = 0; i < robotIcons.size(); i++) {
|
|
| 959 |
RobotIcon r = robotIcons.get(i); |
|
| 960 |
if (r.id == selectedBot) {
|
|
| 961 |
int px = (int) (x + r.x * scale); |
|
| 962 |
int py = (int) (y + r.y * scale); |
|
| 963 |
bufferedGraphics.setColor(Color.BLACK); |
|
| 964 |
bufferedGraphics.drawOval(px-RADIUS-6, py-RADIUS-6, 2*r.RADIUS+12, 2*r.RADIUS+12); |
|
| 965 |
} |
|
| 955 | 966 |
} |
| 956 | 967 |
|
| 957 | 968 |
//Display buffered content |
Also available in: Unified diff