root / trunk / code / projects / colonet / client / Colonet.java @ 549
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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.*; |
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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 images
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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 = 350; |
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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 btnGetXBeeIDs;
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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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Socket socket;
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OutputStreamWriter out;
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DataUpdater dataUpdater; |
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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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JLabel lblSelected;
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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 btnAssignID;
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boolean setWaypoint;
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int setWaypointID;
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JButton btnCommand_MoveTo;
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JButton btnCommand_MoveAll;
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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
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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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Font botFont;
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volatile int numBots; |
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volatile int selectedBot; //the user has selected this bot graphically |
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volatile java.util.List <RobotIcon> robotIcons; //contains boundary shapes around bots for click detection |
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volatile int[] xbeeID; |
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Colonet self = this;
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Thread paintThread;
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WebcamLoader webcamLoader; |
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volatile 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 { paintThread.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().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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// Set up robots
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botFont = new Font("Arial", Font.PLAIN, 14); |
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numBots = 0;
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selectedBot = -1;
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robotIcons = new ArrayList <RobotIcon> (); |
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// Connection area
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txtMatrix = new JTextArea(); |
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txtMatrix.setBorder(BorderFactory.createTitledBorder("Info")); |
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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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txtHost = new JTextField(this.getDocumentBase().getHost()); |
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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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btnGetXBeeIDs = new JButton("Get XBee IDs"); |
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getRootPane().setDefaultButton(btnConnect); |
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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(btnGetXBeeIDs);
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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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batteryIcon = new BatteryIcon(0); |
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lblBattery = new JLabel(batteryIcon); |
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lblSelected = new JLabel("None"); |
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// Command subset
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setWaypoint = false;
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setWaypointID = -1;
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btnAssignID = new JButton("Assign ID"); |
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btnCommand_MoveTo = new JButton("Move to ..."); |
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btnCommand_MoveAll = new JButton("Move all ..."); |
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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(new JLabel("Selected Icon: ")); |
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panelRobotCommands.add(lblSelected); |
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panelRobotCommands.add(btnAssignID); |
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panelRobotCommands.add(new JLabel("")); |
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panelRobotCommands.add(btnCommand_MoveTo); |
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panelRobotCommands.add(btnCommand_MoveAll); |
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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, 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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btnCommand_MoveTo.addActionListener(this);
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btnCommand_MoveAll.addActionListener(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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btnConnect.addActionListener(this);
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btnGetXBeeIDs.addActionListener(this);
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btnAssignID.addActionListener(this);
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panelWebcam.addMouseListener(this);
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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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public void paint (Graphics g) { |
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super.paint(g);
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} |
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public void update (Graphics g) { |
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paint(g); |
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} |
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/**
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* Gets the JTextArea used for storing the activity log. This method returns a reference to the
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* JTextArea that stores the log. The log can contain any activity that is revelant to the use
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* of the applet, and may optionally display debugging information.
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*
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* @return the JTextArea where BOM matrix information is stored.
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*/
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public JTextArea getLog () { |
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return log;
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} |
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/**
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* Gets the JTextArea used for storing the BOM matrix data. This method returns a reference to the
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* JTextArea that stores the BOM matrix. The values in the matrix are stored as integers separated
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* by spaces, and the lines should be separated by a newline.
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*
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* @return the JTextArea where BOM matrix information is stored.
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*/
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public JTextArea getMatrixInput () { |
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return txtMatrix;
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} |
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/**
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* Parses a String containing BOM matrix information.
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* The ColonetServerInterface receives lines of the BOM matrix. (For encoding
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* information, see the ColonetServerInterface documentation.) The entire matrix is passed
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* to the client when requested. This method takes a string of the form
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* "[command code] [command code] [number of robots] [data0] [data1] ..."
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* with tokens separated by spaces and containing no brackets.
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* The [command code]s are predefined values identifying this String as a BOM data
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* String, [number of robots] is an integer, and the values that follow are
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* the sensor readings of the robots in order, starting with robot 0. Only [number of robots]^2
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* data entries will be read. The matrix values are saved locally until the next String is parsed.
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*
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*
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* @param line the String containing BOM matrix information.
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* @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots]^2 data entries in the String
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*/
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public void parseMatrix (String line) { |
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txtMatrix.setText("");
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String [] str = line.split(" "); |
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int num = Integer.parseInt(str[2]); |
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for (int i = 0; i < num; i++) { |
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for (int j = 0; j < num; j++) { |
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String next = str[3 + i*num + j]; |
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if (next.equals("-1")) { |
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txtMatrix.append("-");
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} else {
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txtMatrix.append(next); |
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} |
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if (j < num - 1) { |
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txtMatrix.append(" ");
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} |
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} |
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if (i < num - 1) { |
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txtMatrix.append("\n");
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} |
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} |
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repaint(); |
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} |
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public void connect () { |
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if (csi != null) |
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return;
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csi = new ColonetServerInterface(this); |
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csi.connect(txtHost.getText(), txtPort.getText()); |
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if (!csi.isReady()) {
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csi = null;
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return;
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} |
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webcamLoader = new WebcamLoader(this); |
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dataUpdater = new DataUpdater();
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dataUpdater.start(); |
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webcamLoader.start(); |
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btnConnect.setText("Disconnect");
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lblConnectionStatus.setText("Status: Connected");
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} |
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public void disconnect () { |
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lblConnectionStatus.setText("Status: Disconnecting...");
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btnConnect.setText("Connect");
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lblConnectionStatus.setText("Status: Disconnected");
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dataUpdater.interrupt(); |
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csi = null;
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} |
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/**
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* Parses a String containing a task queue update.
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* Format is currently not specified.
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* This method currently does nothing.
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*
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* @param line the String containing task queue update information.
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*/
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public void parseQueue (String line) { |
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log.append("Got queue update\n");
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//TODO: display new queue data in tasks tab
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} |
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/**
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* Parses a String containing XBee ID values.
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* The ColonetServerInterface receives Strings of XBee information. (For encoding
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* information, see the ColonetServerInterface documentation.) This method takes
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* a string of the form "[command code] [command code] [number of robots] [id0] [id1] ..."
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* with tokens separated by spaces and containing no brackets.
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* The [command code]s are predefined values identifying this String as an XBee
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* ID String, [number of robots] is an integer, and the values that follow are
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* the IDs of the robots in order, starting with robot 0. Only [number of robots]
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* will be read. The ID values are saved locally until the next String is parsed.
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* The purpose of having this list is to ensure that robots are properly identified for control purposes.
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* This keeps robot identification consistent between sessions and prevents arbitrary assignment.
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*
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* @param line the String containing XBee ID information.
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* @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots] IDs in the String
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* @see ColonetServerInterface#sendXBeeIDRequest()
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*/
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public void parseXBeeIDs (String line) { |
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String [] str = line.split(" "); |
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int num = Integer.parseInt(str[2]); |
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xbeeID = new int[num]; |
484 |
for (int i = 0; i < num; i++) { |
485 |
xbeeID[i] = Integer.parseInt(str[i+3]); |
486 |
} |
487 |
|
488 |
//update the list of robots to control
|
489 |
//but save the old value first
|
490 |
Object oldSelection = cmbRobotNum.getSelectedItem();
|
491 |
cmbRobotNum.removeAllItems(); |
492 |
cmbRobotNum.addItem(new String(" All ")); |
493 |
for (int i = 0; i < num; i++) { |
494 |
cmbRobotNum.addItem(new String("" + xbeeID[i])); |
495 |
} |
496 |
cmbRobotNum.setSelectedItem(oldSelection); |
497 |
repaint(); |
498 |
} |
499 |
|
500 |
/**
|
501 |
* Parses a String containing battery information.
|
502 |
* The ColonetServerInterface receives Strings of battery information. (For encoding
|
503 |
* information, see the ColonetServerInterface documentation.) This method takes
|
504 |
* a string of the form "[command code] [command code] [robot ID] [value]"
|
505 |
* with tokens separated by spaces and containing no brackets.
|
506 |
* The [command code]s are predefined values identifying this String as a battery
|
507 |
* information String, [robot ID] is an integer, and [value] is a battery measurement.
|
508 |
* This updates the batery information for a single robot.
|
509 |
*
|
510 |
*
|
511 |
* @param line the String containing battery information.
|
512 |
* @see ColonetServerInterface#sendBatteryRequest(int)
|
513 |
*/
|
514 |
public void parseBattery (String line) { |
515 |
String [] str = line.split(" "); |
516 |
int botNum = Integer.parseInt(str[2]); |
517 |
int level = Integer.parseInt(str[3]); |
518 |
int selected = -1; |
519 |
try {
|
520 |
selected = Integer.parseInt((String)cmbRobotNum.getSelectedItem()); |
521 |
} catch (Exception e) { |
522 |
System.out.println("Exception in parseBattery."); |
523 |
} |
524 |
|
525 |
if (selected == botNum) {
|
526 |
batteryIcon.setLevel(level); |
527 |
} |
528 |
repaint(); |
529 |
} |
530 |
|
531 |
/**
|
532 |
* Parses a String containing visual robot position information along with
|
533 |
* canonical ID assignments.
|
534 |
*/
|
535 |
public void parsePositions (String line) { |
536 |
String [] str = line.split(" "); |
537 |
java.util.List <RobotIcon> newList = new ArrayList <RobotIcon> (); |
538 |
|
539 |
for (int i = 2; i < str.length; i+=3) { |
540 |
int id = Integer.parseInt(str[i]); |
541 |
int x = Integer.parseInt(str[i+1]); |
542 |
int y = Integer.parseInt(str[i+2]); |
543 |
RobotIcon newIcon = new RobotIcon(id, x, y);
|
544 |
if (newIcon.id >= 0) { |
545 |
newIcon.color = Color.GREEN;
|
546 |
} |
547 |
newList.add(newIcon); |
548 |
} |
549 |
robotIcons = newList; |
550 |
repaint(); |
551 |
} |
552 |
|
553 |
//
|
554 |
// MouseListener methods
|
555 |
//
|
556 |
public void mousePressed(MouseEvent e) { |
557 |
//Start a new Thread to handle the MouseEvent
|
558 |
(new MouseHandler(e)).start();
|
559 |
} |
560 |
public void mouseExited(MouseEvent e) { |
561 |
} |
562 |
public void mouseEntered(MouseEvent e) { |
563 |
} |
564 |
public void mouseReleased(MouseEvent e) { |
565 |
} |
566 |
public void mouseClicked(MouseEvent e) { |
567 |
} |
568 |
public void mouseDragged(MouseEvent e) { |
569 |
} |
570 |
public void mouseMoved(MouseEvent e) { |
571 |
} |
572 |
|
573 |
//
|
574 |
// KeyListener methods
|
575 |
//
|
576 |
public void keyPressed (KeyEvent e) { |
577 |
//Start a new Thread to handle the KeyEvent
|
578 |
(new KeyHandler(e)).start();
|
579 |
} |
580 |
public void keyReleased (KeyEvent e) { |
581 |
} |
582 |
public void keyTyped (KeyEvent e) { |
583 |
} |
584 |
|
585 |
//
|
586 |
// ActionListener method
|
587 |
//
|
588 |
public void actionPerformed (ActionEvent e) { |
589 |
// Start a new Thread to handle the ActionEvent
|
590 |
(new ActionHandler(e)).start();
|
591 |
} |
592 |
|
593 |
class MouseHandler extends Thread { |
594 |
MouseEvent e;
|
595 |
|
596 |
public MouseHandler (MouseEvent event) { |
597 |
super("MouseHandler"); |
598 |
this.e = event;
|
599 |
} |
600 |
|
601 |
public void run () { |
602 |
Point pt = panelWebcam.convertClick(e);
|
603 |
|
604 |
// If we are selecting a waypoint (destination) for a specific bot
|
605 |
if (setWaypoint && setWaypointID >= 0) { |
606 |
setWaypoint = false;
|
607 |
panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR)); |
608 |
if (selectedBot < 0) { |
609 |
return;
|
610 |
} |
611 |
|
612 |
for (int i = 0; i < robotIcons.size(); i++) { |
613 |
RobotIcon r = robotIcons.get(i); |
614 |
if (r.id == selectedBot) {
|
615 |
r.destx = pt.x; |
616 |
r.desty = pt.y; |
617 |
if (csi != null) { |
618 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
619 |
} |
620 |
} |
621 |
} |
622 |
|
623 |
return;
|
624 |
} |
625 |
|
626 |
// Right-click also means we are moving a robot
|
627 |
if (e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) { |
628 |
if (selectedBot < 0) { |
629 |
return;
|
630 |
} |
631 |
|
632 |
for (int i = 0; i < robotIcons.size(); i++) { |
633 |
RobotIcon r = robotIcons.get(i); |
634 |
if (r.id == selectedBot) {
|
635 |
r.destx = pt.x; |
636 |
r.desty = pt.y; |
637 |
if (csi != null) { |
638 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
639 |
} |
640 |
} |
641 |
} |
642 |
|
643 |
return;
|
644 |
} |
645 |
|
646 |
// If we are setting all waypoints
|
647 |
if (setWaypoint) {
|
648 |
setWaypoint = false;
|
649 |
panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR)); |
650 |
for (int i = 0; i < robotIcons.size(); i++) { |
651 |
RobotIcon r = robotIcons.get(i); |
652 |
r.destx = pt.x; |
653 |
r.desty = pt.y; |
654 |
} |
655 |
|
656 |
return;
|
657 |
} |
658 |
|
659 |
// Otherwise, we are selecting a bot, or doing nothing
|
660 |
for (int i = 0; i < robotIcons.size(); i++) { |
661 |
RobotIcon r = robotIcons.get(i); |
662 |
if (r.contains(pt.x, pt.y)) {
|
663 |
selectedBot = r.id; |
664 |
lblSelected.setText("" + r.id);
|
665 |
// Try to select the clicked bot, if its XBee ID is detected.
|
666 |
for (int j = 1; j < cmbRobotNum.getItemCount(); j++) { |
667 |
if (Integer.parseInt(cmbRobotNum.getItemAt(j).toString()) == selectedBot) { |
668 |
cmbRobotNum.setSelectedIndex(j); |
669 |
} |
670 |
} |
671 |
return;
|
672 |
} |
673 |
} |
674 |
|
675 |
repaint(); |
676 |
} |
677 |
} |
678 |
|
679 |
class KeyHandler extends Thread { |
680 |
KeyEvent e;
|
681 |
|
682 |
public KeyHandler (KeyEvent event) { |
683 |
super("KeyHandler"); |
684 |
this.e = event;
|
685 |
} |
686 |
|
687 |
public void run () { |
688 |
int code = e.getKeyCode();
|
689 |
if (code == KeyEvent.VK_UP) { |
690 |
vectorController.setMaxForward(); |
691 |
vectorController.sendToServer(); |
692 |
} else if (code == KeyEvent.VK_DOWN) { |
693 |
vectorController.setMaxReverse(); |
694 |
vectorController.sendToServer(); |
695 |
} else if (code == KeyEvent.VK_LEFT) { |
696 |
vectorController.setMaxLeft(); |
697 |
vectorController.sendToServer(); |
698 |
} else if (code == KeyEvent.VK_RIGHT) { |
699 |
vectorController.setMaxRight(); |
700 |
vectorController.sendToServer(); |
701 |
} else if (code == KeyEvent.VK_S) { |
702 |
vectorController.setZero(); |
703 |
vectorController.sendToServer(); |
704 |
} |
705 |
repaint(); |
706 |
} |
707 |
} |
708 |
|
709 |
class ActionHandler extends Thread { |
710 |
ActionEvent e;
|
711 |
|
712 |
public ActionHandler (ActionEvent event) { |
713 |
super("ActionHandler"); |
714 |
this.e = event;
|
715 |
} |
716 |
|
717 |
public void run () { |
718 |
Object source = e.getSource();
|
719 |
|
720 |
// General Actions
|
721 |
if (source == btnConnect) {
|
722 |
if (csi == null) { |
723 |
connect(); |
724 |
} else {
|
725 |
disconnect(); |
726 |
} |
727 |
} else if (source == btnGetXBeeIDs) { |
728 |
csi.sendXBeeIDRequest(); |
729 |
} else if (source == btnAssignID) { |
730 |
String message;
|
731 |
int curID = selectedBot;
|
732 |
if (curID < 0) { |
733 |
message = "That robot is unidentified. Please specify its ID.";
|
734 |
} else {
|
735 |
message = "That robot has ID " + curID + ". You may reassign it now."; |
736 |
} |
737 |
String result = JOptionPane.showInputDialog(self, message, "Robot Identification", JOptionPane.QUESTION_MESSAGE); |
738 |
if (result == null) { |
739 |
return;
|
740 |
} |
741 |
int newID = -1; |
742 |
try {
|
743 |
newID = Integer.parseInt(result);
|
744 |
} catch (Exception ex) { |
745 |
csi.warn("Invalid ID.");
|
746 |
return;
|
747 |
} |
748 |
// Assign new ID and update display
|
749 |
if (csi != null) { |
750 |
csi.sendIDAssignment(curID, newID); |
751 |
} |
752 |
for (int i = 0; i < robotIcons.size(); i++) { |
753 |
RobotIcon r = robotIcons.get(i); |
754 |
if (r.id == curID) {
|
755 |
r.id = newID; |
756 |
r.color = Color.GREEN;
|
757 |
break;
|
758 |
} |
759 |
} |
760 |
lblSelected.setText("" + newID);
|
761 |
} else if (source == btnF) { // Robot Movement Controls |
762 |
vectorController.setMaxForward(); |
763 |
vectorController.sendToServer(); |
764 |
} else if (source == btnB) { |
765 |
vectorController.setMaxReverse(); |
766 |
vectorController.sendToServer(); |
767 |
} else if (source == btnL) { |
768 |
vectorController.setMaxLeft(); |
769 |
vectorController.sendToServer(); |
770 |
} else if (source == btnR) { |
771 |
vectorController.setMaxRight(); |
772 |
vectorController.sendToServer(); |
773 |
} else if (source == btnActivate) { |
774 |
vectorController.setZero(); |
775 |
vectorController.sendToServer(); |
776 |
} else if (source == btnCommand_MoveTo) { // Robot Commands (non-movement) |
777 |
if (selectedBot < 0) { |
778 |
return;
|
779 |
} |
780 |
panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR)); |
781 |
setWaypoint = true;
|
782 |
setWaypointID = selectedBot; |
783 |
} else if (source == btnCommand_MoveAll) { |
784 |
panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR)); |
785 |
setWaypoint = true;
|
786 |
setWaypointID = -1;
|
787 |
} else if (source == btnCommand_StopTask) { |
788 |
|
789 |
} else if (source == btnCommand_ResumeTask) { |
790 |
|
791 |
} else if (source == btnCommand_ChargeNow) { |
792 |
|
793 |
} else if (source == btnCommand_StopCharging) { |
794 |
|
795 |
} else if (source == btnAddTask) { // Queue Management |
796 |
taskAddWindow.prompt(); |
797 |
} else if (source == btnRemoveTask) { |
798 |
if (taskList.getSelectedIndex() >= 0) { |
799 |
csi.sendQueueRemove(taskList.getSelectedIndex()); |
800 |
} |
801 |
csi.sendQueueUpdate(); |
802 |
} else if (source == btnMoveTaskUp) { |
803 |
csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() - 1);
|
804 |
csi.sendQueueUpdate(); |
805 |
} else if (source == btnMoveTaskDown) { |
806 |
csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() + 1);
|
807 |
csi.sendQueueUpdate(); |
808 |
} else if (source == btnUpdateTasks) { |
809 |
csi.sendQueueUpdate(); |
810 |
} |
811 |
|
812 |
repaint(); |
813 |
} |
814 |
} |
815 |
|
816 |
/*
|
817 |
* DataUpdater thread.
|
818 |
* The purpose of this thread is to request data from the server at regular intervals.
|
819 |
*
|
820 |
*/
|
821 |
class DataUpdater extends Thread { |
822 |
final int DATAUPDATER_DELAY = 250; |
823 |
|
824 |
public DataUpdater () {
|
825 |
super("Colonet DataUpdater"); |
826 |
} |
827 |
|
828 |
public void run () { |
829 |
String line;
|
830 |
while (true) { |
831 |
try {
|
832 |
//request more data
|
833 |
if (csi != null && csi.isReady()) { |
834 |
csi.sendPositionRequest(); |
835 |
csi.sendXBeeIDRequest(); |
836 |
if (cmbRobotNum.getSelectedIndex() > 0) { |
837 |
String sel = (String) cmbRobotNum.getSelectedItem(); |
838 |
int num = Integer.parseInt(sel); |
839 |
csi.sendBatteryRequest(num); |
840 |
} |
841 |
} |
842 |
Thread.sleep(DATAUPDATER_DELAY);
|
843 |
} catch (InterruptedException e) { |
844 |
return;
|
845 |
} |
846 |
} |
847 |
} |
848 |
} |
849 |
|
850 |
/*
|
851 |
* GraphicsPanel class
|
852 |
* An extension of JPanel, designed for holding an image that will be repainted regularly.
|
853 |
*/
|
854 |
class GraphicsPanel extends JPanel { |
855 |
protected Image img; |
856 |
|
857 |
public GraphicsPanel (Image img) { |
858 |
this(img, true); |
859 |
} |
860 |
|
861 |
public GraphicsPanel (Image img, boolean isDoubleBuffered) { |
862 |
super(isDoubleBuffered);
|
863 |
this.img = img;
|
864 |
} |
865 |
|
866 |
public void paint (Graphics g) { |
867 |
// Place the buffered image on the screen, inside the panel
|
868 |
g.drawImage(img, 0, 0, Color.WHITE, this); |
869 |
} |
870 |
} |
871 |
|
872 |
/*
|
873 |
* WebcamPanel class
|
874 |
* Enables more efficient image handling in a component-controlled environment
|
875 |
*/
|
876 |
class WebcamPanel extends JPanel { |
877 |
int BORDER = 16; // this is arbitrary. it makes the image look nice inside a border. |
878 |
int BOT_RADIUS = 40; |
879 |
volatile BufferedImage img; |
880 |
BufferedImage buffer;
|
881 |
|
882 |
public WebcamPanel () {
|
883 |
super(true); |
884 |
} |
885 |
|
886 |
public synchronized void setImage (BufferedImage newimg) { |
887 |
if (img != null) { |
888 |
img.flush(); |
889 |
} |
890 |
System.gc();
|
891 |
img = newimg; |
892 |
repaint(); |
893 |
} |
894 |
|
895 |
public synchronized void paint (Graphics g) { |
896 |
if (img == null) { |
897 |
return;
|
898 |
} |
899 |
|
900 |
// Calculate scaling
|
901 |
int maxWidth = getWidth() - 2*BORDER; |
902 |
int maxHeight = getHeight() - 2*BORDER; |
903 |
double widthRatio = 1.0 * maxWidth / img.getWidth(); |
904 |
double heightRatio = 1.0 * maxHeight / img.getHeight(); |
905 |
double scale = 0; |
906 |
int newWidth = 0; |
907 |
int newHeight = 0; |
908 |
int x = 0; |
909 |
int y = 0; |
910 |
|
911 |
if (widthRatio > heightRatio) { //height is the limiting factor |
912 |
scale = heightRatio; |
913 |
newHeight = maxHeight; |
914 |
newWidth = (int) (img.getWidth() * scale);
|
915 |
y = BORDER; |
916 |
x = (maxWidth - newWidth) / 2 + BORDER;
|
917 |
} else { //width is the limiting factor |
918 |
scale = widthRatio; |
919 |
newWidth = maxWidth; |
920 |
newHeight = (int) (img.getHeight() * scale);
|
921 |
x = BORDER; |
922 |
y = (maxHeight - newHeight) / 2 + BORDER;
|
923 |
} |
924 |
|
925 |
// Draw everything onto the buffer
|
926 |
buffer = new BufferedImage(getWidth(), getHeight(), BufferedImage.TYPE_INT_RGB); |
927 |
Graphics2D bufferedGraphics = (Graphics2D)buffer.getGraphics(); |
928 |
bufferedGraphics.setColor(Color.GRAY);
|
929 |
bufferedGraphics.fillRect(0, 0, this.getWidth(), this.getHeight()); |
930 |
Image imgScaled = img.getScaledInstance(newWidth, newHeight, Image.SCALE_FAST); |
931 |
bufferedGraphics.drawImage(imgScaled, x, y, this);
|
932 |
|
933 |
|
934 |
// Draw Identifiers and battery levels
|
935 |
if (robotIcons != null) { |
936 |
bufferedGraphics.setStroke(new BasicStroke(2)); |
937 |
for (int i = 0; i < robotIcons.size(); i++) { |
938 |
RobotIcon r = robotIcons.get(i); |
939 |
bufferedGraphics.setColor(r.color); |
940 |
// Identifier circle
|
941 |
int px = (int) (x + r.x * scale); |
942 |
int py = (int) (y + r.y * scale); |
943 |
bufferedGraphics.drawOval(px-RADIUS, py-RADIUS, 2*r.RADIUS, 2*r.RADIUS); |
944 |
// Battery
|
945 |
//if (r.battery >= 0) {
|
946 |
bufferedGraphics.setColor(Color.GREEN);
|
947 |
bufferedGraphics.fillRect(px+20, py+20, 30, 10); |
948 |
bufferedGraphics.setColor(Color.BLACK);
|
949 |
bufferedGraphics.drawRect(px+20, py+20, 50, 10); |
950 |
//}
|
951 |
// If the robot has a destination, draw the vector
|
952 |
if (r.destx >= 0) { |
953 |
bufferedGraphics.drawLine(px, py, (int)(x + r.destx * scale), (int)(y + r.desty * scale)); |
954 |
} |
955 |
} |
956 |
} |
957 |
|
958 |
// Identify currently-selected robot
|
959 |
for (int i = 0; i < robotIcons.size(); i++) { |
960 |
RobotIcon r = robotIcons.get(i); |
961 |
if (r.id == selectedBot) {
|
962 |
int px = (int) (x + r.x * scale); |
963 |
int py = (int) (y + r.y * scale); |
964 |
bufferedGraphics.setColor(Color.BLACK);
|
965 |
bufferedGraphics.drawOval(px-RADIUS-6, py-RADIUS-6, 2*r.RADIUS+12, 2*r.RADIUS+12); |
966 |
} |
967 |
} |
968 |
|
969 |
//Display buffered content
|
970 |
g.drawImage(buffer, 0, 0, this); |
971 |
} |
972 |
|
973 |
/*
|
974 |
* Convert a click on the webcam panel to a coordinate that is consistent with the
|
975 |
* original size of the image that the panel contains.
|
976 |
*/
|
977 |
public Point convertClick (MouseEvent e) { |
978 |
if (img == null) { |
979 |
return new Point(e.getX(), e.getY()); |
980 |
} |
981 |
|
982 |
// Calculate scaling
|
983 |
int clickx = e.getX();
|
984 |
int clicky = e.getY();
|
985 |
int maxWidth = getWidth() - 2*BORDER; |
986 |
int maxHeight = getHeight() - 2*BORDER; |
987 |
double widthRatio = 1.0 * maxWidth / img.getWidth(); |
988 |
double heightRatio = 1.0 * maxHeight / img.getHeight(); |
989 |
double scale = 0; |
990 |
int newWidth = 0; |
991 |
int newHeight = 0; |
992 |
int px = 0; |
993 |
int py = 0; |
994 |
|
995 |
if (widthRatio > heightRatio) { //height is the limiting factor |
996 |
scale = heightRatio; |
997 |
newHeight = maxHeight; |
998 |
newWidth = (int) (img.getWidth() * scale);
|
999 |
py = clicky - BORDER; |
1000 |
px = clickx - BORDER - (maxWidth - newWidth) / 2;
|
1001 |
} else { //width is the limiting factor |
1002 |
scale = widthRatio; |
1003 |
newWidth = maxWidth; |
1004 |
newHeight = (int) (img.getHeight() * scale);
|
1005 |
px = clickx - BORDER; |
1006 |
py = clicky - BORDER - (maxHeight - newHeight) / 2;
|
1007 |
} |
1008 |
py = (int) (py / scale);
|
1009 |
px = (int) (px / scale);
|
1010 |
|
1011 |
txtMatrix.setText("(" + clickx + "," + clicky + ") => (" + px + "," + py + ")"); |
1012 |
return new Point(px, py); |
1013 |
} |
1014 |
} |
1015 |
|
1016 |
/*
|
1017 |
* WebcamLoader class
|
1018 |
* Handles the loading of the webcam image.
|
1019 |
*/
|
1020 |
class WebcamLoader extends Thread |
1021 |
{ |
1022 |
final int WEBCAMLOADER_DELAY = 400; |
1023 |
final String IMAGE_PATH = "http://roboclub9.frc.ri.cmu.edu/colonet.jpg"; |
1024 |
|
1025 |
URL imagePath;
|
1026 |
|
1027 |
MediaTracker mt;
|
1028 |
BufferedImage image;
|
1029 |
Random rand;
|
1030 |
|
1031 |
public WebcamLoader (JApplet applet) |
1032 |
{ |
1033 |
super("ColonetWebcamLoader"); |
1034 |
mt = new MediaTracker(applet); |
1035 |
ImageIO.setUseCache(false); |
1036 |
rand = new Random(); |
1037 |
} |
1038 |
|
1039 |
public void run () |
1040 |
{ |
1041 |
while (true) { |
1042 |
try {
|
1043 |
Thread.sleep(WEBCAMLOADER_DELAY);
|
1044 |
if (image != null) |
1045 |
image.flush(); |
1046 |
System.gc();
|
1047 |
try {
|
1048 |
imagePath = new URL(IMAGE_PATH + "?rand=" + rand.nextInt(50000)); |
1049 |
} catch (MalformedURLException e) { |
1050 |
System.out.println("Malformed URL: could not form URL from: [" + IMAGE_PATH + "]\n"); |
1051 |
} |
1052 |
image = ImageIO.read(imagePath);
|
1053 |
// The MediaTracker waitForID pauses the thread until the image is loaded.
|
1054 |
// We don't want to display a half-downloaded image.
|
1055 |
mt.addImage(image, 1);
|
1056 |
mt.waitForID(1);
|
1057 |
mt.removeImage(image); |
1058 |
// Save
|
1059 |
panelWebcam.setImage(image); |
1060 |
} catch (InterruptedException e) { |
1061 |
return;
|
1062 |
} catch (java.security.AccessControlException e) {
|
1063 |
csi.warn("Could not load webcam.\n" + e);
|
1064 |
return;
|
1065 |
} catch (IOException e) { |
1066 |
log.append("IOException while trying to load image.");
|
1067 |
} |
1068 |
} |
1069 |
} |
1070 |
} |
1071 |
|
1072 |
/*
|
1073 |
* VectorController class
|
1074 |
* Manages robot motion control graphically
|
1075 |
*/
|
1076 |
class VectorController extends GraphicsPanel implements MouseListener, MouseMotionListener { |
1077 |
int x, y, cx, cy;
|
1078 |
int width, height;
|
1079 |
int side;
|
1080 |
|
1081 |
public VectorController (Image img) { |
1082 |
super (img);
|
1083 |
width = img.getWidth(null);
|
1084 |
height = img.getHeight(null);
|
1085 |
cx = img.getWidth(null)/2; |
1086 |
cy = img.getHeight(null)/2; |
1087 |
x = cx; |
1088 |
y = cy; |
1089 |
if (width < height) {
|
1090 |
side = width; |
1091 |
} else {
|
1092 |
side = height; |
1093 |
} |
1094 |
this.addMouseListener(this); |
1095 |
this.addMouseMotionListener(this); |
1096 |
} |
1097 |
|
1098 |
public void setPoint (int x, int y) { |
1099 |
if (isValidPoint(x, y)) {
|
1100 |
this.x = x;
|
1101 |
this.y = y;
|
1102 |
repaint(); |
1103 |
} |
1104 |
} |
1105 |
|
1106 |
public boolean isValidPoint (int x, int y) { |
1107 |
double xterm = Math.pow(1.0*(x - cx)/(side/2), 2); |
1108 |
double yterm = Math.pow(1.0*(y - cy)/(side/2), 2); |
1109 |
return (xterm + yterm <= 1); |
1110 |
} |
1111 |
|
1112 |
public void notifyMouseEvent (MouseEvent e, boolean send) { |
1113 |
if (!isValidPoint(e.getX(), e.getY())) {
|
1114 |
return;
|
1115 |
} |
1116 |
|
1117 |
vectorController.setPoint(e.getX(), e.getY()); |
1118 |
vectorController.repaint(); |
1119 |
if (send) {
|
1120 |
vectorController.sendToServer(); |
1121 |
} |
1122 |
} |
1123 |
|
1124 |
public void mouseExited(MouseEvent e) { |
1125 |
} |
1126 |
public void mouseEntered(MouseEvent e) { |
1127 |
} |
1128 |
public void mouseReleased(MouseEvent e) { |
1129 |
this.notifyMouseEvent(e, true); |
1130 |
} |
1131 |
public void mouseClicked(MouseEvent e) { |
1132 |
this.notifyMouseEvent(e, false); |
1133 |
} |
1134 |
public void mousePressed(MouseEvent e) { |
1135 |
} |
1136 |
public void mouseDragged(MouseEvent e) { |
1137 |
vectorController.notifyMouseEvent(e, false);
|
1138 |
} |
1139 |
public void mouseMoved(MouseEvent e) { |
1140 |
} |
1141 |
|
1142 |
public int getSpeed () { |
1143 |
int dx = x - cx;
|
1144 |
int dy = y - cy;
|
1145 |
int v = (int) Math.sqrt( Math.pow(dx, 2) + Math.pow(dy, 2) ); |
1146 |
return v;
|
1147 |
} |
1148 |
|
1149 |
/**
|
1150 |
* Returns the angle of the control vector in positive degrees west of north,
|
1151 |
* or negative degrees east of north, whichever is less than or equal to
|
1152 |
* 180 degrees total.
|
1153 |
*/
|
1154 |
public int getAngle () { |
1155 |
int dx = x - cx;
|
1156 |
int dy = cy - y;
|
1157 |
// find reference angle in radians
|
1158 |
double theta = Math.atan2(Math.abs(dx), Math.abs(dy)); |
1159 |
// transform to degrees
|
1160 |
theta = theta * 180 / Math.PI; |
1161 |
// adjust for quadrant
|
1162 |
if (dx < 0 && dy < 0) |
1163 |
theta = 90 + theta;
|
1164 |
else if (dx < 0 && dy >= 0) |
1165 |
theta = 90 - theta;
|
1166 |
else if (dx >= 0 && dy < 0) |
1167 |
theta = -90 - theta;
|
1168 |
else
|
1169 |
theta = -90 + theta;
|
1170 |
return (int) theta; |
1171 |
} |
1172 |
|
1173 |
public void paint (Graphics g) { |
1174 |
g.setColor(Color.BLACK);
|
1175 |
g.fillRect(0, 0, width, height); |
1176 |
((Graphics2D)g).setStroke(new BasicStroke(1)); |
1177 |
g.setColor(Color.RED);
|
1178 |
g.drawOval(cx-side/2, cy-side/2, side, side); |
1179 |
((Graphics2D)g).setStroke(new BasicStroke(2)); |
1180 |
g.setColor(Color.GREEN);
|
1181 |
g.drawLine(cx, cy, x, y); |
1182 |
g.fillOval(x-3, y-3, 6, 6); |
1183 |
} |
1184 |
|
1185 |
public void setMaxForward () { |
1186 |
setPoint(cx, cy - (side/2) + 1); |
1187 |
} |
1188 |
|
1189 |
public void setMaxReverse () { |
1190 |
setPoint(cx, cy + (side/2) - 1); |
1191 |
} |
1192 |
|
1193 |
public void setMaxLeft () { |
1194 |
setPoint(cx - (side/2) + 1, cy); |
1195 |
} |
1196 |
|
1197 |
public void setMaxRight () { |
1198 |
setPoint(cx + (side/2) - 1, cy); |
1199 |
} |
1200 |
|
1201 |
public void setZero () { |
1202 |
setPoint(cx, cy); |
1203 |
} |
1204 |
|
1205 |
public void sendToServer () { |
1206 |
System.out.println("Attempting to send angle = " + getAngle() + ", speed = " + getSpeed() + ""); |
1207 |
String dest = ColonetServerInterface.GLOBAL_DEST;
|
1208 |
if (cmbRobotNum != null && cmbRobotNum.getSelectedIndex() > 0) { |
1209 |
dest = (String)cmbRobotNum.getSelectedItem();
|
1210 |
} |
1211 |
|
1212 |
if (csi != null) { |
1213 |
/*
|
1214 |
csi.sendData(ColonetServerInterface.MOVE + " " + getSpeed() + " " + getAngle(), dest);
|
1215 |
*/
|
1216 |
|
1217 |
//Directional commands
|
1218 |
if (x > cx && y == cy) { //move right |
1219 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 200", dest);
|
1220 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 200", dest);
|
1221 |
} else if (x < cx && y == cy) { //move left |
1222 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 200", dest);
|
1223 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 200", dest);
|
1224 |
} else if (x == cx && y > cy) { //move forward |
1225 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 0 225", dest);
|
1226 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 0 225", dest);
|
1227 |
} else if (x == cx && y < cy) { //move backward |
1228 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 225", dest);
|
1229 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 225", dest);
|
1230 |
} else if (x == cx && y == cy) { //stop! |
1231 |
csi.sendData(ColonetServerInterface.MOTOR2_SET + " 1 0", dest);
|
1232 |
csi.sendData(ColonetServerInterface.MOTOR1_SET + " 1 0", dest);
|
1233 |
} |
1234 |
} |
1235 |
} |
1236 |
|
1237 |
} |
1238 |
|
1239 |
/*
|
1240 |
* TaskAddWindow class
|
1241 |
* A window that provides a simple way to add tasks to a task queue.
|
1242 |
*/
|
1243 |
class TaskAddWindow extends JFrame implements ActionListener, ListSelectionListener { |
1244 |
JPanel panelButtons;
|
1245 |
JPanel panelParameters;
|
1246 |
JPanel panelSouth;
|
1247 |
JPanel panelSelection;
|
1248 |
JButton btnSubmit;
|
1249 |
JButton btnCancel;
|
1250 |
DefaultListModel availableListModel;
|
1251 |
JList availableList;
|
1252 |
JScrollPane spAvailableTasks;
|
1253 |
JTextArea txtDescription;
|
1254 |
JTextField txtParameters;
|
1255 |
|
1256 |
public TaskAddWindow () {
|
1257 |
super("Add a Task"); |
1258 |
super.setSize(500,500); |
1259 |
super.setLayout(new BorderLayout()); |
1260 |
|
1261 |
// set up buttons
|
1262 |
btnSubmit = new JButton("Submit"); |
1263 |
btnCancel = new JButton("Cancel"); |
1264 |
panelButtons = new JPanel(); |
1265 |
panelButtons.setLayout(new FlowLayout()); |
1266 |
panelButtons.add(btnSubmit); |
1267 |
panelButtons.add(btnCancel); |
1268 |
this.getRootPane().setDefaultButton(btnSubmit);
|
1269 |
|
1270 |
// set up task list
|
1271 |
availableListModel = new DefaultListModel(); |
1272 |
availableListModel.addElement("Map the Environment");
|
1273 |
availableListModel.addElement("Clean Up Chemical Spill");
|
1274 |
availableListModel.addElement("Grow Plants");
|
1275 |
availableListModel.addElement("Save the Cheerleader");
|
1276 |
availableListModel.addElement("Save the World");
|
1277 |
availableList = new JList(availableListModel); |
1278 |
availableList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
|
1279 |
availableList.setSelectedIndex(-1);
|
1280 |
spAvailableTasks = new JScrollPane(availableList); |
1281 |
spAvailableTasks.setBorder(BorderFactory.createTitledBorder("Select A Task")); |
1282 |
txtDescription = new JTextArea(); |
1283 |
txtDescription.setEditable(false);
|
1284 |
txtDescription.setLineWrap(true);
|
1285 |
txtDescription.setWrapStyleWord(true);
|
1286 |
txtDescription.setBorder(BorderFactory.createTitledBorder("Description")); |
1287 |
|
1288 |
//set up parameter area
|
1289 |
panelParameters = new JPanel(); |
1290 |
panelParameters.setLayout(new BorderLayout()); |
1291 |
txtParameters = new JTextField(); |
1292 |
panelParameters.add(new JLabel("Optional parameters for this task: "), BorderLayout.WEST); |
1293 |
panelParameters.add(txtParameters); |
1294 |
|
1295 |
// assemble objects
|
1296 |
panelSelection = new JPanel(); |
1297 |
panelSelection.setLayout(new GridLayout(1,2)); |
1298 |
panelSelection.add(spAvailableTasks); |
1299 |
panelSelection.add(txtDescription); |
1300 |
|
1301 |
panelSouth = new JPanel(); |
1302 |
panelSouth.setLayout(new GridLayout(2,1)); |
1303 |
panelSouth.add(panelParameters); |
1304 |
panelSouth.add(panelButtons); |
1305 |
|
1306 |
this.getContentPane().add(panelSouth, BorderLayout.SOUTH); |
1307 |
this.getContentPane().add(panelSelection, BorderLayout.CENTER); |
1308 |
this.setLocationRelativeTo(null); |
1309 |
|
1310 |
// add listeners here
|
1311 |
availableList.addListSelectionListener(this);
|
1312 |
btnSubmit.addActionListener(this);
|
1313 |
btnCancel.addActionListener(this);
|
1314 |
} |
1315 |
|
1316 |
public void prompt () { |
1317 |
this.setVisible(true); |
1318 |
} |
1319 |
|
1320 |
private String getDescription (int index) { |
1321 |
if (index < 0) |
1322 |
return ""; |
1323 |
switch (index) {
|
1324 |
case 0: return "SLAM and junk"; |
1325 |
case 1: return "I'm not sure this works"; |
1326 |
case 2: return "Push them into the light"; |
1327 |
case 3: return "..."; |
1328 |
case 4: return "..."; |
1329 |
|
1330 |
default: return "Task not recognized"; |
1331 |
} |
1332 |
} |
1333 |
|
1334 |
public void actionPerformed (ActionEvent e) { |
1335 |
Object source = e.getSource();
|
1336 |
if (source == btnSubmit) {
|
1337 |
txtParameters.setText(txtParameters.getText().trim()); |
1338 |
|
1339 |
|
1340 |
this.setVisible(false); |
1341 |
} else if (source == btnCancel) { |
1342 |
this.setVisible(false); |
1343 |
} |
1344 |
} |
1345 |
|
1346 |
public void valueChanged (ListSelectionEvent e) { |
1347 |
int index = availableList.getSelectedIndex();
|
1348 |
if (index >= 0) |
1349 |
txtDescription.setText(getDescription(index)); |
1350 |
} |
1351 |
|
1352 |
} |
1353 |
|
1354 |
/*
|
1355 |
* BatteryIcon class
|
1356 |
* Graphical representation of battery level
|
1357 |
*/
|
1358 |
class BatteryIcon implements Icon { |
1359 |
private int width; |
1360 |
private int height; |
1361 |
private int level; |
1362 |
|
1363 |
/**
|
1364 |
* Constructs a new BatteryIcon with all default parameters.
|
1365 |
* Default width and height are 50.
|
1366 |
* Default level is 100.
|
1367 |
*/
|
1368 |
public BatteryIcon(){
|
1369 |
this(100, 50, 50); |
1370 |
} |
1371 |
|
1372 |
/**
|
1373 |
* Constructs a new BatteryIcon with default width and height, and with the specified level.
|
1374 |
* Default width and height are 50.
|
1375 |
*/
|
1376 |
public BatteryIcon(int startLevel){ |
1377 |
this(startLevel, 50, 50); |
1378 |
} |
1379 |
|
1380 |
/**
|
1381 |
* Constructs a new BatteryIcon with the specified level, width, and height.
|
1382 |
*/
|
1383 |
public BatteryIcon(int startLevel, int w, int h){ |
1384 |
level = startLevel; |
1385 |
width = w; |
1386 |
height = h; |
1387 |
} |
1388 |
|
1389 |
public void paintIcon(Component c, Graphics g, int x, int y) { |
1390 |
Graphics2D g2d = (Graphics2D) g.create(); |
1391 |
//clear the background
|
1392 |
g2d.setColor(Color.WHITE);
|
1393 |
g2d.fillRect(x + 1, y + 1, width - 2, height - 2); |
1394 |
//outline
|
1395 |
g2d.setColor(Color.BLACK);
|
1396 |
g2d.drawRect((int)(x + width*.3), y + 2, (int)(width*.4), height - 4); |
1397 |
//battery life rectangle
|
1398 |
|
1399 |
if (level > 50) |
1400 |
g2d.setColor(Color.GREEN);
|
1401 |
else if (level > 25) |
1402 |
g2d.setColor(Color.YELLOW);
|
1403 |
else
|
1404 |
g2d.setColor(Color.RED);
|
1405 |
|
1406 |
int greenX = (int)(x + 1 + width*.3); |
1407 |
int greenY = (int)((y+3) + Math.abs(level-100.0)*(height-6)/(100)); |
1408 |
int greenWidth = (int)(width*.4 - 2)+1; |
1409 |
int greenHeight = 1+(int)(level-0.0)*(height-6)/(100); |
1410 |
g2d.fillRect(greenX, greenY, greenWidth, greenHeight); |
1411 |
//text
|
1412 |
g2d.setColor(Color.BLACK);
|
1413 |
g2d.drawString(level + "%", greenX + greenWidth/2 - 10, greenY + greenHeight/2 + 5); |
1414 |
|
1415 |
g2d.dispose(); |
1416 |
} |
1417 |
|
1418 |
/**
|
1419 |
* Sets the battery level for this BatteryIcon. The level should be given in raw form, i.e. 0-255 directly
|
1420 |
* from the robot. The value will be converted to a representative percentage automatically.
|
1421 |
*
|
1422 |
* @param newLevel the new battery reading from the robot that this BatteryIcon will display.
|
1423 |
*/
|
1424 |
public void setLevel(int newLevel) { |
1425 |
level = convert(newLevel); |
1426 |
repaint(); |
1427 |
System.out.println("Updated level to " + level); |
1428 |
} |
1429 |
|
1430 |
public int getIconWidth() { |
1431 |
return width;
|
1432 |
} |
1433 |
|
1434 |
public int getIconHeight() { |
1435 |
return height;
|
1436 |
} |
1437 |
|
1438 |
/**
|
1439 |
* Converts a robot battery reading into representable form.
|
1440 |
* Readings from the robot are returned as raw values, 0-255. This method converts the reading into a value
|
1441 |
* from 0 to 100 so that the practical remaining charge is represented.
|
1442 |
*
|
1443 |
* @param level The battery level as returned by the robot.
|
1444 |
* @returns The representable battery percentage.
|
1445 |
*/
|
1446 |
private int convert (int level) { |
1447 |
// TODO: make this a forreals conversion.
|
1448 |
return (int) (100.0 * level / 170); |
1449 |
} |
1450 |
} |
1451 |
} |