Colony

import javax.swing.*;

import javax.swing.event.*;

import javax.imageio.*;

import java.awt.*;

import java.awt.image.*;

import java.awt.event.*;

import java.net.*;

import java.io.*;

import java.util.*;

/**

* 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.

*/

public class Colonet extends JApplet implements ActionListener, MouseInputListener, KeyListener, Runnable {

        // Used for painting

        final int BUFFER = 50;

        final int RADIUS = 30;

        // Used for the robot controller

        final int VECTOR_CONTROLLER_HEIGHT = 190;

        final int VECTOR_CONTROLLER_WIDTH = 320;

        // Connection

        JTextField txtHost;

        JTextField txtPort;

        JButton btnConnect;

        JButton btnGetXBeeIDs;

        JLabel lblConnectionStatus;

        JTextArea txtInfo;

        JPanel panelConnect;

        JPanel panelServerInterface;

        Socket socket;

        DataUpdater dataUpdater;

        // Control

        JPanel panelControl;

        JTabbedPane tabPaneControl;

        JPanel panelRobotControl;

        JPanel panelRobotDirection;

        JPanel panelRobotDirectionButtons;

        JPanel panelRobotCommands;

        JButton btnF, btnB, btnL, btnR, btnActivate;

        JComboBox cmbRobotNum;

        JLabel lblBattery;

        JLabel lblSelected;

        BatteryIcon batteryIcon;

        JPanel panelBattery;

        VectorController vectorController;

        BufferedImage imageVectorControl;

        JButton btnAssignID;

        boolean setWaypoint;

        int setWaypointID;

        JButton btnCommand_MoveTo;

        JButton btnCommand_MoveAll;

        JButton btnCommand_StopTask;

        JButton btnCommand_ResumeTask;

        JButton btnCommand_ChargeNow;

        JButton btnCommand_StopCharging;

        // Task Manager

        JPanel panelTaskManager;

        JScrollPane spTaskManager;

        JPanel panelTaskManagerControls;

        JPanel panelTaskManagerControlsPriority;

        DefaultListModel taskListModel;

        JList taskList;

        JButton btnAddTask;

        JButton btnRemoveTask;

        JButton btnMoveTaskUp;

        JButton btnMoveTaskDown;

        JButton btnUpdateTasks;

        TaskAddWindow taskAddWindow;

        // Webcam

        WebcamPanel panelWebcam;

        GraphicsConfiguration gc;

        JTabbedPane tabPaneMain;

        WebcamLoader webcamLoader;

        // Robots

        volatile int selectedBot;         //the user has selected this bot graphically

        volatile java.util.Map <Integer, RobotIcon> robotIcons;         //contains boundary shapes around bots for click detection

        volatile int[] xbeeID;

        Colonet self = this;

        volatile ColonetServerInterface csi;

        Thread paintThread;

        public void init () {

                // Set the default look and feel - choose one

                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);

                }

                // 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) {

                        //Not really sure why we would be in this situation

                        System.out.println("InterruptedException in init: " + e);

                } catch (java.lang.reflect.InvocationTargetException e) {

                        //This could happen for various reasons if there is a problem in createAndShowGUI

                        e.printStackTrace();

                }

        }

        public void destroy () {

                if (csi != null) {

                        csi.disconnect();

                }

        }

        private synchronized void createAndShowGUI () {

                paintThread = new Thread(this, "PaintThread");

                paintThread.start();

                // Webcam

                gc = GraphicsEnvironment.getLocalGraphicsEnvironment().getDefaultScreenDevice().getDefaultConfiguration();

                panelWebcam = new WebcamPanel();

                tabPaneMain = new JTabbedPane();

                tabPaneMain.setFont(new Font("arial", Font.PLAIN, 16));

                tabPaneMain.add(panelWebcam, "Webcam");

                // Robots

                selectedBot = -1;

                robotIcons = new HashMap <Integer, RobotIcon> ();

                // Connection area

                txtInfo = new JTextArea();

                txtInfo.setBorder(BorderFactory.createTitledBorder("Info"));

                txtHost = new JTextField(this.getDocumentBase().getHost());

                txtHost.setBorder(BorderFactory.createTitledBorder("Host"));

                txtPort = new JTextField("10123");

                txtPort.setBorder(BorderFactory.createTitledBorder("Port"));

                btnConnect = new JButton("Connect");

                btnConnect.setFont(new Font("arial", Font.BOLD, 16));

                btnGetXBeeIDs = new JButton("Get XBee IDs");

                getRootPane().setDefaultButton(btnConnect);

                lblConnectionStatus = new JLabel("Status: Offline");

                panelConnect = new JPanel();

                panelConnect.setLayout(new GridLayout(6,1));

                panelConnect.add(lblConnectionStatus);

                panelConnect.add(txtHost);

                panelConnect.add(txtPort);

                panelConnect.add(btnConnect);

                //panelConnect.add(btnGetXBeeIDs);

                panelServerInterface = new JPanel();

                panelServerInterface.setLayout(new GridLayout(2,1));

                panelServerInterface.add(panelConnect);

                panelServerInterface.add(txtInfo);

                // Robot direction panel

                panelRobotDirection = new JPanel();

                panelRobotDirectionButtons = new JPanel();

                Font f = new Font(null, Font.PLAIN, 18);

                btnF = new JButton("\u2191");

                btnF.setFont(f);

                btnB = new JButton("\u2193");

                btnB.setFont(f);

                btnL = new JButton("\u2190");

                btnL.setFont(f);

                btnR = new JButton("\u2192");

                btnR.setFont(f);

                btnActivate = new JButton("\u25A0");

                btnActivate.setFont(new Font(null, Font.BOLD, 36));

                panelRobotDirectionButtons.setLayout(new GridLayout(1,5));

                panelRobotDirectionButtons.add(btnActivate);

                panelRobotDirectionButtons.add(btnF);

                panelRobotDirectionButtons.add(btnB);

                panelRobotDirectionButtons.add(btnL);

                panelRobotDirectionButtons.add(btnR);

                imageVectorControl = gc.createCompatibleImage(VECTOR_CONTROLLER_WIDTH, VECTOR_CONTROLLER_HEIGHT);

                vectorController = new VectorController(imageVectorControl);

                panelRobotDirection.setLayout(new BorderLayout());

                panelRobotDirection.add(vectorController, BorderLayout.CENTER);

                panelRobotDirection.add(panelRobotDirectionButtons, BorderLayout.SOUTH);

                // Robot Control and Commands

                panelRobotCommands = new JPanel();

                panelRobotCommands.setLayout(new GridLayout(5,2));

                cmbRobotNum = new JComboBox();

                // Battery subset

                batteryIcon = new BatteryIcon(0);

                lblBattery = new JLabel(batteryIcon);

                lblSelected = new JLabel("None");

                // Command subset

                setWaypoint = false;

                setWaypointID = -1;

                btnAssignID = new JButton("Assign ID");

                btnCommand_MoveTo = new JButton("Move to ...");

                btnCommand_MoveAll = new JButton("Move all ...");

                btnCommand_StopTask = new JButton("Stop Current Task");

                btnCommand_ResumeTask = new JButton("Resume Current Task");

                btnCommand_ChargeNow = new JButton("Recharge Now");

                btnCommand_StopCharging = new JButton("Stop Recharging");

                panelRobotCommands.add(new JLabel("Select Robot to Control: "));

                panelRobotCommands.add(cmbRobotNum);

                panelRobotCommands.add(new JLabel("Battery Level: "));

                panelRobotCommands.add(lblBattery);

                panelRobotCommands.add(new JLabel("Selected Icon: "));

                panelRobotCommands.add(lblSelected);

                panelRobotCommands.add(btnAssignID);

                panelRobotCommands.add(new JLabel(""));

                panelRobotCommands.add(btnCommand_MoveTo);

                panelRobotCommands.add(btnCommand_MoveAll);

                //panelRobotCommands.add(btnCommand_StopTask);

                //panelRobotCommands.add(btnCommand_ResumeTask);

                //panelRobotCommands.add(btnCommand_ChargeNow);

                //panelRobotCommands.add(btnCommand_StopCharging);

                panelRobotControl = new JPanel();

                panelRobotControl.setLayout(new GridLayout(2,1));

                panelRobotControl.add(panelRobotDirection);

                panelRobotControl.add(panelRobotCommands);

                // Task Manager

                panelTaskManager = new JPanel();

                panelTaskManager.setLayout(new BorderLayout());

                taskListModel = new DefaultListModel();

                taskList = new JList(taskListModel);

                taskList.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);

                taskList.setSelectedIndex(0);

                spTaskManager = new JScrollPane(taskList);

                panelTaskManagerControls = new JPanel();

                panelTaskManagerControls.setLayout(new GridLayout(1,4));

                panelTaskManagerControlsPriority = new JPanel();

                panelTaskManagerControlsPriority.setLayout(new GridLayout(1,2));

                btnAddTask = new JButton("Add...");

                btnRemoveTask = new JButton("Remove");

                btnMoveTaskUp = new JButton("^");

                btnMoveTaskDown = new JButton("v");

                btnUpdateTasks = new JButton("Update");

                panelTaskManagerControlsPriority.add(btnMoveTaskUp);

                panelTaskManagerControlsPriority.add(btnMoveTaskDown);

                panelTaskManagerControls.add(btnAddTask);

                panelTaskManagerControls.add(btnRemoveTask);

                panelTaskManagerControls.add(btnUpdateTasks);

                panelTaskManagerControls.add(panelTaskManagerControlsPriority);

                panelTaskManager.add(spTaskManager, BorderLayout.CENTER);

                panelTaskManager.add(panelTaskManagerControls, BorderLayout.SOUTH);

                panelTaskManager.add(new JLabel("Current Task Queue"), BorderLayout.NORTH);

                taskAddWindow = new TaskAddWindow();

                // Main control mechanism

                panelControl = new JPanel();

                panelControl.setLayout(new GridLayout(1,1));

                tabPaneControl = new JTabbedPane(JTabbedPane.TOP);

                tabPaneControl.setFont(new Font("arial", Font.PLAIN, 16));

                tabPaneControl.setPreferredSize(new Dimension(VECTOR_CONTROLLER_WIDTH, 0));

                tabPaneControl.addTab("Connection", panelServerInterface);

                tabPaneControl.addTab("Robots", panelRobotControl);

                //tabPaneControl.addTab("Tasks", panelTaskManager);

                panelControl.add(tabPaneControl);

                // Put all elements in the ContentPane

                this.getContentPane().setLayout(new BorderLayout());

                this.getContentPane().add(tabPaneMain, BorderLayout.CENTER);

                this.getContentPane().add(panelControl, BorderLayout.EAST);

                this.setVisible(true);

                // Disable components before connecting

                btnConnect.setText("Connect");

        lblConnectionStatus.setText("Status: Disconnected");

        btnF.setEnabled(false);

        btnB.setEnabled(false);

        btnL.setEnabled(false);

        btnR.setEnabled(false);

        btnActivate.setEnabled(false);

        cmbRobotNum.setEnabled(false);

        btnAssignID.setEnabled(false);

        btnCommand_MoveTo.setEnabled(false);

        btnCommand_MoveAll.setEnabled(false);

                /* Add all listeners here */

                // Task Management

                btnAddTask.addActionListener(this);

                btnRemoveTask.addActionListener(this);

                btnMoveTaskUp.addActionListener(this);

                btnMoveTaskDown.addActionListener(this);

                btnUpdateTasks.addActionListener(this);

                // Robot Control

                btnF.addActionListener(this);

                btnB.addActionListener(this);

                btnL.addActionListener(this);

                btnR.addActionListener(this);

                btnF.addKeyListener(this);

                btnB.addKeyListener(this);

                btnL.addKeyListener(this);

                btnR.addKeyListener(this);

                btnActivate.addActionListener(this);

                btnActivate.addKeyListener(this);

                cmbRobotNum.addKeyListener(this);

                btnCommand_MoveTo.addActionListener(this);

                btnCommand_MoveAll.addActionListener(this);

                btnCommand_StopTask.addActionListener(this);

                btnCommand_ResumeTask.addActionListener(this);

                btnCommand_ChargeNow.addActionListener(this);

                btnCommand_StopCharging.addActionListener(this);

                // Other

                btnConnect.addActionListener(this);

                btnGetXBeeIDs.addActionListener(this);

                btnAssignID.addActionListener(this);

                panelWebcam.addMouseListener(this);

        }

        public void paint (Graphics g) {

                super.paint(g);

        }

        public void update (Graphics g) {

                paint(g);

        }

        public void run () {

                final int PAINT_DELAY = 300;

                while (true) {

                        try {

                                Thread.sleep(PAINT_DELAY);

                        } catch (Exception e) {

                                System.out.println(e);

                                return;

                        }

                        repaint();

                }

        }

        /**

        * Gets the JTextArea used for displaying debugging information. 

        *

        * @return the JTextArea where debugging information can be displayed.

        */

        public JTextArea getInfoPanel () {

                return txtInfo;

        }

        /**

        * 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

        * 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.

        *

        *

        * @param line the String containing BOM matrix information.

        * @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots]^2 data entries in the String

        */

        public void parseMatrix (String line) {

                txtInfo.setText("");

                String [] str = line.split(" ");

                int num = Integer.parseInt(str[2]);

                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")) {

                                        txtInfo.append("-");

                                } else {

                                        txtInfo.append(next);

                                }

                                if (j < num - 1) {

                                        txtInfo.append(" ");

                                }

                        }

                        if (i < num - 1) {

                                txtInfo.append("\n");

                        }

                }

                repaint();

        }

        public void connect () {

        if (csi != null)

                return;

        csi = new ColonetServerInterface(self);

        csi.connect(txtHost.getText(), txtPort.getText());

        if (!csi.isReady()) {

                csi = null;

                return;

        }

        webcamLoader = new WebcamLoader(self);

        dataUpdater = new DataUpdater();

        dataUpdater.start();

        webcamLoader.start();

        Runnable r = new Runnable() {

                public void run () {

                        btnConnect.setText("Disconnect");

                        lblConnectionStatus.setText("Status: Connected");

                btnF.setEnabled(true);

                btnB.setEnabled(true);

                btnL.setEnabled(true);

                btnR.setEnabled(true);

                btnActivate.setEnabled(true);

                cmbRobotNum.setEnabled(true);

                btnAssignID.setEnabled(true);

                btnCommand_MoveTo.setEnabled(true);

                btnCommand_MoveAll.setEnabled(true);

                    }

                };

                SwingUtilities.invokeLater(r);

        }

        public void disconnect () {

        try {

            dataUpdater.interrupt();

        } catch (Exception e) {

        }

        csi = null;

                Runnable r = new Runnable() {

                public void run () {

                        btnConnect.setText("Connect");

                    lblConnectionStatus.setText("Status: Disconnected");

                btnF.setEnabled(false);

                btnB.setEnabled(false);

                btnL.setEnabled(false);

                btnR.setEnabled(false);

                btnActivate.setEnabled(false);

                cmbRobotNum.setEnabled(false);

                btnAssignID.setEnabled(false);

                btnCommand_MoveTo.setEnabled(false);

                btnCommand_MoveAll.setEnabled(false);

                    }

                };

                SwingUtilities.invokeLater(r);

        }

        /**

        * Parses a String containing a task queue update.

        * Format is currently not specified.

        * This method currently does nothing.

        *

        * @param line the String containing task queue update information.

        */

        public void parseQueue (String line) {

        }

        /**

        * Parses a String containing XBee ID values.

        * 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 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.

        *

        * @param line the String containing XBee ID information.

        * @throws ArrayIndexOutOfBoundsException if there are fewer than [number of robots] IDs in the String

        * @see ColonetServerInterface#sendXBeeIDRequest()

        */

        public void parseXBeeIDs (String line) {

                String [] str = line.split(" ");

                int num = Integer.parseInt(str[2]);

                xbeeID = new int[num];

                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("" + 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

        * 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

        * information String, [robot ID] is an integer, and [value] is a battery measurement.

        * This updates the batery information for a single robot.

        *

        *

        * @param line the String containing battery information.

        * @see ColonetServerInterface#sendBatteryRequest(int)

        */

        public void parseBattery (String line) {

            int botNum, level;

            System.out.println("Got battery update:" + line);

            try {

                    String [] str = line.split(" ");

                    botNum = Integer.parseInt(str[2]);

                    level = Integer.parseInt(str[3]);

                } catch (NumberFormatException e) {

                    System.out.println("Could not parse battery update");

                    return;

                }

                RobotIcon r = robotIcons.get(botNum);

                if (r != null) {

                    r.battery = batteryIcon.convert(level);  // set contextual battery meter

                    batteryIcon.setLevel(level); // set solo battery meter

                    System.out.println("Set " + r.id + " battery value to " + level);

                }

                repaint();

        }

        /**

        * Parses a String containing visual robot position information along with

        * canonical ID assignments.

        */

        public void parsePositions (String line) {

                String [] str = line.split(" ");

                java.util.Map <Integer, RobotIcon> newMap = new HashMap <Integer, RobotIcon> ();

                for (int i = 2; i < str.length; i+=3) {

                        int id = Integer.parseInt(str[i]);

                        int x = Integer.parseInt(str[i+1]);

                        int y = Integer.parseInt(str[i+2]);

                        RobotIcon newIcon = new RobotIcon(id, x, y);

                        // Save previous battery value

                        if (robotIcons.get(id) != null)

                            newIcon.battery = robotIcons.get(id).battery;

                        if (newIcon.id >= 0) {

                                newIcon.color = Color.GREEN;

                        }

                        newMap.put(id, newIcon);

                }

                robotIcons = newMap;

                repaint();

        }

        //

        // MouseListener methods

        //

        public void mousePressed(MouseEvent e) {

                //Start a new Thread to handle the MouseEvent

                (new MouseHandler(e)).start();

                repaint();

        }

        public void mouseExited(MouseEvent e) {

        }

        public void mouseEntered(MouseEvent e) {

        }

        public void mouseReleased(MouseEvent e) {

        }

        public void mouseClicked(MouseEvent e) {

        }

        public void mouseDragged(MouseEvent e) {

        }

        public void mouseMoved(MouseEvent e) {

        }

        //

        // KeyListener methods

        //

        public void keyPressed (KeyEvent e) {

                //Start a new Thread to handle the KeyEvent

                (new KeyHandler(e)).start();

                repaint();

        }

        public void keyReleased (KeyEvent e) {

        }

        public void keyTyped (KeyEvent e) {

        }

        //

        // ActionListener method

        //

        public void actionPerformed (ActionEvent e) {

                // Start a new Thread to handle the ActionEvent

                (new ActionHandler(e)).start();

                repaint();

        }

        class MouseHandler extends Thread {

                MouseEvent e;

                public MouseHandler (MouseEvent event) {

                        super("MouseHandler");

                        this.e = event;

                }

                public void run () {

                        Point pt = panelWebcam.convertClick(e);

                        // 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;

                                }

                                RobotIcon r = robotIcons.get(selectedBot);

                                if (r != null) {

                                        r.destx = pt.x;

                                        r.desty = pt.y;

                                        if (csi != null) {

                                                csi.sendAbsoluteMove(r.id, r.destx, r.desty);

                                        }

                                }

                                return;

                        }

                        // Right-click also means we are moving a robot

                        if (e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) {

                                if (selectedBot < 0) {

                                        return;

                                }

                                RobotIcon r = robotIcons.get(selectedBot);

                                if (r != null) {

                                        r.destx = pt.x;

                                        r.desty = pt.y;

                                        if (csi != null) {

                                                csi.sendAbsoluteMove(r.id, r.destx, r.desty);

                                        }

                                }

                                return;

                        }

                        // If we are setting all waypoints

                        if (setWaypoint) {

                                setWaypoint = false;

                                panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR));

                                for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {

                                        RobotIcon r = entry.getValue();

                                        r.destx = pt.x;

                                        r.desty = pt.y;

                                }

                                return;

                        }

                        // Otherwise, we are selecting a bot, or doing nothing

                        for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {

                                RobotIcon r = entry.getValue();

                                if (r.contains(pt.x, pt.y)) {

                                        selectedBot = r.id;

                                        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()) == selectedBot) {

                                                        cmbRobotNum.setSelectedIndex(j);

                                                }

                                        }

                                        return;

                                }

                        }

                }

        }

        class KeyHandler extends Thread {

                KeyEvent e;

                public KeyHandler (KeyEvent event) {

                        super("KeyHandler");

                        this.e = event;

                }

                public void run () {

                        int code = e.getKeyCode();

                        if (code == KeyEvent.VK_UP) {

                                vectorController.setMaxForward();

                                vectorController.sendToServer();

                        } else if (code == KeyEvent.VK_DOWN) {

                                vectorController.setMaxReverse();

                                vectorController.sendToServer();

                        } else if (code == KeyEvent.VK_LEFT) {

                                vectorController.setMaxLeft();

                                vectorController.sendToServer();

                        } else if (code == KeyEvent.VK_RIGHT) {

                                vectorController.setMaxRight();

                                vectorController.sendToServer();

                        } else if (code == KeyEvent.VK_S) {

                                vectorController.setZero();

                                vectorController.sendToServer();

                        }

                }

        }

        class ActionHandler extends Thread {

                ActionEvent e;

                public ActionHandler (ActionEvent event) {

                        super("ActionHandler");

                        this.e = event;

                }

                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) {

                                        message = "That robot is unidentified. Please specify its ID.";

                                } else {

                                        message = "That robot has ID " + selectedBot + ". 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

                                if (csi != null) {

                                        csi.sendIDAssignment(selectedBot, newID);

                                }

                                selectedBot = newID;

                                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) {

                        } else if (source == btnCommand_StopCharging) {

                        } 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();

                        }

                }

        }

        /*

        * DataUpdater thread.

        *                The purpose of this thread is to request data from the server at regular intervals.

        *

        */

        class DataUpdater extends Thread {

                final int DATAUPDATER_DELAY = 200;

                public DataUpdater () {

                        super("Colonet DataUpdater");

                }

                public synchronized void run () {

                        while (true) {

                                try {

                                        //request more data

                                        if (csi != null && csi.isReady()) {

                                                csi.sendPositionRequest();

                                                csi.sendXBeeIDRequest();

                                                for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {

                                                        RobotIcon r = entry.getValue();

                                                           int id = r.id;

                                                            if (id >= 0) {

                                                                csi.sendBatteryRequest(id);

                                                                System.out.println("Sent battery request (" + id + ")");

                                                        }

                                                }

                                        }

                                        Thread.sleep(DATAUPDATER_DELAY);

                                } catch (InterruptedException e) {

                                        return;

                                } catch (NullPointerException e) {

                                    // This probably indicates that an object was destroyed by shutdown.

                                    return;

                                }

                        }

                }

        }

        /*

        * GraphicsPanel class

        * An extension of JPanel, designed for holding an image that will be repainted regularly.

        */

        class GraphicsPanel extends JPanel {

                protected Image img;

                public GraphicsPanel (Image img) {

                        this(img, true);

                }

                public GraphicsPanel (Image img, boolean isDoubleBuffered) {

                        super(isDoubleBuffered);

                        this.img = img;

                }

                public void paint (Graphics g) {

                        // 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

        */

        class WebcamPanel extends JPanel {

                final int BORDER = 16;        // this is arbitrary. it makes the image look nice inside a border.

                final int BATTERY_WIDTH = 50;

                final int BATTERY_HEIGHT = 10;

                volatile BufferedImage img;

                BufferedImage buffer;

                public WebcamPanel () {

                        super(true);

                }

                public synchronized void setImage (BufferedImage newimg) {

                        if (img != null) {

                                img.flush();

                        }

                        System.gc();

                        img = newimg;

                        repaint();

                }

                public synchronized void paint (Graphics g) {

                        if (img == null) {

                                return;

                        }

                        // Calculate scaling

                        int maxWidth = getWidth() - 2*BORDER;

                        int maxHeight = getHeight() - 2*BORDER;

                        double widthRatio = 1.0 * maxWidth / img.getWidth();

                        double heightRatio = 1.0 * maxHeight / img.getHeight();

                        double scale = 0;

                        int newWidth = 0;

                        int newHeight = 0;

                        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;

                        }

                        // Draw everything onto the buffer

                        buffer = new BufferedImage(getWidth(), getHeight(), BufferedImage.TYPE_INT_RGB);

                        Graphics2D bufferedGraphics = (Graphics2D)buffer.getGraphics();

                        bufferedGraphics.setColor(Color.GRAY);

                        bufferedGraphics.fillRect(0, 0, this.getWidth(), this.getHeight());

                        Image imgScaled = img.getScaledInstance(newWidth, newHeight, Image.SCALE_FAST);

                        bufferedGraphics.drawImage(imgScaled, x, y, this);

                        // Draw Identifiers and battery levels

                        if (robotIcons != null) {

                                bufferedGraphics.setStroke(new BasicStroke(2));

                                for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {

                                        RobotIcon r = entry.getValue();

                                        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) {

                                            int pixels = r.battery * BATTERY_WIDTH / 160;  // 160 should be fully charged

                                                if (r.battery > 50)

                                                    bufferedGraphics.setColor(Color.GREEN);

                                                else if (r.battery > 25)

                                                    bufferedGraphics.setColor(Color.YELLOW);

                                                else

                                                    bufferedGraphics.setColor(Color.RED);

                                                bufferedGraphics.fillRect(px+20, py+20, pixels, BATTERY_HEIGHT);

                                                bufferedGraphics.setColor(Color.BLACK);

                                                bufferedGraphics.drawRect(px+20, py+20, BATTERY_WIDTH, BATTERY_HEIGHT);

                                        }

                                        // 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

                        RobotIcon r = robotIcons.get(selectedBot);

                        if (r != null) {

                                int px = (int) (x + r.x * scale);

                                int py = (int) (y + r.y * scale);

                                bufferedGraphics.setColor(Color.BLACK);

                                bufferedGraphics.drawOval(px-RADIUS-6, py-RADIUS-6, 2*r.RADIUS+12, 2*r.RADIUS+12);

                        }

                        //Display buffered content

                        g.drawImage(buffer, 0, 0, this);

                }

                /*

                * Convert a click on the webcam panel to a coordinate that is consistent with the

                * original size of the image that the panel contains.

                */

                public Point convertClick (MouseEvent e) {

                        if (img == null) {

                                return new Point(e.getX(), e.getY());

                        }

                        // Calculate scaling

                        int clickx = e.getX();

                        int clicky = e.getY();

                        int maxWidth = getWidth() - 2*BORDER;

                        int maxHeight = getHeight() - 2*BORDER;

                        double widthRatio = 1.0 * maxWidth / img.getWidth();

                        double heightRatio = 1.0 * maxHeight / img.getHeight();

                        double scale = 0;

                        int newWidth = 0;

                        int newHeight = 0;

                        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;

                        } else {        //width is the limiting factor

                                scale = widthRatio;

                                newWidth = maxWidth;

                                newHeight = (int) (img.getHeight() * scale);

                                px = clickx - BORDER;

                                py = clicky - BORDER - (maxHeight - newHeight) / 2;

                        }

                        py = (int) (py / scale);

                        px = (int) (px / scale);

                        return new Point(px, py);

                }

        }

        /*

        * WebcamLoader class

        * Handles the loading of the webcam image.

        */

        class WebcamLoader extends Thread

        {

                final int WEBCAMLOADER_DELAY = 250;

                final String IMAGE_PATH = "http://128.2.99.176/colonet.jpg";

                URL imagePath;

                MediaTracker mt;

                BufferedImage image;

                Random rand;

                public WebcamLoader (JApplet applet)

                {

                        super("ColonetWebcamLoader");

                        mt = new MediaTracker(applet);

                        ImageIO.setUseCache(false);

                        rand = new Random();

                }

                public void run ()

                {

                        while (true) {

                                try {

                                        Thread.sleep(WEBCAMLOADER_DELAY);

                                        if (image != null)

                                                image.flush();

                                        System.gc();

                                        try {

                                                imagePath = new URL(IMAGE_PATH + "?rand=" + rand.nextInt(100000));

                                        } 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.

                                        mt.addImage(image, 1);

                                        mt.waitForID(1);

                                        mt.removeImage(image);

                                        // Save

                                        panelWebcam.setImage(image);

                                } catch (InterruptedException e) {

                                        return;

                                } catch (java.security.AccessControlException e) {

                                        csi.warn("Could not load webcam.\n" + e);

                                        return;

                                } catch (IOException e) {

                                        getInfoPanel().append("IOException while trying to load image.");

                                }

                        }

                }

        }

        /*

        * VectorController class

        * Manages robot motion control graphically

        */

        class VectorController extends GraphicsPanel implements MouseListener, MouseMotionListener {

                int x, y, cx, cy;

                final int WIDTH, HEIGHT;

                final int SIDE;

                final int BOT_SIZE = 70;

        final int WHEEL_SIZE = 15;

                public VectorController (Image img) {

                        super (img);

                        WIDTH = img.getWidth(null);

                        HEIGHT = img.getHeight(null);

                        cx = WIDTH/2;

                        cy = HEIGHT/2;

                        x = cx;

                        y = cy;

                        if (WIDTH < HEIGHT) {

                                SIDE = WIDTH;

                        } else {

                                SIDE = HEIGHT;

                        }

                        this.addMouseListener(this);

                        this.addMouseMotionListener(this);

                }

                public void setPoint (int x, int y) {

                        if (isValidPoint(x, y)) {

                                this.x = x;

                                this.y = y;

                        }

                }

                public boolean isValidPoint (int x, int y) {

                        double xsq = Math.pow(1.0*(x - cx)/(SIDE/2), 2);

                        double ysq = Math.pow(1.0*(y - cy)/(SIDE/2), 2);

                        return (xsq + ysq <= 1);

                }

                public void notifyMouseEvent (MouseEvent e, boolean send) {

                        if (!isValidPoint(e.getX(), e.getY())) {

                                return;

                        }

                        setPoint(e.getX(), e.getY());

                repaint();

                        if (send) {

                            Runnable r = new Runnable () {

                                public void run () {

                                    sendToServer();

                                }

                            };

                                (new Thread(r)).start();

                        }

                }

                public void mouseExited(MouseEvent e) {

                }

                public void mouseEntered(MouseEvent e) {

                }

                public void mouseReleased(MouseEvent e) {

                        this.notifyMouseEvent(e, true);

                }

                public void mouseClicked(MouseEvent e) {

                        this.notifyMouseEvent(e, false);

                }

                public void mousePressed(MouseEvent e) {

                }

                public void mouseDragged(MouseEvent e) {

                        vectorController.notifyMouseEvent(e, false);

                }

                public void mouseMoved(MouseEvent e) {

                }

                public int getSpeed () {

                        int dx = x - cx;

                        int dy = y - cy;

                        int s = (int) Math.sqrt( Math.pow(dx, 2) + Math.pow(dy, 2) );

                        int maxspeed = SIDE/2;

                        return s * 512 / SIDE;

                }

                /**

                * Returns the angle of the control vector in positive degrees west of north,

                * or negative degrees east of north, whichever is less than or equal to

                * 180 degrees total.

                */

                public int getAngle () {

                        int dx = x - cx;

                        int dy = cy - y;

                        // find reference angle in radians

                        double theta = Math.atan2(Math.abs(dx), Math.abs(dy));

                        // transform to degrees

                        theta = theta * 180 / Math.PI;

                        // adjust for quadrant

                        if (dx < 0 && dy < 0)

                                theta = 90 + theta;

                        else if (dx < 0 && dy >= 0)

                                theta = 90 - theta;

                        else if (dx >= 0 && dy < 0)

                                theta = -90 - theta;

                        else

                                theta = -90 + theta;

                        return (int) theta;

                }

                public int getMotorL () {

                    if (getSpeed() == 0)

                        return 0;

                    int dx = x - cx;

                        int dy = (cy - y) * 255 / getSpeed();

                        int val = 0;

                    // Dependent on quadrant

                        if (dx < 0 && dy < 0)

                                val = -255;

                        else if (dx < 0 && dy >= 0)

                                val = dy * 1024 / SIDE - 255;

                        else if (dx >= 0 && dy < 0)

                                val = dy * 1024 / SIDE + 255;

                        else

                                val = 255;

                    // Normalize to 0-255

                        return val * getSpeed() / 255;

                }

                public int getMotorR () {

                    if (getSpeed() == 0)

                        return 0;

                    int dx = x - cx;

                        int dy = (cy - y) * 255 / getSpeed();

                        int val = 0;

                    // Dependent on quadrant

                        if (dx < 0 && dy < 0)

                                val = dy * 1024 / SIDE + 255;

                        else if (dx < 0 && dy >= 0)

                                val = 255;

                        else if (dx >= 0 && dy < 0)

                                val = -255;

                        else

                                val = dy * 1024 / SIDE - 255;

                        // Normalize to 0-255

                        return val * getSpeed() / 255;

                }

                private int eliminateDeadZone (int x) {

                    final int START = 150;

                    int val;

                    if (x == 0)

                        return 0;

                    if (x > 0)

                            val = (int) ((1 - 1.0 * START / 255) * x + START);

                        else

                            val = (int) ((1 - 1.0 * START / 255) * x - START);

                        return val;

                }

                public void paint (Graphics g) {

                        // Clear image

                        g.setColor(Color.BLACK);

                        g.fillRect(0, 0, WIDTH, HEIGHT);

                        ((Graphics2D)g).setStroke(new BasicStroke(1));