Revision 664
Added some boundary code
| trunk/code/projects/colonet/client/Colonet.java | ||
|---|---|---|
| 55 | 55 |
JButton btnAssignID; |
| 56 | 56 |
boolean setWaypoint; |
| 57 | 57 |
int setWaypointID; |
| 58 |
JButton btnSetBounds; |
|
| 59 |
RobotBoundary boundary; |
|
| 58 | 60 |
JButton btnCommand_MoveTo; |
| 59 | 61 |
JButton btnCommand_MoveAll; |
| 60 | 62 |
JButton btnCommand_StopTask; |
| ... | ... | |
| 204 | 206 |
batteryIcon = new BatteryIcon(0); |
| 205 | 207 |
lblBattery = new JLabel(batteryIcon); |
| 206 | 208 |
lblSelected = new JLabel("None");
|
| 207 |
// Command subset
|
|
| 209 |
// Management subset
|
|
| 208 | 210 |
setWaypoint = false; |
| 209 | 211 |
setWaypointID = -1; |
| 210 | 212 |
btnAssignID = new JButton("Assign ID");
|
| 213 |
boundary = new RobotBoundary(); |
|
| 214 |
btnSetBounds = new JButton("Set Boundary");
|
|
| 215 |
// Control subset |
|
| 211 | 216 |
btnCommand_MoveTo = new JButton("Move to ...");
|
| 212 | 217 |
btnCommand_MoveAll = new JButton("Move all ...");
|
| 213 | 218 |
btnCommand_StopTask = new JButton("Stop Current Task");
|
| ... | ... | |
| 221 | 226 |
panelRobotCommands.add(new JLabel("Selected Icon: "));
|
| 222 | 227 |
panelRobotCommands.add(lblSelected); |
| 223 | 228 |
panelRobotCommands.add(btnAssignID); |
| 224 |
panelRobotCommands.add(new JLabel(""));
|
|
| 229 |
panelRobotCommands.add(btnSetBounds);
|
|
| 225 | 230 |
panelRobotCommands.add(btnCommand_MoveTo); |
| 226 | 231 |
panelRobotCommands.add(btnCommand_MoveAll); |
| 227 | 232 |
//panelRobotCommands.add(btnCommand_StopTask); |
| ... | ... | |
| 281 | 286 |
|
| 282 | 287 |
// Disable components before connecting |
| 283 | 288 |
btnConnect.setText("Connect");
|
| 284 |
lblConnectionStatus.setText("Status: Disconnected");
|
|
| 285 |
btnF.setEnabled(false);
|
|
| 286 |
btnB.setEnabled(false);
|
|
| 287 |
btnL.setEnabled(false);
|
|
| 288 |
btnR.setEnabled(false);
|
|
| 289 |
btnActivate.setEnabled(false);
|
|
| 290 |
cmbRobotNum.setEnabled(false);
|
|
| 291 |
btnAssignID.setEnabled(false);
|
|
| 292 |
btnCommand_MoveTo.setEnabled(false);
|
|
| 293 |
btnCommand_MoveAll.setEnabled(false);
|
|
| 289 |
lblConnectionStatus.setText("Status: Disconnected");
|
|
| 290 |
btnF.setEnabled(false); |
|
| 291 |
btnB.setEnabled(false); |
|
| 292 |
btnL.setEnabled(false); |
|
| 293 |
btnR.setEnabled(false); |
|
| 294 |
btnActivate.setEnabled(false); |
|
| 295 |
cmbRobotNum.setEnabled(false); |
|
| 296 |
btnAssignID.setEnabled(false); |
|
| 297 |
btnCommand_MoveTo.setEnabled(false); |
|
| 298 |
btnCommand_MoveAll.setEnabled(false); |
|
| 294 | 299 |
|
| 295 | 300 |
/* Add all listeners here */ |
| 296 | 301 |
// Task Management |
| ... | ... | |
| 321 | 326 |
btnConnect.addActionListener(this); |
| 322 | 327 |
btnGetXBeeIDs.addActionListener(this); |
| 323 | 328 |
btnAssignID.addActionListener(this); |
| 329 |
btnSetBounds.addActionListener(this); |
|
| 324 | 330 |
panelWebcam.addMouseListener(this); |
| 325 | 331 |
} |
| 326 | 332 |
|
| ... | ... | |
| 578 | 584 |
public void mouseEntered(MouseEvent e) {
|
| 579 | 585 |
} |
| 580 | 586 |
public void mouseReleased(MouseEvent e) {
|
| 587 |
(new MouseHandler(e)).start(); |
|
| 588 |
repaint(); |
|
| 581 | 589 |
} |
| 582 | 590 |
public void mouseClicked(MouseEvent e) {
|
| 583 | 591 |
} |
| 584 | 592 |
public void mouseDragged(MouseEvent e) {
|
| 593 |
(new MouseHandler(e)).start(); |
|
| 594 |
repaint(); |
|
| 585 | 595 |
} |
| 586 | 596 |
public void mouseMoved(MouseEvent e) {
|
| 587 | 597 |
} |
| ... | ... | |
| 620 | 630 |
Point pt = panelWebcam.convertClick(e); |
| 621 | 631 |
|
| 622 | 632 |
// If we are selecting a waypoint (destination) for a specific bot |
| 623 |
if (setWaypoint && setWaypointID >= 0) {
|
|
| 633 |
if (setWaypoint && setWaypointID >= 0 && e.getID() == MouseEvent.MOUSE_PRESSED) {
|
|
| 624 | 634 |
setWaypoint = false; |
| 625 | 635 |
panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR)); |
| 626 | 636 |
if (selectedBot < 0) {
|
| ... | ... | |
| 635 | 645 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
| 636 | 646 |
} |
| 637 | 647 |
} |
| 638 |
|
|
| 639 | 648 |
return; |
| 640 | 649 |
} |
| 641 | 650 |
|
| 642 | 651 |
// Right-click also means we are moving a robot |
| 643 |
if (e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) {
|
|
| 652 |
if ((e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) |
|
| 653 |
&& e.getID() == MouseEvent.MOUSE_PRESSED) {
|
|
| 644 | 654 |
if (selectedBot < 0) {
|
| 645 | 655 |
return; |
| 646 | 656 |
} |
| ... | ... | |
| 653 | 663 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
| 654 | 664 |
} |
| 655 | 665 |
} |
| 656 |
|
|
| 657 | 666 |
return; |
| 658 | 667 |
} |
| 659 | 668 |
|
| 660 | 669 |
// If we are setting all waypoints |
| 661 |
if (setWaypoint) {
|
|
| 670 |
if (setWaypoint && e.getID() == MouseEvent.MOUSE_PRESSED) {
|
|
| 662 | 671 |
setWaypoint = false; |
| 663 | 672 |
panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR)); |
| 664 | 673 |
for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {
|
| ... | ... | |
| 668 | 677 |
} |
| 669 | 678 |
return; |
| 670 | 679 |
} |
| 680 |
|
|
| 681 |
// If we are drawing a boundary rectangle |
|
| 682 |
if (boundary.set) {
|
|
| 683 |
// Begin |
|
| 684 |
if (e.getID() == MouseEvent.MOUSE_PRESSED) {
|
|
| 685 |
boundary.p1 = new Point(pt.x, pt.y); |
|
| 686 |
boundary.p2 = new Point(pt.x, pt.y); |
|
| 687 |
} |
|
| 688 |
// Resize |
|
| 689 |
else if (e.getID() == MouseEvent.MOUSE_DRAGGED){
|
|
| 690 |
boundary.p2 = new Point(pt.x, pt.y); |
|
| 691 |
} |
|
| 692 |
// End |
|
| 693 |
else if (e.getID() == MouseEvent.MOUSE_RELEASED){
|
|
| 694 |
boundary.p2 = new Point(pt.x, pt.y); |
|
| 695 |
panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR)); |
|
| 696 |
boundary.set = false; |
|
| 697 |
boundary.active = true; |
|
| 698 |
boundary.sendToServer(); |
|
| 699 |
} |
|
| 700 |
return; |
|
| 701 |
} |
|
| 671 | 702 |
|
| 672 | 703 |
// Otherwise, we are selecting a bot, or doing nothing |
| 673 | 704 |
for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {
|
| ... | ... | |
| 776 | 807 |
} else if (source == btnActivate) {
|
| 777 | 808 |
vectorController.setZero(); |
| 778 | 809 |
vectorController.sendToServer(); |
| 779 |
} else if (source == btnCommand_MoveTo) { // Robot Commands (non-movement)
|
|
| 810 |
} else if (source == btnSetBounds) {
|
|
| 811 |
boundary.set = true; |
|
| 812 |
panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR)); |
|
| 813 |
} else if (source == btnCommand_MoveTo) {
|
|
| 780 | 814 |
if (selectedBot < 0) {
|
| 781 | 815 |
return; |
| 782 | 816 |
} |
| ... | ... | |
| 922 | 956 |
y = (maxHeight - newHeight) / 2 + BORDER; |
| 923 | 957 |
} |
| 924 | 958 |
|
| 925 |
// Draw everything onto the buffer
|
|
| 959 |
// Draw image onto the buffer
|
|
| 926 | 960 |
buffer = new BufferedImage(getWidth(), getHeight(), BufferedImage.TYPE_INT_RGB); |
| 927 | 961 |
Graphics2D bufferedGraphics = (Graphics2D)buffer.getGraphics(); |
| 928 | 962 |
bufferedGraphics.setColor(Color.GRAY); |
| ... | ... | |
| 930 | 964 |
Image imgScaled = img.getScaledInstance(newWidth, newHeight, Image.SCALE_FAST); |
| 931 | 965 |
bufferedGraphics.drawImage(imgScaled, x, y, this); |
| 932 | 966 |
|
| 967 |
// Draw boundary |
|
| 968 |
if (boundary.set || boundary.active) {
|
|
| 969 |
bufferedGraphics.setColor(Color.BLUE); |
|
| 970 |
bufferedGraphics.drawRect(boundary.p1.x, boundary.p1.y, boundary.p2.x, boundary.p2.y); |
|
| 971 |
} |
|
| 933 | 972 |
|
| 934 | 973 |
// Draw Identifiers and battery levels |
| 935 | 974 |
if (robotIcons != null) {
|
| ... | ... | |
| 1070 | 1109 |
} |
| 1071 | 1110 |
} |
| 1072 | 1111 |
} |
| 1112 |
|
|
| 1113 |
class RobotBoundary {
|
|
| 1114 |
public boolean active, set; |
|
| 1115 |
public Point p1, p2; |
|
| 1116 |
|
|
| 1117 |
public RobotBoundary () {
|
|
| 1118 |
active = false; |
|
| 1119 |
set = false; |
|
| 1120 |
p1 = new Point(-1,-1); |
|
| 1121 |
p2 = new Point(-1,-1); |
|
| 1122 |
} |
|
| 1123 |
|
|
| 1124 |
public void sendToServer () {
|
|
| 1125 |
//TODO |
|
| 1126 |
} |
|
| 1127 |
|
|
| 1128 |
} |
|
| 1073 | 1129 |
|
| 1074 | 1130 |
} |
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