root / trunk / code / projects / colonet / client / Colonet.java @ 664
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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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/**
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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 painting
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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 = 190; |
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final int VECTOR_CONTROLLER_WIDTH = 320; |
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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 txtInfo;
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JPanel panelConnect;
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JPanel panelServerInterface;
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Socket socket;
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DataUpdater dataUpdater; |
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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 btnSetBounds;
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RobotBoundary boundary; |
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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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GraphicsConfiguration gc;
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JTabbedPane tabPaneMain;
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WebcamLoader webcamLoader; |
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// Robots
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volatile int selectedBot; //the user has selected this bot graphically |
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volatile java.util.Map <Integer, 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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volatile ColonetServerInterface csi;
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Thread paintThread;
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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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if (csi != null) { |
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csi.disconnect(); |
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} |
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} |
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private synchronized void createAndShowGUI () { |
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//paintThread = new Thread(this, "PaintThread");
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//paintThread.start();
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// Webcam
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gc = GraphicsEnvironment.getLocalGraphicsEnvironment().getDefaultScreenDevice().getDefaultConfiguration();
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panelWebcam = new WebcamPanel();
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tabPaneMain = new JTabbedPane(); |
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tabPaneMain.setFont(new Font("arial", Font.PLAIN, 16)); |
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tabPaneMain.add(panelWebcam, "Webcam");
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// Robots
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selectedBot = -1;
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robotIcons = new HashMap <Integer, RobotIcon> (); |
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// Connection area
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txtInfo = new JTextArea(); |
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txtInfo.setBorder(BorderFactory.createTitledBorder("Info")); |
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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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btnConnect.setFont(new Font("arial", Font.BOLD, 16)); |
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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(txtInfo); |
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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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Font f = new Font(null, Font.PLAIN, 18); |
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btnF = new JButton("\u2191"); |
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btnF.setFont(f); |
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btnB = new JButton("\u2193"); |
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btnB.setFont(f); |
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btnL = new JButton("\u2190"); |
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btnL.setFont(f); |
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btnR = new JButton("\u2192"); |
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btnR.setFont(f); |
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btnActivate = new JButton("\u25A0"); |
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btnActivate.setFont(new Font(null, Font.BOLD, 36)); |
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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, self);
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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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// Management 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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boundary = new RobotBoundary();
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btnSetBounds = new JButton("Set Boundary"); |
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// Control subset
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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(btnSetBounds); |
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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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// 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.setFont(new Font("arial", Font.PLAIN, 16)); |
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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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// 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(panelControl, BorderLayout.EAST); |
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this.setVisible(true); |
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// Disable components before connecting
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btnConnect.setText("Connect");
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lblConnectionStatus.setText("Status: Disconnected");
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btnF.setEnabled(false);
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btnB.setEnabled(false);
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btnL.setEnabled(false);
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btnR.setEnabled(false);
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btnActivate.setEnabled(false);
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cmbRobotNum.setEnabled(false);
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btnAssignID.setEnabled(false);
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btnCommand_MoveTo.setEnabled(false);
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btnCommand_MoveAll.setEnabled(false);
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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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btnSetBounds.addActionListener(this);
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panelWebcam.addMouseListener(this);
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} |
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public ColonetServerInterface getCSI () {
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return csi;
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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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public void run () { |
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final int PAINT_DELAY = 300; |
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while (true) { |
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try {
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Thread.sleep(PAINT_DELAY);
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} catch (Exception e) { |
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System.out.println(e);
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return;
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} |
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repaint(); |
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} |
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} |
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/**
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* Gets the JTextArea used for displaying debugging information.
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*
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* @return the JTextArea where debugging information can be displayed.
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*/
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public JTextArea getInfoPanel () { |
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return txtInfo;
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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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txtInfo.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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txtInfo.append("-");
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} else {
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txtInfo.append(next); |
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} |
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if (j < num - 1) { |
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txtInfo.append(" ");
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} |
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} |
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if (i < num - 1) { |
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txtInfo.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(self);
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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(self);
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dataUpdater = new DataUpdater();
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dataUpdater.start(); |
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webcamLoader.start(); |
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Runnable r = new Runnable() { |
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public void run () { |
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btnConnect.setText("Disconnect");
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lblConnectionStatus.setText("Status: Connected");
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btnF.setEnabled(true);
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btnB.setEnabled(true);
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btnL.setEnabled(true);
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btnR.setEnabled(true);
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btnActivate.setEnabled(true);
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cmbRobotNum.setEnabled(true);
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btnAssignID.setEnabled(true);
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btnCommand_MoveTo.setEnabled(true);
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btnCommand_MoveAll.setEnabled(true);
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} |
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}; |
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SwingUtilities.invokeLater(r);
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} |
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|
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public void disconnect () { |
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try {
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dataUpdater.interrupt(); |
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} catch (Exception e) { |
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} |
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csi = null;
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Runnable r = new Runnable() { |
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public void run () { |
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btnConnect.setText("Connect");
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lblConnectionStatus.setText("Status: Disconnected");
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btnF.setEnabled(false);
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btnB.setEnabled(false);
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btnL.setEnabled(false);
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btnR.setEnabled(false);
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btnActivate.setEnabled(false);
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cmbRobotNum.setEnabled(false);
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btnAssignID.setEnabled(false);
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btnCommand_MoveTo.setEnabled(false);
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btnCommand_MoveAll.setEnabled(false);
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} |
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}; |
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SwingUtilities.invokeLater(r);
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} |
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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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|
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} |
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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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*/
|
491 |
public void parseXBeeIDs (String line) { |
492 |
String [] str = line.split(" "); |
493 |
int num = Integer.parseInt(str[2]); |
494 |
xbeeID = new int[num]; |
495 |
for (int i = 0; i < num; i++) { |
496 |
xbeeID[i] = Integer.parseInt(str[i+3]); |
497 |
} |
498 |
|
499 |
//update the list of robots to control
|
500 |
//but save the old value first
|
501 |
Object oldSelection = cmbRobotNum.getSelectedItem();
|
502 |
cmbRobotNum.removeAllItems(); |
503 |
cmbRobotNum.addItem(new String(" All ")); |
504 |
for (int i = 0; i < num; i++) { |
505 |
cmbRobotNum.addItem(new String("" + xbeeID[i])); |
506 |
} |
507 |
cmbRobotNum.setSelectedItem(oldSelection); |
508 |
repaint(); |
509 |
} |
510 |
|
511 |
/**
|
512 |
* Parses a String containing battery information.
|
513 |
* The ColonetServerInterface receives Strings of battery information. (For encoding
|
514 |
* information, see the ColonetServerInterface documentation.) This method takes
|
515 |
* a string of the form "[command code] [command code] [robot ID] [value]"
|
516 |
* with tokens separated by spaces and containing no brackets.
|
517 |
* The [command code]s are predefined values identifying this String as a battery
|
518 |
* information String, [robot ID] is an integer, and [value] is a battery measurement.
|
519 |
* This updates the batery information for a single robot.
|
520 |
*
|
521 |
*
|
522 |
* @param line the String containing battery information.
|
523 |
* @see ColonetServerInterface#sendBatteryRequest(int)
|
524 |
*/
|
525 |
public void parseBattery (String line) { |
526 |
int botNum, level;
|
527 |
System.out.println("Got battery update:" + line); |
528 |
try {
|
529 |
String [] str = line.split(" "); |
530 |
botNum = Integer.parseInt(str[2]); |
531 |
level = Integer.parseInt(str[3]); |
532 |
} catch (NumberFormatException e) { |
533 |
System.out.println("Could not parse battery update"); |
534 |
return;
|
535 |
} |
536 |
|
537 |
RobotIcon r = robotIcons.get(botNum); |
538 |
if (r != null) { |
539 |
r.battery = batteryIcon.convert(level); // set contextual battery meter
|
540 |
batteryIcon.setLevel(level); // set solo battery meter
|
541 |
} |
542 |
super.repaint();
|
543 |
} |
544 |
|
545 |
/**
|
546 |
* Parses a String containing visual robot position information along with
|
547 |
* canonical ID assignments.
|
548 |
*/
|
549 |
public void parsePositions (String line) { |
550 |
String [] str = line.split(" "); |
551 |
java.util.Map <Integer, RobotIcon> newMap = new HashMap <Integer, RobotIcon> (); |
552 |
|
553 |
for (int i = 2; i < str.length; i+=3) { |
554 |
int id = Integer.parseInt(str[i]); |
555 |
int x = Integer.parseInt(str[i+1]); |
556 |
int y = Integer.parseInt(str[i+2]); |
557 |
RobotIcon newIcon = new RobotIcon(id, x, y);
|
558 |
// Save previous robot information
|
559 |
RobotIcon oldIcon = robotIcons.get(id); |
560 |
if (oldIcon != null) { |
561 |
newIcon.battery = oldIcon.battery; |
562 |
newIcon.destx = oldIcon.destx; |
563 |
newIcon.desty = oldIcon.desty; |
564 |
} |
565 |
if (newIcon.id >= 0) { |
566 |
newIcon.color = Color.GREEN;
|
567 |
} |
568 |
newMap.put(id, newIcon); |
569 |
} |
570 |
robotIcons = newMap; |
571 |
repaint(); |
572 |
} |
573 |
|
574 |
//
|
575 |
// MouseListener methods
|
576 |
//
|
577 |
public void mousePressed(MouseEvent e) { |
578 |
//Start a new Thread to handle the MouseEvent
|
579 |
(new MouseHandler(e)).start();
|
580 |
repaint(); |
581 |
} |
582 |
public void mouseExited(MouseEvent e) { |
583 |
} |
584 |
public void mouseEntered(MouseEvent e) { |
585 |
} |
586 |
public void mouseReleased(MouseEvent e) { |
587 |
(new MouseHandler(e)).start();
|
588 |
repaint(); |
589 |
} |
590 |
public void mouseClicked(MouseEvent e) { |
591 |
} |
592 |
public void mouseDragged(MouseEvent e) { |
593 |
(new MouseHandler(e)).start();
|
594 |
repaint(); |
595 |
} |
596 |
public void mouseMoved(MouseEvent e) { |
597 |
} |
598 |
|
599 |
//
|
600 |
// KeyListener methods
|
601 |
//
|
602 |
public void keyPressed (KeyEvent e) { |
603 |
//Start a new Thread to handle the KeyEvent
|
604 |
(new KeyHandler(e)).start();
|
605 |
repaint(); |
606 |
} |
607 |
public void keyReleased (KeyEvent e) { |
608 |
} |
609 |
public void keyTyped (KeyEvent e) { |
610 |
} |
611 |
|
612 |
//
|
613 |
// ActionListener method
|
614 |
//
|
615 |
public void actionPerformed (ActionEvent e) { |
616 |
// Start a new Thread to handle the ActionEvent
|
617 |
(new ActionHandler(e)).start();
|
618 |
repaint(); |
619 |
} |
620 |
|
621 |
class MouseHandler extends Thread { |
622 |
MouseEvent e;
|
623 |
|
624 |
public MouseHandler (MouseEvent event) { |
625 |
super("MouseHandler"); |
626 |
this.e = event;
|
627 |
} |
628 |
|
629 |
public void run () { |
630 |
Point pt = panelWebcam.convertClick(e);
|
631 |
|
632 |
// If we are selecting a waypoint (destination) for a specific bot
|
633 |
if (setWaypoint && setWaypointID >= 0 && e.getID() == MouseEvent.MOUSE_PRESSED) { |
634 |
setWaypoint = false;
|
635 |
panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR)); |
636 |
if (selectedBot < 0) { |
637 |
return;
|
638 |
} |
639 |
|
640 |
RobotIcon r = robotIcons.get(selectedBot); |
641 |
if (r != null) { |
642 |
r.destx = pt.x; |
643 |
r.desty = pt.y; |
644 |
if (csi != null) { |
645 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
646 |
} |
647 |
} |
648 |
return;
|
649 |
} |
650 |
|
651 |
// Right-click also means we are moving a robot
|
652 |
if ((e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) |
653 |
&& e.getID() == MouseEvent.MOUSE_PRESSED) {
|
654 |
if (selectedBot < 0) { |
655 |
return;
|
656 |
} |
657 |
|
658 |
RobotIcon r = robotIcons.get(selectedBot); |
659 |
if (r != null) { |
660 |
r.destx = pt.x; |
661 |
r.desty = pt.y; |
662 |
if (csi != null) { |
663 |
csi.sendAbsoluteMove(r.id, r.destx, r.desty); |
664 |
} |
665 |
} |
666 |
return;
|
667 |
} |
668 |
|
669 |
// If we are setting all waypoints
|
670 |
if (setWaypoint && e.getID() == MouseEvent.MOUSE_PRESSED) { |
671 |
setWaypoint = false;
|
672 |
panelWebcam.setCursor(new Cursor(Cursor.DEFAULT_CURSOR)); |
673 |
for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) { |
674 |
RobotIcon r = entry.getValue(); |
675 |
r.destx = pt.x; |
676 |
r.desty = pt.y; |
677 |
} |
678 |
return;
|
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 |
} |
702 |
|
703 |
// Otherwise, we are selecting a bot, or doing nothing
|
704 |
for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) { |
705 |
RobotIcon r = entry.getValue(); |
706 |
if (r.contains(pt.x, pt.y)) {
|
707 |
selectedBot = r.id; |
708 |
lblSelected.setText("" + r.id);
|
709 |
// Try to select the clicked bot, if its XBee ID is detected.
|
710 |
for (int j = 1; j < cmbRobotNum.getItemCount(); j++) { |
711 |
if (Integer.parseInt(cmbRobotNum.getItemAt(j).toString()) == selectedBot) { |
712 |
cmbRobotNum.setSelectedIndex(j); |
713 |
} |
714 |
} |
715 |
return;
|
716 |
} |
717 |
} |
718 |
|
719 |
} |
720 |
} |
721 |
|
722 |
class KeyHandler extends Thread { |
723 |
KeyEvent e;
|
724 |
|
725 |
public KeyHandler (KeyEvent event) { |
726 |
super("KeyHandler"); |
727 |
this.e = event;
|
728 |
} |
729 |
|
730 |
public void run () { |
731 |
int code = e.getKeyCode();
|
732 |
if (code == KeyEvent.VK_UP) { |
733 |
vectorController.setMaxForward(); |
734 |
vectorController.sendToServer(); |
735 |
} else if (code == KeyEvent.VK_DOWN) { |
736 |
vectorController.setMaxReverse(); |
737 |
vectorController.sendToServer(); |
738 |
} else if (code == KeyEvent.VK_LEFT) { |
739 |
vectorController.setMaxLeft(); |
740 |
vectorController.sendToServer(); |
741 |
} else if (code == KeyEvent.VK_RIGHT) { |
742 |
vectorController.setMaxRight(); |
743 |
vectorController.sendToServer(); |
744 |
} else if (code == KeyEvent.VK_S) { |
745 |
vectorController.setZero(); |
746 |
vectorController.sendToServer(); |
747 |
} |
748 |
} |
749 |
} |
750 |
|
751 |
class ActionHandler extends Thread { |
752 |
ActionEvent e;
|
753 |
|
754 |
public ActionHandler (ActionEvent event) { |
755 |
super("ActionHandler"); |
756 |
this.e = event;
|
757 |
} |
758 |
|
759 |
public void run () { |
760 |
Object source = e.getSource();
|
761 |
|
762 |
// General Actions
|
763 |
if (source == btnConnect) {
|
764 |
if (csi == null) { |
765 |
connect(); |
766 |
} else {
|
767 |
disconnect(); |
768 |
} |
769 |
} else if (source == btnGetXBeeIDs) { |
770 |
csi.sendXBeeIDRequest(); |
771 |
} else if (source == btnAssignID) { |
772 |
String message;
|
773 |
if (selectedBot < 0) { |
774 |
message = "That robot is unidentified. Please specify its ID.";
|
775 |
} else {
|
776 |
message = "That robot has ID " + selectedBot + ". You may reassign it now."; |
777 |
} |
778 |
String result = JOptionPane.showInputDialog(self, message, "Robot Identification", JOptionPane.QUESTION_MESSAGE); |
779 |
if (result == null) { |
780 |
return;
|
781 |
} |
782 |
int newID = -1; |
783 |
try {
|
784 |
newID = Integer.parseInt(result);
|
785 |
} catch (Exception ex) { |
786 |
csi.warn("Invalid ID.");
|
787 |
return;
|
788 |
} |
789 |
// Assign new ID and update display
|
790 |
if (csi != null) { |
791 |
csi.sendIDAssignment(selectedBot, newID); |
792 |
} |
793 |
selectedBot = newID; |
794 |
lblSelected.setText("" + newID);
|
795 |
} else if (source == btnF) { // Robot Movement Controls |
796 |
vectorController.setMaxForward(); |
797 |
vectorController.sendToServer(); |
798 |
} else if (source == btnB) { |
799 |
vectorController.setMaxReverse(); |
800 |
vectorController.sendToServer(); |
801 |
} else if (source == btnL) { |
802 |
vectorController.setMaxLeft(); |
803 |
vectorController.sendToServer(); |
804 |
} else if (source == btnR) { |
805 |
vectorController.setMaxRight(); |
806 |
vectorController.sendToServer(); |
807 |
} else if (source == btnActivate) { |
808 |
vectorController.setZero(); |
809 |
vectorController.sendToServer(); |
810 |
} else if (source == btnSetBounds) { |
811 |
boundary.set = true;
|
812 |
panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR)); |
813 |
} else if (source == btnCommand_MoveTo) { |
814 |
if (selectedBot < 0) { |
815 |
return;
|
816 |
} |
817 |
panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR)); |
818 |
setWaypoint = true;
|
819 |
setWaypointID = selectedBot; |
820 |
} else if (source == btnCommand_MoveAll) { |
821 |
panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR)); |
822 |
setWaypoint = true;
|
823 |
setWaypointID = -1;
|
824 |
} else if (source == btnCommand_StopTask) { |
825 |
|
826 |
} else if (source == btnCommand_ResumeTask) { |
827 |
|
828 |
} else if (source == btnCommand_ChargeNow) { |
829 |
|
830 |
} else if (source == btnCommand_StopCharging) { |
831 |
|
832 |
} else if (source == btnAddTask) { // Queue Management |
833 |
taskAddWindow.prompt(); |
834 |
} else if (source == btnRemoveTask) { |
835 |
if (taskList.getSelectedIndex() >= 0) { |
836 |
csi.sendQueueRemove(taskList.getSelectedIndex()); |
837 |
} |
838 |
csi.sendQueueUpdate(); |
839 |
} else if (source == btnMoveTaskUp) { |
840 |
csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() - 1);
|
841 |
csi.sendQueueUpdate(); |
842 |
} else if (source == btnMoveTaskDown) { |
843 |
csi.sendQueueReorder(taskList.getSelectedIndex(), taskList.getSelectedIndex() + 1);
|
844 |
csi.sendQueueUpdate(); |
845 |
} else if (source == btnUpdateTasks) { |
846 |
csi.sendQueueUpdate(); |
847 |
} |
848 |
|
849 |
} |
850 |
} |
851 |
|
852 |
/*
|
853 |
* DataUpdater thread.
|
854 |
* The purpose of this thread is to request data from the server at regular intervals.
|
855 |
* Types of data requested: XBee IDs, robot positions, battery levels.
|
856 |
*
|
857 |
*/
|
858 |
class DataUpdater extends Thread { |
859 |
final int DATAUPDATER_DELAY = 200; |
860 |
int count;
|
861 |
public DataUpdater () {
|
862 |
super("Colonet DataUpdater"); |
863 |
count = 0;
|
864 |
} |
865 |
|
866 |
public synchronized void run () { |
867 |
while (true) { |
868 |
try {
|
869 |
if (csi != null && csi.isReady()) { |
870 |
// XBee ID Request
|
871 |
if (count % 5 == 0) { |
872 |
csi.sendXBeeIDRequest(); |
873 |
} |
874 |
// Robot Position Request
|
875 |
if (count % 1 == 0) { |
876 |
csi.sendPositionRequest(); |
877 |
} |
878 |
// Battery Request
|
879 |
if (count % 30 == 0) { |
880 |
for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) { |
881 |
RobotIcon r = entry.getValue(); |
882 |
int id = r.id;
|
883 |
if (id >= 0) { |
884 |
csi.sendBatteryRequest(id); |
885 |
System.out.println("Sent battery request (" + id + ")"); |
886 |
} |
887 |
} |
888 |
} |
889 |
} |
890 |
count++; |
891 |
if (count > 1000) |
892 |
count = 0;
|
893 |
Thread.sleep(DATAUPDATER_DELAY);
|
894 |
} catch (InterruptedException e) { |
895 |
return;
|
896 |
} catch (NullPointerException e) { |
897 |
// This probably indicates that an object was destroyed by shutdown.
|
898 |
return;
|
899 |
} |
900 |
} |
901 |
} |
902 |
} |
903 |
|
904 |
|
905 |
/*
|
906 |
* WebcamPanel class
|
907 |
* Enables more efficient image handling in a component-controlled environment
|
908 |
*/
|
909 |
class WebcamPanel extends JPanel { |
910 |
final int BORDER = 16; // this is arbitrary. it makes the image look nice inside a border. |
911 |
final int BATTERY_WIDTH = 50; |
912 |
final int BATTERY_HEIGHT = 10; |
913 |
volatile BufferedImage img; |
914 |
BufferedImage buffer;
|
915 |
|
916 |
public WebcamPanel () {
|
917 |
super(true); |
918 |
} |
919 |
|
920 |
public synchronized void setImage (BufferedImage newimg) { |
921 |
if (img != null) { |
922 |
img.flush(); |
923 |
} |
924 |
System.gc();
|
925 |
img = newimg; |
926 |
repaint(); |
927 |
} |
928 |
|
929 |
public synchronized void paint (Graphics g) { |
930 |
if (img == null) { |
931 |
return;
|
932 |
} |
933 |
|
934 |
// Calculate scaling
|
935 |
int maxWidth = getWidth() - 2*BORDER; |
936 |
int maxHeight = getHeight() - 2*BORDER; |
937 |
double widthRatio = 1.0 * maxWidth / img.getWidth(); |
938 |
double heightRatio = 1.0 * maxHeight / img.getHeight(); |
939 |
double scale = 0; |
940 |
int newWidth = 0; |
941 |
int newHeight = 0; |
942 |
int x = 0; |
943 |
int y = 0; |
944 |
|
945 |
if (widthRatio > heightRatio) { //height is the limiting factor |
946 |
scale = heightRatio; |
947 |
newHeight = maxHeight; |
948 |
newWidth = (int) (img.getWidth() * scale);
|
949 |
y = BORDER; |
950 |
x = (maxWidth - newWidth) / 2 + BORDER;
|
951 |
} else { //width is the limiting factor |
952 |
scale = widthRatio; |
953 |
newWidth = maxWidth; |
954 |
newHeight = (int) (img.getHeight() * scale);
|
955 |
x = BORDER; |
956 |
y = (maxHeight - newHeight) / 2 + BORDER;
|
957 |
} |
958 |
|
959 |
// Draw image onto the buffer
|
960 |
buffer = new BufferedImage(getWidth(), getHeight(), BufferedImage.TYPE_INT_RGB); |
961 |
Graphics2D bufferedGraphics = (Graphics2D)buffer.getGraphics(); |
962 |
bufferedGraphics.setColor(Color.GRAY);
|
963 |
bufferedGraphics.fillRect(0, 0, this.getWidth(), this.getHeight()); |
964 |
Image imgScaled = img.getScaledInstance(newWidth, newHeight, Image.SCALE_FAST); |
965 |
bufferedGraphics.drawImage(imgScaled, x, y, this);
|
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 |
} |
972 |
|
973 |
// Draw Identifiers and battery levels
|
974 |
if (robotIcons != null) { |
975 |
bufferedGraphics.setStroke(new BasicStroke(2)); |
976 |
for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) { |
977 |
RobotIcon r = entry.getValue(); |
978 |
bufferedGraphics.setColor(r.color); |
979 |
// Identifier circle
|
980 |
int px = (int) (x + r.x * scale); |
981 |
int py = (int) (y + r.y * scale); |
982 |
bufferedGraphics.drawOval(px-RADIUS, py-RADIUS, 2*r.RADIUS, 2*r.RADIUS); |
983 |
// Battery
|
984 |
if (r.battery >= 0) { |
985 |
int pixels = r.battery * BATTERY_WIDTH / 100; // 160 should be fully charged |
986 |
if (r.battery > 50) |
987 |
bufferedGraphics.setColor(Color.GREEN);
|
988 |
else if (r.battery > 25) |
989 |
bufferedGraphics.setColor(Color.YELLOW);
|
990 |
else
|
991 |
bufferedGraphics.setColor(Color.RED);
|
992 |
bufferedGraphics.fillRect(px+20, py+20, pixels, BATTERY_HEIGHT); |
993 |
bufferedGraphics.setColor(Color.BLACK);
|
994 |
bufferedGraphics.drawRect(px+20, py+20, BATTERY_WIDTH, BATTERY_HEIGHT); |
995 |
} |
996 |
// If the robot has a destination, draw the vector
|
997 |
if (r.destx >= 0) { |
998 |
bufferedGraphics.drawLine(px, py, (int)(x + r.destx * scale), (int)(y + r.desty * scale)); |
999 |
} |
1000 |
} |
1001 |
} |
1002 |
|
1003 |
// Identify currently-selected robot
|
1004 |
RobotIcon r = robotIcons.get(selectedBot); |
1005 |
if (r != null) { |
1006 |
int px = (int) (x + r.x * scale); |
1007 |
int py = (int) (y + r.y * scale); |
1008 |
bufferedGraphics.setColor(Color.BLACK);
|
1009 |
bufferedGraphics.drawOval(px-RADIUS-6, py-RADIUS-6, 2*r.RADIUS+12, 2*r.RADIUS+12); |
1010 |
} |
1011 |
|
1012 |
//Display buffered content
|
1013 |
g.drawImage(buffer, 0, 0, this); |
1014 |
} |
1015 |
|
1016 |
/**
|
1017 |
* Convert a click on the webcam panel to a coordinate that is consistent with the
|
1018 |
* original size of the image that the panel contains.
|
1019 |
*/
|
1020 |
public Point convertClick (MouseEvent e) { |
1021 |
if (img == null) { |
1022 |
return new Point(e.getX(), e.getY()); |
1023 |
} |
1024 |
|
1025 |
// Calculate scaling
|
1026 |
int clickx = e.getX();
|
1027 |
int clicky = e.getY();
|
1028 |
int maxWidth = getWidth() - 2*BORDER; |
1029 |
int maxHeight = getHeight() - 2*BORDER; |
1030 |
double widthRatio = 1.0 * maxWidth / img.getWidth(); |
1031 |
double heightRatio = 1.0 * maxHeight / img.getHeight(); |
1032 |
double scale = 0; |
1033 |
int newWidth = 0; |
1034 |
int newHeight = 0; |
1035 |
int px = 0; |
1036 |
int py = 0; |
1037 |
|
1038 |
if (widthRatio > heightRatio) { //height is the limiting factor |
1039 |
scale = heightRatio; |
1040 |
newHeight = maxHeight; |
1041 |
newWidth = (int) (img.getWidth() * scale);
|
1042 |
py = clicky - BORDER; |
1043 |
px = clickx - BORDER - (maxWidth - newWidth) / 2;
|
1044 |
} else { //width is the limiting factor |
1045 |
scale = widthRatio; |
1046 |
newWidth = maxWidth; |
1047 |
newHeight = (int) (img.getHeight() * scale);
|
1048 |
px = clickx - BORDER; |
1049 |
py = clicky - BORDER - (maxHeight - newHeight) / 2;
|
1050 |
} |
1051 |
py = (int) (py / scale);
|
1052 |
px = (int) (px / scale);
|
1053 |
return new Point(px, py); |
1054 |
} |
1055 |
} |
1056 |
|
1057 |
/*
|
1058 |
* WebcamLoader class
|
1059 |
* Handles the loading of the webcam image.
|
1060 |
*/
|
1061 |
class WebcamLoader extends Thread |
1062 |
{ |
1063 |
final int WEBCAMLOADER_DELAY = 250; |
1064 |
final String IMAGE_PATH = "http://128.2.99.176/colonet.jpg"; |
1065 |
|
1066 |
URL imagePath;
|
1067 |
|
1068 |
MediaTracker mt;
|
1069 |
BufferedImage image;
|
1070 |
Random rand;
|
1071 |
|
1072 |
public WebcamLoader (JApplet applet) |
1073 |
{ |
1074 |
super("ColonetWebcamLoader"); |
1075 |
mt = new MediaTracker(applet); |
1076 |
ImageIO.setUseCache(false); |
1077 |
rand = new Random(); |
1078 |
} |
1079 |
|
1080 |
public void run () |
1081 |
{ |
1082 |
while (true) { |
1083 |
try {
|
1084 |
Thread.sleep(WEBCAMLOADER_DELAY);
|
1085 |
if (image != null) |
1086 |
image.flush(); |
1087 |
System.gc();
|
1088 |
try {
|
1089 |
imagePath = new URL(IMAGE_PATH + "?rand=" + rand.nextInt(100000)); |
1090 |
} catch (MalformedURLException e) { |
1091 |
System.out.println("Malformed URL: could not form URL from: [" + IMAGE_PATH + "]\n"); |
1092 |
} |
1093 |
image = ImageIO.read(imagePath);
|
1094 |
// The MediaTracker waitForID pauses the thread until the image is loaded.
|
1095 |
// We don't want to display a half-downloaded image.
|
1096 |
mt.addImage(image, 1);
|
1097 |
mt.waitForID(1);
|
1098 |
mt.removeImage(image); |
1099 |
// Save
|
1100 |
panelWebcam.setImage(image); |
1101 |
} catch (InterruptedException e) { |
1102 |
return;
|
1103 |
} catch (java.security.AccessControlException e) {
|
1104 |
csi.warn("Could not load webcam.\n" + e);
|
1105 |
return;
|
1106 |
} catch (IOException e) { |
1107 |
getInfoPanel().append("IOException while trying to load image.");
|
1108 |
} |
1109 |
} |
1110 |
} |
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 |
} |
1129 |
|
1130 |
} |