Revision 702
Added structure to send charge commands; need to implement robot side
| Colonet.java | ||
|---|---|---|
| 30 | 30 |
DataUpdater dataUpdater; |
| 31 | 31 |
|
| 32 | 32 |
// Control |
| 33 |
JPanel panelControl; |
|
| 34 | 33 |
JTabbedPane tabPaneControl; |
| 35 | 34 |
JPanel panelRobotControl; |
| 36 | 35 |
JPanel panelRobotDirection; |
| ... | ... | |
| 44 | 43 |
VectorController vectorController; |
| 45 | 44 |
BufferedImage imageVectorControl; |
| 46 | 45 |
JButton btnAssignID; |
| 46 |
JButton btnLocateStation; |
|
| 47 |
boolean setStation; |
|
| 48 |
ChargingStation station; |
|
| 47 | 49 |
boolean setWaypoint; |
| 48 | 50 |
int setWaypointID; |
| 49 | 51 |
JButton btnSetBounds; |
| ... | ... | |
| 149 | 151 |
panelConnect.add(txtHost); |
| 150 | 152 |
panelConnect.add(txtPort); |
| 151 | 153 |
panelConnect.add(btnConnect); |
| 152 |
//panelConnect.add(btnGetXBeeIDs); |
|
| 153 | 154 |
panelServerInterface = new JPanel(); |
| 154 | 155 |
panelServerInterface.setLayout(new GridLayout(2,1)); |
| 155 | 156 |
panelServerInterface.add(panelConnect); |
| ... | ... | |
| 192 | 193 |
lblBattery = new JLabel(batteryIcon); |
| 193 | 194 |
lblSelected = new JLabel("None");
|
| 194 | 195 |
// Management subset |
| 196 |
setStation = false; |
|
| 195 | 197 |
setWaypoint = false; |
| 196 | 198 |
setWaypointID = -1; |
| 197 | 199 |
btnAssignID = new JButton("Assign ID");
|
| 200 |
btnLocateStation = new JButton("Locate Charge Station");
|
|
| 198 | 201 |
boundary = new RobotBoundary(); |
| 199 | 202 |
btnSetBounds = new JButton("Set Boundary");
|
| 200 | 203 |
btnClearBounds = new JButton("Clear Boundary");
|
| ... | ... | |
| 210 | 213 |
panelRobotCommands.add(new JLabel("Selected Icon: "));
|
| 211 | 214 |
panelRobotCommands.add(lblSelected); |
| 212 | 215 |
panelRobotCommands.add(btnAssignID); |
| 213 |
panelRobotCommands.add(new JLabel(" "));
|
|
| 216 |
panelRobotCommands.add(btnLocateStation);
|
|
| 214 | 217 |
panelRobotCommands.add(btnSetBounds); |
| 215 | 218 |
panelRobotCommands.add(btnClearBounds); |
| 216 | 219 |
panelRobotCommands.add(btnCommand_MoveTo); |
| ... | ... | |
| 253 | 256 |
taskAddWindow = new TaskAddWindow(); |
| 254 | 257 |
|
| 255 | 258 |
// Main control mechanism |
| 256 |
panelControl = new JPanel(); |
|
| 257 |
panelControl.setLayout(new GridLayout(1,1)); |
|
| 258 | 259 |
tabPaneControl = new JTabbedPane(JTabbedPane.TOP); |
| 259 | 260 |
tabPaneControl.setFont(new Font("arial", Font.PLAIN, 16));
|
| 260 | 261 |
tabPaneControl.setPreferredSize(new Dimension(ColonetConstants.VECTOR_CONTROLLER_WIDTH, 0)); |
| 261 | 262 |
tabPaneControl.addTab("Connection", panelServerInterface);
|
| 262 | 263 |
tabPaneControl.addTab("Robots", panelRobotControl);
|
| 263 | 264 |
//tabPaneControl.addTab("Tasks", panelTaskManager);
|
| 264 |
panelControl.add(tabPaneControl); |
|
| 265 | 265 |
|
| 266 |
|
|
| 267 | 266 |
// Put all elements in the ContentPane |
| 268 | 267 |
this.getContentPane().setLayout(new BorderLayout()); |
| 269 | 268 |
this.getContentPane().add(tabPaneMain, BorderLayout.CENTER); |
| 270 |
this.getContentPane().add(panelControl, BorderLayout.EAST);
|
|
| 269 |
this.getContentPane().add(tabPaneControl, BorderLayout.EAST);
|
|
| 271 | 270 |
this.setVisible(true); |
| 272 | 271 |
|
| 273 | 272 |
// Disable components before connecting |
| 274 | 273 |
btnConnect.setText("Connect");
|
| 275 | 274 |
lblConnectionStatus.setText("Status: Disconnected");
|
| 276 |
btnF.setEnabled(false); |
|
| 277 |
btnB.setEnabled(false); |
|
| 278 |
btnL.setEnabled(false); |
|
| 279 |
btnR.setEnabled(false); |
|
| 280 |
btnActivate.setEnabled(false); |
|
| 281 |
btnAssignID.setEnabled(false); |
|
| 282 |
btnSetBounds.setEnabled(false); |
|
| 283 |
btnClearBounds.setEnabled(false); |
|
| 284 |
btnCommand_MoveTo.setEnabled(false); |
|
| 285 |
btnCommand_MoveAll.setEnabled(false); |
|
| 275 |
setComponentsEnabled(false); |
|
| 286 | 276 |
|
| 287 | 277 |
/* Add all listeners here */ |
| 288 | 278 |
// Task Management |
| ... | ... | |
| 312 | 302 |
btnConnect.addActionListener(this); |
| 313 | 303 |
btnGetXBeeIDs.addActionListener(this); |
| 314 | 304 |
btnAssignID.addActionListener(this); |
| 305 |
btnLocateStation.addActionListener(this); |
|
| 315 | 306 |
btnSetBounds.addActionListener(this); |
| 316 | 307 |
btnClearBounds.addActionListener(this); |
| 317 | 308 |
panelWebcam.addMouseListener(this); |
| ... | ... | |
| 397 | 388 |
public void run () {
|
| 398 | 389 |
btnConnect.setText("Disconnect");
|
| 399 | 390 |
lblConnectionStatus.setText("Status: Connected");
|
| 400 |
btnF.setEnabled(true); |
|
| 401 |
btnB.setEnabled(true); |
|
| 402 |
btnL.setEnabled(true); |
|
| 403 |
btnR.setEnabled(true); |
|
| 404 |
btnActivate.setEnabled(true); |
|
| 405 |
btnAssignID.setEnabled(true); |
|
| 406 |
btnSetBounds.setEnabled(true); |
|
| 407 |
btnClearBounds.setEnabled(true); |
|
| 408 |
btnCommand_MoveTo.setEnabled(true); |
|
| 409 |
btnCommand_MoveAll.setEnabled(true); |
|
| 391 |
setComponentsEnabled(true); |
|
| 410 | 392 |
} |
| 411 | 393 |
}; |
| 412 | 394 |
SwingUtilities.invokeLater(r); |
| 413 | 395 |
} |
| 414 | 396 |
|
| 415 | 397 |
public void disconnect () {
|
| 416 |
try {
|
|
| 417 |
dataUpdater.interrupt();
|
|
| 418 |
} catch (Exception e) {
|
|
| 419 |
}
|
|
| 420 |
csi = null;
|
|
| 398 |
try {
|
|
| 399 |
dataUpdater.interrupt(); |
|
| 400 |
} catch (Exception e) {
|
|
| 401 |
} |
|
| 402 |
csi = null; |
|
| 421 | 403 |
Runnable r = new Runnable() {
|
| 422 |
public void run () {
|
|
| 423 |
btnConnect.setText("Connect");
|
|
| 424 |
lblConnectionStatus.setText("Status: Disconnected");
|
|
| 425 |
btnF.setEnabled(false); |
|
| 426 |
btnB.setEnabled(false); |
|
| 427 |
btnL.setEnabled(false); |
|
| 428 |
btnR.setEnabled(false); |
|
| 429 |
btnActivate.setEnabled(false); |
|
| 430 |
btnAssignID.setEnabled(false); |
|
| 431 |
btnSetBounds.setEnabled(false); |
|
| 432 |
btnClearBounds.setEnabled(false); |
|
| 433 |
btnCommand_MoveTo.setEnabled(false); |
|
| 434 |
btnCommand_MoveAll.setEnabled(false); |
|
| 435 |
} |
|
| 404 |
public void run () {
|
|
| 405 |
btnConnect.setText("Connect");
|
|
| 406 |
lblConnectionStatus.setText("Status: Disconnected");
|
|
| 407 |
setComponentsEnabled(false); |
|
| 408 |
} |
|
| 436 | 409 |
}; |
| 437 | 410 |
SwingUtilities.invokeLater(r); |
| 438 | 411 |
} |
| 412 |
|
|
| 413 |
private void setComponentsEnabled (boolean enabled) {
|
|
| 414 |
btnF.setEnabled(enabled); |
|
| 415 |
btnB.setEnabled(enabled); |
|
| 416 |
btnL.setEnabled(enabled); |
|
| 417 |
btnR.setEnabled(enabled); |
|
| 418 |
btnActivate.setEnabled(enabled); |
|
| 419 |
btnAssignID.setEnabled(enabled); |
|
| 420 |
btnLocateStation.setEnabled(enabled); |
|
| 421 |
btnSetBounds.setEnabled(enabled); |
|
| 422 |
btnClearBounds.setEnabled(enabled); |
|
| 423 |
btnCommand_MoveTo.setEnabled(enabled); |
|
| 424 |
btnCommand_MoveAll.setEnabled(enabled); |
|
| 425 |
} |
|
| 439 | 426 |
|
| 440 | 427 |
/** |
| 441 | 428 |
* Parses a String containing a task queue update. |
| ... | ... | |
| 637 | 624 |
} |
| 638 | 625 |
return; |
| 639 | 626 |
} |
| 627 |
|
|
| 628 |
// If we are ordering a charge (right-click on a station) |
|
| 629 |
if ((e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) |
|
| 630 |
&& e.getID() == MouseEvent.MOUSE_PRESSED |
|
| 631 |
&& station != null && station.contains(e.getX(), e.getY())) {
|
|
| 632 |
//TODO: send charge command |
|
| 633 |
return; |
|
| 634 |
} |
|
| 640 | 635 |
|
| 641 | 636 |
// Right-click also means we are moving a robot |
| 642 | 637 |
if ((e.getButton() == MouseEvent.BUTTON2 || e.getButton() == MouseEvent.BUTTON3) |
| ... | ... | |
| 677 | 672 |
} |
| 678 | 673 |
|
| 679 | 674 |
// If we are drawing a boundary rectangle |
| 680 |
if (boundary.set) {
|
|
| 675 |
if (boundary != null && boundary.isSetting()) {
|
|
| 681 | 676 |
// Begin |
| 682 | 677 |
if (e.getID() == MouseEvent.MOUSE_PRESSED) {
|
| 683 | 678 |
boundary.panel_p1 = new Point(e.getX(), e.getY()); |
| ... | ... | |
| 699 | 694 |
} |
| 700 | 695 |
return; |
| 701 | 696 |
} |
| 697 |
|
|
| 698 |
// If we are locating a charging station |
|
| 699 |
if (setStation) {
|
|
| 700 |
setStation = false; |
|
| 701 |
station = new ChargingStation(e.getX(), e.getY()); |
|
| 702 |
station.setActive(true); |
|
| 703 |
return; |
|
| 704 |
} |
|
| 702 | 705 |
|
| 703 | 706 |
// Otherwise, we are selecting a bot, or doing nothing |
| 704 | 707 |
RobotIcon r = robotIcons.getBoundingIcon(pt); |
| ... | ... | |
| 780 | 783 |
} |
| 781 | 784 |
selectedBot = newID; |
| 782 | 785 |
lblSelected.setText("" + newID);
|
| 786 |
} else if (source == btnLocateStation) {
|
|
| 787 |
setStation = true; |
|
| 783 | 788 |
} else if (source == btnF) { // Robot Movement Controls
|
| 784 | 789 |
vectorController.setMaxForward(); |
| 785 | 790 |
vectorController.sendToServer(); |
| ... | ... | |
| 963 | 968 |
bufferedGraphics.drawImage(imgScaled, x, y, this); |
| 964 | 969 |
|
| 965 | 970 |
// Draw boundary |
| 966 |
if (boundary.set || boundary.active) {
|
|
| 971 |
if (boundary.isSetting() || boundary.isActive()) {
|
|
| 967 | 972 |
bufferedGraphics.setColor(Color.BLUE); |
| 968 | 973 |
int width = boundary.panel_p2.x - boundary.panel_p1.x; |
| 969 | 974 |
int height = boundary.panel_p2.y - boundary.panel_p1.y; |
| 970 | 975 |
bufferedGraphics.drawRect(boundary.panel_p1.x, boundary.panel_p1.y, width, height); |
| 971 | 976 |
} |
| 977 |
|
|
| 978 |
// Draw charging station |
|
| 979 |
if (station != null && station.isActive()) {
|
|
| 980 |
bufferedGraphics.setStroke(new BasicStroke(2)); |
|
| 981 |
bufferedGraphics.setColor(Color.ORANGE); |
|
| 982 |
int width = ColonetConstants.STATION_SIZE; |
|
| 983 |
bufferedGraphics.drawRect(station.getX() - width/2, station.getY() - width/2, width, width); |
|
| 984 |
} |
|
| 972 | 985 |
|
| 973 | 986 |
// Draw Identifiers and battery levels |
| 974 | 987 |
if (robotIcons != null) {
|
| ... | ... | |
| 1143 | 1156 |
return active; |
| 1144 | 1157 |
} |
| 1145 | 1158 |
|
| 1146 |
public boolean isSet () {
|
|
| 1159 |
public boolean isSetting () {
|
|
| 1147 | 1160 |
return set; |
| 1148 | 1161 |
} |
| 1149 | 1162 |
|
| ... | ... | |
| 1152 | 1165 |
* in the coordinate system of the JPanel. |
| 1153 | 1166 |
* Returns null if the boundary is not active. |
| 1154 | 1167 |
*/ |
| 1155 |
public Rectangle toPanelRect () {
|
|
| 1168 |
public Rectangle toRectangle () {
|
|
| 1156 | 1169 |
if (!active) |
| 1157 | 1170 |
return null; |
| 1158 | 1171 |
return new Rectangle (panel_p1.x, panel_p1.y, (panel_p2.x-panel_p1.x), (panel_p2.y-panel_p1.y)); |
| ... | ... | |
| 1164 | 1177 |
* If the boundary is not active, then this method |
| 1165 | 1178 |
* returns false. |
| 1166 | 1179 |
*/ |
| 1167 |
public boolean contains (int x, int y) {
|
|
| 1168 |
Rectangle rect = this.toPanelRect();
|
|
| 1180 |
public boolean contains (int px, int py) {
|
|
| 1181 |
Rectangle rect = this.toRectangle();
|
|
| 1169 | 1182 |
if (rect == null || !this.active) |
| 1170 | 1183 |
return false; |
| 1171 |
return rect.contains(x,y);
|
|
| 1184 |
return rect.contains(px, py);
|
|
| 1172 | 1185 |
} |
| 1173 | 1186 |
|
| 1174 | 1187 |
} |
| 1188 |
|
|
| 1189 |
class ChargingStation {
|
|
| 1190 |
private int x, y; |
|
| 1191 |
private boolean active; |
|
| 1192 |
|
|
| 1193 |
public ChargingStation () {
|
|
| 1194 |
super(); |
|
| 1195 |
} |
|
| 1196 |
|
|
| 1197 |
public ChargingStation (int x, int y) {
|
|
| 1198 |
this(); |
|
| 1199 |
setLocation(x, y); |
|
| 1200 |
} |
|
| 1201 |
|
|
| 1202 |
public int getX () {
|
|
| 1203 |
return x; |
|
| 1204 |
} |
|
| 1205 |
|
|
| 1206 |
public int getY () {
|
|
| 1207 |
return y; |
|
| 1208 |
} |
|
| 1209 |
|
|
| 1210 |
/** |
|
| 1211 |
* Sets the center of the charging station to |
|
| 1212 |
* the specified coordinate point. |
|
| 1213 |
*/ |
|
| 1214 |
public void setLocation (int x, int y) {
|
|
| 1215 |
this.x = x; |
|
| 1216 |
this.y = y; |
|
| 1217 |
} |
|
| 1218 |
|
|
| 1219 |
public boolean isActive () {
|
|
| 1220 |
return active; |
|
| 1221 |
} |
|
| 1222 |
|
|
| 1223 |
public void setActive (boolean status) {
|
|
| 1224 |
this.active = status; |
|
| 1225 |
} |
|
| 1226 |
|
|
| 1227 |
/** |
|
| 1228 |
* Determines whether a coordinate is contained within |
|
| 1229 |
* the graphical area of the charging station. |
|
| 1230 |
* Returns false if the charging station is not active. |
|
| 1231 |
*/ |
|
| 1232 |
public boolean contains (int px, int py) {
|
|
| 1233 |
if (!active) |
|
| 1234 |
return false; |
|
| 1235 |
int width = ColonetConstants.STATION_SIZE; |
|
| 1236 |
Rectangle rect = new Rectangle(this.x - width/2, this.y - width/2, width, width); |
|
| 1237 |
return rect.contains(px, py); |
|
| 1238 |
} |
|
| 1239 |
|
|
| 1240 |
} |
|
| 1175 | 1241 |
|
| 1176 | 1242 |
} |
Also available in: Unified diff