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 {

        // Connection

        JTextField txtHost;

        JTextField txtPort;

        JButton btnConnect;

        JButton btnGetXBeeIDs;

        JLabel lblConnectionStatus;

        JTextArea txtInfo;

        JPanel panelConnect;

        JPanel panelServerInterface;

        Socket socket;

        DataUpdater dataUpdater;

        // Control

        JTabbedPane tabPaneControl;

        JPanel panelRobotControl;

        JPanel panelRobotDirection;

        JPanel panelRobotDirectionButtons;

        JPanel panelRobotCommands;

        JButton btnF, btnB, btnL, btnR, btnActivate;

        JLabel lblBattery;

        JLabel lblSelected;

        BatteryIcon batteryIcon;

        JPanel panelBattery;

        VectorController vectorController;

        BufferedImage imageVectorControl;

        JButton btnAssignID;

        JButton btnLocateStation;

        boolean setStation;

        ChargingStation station;

        boolean setWaypoint;

        int setWaypointID;

        JButton btnSetBounds;

        JButton btnClearBounds;

        RobotBoundary boundary;

        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 RobotList robotIcons;         //contains boundary shapes around bots for click detection

        volatile int[] xbeeID;

        Colonet self = this;

        volatile ColonetServerInterface csi;

        public void init () {

                // Set the default look and feel

                String laf = ColonetConstants.LOOK_AND_FEEL;

                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 () {

                // Webcam

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

                panelWebcam = new WebcamPanel();

                tabPaneMain = new JTabbedPane();

                tabPaneMain.setFont(new Font("arial", Font.PLAIN, 14));

                tabPaneMain.add(panelWebcam, "Webcam");

                // Robots

                selectedBot = -1;

                robotIcons = new RobotList();

                // 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);

                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, 16);

                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, 24));

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

                panelRobotDirectionButtons.add(btnActivate);

                panelRobotDirectionButtons.add(btnF);

                panelRobotDirectionButtons.add(btnB);

                panelRobotDirectionButtons.add(btnL);

                panelRobotDirectionButtons.add(btnR);

                imageVectorControl = gc.createCompatibleImage(ColonetConstants.VECTOR_CONTROLLER_WIDTH, ColonetConstants.VECTOR_CONTROLLER_HEIGHT);

                vectorController = new VectorController(imageVectorControl, self);

                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(6,2));

                // Battery subset

                batteryIcon = new BatteryIcon(0);

                lblBattery = new JLabel(batteryIcon);

                lblSelected = new JLabel("None");

                // Management subset

                setStation = false;

                setWaypoint = false;

                setWaypointID = -1;

                btnAssignID = new JButton("Assign ID");

                btnLocateStation = new JButton("Identify Station");

                boundary = new RobotBoundary();

                btnSetBounds = new JButton("Set Boundary");

                btnClearBounds = new JButton("Clear Boundary");

                // Control subset

                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("Battery Level: "));

                panelRobotCommands.add(lblBattery);

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

                panelRobotCommands.add(lblSelected);

                panelRobotCommands.add(btnAssignID);

    panelRobotCommands.add(btnLocateStation);

                panelRobotCommands.add(btnCommand_ChargeNow);

                panelRobotCommands.add(btnCommand_StopCharging);

                panelRobotCommands.add(btnSetBounds);

    panelRobotCommands.add(btnClearBounds);

                panelRobotCommands.add(btnCommand_MoveTo);

                panelRobotCommands.add(btnCommand_MoveAll);

                //panelRobotCommands.add(btnCommand_StopTask);

                //panelRobotCommands.add(btnCommand_ResumeTask);

                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

                tabPaneControl = new JTabbedPane(JTabbedPane.TOP);

                tabPaneControl.setFont(new Font("arial", Font.PLAIN, 14));

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

                tabPaneControl.addTab("Connection", panelServerInterface);

                tabPaneControl.addTab("Robots", panelRobotControl);

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

                // Put all elements in the ContentPane

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

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

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

                this.setVisible(true);

                // Disable components before connecting

                btnConnect.setText("Connect");

    lblConnectionStatus.setText("Status: Disconnected");

    setComponentsEnabled(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);

                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);

                btnLocateStation.addActionListener(this);

    btnSetBounds.addActionListener(this);

    btnClearBounds.addActionListener(this);

                panelWebcam.addMouseListener(this);

                panelWebcam.addMouseMotionListener(this);

        }

        public ColonetServerInterface getCSI () {

          return csi;

        }

        public void paint (Graphics g) {

                super.paint(g);

        }

        public void update (Graphics g) {

                paint(g);

        }

        /**

        * 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");

        setComponentsEnabled(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");

        setComponentsEnabled(false);

        boundary = null;

        station = null;

            }

                };

                SwingUtilities.invokeLater(r);

        }

        private void setComponentsEnabled (boolean enabled) {

    btnF.setEnabled(enabled);

    btnB.setEnabled(enabled);

    btnL.setEnabled(enabled);

    btnR.setEnabled(enabled);

    btnActivate.setEnabled(enabled);

    btnAssignID.setEnabled(enabled);

    btnLocateStation.setEnabled(enabled);

    btnSetBounds.setEnabled(enabled);

    btnClearBounds.setEnabled(enabled);

    btnCommand_ChargeNow.setEnabled(enabled);

    btnCommand_StopCharging.setEnabled(enabled);

    btnCommand_MoveTo.setEnabled(enabled);

    btnCommand_MoveAll.setEnabled(enabled);

        }

        /**

        * 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]);

                }

        }

        /**

        * 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;

          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

                }

                super.repaint();

        }

        /**

        * Parses a String containing visual robot position information along with

        * canonical ID assignments.

        */

        public void parsePositions (String line) {

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

                RobotList newList = new RobotList();

                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 robot information

                        RobotIcon oldIcon = robotIcons.get(id);

                        if (oldIcon != null) {

                            newIcon.battery = oldIcon.battery;

                                newIcon.destx = oldIcon.destx;

                                newIcon.desty = oldIcon.desty;

                        }

                        if (newIcon.id >= 0) {

                                newIcon.color = Color.GREEN;

                        }

                        newList.put(id, newIcon);

                }

                robotIcons = newList;

                repaint();

        }

  /**

    * Parses a message that indicates a robot has reached its destination

   */

  public void parseMoveUpdate (String line) {

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

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

    int id = Integer.parseInt(str[1]);

    robotIcons.cancelMoveTo(id);

  }

        /**

        * Set the ID of the selected robot

        */

        public void setSelectedBot (int id) {

            this.selectedBot = id;

        }

        /**

        * Returns the ID of the selected robot

        */

        public int getSelectedBot () {

            return this.selectedBot;

        }

        //

        // MouseListener methods

        //

        public void mousePressed(MouseEvent e) {

                //Start a new Thread to handle the MouseEvent

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

        }

        public void mouseExited(MouseEvent e) {

        }

        public void mouseEntered(MouseEvent e) {

        }

        public void mouseReleased(MouseEvent e) {

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

        }

        public void mouseClicked(MouseEvent e) {

        }

        public void mouseDragged(MouseEvent e) {

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

        }

        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 && e.getID() == MouseEvent.MOUSE_PRESSED) {

                          // If the user clicks outside the boundary, do nothing

                          if (boundary.isActive() && !boundary.contains(e.getX(), e.getY())) {

                            return;

                          }

                                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;

                        }

                        // If we are ordering a charge (right-click on a station)

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

          && e.getID() == MouseEvent.MOUSE_PRESSED

          && station != null && station.contains(e.getX(), e.getY())) {

        if (selectedBot >= 0)

          csi.sendRecharge(selectedBot);

                                return;

                        }

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

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

          && e.getID() == MouseEvent.MOUSE_PRESSED) {

        // If the user clicks outside the boundary, do nothing

                          if (boundary.isActive() && !boundary.contains(e.getX(), e.getY())) {

                            return;

                          }

                                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 && e.getID() == MouseEvent.MOUSE_PRESSED) {

                          // If the user clicks outside the boundary, do nothing

                          if (boundary.isActive() && !boundary.contains(e.getX(), e.getY())) {

                            return;

                          }

                                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;

                        }

      // If we are drawing a boundary rectangle

      if (boundary != null && boundary.isSetting()) {

        // Begin

        if (e.getID() == MouseEvent.MOUSE_PRESSED) {

          boundary.panel_p1 = new Point(e.getX(), e.getY());

          boundary.panel_p2 = new Point(e.getX(), e.getY());

          boundary.img_p1 = new Point(pt.x, pt.y);

        }

        // Resize

        else if (e.getID() == MouseEvent.MOUSE_DRAGGED){

          boundary.panel_p2 = new Point(e.getX(), e.getY());

        }

        // Finish

        else if (e.getID() == MouseEvent.MOUSE_RELEASED){

          boundary.panel_p2 = new Point(e.getX(), e.getY());

          boundary.img_p2 = new Point(pt.x, pt.y);

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

          boundary.set = false;

          boundary.active = true;

          boundary.sendToServer();

        }

        return;

      }

      // If we are locating a charging station

      if (setStation) {

        setStation = false;

        station = new ChargingStation(e.getX(), e.getY());

        station.setActive(true);

        return;

      }

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

                        RobotIcon r = robotIcons.getBoundingIcon(pt);

      if (r != null)

        selectedBot = r.id;

                }

        }

        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 == btnLocateStation) {

                    setStation = true;

                        } else if (source == btnF) { // Robot Movement Controls

                                vectorController.setMaxForward();

                                vectorController.sendToServer();

                                robotIcons.cancelMoveTo(selectedBot);

                        } else if (source == btnB) {

                                vectorController.setMaxReverse();

                                vectorController.sendToServer();

                                robotIcons.cancelMoveTo(selectedBot);

                        } else if (source == btnL) {

                                vectorController.setMaxLeft();

                                vectorController.sendToServer();

                                robotIcons.cancelMoveTo(selectedBot);

                        } else if (source == btnR) {

                                vectorController.setMaxRight();

                                vectorController.sendToServer();

                                robotIcons.cancelMoveTo(selectedBot);

                        } else if (source == btnActivate) {

                                vectorController.setZero();

                                vectorController.sendToServer();

                                robotIcons.cancelMoveTo(selectedBot);

      } else if (source == btnSetBounds) {

        boundary.set = true;

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

      } else if (source == btnClearBounds) {

        boundary.active = false;

        boundary.set = false;

        boundary.img_p1 = new Point(-1, -1);

        boundary.img_p2 = new Point(-1, -1);

        boundary.panel_p1 = new Point(-1, -1);

        boundary.panel_p2 = new Point(-1, -1);

        boundary.sendToServer();

                        } else if (source == btnCommand_MoveTo) {

                                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.

        *        Types of data requested: XBee IDs, robot positions, battery levels.

        *

        */

        class DataUpdater extends Thread {

                final int DATAUPDATER_DELAY = 200;

                int count;

                public DataUpdater () {

                        super("Colonet DataUpdater");

                        count = 0;

                }

                public synchronized void run () {

                        while (true) {

                                try {

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

                                                // XBee ID Request

                                                if (count % 5 == 0) {

                                                        csi.sendXBeeIDRequest();

                                                }

                                                // Robot Position Request

                                                if (count % 1 == 0) {

                                                        csi.sendPositionRequest();

                                                }

                                                // Battery Request

                                                if (count % 30 == 0) {

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

                                                                RobotIcon r = entry.getValue();

                                                                        int id = r.id;

                                                                                if (id >= 0) {

                                                                                csi.sendBatteryRequest(id);

                                                                        }

                                                        }