root / trunk / code / projects / colonet / ColonetGUI / ColonetServerInterface.java @ 76
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/*
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* ColonetServerInterface.java
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* Gregory Tress
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*/
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import java.net.*; |
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import java.io.*; |
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import javax.swing.JOptionPane; |
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import javax.swing.JTextArea; |
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public class ColonetServerInterface |
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{
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/* STATIC FIELDS
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* Eugene Marinelli, Fan
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* 10/27/06
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*
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* Colonet Definitions - common definitions and structs used in all colonet
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* applications
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Old packet structure:
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COMMAND PACKET STRUCTURE
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1: SEND_TO_ROBOT
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2: # of robot, or GLOBAL_DEST
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3: COLONET_COMMMAND
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4: message code (i.e. ORB_SET)
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5: any data, as many that fit in the packet
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REQUEST PACKET STRUCTURE
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1: REQUEST_FROM_SERVER
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2: # of robot
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3: COLONET_REQUEST
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4: ???
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9/12/07 New server interface structure
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Client will no longer send full robot packets to the server.
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Commands will be defined as necessary.
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*/
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//General Colonet Interface
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public static final String SEND_TO_ROBOT = "0"; |
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public static final String REQUEST_FROM_SERVER = "1"; |
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public static final String RESPONSE_TO_CLIENT_REQUEST = "2"; |
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public static final String REQUEST_BOM_MATRIX = "144"; |
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public static final String COLONET_COMMAND = "13"; //0x0D |
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public static final String COLONET_REQUEST = "14"; //0x0E |
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public static final String CORONET_RESPONSE = "15"; //0x0F |
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public static final String GLOBAL_DEST = "200"; |
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//Use BATTERY to request battery level
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public static final String BATTERY = "56"; //0x38 |
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//MOTORS
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public static final String MOTORS_INIT = "23"; //0x17 |
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public static final String MOTOR1_SET = "24"; //0x18 |
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public static final String MOTOR2_SET = "25"; //0x19 |
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public static final String MOTORS_OFF = "26"; //0x1A |
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public static final String MOVE = "27"; //0x1B |
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public static final String MOVE_AVOID = "28"; //0x1C |
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//BUZZER
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public static final String BUZZER_INIT = "0"; //0x00 |
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public static final String BUZZER_SET_VAL = "1"; //0x01 |
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public static final String BUZZER_SET_FREQ = "2"; //0x02 |
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public static final String BUZZER_CHIRP = "3"; //0x03 |
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public static final String BUZZER_OFF = "4"; //0x04 |
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//ORB
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public static final String ORB_INIT = "12"; //0x0C |
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public static final String ORB_SET = "13"; //0x0D |
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public static final String ORB_SET_COLOR = "14"; //0x0E |
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public static final String ORB_DISABLE = "15"; //0x0F |
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public static final String ORB_ENABLE = "16"; //0x10 |
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public static final String ORB_SET_DIO = "17"; //0x11 |
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public static final String LED_INIT = "18"; //0x12 |
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public static final String LED_USER = "19"; //0x13 |
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public static final String ORB_SET_NUM_NS = "20"; //0x14 |
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public static final String ORB_SET_NUM = "21"; //0x15 |
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public static final String ORB_SEND = "22"; //0x16 |
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Socket socket;
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OutputStreamWriter out;
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BufferedReader reader;
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DataListener dataListener; |
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JTextArea log, txtMatrix;
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/*
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* FUNCTION IMPLEMENTATIONS
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*/
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public ColonetServerInterface (JTextArea log, JTextArea txtMatrix) { |
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this.log = log;
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this.txtMatrix = txtMatrix;
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dataListener = new DataListener();
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} |
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public Socket getSocket () { |
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return socket;
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} |
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public OutputStreamWriter getOutputStreamWriter () { |
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return out;
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} |
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public BufferedReader getBufferedReader () { |
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return reader;
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} |
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public boolean isReady () { |
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if (socket == null || out == null || reader == null) return false; |
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if (!socket.isConnected() || socket.isClosed() || socket.isInputShutdown() || socket.isOutputShutdown()) return false; |
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return true; |
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} |
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public boolean isInputReady () { |
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try {
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if (reader.ready()) return true; |
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} catch (Exception e) { |
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return false; |
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} |
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return false; |
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} |
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public String getLine () { |
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if (this.isReady()) { |
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try {
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return reader.readLine();
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} catch (IOException e) { |
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return null; |
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} |
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} else {
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return null; |
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} |
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} |
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/**
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* Create socket connection to Colonet server.
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* If successful, start threads for loading the webcam image and listening for incoming data.
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*/
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public void connect (String strHost, String strPort) { |
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//make sure hostname and port are valid
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if (strHost.equals("") || strPort.equals("")) { |
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err("Please enter a hostname and port.");
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return;
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} |
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int port = 0; |
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try {
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port = Integer.parseInt(strPort);
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} catch (Exception e) { |
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err("Invalid port");
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return;
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} |
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//make sure we aren't already connected. if so, disconnect first.
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if (socket != null && socket.isConnected()) { |
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try {
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out.close(); |
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socket.close(); |
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} catch (IOException e) { |
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log.append("Error closing socket. Reconnecting...\n");
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} |
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} |
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try {
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log.append("Attempting to connect to " + strHost + "\n"); |
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socket = new Socket(strHost, port); |
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} catch (UnknownHostException e) { |
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log.append("Unknown host exception.\n");
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err("Unknown Host Exception");
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return;
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} catch (IOException e) { |
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log.append("IO Exception.\n");
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err("IO Exception");
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return;
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} catch (java.security.AccessControlException e) {
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log.append("Access Control Exception.\n");
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err("Permission denied by java.security.AccessControlException.\n\n"
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+"You may only connect to the server from which this applet was loaded.");
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return;
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} |
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if (socket == null || !socket.isConnected()) { |
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log.append("Connection is not ready. Try connecting again.");
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return;
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} |
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log.append("Connected to " + strHost + " on port " + port + "\n"); |
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try {
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out = new OutputStreamWriter(socket.getOutputStream()); |
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reader = new BufferedReader(new InputStreamReader(socket.getInputStream())); |
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} catch (IOException e) { |
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warn("Could not get transfer streams from socket connection.");
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} |
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dataListener.start(); |
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} |
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/**
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* Sends a command code to the colonet server so that it can be redirected to one or more robots.
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* Assembles the given string into a packet and sends a full command string to the colonet server.
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* The string sent from here should be the correct form for sending directly to the robot.
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*/
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public void sendData (String s, String robotNumber) { |
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//make sure we can send
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if (!this.isReady()) { |
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warn("There was a problem with the connection. Data could not be sent.\n"
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+"Make sure you are connected and try sending the command again.");
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return;
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} |
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//create packet
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String packet;
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packet = ColonetServerInterface.SEND_TO_ROBOT; |
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packet += " " + robotNumber;
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packet += " " + ColonetServerInterface.COLONET_COMMAND;
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packet += " " + s; //add the command code here |
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packet += "\n";
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//send packet
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try {
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log.append("Sending: " + packet);
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out.write(packet); |
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out.flush(); |
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} catch (IOException e) { |
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log.append("Could not send data.\n");
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} |
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} |
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/**
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* Sends a request to the colonet server so that it can be redirected to one or more robots.
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* Assembles the given string into a packet and sends a full command string to the colonet server.
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* The string sent from here should be the correct form for sending directly to the robot.
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* @param s The request code to be sent
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* @see #sendData(String)
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*/
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public void sendRequest (String s, String robotNumber) { |
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//make sure we can send
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if (!this.isReady()) { |
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log.append("Could not send data.\n");
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return;
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} |
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//get robot code to send to.
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/*
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if (cmbRobotNumber.getSelectedIndex() == 0)
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robotNumber = ColonetServerInterface.GLOBAL_DEST;
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else
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robotNumber = ( cmbRobotNumber.getSelectedIndex() - 1 ) + "";
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*/
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//create packet
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String packet;
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packet = ColonetServerInterface.REQUEST_FROM_SERVER; |
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//packet += " " + robotNumber;
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//packet += " " + ColonetServerInterface.COLONET_REQUEST;
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packet += " " + s; //add the command code here |
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packet += "\n";
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//send packet
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try {
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Thread.sleep(100); //pause to be safe |
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out.write(packet); |
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out.flush(); |
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log.append("Sent: " + packet);
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} catch (IOException e) { |
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log.append("Could not send data.\n");
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} catch (InterruptedException e) { |
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log.append("Thread InterruptedException in sendData\n");
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} |
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} |
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/**
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* Display informational message box on the screen. Used for casual communicaton to the user.
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* @param text Text to display
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*/
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public void msg (String text) { |
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JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.INFORMATION_MESSAGE); |
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} |
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/**
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* Display warning message box on the screen. Used for minor alerts or exceptions.
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* @param text Text to display
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*/
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public void warn (String text) { |
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JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.WARNING_MESSAGE); |
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} |
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/**
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* Display error message box on the screen. Used for major errors or exceptions in the program.
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* @param text Text to display
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*/
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public void err (String text) { |
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JOptionPane.showMessageDialog(null, text, "Colonet", JOptionPane.ERROR_MESSAGE); |
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} |
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/*
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* DataListener thread.
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*
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*/
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class DataListener extends Thread { |
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final int DATALISTENER_DELAY = 222; |
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public DataListener () {
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super("Colonet DataListener"); |
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} |
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public void run () { |
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String line;
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while (true) { |
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try {
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line = getLine(); |
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if (line != null) { |
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parseData(line); |
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//TODO: parse incoming data here
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//request more data
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//csi.sendRequest("Get all data", "server");
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/*
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// update robot list
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int numRobots = 5;
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String [] robotList = new String[numRobots+1];
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robotList[0] = "All";
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for (int i = 1; i <= numRobots; i++)
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robotList[i] = "Robot " + i;
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cmbRobotNum = new JComboBox(robotList);
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*/
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} |
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Thread.sleep(DATALISTENER_DELAY);
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} catch (InterruptedException e) { |
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return;
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} |
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} |
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} |
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public void parseData (String line) { |
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log.append("Incoming data: [" + line + "]\n"); |
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if (line.startsWith(ColonetServerInterface.RESPONSE_TO_CLIENT_REQUEST + " " + ColonetServerInterface.REQUEST_BOM_MATRIX)) |
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parseMatrix(line); |
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} |
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public void parseMatrix (String line) { |
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log.append("Parsing matrix\n");
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txtMatrix.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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txtMatrix.append("-");
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else
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txtMatrix.append(next); |
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if (j < num - 1) |
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txtMatrix.append(" ");
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} |
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if (i < num - 1) |
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txtMatrix.append("\n");
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} |
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} |
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} |
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} |