/ - Diff - Colony - Robotics Club

Revision 776

Code cleanup and documentation

       * For a given Point, finds the robot that conatins this Point
       * graphically. The coordinate system is based on the dimensions
       * of the image returned by the webcam loader, not the coordinates
       * of the panel containing the image on in the applet. Returns null
       * of the panel containing the image in the applet. Returns null
       * if no robot contains the Point, or if the Point is null. If
       * multiple robots overlap the point, one will be chosen arbitrarily.
       */
-...
+    		}
     		return null;
+      }
       /**
       * Removes the destination coordinate for a specified robot. As
       * a result, no destination vector is painted for the robot on
       * the webcam image. This method does not cause any command
       * to be sent to the robot.
       */
       public void cancelMoveTo (int id) {
         RobotIcon r = get(id);
         if (r != null)
           r.destx = r.desty = -1;
+      }
+    }

     		RobotIcon r = robotIcons.get(botNum);
     		if (r != null) {
     		    r.battery = batteryIcon.convert(level);  // set contextual battery meter
     		    r.setBattery(batteryIcon.convert(level));  // set contextual battery meter
     		    batteryIcon.setLevel(level);             // set solo battery meter
+    		}
     		super.repaint();
-...
     			// Save previous robot information
     			RobotIcon oldIcon = robotIcons.get(id);
     			if (oldIcon != null) {
     			    newIcon.battery = oldIcon.battery;
     				newIcon.destx = oldIcon.destx;
     				newIcon.desty = oldIcon.desty;
     		    newIcon.setBattery(oldIcon.getBattery());
     				newIcon.setDestination(oldIcon.getDestination());
+    			}
     			if (newIcon.id >= 0) {
     				newIcon.color = Color.GREEN;
     			if (newIcon.getID() >= 0) {
     				newIcon.setColor(Color.GREEN);
+    			}
     			newList.put(id, newIcon);
+    		}
-...
         System.out.println("Got move update: " + line);
         String [] str = line.split(" ");
         int id = Integer.parseInt(str[1]);
         robotIcons.cancelMoveTo(id);
         robotIcons.get(id).clearDestination();
+      }
     	/**
-...
     				RobotIcon r = robotIcons.get(selectedBot);
     				if (r != null) {
     					r.destx = pt.x;
     					r.desty = pt.y;
     					r.setDestination(pt);
     					if (csi != null) {
     						csi.sendAbsoluteMove(r.id, r.destx, r.desty);
     						csi.sendAbsoluteMove(r.getID(), pt.x, pt.y);
+    					}
+    				}
     				return;
-...
     			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)
             if (selectedBot >= 0) {
               RobotIcon r = robotIcons.get(selectedBot);
               if (r != null) {
                 Point p = panelWebcam.convertPoint(station.getX(), station.getY());
                 r.setDestination(p);
+              }
               csi.sendRecharge(selectedBot);
+            }
     				return;
+    			}
-...
     				if (selectedBot < 0) {
     					return;
+    				}
     				RobotIcon r = robotIcons.get(selectedBot);
     				if (r != null) {
     					r.destx = pt.x;
     					r.desty = pt.y;
     					r.setDestination(pt);
     					if (csi != null) {
     						csi.sendAbsoluteMove(r.id, r.destx, r.desty);
     						csi.sendAbsoluteMove(r.getID(), pt.x, pt.y);
+    					}
+    				}
     				return;
-...
     				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;
     					r.setDestination(pt);
               //TODO: send absolute move commands
+    				}
     				return;
+    			}
-...
     			// Otherwise, we are selecting a bot, or doing nothing
     			RobotIcon r = robotIcons.getBoundingIcon(pt);
           if (r != null)
             selectedBot = r.id;
             selectedBot = r.getID();
+    		}
+    	}
-...
     			} else if (source == btnF) { // Robot Movement Controls
     				vectorController.setMaxForward();
     				vectorController.sendToServer();
     				robotIcons.cancelMoveTo(selectedBot);
     				robotIcons.get(selectedBot).clearDestination();
     			} else if (source == btnB) {
     				vectorController.setMaxReverse();
     				vectorController.sendToServer();
     				robotIcons.cancelMoveTo(selectedBot);
     				robotIcons.get(selectedBot).clearDestination();
     			} else if (source == btnL) {
     				vectorController.setMaxLeft();
     				vectorController.sendToServer();
     				robotIcons.cancelMoveTo(selectedBot);
     				robotIcons.get(selectedBot).clearDestination();
     			} else if (source == btnR) {
     				vectorController.setMaxRight();
     				vectorController.sendToServer();
     				robotIcons.cancelMoveTo(selectedBot);
     				robotIcons.get(selectedBot).clearDestination();
     			} else if (source == btnActivate) {
     				vectorController.setZero();
     				vectorController.sendToServer();
     				robotIcons.cancelMoveTo(selectedBot);
     				robotIcons.get(selectedBot).clearDestination();
           } else if (source == btnSetBounds) {
             boundary.set = true;
             panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR));
-...
     			  else
               csi.sendRecharge(2);
     			} else if (source == btnCommand_StopCharging) {
     			  if (selectedBot >= 0)
     			  if (selectedBot >= 0) {
     			    robotIcons.get(selectedBot).clearDestination();
     			    csi.sendRechargeStop(selectedBot);
     			  else
     			  } else {
     			    robotIcons.get(2).clearDestination();
               csi.sendRechargeStop(2);
+            }
     			} else if (source == btnAddTask) { // Queue Management
     				taskAddWindow.prompt();
     			} else if (source == btnRemoveTask) {
-...
     						if (count % 30 == 0) {
     							for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {
     								RobotIcon r = entry.getValue();
     									int id = r.id;
     									int id = r.getID();
     										if (id >= 0) {
     										csi.sendBatteryRequest(id);
+    									}
-...
     				bufferedGraphics.setStroke(new BasicStroke(2));
     				for (Map.Entry<Integer,RobotIcon> entry : robotIcons.entrySet()) {
     					RobotIcon r = entry.getValue();
     					bufferedGraphics.setColor(r.color);
     					bufferedGraphics.setColor(r.getColor());
     					// Identifier circle
     					int px = (int) (x + r.x * scale);
     					int py = (int) (y + r.y * scale);
     					int px = (int) (x + r.getLocation().x * scale);
     					int py = (int) (y + r.getLocation().y * scale);
     					int radius = ColonetConstants.ROBOT_RADIUS;
     					bufferedGraphics.drawOval(px-radius, py-radius, 2*radius, 2*radius);
     					// ID, if applicable
     					if (r.id > 0) {
     					if (r.getID() > 0) {
     					    bufferedGraphics.setFont(new Font("arial", Font.PLAIN, 36));
     					    bufferedGraphics.drawString("" + r.id, px-10, py+10);
     					    bufferedGraphics.drawString("" + r.getID(), px-10, py+10);
+    					}
     					// Battery
     					if (r.battery >= 0) {
     					    int pixels = r.battery * ColonetConstants.BATTERY_WIDTH / 100;
     						if (r.battery > 50)
     					if (r.getBattery() >= 0) {
     					    int pixels = r.getBattery() * ColonetConstants.BATTERY_WIDTH / 100;
     						if (r.getBattery() > 50)
     						    bufferedGraphics.setColor(Color.GREEN);
     						else if (r.battery > 25)
     						else if (r.getBattery() > 25)
     						    bufferedGraphics.setColor(Color.YELLOW);
     						else
     						    bufferedGraphics.setColor(Color.RED);
-...
     						bufferedGraphics.drawRect(px+20, py+20, ColonetConstants.BATTERY_WIDTH, ColonetConstants.BATTERY_HEIGHT);
+    					}
     					// If the robot has a destination, draw the vector
     					if (r.destx >= 0) {
     						bufferedGraphics.drawLine(px, py, (int)(x + r.destx * scale), (int)(y + r.desty * scale));
     					if (r.hasDestination()) {
     						bufferedGraphics.drawLine(px, py, (int)(x + r.getDestination().x * scale), (int)(y + r.getDestination().y * scale));
+    					}
+    				}
+    			}
-...
     			// Identify currently-selected robot
     			RobotIcon r = robotIcons.get(selectedBot);
     			if (r != null) {
     				int px = (int) (x + r.x * scale);
     				int py = (int) (y + r.y * scale);
     				int px = (int) (x + r.getLocation().x * scale);
     				int py = (int) (y + r.getLocation().y * scale);
     				int radius = ColonetConstants.ROBOT_RADIUS;
     				bufferedGraphics.setColor(Color.BLACK);
     				bufferedGraphics.drawOval(px-radius-6, py-radius-6, 2*radius+12, 2*radius+12);
-...
     			if (img == null) {
     				return new Point(e.getX(), e.getY());
+    			}
     			return convertPoint(e.getX(), e.getY());
+    		}
     		/**
     		* Convert a point on the webcam panel to a coordinate that is consistent with the
     		* original size of the image that the panel contains.
     		*/
     		public Point convertPoint (int panelx, int panely) {
     			// Calculate scaling
     			int border = ColonetConstants.WEBCAM_BORDER;
     			int clickx = e.getX();
     			int clicky = e.getY();
     			int clickx = panelx;
     			int clicky = panely;
     			int maxWidth = getWidth() - 2*border;
     			int maxHeight = getHeight() - 2*border;
     			double widthRatio = 1.0 * maxWidth / img.getWidth();

trunk/code/projects/colonet/client/VectorController.java
42	42
43	43	/** Set the robot motion vector. The "vector" is defined as
44	44	* (0,0)->(x,y) where (0,0) is in the center of the targeting ring.
	45	* Does nothing if the specified point is outside the ring.
45	46	* @param x The x coordinate of the point.
46	47	* @param y The y coordinate of the point.
47	48	*/

trunk/code/projects/colonet/client/Makefile
49	49
50	50	clean:
51	51	$(RM) -r $(DIR)
	52	$(RM) *~
52	53
53	54	run:
54	55	appletviewer http://128.2.99.176/colonet

     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.*;
     /**
     *	 RobotIcon class
     *	 Provides a means for graphically representing and keeping track of webcam bots.
     */
     public class RobotIcon {
     	private int id;  // the XBee ID of the robot
     	private Color color;  // the color used for painting the robot on screen.
     	private Point location;  // the position of the robot in the coordinate system of the webcam image
     	private Point destination;  // the destination of the robot, if homing or charging
     	private int battery;  // the battery level, if available
     	public int x, y;
     	public int destx, desty;
     	public int id;
     	public Color color;
     	public int battery;
     	public RobotIcon (int id, int x, int y) {
     		this.color = Color.RED;
     		this.x = x;
     		this.y = y;
     		this.id = id;
     		this.destx = -1;
     		this.desty = -1;
     		this.battery = -1;
     		setID(id);
     		setColor(Color.RED);
     		setLocation(x, y);
     		clearDestination();
     		setBattery(-1);
+    	}
     	/**
     	*  Returns the ID of this RobotIcon.
     	*/
     	public int getID () {
     	  return id;
+    	}
     	/**
     	*  Sets the ID of this RobotIcon.
     	*/
     	public void setID (int newid) {
     	  this.id = newid;
+    	}
     	/**
     	*  Returns the Color used for representing this RobotIcon on screen.
     	*/
     	public Color getColor () {
     	  return color;
+    	}
     	/**
     	*  Sets the Color used for representing this RobotIcon on screen.
     	*/
     	public void setColor (Color newcolor) {
     	  this.color = newcolor;
+    	}
     	/**
     	*  Returns the battery level of this RobotIcon.
     	*  TODO: what numbering system is this?
     	*/
     	public int getBattery () {
     	  return battery;
+    	}
     	/**
     	*  Sets the battery level of this RobotIcon.
     	*  TODO: what numbering system is this?
     	*/
     	public void setBattery (int newbattery) {
     	  this.battery = newbattery;
+    	}
     	/**
     	*  Returns the location of this RobotIcon as a Point. The location is specified
     	*  in the coordinate system of the original webcam image, NOT the coordinate
     	*  system of the scaled image as seen on screen.
     	*/
     	public Point getLocation () {
     	  return location;
+    	}
     	/**
     	*	 Relocates this RobotIcon to a new coordinate point.
+    	*
     	*	 Sets the location of this RobotIcon. The location should be specified in the
     	*  coordinate system of the original webcam image, NOT the coordinate system of
     	*  the scaled image as seen on screen.
     	*/
     	public void move (int newX, int newY) {
     		this.x = newX;
     		this.y = newY;
     	public void setLocation (int x, int y) {
     		location.setLocation(x, y);
+    	}
       /**
     	*	 Sets the location of this RobotIcon. The location should be specified in the
     	*  coordinate system of the original webcam image, NOT the coordinate system of
     	*  the scaled image as seen on screen.
     	*/
     	public void setLocation (Point p) {
         location.setLocation(p);
+    	}
     	/**
     	*  Returns the destination of this RobotIcon as a Point. The location is specified
     	*  in the coordinate system of the original webcam image, NOT the coordinate
     	*  system of the scaled image as seen on screen. If the RobotIcon has no current
     	*  destination, then this method returns null.
     	*/
     	public Point getDestination () {
     	  if (!hasDestination())
     	    return null;
     	  return destination;
+    	}
     	/**
     	*  Determines whether this RobotIcon currently has a destination, e.g., for homing
     	*  to a specific point in the environment or finding a charging bay.
     	*/
     	public boolean hasDestination () {
     	  return (destination.x >= 0 && destination.y >= 0);
+    	}
     	/**
     	*	 Sets the destination of this RobotIcon for the purposes of homing to a specific
     	*  point in the environment of finding a charging bay. The destination point should
     	*  be specified in the coordinate system of the original webcam image, NOT the
     	*  coordinate system of the scaled image as seen on screen.
     	*/
     	public void setDestination (int x, int y) {
     		destination.setLocation(x, y);
+    	}
     	/**
     	*	 Sets the destination of this RobotIcon for the purposes of homing to a specific
     	*  point in the environment of finding a charging bay. The destination point should
     	*  be specified in the coordinate system of the original webcam image, NOT the
     	*  coordinate system of the scaled image as seen on screen.
     	*/
     	public void setDestination (Point p) {
     		destination.setLocation(p);
+    	}
     	/**
     	*  Clears the destination Point for this RobotIcon, indicating that the robot is
     	*  no longer homing.
     	*/
     	public void clearDestination () {
     	  setDestination(-1, -1);
+    	}
     	/**
     	*	 Determines whether a given point is within the rectangle that circumscribes the
     	*	 robot's circlular icon. Used for clicking on robots in webcam view.
+    	*
     	*	 robot's circlular icon. Used for click detection on robots in webcam view. The
     	*  parameter point should be specified in the coordinate system of the original
     	*  webcam image, NOT the coordinate system of the scaled image as seen on screen.
     	*/
     	public boolean contains (int px, int py) {
     	int radius = ColonetConstants.ROBOT_RADIUS;
     		Rectangle rect = new Rectangle(x-radius, y-radius, 2*radius, 2*radius);
     		return rect.contains(px, py);
     		return this.getBoundingRectangle().contains(px, py);
+    	}
     	/**
     	*  Returns the Rectangle object that circumscribes the RobotIcon identifier circle
     	*  that is painted on screen. The Rectangle is in the coordinate system of the
     	*  original webcam image NOT the coordinate system of the scaled image as seen
     	*  on screen.
     	*/
     	public Rectangle getBoundingRectangle () {
     	  int radius = ColonetConstants.ROBOT_RADIUS;
     	  return new Rectangle(location.x-radius, location.y-radius, 2*radius, 2*radius);
+    	}
       /**
       *  Provides a text representation of this RobotIcon object
       */
     	public String toString () {
     		String s = "RobotIcon at (" + x + "," + y + "), id " + id;
     		String s = "RobotIcon at (" + location.x + "," + location.y + "), id " + id;
     		return s;
+    	}
+    }

Also available in: Unified diff

Project

General

Profile

Colony

Revision 776