root / trunk / code / projects / colonet / client / RobotIcon.java @ 936
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1 | 644 | gtress | |
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2 | import java.awt.*; |
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3 | |||
4 | /**
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5 | * RobotIcon class
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6 | * Provides a means for graphically representing and keeping track of webcam bots.
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7 | */
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8 | public class RobotIcon { |
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9 | 776 | gtress | private int id; // the XBee ID of the robot |
10 | private Color color; // the color used for painting the robot on screen. |
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11 | private Point location; // the position of the robot in the coordinate system of the webcam image |
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12 | private Point destination; // the destination of the robot, if homing or charging |
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13 | private int battery; // the battery level, if available |
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14 | 644 | gtress | |
15 | public RobotIcon (int id, int x, int y) { |
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16 | 776 | gtress | setID(id); |
17 | setColor(Color.RED);
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18 | setLocation(x, y); |
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19 | clearDestination(); |
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20 | setBattery(-1);
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21 | 644 | gtress | } |
22 | 776 | gtress | |
23 | /**
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24 | * Returns the ID of this RobotIcon.
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25 | */
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26 | public int getID () { |
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27 | return id;
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28 | } |
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29 | |||
30 | /**
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31 | * Sets the ID of this RobotIcon.
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32 | */
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33 | public void setID (int newid) { |
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34 | this.id = newid;
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35 | } |
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36 | |||
37 | /**
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38 | * Returns the Color used for representing this RobotIcon on screen.
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39 | */
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40 | public Color getColor () { |
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41 | return color;
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42 | } |
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43 | |||
44 | /**
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45 | * Sets the Color used for representing this RobotIcon on screen.
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46 | */
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47 | public void setColor (Color newcolor) { |
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48 | this.color = newcolor;
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49 | } |
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50 | |||
51 | /**
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52 | * Returns the battery level of this RobotIcon.
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53 | * TODO: what numbering system is this?
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54 | */
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55 | public int getBattery () { |
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56 | return battery;
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57 | } |
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58 | |||
59 | /**
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60 | * Sets the battery level of this RobotIcon.
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61 | * TODO: what numbering system is this?
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62 | */
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63 | public void setBattery (int newbattery) { |
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64 | this.battery = newbattery;
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65 | } |
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66 | |||
67 | /**
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68 | * Returns the location of this RobotIcon as a Point. The location is specified
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69 | * in the coordinate system of the original webcam image, NOT the coordinate
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70 | * system of the scaled image as seen on screen.
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71 | */
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72 | public Point getLocation () { |
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73 | return location;
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74 | } |
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75 | 644 | gtress | |
76 | /**
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77 | 776 | gtress | * Sets the location of this RobotIcon. The location should be specified in the
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78 | * coordinate system of the original webcam image, NOT the coordinate system of
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79 | * the scaled image as seen on screen.
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80 | 644 | gtress | */
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81 | 776 | gtress | public void setLocation (int x, int y) { |
82 | location.setLocation(x, y); |
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83 | 644 | gtress | } |
84 | 776 | gtress | |
85 | /**
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86 | * Sets the location of this RobotIcon. The location should be specified in the
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87 | * coordinate system of the original webcam image, NOT the coordinate system of
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88 | * the scaled image as seen on screen.
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89 | */
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90 | public void setLocation (Point p) { |
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91 | location.setLocation(p); |
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92 | } |
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93 | |||
94 | /**
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95 | * Returns the destination of this RobotIcon as a Point. The location is specified
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96 | * in the coordinate system of the original webcam image, NOT the coordinate
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97 | * system of the scaled image as seen on screen. If the RobotIcon has no current
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98 | * destination, then this method returns null.
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99 | */
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100 | public Point getDestination () { |
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101 | if (!hasDestination())
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102 | return null; |
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103 | return destination;
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104 | } |
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105 | |||
106 | /**
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107 | * Determines whether this RobotIcon currently has a destination, e.g., for homing
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108 | * to a specific point in the environment or finding a charging bay.
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109 | */
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110 | public boolean hasDestination () { |
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111 | return (destination.x >= 0 && destination.y >= 0); |
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112 | } |
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113 | |||
114 | /**
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115 | * Sets the destination of this RobotIcon for the purposes of homing to a specific
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116 | * point in the environment of finding a charging bay. The destination point should
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117 | * be specified in the coordinate system of the original webcam image, NOT the
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118 | * coordinate system of the scaled image as seen on screen.
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119 | */
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120 | public void setDestination (int x, int y) { |
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121 | destination.setLocation(x, y); |
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122 | } |
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123 | |||
124 | /**
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125 | * Sets the destination of this RobotIcon for the purposes of homing to a specific
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126 | * point in the environment of finding a charging bay. The destination point should
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127 | * be specified in the coordinate system of the original webcam image, NOT the
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128 | * coordinate system of the scaled image as seen on screen.
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129 | */
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130 | public void setDestination (Point p) { |
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131 | destination.setLocation(p); |
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132 | } |
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133 | |||
134 | /**
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135 | * Clears the destination Point for this RobotIcon, indicating that the robot is
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136 | * no longer homing.
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137 | */
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138 | public void clearDestination () { |
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139 | setDestination(-1, -1); |
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140 | } |
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141 | 644 | gtress | |
142 | /**
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143 | * Determines whether a given point is within the rectangle that circumscribes the
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144 | 776 | gtress | * robot's circlular icon. Used for click detection on robots in webcam view. The
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145 | * parameter point should be specified in the coordinate system of the original
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146 | * webcam image, NOT the coordinate system of the scaled image as seen on screen.
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147 | 644 | gtress | */
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148 | public boolean contains (int px, int py) { |
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149 | 776 | gtress | return this.getBoundingRectangle().contains(px, py); |
150 | 644 | gtress | } |
151 | 776 | gtress | |
152 | /**
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153 | * Returns the Rectangle object that circumscribes the RobotIcon identifier circle
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154 | * that is painted on screen. The Rectangle is in the coordinate system of the
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155 | * original webcam image NOT the coordinate system of the scaled image as seen
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156 | * on screen.
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157 | */
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158 | public Rectangle getBoundingRectangle () { |
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159 | int radius = ColonetConstants.ROBOT_RADIUS;
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160 | return new Rectangle(location.x-radius, location.y-radius, 2*radius, 2*radius); |
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161 | } |
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162 | 644 | gtress | |
163 | 776 | gtress | /**
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164 | * Provides a text representation of this RobotIcon object
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165 | */
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166 | 644 | gtress | public String toString () { |
167 | 776 | gtress | String s = "RobotIcon at (" + location.x + "," + location.y + "), id " + id; |
168 | 644 | gtress | return s;
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169 | } |
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170 | } |