Revision 938
OpenCV now works directly with firewire, coriander is not needed
New vision algorithm integrated, a few issues left with algorithm that
tracks the movement of a specific robot
Removed experimental interface to send images over commands socket
--plan to use php in webserver instead
Separated processing of client requests into a separate thread
Fixed bugs updating UI of java client
| Colonet.java | ||
|---|---|---|
| 541 | 541 |
*/ |
| 542 | 542 |
public void setSelectedBot (int id) {
|
| 543 | 543 |
this.selectedBot = id; |
| 544 |
lblSelected.setText("" + this.selectedBot);
|
|
| 544 | 545 |
} |
| 545 | 546 |
|
| 546 | 547 |
/** |
| ... | ... | |
| 713 | 714 |
// Otherwise, we are selecting a bot, or doing nothing |
| 714 | 715 |
RobotIcon r = robotIcons.getBoundingIcon(pt); |
| 715 | 716 |
if (r != null) |
| 717 |
{
|
|
| 716 | 718 |
selectedBot = r.getID(); |
| 719 |
lblSelected.setText("" + selectedBot);
|
|
| 720 |
} |
|
| 717 | 721 |
} |
| 718 | 722 |
} |
| 719 | 723 |
|
| ... | ... | |
| 811 | 815 |
} else if (source == btnActivate) {
|
| 812 | 816 |
vectorController.setZero(); |
| 813 | 817 |
vectorController.sendToServer(); |
| 814 |
robotIcons.get(selectedBot).clearDestination(); |
|
| 818 |
if (selectedBot >= 0) |
|
| 819 |
{
|
|
| 820 |
robotIcons.get(selectedBot).clearDestination(); |
|
| 821 |
} |
|
| 815 | 822 |
} else if (source == btnSetBounds) {
|
| 816 | 823 |
boundary.set = true; |
| 817 | 824 |
panelWebcam.setCursor(new Cursor(Cursor.CROSSHAIR_CURSOR)); |
| ... | ... | |
| 896 | 903 |
// Robot Position Request |
| 897 | 904 |
if (count % 1 == 0) {
|
| 898 | 905 |
csi.sendPositionRequest(); |
| 899 |
csi.sendImageRequest(); |
|
| 900 | 906 |
} |
| 901 | 907 |
// Battery Request |
| 902 | 908 |
if (count % 30 == 0) {
|
| ... | ... | |
| 1129 | 1135 |
image.flush(); |
| 1130 | 1136 |
System.gc(); |
| 1131 | 1137 |
try {
|
| 1132 |
imagePath = new URL(ColonetConstants.WEBCAM_PATH + "?rand=" + rand.nextInt(100000));
|
|
| 1138 |
imagePath = new URL(ColonetConstants.WEBCAM_PATH); |
|
| 1133 | 1139 |
} catch (MalformedURLException e) {
|
| 1134 | 1140 |
System.out.println("Malformed URL: could not form URL from: [" + ColonetConstants.WEBCAM_PATH + "]\n");
|
| 1135 | 1141 |
} |
| ... | ... | |
| 1148 | 1154 |
csi.warn("Could not load webcam.\n" + e);
|
| 1149 | 1155 |
return; |
| 1150 | 1156 |
} catch (IOException e) {
|
| 1151 |
getInfoPanel().append("IOException while trying to load image.");
|
|
| 1157 |
getInfoPanel().append("IOException while trying to load image.\n");
|
|
| 1152 | 1158 |
} |
| 1153 | 1159 |
} |
| 1154 | 1160 |
} |
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