robot.java

控制移到机器人的例子程序

/*
	A basic extension of the java.awt.Frame class
 */

import java.awt.*;
import java.io.*;

public class Robot extends Frame
{
    RobotController RC;
    jspeech mySpeaker;
    int numSpeeches = 39;
    String speeches[];

	public Robot()
	{
		// This code is automatically generated by Visual Cafe when you add
		// components to the visual environment. It instantiates and initializes
		// the components. To modify the code, only use code syntax that matches
		// what Visual Cafe can generate, or Visual Cafe may be unable to back
		// parse your Java file into its visual environment.
		//{{INIT_CONTROLS
		setLayout(null);
		setVisible(false);
		setSize(insets().left + insets().right + 430,insets().top + insets().bottom + 270);
		button1 = new java.awt.Button();
		button1.setActionCommand("button");
		button1.setLabel("RunDiagnosticTrack");
		button1.setBounds(insets().left + 0,insets().top + 120,144,35);
		button1.setBackground(new Color(12632256));
		add(button1);
		button2 = new java.awt.Button();
		button2.setActionCommand("button");
		button2.setLabel("Run Sonar Loop");
		button2.setBounds(insets().left + 288,insets().top + 0,147,36);
		button2.setBackground(new Color(12632256));
		add(button2);
		button3 = new java.awt.Button();
		button3.setActionCommand("button");
		button3.setLabel("Mingle...");
		button3.setBounds(insets().left + 0,insets().top + 180,96,36);
		button3.setBackground(new Color(12632256));
		add(button3);
		button4 = new java.awt.Button();
		button4.setActionCommand("button");
		button4.setLabel("init speech");
		button4.setBounds(insets().left + 0,insets().top + 0,96,36);
		button4.setBackground(new Color(12632256));
		add(button4);
		button5 = new java.awt.Button();
		button5.setActionCommand("button");
		button5.setLabel("Speaker button");
		button5.setBounds(insets().left + 144,insets().top + 0,105,36);
		button5.setBackground(new Color(12632256));
		add(button5);
		canvas1 = new java.awt.Canvas();
		canvas1.setBounds(insets().left + 84,insets().top + 108,45,45);
		add(canvas1);
		button6 = new java.awt.Button();
		button6.setActionCommand("button");
		button6.setLabel("Garbage Collect");
		button6.setBounds(insets().left + 0,insets().top + 60,118,34);
		button6.setBackground(new Color(12632256));
		add(button6);
		button7 = new java.awt.Button();
		button7.setActionCommand("button");
		button7.setLabel("Print Memory Room");
		button7.setBounds(insets().left + 144,insets().top + 60,118,35);
		button7.setBackground(new Color(12632256));
		add(button7);
		button8 = new java.awt.Button();
		button8.setActionCommand("button");
		button8.setLabel("turn right");
		button8.setBounds(insets().left + 180,insets().top + 120,93,34);
		button8.setBackground(new Color(12632256));
		add(button8);
		setTitle("Sample Bot!");
		//}}
		this.setVisible(true);
		RC = new RobotController();
		RC.serialOpen();

		//{{INIT_MENUS
		//}}

		//{{REGISTER_LISTENERS
		SymWindow aSymWindow = new SymWindow();
		this.addWindowListener(aSymWindow);
		SymMouse aSymMouse = new SymMouse();
		button2.addMouseListener(aSymMouse);
		button1.addMouseListener(aSymMouse);
		button3.addMouseListener(aSymMouse);
		button4.addMouseListener(aSymMouse);
		button5.addMouseListener(aSymMouse);
		button6.addMouseListener(aSymMouse);
		button7.addMouseListener(aSymMouse);
		button8.addMouseListener(aSymMouse);
		//}}
	}

	public Robot(String title)
	{
		this();
		setTitle(title);
	}

	public synchronized void show()
	{
		move(50, 50);
		super.show();
	}

	public void addNotify()
	{
	    // Record the size of the window prior to calling parents addNotify.
	    Dimension d = getSize();

		super.addNotify();

		if (fComponentsAdjusted)
			return;

		// Adjust components according to the insets
		setSize(insets().left + insets().right + d.width, insets().top + insets().bottom + d.height);
		Component components[] = getComponents();
		for (int i = 0; i < components.length; i++)
		{
			Point p = components[i].getLocation();
			p.translate(insets().left, insets().top);
			components[i].setLocation(p);
		}
		fComponentsAdjusted = true;
	}

    // Used for addNotify check.
	boolean fComponentsAdjusted = false;

	//{{DECLARE_CONTROLS
	java.awt.Button button1;
	java.awt.Button button2;
	java.awt.Button button3;
	java.awt.Button button4;
	java.awt.Button button5;
	java.awt.Canvas canvas1;
	java.awt.Button button6;
	java.awt.Button button7;
	java.awt.Button button8;
	//}}

	//{{DECLARE_MENUS
	//}}

	class SymWindow extends java.awt.event.WindowAdapter
	{
		public void windowClosing(java.awt.event.WindowEvent event)
		{
			Object object = event.getSource();
			if (object == Robot.this)
				Frame1_WindowClosing(event);
		}
	}

	void Frame1_WindowClosing(java.awt.event.WindowEvent event)
	{
		hide();		 // hide the Frame
	}

	class SymMouse extends java.awt.event.MouseAdapter
	{
		public void mouseClicked(java.awt.event.MouseEvent event)
		{
			Object object = event.getSource();
			if (object == button2)
				button2_MouseClick(event);
			else if (object == button1)
				button1_MouseClick(event);
			else if (object == button3)
				button3_MouseClick(event);
			else if (object == button4)
				button4_MouseClick(event);
			else if (object == button5)
				button5_MouseClick(event);
			else if (object == button6)
				button6_MouseClick(event);
			else if (object == button7)
				button7_MouseClick(event);
			else if (object == button8)
				button8_MouseClick(event);
		}
	}

    // "Run Sonar Loop" button //
	void button2_MouseClick(java.awt.event.MouseEvent event)
	{
	    int frontsonar;
	    SonarConsole sonarshower;
	    sonarshower = new SonarConsole();  // make a new Sonar drawing window //
	    sonarshower.DrawSonars(RC);
		RC.turnSonarsOn();

		System.out.println("Hit robot bumper to quit...");
		
		long freeMem = 900000;
		long newfreeMem = 900000;

		while (true) {
		    RC.GS(); // update the robot's state //
		    sonarshower.DrawSonars(RC);  // draw the current sonar values! //

		    // print out the value of the front sonar
		    frontsonar = RC.stateArray[1];
		    // System.out.println("Front sonar reads: " + String.valueOf(frontsonar));

		    // exit the whole program if the bumper's hit
		    if (RC.stateArray[RC.BUMPER] != 0) {
		        RC.turnSonarsOff();
		        break;
		    }

		    newfreeMem = Runtime.getRuntime().freeMemory();
		    // System.out.println("memory size: " + newfreeMem);
		    if (newfreeMem > freeMem) {
		        System.out.println("Garbage collect!!!!!!");
		        mySpeaker.textSpeech("Garbage collect");
		    }
		    freeMem = newfreeMem;
		        

		    // sleep for half a second
		    try {
		        Thread.sleep(500);
		    } catch (InterruptedException e) {
		        System.out.println("Interrupted sleep!");
		    }
		} // end while (true)
	}


	void button1_MouseClick(java.awt.event.MouseEvent event)
	{
		// to do: code goes here.
	    int frontsonar, backsonar;
	    boolean flag = true;
		// to do: code goes here.
		RC.turnSonarsOn();
		RC.GS();
		System.out.println("Hit robot bumper to quit...");

		while (flag) {
		    RC.GS();

		    // print out the value of the front sonar
		    frontsonar = RC.stateArray[1];
		    backsonar = RC.stateArray[9];
		    System.out.println("Front sonar: " + String.valueOf(frontsonar) +
		                       "  Back sonar: " + String.valueOf(backsonar));

		    // exit the whole program if the bumper's hit
		    if (RC.stateArray[RC.BUMPER] != 0) {
		        RC.turnSonarsOff();
		        RC.setVel(0,0);
		        flag = false;
		    }

		    if (frontsonar < backsonar) {
		        RC.setVel(-20,-20);
		    } else {