robotcmdgui.java

来自「tinyos最新版」· Java 代码 · 共 1,051 行 · 第 1/3 页

        byte data[] = {};
        sendMsg(RC.MOTOR_TEST_START, data);
    }//GEN-LAST:event_startMotorTestButtonActionPerformed

    private void off2ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_off2ButtonActionPerformed
        // Add your handling code here:
        byte data[] = {RC.OFF};
        sendMsg(RC.SET_SPEED, data);
    }//GEN-LAST:event_off2ButtonActionPerformed

    private void reverse60ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_reverse60ButtonActionPerformed
        // Add your handling code here:
        byte data[] = {60,(byte)turn2Slider.getValue()};
        sendMsg(RC.SET_SPEEDTURNDIR, data);
    }//GEN-LAST:event_reverse60ButtonActionPerformed

    private void forward50ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_forward50ButtonActionPerformed
        // Add your handling code here:
        byte turn = (byte)turn2Slider.getValue();
        byte data[] = {50,(byte)(turn | 0x80)};
        sendMsg(RC.SET_SPEEDTURNDIR, data);
    }//GEN-LAST:event_forward50ButtonActionPerformed

    private void turn2SliderMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_turn2SliderMouseReleased
        // Add your handling code here:
        byte data[] = {(byte)turn2Slider.getValue()};
        sendMsg(RC.SET_TURN, data);
    }//GEN-LAST:event_turn2SliderMouseReleased

    private void turn2SliderKeyReleased(java.awt.event.KeyEvent evt) {//GEN-FIRST:event_turn2SliderKeyReleased
        // Add your handling code here:
        if ((evt.getKeyCode() == java.awt.event.KeyEvent.VK_LEFT) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_RIGHT) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_UP) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_DOWN)) {
                byte data[] = {(byte)turn2Slider.getValue()};
                sendMsg(RC.SET_TURN, data);
        }
    }//GEN-LAST:event_turn2SliderKeyReleased

    private void straight2ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_straight2ButtonActionPerformed
        // Add your handling code here:
        turn2Slider.setValue(RC.STRAIGHT);
        byte data[] = {RC.STRAIGHT};
        sendMsg(RC.SET_TURN, data);
    }//GEN-LAST:event_straight2ButtonActionPerformed

    private void setKiButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_setKiButtonActionPerformed
        // Add your handling code here:
        byte data[] = {(byte)Integer.parseInt(setKiField.getText())};
        sendMsg(RC.SET_KI, data);
    }//GEN-LAST:event_setKiButtonActionPerformed

    private void setKpButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_setKpButtonActionPerformed
        // Add your handling code here:
        byte data[] = {(byte)Integer.parseInt(setKpField.getText())};
        sendMsg(RC.SET_KP, data);
    }//GEN-LAST:event_setKpButtonActionPerformed

    private void setStraightButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_setStraightButtonActionPerformed
        // Add your handling code here:
        byte data[] = {(byte)Integer.parseInt(setStraightField.getText())};
        sendMsg(RC.SET_STRAIGHT, data);
    }//GEN-LAST:event_setStraightButtonActionPerformed

    private void fig8Turn4ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_fig8Turn4ButtonActionPerformed
        // Add your handling code here:
        byte data[] = {(byte)Integer.parseInt(fig8Turn3Field.getText()), (byte)Integer.parseInt(fig8Turn4Field.getText())};
        sendMsg(RC.SET_TURN34, data);
    }//GEN-LAST:event_fig8Turn4ButtonActionPerformed

    private void fig8Turn3ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_fig8Turn3ButtonActionPerformed
        // Add your handling code here:
        byte data[] = {(byte)Integer.parseInt(fig8Turn3Field.getText()), (byte)Integer.parseInt(fig8Turn4Field.getText())};
        sendMsg(RC.SET_TURN34, data);
    }//GEN-LAST:event_fig8Turn3ButtonActionPerformed

    private void fig8Turn2ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_fig8Turn2ButtonActionPerformed
        // Add your handling code here:
        byte data[] = {(byte)Integer.parseInt(fig8Turn1Field.getText()), (byte)Integer.parseInt(fig8Turn2Field.getText())};
        sendMsg(RC.SET_TURN12, data);
    }//GEN-LAST:event_fig8Turn2ButtonActionPerformed

    private void fig8Turn1ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_fig8Turn1ButtonActionPerformed
        // Add your handling code here:
        byte data[] = {(byte)Integer.parseInt(fig8Turn1Field.getText()), (byte)Integer.parseInt(fig8Turn2Field.getText())};
        sendMsg(RC.SET_TURN12, data);
    }//GEN-LAST:event_fig8Turn1ButtonActionPerformed

    private void fig8SpeedButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_fig8SpeedButtonActionPerformed
        // Add your handling code here:
        byte data[] = {(byte)(Integer.parseInt(x1Field.getText()))};
        sendMsg(RC.SET_FIGURE8_SPEED, data);
    }//GEN-LAST:event_fig8SpeedButtonActionPerformed

    private void stopFig8ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_stopFig8ButtonActionPerformed
        // Add your handling code here:
        byte data[] = {};
        sendMsg(RC.STOP_FIGURE8, data);
    }//GEN-LAST:event_stopFig8ButtonActionPerformed

    private void startFig8ButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_startFig8ButtonActionPerformed
        // Add your handling code here:
        byte data[] = {};
        sendMsg(RC.START_FIGURE8, data);
    }//GEN-LAST:event_startFig8ButtonActionPerformed

    private void turnSliderKeyReleased(java.awt.event.KeyEvent evt) {//GEN-FIRST:event_turnSliderKeyReleased
        // Add your handling code here:
        if ((evt.getKeyCode() == java.awt.event.KeyEvent.VK_LEFT) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_RIGHT) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_UP) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_DOWN)) {
                byte data[] = {(byte)turnSlider.getValue()};
                sendMsg(RC.SET_TURN, data);
        }
    }//GEN-LAST:event_turnSliderKeyReleased

    private void speedSliderKeyReleased(java.awt.event.KeyEvent evt) {//GEN-FIRST:event_speedSliderKeyReleased
        // Add your handling code here:
        if ((evt.getKeyCode() == java.awt.event.KeyEvent.VK_LEFT) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_RIGHT) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_UP) ||
            (evt.getKeyCode() == java.awt.event.KeyEvent.VK_DOWN)) {
                byte data[] = {(byte)speedSlider.getValue()};
                sendMsg(RC.SET_SPEED, data);
        }
    }//GEN-LAST:event_speedSliderKeyReleased

    private void turnSliderMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_turnSliderMouseReleased
        // Add your handling code here:
        byte data[] = {(byte)turnSlider.getValue()};
        sendMsg(RC.SET_TURN, data);
    }//GEN-LAST:event_turnSliderMouseReleased

    private void speedSliderMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_speedSliderMouseReleased
        // Add your handling code here:
        byte data[] = {(byte)speedSlider.getValue()};
        sendMsg(RC.SET_SPEED, data);
    }//GEN-LAST:event_speedSliderMouseReleased

    private void reverseButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_reverseButtonActionPerformed
        // Add your handling code here:
        byte data[] = {RC.REVERSE};
        sendMsg(RC.SET_DIRECTION, data);
    }//GEN-LAST:event_reverseButtonActionPerformed

    private void forwardButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_forwardButtonActionPerformed
        // Add your handling code here:
        byte data[] = {RC.FORWARD};
        sendMsg(RC.SET_DIRECTION, data);
    }//GEN-LAST:event_forwardButtonActionPerformed

    private void straightButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_straightButtonActionPerformed
        // Add your handling code here:
        turnSlider.setValue(RC.STRAIGHT);
        byte data[] = {RC.STRAIGHT};
        sendMsg(RC.SET_TURN, data);
    }//GEN-LAST:event_straightButtonActionPerformed

    private void offButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_offButtonActionPerformed
        // Add your handling code here:
        speedSlider.setValue(RC.OFF);
        byte data[] = {RC.OFF};
        sendMsg(RC.SET_SPEED, data);
    }//GEN-LAST:event_offButtonActionPerformed

    private void navigateButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_navigateButtonActionPerformed
        // Add your handling code here:
        int x1 = Integer.parseInt(x1Field.getText());
        int y1 = Integer.parseInt(y1Field.getText());
        int piNum = Integer.parseInt(piNumField.getText());
        int piDen = Integer.parseInt(piDenField.getText());
        int x2 = Integer.parseInt(x2Field.getText());
        int y2 = Integer.parseInt(y2Field.getText());
        if (piDen == 0) return;
        navigationPanel1.navigate(x1,y1,piNum*Math.PI/piDen,x2,y2);
        
        NavigationMsg navMsg = new NavigationMsg();
        navMsg.set_x1((short)x1);
        navMsg.set_y1((short)y1);
        navMsg.set_x2((short)x2);
        navMsg.set_y2((short)y2);
        navMsg.set_PiNumerator((byte)piNum);
        navMsg.set_PiDenominator((byte)piDen);
        try { //devNote: should I catch this???
            mote.send(MoteIF.TOS_BCAST_ADDR, navMsg); //Controls all robots
        } catch (IOException e) {
            System.err.println("Unable to write to SerialForwarderStub");
            System.exit(-1);
        }
        msgArea.append(navMsg.toString() + "\n");
    }//GEN-LAST:event_navigateButtonActionPerformed

    private void sendMsg(short command, byte[] data) {
	RobotCmdMsg cmdMsg = new RobotCmdMsg();
        cmdMsg.set_type(command);
        for (int i = 0; i < data.length; i++)
            cmdMsg.setElement_data(i,data[i]);

        try { 
	    mote.send(MoteIF.TOS_BCAST_ADDR, cmdMsg); //Controls all robots
        } catch (IOException e) {
            System.err.println("Unable to write to SerialForwarderStub");
            System.exit(-1);
        }
	//devNote: how to add moteID + groupID???
	msgArea.append(cmdMsg.toString() + "\n");
    }
    
    /** Exit the Application */
    private void exitForm(java.awt.event.WindowEvent evt) {//GEN-FIRST:event_exitForm
        System.exit(0);
    }//GEN-LAST:event_exitForm
    

    /** Usage message */
    private void usage() {
        System.err.println("Usage: java RobotCmd.RobotCmdGUI"+
			       " <groupID>");
        System.err.println("\twhere [groupID] is the mote group ID in decimal format.");
    }
    
    /**
     * @param args the command line arguments
     */
    public static void main(String args[]) {
        int groupID = 125;
        if (args.length == 1) {
	    groupID = Integer.parseInt(args[0]);
	} /* Add usage information here -- or could add command line stuff instead of doing GUI */
	System.err.println("RobotCmdGUI: Using group ID "+groupID);

        new RobotCmdGUI(groupID).show();
    }
    

    /**  messageReceived will fire when a packet has been received by the SerialForwarder. */
    public void messageReceived(int destAddr, Message msg) {
        if (msg instanceof RobotCmdMsg) {
            robotCmdReceived(destAddr, (RobotCmdMsg)msg);
        }
	//if (msg instanceof RobotCmdMsg) {
	//    robotReceived( dest_addr, (RobotCmdMsg)msg); }
	/*FOR FUTURE ADDITIONS
	   else if (msg instanceof otherMsg) {
	   otherReceived(dest_addr, (otherMsg)msg);
	} else {
	  throw new RuntimeException("messageReceived: Got bad message type: "+msg);
	} */
    }

    private void robotCmdReceived(int destAddr, RobotCmdMsg msg) {
	byte type = (byte) msg.get_type();
        if (type == RC.GET_STRAIGHT)
            setStraightField.setText(String.valueOf(msg.getElement_data(0)));
        else if (type == RC.GET_KP)
            setKpField.setText(String.valueOf(msg.getElement_data(0)));
        else if (type == RC.GET_KI)
            setKiField.setText(String.valueOf(msg.getElement_data(0)));
        
    }
    
    // Variables declaration - do not modify//GEN-BEGIN:variables
    private javax.swing.JPanel dirPanel;
    private javax.swing.JPanel carControlPanel;
    private javax.swing.JTextField piNumField;
    private javax.swing.JPanel servoPanel;
    private javax.swing.JTextField fig8Turn3Field;
    private javax.swing.JPanel fig8CtlPanel;
    private javax.swing.JPanel kPanel;
    private javax.swing.JLabel spacerLabel1;
    private javax.swing.JPanel topPanel;
    private javax.swing.JButton forward50Button;
    private javax.swing.JPanel speed2Panel;
    private javax.swing.JLabel piNumLabel;
    private javax.swing.JLabel getConstantsField;
    private javax.swing.JButton fig8Turn3Button;
    private javax.swing.JButton forwardButton;
    private javax.swing.JButton straight2Button;
    private javax.swing.JTextField y2Field;
    private javax.swing.JButton setKiButton;
    private javax.swing.JPanel navPanel;
    private javax.swing.JButton offButton;
    private javax.swing.JLabel y2Label;
    private javax.swing.JSlider speedSlider;
    private javax.swing.JButton reverseButton;
    private javax.swing.JScrollPane jScrollPane1;
    private javax.swing.JButton setKpButton;
    private javax.swing.JTextArea msgArea;
    private javax.swing.JTextField fig8Turn2Field;
    private javax.swing.JPanel turnPanel;
    private javax.swing.JTextField setKpField;
    private javax.swing.JTextArea navDirText;
    private javax.swing.JPanel jPanel2;
    private javax.swing.JPanel jPanel1;
    private javax.swing.JButton off2Button;
    private javax.swing.JButton stopFig8Button;
    private javax.swing.JPanel otherPanel;
    private javax.swing.JButton fig8Turn2Button;
    private javax.swing.JTextField y1Field;
    private javax.swing.JTextField x2Field;
    private javax.swing.JTextField setKiField;
    private javax.swing.JTextField fig8SpeedField;
    private javax.swing.JPanel ledPanel;
    private javax.swing.JPanel navigateButtonPanel;
    private javax.swing.JLabel y1Label;
    private javax.swing.JTextField setStraightField;
    private javax.swing.JLabel x2Label;
    private javax.swing.JPanel motorTestPanel;
    private javax.swing.JButton setStraightButton;
    private javax.swing.JPanel fig8CalibButtonPanel;
    private javax.swing.JButton motorLEDButton;
    private javax.swing.JButton fig8Turn1Button;
    private javax.swing.JButton startFig8Button;
    private javax.swing.JPanel speedPanel;
    private javax.swing.JButton reverse60Button;
    private javax.swing.JTextField fig8Turn1Field;
    private javax.swing.JLabel jLabel1;
    private javax.swing.JPanel fig8CalibPanel;
    private javax.swing.JButton getConstantsButton;
    private javax.swing.JPanel navDataPanel;
    private javax.swing.JButton stopMotorTestButton;
    private javax.swing.JTextField fig8Turn4Field;
    private javax.swing.JLabel spacerLabel13;
    private javax.swing.JLabel spacerLabel12;
    private javax.swing.JPanel figure8Panel;
    private javax.swing.JLabel spacerLabel11;
    private javax.swing.JTextField x1Field;
    private javax.swing.JTabbedPane jTabbedPane1;
    private javax.swing.JSlider turn2Slider;
    private javax.swing.JButton navigateButton;
    private javax.swing.JButton fig8Turn4Button;
    private javax.swing.JSlider turnSlider;
    private javax.swing.JLabel x1Label;
    private javax.swing.JButton getStraightButton;
    private javax.swing.JButton straightButton;
    private javax.swing.JTextField piDenField;
    private javax.swing.JButton fig8SpeedButton;
    private javax.swing.JButton startMotorTestButton;
    private javax.swing.JPanel straightPanel;
    private javax.swing.JButton micaLEDButton;
    private javax.swing.JLabel getStraightLabel;
    private javax.swing.JLabel piDenLabel;
    private NavigationPanel navigationPanel1;
    // End of variables declaration//GEN-END:variables
    
}