roboproto.java

一个由c转成java的3D robot 仿真平台

			    PL[i].x = base105;
			    break;
		}
	     }
	   AllAboutMoving.copyPointList(PL, pl, this);    
           angleNew[0] = 0.0;
           angleNew[1] = -Math.PI/2;
           angleNew[2] = angleNew[1];
           angleNew[3] = 0.0;
           angleNew[4] = 0.0;
           angleNew[5] = 0.0;
           AllAboutMoving.PosRobo(pl, angleNew, angles, this);// angles get
							// their new values
	   angleOld[1] = angleOld[1] + (Math.PI/2);
           angleOld[2] = angleOld[2] + (Math.PI/2);
	   // Creation of variables of primitive data type needed as 
	   // call-by-reference variables:
	   makeRealRobotMove = false;
	   RefInt refError = new RefInt(errorcode);
	   RefDouble refAngleY = new RefDouble(angleY);
	   RefDouble refAngleX = new RefDouble(angleX);
	   RefDouble refD = new RefDouble(d);
	   RefInt refIndx = new RefInt(indx);
           AllAboutMoving.MoveRobo (showTheMove, pl, line, angleOld, angles, 
			8,refError, refAngleY, refAngleX, refD,0, refIndx,
			location, this);
           errorcode = refError.in;
	   angleY = refAngleY.in;
	   angleX = refAngleX.in;
	   indx = refIndx.in;
	   d = refD.in;
	   makeRealRobotMove = true;;
	   showTheMove = true;
	   repaint(); 
	   if (robotIsReal)
	     realRobotInterface(4, handValue);
	}
          
	private void executeExample()
	{
	  double[] exAngles = new double[6];
	  double[] newLengths = new double[3];

	  newLengths[0] = 13.5;  // default values
	  newLengths[1] = 10;
	  newLengths[2] = 10;
	  linkLengthInput(newLengths);  
	  for (int i = 0; i < 6; i++)	
	    exAngles[i] = 0;  
	  manualInput(exAngles);
	  speedInput(15);
	  exAngles[0] = 90 * Math.PI / 180;
	  exAngles[1] = 0;
	  exAngles[2] = -90 * Math.PI / 180;  
	  exAngles[3] = -90 * Math.PI / 180;
	  exAngles[4] = 0; 
	  exAngles[5] = 0;
	  manualInput(exAngles);
	  zoomInput(2.0f);
	  for (int i = 0; i < 6; i++)	
	    exAngles[i] = - 30 * Math.PI / 180;
	  exAngles[1] = 0;
	  manualInput(exAngles);
	  zoomInput(1.5f);
	  speedInput(80);
	  exAngles[0] = -160 * Math.PI / 180;
	  exAngles[1] = -90 * Math.PI / 180;
	  exAngles[2] = -130 * Math.PI / 180;
	  exAngles[3] = -90 * Math.PI / 180;
	  exAngles[4] = -40 * Math.PI / 180;
	  exAngles[5] = -40 * Math.PI / 180;
	  manualInput(exAngles);
	  speedInput(25);
	  for (int i = 0; i < 6; i++)	
	    exAngles[i] = 0;
	  manualInput(exAngles);
	}

	public void realRobotInterface(int armNo, double turnAngle)
	{
	  int realArm = armNo;
	  int commandNumber = 122;

	  switch (realArm)
	    {
	      case 0 : commandNumber = 122 + (int)(adjustFactors[0] *
					(turnAngle / Math.PI * 180)); 
		       break;
	      case 1 : commandNumber = 122 + (int)(adjustFactors[1] * (
					(turnAngle / Math.PI * 180) + 90));
		       break;
	      case 2 : commandNumber = 122 + (int)(adjustFactors[2] * 
				        (turnAngle / Math.PI * 180));
		       break;
	      case 3 : commandNumber = 122 + (int)(adjustFactors[3] * 
					(turnAngle / Math.PI * 180));
		       break;
	      case 4 : commandNumber = 240 + (int)(adjustFactors[4] * 
					(turnAngle / Math.PI * 180));
		       break; 
	    }
	    if (commandNumber > 254)
	      commandNumber = 254;
            else 
	      if (commandNumber < 1)
	        commandNumber = 1;
            RealRobot.RealRobotControl.move(realArm, commandNumber);
	}	  

	// the following two events get interpreted by the ThreeD-instance
	public boolean mouseDown(Event e, int x, int y) 
	{
	  if (e.target == roboCanvas)
	    return animation.mouseDown(e, x, y);
	  else return true;
	}
       
        public boolean mouseDrag(Event e, int x, int y) 
	{
	  if (e.target == roboCanvas)
	    return animation.mouseDrag(e, x, y);
	  else return true;
	}
  
	public boolean action(Event e, Object o)
	{
 	   if (e.target == fileButton)
	     {
		try
		  {
		    FileHandle.readFile(this);
		  }	
		catch (IOException err)
		  {
		    writeError(err.getMessage());
		  }
	        finally
		  {
		    repaint();
		    return true;
		  }
	     }
	   if (e.target == teachButton)
	     {
	       if ((teachButton.getLabel()).equals(teachStr))
	  	 {
	           try
		     {  
		       saveFile = FileHandle.openFile(this); 
		       teachButton.setLabel(enterStr);
		       stopButton.enable();
		     }
	           catch (IOException err)
		     {	
		       writeError("Can't open: " + err.getMessage());
		     }
	           finally
		     { 
		       return true;
		     }
		 }
	       else
		 { // can only be called, if this button
                   // is enabled which means 'saveFile' has been 
		   // instanciated
		   FileHandle.writeFile(saveFile, this);
	           return true;
		 }
	     }
	   if (e.target == stopButton)
	     {
		FileHandle.closeFile(saveFile);
		teachButton.setLabel(teachStr);
		stopButton.disable();
		return true;
	     }
	   if (e.target == autoExecButton)
	     {
	       for (int kl = 0; kl < 3; kl++)
		 input[kl] = target[kl]; 
	       autoChange(input); 
	       actualizeAutoPanel();
	       if (robotIsReal)
		 {
	           for (int kl = 0; kl < 3; kl++)
		     realRobotInterface(kl, angles[kl].act);
		   realRobotInterface(3, angles[4].act);
	         }
	       return true;
	     }
	   for (int loop = 0; loop < 4; loop++)
	     {
	       if (e.target == storeButtons[loop])
		 {
	           saveActualPosition(loop);
	           return true;
		 }
	       if (e.target == loadButtons[loop])
		 {	
		   loadPositionNo(loop);
		   return true;
		 }
	     }
	   if (e.target == helpButton)
	     {
	       helpWin = new Win(this, 1);//'1' means 'help'
	       return true;
	     }
	   if (e.target == aboutButton)
	     {
	        aboutWin = new Win(this, 2);//'2' means 'about'
		return true;
	     }
	   if (e.target == exampleButton)
	     {
	       executeExample();
	       return true;
	     }
	   return this.handleEvent(e);
	}  

	public boolean handleEvent(Event e)
	{
	   for (int i = 0; i < 6; i++)
	     if (e.target == manualScrolls[i])
	       switch(e.id)
		 {
		   case Event.SCROLL_LINE_UP:
		   case Event.SCROLL_LINE_DOWN:
	  	   case Event.SCROLL_PAGE_UP:
		   case Event.SCROLL_PAGE_DOWN:
  		   case Event.SCROLL_ABSOLUTE:
	  	     if (robotIsReal)
		       { 
	 	  	 double newV = ((double) manualScrolls[i].getValue()) 
						 / manualScrollScale;
	  	         if ((newV >= realRobRestr[i][0]) &&
			     (newV <= realRobRestr[i][1]))
			   {
			     manualChange(i,newV);
			     if (i == 4)
		               realRobotInterface(3, angles[i].act);
			     else 
			       realRobotInterface(i, angles[i].act);
			   }
			 else
			   manualScrolls[i].setValue((int) 
				   (manualScrollScale * angles[i].act));
		       }
		     else
		       manualChange(i,((double) manualScrolls[i].getValue())
				    / manualScrollScale);
		     return true;
	         }
	   if (e.target == zoomScroll)
	     {
	       switch(e.id)
		 {
		   case Event.SCROLL_LINE_UP:
		   case Event.SCROLL_LINE_DOWN:
	  	   case Event.SCROLL_PAGE_UP:
		   case Event.SCROLL_PAGE_DOWN:
  		   case Event.SCROLL_ABSOLUTE:
		     zoomValue = (float)(((Integer)e.arg).
					 intValue()) / zoomScrollScale;
		     animation.setScale(zoomValue);
		     repaint();
		     break;
		 }
	       return true;
	     } 
	   if (e.target == handScroll)
	     {
	       switch(e.id)
		{
		   case Event.SCROLL_LINE_UP:
		   case Event.SCROLL_LINE_DOWN:
	  	   case Event.SCROLL_PAGE_UP:
		   case Event.SCROLL_PAGE_DOWN:
  		   case Event.SCROLL_ABSOLUTE:
		     double helpHand = ((double) handScroll.getValue())
				           / handScrollScale; 
		     handChange(helpHand);
		     break;
		}
	      return true;
	     }
	   if (e.target == speedScroll)
	     {
		switch(e.id)
	          {
		    case Event.SCROLL_LINE_UP:
		    case Event.SCROLL_LINE_DOWN:
	  	    case Event.SCROLL_PAGE_UP:
		    case Event.SCROLL_PAGE_DOWN:
  		    case Event.SCROLL_ABSOLUTE:
		      xControl = speedScroll.getValue();
	 	      newSpeed();
	              break;
		  }
		return true;
	     }
	   if (e.target == virtualRobot)
	     {
	       if (robotIsReal)
	         tidyUpRealRobot();
	       return true;
	     }
	   if (e.target == realRobot)
	     {
	       if (!robotIsReal)
		 {
	           installRealRobot();
		   realRobotInterface(4, handValue);
		 }					 
	       return true;
	     } 
	   if (e.target == lineButton)
	     {         
	       if ((lineButton.getSelectedItem()).equals(onLine))
	         {	
		   fAutoLine = 0;// I'm copying the original c-program where
	         }               // booleans don't exist(easier for inv..Cine.)
	       else
	         {
		   fAutoLine = 1;
		 }
	       return true;
	     }	 
	   if (e.target == weightsExec)
	     {
	       for (int i = 0; i < 6; i++)
		 {
		   int help;
		   try 
		     {
		       help = Integer.parseInt(weightsText[i].getText()); 
		     }
		   catch (NumberFormatException err) 
		     { 
		       weightsText[i].setText(String.valueOf(angleWeights[i]));
		       continue; // the textfield gets the right value back
		     } 
		   if (help > 0)
	             angleWeights[i] = help;
		   else 
		     weightsText[i].setText(String.valueOf(angleWeights[i]));
	         }
	       return true;
	     }
	   if (e.target == quit)
	     {
	       RealRobot.RealRobotControl.closeFile();
	       System.exit(0);// this is the end, my friend
	     }
	   for (int i = 0; i < 3; i++)
	     if (e.target == linkScrolls[i])
	       switch(e.id)
		 {
		   case Event.SCROLL_LINE_UP:
		   case Event.SCROLL_LINE_DOWN:
	  	   case Event.SCROLL_PAGE_UP:
		   case Event.SCROLL_PAGE_DOWN:
  		   case Event.SCROLL_ABSOLUTE:
		     double actValue = (double)(((Integer)e.arg).intValue())
	 			         / linkScrollScale;
		     updateOldLinkLabel(i, actValue);
						// only the label is changed
		     return true;
	         }
	  if (e.target == linkExec)
	    { 
	      double[] actValues = new double[3];
	      for (int kl = 0; kl < 3; kl++)
		actValues[kl] = (double)linkScrolls[kl].getValue()
		 	        / linkScrollScale;
	      linkLengthChange(actValues); 
	      return true;
	    }
	  for (int i = 0; i < 3; i++)
	    if (e.target == autoScrolls[i])
	       switch(e.id)
		 {
		   case Event.SCROLL_LINE_UP:
		   case Event.SCROLL_LINE_DOWN:
		   case Event.SCROLL_PAGE_UP:
		   case Event.SCROLL_PAGE_DOWN:
  		   case Event.SCROLL_ABSOLUTE:
		     for (int kl = 0; kl < 3; kl++)
		       input[kl] = target[kl];
		     input[i] = target[i] = 
		       (double)((Integer)e.arg).intValue() 
		     	 	/ autoScrollScale;
		     updateScrolledAutoLabel(i);
		     return true;
	          }
	   // default:
 	   
	   return super.handleEvent(e);
	}
}