controllergui.java

基于网络的AIBO机器狗遥操作控制程序代码

import javax.swing.JApplet;
import java.awt.event.ActionListener;
import java.awt.event.MouseEvent;
import java.awt.event.MouseListener;
import javax.swing.Box;
import javax.swing.ButtonGroup;
import javax.swing.JButton;
import javax.swing.JLabel;
import javax.swing.JFrame;
import javax.swing.JRadioButton;
import javax.swing.JSeparator;
import javax.swing.SwingConstants;
import java.awt.event.ActionEvent;
import java.awt.geom.Point2D;
import java.awt.BorderLayout;
import java.awt.Dimension;
import javax.swing.JPanel;
import java.awt.Container;
import javax.swing.JTextArea;
import javax.swing.JTextField;

public class ControllerGUI extends JFrame implements HeadPointListener.HeadPointUpdatedListener,MouseListener,VisionUpdatedListener,PointPick.PointPickedListener,MechaController.MechaUpdatedListener,ActionListener,EStopListener.UpdatedListener{
	//============paramaters===========================
	private JButton estopBtn,connectBtn;
	private JLabel  statusLabel; 
	private VisionPanel visionPane; 
	private JPanel	controlPane;
	private JPanel headPointPane;
	private PointPick pp;
	private PointPick pp1;
	private JTextField textField;
	private	JRadioButton horizRotateBtn;
	private JRadioButton horizStrafeBtn;
	private JRadioButton panBtn;
	private JRadioButton rollBtn;
	private HeadPointListener hpcomm;
	//JButton btn;
	//private JTextField textField;
	private ControllerListener comm;
	private MechaController mechacomm;
	private EStopListener estoplistener;
	private String server=new String("192.168.2.2");
	private int port=10020;
	//JList menu;
	//JScrollPane menuScroll;
	//JComboBox title;
	String status;
	//JList scripts;
	boolean isUpdating=false;
	//DefaultListModel scriptsModel=new DefaultListModel();
	boolean connected=false;
	float mspf=0;
	long lastFrameTime=0;
	float mspfGamma=.9f;
	public class StatusUpdateThread extends Thread {
		ControllerGUI gui;
		public StatusUpdateThread(ControllerGUI gui) { super("StatusUpdate"); this.gui=gui; setDaemon(true);}
		public void run() {
			VisionListener l=gui.visionPane.getListener();
			while(true) {
				String status=gui.status;
				gui.statusLabel.setText(status);
				try {
					sleep(100);
				} catch(Exception ex) {break;}
			}
		}
		
	}

	public void init(){

		estoplistener=new EStopListener(server,10053);

		statusLabel=new JLabel();
		status=new String("initialized");

		comm=new ControllerListener(server,port);
		comm.listener=this;

		Container cp=getContentPane();
		cp.setLayout(new BorderLayout());
		
		//=========initial the panel in the center of the container
		//=======the buttons control the motion of aibo will be here
		Box center=Box.createVerticalBox();
		Box centerup=Box.createHorizontalBox();
		Box centerdown=Box.createHorizontalBox();

		{	//==========add the vision Panel=====================
			JPanel visiontmp=new JPanel();		
			visiontmp.setLayout(new BorderLayout());
			visiontmp.add(Box.createVerticalStrut(20),BorderLayout.NORTH);
			visiontmp.add(Box.createVerticalStrut(20),BorderLayout.SOUTH);
			visiontmp.add(Box.createHorizontalStrut(10),BorderLayout.WEST);
			visiontmp.add(Box.createHorizontalStrut(10),BorderLayout.EAST);
			visionPane=new VisionPanel();		
			visiontmp.setPreferredSize(new Dimension(300,300));
			visiontmp.add(visionPane,BorderLayout.CENTER);
			centerup.add(visiontmp);
		}
		
			JSeparator sep=new JSeparator(SwingConstants.VERTICAL);
			sep.setMaximumSize(new Dimension(sep.getMaximumSize().width,sep.getMaximumSize().height));
			centerup.add(sep);
		
			//======add  control Panel================
		{
			controlPane=new JPanel();
			initControlPane(controlPane);
			centerup.add(controlPane);	
		}
		center.add(centerup);
		JSeparator sep1=new JSeparator(SwingConstants.HORIZONTAL);
		sep1.setMaximumSize(new Dimension(sep1.getMaximumSize().width,sep1.getMaximumSize().height));
		center.add(sep1);
		//=========================================================================
		{
			headPointPane=new JPanel();		
			initHPPane(headPointPane);
			centerdown.add(headPointPane);
		}
		JSeparator sep2=new JSeparator(SwingConstants.VERTICAL);
		sep2.setMaximumSize(new Dimension(sep2.getMaximumSize().width,sep2.getMaximumSize().height));
		centerdown.add(sep2);
		{
			JPanel connectPane=new JPanel();
			connectPane.setLayout(null);
			JLabel lb=new JLabel("Global  Control GUI");
			lb.setHorizontalAlignment(SwingConstants.CENTER);
			connectPane.add(lb);
			lb.setBounds(0,20,300,30);
			JLabel label=new JLabel("Enter the IP address here:");
			connectPane.add(label);
			label.setBounds(30,80,200,20);
			textField=new JTextField("192.168.2.2");
			connectPane.add(textField);
			textField.setBounds(40,120,220,30);
			connectBtn=new JButton("connect");
			connectBtn.addActionListener(this);
			connectPane.add(connectBtn);
			connectBtn.setBounds(160,160,100,30);
			JLabel label1=new JLabel("Change Aibo's status:");
			connectPane.add(label1);
			label1.setBounds(30,200,200,30);
			estopBtn=new JButton();
			estopBtn.addActionListener(this);
			estopBtn.setEnabled(false);
			estopBtn.setText(estoplistener.getEStop()?"Un-Stop":"Stop!");
			connectPane.add(estopBtn);
			estopBtn.setBounds(160,230,100,30);
			connectPane.setPreferredSize(new Dimension(300,280));
			centerdown.add(connectPane);	
		}
		center.add(centerdown);
		JSeparator sep3=new JSeparator(SwingConstants.HORIZONTAL);
		sep3.setMaximumSize(new Dimension(sep3.getMaximumSize().width,sep1.getMaximumSize().height));
		center.add(sep3);			
		cp.add(center,BorderLayout.CENTER);

		//=====the things in ths south of the panel====
		Box temp=Box.createVerticalBox();
		temp.add(Box.createVerticalStrut(10));

		JPanel tmp=new JPanel(new BorderLayout());
		tmp.add(new JLabel("    ==>    "),BorderLayout.WEST);
		tmp.add(statusLabel,BorderLayout.CENTER);
		JLabel label2=new JLabel("><   by  Lin.ZiJing @2006.5    ");
		label2.setHorizontalAlignment(SwingConstants.RIGHT);
		tmp.add(label2,BorderLayout.EAST);
		temp.add(tmp);		
		temp.add(Box.createVerticalStrut(10));
				
		cp.add(temp,BorderLayout.SOUTH);
		//====the status update thread
		(new StatusUpdateThread(this)).start();
		//========================================
		pack();
		setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
	}
	public void actionPerformed(ActionEvent e){
		if(e.getSource()==estopBtn)
		{
			if(estoplistener.isConnected())
				{
				//======= output "start\n " to 10053========
				estoplistener.toggleEStop();
				System.out.println("**estotbtn pressed\n");
				estoplistener.getEStop();
				}
		}else if (e.getSource()==horizStrafeBtn){
			horizRotateBtn.setSelected(!horizStrafeBtn.isSelected());
			pp.doSetPoint(0, 0);
		}
		else if (e.getSource()==horizRotateBtn){
			horizStrafeBtn.setSelected(!horizRotateBtn.isSelected());
			pp.doSetPoint(0, 0);	
		}
		else if (e.getSource()==connectBtn){
			if(connectBtn.getText()=="connect"){
				server=textField.getText();
				textField.setEditable(false);
				comm=new ControllerListener(server,port);
				comm.listener=this;
				estoplistener=new EStopListener(server,10053);
				estoplistener.addUpdatedListener(this);
				status="connecting ... please wait";
				comm.needConnection();
				connectBtn.setText("disconnect");
				connectBtn.setEnabled(false);
			}else{
				
				((UDPVisionListener)visionPane.getListener()).removeListener(visionPane);
				visionPane.close();
				mechacomm.kill();
				hpcomm.kill();
				comm.removeDynObjs();
				comm.kill();
				estoplistener.close();
				connectBtn.setText("connect");
				textField.setEditable(true);
			}
			
		}
	}
	public void gotConnection(){
		updated();
		repaint();
	}
	public void lostConnection(){
		updated();
		repaint();
	}
	public void updated(){
		isUpdating=true;
		//Point p=menuScroll.getViewport().getViewPosition();  
		if(comm._isConnected)
			{
			//walkSerBtn.setEnabled(true);
			//rawBtn.setEnabled(true);
			//==========added=============================
			/*
			if(comm._connectCount>0) {
				if(comm._connectCount==1) {
					for(int i=0; i<scriptsModel.getSize(); i++)
						if(scriptsModel.get(i).toString().equals("STARTUP"))
							comm.sendInput(((ScriptEntry)scriptsModel.get(i)).cmd);
					//restart servers for any windows we still have open
					Iterator mons=comm.dynObjSrcs.values().iterator();
					while(mons.hasNext())
					{	
						String str=new String();
						str=(String)mons.next();
						comm.sendInput("!root "+str);
						System.out.println("!root"+str);
					}
						
						
					//Set focus to the main menu
					menu.requestFocus();
				}
				for(int i=0; i<scriptsModel.getSize(); i++)
					if(scriptsModel.get(i).toString().equals("CONNECT"))