controllergui.java

基于网络的AIBO机器狗遥操作控制程序代码

						comm.sendInput(((ScriptEntry)scriptsModel.get(i)).cmd);
				comm._connectCount=-1; //so we don't get it again
			}

			Vector menuitems;
			synchronized(comm._menus) {
				boolean titleDirty=false;
				int index=comm._titles.size()-1;
				for(Iterator it=comm._titles.iterator(); index>=0 && it.hasNext();index--) {
					String entry=(String)it.next();
					//if(!entry.equals((String)title.getItemAt(index))) {
					//	titleDirty=true;
					//	break;
					//}
				}
				if(titleDirty) {
					title.removeAllItems();//clearing the title popup menu, but we'll refresh the items if we're still connected
					int len=0;
					for(Iterator it=comm._titles.iterator(); it.hasNext();) {
						String entry=(String)it.next();
						title.insertItemAt(entry,0);
						if(entry.length()>len)
							len=entry.length();
					}
					title.setMaximumSize(new Dimension((int)(len*8)+25,title.getHeight()));
					title.setSelectedIndex(0);
				}
				menuitems=(Vector)comm._menus.lastElement();
				menuitems=(Vector)menuitems.clone();
			}

			//synchronized(this) {
				menu.setValueIsAdjusting(true);
				menu.setListData(menuitems);
				Vector sels=new Vector();
				for(int i=0; i<menuitems.size(); i++)
					if(((ControllerListener.MenuEntry)menuitems.get(i)).selected)
						sels.add(new Integer(i));
				int[] selsArr=new int[sels.size()];
				for(int i=0; i<selsArr.length; i++)
					selsArr[i]=((Integer)sels.get(i)).intValue();
				menu.setSelectedIndices(selsArr);
				menu.setValueIsAdjusting(false);
			//}
			 * 
			 */
		//=============added above===========================
			}
		else{
			//rawBtn.setEnabled(false);
			//walkSerBtn.setEnabled(false);
			/*
			synchronized(menuScroll) {
				title.removeAllItems();
				title.addItem("-");
				menu.setListData(new Vector());
				status.setText("Reconnecting...");
				status.setToolTipText("");
			}
			*/
		}
		//menuScroll.getViewport().setViewPosition(p);
		//isUpdating=false;
		comm._updatedFlag=false;
		
	}

	public void setEstopBtn(boolean b){
		estopBtn.setEnabled(b);
	}
	//=============needed in EstopListener===============
	public void estopUpdated(EStopListener l){
		estopBtn.setText(estoplistener.getEStop()?"Un-Stop":"Stop!");		
		setEstopBtn(estoplistener._isConnected);
		if (estoplistener.getEStop())
			System.out.println("==>stopped");
		else 
			System.out.println("==>stated!");
	}
	//===============needed in VisionUpdateListener=====
	public void visionUpdated(VisionListener l) {
		if(l.isConnected()!=connected) {
			connected=l.isConnected();
			
		}
		if(connected) {
			if(lastFrameTime==0) {
				if(l.getTimeStamp()!=null)
					lastFrameTime=l.getTimeStamp().getTime();
			} else {
				long cur=l.getTimeStamp().getTime();
				mspf=mspf*mspfGamma+(cur-lastFrameTime)*(1-mspfGamma);
				lastFrameTime=cur;
			}
		} else {
			lastFrameTime=0;
		}
	}
	public VisionPanel getVisionPane(){
		return visionPane;
	}
	public void setVisionUpdatedListener(){
		visionPane.getListener().addListener(this);
	}
	public void initControlPane(JPanel controlPane){

		controlPane.setLayout(new BorderLayout());
		pp=new PointPick(true,true);
		Box temp=Box.createVerticalBox();
		temp.add(Box.createVerticalStrut(10));
		temp.add(new JLabel("                                  Walk Control GUI             "));
		temp.add(Box.createVerticalStrut(10));
		controlPane.add(temp,BorderLayout.NORTH);
		controlPane.add(pp,BorderLayout.CENTER);
		pp.addPointPickedListener(this);
		pp.addMouseListener(this);
		pp.setEnabled(false);
		Box tmp=Box.createHorizontalBox();
		ButtonGroup bg = new ButtonGroup();
		horizRotateBtn=new JRadioButton("Horizontal is Rotate    ");
		horizStrafeBtn=new JRadioButton("Horizontal is Strafe");
		bg.add(horizRotateBtn);
		bg.add(horizStrafeBtn);
		horizRotateBtn.setSelected(true);
		horizStrafeBtn.setSelected(false);
		tmp.add(horizRotateBtn);
		tmp.add(horizStrafeBtn);
		horizRotateBtn.addActionListener(this);
		horizStrafeBtn.addActionListener(this);
		horizRotateBtn.setEnabled(false);
		horizStrafeBtn.setEnabled(false);
		controlPane.add(tmp,BorderLayout.SOUTH);
		controlPane.add(Box.createHorizontalStrut(30),BorderLayout.WEST);
		controlPane.add(Box.createHorizontalStrut(30),BorderLayout.EAST);
		controlPane.setPreferredSize(new Dimension(300,300));
		
	}
	public void initHPPane(JPanel headPointPane){
		headPointPane.setLayout(new BorderLayout());
		pp1=new PointPick(true,false);
		Box temp=Box.createVerticalBox();
		temp.add(Box.createVerticalStrut(10));
		temp.add(new JLabel("                              HeadPoint Control GUI             "));
		temp.add(Box.createVerticalStrut(10));
		headPointPane.add(temp,BorderLayout.NORTH);
		headPointPane.add(temp,BorderLayout.NORTH);
		headPointPane.add(pp1,BorderLayout.CENTER);
		pp1.addPointPickedListener(this);
		pp1.addMouseListener(this);
		pp1.setEnabled(false);
		Box tmp=Box.createHorizontalBox();
		panBtn=new JRadioButton("Horizontal is Pan    ");
		rollBtn=new JRadioButton("Horizontal is Roll");
		ButtonGroup bg1=new ButtonGroup();
		bg1.add(panBtn);
		bg1.add(rollBtn);
		panBtn.setSelected(true);
		rollBtn.setSelected(false);
		tmp.add(panBtn);
		tmp.add(rollBtn);
		panBtn.addActionListener(this);
		rollBtn.addActionListener(this);
		panBtn.setEnabled(false);
		rollBtn.setEnabled(false);
		headPointPane.add(tmp,BorderLayout.SOUTH);
		headPointPane.add(Box.createHorizontalStrut(30),BorderLayout.WEST);
		headPointPane.add(Box.createHorizontalStrut(30),BorderLayout.EAST);
		headPointPane.setPreferredSize(new Dimension(300,300));
	}
	public void pointPicked(Point2D.Float p, MouseEvent e, PointPick pp){
		if(pp.ispp){
			//System.out.println("===>ispp picked");
			if(mechacomm.isConnected()){
				///System.out.println(p.x+";;;;;"+p.y);
				mechacomm.sendCommand("f", p.y);
				//pp.doSetPoint(pp.getXValue(),p.y);
				if(horizStrafeBtn.isSelected()){
					mechacomm.sendCommand("s", -p.x);
					//if(horizStrafeBtn.isSelected())
					//	pp.doSetPoint(p.x,pp.getYValue());
				}else {
					float aval=p.x;
					aval*=(aval<0?aval:-aval);
					mechacomm.sendCommand("r",aval);
					//float tmp=pp.getYValue();
					//if(horizRotateBtn.isSelected())
					//	pp.doSetPoint(p.x,pp.getYValue());
				}
			}			
		}else if (!pp.ispp){
			if (hpcomm.isConnected()){
				//System.out.println("===>is pp1 picked");
				if(panBtn.isSelected())
					hpcomm.sendCommand("p", -p.x);
				if(rollBtn.isSelected())
					hpcomm.sendCommand("r", p.x);
				hpcomm.sendCommand("t", p.y);
			}
		}
	}
	public void headPointUpdated(HeadPointListener comm) {

			pp1.setEnabled(hpcomm._isConnected);
			panBtn.setEnabled(hpcomm._isConnected);
			rollBtn.setEnabled(hpcomm._isConnected);
			if(mechacomm._isConnected)
				connectBtn.setEnabled(hpcomm._isConnected);
	}
	public void mechaUpdated(MechaController mc){
		pp.setEnabled(mechacomm._isConnected);
		horizRotateBtn.setEnabled(mechacomm._isConnected);
		horizStrafeBtn.setEnabled(mechacomm._isConnected);
		if(hpcomm._isConnected)
			connectBtn.setEnabled(mechacomm._isConnected);
	}
	public void mouseClicked(MouseEvent e) {}
	public void mouseEntered(MouseEvent e) {}
	public void mouseExited(MouseEvent e) {}
	public void mousePressed(MouseEvent e) {

	}
	public void mouseReleased(MouseEvent e) {
		pp.setPoint(0, 0);
	}
	public void rootCam(){
		comm.sendInput("!root \"TekkotsuMon\" \"Raw Cam Server\"");
		comm.dynObjSrcs.put("RawVisionGUI","\"TekkotsuMon\" \"Raw Cam Server\"");
	}
	public void rootWalkSer(){
		comm.sendInput("!root \"TekkotsuMon\" \"Walk Remote Control\"");
		comm.dynObjSrcs.put("WalkGUI","\"TekkotsuMon\" \"Walk Remote Control\"");

	}
	public void rootHPSer(){
		comm.sendInput("!root \"TekkotsuMon\" \"Head Remote Control\"");
		comm.dynObjSrcs.put("HeadGUI","\"TekkotsuMon\" \"Head Remote Control\"");
		System.out.println("send root head romote control ");
	}
	public void callPane(){
		//visionPane.fireConnect();
		visionPane._listener=new UDPVisionListener(server,10011);
		visionPane.fireConnect();
	}
	public void callControlPane(){
		mechacomm=new MechaController(server,10050);
		mechacomm.addMechaUpdatedListener(this);
	}
	public void callHPPane(){
		hpcomm=new HeadPointListener(server,10052);
		hpcomm.addHeadPointUpdatedListener(this);
	}
	/*
	 * building proc of ControllerGUI
	 */
	public ControllerGUI(String str){
		super(str);
		init();
	}
	public static void main(String[] args) {
		// TODO Auto-generated method stub
		ControllerGUI frame=new ControllerGUI("Sony Aibo teleoperation experiment");
		frame.setVisible(true);
	}
}