remoteclientapplet.java

Pioneer2机器人远程控制程序

package abrobot.abmobilerobot.clinet;

import java.awt.*;
import java.awt.event.*;
import java.applet.*;

/**
 * <p>Title: GOPDR</p>
 * <p>Description: General Open Platform for Distributed Robot</p>
 * <p>Copyright: Copyright (c) 2003</p>
 * <p>Company: SJTU</p>
 * @author Hou Xueqiao
 * @version 1.01
 */
import abrobot.*;
import abrobot.abmobilerobot.*;
import java.rmi.RemoteException;
import java.rmi.RMISecurityManager;
import net.jini.discovery.LookupDiscovery;
import net.jini.discovery.DiscoveryListener;
import net.jini.discovery.DiscoveryEvent;
import net.jini.core.lookup.ServiceRegistrar;
import net.jini.core.lookup.ServiceTemplate;
import net.jini.core.discovery.LookupLocator;
import net.jini.core.lookup.ServiceRegistrar;
import com.borland.jbcl.layout.XYLayout;
import com.borland.jbcl.layout.XYConstraints;



public class RemoteClientApplet extends Applet {
  private boolean isStandalone = false;

  private MRWorldShowPanel WorldShowPanel=null;
  private RobotControlPanel ControlPanel=null;
  private AbRobotInterface Robot=null;
  private SimpleControllerInterface Controller=null;
  private TextArea textArea=new TextArea();
  private XYLayout xYLayout1 = new XYLayout();

  public void SetRobot(){
//Get JiniReggie
    LookupLocator lookup = null;
    ServiceRegistrar registrar = null;
    if (System.getSecurityManager()==null){
      System.setSecurityManager(new RMISecurityManager());
    }


    try {
      lookup = new LookupLocator("jini://137.132.165.137");
    } catch(java.net.MalformedURLException e) {
      System.err.println("Lookup failed: " + e.toString());
      System.exit(1);
    }
    try {
      registrar = lookup.getRegistrar();
    } catch (Exception e) {
      e.printStackTrace();
    }
    System.out.println("Registrar found");
//Lookup and get Robot
    try{
      Class [] classes = new Class[] {AbRobotInterface.class};
      AbRobotInterface Robot = null;
      ServiceTemplate template = new ServiceTemplate(null, classes,
          null);
      try {
        Robot = (AbRobotInterface) registrar.lookup(template);
      } catch(java.rmi.RemoteException e) {
        e.printStackTrace();
      }
      if (Robot == null) {
        System.out.println("Robot null");
        return;
      }
      else{
//get Controller
        try{
          Class [] classes1 = new Class[] {SimpleControllerInterface.class};
          ServiceTemplate template1 = new ServiceTemplate(null, classes1,
              null);
          try {
            Controller = (SimpleControllerInterface) registrar.lookup(template1);
          } catch(java.rmi.RemoteException e) {
            e.printStackTrace();
          }
          if (Controller == null) {
            System.out.println("Controller null");
            return;
          }
          else{
            ControlPanel= new  RobotControlPanel (Controller);
            WorldShowPanel=new MRWorldShowPanel(Robot,textArea);

          }
          }catch(Exception e){e.printStackTrace(); }
      }
      }catch(Exception e){e.printStackTrace();}
//Setup MRWorldShowPanel and ControlPanel


  }

  //Get a parameter value
  public String getParameter(String key, String def) {
    return isStandalone ? System.getProperty(key, def) :
      (getParameter(key) != null ? getParameter(key) : def);
  }

  //Construct the applet
  public RemoteClientApplet() {
  }
  //Initialize the applet
  public void init() {
    try {
      jbInit();
    }
    catch(Exception e) {
      e.printStackTrace();
    }
  }
  //Component initialization
  private void jbInit() throws Exception {
    try{
      SetRobot();
      this.setBackground(Color.white);
      this.setSize(800,600);
      this.setLayout(xYLayout1);
      if (WorldShowPanel!=null){
        WorldShowPanel.setBounds(new Rectangle(0,0,640,480));
      }
      if (ControlPanel!=null){
       ControlPanel.setBounds(new Rectangle(0,481,320,280 ));

      }

      textArea.setText("Info:");
      textArea.setBounds(new Rectangle(321,490 ,320,100));

      this.add(WorldShowPanel,  new XYConstraints(0, 0, 645, 485));
      this.add(textArea,  new XYConstraints(321, 490, 320, 100));
      this.add(ControlPanel, new XYConstraints(0, 490, 320, 100));

      /*this.add(WorldShowPanel);
      this.add(textArea);
      this.add(ControlPanel);*/



      WorldShowPanel.setVisible(true);
      ControlPanel.setVisible(true);
      textArea.setVisible(true);


    }catch(Exception e){e.printStackTrace();}
  }
  //Get Applet information
  public String getAppletInfo() {
    return "Applet Information";
  }
  //Get parameter info
  public String[][] getParameterInfo() {
    return null;
  }
}