iruapplet.java

Pioneer2机器人远程控制程序

                     return;
               } else{
               //get Controller
                      try{
                            Class [] classes1 = new Class[] {IRUControllerInterface.class};
                            ServiceTemplate template1 = new ServiceTemplate(null, classes1,null);
                            try {
                                  Controller = (IRUControllerInterface) registrar.lookup(template1);
                             } catch(java.rmi.RemoteException e) {
                                  e.printStackTrace();
                             }
                             if (Controller == null) {
                                  System.out.println("Controller null");
                                  return;
                             }else{
                                   ControlPanel= new  ControllerPanel (Controller);
                                   SonarshowPanel=new SonarShowPanel(Controller);

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


      public String getAddress(){
          return  address;
      }

      public int getPort(){
          // the port has to be returned as an integer
          return StrToInt(portstr);
      }

      private int StrToInt(String str){
          if (str == null)
              return -1;
          Integer retint = new Integer(str);
          return  retint.intValue();
      }

      public synchronized void controllerUpdate(ControllerEvent event) {
          Player player = null;
          Controller controller = (Controller)event.getSource();
          if (controller instanceof Player) player  =(Player)event.getSource();
          if (player == null) return;
          if (event instanceof RealizeCompleteEvent) {
              // add the video player's visual component to the applet
              if (( visualComponent =
                    player.getVisualComponent())!= null){
                        width = visualComponent.getPreferredSize().width;
                        height += visualComponent.getPreferredSize().height;
                        if(Videopanel==null){
                               Videopanel=new Panel();
                               repositionPanel(width, height);
                               Videopanel.setLayout(new BorderLayout());
                               this.add(Videopanel ,new XYConstraints(0, 0, 320, 240));
                               Videopanel.setVisible(true);
                         }
                         Videopanel.add("Center", visualComponent);
                         Videopanel.validate();
              }
              // add the player's control component to the applet
              if (( controlComponent =
                    player.getControlPanelComponent()) != null){
                        height += controlComponent.getPreferredSize().height;
                        if(Videopanel==null){
                             Videopanel=new Panel();
                             repositionPanel(width, height);
                             Videopanel.setLayout(new BorderLayout());
                             this.add(Videopanel ,new XYConstraints(0, 0, 320, 240));
                             Videopanel.setVisible(true);
                        }
                        repositionPanel(width, height);
                        Videopanel.add("South", controlComponent);
                        Videopanel.validate();
                  }
          }

          if (event instanceof SizeChangeEvent) {
              if (Videopanel != null){
                  SizeChangeEvent sce = (SizeChangeEvent) event;
                  int nooWidth = sce.getWidth();
                  int nooHeight = sce.getHeight();
                  if (controlComponent != null)
                      nooHeight += controlComponent.getPreferredSize().height;
                  repositionPanel(nooWidth, nooHeight);
              }
          }
          validate();
      }

      /**
       * The video/control component panel needs to be repositioned to sit
       * in the middle of the applet window.s
       */
      void repositionPanel(int width, int height) {
          Videopanel.setBounds(0,0,width,height);
          Videopanel.validate();
      }

      public void update( ReceiveStreamEvent event){
          RTPSessionMgr source =( RTPSessionMgr)event.getSource();
          Player newplayer = null;
          // create a new player if a new recvstream is detected
          if (event instanceof NewReceiveStreamEvent){
              try{
                  ReceiveStream stream = ((NewReceiveStreamEvent)event).getReceiveStream();
                  DataSource dsource = stream.getDataSource();
                  newplayer = Manager.createPlayer(dsource);
                  System.out.print("Receive New Stream.");
              }catch (Exception e){
                  System.err.println("RTPPlayerApplet Exception " + e.getMessage());
                  e.printStackTrace();
              }
              if (newplayer == null){
                  System.out.print("New player is failed !");
                  return;
              }else{
                  System.out.print("New player is ok !");
              }
              // if this is the first video player, we need to listen to
              // its events. Add me as a ControllerListener before
              // starting the player
              if (source == videomgr){
                 System.out.print("Source = videomgr !");
                  if (videoplayer == null){
                      videoplayer = newplayer;
                      newplayer.addControllerListener(this);
                      newplayer.start();
                  }
                  else{// controller listener and start is taken care of
                      // in playerWindiow
                      if (playerlist != null)
                          playerlist.addElement((Object)newplayer);
                      new PlayerWindow(newplayer);
                  }
              }// if (source == videomgr)

          }// if (event instanceof NewReceiveStreamEvent)

      }// end of RTPSessionUpdate

      private RTPSessionMgr StartSessionManager(String destaddrstr,
                                                    int port){

              RTPSessionMgr mymgr = new RTPSessionMgr();
               videomgr=mymgr;
              if (mymgr == null) return null;
              mymgr.addReceiveStreamListener(this);
              String cname = mymgr.generateCNAME();
              String username = "jmf-user";
              SessionAddress localaddr = new SessionAddress();
             // SessionAddress localaddr = null;
             try{
                  destaddr = InetAddress.getByName(destaddrstr);
             }catch (UnknownHostException e){
                  System.err.println("inetaddress " + e.getMessage());
                   e.printStackTrace();
             }
             SessionAddress sessaddr = new SessionAddress(destaddr,port);
             SourceDescription[] userdesclist = new SourceDescription[4];
             int i;
             for(i=0; i< userdesclist.length;i++){
                       if (i == 0){
                              userdesclist[i] = new SourceDescription(SourceDescription.SOURCE_DESC_EMAIL,"[e-mail]", 1,false);
                              continue;
                       }
                       if (i == 1){
                              userdesclist[i] = new SourceDescription(SourceDescription.SOURCE_DESC_NAME,username,1, false);
                              continue;
                       }
                       if ( i == 2){
                               userdesclist[i] = new SourceDescription(SourceDescription.SOURCE_DESC_CNAME, cname,1, false);
                               continue;
                       }
                       if (i == 3){
                                userdesclist[i] = new SourceDescription(SourceDescription.SOURCE_DESC_TOOL,"JMF RTP Player v2.0", 1,false);
                                continue;
                        }
             }// end of for

            try{
                  mymgr.initSession(localaddr,mymgr.generateSSRC(), userdesclist, 0.05, 0.25);
                  mymgr.startSession(sessaddr,1,null);
            }catch (SessionManagerException e){
                  System.err.println("RTPPlayerApplet: RTPSM Exception " + e.getMessage());
                  e.printStackTrace();
                  return null;
             }catch (IOException e){
                  System.err.println("RTPPlayerApplet: IO Exception " + e.getMessage());
                  e.printStackTrace();
                   return null;
             }

              return mymgr;
       }


}