public void run() {
long lastTime = System.nanoTime();
long timer = System.currentTimeMillis();
final double ns = 1000000000.0 / 60.0;
double delta = 0;
int frames = 0;
int updates = 0;
// setFocusable(true);
requestFocus();
while (running) {
long now = System.nanoTime();
delta += (now - lastTime) / ns;
lastTime = now;
while (delta >= 1) {
update();
updates++;
delta--;
}
// Renderiza tudo na tela
render();
// Calcula FPS
frames++;
if ((System.currentTimeMillis() - timer) > 1000) {
timer += 1000;
// T�tulo do jogo
frame.setTitle(title + " | " + updates + " ups / " + frames + " fps ");
updates = 0;
frames = 0;
}
}
stop();
}
public static void main(String[] args) {
JFrame frame = new JFrame("Maze View");
Random random = new Random();
long startTime = System.nanoTime();
MazeNode maze = MazeNode.generate(random, 100, 100);
System.out.println("Gen : " + elapsedMs(startTime) + "ms");
startTime = System.nanoTime();
int sx = 0; // random.nextInt(maze.width);
int sy = 0; // random.nextInt(maze.height);
int dx = maze.width - 1; // random.nextInt(maze.width);
int dy = maze.height - 1; // random.nextInt(maze.height);
Path path = PathSolver.solve(maze, sx, sy, dx, dy);
System.out.println("Solve : " + elapsedMs(startTime) + "ms");
int pathSize = 0;
PathCell pathIt = path.first;
while (pathIt != null) {
pathSize++;
pathIt = pathIt.next;
}
System.out.println("Path Size: " + pathSize);
frame.add(new JScrollPane(new MazeView(maze, sx, sy, dx, dy, path)));
frame.setSize(500, 500);
frame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
SwingUtilities.invokeLater(() -> frame.setVisible(true));
}
public void run()
/* The frames of the animation are drawn inside the while loop. */
{
long beforeTime, afterTime, timeDiff, sleepTime;
long overSleepTime = 0L;
int noDelays = 0;
long excess = 0L;
gameStartTime = System.nanoTime();
beforeTime = gameStartTime;
running = true;
while (running) {
gameUpdate();
gameRender();
paintScreen();
afterTime = System.nanoTime();
timeDiff = afterTime - beforeTime;
sleepTime = (period - timeDiff) - overSleepTime;
if (sleepTime > 0) { // some time left in this cycle
try {
Thread.sleep(sleepTime / 1000000L); // nano -> ms
} catch (InterruptedException ex) {
}
overSleepTime = (System.nanoTime() - afterTime) - sleepTime;
} else { // sleepTime <= 0; the frame took longer than the period
excess -= sleepTime; // store excess time value
overSleepTime = 0L;
if (++noDelays >= NO_DELAYS_PER_YIELD) {
Thread.yield(); // give another thread a chance to run
noDelays = 0;
}
}
beforeTime = System.nanoTime();
/* If frame animation is taking too long, update the game state
without rendering it, to get the updates/sec nearer to
the required FPS. */
int skips = 0;
while ((excess > period) && (skips < MAX_FRAME_SKIPS)) {
excess -= period;
gameUpdate(); // update state but don't render
skips++;
}
}
System.exit(0); // so window disappears
} // end of run()
public void launch() {
try {
long time = System.nanoTime();
UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
monitor = new ProgressMonitor();
monitor.setMaximum(5);
updateState(BootstrapState.UPDATE_CHECK);
{
CountDownLatch latch = new CountDownLatch(2);
runTask(TaskBootstrapUpdateCheck.class, latch);
runTask(TaskInstallerUpdateCheck.class, latch);
latch.await();
}
updateState(BootstrapState.LOAD_DEPENDENCIES);
{
runTask(TaskLoadDependencies.class);
}
updateState(BootstrapState.DOWNLOAD);
{
runTask(TaskDownload.class);
}
updateState(BootstrapState.SETUP_ENVIRONMENT);
{
runTask(TaskCheckJavaVersion.class);
runTask(TaskBuildClasspath.class);
}
System.out.println(
"Took " + ((System.nanoTime() - time) / 1000000f) + "ms to launch installer");
updateState(BootstrapState.START_INSTALLER);
{
runTask(TaskLaunchInstaller.class);
}
updateState(BootstrapState.FINISHED);
} catch (BootstrapException ex) {
handleException(ex);
System.exit(2);
} catch (Exception ex) {
handleException(ex);
System.exit(-1);
} finally {
monitor.close();
}
}
/**
* Sets one or more icons for the Display.
*
* <ul>
* <li>On Windows you should supply at least one 16x16 icon and one 32x32.
* <li>Linux (and similar platforms) expect one 32x32 icon.
* <li>Mac OS X should be supplied one 128x128 icon
* </ul>
*
* The implementation will use the supplied ByteBuffers with image data in RGBA and perform any
* conversions nescesarry for the specific platform.
*
* @param icons Array of icons in RGBA mode
* @return number of icons used.
*/
public int setIcon(ByteBuffer[] icons) {
boolean done_small = false;
boolean done_large = false;
int used = 0;
int small_icon_size = 16;
int large_icon_size = 32;
for (ByteBuffer icon : icons) {
int size = icon.limit() / 4;
if ((((int) Math.sqrt(size)) == small_icon_size) && (!done_small)) {
long small_new_icon = createIcon(small_icon_size, small_icon_size, icon.asIntBuffer());
sendMessage(hwnd, WM_SETICON, ICON_SMALL, small_new_icon);
freeSmallIcon();
small_icon = small_new_icon;
used++;
done_small = true;
}
if ((((int) Math.sqrt(size)) == large_icon_size) && (!done_large)) {
long large_new_icon = createIcon(large_icon_size, large_icon_size, icon.asIntBuffer());
sendMessage(hwnd, WM_SETICON, ICON_BIG, large_new_icon);
freeLargeIcon();
large_icon = large_new_icon;
used++;
done_large = true;
// Problem: The taskbar icon won't update until Windows sends a WM_GETICON to our window
// proc and we reply. But this method is usually called
// on init and it might take a while before the next call to nUpdate (because of resources
// being loaded, etc). So we wait for the next
// WM_GETICON message (usually received about 100ms after WM_SETICON) to make sure the
// taskbar icon has updated before we return to the user.
// (We wouldn't need to do this if the event loop was running continuously on its own
// thread.)
iconsLoaded = false;
// Track how long the wait takes and give up at 500ms, just in case.
long time = System.nanoTime();
long MAX_WAIT = 500L * 1000L * 1000L;
while (true) {
nUpdate();
if (iconsLoaded || MAX_WAIT < System.nanoTime() - time) break;
Thread.yield();
}
}
}
return used;
}
public void run() {
long lastTime = System.nanoTime();
double nsPerTick = 1000000000D / 60D;
int ticks = 0;
int frames = 0;
long lastTimer = System.currentTimeMillis();
double delta = 0;
init();
while (Game.isRunning()) {
long now = System.nanoTime();
delta += (now - lastTime) / nsPerTick;
lastTime = now;
boolean shouldRender = false;
while (delta >= 1) {
ticks++;
tick();
delta -= 1;
shouldRender = true;
}
try {
Thread.sleep(2);
} catch (InterruptedException e) {
e.printStackTrace();
}
if (shouldRender) {
frames++;
render();
}
if (System.currentTimeMillis() - lastTimer >= 1000) {
lastTimer += 1000;
getFrame()
.setTitle(
"JavaGame - Version "
+ WordUtils.capitalize(game_Version).substring(1, game_Version.length()));
fps = frames;
tps = ticks;
frames = 0;
ticks = 0;
}
}
}
@Override
public void newImageUpdate(JSONObject tags) {
if (tags == null) {
return;
}
updateLabels(tags);
try {
if (vad_.acquisitionIsRunning() && vad_.getNextWakeTime() > 0) {
final long nextImageTime = vad_.getNextWakeTime();
if (System.nanoTime() / 1000000 < nextImageTime) {
final java.util.Timer timer = new java.util.Timer("Next frame display");
TimerTask task =
new TimerTask() {
public void run() {
double timeRemainingS = (nextImageTime - System.nanoTime() / 1000000) / 1000;
if (timeRemainingS > 0 && vad_.acquisitionIsRunning()) {
setStatusLabel(
"Next frame: "
+ NumberUtils.doubleToDisplayString(1 + timeRemainingS)
+ " s");
} else {
timer.cancel();
setStatusLabel("");
}
}
};
timer.schedule(task, 2000, 100);
}
}
} catch (Exception ex) {
ReportingUtils.logError(ex);
}
}
/** Example panel. Animate an example file (E short) and play a tone (D long). */
public static void main(String[] args) {
try {
JFrame f = new JFrame(AnimationPanel.class.getName());
f.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
AnimationRenderer ani = new AnimationRenderer();
final AnimationPanel view = new AnimationPanel(ani);
f.getContentPane().add(view, BorderLayout.CENTER);
f.pack();
f.setLocationRelativeTo(null);
f.setVisible(true);
File file = new File("datafiles/examples/vis/es_.txt");
final AnimationSequence animation = AnimationParser.parseFile(file);
String filename =
NotesEnum.D.toString().toLowerCase() + "_" + DurationEnum.LONG.codeString() + ".wav";
// System.out.printf("sound clip filename = %s\n", filename);
File dir = new File("datafiles/examples/aud");
final Playable audio = SoundClip.findPlayable(filename, dir, false);
Runnable r =
new Runnable() {
@Override
public void run() {
audio.play();
}
};
long currentTime = System.nanoTime();
ani.setAnimationSource(
new AnimationSource() {
public AnimationSequence getAnimationSequence() {
return animation;
}
public int getNumPoints() {
return 5;
}
public float getDiskRadius() {
return 0.3f;
}
public boolean isConnected() {
return true;
}
});
ani.setNanoStartTime(currentTime);
SwingUtilities.invokeLater(r);
} catch (Throwable ex) {
ex.printStackTrace();
}
}
public void render() {
try {
int regionBufferSize = 0;
int[] regionBuffer = null;
Kdu_dims newRegion = new Kdu_dims();
long kduRenderStart = System.nanoTime();
while (compositor.Process(100000, newRegion)) {
Kdu_coords newOffset = newRegion.Access_pos();
Kdu_coords newSize = newRegion.Access_size();
newOffset.Subtract(viewDims.Access_pos());
int newPixels = newSize.Get_x() * newSize.Get_y();
if (newPixels == 0) continue;
else if (newPixels > regionBufferSize) {
regionBufferSize = newPixels;
regionBuffer = new int[regionBufferSize];
}
compositorBuffer.Get_region(newRegion, regionBuffer);
imagePanel.putRegion(
viewSize.Get_x(),
viewSize.Get_y(),
newSize.Get_x(),
newSize.Get_y(),
newOffset.Get_x(),
newOffset.Get_y(),
regionBuffer);
}
long kduRenderEnd = System.nanoTime();
System.out.printf(
"Processed using %d concurrent threads of execution in %.4fms\n",
threadEnv.Get_num_threads(), (kduRenderEnd - kduRenderStart) * 1e-6);
imagePanel.repaint();
} catch (KduException e) {
System.err.printf(
"Caught exception '%s'; code '%s'\n",
e.getMessage(), Integer.toHexString(e.Get_kdu_exception_code()));
}
}
public BasicGUI() {
KeyHandler kHandler = new KeyHandler();
this.addKeyListener(kHandler);
this.setLayout(new BorderLayout());
this.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
this.setSize(1004, 628);
WorldEditState worldEditState = new WorldEditState(-1, 768, 256);
gameMachine.addState(worldEditState);
UnitMovementState unitMovementState = new UnitMovementState(-1, worldEditState);
gameMachine.addState(unitMovementState);
gameMachine.rotateState();
this.add(gameMachine.getCurrentState().getGUIComponent(), BorderLayout.CENTER);
this.setResizable(false);
this.setLocation(100, 100);
this.setVisible(true);
MouseHandler mHandler = new MouseHandler();
gameMachine.getCurrentState().getGUIComponent().addMouseListener(mHandler);
double MAXFPS = 1000000000 / 30.0f; // should stand for 30 frames per second
double currentTime, elapsedTime = 0.0;
while (isRunning) {
currentTime = System.nanoTime();
gameMachine.updateCurrentState(elapsedTime / 1000000); // change nanoseconds to milliseconds
gameMachine.renderCurrentState();
elapsedTime = System.nanoTime() - currentTime;
// System.out.println(elapsedTime / 1000000);
// If it took less than the fps to render and update, sleep for the rest of the time
if (elapsedTime < MAXFPS) {
int milliElapsedTime = (int) ((MAXFPS - elapsedTime) / 1000000);
try {
Thread.sleep(milliElapsedTime);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
this.requestFocus();
}
}
AnimationState(final State startState, final long milliseconds, boolean isForwardAndReverse) {
assert startState != null && milliseconds > 0;
assert SwingUtilities.isEventDispatchThread();
this.startState = startState;
this.duration = milliseconds * 1000000;
this.startTime = System.nanoTime();
this.isForwardAndReverse = isForwardAndReverse;
progress = 0f;
}
public void run() {
init();
long lastTime = System.nanoTime();
final double amountOfTicks = 60D;
double ns = 1_000_000_000 / amountOfTicks;
double delta = 0;
while (running) {
long now = System.nanoTime();
delta += (now - lastTime) / ns;
lastTime = now;
// only update 60 times per second
if (delta >= 1) {
tick();
delta--;
}
// draw all objects onto screen
render();
}
}
private void reportStats(Graphics g)
// Report the number of hits, and time spent playing
{
if (!gameOver) // stop incrementing the timer once the game is over
timeSpentInGame = (int) ((System.nanoTime() - gameStartTime) / 1000000000L); // ns --> secs
g.setColor(Color.red);
g.setFont(msgsFont);
g.drawString("Hits: " + numHits + "/" + MAX_HITS, 15, 25);
g.drawString("Time: " + timeSpentInGame + " secs", 15, 50);
g.setColor(Color.black);
} // end of reportStats()
public void sequenceEnded(String imageName)
// called by ImagesPlayer when the explosion animation finishes
{
showExplosion = false;
explosionPlayer.restartAt(0); // reset animation for next time
if (numHits >= MAX_HITS) {
gameOver = true;
score = (int) ((System.nanoTime() - gameStartTime) / 1000000000L);
clipsLoader.play("applause", false);
}
} // end of sequenceEnded()
IdeRootPane(
ActionManagerEx actionManager,
UISettings uiSettings,
DataManager dataManager,
final Application application,
final String[] commandLineArgs,
IdeFrame frame) {
myActionManager = actionManager;
myUISettings = uiSettings;
updateToolbar();
myContentPane.add(myNorthPanel, BorderLayout.NORTH);
myStatusBarCustomComponentFactories =
application.getExtensions(StatusBarCustomComponentFactory.EP_NAME);
myApplication = application;
createStatusBar(frame);
updateStatusBarVisibility();
myContentPane.add(myStatusBar, BorderLayout.SOUTH);
myUISettingsListener = new MyUISettingsListenerImpl();
setJMenuBar(new IdeMenuBar(actionManager, dataManager));
final Ref<Boolean> willOpenProject = new Ref<Boolean>(Boolean.FALSE);
final AppLifecycleListener lifecyclePublisher =
application.getMessageBus().syncPublisher(AppLifecycleListener.TOPIC);
lifecyclePublisher.appFrameCreated(commandLineArgs, willOpenProject);
LOG.info(
"App initialization took "
+ (System.nanoTime() - PluginManager.startupStart) / 1000000
+ " ms");
PluginManager.dumpPluginClassStatistics();
if (!willOpenProject.get()) {
showWelcomeScreen();
lifecyclePublisher.welcomeScreenDisplayed();
}
myGlassPane = new IdeGlassPaneImpl(this);
setGlassPane(myGlassPane);
myGlassPaneInitialized = true;
myGlassPane.setVisible(false);
Disposer.register(application, myDisposable);
}
public void run() {
try {
// System.out.println("right before the while loop of the thread");
// layeredPane.add(background,99);
while (true) {
startTime = System.nanoTime();
try {
// System.out.println("before Sleep");
Thread.sleep(30);
// System.out.println("after sleep");
} catch (InterruptedException e) {
e.printStackTrace();
}
panel.remove(layeredPane);
Iterator<PlayerMob> allPlayers = players.iterator();
PlayerMob aPlayer = null;
while (allPlayers.hasNext()) {
aPlayer = (PlayerMob) allPlayers.next();
// System.out.println("INTHELOOP:info.getUsername ="******"
// myChat.getUsername ="******"for loop index catch");
continue;
}*/
}
} catch (NullPointerException ed) {
System.err.println("for loop null catch");
startDrawingPanelThread();
} catch (Exception ev) {
System.err.println("for loop catch");
ev.printStackTrace();
}
}
private void updateProgress() {
assert SwingUtilities.isEventDispatchThread();
if (isDone()) {
return;
}
long currentTime = System.nanoTime();
progress = ((float) (currentTime - startTime)) / duration;
progress = Math.max(progress, 0); // in case time was reset
if (progress >= 1) {
progress = 1;
if (isForwardAndReverse) {
startTime = currentTime;
progress = 0;
isForward = !isForward;
}
}
}
/** Called via reflection */
@SuppressWarnings({"UnusedDeclaration", "HardCodedStringLiteral"})
protected static void start(
final String mainClass, final String methodName, final String[] args) {
startupStart = System.nanoTime();
Main.setFlags(args);
if (!Main.isHeadless()) {
UIUtil.initDefaultLAF();
}
ThreadGroup threadGroup =
new ThreadGroup("Idea Thread Group") {
@Override
public void uncaughtException(Thread t, Throwable e) {
processException(e);
}
};
Runnable runnable =
new Runnable() {
@Override
public void run() {
try {
ClassUtilCore.clearJarURLCache();
Class<?> aClass = Class.forName(mainClass);
Method method =
aClass.getDeclaredMethod(methodName, ArrayUtil.EMPTY_STRING_ARRAY.getClass());
method.setAccessible(true);
Object[] argsArray = {args};
method.invoke(null, argsArray);
} catch (Throwable t) {
throw new StartupAbortedException(t);
}
}
};
new Thread(threadGroup, runnable, "Idea Main Thread").start();
}
public void run() {
long lastTime = System.nanoTime();
double unprocessed = 0;
int frames = 0;
long lastTimer1 = System.currentTimeMillis();
try {
init();
} catch (Exception e) {
e.printStackTrace();
return;
}
// if (!isMultiplayer) {
// createLevel();
// }
int toTick = 0;
long lastRenderTime = System.nanoTime();
int min = 999999999;
int max = 0;
while (running) {
if (!this.hasFocus()) {
keys.release();
}
double nsPerTick = 1000000000.0 / framerate;
boolean shouldRender = false;
while (unprocessed >= 1) {
toTick++;
unprocessed -= 1;
}
int tickCount = toTick;
if (toTick > 0 && toTick < 3) {
tickCount = 1;
}
if (toTick > 20) {
toTick = 20;
}
for (int i = 0; i < tickCount; i++) {
toTick--;
// long before = System.nanoTime();
tick();
// long after = System.nanoTime();
// System.out.println("Tick time took " + (after - before) *
// 100.0 / nsPerTick + "% of the max time");
shouldRender = true;
}
// shouldRender = true;
BufferStrategy bs = getBufferStrategy();
if (bs == null) {
createBufferStrategy(3);
continue;
}
if (shouldRender) {
frames++;
Graphics g = bs.getDrawGraphics();
Random lastRandom = TurnSynchronizer.synchedRandom;
TurnSynchronizer.synchedRandom = null;
render(g);
TurnSynchronizer.synchedRandom = lastRandom;
long renderTime = System.nanoTime();
int timePassed = (int) (renderTime - lastRenderTime);
if (timePassed < min) {
min = timePassed;
}
if (timePassed > max) {
max = timePassed;
}
lastRenderTime = renderTime;
}
long now = System.nanoTime();
unprocessed += (now - lastTime) / nsPerTick;
lastTime = now;
try {
Thread.sleep(1);
} catch (InterruptedException e) {
e.printStackTrace();
}
if (shouldRender) {
if (bs != null) {
bs.show();
}
}
if (System.currentTimeMillis() - lastTimer1 > 1000) {
lastTimer1 += 1000;
fps = frames;
frames = 0;
}
}
}
public void actionPerformed(ActionEvent e) {
String NameItem = (((JMenuItem) e.getSource()).getText());
if (NameItem == "Load File") {
// all files disabled
fc.setAcceptAllFileFilterUsed(false);
// only XML files
FileNameExtensionFilter xmlfilter =
new FileNameExtensionFilter("xml files (*.xml)", "xml");
fc.setFileFilter(xmlfilter);
// Set Directory!!
fc.setCurrentDirectory(new java.io.File("data"));
// Open XML
fc.setDialogTitle("Open XML");
int returnVal = fc.showOpenDialog(null);
if (returnVal == JFileChooser.APPROVE_OPTION) {
File file = fc.getSelectedFile();
String FileLocation = file.getPath();
textArea.setText("");
// textArea.setText(FileLocation + "\n" + "\n");
// Parse XML
xmlParser parser = new xmlParser();
final ContainerSetXml containers;
try {
long time = System.nanoTime();
containers = parser.parse(FileLocation);
System.out.println(
"It took" + (System.nanoTime() - time) + "ns to parse the xml file");
// new Thread for display next container after some time
Thread t =
new Thread() {
public void run() {
for (ContainerXml c : containers.containers) {
DateFormat dateFormat = new SimpleDateFormat(" HH:mm:ss");
Calendar now = Calendar.getInstance();
String Time = "[" + dateFormat.format(now.getTime()) + "]";
textArea.append(Time + " " + c.id + " " + c.ownerName + "\n");
textArea.setCaretPosition(textArea.getDocument().getLength());
try {
sleep(150); // milliseconds
} catch (InterruptedException ex) {
}
}
}
};
t.start(); // call back run()
} catch (Exception ex) {
System.out.println(ex);
}
}
} else if (NameItem == "Start server") {
// server.start() launches server.run() in a new thread
// Meaning server.start won't freeze the gui anymore
server.start(6666);
} else if (NameItem == "Login to ftp") {
FtpLoginView ftpLoginView = new FtpLoginView(server);
ftpLoginView.display();
String name = ftpLoginView.name;
String password = ftpLoginView.name;
// server.login() is called in ftpLoginView
} else if (NameItem == "About") {
JOptionPane.showMessageDialog(
null,
"Mede mogelijk gemaakt door Groep 5!",
"About",
JOptionPane.INFORMATION_MESSAGE);
} else if (NameItem == "Help") {
JOptionPane.showMessageDialog(
null, "Moet nog ingevuld worden!", "Help", JOptionPane.INFORMATION_MESSAGE);
} else if (NameItem == "Quit") {
System.exit(0);
} else if (NameItem == "Restart server") {
server.restart(6666);
} else if (NameItem == "Stop server") {
server.stop();
}
}
private void jButtonSOLVEActionPerformed(java.awt.event.ActionEvent evt) throws IOException {
System.out.println("solving");
// DEBUG
// BufferedReader in = new BufferedReader(new
// FileReader("C:\\Users\\Rainer\\Desktop\\2013 FALL\\CAP 4621 - Artificial
// Intelligence\\Project\\InitialBoard.txt"));
//
// try{
// in = new BufferedReader(new FileReader("C:\\Users\\Rainer\\Desktop\\2013
// FALL\\CAP 4621 - Artificial Intelligence\\Project\\InitialBoard.txt"));
//
// }catch (FileNotFoundException e){
// System.out.println(e.getCause());
// System.out.println("Error loading initial board");
// }
//
// int [] boardRows = new int [15];
//
// //----------------
// String text = in.readLine();
//
// StringTokenizer tokenizer = new StringTokenizer(text," ");
//
// int boardSize = 0;
// while (tokenizer.hasMoreElements()){
// boardRows[boardSize] = Integer.parseInt(tokenizer.nextToken());
// boardSize++;
// }
//
// int []newBoard = new int[boardSize*boardSize+1];
// System.arraycopy(boardRows, 0, newBoard, 1, boardSize);
//
// int index = 0;
// while (in.ready()) {
// index++;
// text = in.readLine();
//
// tokenizer = new StringTokenizer(text," ");
// int pos = 0;
// while (tokenizer.hasMoreElements()){
// pos++;
// newBoard[index*boardSize+pos] =
// Integer.parseInt(tokenizer.nextToken());
// }
// }
//
// this.jFrameFileChooser.setVisible(false);
// // this.boardPanel.s
//
// gameInitialBoard = new Board(newBoard, boardSize);
// gameBoard = new Board(newBoard, boardSize);
// init();
//
// END DEBUG
long startTime = System.nanoTime();
this.gameBoard.solveBoard();
long endTime = System.nanoTime();
double time = (endTime - startTime) / 100000000.0;
System.out.println("Excecution time: " + time + " seconds");
// jPanelSolvedBoard
jPanelSolvedBoard.removeAll();
jPanelSolvedBoard.setLayout(
new GridLayout(gameBoard.boardSize, gameBoard.boardSize)); // Set layout
solvedCells = new JTextField[gameBoard.boardSize * gameBoard.boardSize + 1];
for (int i = 1; i <= gameBoard.boardSize * gameBoard.boardSize; i++) {
solvedCells[i] = new JTextField();
solvedCells[i].setHorizontalAlignment(JTextField.CENTER);
solvedCells[i].setFont(new Font("Agency FB", Font.BOLD, 24));
// Add elements to the grid content pane
jPanelSolvedBoard.add(solvedCells[i]);
String ch = Integer.toString(this.gameBoard.cells[i]);
solvedCells[i].setText(ch);
solvedCells[i].setEditable(false);
}
// gameBoard.out();
jPanelSolvedBoard.setVisible(true);
this.jPanelSolvedBoard.repaint();
this.jFrameSolvedBoard.setVisible(true);
this.jFrameSolvedBoard.pack();
//
}
public class BallDetector extends Thread {
Context ctx;
Device kinect;
JFrame controlFrame;
JFrame colorFrame;
JFrame depthFrame;
// JImage rgbJim;
// JImage depthJim;
JButton startTracking;
JButton resetProjectile;
JButton resetDepth;
boolean tracking = false;
boolean log = false;
ParameterGUI pg;
BufferedImage rgbImg;
BufferedImage depthImg;
Statistics BALL;
boolean[] validImageValue;
static double x_param = 0d;
static int y_param = 0;
LCM lcm;
final boolean colorAnalyze = false;
final boolean colorAnalyze2 = true;
boolean display = false;
volatile long globalTime = 0;
volatile long startTime = System.nanoTime();
final boolean verbose = false;
volatile boolean newImage = false;
public Point3D botStart;
BallTracker finder;
KinectRGBVideo colorStream;
Object colorMonitor;
KinectDepthVideo depthStream;
Object depthMonitor;
BallDetector(boolean _display) {
ctx = Freenect.createContext();
if (ctx.numDevices() > 0) {
kinect = ctx.openDevice(0);
} else {
System.err.println("WARNING: No kinects detected");
return;
}
display = _display;
controlFrame = new JFrame("Controls");
controlFrame.setLayout(new GridLayout(5, 1));
controlFrame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
pg = new ParameterGUI();
pg.addIntSlider("maxDepth", "max depth", 800, 2047, 1050);
pg.addIntSlider("blobThresh", "blob thresh", 1, 500, 125);
pg.addIntSlider("thresh", "thresh", 1, 100, 10);
pg.addIntSlider("frames", "frames", 1, 1000, 1);
pg.addListener(
new ParameterListener() {
public void parameterChanged(ParameterGUI _pg, String name) {
if (name.equals("thresh")) {
KinectDepthVideo.THRESH = _pg.gi(name);
} else if (name.equals("frames")) {
KinectDepthVideo.MAX_FRAMES = _pg.gi(name);
} else if (name.equals("maxDepth")) {
KinectDepthVideo.MAX_DEPTH = _pg.gi(name);
}
}
});
controlFrame.add(pg, 0, 0);
startTracking = new JButton("Start Tracking Balls");
startTracking.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
if (!tracking) {
tracking = true;
colorStream.pause();
depthStream.pause();
startTracking.setText("Stop Tracking");
} else {
tracking = false;
colorStream.resume();
depthStream.resume();
startTracking.setText("Start Tracking Balls");
}
}
});
controlFrame.add(startTracking, 1, 0);
resetProjectile = new JButton("Reset Projectile");
resetProjectile.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
try {
lcm.publish("6_RESET", "reset");
} catch (IOException ex) {
System.out.println("can't publish reset");
}
}
});
controlFrame.add(resetProjectile, 2, 0);
resetDepth = new JButton("Reset Depth Avgs");
resetDepth.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
DepthClearer ic = new DepthClearer(pg);
ic.start();
}
});
controlFrame.add(resetDepth, 3, 0);
JPanel scoreButtons = new JPanel(new GridLayout(1, 3));
JButton addHuman = new JButton("human++");
addHuman.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
try {
lcm.publish("6_SCORE_HUMAN", "bish");
} catch (IOException ex) {
System.out.println("can't publish score");
}
}
});
JButton addRobot = new JButton("robot++");
addRobot.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
try {
lcm.publish("6_SCORE_ROBOT", "bish");
} catch (IOException ex) {
System.out.println("can't publish score");
}
}
});
JButton resetScores = new JButton("reset scores");
resetScores.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
try {
lcm.publish("6_SCORE_RESET", "bish");
} catch (IOException ex) {
System.out.println("can't publish score");
}
}
});
scoreButtons.add(addHuman, 0, 0);
scoreButtons.add(addRobot, 0, 1);
scoreButtons.add(resetScores, 0, 2);
controlFrame.add(scoreButtons, 4, 0);
controlFrame.setSize(800, 600);
controlFrame.setVisible(true);
colorFrame = new JFrame("color feed");
colorMonitor = new Object();
colorStream = new KinectRGBVideo(kinect, colorMonitor, display);
colorFrame.setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
colorFrame.addWindowListener(new RGBClose());
colorFrame.setSize(KinectVideo.WIDTH, KinectVideo.HEIGHT);
colorFrame.setContentPane(colorStream);
colorFrame.setVisible(true);
depthFrame = new JFrame("depth feed");
depthMonitor = new Object();
depthStream = new KinectDepthVideo(kinect, depthMonitor, display);
depthFrame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
depthFrame.setSize(KinectVideo.WIDTH, KinectVideo.HEIGHT);
depthFrame.setContentPane(depthStream);
depthFrame.setVisible(true);
rgbImg = new BufferedImage(640, 480, BufferedImage.TYPE_INT_ARGB);
depthImg = new BufferedImage(640, 480, BufferedImage.TYPE_INT_ARGB);
validImageValue = new boolean[KinectVideo.WIDTH * KinectVideo.HEIGHT];
try {
lcm = new LCM("udpm://239.255.76.67:7667?ttl=1");
} catch (IOException e) {
lcm = LCM.getSingleton();
}
BALL = new Statistics();
finder = new BallTracker(KinectVideo.WIDTH, KinectVideo.HEIGHT, false);
if (display) {
depthImg = depthStream.getFrame();
rgbImg = colorStream.getFrame();
}
// get robot position from click
depthStream.addMouseListener(
new MouseAdapter() {
public void mouseClicked(MouseEvent e) {
Point botPix = e.getPoint();
botStart = depthStream.getWorldCoords(botPix);
botStart.z += 0.08;
System.out.println("botStart: " + botStart.toString());
depthStream.showSubtraction();
depthStream.botLoc = botPix;
}
});
DepthClearer ic = new DepthClearer(pg);
ic.start();
}
// stops rgb feed if user closes rgb window
public class RGBClose implements WindowListener {
public void windowClosing(WindowEvent e) {
kinect.stopVideo();
colorFrame.dispose();
}
public void windowOpened(WindowEvent e) {}
public void windowClosed(WindowEvent e) {}
public void windowActivated(WindowEvent e) {}
public void windowDeactivated(WindowEvent e) {}
public void windowIconified(WindowEvent e) {}
public void windowDeiconified(WindowEvent e) {}
}
public void run() {
while (true) {
BALL = null;
ball_t ballLCM = new ball_t();
synchronized (depthMonitor) {
try {
depthMonitor.wait();
} catch (Exception e) {
e.printStackTrace();
}
}
ballLCM.nanoTime = depthStream.latestTimestamp;
ArrayList<Statistics> blobs;
depthStream.getReadLock().lock();
try {
blobs = finder.analyze2(depthStream.getValidImageArray());
} finally {
depthStream.getReadLock().unlock();
}
Statistics ball = null;
Statistics robot = null;
int minSize = pg.gi("blobThresh");
// find robot and ball by blob size
Collections.sort(blobs, ComparatorFactory.getStatisticsCompareSize());
// find robot and ball by y pixel
// Collections.sort(blobs, ComparatorFactory.getStatisticsCompareYPix());
// if (tracking) {
// System.out.println("num blobs: " + blobs.size());
// System.out.println("biggest blob size: " + blobs.get(0).N);
// }
// for (Statistics blob : blobs) {
// if (blob.N > 10) {
// System.out.println("blob size: " + blob.N);
// }
// else {
// break;
// }
// }
if (blobs.size() == 1) {
Statistics first = blobs.get(0);
if (first.N > minSize) {
ball = first;
}
} else if (blobs.size() >= 2) {
Statistics first = blobs.get(0);
Statistics second = blobs.get(1);
if (first.N > minSize) {
ball = first;
}
if (second.N > minSize) {
robot = first;
ball = second;
}
}
// System.out.println("balls points " + depthStream.trajectory.size());
// if not tracking keep kv.depthStream.trajectory to just one index
if (!tracking) {
depthStream.trajectory.clear();
}
if (ball != null) {
depthStream.trajectory.add(ball);
Point depthPix = ball.center();
Point depthCoord = new Point();
depthCoord.x = depthPix.x - KinectVideo.C_X;
depthCoord.y = KinectVideo.C_Y - depthPix.y;
// System.out.println("avg depth " + ball.Uz());
// get depth from average depth of blob
double realDepth = raw_depth_to_meters(ball.Uz());
Point3D coord = depthStream.getWorldCoords(depthCoord, realDepth);
if (depthPix != null) {
for (int y = depthPix.y - 3; y < depthPix.y + 3; y++) {
for (int x = depthPix.x - 3; x < depthPix.x + 3; x++) {
try {
depthImg.setRGB(x, y, 0xFFFF0000);
} catch (Exception e) {
// System.out.println(x + " " + y);
}
;
}
}
// if (tracking) {
// //save image
// depthStream.getReadLock().lock();
// try {
// File imgFile = new File("image" + ballNum++ + ".png");
// try {
// ImageIO.write(depthImg, "png", imgFile);
// }
// catch(Exception e) {
// System.out.println("can't save img");
// }
// }
// finally {
// depthStream.getReadLock().unlock();
// }
// }
if (tracking) {
ballLCM.x = coord.x;
ballLCM.y = coord.y;
ballLCM.z = coord.z;
// if(tracking)
System.out.println("updating new ball (" + System.currentTimeMillis() + ")");
// if (ballLCM.x > CatchController.TARGET_MAX_X)
lcm.publish("6_BALL", ballLCM);
// else
// System.out.println("ball past target zone");
}
}
}
}
}
public float raw_depth_to_meters(int raw_depth) {
if (raw_depth < 2047) {
return (1.0f / (raw_depth * -0.0030711016f + 3.3309495161f)) + .05f;
}
return 0;
}
// utility functions to copy/paste later
public int getDepth(ByteBuffer bb, int index) {
int depth = 0;
byte byte1 = bb.get(index * 2);
byte byte2 = bb.get(index * 2 + 1);
depth = byte2 & 0x3;
depth = depth << 8;
depth = depth | (byte1 & 0xFF);
return depth & 0x3FF;
}
public void setLog(boolean b) {
log = b;
}
public class DepthClearer extends Thread {
ParameterGUI pg;
public DepthClearer(ParameterGUI _pg) {
pg = _pg;
}
// set max_frames to 1 for 5 seconds then move up to 200
public void run() {
pg.si("frames", 1);
try {
Thread.sleep(5000);
} catch (Exception e) {
e.printStackTrace();
}
for (int i = 1; i <= 100; i++) {
pg.si("frames", 2 * i);
try {
Thread.sleep(10);
} catch (Exception e) {
e.printStackTrace();
}
}
}
}
public void plotProjection(ArrayList<double[]> pballs) {
for (int i = 0; i < pballs.size(); i++) {
double xyzt[] = pballs.get(i);
// switch y and z;
double temp = xyzt[2];
xyzt[2] = xyzt[1];
xyzt[1] = temp;
Point3D realWorld = new Point3D(xyzt[0], xyzt[1], xyzt[2]);
// Point pixCoords = depthgetPixFromWorld(realWorld);
// depthImg.setRGB(pixCoords.x,pixCoords.y,0xFFFFFFFF);
}
}
public static void main(String[] args) {
// Projectile proj = new Projectile();
BallDetector kv = new BallDetector(true);
// for(int i = 0; i < args.length; i++)
// {
// if(args[i].equals("log"))
// kv.setLog(true);
// }
kv.start();
}
}
private static long elapsedMs(long startTime) {
return TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - startTime);
}
public void contextAction() throws Exception {
final ThreadReferenceProxyImpl thread = myDebuggerContext.getThreadProxy();
try {
if (!getSuspendContext().getDebugProcess().getSuspendManager().isSuspended(thread)) {
DebuggerInvocationUtil.swingInvokeLater(
getProject(),
new Runnable() {
public void run() {
try {
myFramesListener.setEnabled(false);
synchronized (myFramesList) {
final DefaultListModel model = myFramesList.getModel();
model.clear();
model.addElement(
new Object() {
public String toString() {
return DebuggerBundle.message("frame.panel.frames.not.available");
}
});
myFramesList.setSelectedIndex(0);
}
} finally {
myFramesListener.setEnabled(true);
}
}
});
return;
}
} catch (ObjectCollectedException e) {
return;
}
List<StackFrameProxyImpl> frames;
try {
frames = thread.frames();
} catch (EvaluateException e) {
frames = Collections.emptyList();
}
final StackFrameProxyImpl contextFrame = myDebuggerContext.getFrameProxy();
final EvaluationContextImpl evaluationContext = myDebuggerContext.createEvaluationContext();
final DebuggerManagerThreadImpl managerThread =
myDebuggerContext.getDebugProcess().getManagerThread();
final MethodsTracker tracker = new MethodsTracker();
final int totalFramesCount = frames.size();
int index = 0;
final long timestamp = System.nanoTime();
for (StackFrameProxyImpl stackFrameProxy : frames) {
managerThread.schedule(
new AppendFrameCommand(
getSuspendContext(),
stackFrameProxy,
evaluationContext,
tracker,
index++,
stackFrameProxy.equals(contextFrame),
totalFramesCount,
timestamp));
}
}
