@Override
public void mouseReleased(MouseEvent arg0) {
if (!cmdStartStop)
synchronized (this) {
DE.incNxtDyn();
DE.setNxtCmd(DataExchange.RELEASE_CMD);
}
}
/* BlueKap main application */
public static void main(String[] args) throws InterruptedException {
DE = new DataExchange();
PC_BTS = new BtConnSend(DE);
frame = null;
lbBkg = lbKAPP = null;
isNormalDrive = true;
cmdStartStop = cmdCalibrate = false;
// start BT-Send thread
PC_BTS.setPriority(Thread.MAX_PRIORITY);
PC_BTS.start();
while (!DE.isBtConn()) {
// wait for BT connection to establish
// with the NXT brick (running BT_PC_rx)
}
// launch GUI:
EventQueue.invokeLater(
new Runnable() {
public void run() {
try {
frame = new TKAPPFrame();
frame.setVisible(true);
} catch (Exception e) {
e.printStackTrace();
}
;
}
});
}
/** KAPPFrame GUI event handling */
@Override
public void mouseDragged(MouseEvent e) {
// calculate new icon position
xLab += (int) (e.getX() - wLab / 2);
yLab += (int) (e.getY() - hLab / 2);
// icon should not fall off from or partially hidden within the frame
if (xLab < 4 * xBrd) xLab = 4 * xBrd;
if (xLab + wLab > wFrm - 6 * xBrd) xLab = wFrm - 6 * xBrd - wLab;
if (yLab < 2 * yBrd) yLab = 2 * yBrd;
if (yLab + hLab > hFrm - 8 * yBrd) yLab = hFrm - 8 * yBrd - hLab;
// calculate OpCode command based on new icon position
int xCmd = xLab - xRef;
int yCmd = yRef - yLab;
// encode new OpCode to be sent over BT to the NXT application
try {
// if not in "STOP" or if stopped due to "CALIBRATION", send the OpCode
if (!cmdStartStop || cmdCalibrate)
DE.encodeTurnAngleAndSpeed(xCmd, yCmd, cmdCalibrate, isNormalDrive);
} catch (Exception err) {
System.err.println("GUI::EX-1:: IO error trying to buffer your CMD!");
err.printStackTrace();
}
// redraw kAPP icon in new position
lbKAPP.setBounds(xLab, yLab, wLab, hLab);
lbKAPP.repaint(xLab, yLab, wLab, hLab);
}
public void run() {
// infinite task
while (true) {
// retrieve decoded opcode info
synchronized (this) {
newDyn = DEObj.getNxtDyn();
newCmd = DEObj.getNxtCmd();
newPos = DEObj.getNxtPos();
curPos = centreMotor.getTachoCount();
DEObj.setCurSteerPos(curPos);
}
;
// steer to newPos, if conditions apply
if ((newCmd != DataExchange.EXIT_CMD) && (newCmd != DataExchange.NULL_CMD)) {
if (oldDyn != newDyn) {
oldDyn = newDyn;
switch (newCmd) {
case DataExchange.STOP_CMD:
isNxtStop = true;
centreMotor.stop();
break;
case DataExchange.CAL_CMD:
centreMotor.rotate(getDeltaPos(newPos, curPos));
LCD.clear(6);
LCD.drawString("CMD:: CALIBRATE", 0, 6);
break;
case DataExchange.START_CMD:
isNxtStop = false;
if (isNxtCalib) {
// calibration is done, the current TachoCount
// position becomes the reference, i.e. "0 deg".
isNxtCalib = false;
centreMotor.resetTachoCount();
curPos = centreMotor.getTachoCount();
}
break;
case DataExchange.RELEASE_CMD:
// when user releases the mouse drag, the vehicle attempts to recover a straight
// drive.
// It simulates what happens naturally in a real car when the driver gets his hands
// off
// the steering upon exiting from a curve.
centreMotor.rotateTo(0);
break;
case DataExchange.FRWD_CMD:
case DataExchange.BKWD_CMD:
if (!isNxtStop) {
centreMotor.rotate(getDeltaPos(newPos, curPos));
}
break;
default:
break;
}
; // switch case
} // if (old != new)
else {
centreMotor.flt();
}
try {
// thread going to sleep
ManageNxtSteering.sleep(50);
} catch (InterruptedException e) {
e.printStackTrace();
LCD.drawString("EX-6:", 0, 5);
LCD.refresh();
}
} // if (new != EXIT_CMD)
else {
if (newCmd == DataExchange.EXIT_CMD) {
centreMotor.stop(); /* stop motor */
break; /* exit while loop */
}
}
} // while loop
DEObj.setNXTdone(true);
}
@Override
public void mouseClicked(MouseEvent arg0) {
// LEFT BUTTON
// toggle between normal and reverse drive mode
if (arg0.getButton() == MouseEvent.BUTTON1 && arg0.getClickCount() == 2) {
// reverse drive direction selected
isNormalDrive = !isNormalDrive;
// apply reverse compass map if reverse drive is selected
if (isNormalDrive) lbBkg.setIcon(new ImageIcon("images/kAPPframe.png"));
else lbBkg.setIcon(new ImageIcon("images/kAPPframeRev.png"));
// recalculate KAPP icon position within the toggled compass map
xLab += (int) (arg0.getX() - wLab / 2); /* current */
yLab += (int) (arg0.getY() - hLab / 2);
int xCmd = -(xLab - xRef);
int yCmd = -(yRef - yLab);
xLab = xCmd + xRef; /* new */
yLab = yRef - yCmd;
// redraw kAPP icon
lbKAPP.setBounds(xLab, yLab, wLab, hLab);
lbKAPP.repaint(xLab, yLab, wLab, hLab);
// drag the mouse pointer on top of the KAPP icon
xFrm = frame.getX();
yFrm = frame.getY();
int newMouseX = xLab + xBrd + (int) (wLab / 2) + xFrm;
int newMouseY = yLab + 4 * yBrd + (int) (hLab / 2) + yFrm;
try {
Robot robot = new Robot();
robot.mouseMove(newMouseX, newMouseY);
} catch (AWTException e1) {
// TODO Auto-generated catch block
e1.printStackTrace();
}
}
// WHEEL BUTTON
// increase/decrease wheel speed (in calibration only)
if (arg0.getButton() == MouseEvent.BUTTON2 && cmdCalibrate) {
DE.encodeSpecialCommands(DataExchange.SPDLEV_CMD);
DE.incSpeedLevel();
lbKAPP.setToolTipText("SPEED LEVEL: " + DE.getSpeedLevel());
}
// RIGHT BUTTON
// send START/STOP special commands
if (arg0.getButton() == MouseEvent.BUTTON3) {
if (arg0.getClickCount() >= 2) {
// toggle STOP/START command:
// true => STOP_CMD; false => START_CMD
cmdStartStop = !cmdStartStop;
if (cmdStartStop) {
DE.encodeSpecialCommands(DataExchange.STOP_CMD);
lbKAPP.setToolTipText("*STOP*");
frame.setIconImage(Toolkit.getDefaultToolkit().getImage("images/kAPPstop.png"));
} else {
DE.encodeSpecialCommands(DataExchange.START_CMD);
cmdCalibrate = false;
lbKAPP.setToolTipText("*GO*");
frame.setIconImage(Toolkit.getDefaultToolkit().getImage("images/kAPPgo.png"));
}
}
// send CALIBRATE special command
if (cmdStartStop && (arg0.getClickCount() == 1)) {
// if the Stop command is issued, perform command Motors calibration
cmdCalibrate = true;
DE.encodeSpecialCommands(DataExchange.CAL_CMD);
lbKAPP.setToolTipText("*CALIBRATION*");
frame.setIconImage(Toolkit.getDefaultToolkit().getImage("images/kAPPcal.png"));
}
}
}
