// get the object as a byte array
public synchronized byte[] getAsByteArray() {
ByteBuffer buffer = ByteBuffer.allocate(packet_size);
buffer.order(Constants.NETWORK_BYTEORDER);
buffer.put(Constants.STRUCT_HEADER.getBytes(), 0, 4);
buffer.putInt(Constants.STRUCT_VERSION);
buffer.put(numPlayers);
buffer.put(gameState);
buffer.put(firstHalf);
buffer.put(kickOffTeam);
buffer.put(secGameState);
buffer.put(dropInTeam);
buffer.putShort(dropInTime);
buffer.putInt(estimatedSecs);
for (byte team = 0; team < Constants.NUM_TEAMS; team++) {
buffer.put(getTeamNumber(team));
buffer.put(team);
buffer.put(getGoalColour(team));
buffer.put(getScore(team));
for (byte i = 0; i < Constants.MAX_NUM_PLAYERS; i++) {
RobotInfo robot = teams[team].getPlayer(i);
buffer.putShort(robot.getPenalty());
buffer.putShort(robot.getSecsTillUnpenalised());
}
}
return buffer.array();
}
public SimpleKeyController() {
super();
robot = RobotInfo.getRobot();
robot.connect();
wheels = robot.requestResource(WheelsController.class, this);
drawableFrame =
new DrawableFrame() {
private static final long serialVersionUID = 1L;
@Override
public void dispose() {
super.dispose();
robot.freeResource(wheels, this);
Phybots.getInstance().dispose();
}
public void paint2D(Graphics2D g) {
g.setColor(getBackground());
g.fillRect(0, 0, getWidth(), getHeight());
g.setColor(getForeground());
g.drawString("Status: " + wheels.getStatus().toString(), 10, 20);
}
};
drawableFrame.setFrameSize(320, 240);
drawableFrame.addKeyListener(
new KeyAdapter() {
@Override
public void keyPressed(KeyEvent e) {
switch (e.getKeyCode()) {
case KeyEvent.VK_UP:
case KeyEvent.VK_KP_UP:
goForward();
break;
case KeyEvent.VK_LEFT:
case KeyEvent.VK_KP_LEFT:
spinLeft();
break;
case KeyEvent.VK_RIGHT:
case KeyEvent.VK_KP_RIGHT:
spinRight();
break;
case KeyEvent.VK_DOWN:
case KeyEvent.VK_KP_DOWN:
goBackward();
break;
case KeyEvent.VK_ESCAPE:
default:
stop();
break;
}
drawableFrame.repaint();
}
});
}
