/**
* Shutdown. Stops the {@link #openNode} and {@link #messageProcessor} and clears the messages
* queue. Calls the stopMsgProcessing on the vehicle comms. Then sends a {@link #MANAGER_STOP}
* event.
*
* <p style="color='GREEN'">This one needs to be called if you override it.
*
* @return
*/
@Override
public synchronized boolean stop() {
boolean ret;
try {
if (!started) return true; // do nothing
NeptusLog.pub().debug("Stopping comms");
if (timerThread != null) {
timerThread.interrupt();
timerThread = null;
}
stopManagerComms();
if (messageProcessor != null) {
messageProcessor.stopProcessing();
messageProcessor = null;
msgQueue.clear();
infoQueue.clear();
}
for (SystemCommBaseInfo<M, Mi, I> vic : commInfo.values()) {
vic.stopMsgProcessing();
}
sendManagerStatusChanged(MANAGER_STOP, "");
started = false;
ret = true;
} catch (Exception e) {
GuiUtils.errorMessage(ConfigFetch.getSuperParentFrame(), e);
NeptusLog.pub().error("CommBase Manager init error!", e);
ret = false;
}
super.stop();
return ret;
}
private void printErrors(String[] errors) {
String errorsString = "<html>" + I18n.text("The following errors were found") + ":<br>";
int i = 1;
for (String error : errors) {
errorsString = errorsString + "<br> " + (i++) + ") " + error;
}
errorsString = errorsString + "</html>";
GuiUtils.errorMessage(
new JFrame(I18n.text("Error")), I18n.text("Invalid properties"), errorsString);
}
private void solve() {
if (pe == null) {
GuiUtils.errorMessage(getConsole(), "Coverage Plan Solver", "The polygon is not valid");
return;
}
double north, east, south, west;
double[] bounds = pe.getBounds3d();
south = bounds[PathElement.SOUTH_COORD];
west = bounds[PathElement.WEST_COORD];
north = bounds[PathElement.NORTH_COORD];
east = bounds[PathElement.EAST_COORD];
CoverageCell[][] cells =
new CoverageCell[(int) ((north - south) / grid) + 1][(int) ((east - west) / grid) + 1];
for (int i = 0; i < cells.length; i++)
for (int j = 0; j < cells[i].length; j++) {
cells[i][j] = new CoverageCell();
cells[i][j].i = i;
cells[i][j].j = j;
}
int i = 0, j = 0;
int desiredCells = 0;
for (double n = south + grid / 2; n < north; n += grid) {
j = 0;
for (double e = west + grid / 2; e < east; e += grid) {
LocationType lt = new LocationType(pe.getCenterLocation());
lt.translatePosition(n, e, 0);
CoverageCell cell = cells[i][j];
cell.realWorldLoc = lt.getNewAbsoluteLatLonDepth();
if (pe.containsPoint(lt, null)) {
cell.desired = true;
desiredCells++;
}
cells[i][j] = cell;
j++;
}
i++;
}
CoverageCell initialCell = null;
i = 0;
for (j = 0; j < cells[0].length - 1 && initialCell == null; j++)
for (i = 0; i < cells.length && initialCell == null; i++)
if (cells[i][j].desired) initialCell = cells[i][j];
if (initialCell == null) {
GuiUtils.errorMessage("Polygon coverage", "Polygon area is invalid");
return;
}
CoverageCell current = initialCell;
desiredCells--;
int dir = -1;
while (desiredCells > 0) {
current.visited = true;
current.active = false;
if (dir == 1) {
if (current.i < cells.length - 1
&& cells[current.i + 1][current.j].desired == true
&& cells[current.i + 1][current.j].visited == false) {
current.next = cells[current.i + 1][current.j];
cells[current.i + 1][current.j].previous = current;
current = current.next;
current.active = true;
} else {
dir = -1;
if (current.j == cells[0].length - 1) break;
while (!cells[current.i][current.j + 1].desired && i > 0 && current.previous != null) {
current.active = false;
current = current.previous;
}
if (i == 0) break;
current.next = cells[current.i][current.j + 1];
cells[current.i][current.j + 1].previous = current;
current = current.next;
current.active = true;
}
} else {
if (current.i > 0
&& cells[current.i - 1][current.j].desired == true
&& cells[current.i - 1][current.j].visited == false) {
current.next = cells[current.i - 1][current.j];
cells[current.i - 1][current.j].previous = current;
current = current.next;
current.active = true;
} else {
dir = 1;
if (current.j == cells[0].length - 1) break;
while (current.previous != null
&& !cells[current.i][current.j + 1].desired
&& i < cells.length) {
current.active = false;
current = current.previous;
}
if (i == cells.length) break;
current.next = cells[current.i][current.j + 1];
cells[current.i][current.j + 1].previous = current;
current = current.next;
current.active = true;
}
}
desiredCells--;
}
generatePlans(cells, initialCell);
}
void generatePlans(CoverageCell[][] mat, CoverageCell first) {
Vector<String> selectedVehicles = new Vector<String>();
Vector<SystemsList> tmp = getConsole().getSubPanelsOfClass(SystemsList.class);
selectedVehicles.addAll(tmp.get(0).getSelectedSystems(true));
Object planid;
if (selectedVehicles.size() > 1)
planid = JOptionPane.showInputDialog(getConsole(), "Enter desired plan prefix");
else planid = JOptionPane.showInputDialog(getConsole(), "Enter desired plan name");
MissionType mission = getConsole().getMission();
if (mission == null) {
GuiUtils.errorMessage(getConsole(), "Coverage Plan Solver", "No mission has been set");
return;
}
if (selectedVehicles.size() <= 1) {
CoverageCell current = first, next = current.next;
PlanCreator creator = new PlanCreator(mission);
creator.setLocation(first.realWorldLoc);
// creator.addManeuver("Goto");
while (next != null) {
if (next.j != current.j) {
CoverageCell pivot = current;
while (pivot.previous != null && pivot.previous.i == current.i) pivot = pivot.previous;
creator.setLocation(pivot.realWorldLoc);
creator.addManeuver("Goto");
creator.setLocation(next.realWorldLoc);
creator.addManeuver("Goto");
}
current = next;
next = current.next;
}
PlanType plan = creator.getPlan();
plan.setId(planid.toString());
plan.setVehicle(getConsole().getMainSystem());
mission.addPlan(plan);
mission.save(false);
getConsole().updateMissionListeners();
} else {
double distance = 0;
CoverageCell current = first, next = current.next;
distance += current.realWorldLoc.getDistanceInMeters(next.realWorldLoc);
while (next != null) {
if (next.j != current.j) {
CoverageCell pivot = current;
while (pivot.previous != null && pivot.previous.i == current.i) pivot = pivot.previous;
}
distance += current.realWorldLoc.getDistanceInMeters(next.realWorldLoc);
current = next;
next = current.next;
}
double distEach = distance / selectedVehicles.size();
current = first;
next = current.next;
PlanCreator creator = new PlanCreator(mission);
creator.setLocation(current.realWorldLoc);
distance = 0;
int curIndex = 0;
while (next != null) {
if (next.j != current.j) {
CoverageCell pivot = current;
while (pivot.previous != null && pivot.previous.i == current.i) pivot = pivot.previous;
creator.setLocation(pivot.realWorldLoc);
creator.addManeuver("Goto");
distance += current.realWorldLoc.getDistanceInMeters(next.realWorldLoc);
if (distance < distEach) {
creator.setLocation(next.realWorldLoc);
creator.addManeuver("Goto");
}
} else distance += current.realWorldLoc.getDistanceInMeters(next.realWorldLoc);
if (distance > distEach) {
creator.setLocation(current.realWorldLoc);
creator.addManeuver("Goto");
PlanType plan = creator.getPlan();
plan.setVehicle(selectedVehicles.get(curIndex));
plan.setId(planid + "_" + selectedVehicles.get(curIndex++));
mission.addPlan(plan);
creator = new PlanCreator(mission);
creator.setLocation(current.realWorldLoc);
creator.addManeuver("Goto");
distance = 0;
}
current = next;
next = current.next;
}
PlanType plan = creator.getPlan();
plan.setVehicle(selectedVehicles.get(curIndex));
plan.setId(planid + "_" + selectedVehicles.get(curIndex++));
mission.addPlan(plan);
mission.save(false);
getConsole().updateMissionListeners();
}
}
@SuppressWarnings("unchecked")
public void openFile(File fx) {
saveFile = null;
File file;
if (fx == null) file = showOpenImageDialog();
else file = fx;
if (file != null) {
if ("3ds".equalsIgnoreCase(FileUtil.getFileExtension(file))) {
if (lobj != null) render.removeObj3D(lobj);
Inspector3DS loader = new Inspector3DS(file.getAbsolutePath()); // constructor
loader.parseIt(); // process the file
TransformGroup theModel1 = loader.getModel(); // get the
// resulting 3D
NeptusLog.waste().info("Point to view window " + Util3D.getModelDim(theModel1));
lobj = new Obj3D();
lobj.setModel3D(theModel1);
// lobj.setRoll(Math.PI/2);
render.addObj3D(lobj);
update3dFilesOpened(file);
} else if ("wrl".equalsIgnoreCase(FileUtil.getFileExtension(file))) {
/*
* try {
*
* if (lobj != null) render.removeObj3D(lobj);
*
* String filename = file.getAbsolutePath(); VrmlLoader loader =
* new VrmlLoader();
*
* BufferedReader in = null; in = new BufferedReader(new
* InputStreamReader(new FileInputStream(filename), "UTF8"));
*
* URL url = FileUtil.pathToURL(file.getParent()+"/");
* loader.setBaseUrl(url);
*
* Scene scene = loader.load(in); BranchGroup branch =
* scene.getSceneGroup();
*
* TransformGroup ret = new TransformGroup(); Enumeration<Group>
* enume = branch.getAllChildren(); while
* (enume.hasMoreElements()) { Group next = enume.nextElement();
* branch.removeChild(next); ret.addChild(next); }
* lobj.setModel3D(ret); //lobj.setRoll(Math.PI / 2);
* render.addObj3D(lobj);
*
*
* } catch (Throwable e) { e.printStackTrace();
* GuiUtils.errorMessage(this, "Load",
* "Error Loading WRL File");
*
* }
*/
// --------------------------------------------------------
if (lobj != null) render.removeObj3D(lobj);
Loader myFileLoader = null; // holds the file loader
Scene myVRMLScene = null; // holds the loaded scene
BranchGroup myVRMLModel = null; // BG of the VRML scene
try {
// create an instance of the Loader
myFileLoader = new org.web3d.j3d.loaders.VRML97Loader();
myFileLoader.setBasePath(file.getParent());
myFileLoader.setFlags(
myFileLoader.getFlags() | org.web3d.j3d.loaders.VRML97Loader.LOAD_BEHAVIOR_NODES);
// Load the scene from your VRML97 file
myVRMLScene = myFileLoader.load(file.getAbsolutePath());
// Obtain the root BranchGroup for the Scene
myVRMLModel = myVRMLScene.getSceneGroup();
lobj = new Obj3D();
TransformGroup scene = new TransformGroup();
Enumeration<Node> enume = myVRMLModel.getAllChildren();
while (enume.hasMoreElements()) {
Node next = enume.nextElement();
myVRMLModel.removeChild(next);
scene.addChild(next);
}
lobj.setModel3D(scene);
// lobj.setRoll(Math.PI / 2);
render.addObj3D(lobj);
/*
* VrmlLoader f = new VrmlLoader(); Scene s = null;
* BranchGroup myVRMLModel = null; //BG of the VRML scene
* try { //f.setFlags(VrmlLoader.LOAD_ALL); s =
* f.load(file.getAbsolutePath()); // Obtain the root
* BranchGroup for the Scene myVRMLModel =
* s.getSceneGroup(); lobj = new Obj3D(); TransformGroup
* scene = new TransformGroup(); Enumeration<Group> enume =
* myVRMLModel.getAllChildren(); while
* (enume.hasMoreElements()) { Group next =
* enume.nextElement(); myVRMLModel.removeChild(next);
* scene.addChild(next); } lobj.setModel3D(scene);
* //lobj.setRoll(Math.PI / 2); render.addObj3D(lobj); }
* catch (FileNotFoundException e) { e.printStackTrace();
* GuiUtils.errorMessage(this, "Load",
* "Error Loading WRL File"); }
*/
update3dFilesOpened(file);
System.err.println("fez o load----------");
} catch (Exception e) {
// in case there was a problem, print the stack out
e.printStackTrace();
// we still need a model, even if we can't load the right
// one, I use a color cube just in case
GuiUtils.errorMessage(this, "Load", "Error Loading WRL File");
}
} else if ("x3d".equalsIgnoreCase(FileUtil.getFileExtension(file))
|| "x3dv".equalsIgnoreCase(FileUtil.getFileExtension(file))) {
if (lobj != null) render.removeObj3D(lobj);
Loader myFileLoader = null; // holds the file loader
Scene myVRMLScene = null; // holds the loaded scene
BranchGroup myVRMLModel = null; // BG of the VRML scene
try {
// create an instance of the Loader
myFileLoader = new org.web3d.j3d.loaders.X3DLoader();
myFileLoader.setBasePath(file.getParent());
// myFileLoader.setFlags(org.web3d.j3d.loaders.X3DLoader.LOAD_ALL);
// Load the scene from your VRML97 file
myVRMLScene = myFileLoader.load(file.getAbsolutePath());
// Obtain the root BranchGroup for the Scene
myVRMLModel = myVRMLScene.getSceneGroup();
lobj = new Obj3D();
TransformGroup scene = new TransformGroup();
Enumeration<Group> enume = myVRMLModel.getAllChildren();
while (enume.hasMoreElements()) {
Group next = enume.nextElement();
myVRMLModel.removeChild(next);
scene.addChild(next);
}
lobj.setModel3D(scene);
// lobj.setRoll(Math.PI / 2);
render.addObj3D(lobj);
update3dFilesOpened(file);
System.err.println("fez o load----------");
} catch (Exception e) {
// in case there was a problem, print the stack out
e.printStackTrace();
// we still need a model, even if we can't load the right
// one, I use a color cube just in case
GuiUtils.errorMessage(this, "Load", "Error Loading x3D File");
}
} else if ("j3d".equalsIgnoreCase(FileUtil.getFileExtension(file))) {
if (lobj != null) render.removeObj3D(lobj);
BranchGroup bg = null;
try {
SceneGraphFileReader filer = new SceneGraphFileReader(file);
bg = (filer.readAllBranchGraphs())[0];
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
if (bg == null) {
NeptusLog.pub().error("Error loading vehicle model\n" + this);
}
TransformGroup scene = new TransformGroup();
Enumeration<Group> enume = bg.getAllChildren();
while (enume.hasMoreElements()) {
Group next = enume.nextElement();
bg.removeChild(next);
scene.addChild(next);
}
lobj = new Obj3D();
lobj.setModel3D(scene);
// lobj.setRoll(Math.PI / 2);
render.addObj3D(lobj);
update3dFilesOpened(file);
} else GuiUtils.errorMessage(this, "Load", "Invalid file type.");
}
}
