/* * Liberu.java * * Created on 30 of August 2005, 2:05 */ /** * web site: www.vitaliberu.pt * email: sysliberal@gmail.com * @author Paulo Roque Silva */ import java.awt.*; import java.awt.event.*; import java.io.BufferedReader; import java.io.File; import java.io.FileInputStream; import java.io.FileOutputStream; import java.io.InputStreamReader; import java.io.ObjectInputStream; import java.io.ObjectOutputStream; import java.io.OutputStream; import javax.swing.*; import gnu.io.CommPortIdentifier; import gnu.io.SerialPort; import gnu.io.SerialPortEvent; import icommand.nxt.Motor; public class Liberu extends JFrame { public static final long serialVersionUID = 2026L; // Vers�o do Liberu static boolean Already; // Pronto a mostrar static int Robot; static Liberu liberu; static Interface InterFace; // Interliga��o com mentor Mind mind; // Mente a executar boolean executed, // Se em execu��o stopped, // Se parou newUniverse, // Se novo universo terminate, // Se pode new ou open saved; // Se c�rtex guardado SerialPort serialPort; public static String portaCOM = "COM3"; public static BufferedReader input; public static String inputLine; public static OutputStream output; /** Milliseconds to block while waiting for port open */ private static final int TIME_OUT = 2000; /** Default bits per second for COM port. */ private static final int DATA_RATE = 9600; JTextField text; // Texto lido JPanel panel; // Window String directory = "", // Diretoria defeito file = ""; // Ficheiro in�cio /** Creates new form Liberu */ public Liberu() { int screenWidth; int screenHeight; // Get Screen dimensions Toolkit kit = Toolkit.getDefaultToolkit(); Dimension screenSize = kit.getScreenSize(); screenWidth = screenSize.width; screenHeight = screenSize.height; // Center frame in Screen setLocation( screenWidth / 8, screenHeight / 8 ); // Set frame icon Image img = kit.getImage("Brain.gif"); setIconImage(img); Already = false; Robot = 0; executed = false; stopped = true; newUniverse = true; terminate = true; text = new JTextField(6); text.setText("local"); InterFace = new Interface(); mind = new Mind(false, text); mind.display(false, false); initComponents(); if (screenWidth > 2000) setSize( 2*768, 2*600); else setSize( 768, 600); saved = true; panel = new JPanel(); panel.add(text); getContentPane().add(panel, BorderLayout.SOUTH); } protected void processWindowEvent(WindowEvent e) { if (e.getID() == WindowEvent.WINDOW_CLOSING) { if (!saved) { if (JOptionPane.showConfirmDialog(null, "The Robot's Cortex not saved! Do you want to exit?", "Alert", JOptionPane.OK_CANCEL_OPTION) == JOptionPane.OK_OPTION) exitLiberu(); } else exitLiberu(); } } public static String inputLine() { return inputLine; } public synchronized void close() { if (serialPort != null) { // serialPort.removeEventListener(); serialPort.close(); } } public synchronized void serialEvent( SerialPortEvent oEvent) { if (oEvent.getEventType() == SerialPortEvent. DATA_AVAILABLE) { try { String inputLine=input.readLine(); // ############################### System.out.println(inputLine); // RETIRAR } catch (Exception e) { System.err.println(e.toString()); } } } private void initComm() { // TODO code application logic here System.setProperty("gnu.io.rxtx.SerialPorts", portaCOM); try { CommPortIdentifier portId = CommPortIdentifier. getPortIdentifier(portaCOM); if (portId == null) { System.out.println( "Could not find COM port."); return; } serialPort = (SerialPort) portId.open( this.getClass().getName(), TIME_OUT); // set port parameters serialPort.setSerialPortParams(DATA_RATE, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE); // open the streams input = new BufferedReader( new InputStreamReader(serialPort. getInputStream())); output = serialPort.getOutputStream(); // add event listeners // serialPort.addEventListener(this); // serialPort.notifyOnDataAvailable(true); } catch (Exception e) { System.err.println(e.toString()); } System.out.println("Started"); } private void initComponents() { jPanel1 = new JPanel(); JPanel panel; // Window jButton0 = new JButton(); jButton1 = new JButton(); jButton2 = new JButton(); jButton3 = new JButton(); jButton4 = new JButton(); jButton5 = new JButton(); jButton6 = new JButton(); jMenuBar1 = new JMenuBar(); jMenu1 = new JMenu(); jMenu3 = new JMenu(); jMenuItem1 = new JMenuItem(); jMenuItem2 = new JMenuItem(); jMenuItem3 = new JMenuItem(); jMenuItem31 = new JMenuItem(); jSeparator1 = new JSeparator(); jMenuItem4 = new JMenuItem(); jButton2Act = new JButton(); jButton3Act = new JButton(); jButton4Act = new JButton(); jButtonDAct = new JButton(); jButtonHAct = new JButton(); jLabel1 = new JLabel("Liberu:"); jLabel2 = new JLabel("Sr. Mouse:"); jLabel3 = new JLabel("Thumb:"); setDefaultCloseOperation( WindowConstants.EXIT_ON_CLOSE); setTitle( "VitaLiberu 2026 - Vita-Mouse " + " - " + directory + file); jPanel1.add(jLabel1); jButton0.setText("Simulation"); jButton0.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { typeAction(evt); } }); jPanel1.add(jButton0); jPanel1.add(jLabel3); if (!Cortex.Born) { jButton6.setText("Right Up"); jButton6.setBackground(Color.GREEN); } else if (Cortex.Thumb) { jButton6.setBackground(Color.RED); jButton6.setText("Left Up"); } else { jButton6.setBackground(Color.GREEN); jButton6.setText("Right Up"); } jButton6.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { thumbAction(evt); } }); jPanel1.add(jButton6); jPanel1.add(jLabel1); jButton1.setText("Play"); jButton1.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { playAction(evt); } }); jPanel1.add(jButton1); jButton2.setText("Warn"); jButton2.setBackground(Color.GREEN); jButton2.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { warnAction(evt); } }); jPanel1.add(jButton2); jButton3.setText("Pause"); jButton3.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { pauseAction(evt); } }); jPanel1.add(jButton3); jButton4.setText("Continue"); jButton4.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { continueAction(evt); } }); jPanel1.add(jButton4); jButton5.setText("Stop"); jButton5.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { stopAction(evt); } }); jPanel1.add(jButton5); getContentPane().add(jPanel1, BorderLayout.NORTH); jMenu1.setText("Cortex"); jMenuItem1.setText("New Cortex"); jMenuItem1.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { newAction(evt); } }); jMenu1.add(jMenuItem1); jMenuItem2.setText("Open Cortex..."); jMenuItem2.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { openAction(evt); } }); jMenu1.add(jMenuItem2); jMenuItem3.setText("Save Cortex..."); jMenuItem3.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { saveAction(evt); } }); jMenu1.add(jMenuItem3); jMenu1.add(jSeparator1); jMenuItem4.setText("Exit Liberu"); jMenuItem4.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent evt) { exitAction(evt); } }); jMenu1.add(jMenuItem4); jMenuBar1.add(jMenu1); jMenu3.setText("Help"); jMenuItem31.setText("Version..."); jMenuItem31.addActionListener( new ActionListener() { public void actionPerformed(ActionEvent evt) { versionAction(evt); } }); jMenu3.add(jMenuItem31); jMenuBar1.add(jMenu3); setJMenuBar(jMenuBar1); getContentPane().add(Liberu.InterFace, BorderLayout.CENTER); panel = new JPanel(new GridLayout(16, 1)); getContentPane().add(panel, BorderLayout.EAST); panel.add(jLabel2); jButton2Act.setText("Walk"); jButton2Act.addActionListener( new ActionListener() { public void actionPerformed(ActionEvent evt) { walkAction(evt); } }); panel.add(jButton2Act); jButton3Act.setText("Left"); jButton3Act.addActionListener( new ActionListener() { public void actionPerformed(ActionEvent evt) { leftAction(evt); } }); panel.add(jButton3Act); jButton4Act.setText("Right"); jButton4Act.addActionListener( new ActionListener() { public void actionPerformed(ActionEvent evt) { rightAction(evt); } }); panel.add(jButton4Act); jButtonDAct.setText("Energy"); jButtonDAct.setBackground(Color.CYAN); jButtonDAct.addActionListener( new ActionListener() { public void actionPerformed(ActionEvent evt) { energyAction(evt); } }); panel.add(jButtonDAct); jButtonHAct.setText("Home"); jButtonHAct.setBackground(Color.GREEN); jButtonHAct.addActionListener( new ActionListener() { public void actionPerformed(ActionEvent evt) { homeAction(evt); } }); panel.add(jButtonHAct); pack(); } private void newAction(ActionEvent evt) { int i; if (stopped && terminate) { mind = new Mind(false, text); mind.display(false, false); newUniverse = true; Cortex.Born = false; for (i=0; i 2) Robot = 0; } if (!executed && Robot == 1) { jButton0.setText("Mouse"); } if (!executed && Robot == 0) { jButton0.setText("Simulation"); } if (!executed && Robot == 2) { jButton0.setText("NXT"); } } /** * @param args the command line arguments */ public static void main(String args[]) throws Exception { EventQueue.invokeLater(new Runnable() { public void run() { liberu = new Liberu(); liberu.setVisible(true); if (args.length > 0) Liberu.portaCOM = (String)args[0]; } }); } private JButton jButton0; private JButton jButton1; private JButton jButton2; private JButton jButton3; private JButton jButton4; private JButton jButton5; private JButton jButton6; private JMenu jMenu1; private JMenu jMenu3; private JMenuBar jMenuBar1; private JMenuItem jMenuItem1; private JMenuItem jMenuItem2; private JMenuItem jMenuItem3; private JMenuItem jMenuItem4; private JMenuItem jMenuItem31; private JPanel jPanel1; private JSeparator jSeparator1; private JButton jButton2Act; private JButton jButton3Act; private JButton jButton4Act; public static JButton jButtonDAct; public static JButton jButtonHAct; private JLabel jLabel1; private JLabel jLabel2; private JLabel jLabel3; }