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User interfaces for CRCL Simulated Robot Server and Client Pendant.
/*
* This is public domain software, however it is preferred
* that the following disclaimers be attached.
*
* Software Copywrite/Warranty Disclaimer
*
* This software was developed at the National Institute of Standards and
* Technology by employees of the Federal Government in the course of their
* official duties. Pursuant to title 17 Section 105 of the United States
* Code this software is not subject to copyright protection and is in the
* public domain. This software is experimental.
* NIST assumes no responsibility whatsoever for its use by other
* parties, and makes no guarantees, expressed or implied, about its
* quality, reliability, or any other characteristic. We would appreciate
* acknowledgment if the software is used. This software can be
* redistributed and/or modified freely provided that any derivative works
* bear some notice that they are derived from it, and any modified
* versions bear some notice that they have been modified.
*
*/
package crcl.ui;
import crcl.utils.SimRobotEnum;
import static crcl.utils.SimRobotEnum.PLAUSIBLE;
import static crcl.utils.SimRobotEnum.SIMPLE;
import crcl.utils.SimulatedKinematicsPlausible;
import crcl.utils.SimulatedKinematicsSimple;
import java.awt.Color;
import java.awt.Dimension;
import java.awt.Graphics;
import java.awt.Graphics2D;
import java.awt.geom.Arc2D;
import java.awt.geom.Rectangle2D;
import java.awt.image.BufferedImage;
import java.io.File;
import java.io.IOException;
import java.util.logging.Logger;
import javax.imageio.ImageIO;
import javax.swing.JPanel;
public class OverHeadJPanel extends JPanel {
private static final String DEFAULT_IMAGE_LOG_DIR = System.getProperty("crcl4java.simserver.imagelogdir", "/tmp");
private String imageLogDir = DEFAULT_IMAGE_LOG_DIR;
/**
* Get the value of imageLogDir
*
* @return the value of imageLogDir
*/
public String getImageLogDir() {
return imageLogDir;
}
/**
* Set the value of imageLogDir
*
* @param imageLogDir new value of imageLogDir
*/
public void setImageLogDir(String imageLogDir) {
this.imageLogDir = imageLogDir;
}
private boolean logImages = false;
/**
* Get the value of logImages
*
* @return the value of logImages
*/
public boolean isLogImages() {
return logImages;
}
/**
* Set the value of logImages
*
* @param logImages new value of logImages
*/
public void setLogImages(boolean logImages) {
this.logImages = logImages;
}
private SimRobotEnum robotType = SimRobotEnum.PLAUSIBLE;
/**
* Get the value of robotType
*
* @return the value of robotType
*/
public SimRobotEnum getRobotType() {
return robotType;
}
/**
* Set the value of robotType
*
* @param robotType new value of robotType
*/
public void setRobotType(SimRobotEnum robotType) {
this.robotType = robotType;
this.repaint();
}
private double[] jointvals;
/**
* Get the value of jointvals
*
* @return the value of jointvals
*/
public double[] getJointvals() {
return jointvals;
}
/**
* Set the value of jointvals
*
* @param jointvals new value of jointvals
*/
public void setJointvals(double[] jointvals) {
this.jointvals = jointvals;
try {
if (logImages) {
logImage();
}
} catch (Exception ex) {
ex.printStackTrace();
logImages = false;
}
this.repaint();
}
private double[] seglengths = SimulatedKinematicsPlausible.DEFAULT_SEGLENGTHS;
/**
* Set the value of seglengths
*
* @param seglengths new value of seglengths
*/
public void setSeglengths(double[] seglengths) {
this.seglengths = seglengths;
if (null == seglengths || seglengths.length < 1) {
return;
}
l0rect.width = seglengths[0];
if (seglengths.length < 2) {
return;
}
l1rect.width = seglengths[1];
if (seglengths.length < 3) {
return;
}
l2rect.width = seglengths[2];
if (seglengths.length < 4) {
return;
}
l3rect.width = seglengths[3];
if (seglengths.length < 5) {
return;
}
l4rect.height = seglengths[4];
if (seglengths.length < 6) {
return;
}
l5rect.width = seglengths[5];
}
Arc2D.Double j1circle = new Arc2D.Double(-10.0, -10.0 // x,y
, 20, 20 // w,h
, 0, 360, Arc2D.CHORD);
Arc2D.Double j2circle = new Arc2D.Double(-6, -6.0 // x,y
, 12, 12 // w,h
, 0, 360, Arc2D.CHORD);
Rectangle2D.Double jrect = new Rectangle2D.Double(0.0, -5.0, 10.0, 10.0);
Rectangle2D.Double l0rect = new Rectangle2D.Double(0.0, -5.0, seglengths[0], 10.0);
Rectangle2D.Double l1rect = new Rectangle2D.Double(0.0, -5.0, seglengths[1], 10.0);
Rectangle2D.Double l2rect = new Rectangle2D.Double(0.0, -5.0, seglengths[2], 10.0);
Rectangle2D.Double l3rect = new Rectangle2D.Double(0.0, -5.0, seglengths[3], 10.0);
Rectangle2D.Double l4rect = new Rectangle2D.Double(0.0, -10.0, 5.0, seglengths[4]);
Rectangle2D.Double l5rect = new Rectangle2D.Double(0.0, -0.5, seglengths[5], 1.0);
@Override
protected void paintComponent(Graphics g) {
super.paintComponent(g);
try {
Graphics2D g2d = (Graphics2D) g;
Dimension d = this.getSize();
if (paintImage(g2d, d)) {
}
} catch (Exception e) {
e.printStackTrace();
}
}
public boolean paintImage(Graphics2D g2d, Dimension d) {
g2d.translate(d.width / 2.0, d.height / 2.0);
switch (robotType) {
case PLAUSIBLE:
if (paintPlausibleRobot(d, g2d)) {
return true;
}
break;
case SIMPLE:
if (paintSimpleRobot(d, g2d)) {
return true;
}
break;
}
return false;
}
public void logImage() throws IOException {
Dimension d = this.getSize();
BufferedImage bi = new BufferedImage(d.width, d.height, BufferedImage.TYPE_3BYTE_BGR);
Graphics2D g2d = bi.createGraphics();
g2d.setColor(this.getBackground());
g2d.fillRect(0, 0, d.width, d.height);
g2d.setColor(this.getForeground());
this.paintImage(g2d, d);
File dir = new File(imageLogDir, "/simserver/overhead");
dir.mkdirs();
ImageIO.write(bi, "jpg", new File(dir, "overhead_" + System.currentTimeMillis() + ".jpg"));
}
private double maxSimpleJv0 = 0;
private boolean paintSimpleRobot(Dimension d, Graphics2D g2d) {
if (null == jointvals || jointvals.length < SimulatedKinematicsSimple.NUM_JOINTS) {
return true;
}
maxSimpleJv0 = Math.max(maxSimpleJv0, jointvals[0]);
double sfactor = Math.min(d.width / 2.0, d.height / 2.0) / (Math.abs(maxSimpleJv0) + SimulatedKinematicsSimple.DEFAULT_SEGLENGTHS[0]);
g2d.scale(sfactor, -1.0 * sfactor);
g2d.setColor(Color.gray);
g2d.fill(j1circle);
l0rect.width = Math.cos(Math.toRadians(jointvals[2])) * jointvals[0];
g2d.rotate(Math.toRadians(jointvals[1]));
g2d.setColor(Color.yellow);
g2d.fill(l0rect);
g2d.translate(l0rect.width, 0.0);
g2d.setColor(Color.gray);
g2d.fill(j1circle);
l1rect.width = Math.cos(Math.toRadians(jointvals[4])) * SimulatedKinematicsSimple.DEFAULT_SEGLENGTHS[0];
g2d.rotate(Math.toRadians(jointvals[5] - jointvals[2]));
g2d.setColor(Color.yellow);
g2d.fill(l1rect);
return false;
}
private boolean paintPlausibleRobot(Dimension d, Graphics2D g2d) {
double sfactor = Math.min(d.width / 2.0, d.height / 2.0) / (seglengths[0] + seglengths[1] + seglengths[2] + seglengths[3]);
g2d.scale(sfactor, -1.0 * sfactor);
g2d.setColor(Color.gray);
g2d.fill(j1circle);
if (null == jointvals) {
return true;
}
g2d.rotate(Math.toRadians(jointvals[0]));
g2d.setColor(Color.yellow);
double angle = jointvals[1];
l0rect.width = seglengths[0] * Math.cos(Math.toRadians(angle));
g2d.fill(l0rect);
g2d.translate(l0rect.width, 0.0);
g2d.setColor(Color.yellow);
angle += jointvals[2];
l1rect.width = seglengths[1] * Math.cos(Math.toRadians(angle));
if (l1rect.width <= 0) {
return true;
}
g2d.fill(l1rect);
g2d.setColor(Color.gray);
g2d.fill(jrect);
g2d.translate(l1rect.width, 0.0);
angle += jointvals[3];
l2rect.width = seglengths[2] * Math.cos(Math.toRadians(angle));
if (l2rect.width <= 0) {
return true;
}
g2d.setColor(Color.yellow);
g2d.fill(l2rect);
g2d.setColor(Color.gray);
g2d.fill(jrect);
g2d.translate(l2rect.width, 0.0);
l3rect.width = seglengths[3] * Math.cos(Math.toRadians(angle));
if (l3rect.width <= 0) {
return true;
}
g2d.rotate(Math.toRadians(jointvals[4]));
g2d.setColor(Color.yellow);
g2d.fill(l3rect);
g2d.setColor(Color.gray);
g2d.fill(j2circle);
g2d.translate(l3rect.width, 0.0);
g2d.setColor(Color.BLACK);
l4rect.height = seglengths[3] * Math.abs(Math.sin(Math.toRadians(jointvals[5])));
l4rect.y = -0.5 * l5rect.height;
g2d.fill(l4rect);
g2d.translate(0.0, l5rect.height / 2.0);
g2d.fill(l5rect);
g2d.translate(0.0, -l5rect.height);
g2d.fill(l5rect);
return false;
}
private static final Logger LOG = Logger.getLogger(OverHeadJPanel.class.getName());
}
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