diff --git a/robots/tracker/RoboTrack.java b/robots/tracker/RoboTrack.java
index 47677b2b4345ec52df7406f83f88647c60922352..b4fb96cebcf15987c3342aab5d93c7609c10ac2c 100644
--- a/robots/tracker/RoboTrack.java
+++ b/robots/tracker/RoboTrack.java
@@ -21,11 +21,13 @@ import java.net.URL;
import java.net.URLEncoder;
import java.net.URLConnection;
import java.text.DecimalFormat;
+import com.sun.image.codec.jpeg.*;
/*
* Draw the floormap and put little dots on it.
*/
public class RoboTrack extends JApplet {
+ int myHeight, myWidth;
Map map;
JTable maptable;
JPopupMenu LeftMenuPopup, RightMenuPopup;
@@ -40,6 +42,8 @@ public class RoboTrack extends JApplet {
static final Date now = new Date();
String uid, auth, building, floor;
boolean shelled = false;
+ WebCam WebCamWorkers[] = null;
+ int WebCamCount = 0;
/*
* The connection to boss that will provide robot location info.
@@ -50,7 +54,13 @@ public class RoboTrack extends JApplet {
public void init() {
try
{
- URL urlServer = this.getCodeBase(), robopipe, floorurl;
+ if (! shelled) {
+ Dimension appletSize = this.getSize();
+
+ myHeight = appletSize.height;
+ myWidth = appletSize.width;
+ }
+ URL urlServer = this.getCodeBase(), robopipe, floorurl, camurl;
String pipeurl, baseurl;
URLConnection uc;
@@ -63,6 +73,40 @@ public class RoboTrack extends JApplet {
floor = this.getParameter("floor");
pixels_per_meter = Double.parseDouble(this.getParameter("ppm"));
+ if (this.getParameter("WebCamCount") != null) {
+ int count =
+ Integer.parseInt(this.getParameter("WebCamCount").trim());
+ WebCamWorkers = new WebCam[count];
+ System.out.println("There are " + count + " webcams");
+
+ for (int i = 0; i < count; i++) {
+ String camname = "WebCam" + i;
+ String coordname = "WebCam" + i + "XY";
+ int x, y;
+
+ if (this.getParameter(camname) == null ||
+ this.getParameter(coordname) == null)
+ continue;
+
+ camurl = new URL(urlServer,
+ this.getParameter(camname)
+ + "&nocookieuid="
+ + URLEncoder.encode(uid)
+ + "&nocookieauth="
+ + URLEncoder.encode(auth));
+
+ StringTokenizer tokens =
+ new StringTokenizer(this.getParameter(coordname), ",");
+
+ x = Integer.parseInt(tokens.nextToken().trim());
+ y = Integer.parseInt(tokens.nextToken().trim());
+
+ WebCamWorkers[WebCamCount] =
+ new WebCam(WebCamCount, camurl, x, y);
+ WebCamCount++;
+ }
+ }
+
// form the URL that we use to get the background image
floorurl = new URL(urlServer,
baseurl
@@ -105,24 +149,61 @@ public class RoboTrack extends JApplet {
});
*/
- // This is used below for the listeners.
- MyMouseAdaptor mymouser = new MyMouseAdaptor();
-
/*
- * Vertical placement of Components in the pane.
+ * Going to use the layered pane so that we can put the cameras
+ * in front of the map. But first I need to create a JPanel to
+ * contain the map and table. Why? Cause a layeredPane has no
+ * real layout management, and I do not want to use absolute
+ * positioning for that. So, put everything inside a JPanel, and
+ * then put the JPanel inside the root layeredPane. The put the
+ * webcams on top of that.
*/
- getContentPane().setLayout(new BoxLayout(getContentPane(),
- BoxLayout.PAGE_AXIS));
- getContentPane().add(map = new Map());
+ JLayeredPane MyLPane = getLayeredPane();
+ JPanel MyJPanel = new JPanel(true);
+
+ /*
+ * Specify vertical placement of components inside my JPanel.
+ */
+ MyJPanel.setLayout(new BoxLayout(MyJPanel, BoxLayout.Y_AXIS));
+
+ /*
+ * Now add the basic objects to the JPanel.
+ */
+ map = new Map();
+ MyJPanel.add(map);
/*
* This sillyness is how you get the column headers to show
* when you do not put the Jtable inside a scroll thingy.
*/
maptable = new JTable(new MyTableModel());
- getContentPane().add(maptable.getTableHeader(), BorderLayout.NORTH);
- getContentPane().add(maptable, BorderLayout.CENTER);
+ MyJPanel.add(maptable.getTableHeader());
+ MyJPanel.add(maptable);
+ /*
+ * Add the JPanel to the layeredPane, but give its size since
+ * there is no layout manager.
+ */
+ MyLPane.add(MyJPanel, JLayeredPane.DEFAULT_LAYER);
+ MyJPanel.setBounds(0, 0, myWidth, myHeight);
+
+ /*
+ * Now, if we have webcams, put them on the layered pane, on top
+ * of the the JPanel that holds the other stuff.
+ */
+ if (WebCamCount > 0) {
+ for (int i = 0; i < WebCamCount; i++) {
+ WebCam cam = WebCamWorkers[i];
+
+ MyLPane.add(cam, JLayeredPane.PALETTE_LAYER);
+
+ cam.setBounds(cam.X, cam.Y, cam.W, cam.H);
+ }
+ }
+
+ // This is used below for the listeners.
+ MyMouseAdaptor mymouser = new MyMouseAdaptor();
+
/*
* Create the popup menu that will be used to fire off
* robot moves. We use the mouseadaptor for this too.
@@ -172,9 +253,16 @@ public class RoboTrack extends JApplet {
public void start() {
map.start();
+
+ for (int i = 0; i < WebCamCount; i++) {
+ WebCamWorkers[i].start();
+ }
}
public void stop() {
+ for (int i = 0; i < WebCamCount; i++) {
+ WebCamWorkers[i].stop();
+ }
map.stop();
}
@@ -193,7 +281,11 @@ public class RoboTrack extends JApplet {
MediaTracker tracker = new MediaTracker(this);
tracker.addImage(img, 0);
tracker.waitForID(0);
- } catch (Exception e) {}
+ }
+ catch(Throwable th)
+ {
+ th.printStackTrace();
+ }
return img;
}
@@ -677,7 +769,7 @@ public class RoboTrack extends JApplet {
}
/*
- * If there is a orientation, add an orientation stick
+ * If there is an orientation, add an orientation stick
* to it.
*/
if (or != 500.0) {
@@ -788,12 +880,19 @@ public class RoboTrack extends JApplet {
int w = dim.width;
//System.out.println(w + " D " + h);
- //System.out.println(rect.width + " R " + rect.height);
-
- Graphics2D g2 = createGraphics2D(w, h);
- drawMap(w, h, g2);
- g.drawImage(bimg, 0, 0, this);
+ if (true) {
+ Graphics2D g2 = (Graphics2D)g;
+
+ g2.clearRect(0, 0, w, h);
+ drawMap(w, h, g2);
+ }
+ else {
+ Graphics2D g2 = createGraphics2D(w, h);
+
+ drawMap(w, h, g2);
+ g.drawImage(bimg, 0, 0, this);
+ }
}
public void start() {
@@ -1702,14 +1801,210 @@ public class RoboTrack extends JApplet {
JOptionPane.ERROR_MESSAGE);
}
+ public class WebCam extends JPanel implements Runnable {
+ private BufferedImage curimage = null;
+ private URL myurl;
+ private Thread camthread;
+ private int myid = 0;
+ private InputStream is = null;
+ public int X, Y, W, H;
+
+ public WebCam(int id, URL webcamurl, int x, int y) {
+ myid = id;
+ myurl = webcamurl;
+ X = x;
+ Y = y;
+ W = 240;
+ H = 180;
+
+ System.out.println("Creating a WebCam class: " +
+ id + "," + X + "," + Y);
+
+ super.setDoubleBuffered(true);
+ }
+
+ public void start() {
+ camthread = new Thread(this);
+ camthread.start();
+ }
+
+ public synchronized void stop() {
+ camthread = null;
+ }
+
+ /*
+ * This is the callback to paint the map.
+ */
+ public void paint(Graphics g) {
+ Dimension dim = getSize();
+ int h = dim.height;
+ int w = dim.width;
+
+ if (curimage == null)
+ return;
+
+ g.drawImage(curimage, 0, 0, this);
+ }
+
+ public void run() {
+ Thread me = Thread.currentThread();
+ String lenhdr = "content-length: ";
+ byte imageBytes[] = new byte[100000];
+ ByteArrayInputStream imageinput;
+ String str;
+ int size;
+
+ try
+ {
+ // And connect to it.
+ URLConnection uc = myurl.openConnection();
+ uc.setDoInput(true);
+ uc.setUseCaches(false);
+ this.is = uc.getInputStream();
+ }
+ catch(Throwable th)
+ {
+ th.printStackTrace();
+ camthread = null;
+ return;
+ }
+ BufferedInputStream input = new BufferedInputStream(this.is);
+
+ while (camthread == me) {
+ try
+ {
+ // First line is the boundry marker
+ if ((str = readLine(input).trim()) == null)
+ break;
+
+ if (!str.equals("--myboundary")) {
+ System.out.println("Sync error at boundry");
+ break;
+ }
+
+ // Next line is the Content-type. Skip it.
+ if ((str = readLine(input)) == null)
+ break;
+
+ // Next line is the Content-length. We need this.
+ if ((str = readLine(input)) == null)
+ break;
+ str = str.toLowerCase();
+
+ if (! str.startsWith(lenhdr)) {
+ System.out.println("Sync error at content length");
+ break;
+ }
+ str = str.substring(lenhdr.length(), str.length());
+ size = Integer.parseInt(str.trim());
+
+ if (size < 0) {
+ System.out.println("Bad content length: " + size);
+ break;
+ }
+ //System.out.println("content length: " + size);
+
+ // Next line is a blank line. Skip it.
+ if ((str = readLine(input)) == null)
+ break;
+
+ // Now we have the data. Buffer that up.
+ int count = 0;
+ while (count < size) {
+ int cc = input.read(imageBytes, count, size - count);
+ if (cc == -1)
+ break;
+
+ count += cc;
+ }
+ if (count != size) {
+ System.out.println("Not enough image data");
+ break;
+ }
+ // For the jpeg decoder.
+ imageinput = new ByteArrayInputStream(imageBytes);
+
+ JPEGImageDecoder decoder =
+ JPEGCodec.createJPEGDecoder(imageinput);
+
+ curimage = decoder.decodeAsBufferedImage();
+
+ //System.out.println("Got the image");
+
+ // Next line is a blank line. Skip it.
+ if ((str = readLine(input)) == null)
+ break;
+
+ repaint();
+ me.yield();
+ }
+ catch(IOException e)
+ {
+ e.printStackTrace();
+ break;
+ }
+ }
+ camthread = null;
+ destroy();
+ }
+
+ /*
+ * Catch termination.
+ */
+ public void destroy() {
+ try
+ {
+ if (is != null) {
+ is.close();
+ is = null;
+ }
+ }
+ catch(IOException e)
+ {
+ e.printStackTrace();
+ }
+ }
+
+ /*
+ * A utility function since a BufferedInputStream has no readline().
+ */
+ private byte[] buf = new byte[1024];
+
+ private String readLine(BufferedInputStream input) {
+ int index = 0;
+ int ch;
+
+ try
+ {
+ while ((ch = input.read()) != -1) {
+ buf[index++] = (byte) ch;
+ if (ch == '\n')
+ break;
+ }
+ }
+ catch(IOException e)
+ {
+ e.printStackTrace();
+ }
+ if (index == 0)
+ return "";
+ return new String(buf, 0, index);
+ }
+ }
+
public static void main(String argv[]) {
+ int W = 900;
+ int H = 600;
+
final RoboTrack robomap = new RoboTrack();
try
{
- URL url = new URL("file://robots-4.jpg");
+ URL url = new URL("file:///tmp/robots-4.jpg");
+ robomap.floorimage = robomap.getImage(url);
+ robomap.myWidth = W;
+ robomap.myHeight = H;
robomap.init(true);
robomap.is = System.in;
- robomap.floorimage = robomap.getImage(url);
robomap.uid = "stoller";
robomap.auth = "xyz";
}
@@ -1727,7 +2022,7 @@ public class RoboTrack extends JApplet {
});
f.add(robomap);
f.pack();
- f.setSize(new Dimension(900,600));
+ f.setSize(new Dimension(W,H));
f.show();
robomap.start();
}
diff --git a/www/robotmap.php3 b/www/robotmap.php3
index 19f6ba1475d6538eb1fa2b58cf3cec7c38d12e31..400388eb1b6647ffc97c15698c6d191de256367c 100755
--- a/www/robotmap.php3
+++ b/www/robotmap.php3
@@ -263,6 +263,8 @@ if ($isadmin || TBWebCamAllowed($uid)) {
}
echo " <a href=robotrack/robotrack.php3?building=${building}&floor=${floor}>".
"Track robots in real time</a>";
+echo " <a href=robotrack/robotrack.php3?building=${building}&floor=${floor}&withwebcams=1>".
+ " (with webcams)</a>";
echo " <br>\n";
if (isset($map_x) && isset($map_y)) {
diff --git a/www/robotrack/robopipe.php3 b/www/robotrack/robopipe.php3
index cdebc36265f444063b54f5968c7da65c3a2fe31f..6ac813df0277157575377cbbca14e06dab982574 100644
--- a/www/robotrack/robopipe.php3
+++ b/www/robotrack/robopipe.php3
@@ -133,6 +133,10 @@ while (1) {
$dy = "";
$dor = "";
}
+ else {
+ $dx = (int) $dx;
+ $dy = (int) $dy;
+ }
if (!isset($bvolts))
$bvolts = "";
if (!isset($bper))
diff --git a/www/robotrack/robotrack.php3 b/www/robotrack/robotrack.php3
index 1d0c993fae6553b69801df7e90fee5a2cf24831a..4520b739fb72ed6c5d4b1dffb854e477bc0c7ce6 100644
--- a/www/robotrack/robotrack.php3
+++ b/www/robotrack/robotrack.php3
@@ -45,6 +45,21 @@ else {
USERERROR("No such building/floor $building/$floor", 1);
}
+#
+# If adding in the webcams, get that stuff too.
+#
+$webcams = array();
+
+if ($withwebcams) {
+ $query_result = DBQueryFatal("select * from webcams");
+
+ while ($row = mysql_fetch_array($query_result)) {
+ $id = $row["id"];
+ $camurl = "../webcamimg.php3?webcamid=${id}&applet=1&fromtracker=1";
+ $webcams[] = $camurl;
+ }
+}
+
#
# Draw the legend and some explanatory text.
#
@@ -121,8 +136,29 @@ echo "<applet name='tracker' code='RoboTrack.class'
<param name='auth' value='$auth'>
<param name='ppm' value='$ppm'>
<param name='building' value='$building'>
- <param name='floor' value='$floor'>
- </applet>\n";
+ <param name='floor' value='$floor'>";
+if (count($webcams)) {
+ $camcount = count($webcams);
+ $x = 400;
+ $y = 460;
+
+ echo "<param name='WebCamCount' value='$camcount'>";
+
+ for ($i = 0; $i < $camcount; $i++) {
+ $camurl = $webcams[$i];
+
+ echo "<param name='WebCam${i}' value='$camurl'>
+ <param name='WebCam${i}XY' value='$x,$y'>";
+
+ $x += 260;
+
+ if ($x > 700) {
+ $x = 400;
+ $y = $y + 200;
+ }
+ }
+}
+echo "</applet>\n";
echo "<br>
<blockquote><blockquote>
diff --git a/www/robotrack/tracker.jar b/www/robotrack/tracker.jar
index d52bf225978c9668794e3dd8cc104e99ed413b5a..6929f89be4b9ae85fd83595a6848a2277337abb9 100644
Binary files a/www/robotrack/tracker.jar and b/www/robotrack/tracker.jar differ
diff --git a/www/webcamimg.php3 b/www/webcamimg.php3
index ed19c8dc167bd57dc06ac753de22cfddf21f4e8a..7480883a740724970b44fa5be3d99206fb05fefa 100644
--- a/www/webcamimg.php3
+++ b/www/webcamimg.php3
@@ -51,6 +51,9 @@ if (!$query_result || !mysql_num_rows($query_result)) {
}
$row = mysql_fetch_array($query_result);
$URL = (isset($applet) ? $row["URL"] : $row["stillimage_URL"]);
+if (isset($fromtracker)) {
+ $URL .= "&resolution=240x180&fps=2";
+}
#
# Check sitevar to make sure mere users are allowed to peek at us.