From 7b5e10555ab506ea4ec590760836a5d9f49d550a Mon Sep 17 00:00:00 2001 From: "Leigh B. Stoller" Date: Tue, 24 May 2005 22:11:46 +0000 Subject: [PATCH] Another small fix; Do not check the exclusion zone around a robot when moving that robot! --- robots/emc/locpiper.in | 7 +++++++ robots/tracker/RoboTrack.java | 28 ++++++++++++++++++++++------ www/robotrack/tracker.jar | Bin 39671 -> 39689 bytes 3 files changed, 29 insertions(+), 6 deletions(-) diff --git a/robots/emc/locpiper.in b/robots/emc/locpiper.in index 8a6155a12..66bae8a14 100644 --- a/robots/emc/locpiper.in +++ b/robots/emc/locpiper.in @@ -356,6 +356,13 @@ sub callbackFunc($$$) { $val = int($val * $PPM); push(@event, "YMAX=$val"); } + elsif ($key eq "ROBOT" || $key eq "robot") { + if (exists($nodeids{$val})) { + // Convert to phys nodeid. + $val = $nodeids{$val}; + } + push(@event, "ROBOT=$val"); + } } my $evstr = "TYPE=AREA,ID=$id,ACTION=$evtype"; $evstr .= "," . join("," ,@event) diff --git a/robots/tracker/RoboTrack.java b/robots/tracker/RoboTrack.java index f2e13e561..4a1c5e791 100644 --- a/robots/tracker/RoboTrack.java +++ b/robots/tracker/RoboTrack.java @@ -349,7 +349,8 @@ public class RoboTrack extends JApplet { String description; boolean dynamic = false; // A dynamically created Obstacle. Rectangle rectangle = null; // Only for dynamic obstacles. - Rectangle exclusion = null; // Ditto, for the grey area. + Rectangle exclusion = null; // Ditto, for the grey area. + String robbie = null; // Set to nodeid if a robot obstacle. } Vector Obstacles = new Vector(10, 10); Dictionary ObDynMap = new Hashtable(); // Temp Obstacles only. @@ -585,6 +586,7 @@ public class RoboTrack extends JApplet { int index; String action = ""; int x1 = 0, y1 = 0, x2 = 0, y2 = 0, id; + String robotag = null; id = Integer.parseInt(obid); @@ -616,6 +618,9 @@ public class RoboTrack extends JApplet { else if (key.equals("YMAX")) { y2 = Integer.parseInt(val); } + else if (key.equals("ROBOT")) { + robotag = val; + } } if (action.equals("CREATE")) { // Is this (left over ID) going to happen? Remove old one. @@ -625,13 +630,14 @@ public class RoboTrack extends JApplet { } // Must delay insert until the new Obstacle is initialized oby = new Obstacle(); - + oby.id = id; oby.x1 = x1; oby.y1 = y1; oby.x2 = x2; oby.y2 = y2; oby.description = "Dynamic Obstacle"; + oby.robbie = robotag; oby.dynamic = true; oby.rectangle = new Rectangle(x1, y1, x2-x1, y2-y1); oby.exclusion = new Rectangle(x1 - OBSTACLE_BUFFER, @@ -725,8 +731,8 @@ public class RoboTrack extends JApplet { int rx2 = robbie.drag_x; int ry2 = robbie.drag_y; - System.out.println("CheckforObstacles: " + rx1 + "," + - ry1 + "," + rx2 + "," + ry2); + //System.out.println("CheckforObstacles: " + rx1 + "," + + // ry1 + "," + rx2 + "," + ry2); /* * Check for overlap of this robot with each obstacle. @@ -761,13 +767,23 @@ public class RoboTrack extends JApplet { while (e.hasMoreElements()) { Obstacle obstacle = (Obstacle)e.nextElement(); + /* + * Skip this Obstacle if its a robot Obstacle + * that was generated on the fly, and it refers + * to our self. + */ + if (obstacle.robbie != null && + obstacle.robbie.equals(robbie.pname)) { + continue; + } + int ox1 = obstacle.x1 - OBSTACLE_BUFFER; int oy1 = obstacle.y1 - OBSTACLE_BUFFER; int ox2 = obstacle.x2 + OBSTACLE_BUFFER; int oy2 = obstacle.y2 + OBSTACLE_BUFFER; - System.out.println(" " + ox1 + "," + - oy1 + "," + ox2 + "," + oy2); + //System.out.println(" " + ox1 + "," + + // oy1 + "," + ox2 + "," + oy2); if (! 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