diff --git a/robots/tracker/GNUmakefile.in b/robots/tracker/GNUmakefile.in
index bf37d6f13df2627628dd4d3a63ea4b758d599cc8..786de323a4dffd66a53cc5b90bb819682b7695a2 100644
--- a/robots/tracker/GNUmakefile.in
+++ b/robots/tracker/GNUmakefile.in
@@ -14,10 +14,11 @@ include $(OBJDIR)/Makeconf
ifeq ($(JAVAC),)
JARS =
else
-JARS = $(TESTBED_SRCDIR)/www/robotrack/tracker.jar
+JARS = $(TESTBED_SRCDIR)/www/robotrack/tracker.jar \
+ $(TESTBED_SRCDIR)/www/robotrack/selector.jar
endif
-all:
+all: robopipe
jar: $(JARS)
include $(TESTBED_SRCDIR)/GNUmakerules
@@ -25,14 +26,18 @@ include $(TESTBED_SRCDIR)/GNUmakerules
RoboTrack.class: $(SRCDIR)/RoboTrack.java
$(JAVAC) -deprecation -d . $^
+NodeSelect.class: $(SRCDIR)/NodeSelect.java
+ $(JAVAC) -deprecation -d . $^
+
$(TESTBED_SRCDIR)/www/robotrack/tracker.jar: RoboTrack.class
- echo '$(filter-out RoboTrack.class, $(shell echo *.class))'
+ echo '$(filter-out RoboTrack.class, $(shell echo Robo*.class))'
$(JAR) cvf $@ $^ $(patsubst %,'%',$(filter-out RoboTrack.class, $(shell echo *.class)))
-foo:
- echo '$(filter-out RoboTrack.class, $(wildcard *.class))'
+$(TESTBED_SRCDIR)/www/robotrack/selector.jar: NodeSelect.class
+ echo '$(filter-out NodeSelect.class, $(shell echo Node*.class))'
+ $(JAR) cvf $@ $^ $(patsubst %,'%',$(filter-out NodeSelect.class, $(shell echo Node*.class)))
-install:
+install: $(INSTALL_LIBEXECDIR)/robopipe
clean:
/bin/rm -f *.class *.jar
diff --git a/robots/tracker/NodeSelect.java b/robots/tracker/NodeSelect.java
new file mode 100644
index 0000000000000000000000000000000000000000..d1c14386af07fa9ea543a77febb7434007aca5c3
--- /dev/null
+++ b/robots/tracker/NodeSelect.java
@@ -0,0 +1,983 @@
+/*
+ * EMULAB-COPYRIGHT
+ * Copyright (c) 2005 University of Utah and the Flux Group.
+ * All rights reserved.
+ */
+
+import java.awt.*;
+import java.awt.event.*;
+import java.awt.image.ImageObserver;
+import java.awt.image.BufferedImage;
+import java.awt.font.*;
+import javax.swing.*;
+import javax.swing.event.*;
+import javax.swing.table.AbstractTableModel;
+import java.net.URL;
+import java.lang.Math;
+import java.util.*;
+import java.text.*;
+import java.io.*;
+import java.net.URL;
+import java.net.URLEncoder;
+import java.net.URLConnection;
+import java.text.DecimalFormat;
+
+/*
+ * Draw the floormap and put little dots on it.
+ */
+public class NodeSelect extends JApplet {
+ Map map;
+ JPopupMenu LeftMenuPopup, RightMenuPopup, NodeMenuPopup;
+ JMenuItem CancelAllMenuItem, SubmitMenuItem, ShowExpMenuItem;
+ JMenuItem CancelAssignMenuItem, ShowNodeMenuItem, AssignMenuItem;
+ Dictionary MenuItems = new Hashtable();
+ Image floorimage;
+ double pixels_per_meter = 1.0;
+ static final DecimalFormat FORMATTER = new DecimalFormat("0.00");
+ static final SimpleDateFormat TIME_FORMAT =
+ new SimpleDateFormat("hh:mm:ss");
+ static final Date now = new Date();
+ String uid, auth, building, floor, pid, eid;
+ boolean shelled = false;
+ MyMouseAdaptor mymouser;
+
+ public void init() {
+ try
+ {
+ URL urlServer = this.getCodeBase(), floorurl;
+ String pipeurl, baseurl;
+ URLConnection uc;
+
+ /* Get our parameters then */
+ uid = this.getParameter("uid");
+ auth = this.getParameter("auth");
+ baseurl = this.getParameter("floorurl");
+ building = this.getParameter("building");
+ floor = this.getParameter("floor");
+ pid = this.getParameter("pid");
+ eid = this.getParameter("eid");
+ pixels_per_meter = Double.parseDouble(this.getParameter("ppm"));
+
+ // form the URL that we use to get the background image
+ floorurl = new URL(urlServer,
+ baseurl
+ + "&nocookieuid="
+ + URLEncoder.encode(uid)
+ + "&nocookieauth="
+ + URLEncoder.encode(auth));
+
+ System.out.println(urlServer.toString());
+ System.out.println(floorurl.toString());
+
+ // and then get it.
+ floorimage = getImage(floorurl);
+ }
+ catch(Throwable th)
+ {
+ th.printStackTrace();
+ }
+
+ /*
+ * Make sure the redraw stops when the window is iconified.
+ * Hmm, not sure how to do this yet. How do I get a handle
+ * on the current frame?
+ addWindowListener(new WindowAdapter() {
+ public void windowIconified(WindowEvent e) { stop(); }
+ public void windowDeiconified(WindowEvent e) { start(); }
+ });
+ */
+
+ // This is used below for the listeners.
+ mymouser = new MyMouseAdaptor();
+
+ /*
+ * Create the popup menu that will be active over the background.
+ */
+ LeftMenuPopup = new JPopupMenu("Tracker");
+ JMenuItem menuitem = new JMenuItem(" Main Menu ");
+ LeftMenuPopup.add(menuitem);
+ LeftMenuPopup.addSeparator();
+ ShowExpMenuItem = new JMenuItem("Show Experiment");
+ ShowExpMenuItem.addActionListener(mymouser);
+ LeftMenuPopup.add(ShowExpMenuItem);
+ SubmitMenuItem = new JMenuItem("Submit Selections");
+ SubmitMenuItem.addActionListener(mymouser);
+ LeftMenuPopup.add(SubmitMenuItem);
+ CancelAllMenuItem = new JMenuItem("Cancel All Selections");
+ CancelAllMenuItem.addActionListener(mymouser);
+ LeftMenuPopup.add(CancelAllMenuItem);
+ menuitem = new JMenuItem("Close This Menu");
+ menuitem.addActionListener(mymouser);
+ LeftMenuPopup.add(menuitem);
+ LeftMenuPopup.setBorder(BorderFactory.createLineBorder(Color.black));
+
+ /*
+ * And a right button popup that is active over a node.
+ */
+ RightMenuPopup = new JPopupMenu("Selector");
+ menuitem = new JMenuItem(" Context Menu ");
+ RightMenuPopup.add(menuitem);
+ RightMenuPopup.addSeparator();
+ ShowNodeMenuItem = new JMenuItem("Emulab ShowNode");
+ ShowNodeMenuItem.addActionListener(mymouser);
+ RightMenuPopup.add(ShowNodeMenuItem);
+ CancelAssignMenuItem = new JMenuItem("Cancel Assignment");
+ CancelAssignMenuItem.addActionListener(mymouser);
+ RightMenuPopup.add(CancelAssignMenuItem);
+ menuitem = new JMenuItem("Close This Menu");
+ menuitem.addActionListener(mymouser);
+ RightMenuPopup.add(menuitem);
+ RightMenuPopup.setBorder(BorderFactory.createLineBorder(Color.black));
+
+
+ /*
+ * And a right button popup that is active over a node.
+ */
+ NodeMenuPopup = new JPopupMenu("Selector");
+ menuitem = new JMenuItem(" Node Menu ");
+ NodeMenuPopup.add(menuitem);
+ NodeMenuPopup.addSeparator();
+ menuitem = new JMenuItem("Close This Menu");
+ menuitem.addActionListener(mymouser);
+ NodeMenuPopup.add(menuitem);
+ NodeMenuPopup.setBorder(BorderFactory.createLineBorder(Color.black));
+
+ /*
+ * Mouse listener. See below.
+ */
+ addMouseListener(mymouser);
+ addMouseMotionListener(mymouser);
+
+ /*
+ * Vertical placement of Components in the pane.
+ */
+ getContentPane().setLayout(new BoxLayout(getContentPane(),
+ BoxLayout.PAGE_AXIS));
+ getContentPane().add(map = new Map());
+ }
+
+ public void start() {
+ map.start();
+ }
+
+ public void stop() {
+ map.stop();
+ }
+
+ // Simply for the benefit of running from the shell for testing.
+ public void init(boolean fromshell) {
+ shelled = fromshell;
+ init();
+ }
+
+ /*
+ * A thing that waits for an image to be loaded.
+ */
+ public Image getImage(URL url) {
+ Image img = getToolkit().getImage(url);
+ try {
+ MediaTracker tracker = new MediaTracker(this);
+ tracker.addImage(img, 0);
+ tracker.waitForID(0);
+ }
+ catch (Throwable th)
+ {
+ th.printStackTrace();
+ }
+ return img;
+ }
+
+ /*
+ * A container for node and coordinate information.
+ */
+ private class Node {
+ String pname, vname;
+ String type; // Node type (garcia, mote, etc).
+ boolean mobile; // A robot or a fixed node (mote).
+ boolean allocated; // Node is allocated or free.
+ int radius; // Radius of circle, in pixels
+ int size; // Actual size, in pixels
+ int x, y; // Current x,y coords in pixels
+ double z; // Current z in meters
+ double or = 500.0; // Current orientation
+
+ /*
+ * These are formatted as strings to avoid doing conversons
+ * on the fly when the table is redrawn. Note, we have to
+ * convert from pixel coords (what the server sends) to meters.
+ */
+ String x_meters = "";
+ String y_meters = "";
+ String z_meters = "";
+ String or_string = "";
+ int index;
+ }
+ // Indexed by the robot physical name, points Robot struct above.
+ Dictionary Nodes = new Hashtable();
+ // Map from integer index to a Robot struct.
+ Vector nodemap = new Vector(10, 10);
+ int nodecount = 0;
+
+ private class Map extends JPanel implements Runnable {
+ private Thread thread;
+ private BufferedImage bimg;
+ private Graphics2D G2 = null;
+ private Font OurFont = null;
+
+ // The font width/height adjustment, for drawing labels.
+ int FONT_HEIGHT = 14;
+ int FONT_WIDTH = 6;
+
+ public Map() {
+ /*
+ * Request obstacle list when a real applet.
+ */
+ if (shelled) {
+ for (int i = 0; i < 3; i++) {
+ Node robbie;
+ int index;
+
+ robbie = new Node();
+ index = nodecount++;
+ robbie.index = index;
+ robbie.pname = "mote" + i;
+ Nodes.put(robbie.pname, robbie);
+ nodemap.insertElementAt(robbie, index);
+
+ robbie.type = "emote";
+ robbie.allocated = false;
+ robbie.mobile = false;
+ robbie.size = 10;
+ robbie.radius = 10;
+ robbie.x = 100 + (100 * index);
+ robbie.y = 100 + (100 * index);
+ robbie.x_meters =
+ FORMATTER.format(robbie.x / pixels_per_meter);
+ robbie.y_meters =
+ FORMATTER.format(robbie.y / pixels_per_meter);
+
+ robbie.z = 2.5;
+ robbie.z_meters = FORMATTER.format(robbie.z);
+
+ robbie.or = 500.0;
+ robbie.or_string = "";
+ }
+ JMenuItem menuitem = new JMenuItem("nodea");
+ menuitem.addActionListener(mymouser);
+ NodeMenuPopup.add(menuitem);
+ MenuItems.put("nodea", menuitem);
+
+ menuitem = new JMenuItem("nodeb");
+ menuitem.addActionListener(mymouser);
+ NodeMenuPopup.add(menuitem);
+ MenuItems.put("nodeb", menuitem);
+
+ menuitem = new JMenuItem("nodec");
+ menuitem.addActionListener(mymouser);
+ NodeMenuPopup.add(menuitem);
+ MenuItems.put("nodec", menuitem);
+ }
+ else {
+ GetNodeInfo();
+ GetExpInfo();
+ }
+
+ OurFont = new Font("Arial", Font.PLAIN, 14);
+ }
+
+ /*
+ * Compute the endpoint of a line segment starting at the
+ * center of a circle (x,y) with orientation (angle).
+ */
+ public int[] ComputeOrientationLine(int x, int y,
+ int dist, double angle) {
+ int retvals[] = new int[2];
+
+ retvals[0] = (int) (x + dist *
+ Math.cos(-angle * 3.1415926536 / 180.0));
+ retvals[1] = (int) (y + dist *
+ Math.sin(-angle * 3.1415926536 / 180.0));
+
+ return retvals;
+ }
+
+ /*
+ * I stole this from some demo programs. Not really sure what
+ * it does exactly, but has something to do with double buffering.
+ */
+ public Graphics2D createGraphics2D(int w, int h) {
+ //System.out.println("createGraphics2D");
+
+ if (G2 == null) {
+ bimg = (BufferedImage) createImage(w, h);
+
+ G2 = bimg.createGraphics();
+ G2.setFont(OurFont);
+ G2.setBackground(getBackground());
+ G2.setRenderingHint(RenderingHints.KEY_RENDERING,
+ RenderingHints.VALUE_RENDER_QUALITY);
+ }
+ G2.clearRect(0, 0, w, h);
+ return G2;
+ }
+
+ /*
+ * Given an x,y from a button click, try to map the coords
+ * to a robot that has been drawn on the screen. There are
+ * probably race conditions here, but I doubt they will cause
+ * any real problems (like, maybe we pick the wrong robot).
+ */
+ public String pickRobot(int x, int y) {
+ Enumeration e = Nodes.elements();
+
+ while (e.hasMoreElements()) {
+ Node robbie = (Node)e.nextElement();
+
+ if ((Math.abs(robbie.y - y) < robbie.size/2 &&
+ Math.abs(robbie.x - x) < robbie.size/2)) {
+ return robbie.pname;
+ }
+ }
+ return "";
+ }
+
+ /*
+ * Draw a node.
+ */
+ public void drawNode(Graphics2D g2,
+ int x, int y, double or, String label,
+ int dot_radius, boolean dead, boolean assigned) {
+ /*
+ * An allocated robot is a filled circle.
+ * A destination is an unfilled circle. So is a dragging robot.
+ */
+ if (dead) {
+ g2.setColor(Color.red);
+ g2.fillOval(x - dot_radius, y - dot_radius,
+ dot_radius * 2, dot_radius * 2);
+ }
+ else if (assigned) {
+ g2.setColor(Color.yellow);
+ g2.fillOval(x - dot_radius, y - dot_radius,
+ dot_radius * 2, dot_radius * 2);
+ }
+ else {
+ g2.setColor(Color.green);
+ g2.fillOval(x - dot_radius, y - dot_radius,
+ dot_radius * 2, dot_radius * 2);
+ }
+
+ /*
+ * If there is a orientation, add an orientation stick
+ * to it.
+ */
+ if (or != 500.0) {
+ int endpoint[] = ComputeOrientationLine(x, y,
+ dot_radius * 2, or);
+
+ //System.out.println(or + " " + x + " " + y + " " +
+ // endpoint[0] + " " + endpoint[1]);
+
+ g2.drawLine(x, y, endpoint[0], endpoint[1]);
+ }
+
+ /*
+ * Draw a label for the robot, either above or below,
+ * depending on where the orientation stick was.
+ */
+ int lx = x - ((FONT_WIDTH * label.length()) / 2);
+ int ly = y + dot_radius + FONT_HEIGHT;
+ int dly = ly + FONT_HEIGHT;
+
+ if ((or > 180.0 && or < 360.0) ||
+ (or < 0.0 && or > -180.0)) {
+ ly = y - (dot_radius + 2);
+ dly = ly - FONT_HEIGHT;
+ }
+
+ g2.setColor(Color.black);
+ g2.drawString(label, lx, ly);
+ }
+
+ public void drawMap(int w, int h, Graphics2D g2) {
+ int fw, fh;
+
+ fw = floorimage.getWidth(this);
+ fh = floorimage.getHeight(this);
+
+ /*
+ * The base image is the floormap.
+ */
+ g2.drawImage(floorimage, 0, 0, fw, fh, this);
+
+ /*
+ * Then we draw a bunch of stuff on it, like the robots.
+ */
+ Enumeration e = Nodes.elements();
+
+ while (e.hasMoreElements()) {
+ Node robbie = (Node)e.nextElement();
+
+ int x = robbie.x;
+ int y = robbie.y;
+ String label = robbie.pname;
+
+ if (robbie.vname != null)
+ label += "(" + robbie.vname + ")";
+
+ drawNode(g2, x, y, robbie.or, label,
+ (int) (robbie.size/2), false,
+ (robbie.vname == null ? false : true));
+ }
+ }
+
+ /*
+ * This is the callback to paint the map.
+ */
+ public void paint(Graphics g) {
+ Dimension dim = getSize();
+ Rectangle rect = map.getBounds();
+ int h = dim.height;
+ 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);
+ }
+
+ public void start() {
+ G2 = null;
+ thread = new Thread(this);
+ thread.start();
+ }
+
+ public synchronized void stop() {
+ thread = null;
+ }
+
+ public void run() {
+ Thread me = Thread.currentThread();
+
+ while (thread == me) {
+ try {
+ thread.sleep(1000);
+ }
+ catch (InterruptedException e)
+ {
+ break;
+ }
+ }
+ thread = null;
+ }
+ }
+
+ /*
+ * Utility function. When canceling a drag operation, we need to
+ * clear the values in the table for that row. If we do not do this,
+ * the next time the user tries to drag that node, the old value in
+ * cell that was being edited is picked up (and I do not know how
+ * to turn off editing of the cell being edited).
+ */
+ private void cancelSelection(Node robbie) {
+ if (robbie.vname != null) {
+ JMenuItem menuitem = (JMenuItem) MenuItems.get(robbie.vname);
+ menuitem.setEnabled(true);
+ robbie.vname = null;
+ }
+ }
+
+ /*
+ * Mouse button event handler.
+ */
+ public class MyMouseAdaptor implements MouseInputListener, ActionListener {
+ String node_id = null;
+
+ public void mousePressed(MouseEvent e) {
+ int button = e.getButton();
+
+ if (button == e.BUTTON1) {
+ /*
+ * Left button pressed. This starts a select operation.
+ */
+ node_id = map.pickRobot(e.getX(), e.getY());
+
+ if (node_id == "") {
+ node_id = null;
+ MaybeLeftShowMenu(e);
+ return;
+ }
+ Node robbie = (Node) Nodes.get(node_id);
+
+ /*
+ * Not allowed to reassign a node. For simplicity, must
+ * first unassign.
+ */
+ if (robbie.vname != null) {
+ node_id = null;
+ return;
+ }
+ NodeMenuPopup.show(map, e.getX(), e.getY());
+ }
+ else if (button == e.BUTTON3) {
+ /*
+ * Right mouse button will bring up a context menu.
+ */
+ node_id = map.pickRobot(e.getX(), e.getY());
+
+ if (node_id == "") {
+ node_id = null;
+ return;
+ }
+ Node robbie = (Node) Nodes.get(node_id);
+
+ /*
+ * Set whether the cancel move button is enabled.
+ */
+ if (robbie.vname == null)
+ CancelAssignMenuItem.setEnabled(false);
+ else
+ CancelAssignMenuItem.setEnabled(true);
+
+ RightMenuPopup.show(map, e.getX(), e.getY());
+ }
+ }
+
+ public void mouseReleased(MouseEvent e) {
+ int button = e.getButton();
+
+ if (button == e.BUTTON1) {
+ /*
+ * Left button released. This terminates the operation.
+ */
+ // Make sure we received the down event.
+ if (node_id == null) {
+ return;
+ }
+ System.out.println("Select finished: " + node_id);
+ repaint();
+ }
+ else if (button == e.BUTTON3) {
+ /*
+ * Right mouse button brought up the context menu.
+ * It seems that this event will fire before the menu popup
+ * event fires, so nothing to do since we need to maintain
+ * the state (the selected node) for the popup event below.
+ */
+ if (node_id == null) {
+ return;
+ }
+ System.out.println("Click finished: " + node_id);
+ repaint();
+ }
+ }
+
+ public void mouseEntered(MouseEvent e) {
+ }
+
+ public void mouseExited(MouseEvent e) {
+ }
+
+ public void mouseClicked(MouseEvent e) {
+ }
+
+ public void mouseDragged(MouseEvent e) {
+ }
+
+ public void mouseMoved(MouseEvent e) {
+ }
+
+ /*
+ * Decide if we want to actually show the popupmenu.
+ */
+ public void MaybeLeftShowMenu(MouseEvent e) {
+ LeftMenuPopup.show(map, e.getX(), e.getY());
+ }
+
+ /*
+ * This is for the popup menu(s).
+ */
+ public void actionPerformed(ActionEvent e) {
+ JMenuItem source = (JMenuItem)(e.getSource());
+ String choice = source.getText();
+
+ System.out.println("Popup select: " + choice + "\n");
+
+ /*
+ * Figuring out which item was selected is silly.
+ */
+ if (source == CancelAllMenuItem) {
+ /*
+ * Clear all the dragging bits.
+ */
+ Enumeration enum = Nodes.elements();
+
+ while (enum.hasMoreElements()) {
+ cancelSelection((Node) enum.nextElement());
+ }
+ }
+ else if (source == SubmitMenuItem) {
+ /*
+ * Check for collisions before submitting.
+ */
+ SendInSelections();
+ }
+ else if (source == ShowNodeMenuItem && node_id != null) {
+ if (! shelled) {
+ Node robbie = (Node) Nodes.get(node_id);
+
+ // This will fail when I run it from the shell
+ try
+ {
+ URL url = new URL(getCodeBase(),
+ "/shownode.php3?node_id=" +
+ robbie.pname
+ + "&nocookieuid="
+ + URLEncoder.encode(uid)
+ + "&nocookieauth="
+ + URLEncoder.encode(auth));
+ System.out.println(url.toString());
+ getAppletContext().showDocument(url, "_robbie");
+ }
+ catch(Throwable th)
+ {
+ th.printStackTrace();
+ }
+ }
+ }
+ else if (source == ShowExpMenuItem) {
+ if (! shelled) {
+ // This will fail when I run it from the shell
+ try
+ {
+ URL url = new URL(getCodeBase(),
+ "/showexp.php3?pid=" + pid
+ + "&eid=" + eid
+ + "&nocookieuid="
+ + URLEncoder.encode(uid)
+ + "&nocookieauth="
+ + URLEncoder.encode(auth));
+ System.out.println(url.toString());
+ getAppletContext().showDocument(url, "_blank");
+ }
+ catch(Throwable th)
+ {
+ th.printStackTrace();
+ }
+ }
+ }
+ else if (source == CancelAssignMenuItem && node_id != null) {
+ cancelSelection((Node) Nodes.get(node_id));
+ }
+ else if (node_id != null) {
+ JMenuItem menuitem = (JMenuItem) MenuItems.get(choice);
+
+ if (source == menuitem) {
+ Node robbie = (Node) Nodes.get(node_id);
+
+ robbie.vname = choice;
+ menuitem.setEnabled(false);
+ }
+ }
+ repaint();
+ }
+ }
+
+ /*
+ * Get the physical node list from the server.
+ */
+ public boolean GetNodeInfo() {
+ String urlstring = "nodeinfo.php3?fromapplet=1&selector=1"
+ + "&floor=" + floor
+ + "&building=" + building
+ + "&nocookieuid="
+ + URLEncoder.encode(uid)
+ + "&nocookieauth="
+ + URLEncoder.encode(auth);
+
+ try
+ {
+ URL url = new URL(getCodeBase(), urlstring);
+ URLConnection urlConn;
+ InputStream is;
+ String str;
+ int index = 0;
+
+ urlConn = url.openConnection();
+ urlConn.setDoInput(true);
+ urlConn.setUseCaches(false);
+ is = urlConn.getInputStream();
+
+ BufferedReader input
+ = new BufferedReader(new InputStreamReader(is));
+
+ /*
+ * This should be in XML format.
+ */
+ while ((str = input.readLine()) != null) {
+ System.out.println(str);
+
+ StringTokenizer tokens = new StringTokenizer(str, ",");
+ String nodeid;
+ Node robbie;
+
+ nodeid = tokens.nextToken().trim();
+
+ if ((robbie = (Node) Nodes.get(nodeid)) == null) {
+ robbie = new Node();
+ index = nodecount++;
+ robbie.index = index;
+ robbie.pname = nodeid;
+ Nodes.put(nodeid, robbie);
+ nodemap.insertElementAt(robbie, index);
+ }
+ robbie.type = tokens.nextToken().trim();
+ robbie.allocated =
+ tokens.nextToken().trim().compareTo("1") == 0;
+ robbie.mobile =
+ tokens.nextToken().trim().compareTo("1") == 0;
+ robbie.size = (int)
+ (Float.parseFloat(tokens.nextToken().trim()) *
+ pixels_per_meter);
+ robbie.radius = (int)
+ (Float.parseFloat(tokens.nextToken().trim()) *
+ pixels_per_meter);
+
+ robbie.x = Integer.parseInt(tokens.nextToken().trim());
+ robbie.y = Integer.parseInt(tokens.nextToken().trim());
+ robbie.x_meters =
+ FORMATTER.format(robbie.x / pixels_per_meter);
+ robbie.y_meters =
+ FORMATTER.format(robbie.y / pixels_per_meter);
+
+ str = tokens.nextToken().trim();
+ if (str.length() > 0) {
+ robbie.z = Double.parseDouble(str);
+ robbie.z_meters = FORMATTER.format(robbie.z);
+ }
+ else {
+ robbie.z = 0.0;
+ robbie.z_meters = "";
+ }
+
+ str = tokens.nextToken().trim();
+ if (str.length() > 0) {
+ robbie.or = Double.parseDouble(str);
+ robbie.or_string = FORMATTER.format(robbie.or);
+ }
+ else {
+ robbie.or = 500.0;
+ robbie.or_string = "";
+ }
+ }
+ is.close();
+ }
+ catch(Throwable th)
+ {
+ MyDialog("GetNodeInfo",
+ "Failed to get node list from server");
+ th.printStackTrace();
+ return false;
+ }
+ return true;
+ }
+
+ /*
+ * Get experiment info from the server. Just vnodes for now
+ */
+ public boolean GetExpInfo() {
+ String urlstring = "virtinfo.php3?fromapplet=1"
+ + "&pid=" + pid
+ + "&eid=" + eid
+ + "&nocookieuid="
+ + URLEncoder.encode(uid)
+ + "&nocookieauth="
+ + URLEncoder.encode(auth);
+
+ try
+ {
+ URL url = new URL(getCodeBase(), urlstring);
+ URLConnection urlConn;
+ InputStream is;
+ String str;
+ int index = 0;
+
+ urlConn = url.openConnection();
+ urlConn.setDoInput(true);
+ urlConn.setUseCaches(false);
+ is = urlConn.getInputStream();
+
+ BufferedReader input
+ = new BufferedReader(new InputStreamReader(is));
+
+ /*
+ * This should be in XML format.
+ */
+ while ((str = input.readLine()) != null) {
+ System.out.println(str);
+
+ StringTokenizer tokens = new StringTokenizer(str, ",");
+ String vname, pname;
+
+ vname = tokens.nextToken().trim();
+ pname = tokens.nextToken().trim();
+
+ /*
+ * Create a menu item for it.
+ */
+ JMenuItem menuitem = new JMenuItem(vname);
+ menuitem.addActionListener(mymouser);
+ NodeMenuPopup.add(menuitem);
+
+ MenuItems.put(vname, menuitem);
+
+ /*
+ * Check for assignment.
+ */
+ if (pname.length() > 0) {
+ Node robbie = (Node) Nodes.get(pname);
+
+ robbie.vname = vname;
+ menuitem.setEnabled(false);
+ }
+ }
+ is.close();
+ }
+ catch(Throwable th)
+ {
+ MyDialog("GetExpInfo",
+ "Failed to get virtual node list from server");
+ th.printStackTrace();
+ return false;
+ }
+ return true;
+ }
+
+ /*
+ * Send the selections into the web server.
+ */
+ public boolean SendInSelections() {
+ Enumeration e = Nodes.elements();
+
+ // Its a POST, so no leading "?" for the URL arguments.
+ String urlstring = "fromapplet=1"
+ + "&pid=" + pid
+ + "&eid=" + eid
+ + "&nocookieuid="
+ + URLEncoder.encode(uid)
+ + "&nocookieauth="
+ + URLEncoder.encode(auth);
+
+ while (e.hasMoreElements()) {
+ Node robbie = (Node)e.nextElement();
+
+ if (robbie.vname == null) {
+ continue;
+ }
+
+ urlstring = urlstring +
+ "&nodelist[" + robbie.vname + "]=" + robbie.pname;
+ }
+ if (shelled) {
+ System.out.println(urlstring);
+ return true;
+ }
+
+ // This will fail when I run it from the shell
+ try
+ {
+ URL url = new URL(getCodeBase(),
+ "assignnodes.php3");
+ URLConnection urlConn;
+ DataOutputStream printout;
+ BufferedReader input;
+ String str = "", tmp;
+
+ System.out.println(url.toString());
+ System.out.println(urlstring);
+
+ /*
+ * All of this copied from Chads Netbuild code.
+ */
+ // URL connection channel.
+ urlConn = url.openConnection();
+ // Let the run-time system (RTS) know that we want input.
+ urlConn.setDoInput(true);
+ // Let the RTS know that we want to do output.
+ urlConn.setDoOutput(true);
+ // No caching, we want the real thing.
+ urlConn.setUseCaches(false);
+ // Specify the content type.
+ urlConn.setRequestProperty("Content-Type",
+ "application/x-www-form-urlencoded");
+ // Send POST output.
+ printout = new DataOutputStream(urlConn.getOutputStream ());
+ printout.writeBytes(urlstring);
+ printout.flush();
+ printout.close();
+ // Get response data.
+ input = new BufferedReader(new
+ InputStreamReader(urlConn.getInputStream()));
+ while (null != ((tmp = input.readLine()))) {
+ str = str + "\n" + tmp;
+ }
+ input.close();
+
+ if (str.length() > 0) {
+ MyDialog("Assignment Failed", str);
+ }
+ else {
+ MyDialog("Assignment Successful",
+ "Left click and select Show Experiment");
+ }
+ }
+ catch(Throwable th)
+ {
+ th.printStackTrace();
+ }
+ return true;
+ }
+
+ /*
+ * Utility function to pop up a dialog box.
+ */
+ public void MyDialog(String title, String msg) {
+ System.out.println(title + " - " + msg);
+
+ JOptionPane.showMessageDialog(getContentPane(),
+ msg, title,
+ JOptionPane.ERROR_MESSAGE);
+ }
+
+ public static void main(String argv[]) {
+ final NodeSelect robomap = new NodeSelect();
+ try
+ {
+ URL url = new URL("file://robots-4.jpg");
+ robomap.init(true);
+ robomap.floorimage = robomap.getImage(url);
+ robomap.uid = "stoller";
+ robomap.auth = "xyz";
+ }
+ catch(Throwable th)
+ {
+ th.printStackTrace();
+ }
+
+ Frame f = new Frame("Robot Map");
+
+ f.addWindowListener(new WindowAdapter() {
+ public void windowClosing(WindowEvent e) {System.exit(0);}
+ public void windowDeiconified(WindowEvent e) { robomap.start(); }
+ public void windowIconified(WindowEvent e) { robomap.stop(); }
+ });
+ f.add(robomap);
+ f.pack();
+ f.setSize(new Dimension(900,600));
+ f.show();
+ robomap.start();
+ }
+}