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danielzurawski/CleanDroid.java

Created April 25, 2012 18:18
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CleanDroid Main Class
Raw
CleanDroid.java
/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
package com.cleandroid;
import java.awt.BorderLayout;
import java.awt.Dimension;
import java.awt.FlowLayout;
import java.awt.Toolkit;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.io.File;
import javax.swing.ImageIcon;
import javax.swing.JButton;
import javax.swing.JFrame;
import javax.swing.JLabel;
import javax.swing.JPanel;
import javax.swing.UIManager;
import javax.swing.UnsupportedLookAndFeelException;
import javax.swing.plaf.metal.MetalLookAndFeel;
import javax.swing.plaf.metal.OceanTheme;
import com.cleandroid.consumerSoftware.ConsumerGUI;
import com.cleandroid.evaluationSoftware.EvaluationGUI;
import com.cleandroid.occupancyGridMap.GridCell;
/**
*
* @author danielzurawski
*/
public class CleanDroid extends JFrame {
/**
* An instance of Consumer GUI.
*/
static ConsumerGUI cGUI;
/**
* An instance of the SLAM Slam2 class
*/
static Slam2 slamClass;
/**
* An instance of the SaveLoad class that provies functionality for serializing and de-serializing files.
*/
static SaveLoad saveLoad;
/**
* An instance of environment evaluator class for evaluating if the robot is placed in an old or new environment.
*/
static EnvironmentEvaluator environmentEvaluator;
/**
* The default look and feel to be used when the program is launched
*/
static String LOOKANDFEEL = "SubstanceDustLookAndFeel";
File directory = new File(".");
static boolean repaint;
/**
* CleanDroid constructor which invokes createGUI() when instantiated.
* It uses SwingUtilities invokeLater for performance reasons.
*/
public CleanDroid() {
slamClass = new Slam2();
setLookAndFeel();
javax.swing.SwingUtilities.invokeLater(new Runnable() {
public void run() {
try {
createGUI();
} catch (Exception ex) {
}
}
});
}
/**
* Build the software selection GUI.
*/
public void createGUI() {
File directory = new File(".");
JButton jbConsumer = new JButton("Consumer");
JButton jbEvaluation = new JButton("Evaluation");
final ImageIcon logo = new ImageIcon(directory.getAbsolutePath() + "/com/cleandroid/consumerSoftware/CleanDroid.png");
JPanel jpSouth = new JPanel(new FlowLayout());getContentPane().setLayout(new BorderLayout());
JPanel jpCenter = new JPanel(new FlowLayout());
jpSouth.add(jbConsumer);
jpSouth.add(jbEvaluation);
final JLabel jlLoading = new JLabel(logo);
jpSouth.add(jlLoading);
add(jpSouth, BorderLayout.SOUTH);
add(jlLoading,BorderLayout.CENTER);
jbConsumer.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent arg0) {
add(jlLoading, BorderLayout.CENTER);
startEvaulator();
showConsumer();
}
});
jbEvaluation.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent arg0) {
showEvaluation();
}
});
setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
Toolkit toolkit = Toolkit.getDefaultToolkit();
Dimension wielkosc = toolkit.getScreenSize();
int screenHeight = wielkosc.height;
int screenWidth = wielkosc.width;
setSize(screenWidth / 2, screenHeight / 2);
setLocation(screenWidth / 4, screenHeight / 4);
setVisible(true);
setSize(300, 300);
}
/**
* Try to set the look and feel using the Substance LAF libararies.
* If they are not available, then try various default Swing LAFs and start the program.
*/
private static void setLookAndFeel() {
String lookAndFeel = null;
repaint = true;
if (LOOKANDFEEL != null) {
if (LOOKANDFEEL.equals("Metal")) {
lookAndFeel = UIManager.getCrossPlatformLookAndFeelClassName();
} else if (LOOKANDFEEL.equals("System")) {
lookAndFeel = UIManager.getSystemLookAndFeelClassName();
} else if (LOOKANDFEEL.equals("Motif")) {
lookAndFeel = "com.sun.java.swing.plaf.motif.MotifLookAndFeel";
} else if (LOOKANDFEEL.equals("GTK")) {
lookAndFeel = "com.sun.java.swing.plaf.gtk.GTKLookAndFeel";
repaint = false;
} else if (LOOKANDFEEL.equals("SubstanceDustLookAndFeel")) {
lookAndFeel = "org.pushingpixels.substance.api.skin.SubstanceDustLookAndFeel";
} else {
System.err
.println("Unexpected value of LOOKANDFEEL specified: "
+ LOOKANDFEEL);
lookAndFeel = UIManager.getCrossPlatformLookAndFeelClassName();
}
try {
UIManager.setLookAndFeel(lookAndFeel);
// If the look and feel is set to Metal, then set the theme to
// Ocean
if (LOOKANDFEEL.equals("Metal")) {
MetalLookAndFeel.setCurrentTheme(new OceanTheme());
UIManager.setLookAndFeel(new MetalLookAndFeel());
}
} catch (ClassNotFoundException e) {
System.err
.println("Couldn't find class for specified look and feel:"
+ lookAndFeel);
System.err
.println("Did you include the L&F library in the class path?");
System.err.println("Using the default look and feel.");
repaint = true;
} catch (UnsupportedLookAndFeelException e) {
System.err.println("Can't use the specified look and feel ("
+ lookAndFeel + ") on this platform.");
System.err.println("Using the default look and feel.");
repaint = true;
} catch (Exception e) {
System.err.println("Couldn't get specified look and feel ("
+ lookAndFeel + "), for some reason.");
System.err.println("Using the default look and feel.");
repaint = true;
e.printStackTrace();
}
}
}
/**
* Start the environment evaluator responsible for determining whether the robot is placed in a new environment or not.
* Try to deserialize the map, if the map is deserialized then evaluate it and if the robot operates in the old environment, then load the full previous map.
* If it doesn't deserialize or it deserializes, but the environment is new, then it will just carry on with the new environment.
*/
public static void startEvaulator() {
slamClass.setEvaluatingEnvironment(true);
saveLoad = new SaveLoad(slamClass);
if (saveLoad.deserializeMap() == true) {
slamClass.localize2(saveLoad.getGridMap());
double tempX = saveLoad.getGridMap().getGrid()[saveLoad
.getGridMap().getCurrentIndexY()][saveLoad.getGridMap()
.getCurrentIndexX()].getX() - 125 * 0.25;
double tempY = saveLoad.getGridMap().getGrid()[saveLoad
.getGridMap().getCurrentIndexY()][saveLoad.getGridMap()
.getCurrentIndexX()].getY() + 125 * 0.25;
for (int i = 0; i < 251; i++) {
for (int j = 0; j < 251; j++) {
slamClass.getMap().getGrid()[i][j] = new GridCell(3);
slamClass.getMap().getGrid()[i][j].setyIndex(i);
slamClass.getMap().getGrid()[i][j].setxIndex(j);
slamClass.getMap().getGrid()[i][j].setY(tempY - 0.25 * i);
slamClass.getMap().getGrid()[i][j].setX(tempX + 0.25 * j);
}
}
slamClass.adjust();
slamClass.getMap().getGrid()[slamClass.getCurrentIndexY()][slamClass
.getCurrentIndexX()].setType(7);
slamClass.setChargingStation(slamClass.getMap().getGrid()[slamClass
.getCurrentIndexY()][slamClass.getCurrentIndexX()]);
slamClass.heading = slamClass
.determineYaw(slamClass.pos2D.getYaw());
slamClass.markSurrounding();
slamClass.getMap().getGrid()[slamClass.getCurrentIndexY()][slamClass
.getCurrentIndexX()].setX(slamClass.pos2D.getX());
slamClass.getMap().getGrid()[slamClass.getCurrentIndexY()][slamClass
.getCurrentIndexX()].setY(slamClass.pos2D.getY());
slamClass.printMap();
environmentEvaluator = new EnvironmentEvaluator(slamClass,
saveLoad.getGridMap());
slamClass.start();
environmentEvaluator.start();
} else {
slamClass.setEvaluatingEnvironment(false);
System.out.println("Map did no de-serialize");
}
}
/**
* This is the showConsumer() method that is run when user chooses to run the Consumer GUI.
* It start the environment evaluator responsible for determining whether the robot is placed in a new environment or not.
* After the environment evaluator finishes evaluating the environment and decies which map should be used,
* it launches consumer GUI.
*/
public static void showConsumer() {
javax.swing.SwingUtilities.invokeLater(new Runnable() {
public void run() {
try {
while (slamClass.isEvaluatingEnvironment()) {
try {
Thread.sleep(100);
} catch (Exception e) {
}
}
cGUI = new ConsumerGUI(slamClass);
cGUI.createGUI();
cGUI.execute(repaint);
cGUI.setVisible(true);
System.out
.println("called from main:- the value of repaint is"
+ repaint);
} catch (Exception ex) {
}
}
});
}
/**
* Method instantiates the evaluation GUI. When the user decides to use the Evaluation GUI, this method is invoked.
*/
public void showEvaluation() {
EvaluationGUI evaluationUI = new EvaluationGUI(slamClass);
evaluationUI.setVisible(true);
}
/**
* @param args
* the command line arguments
*/
public static void main(String[] args) {
new CleanDroid();
}
}
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