/* author: Louis Hugues - created on 13 janv. 2005 *//*
* Simbad - Robot Simulator
* Copyright (C) 2004 Louis Hugues
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
-----------------------------------------------------------------------------
* $Author: sioulseuguh $
* $Date: 2005/08/07 12:24:57 $
* $Revision: 1.3 $
* $Source: /cvsroot/simbad/src/simbad/sim/LightSensor.java,v $
*/
package org.myrobotlab.mapper.sim;
import java.awt.Color;
import java.awt.Dimension;
import java.awt.Font;
import java.awt.Graphics;
import java.text.DecimalFormat;
import javax.swing.JPanel;
/**
* This class models a single light sensor. The sensor outputs a float
* proportionnal to received light. <br>
* Implementation Note: <br>
* We use a small camera to implement the light sensor. The camera must look
* back at the sensor body so as to measured the light received.
*/
public class LightSensor extends Eye {
/*
* a JPanel for displaying the eye image.
*/
public class LigthSensorJPanel extends JPanel {
private static final long serialVersionUID = 1L;
Color color;
Font font;
DecimalFormat format;
final static int HEIGHT = 12;
public LigthSensorJPanel() {
color = new Color(0, 0, 0);
Dimension d = new Dimension(50, HEIGHT);
setPreferredSize(d);
setMinimumSize(d);
font = new Font("Arial", Font.PLAIN, HEIGHT - 2);
// display format for numbers
format = new DecimalFormat();
format.setMaximumFractionDigits(2);
format.setMinimumFractionDigits(2);
format.setPositivePrefix("");
format.setMinimumIntegerDigits(1);
}
/* should not be called too often */
@Override
protected void paintComponent(Graphics g) {
super.paintComponent(g);
g.setFont(font);
color = new Color(luminance, luminance, luminance);
g.setColor(color);
g.fillRect(0, 0, HEIGHT, HEIGHT);
g.setColor(Color.BLACK);
g.drawString("luminance=" + format.format(luminance), HEIGHT + 10, HEIGHT - 1);
}
}
float luminance;
public LightSensor() {
super(0.5f, 10, 10);
// super(0.5f, 50, 50);
luminance = 0;
rotateY(Math.PI);
}
@Override
void create3D(float radius) {
// small body
super.create3D(0.05f);
}
@Override
public JPanel createInspectorPanel() {
return new LigthSensorJPanel();
}
/**
* Returns the measured luminance.
*
* @return 0.0 means no light , 1.0 f maximum enlightment
*/
public float getAverageLuminance() {
return luminance;
}
/** Called by simulator */
@Override
protected void update() {
super.update();
visionImage.getRGB(0, 0, imageWidth, imageHeight, tempRGBABuffer, 0, imageWidth);
float sum = 0;
int n = tempRGBABuffer.length;
for (int i = 0; i < n; i++) {
int pix = tempRGBABuffer[i];
int r = (pix >> 16) & 0xff;
int g = (pix >> 8) & 0xff;
int b = (pix) & 0xff;
sum += (r * 0.299f + 0.587f * g + 0.114f * b) / 255.0f;
}
luminance = sum / n;
}
}