LocSwarmView.java

package nbtool.gui.logviews.loc;

import java.awt.*;
import java.awt.event.*;

import javax.swing.*;

import java.io.ByteArrayInputStream;
import java.io.IOException;
import java.io.InputStream;
import java.util.Vector;

import com.google.protobuf.Message;

import messages.*;
import nbtool.data.SExpr;
import nbtool.gui.field.*;
import nbtool.gui.logviews.misc.ViewParent;

public class LocSwarmView extends ViewParent implements ActionListener {
	
	@Override
	public void setupDisplay() {
		
		RobotLocation naoLoc;
		ParticleSwarm naoSwarm;
		VBall naoBall;
		CenterCircle naoCC;
		Vision naoVision;

		float naoX, naoY, naoH;

		try {
			
			int bi = 0;

			// Get loc info from log
			naoLoc = RobotLocation.parseFrom(displayedLog.blocks.get(bi++).data);
			naoX = naoLoc.getX();
			naoY = naoLoc.getY();
			naoH = naoLoc.getH();
			naoPlayer.moveTo(naoX,naoY, naoH);

			naoSwarm = ParticleSwarm.parseFrom(displayedLog.blocks.get(bi++).data);
			for(int i=0; i<naoSwarm.getParticleCount(); i++) {
				RobotLocation currentNaoSwarm = naoSwarm.getParticle(i).getLoc();
				pWeight = naoSwarm.getParticle(i).getWeight();
				NaoParticle temp = new NaoParticle();
				temp.moveTo(currentNaoSwarm.getX(),currentNaoSwarm.getY());
				naoParticles.add(temp);
			}
			
			
			// Get vision info log (fild lines, ball, center circle) 
			naoVision = Vision.parseFrom(displayedLog.blocks.get(bi++).data);

			// Fild lines
			for(int i=0; i<naoVision.getLineCount(); i++) {
				FieldLine curFieldLine = naoVision.getLine(i);
				GeoLine temp = new GeoLine(
								curFieldLine.getInner().getR(),
								curFieldLine.getInner().getT(),
								curFieldLine.getInner().getEp0(),
								curFieldLine.getInner().getEp1(),
								0.0,
								0.0,
								curFieldLine.getCorrespondence(),
								curFieldLine.getProb());
				naoLines.add(temp);
			}

			// Corners
			for(int i=0; i<naoVision.getCornerCount(); i++) {
				Corner curCorner = naoVision.getCorner(i);
				GeoCorner temp = new GeoCorner(
								curCorner.getX(),
								curCorner.getY(),
								curCorner.getId(),
                                curCorner.getCorrespondence(),
                                curCorner.getProb());
				naoCorners.add(temp);
			}

			// Ball
			naoBall = naoVision.getBall();
			if (naoBall.getOn() == true) {
				System.out.printf("BALL AT %d,%d\n", naoBall.getX(), naoBall.getY());
				naoGeoBall = new GeoBall(
								naoBall.getX(),
								naoBall.getY(),
								naoBall.getConfidence());
			}

			// Center Circle
			// TODO: how to check on or off?
			naoCC = naoVision.getCircle();
			System.out.println(naoCC.getOn());
			if (naoCC.getOn() == true) {
				System.out.printf("CIRC AT %f,%f\n", naoCC.getX(), naoCC.getY());
		
				naoGeoCenterCircle = new GeoCenterCircle(
								naoCC.getX(),
								naoCC.getY(),
								naoCC.getProb());
			}


		} catch(Exception e) {
			e.printStackTrace();
		}
	}

	@Override
	public String[] displayableTypes() {
		return new String[]{"locswarm"};
	}

    private int numLines;

	public LocSwarmView() {
		super();
		if(shouldFlip) {
			flip = new JButton("unflip");
		} else { flip = new JButton("flip"); }
		flip.addActionListener(this);
		flip.setPreferredSize(new Dimension(70,25));
		flip.setBounds((int)FieldConstants.FIELD_WIDTH/2,10,70,25);
		this.add(flip);
	}

	protected void useSize(Dimension s) {
		sp.setBounds(0,0,s.width,s.height);
	}

	public void actionPerformed(ActionEvent e) {
		if(e.getSource() == flip) {
			if(shouldFlip == true) {
				shouldFlip = false;
				flip.setText("flip");
				repaint();
			} else { 
				shouldFlip = true;
				flip.setText("unflip");
				repaint();
			}
		}
	}

	Field f = new Field();
	NaoRobot naoPlayer = new NaoRobot();
	Vector<NaoParticle> naoParticles = new Vector<NaoParticle>();
	Vector<GeoLine> naoLines = new Vector<GeoLine>();
	Vector<GeoCorner> naoCorners = new Vector<GeoCorner>();
	GeoBall naoGeoBall = null;
	GeoCenterCircle naoGeoCenterCircle = null;

	private JButton flip;
	private JScrollPane sp;
	public static float pWeight;
	public static boolean shouldFlip = false;
	public static boolean lineColors = true;
	public static final Dimension fieldDimension = new Dimension(
								(int)FieldConstants.FIELD_WIDTH,
								(int)FieldConstants.FIELD_HEIGHT);

	@Override
	public void paintComponent(Graphics g) {
		Graphics2D g2 = (Graphics2D) g;
		f.drawField(g2,shouldFlip, lineColors);
		naoPlayer.drawNaoLoc(g2,shouldFlip);
		if(!naoParticles.isEmpty()) {
			for(int i=0; i<naoParticles.size(); i++) {
				naoParticles.get(i).drawParticle(g2,pWeight,shouldFlip);
			}
		}
		if(!naoLines.isEmpty()) {
			for(int i=0; i<naoLines.size(); i++) {
				naoLines.get(i).draw(g2);
			}
		}
		if(!naoCorners.isEmpty()) {
			for(int i=0; i<naoCorners.size(); i++) {
				naoCorners.get(i).draw(g2,shouldFlip);
			}
		}
		if(naoGeoBall != null){
			naoGeoBall.draw(g2, shouldFlip);
		}
		if(naoGeoCenterCircle != null) {
			naoGeoCenterCircle.draw(g2, shouldFlip);
		}

	}
}