yigitcolakoglu
/
MyCity
1
0
Fork 0
Code Issues 0 Pull Requests 0 Projects 0 Releases 0 Wiki Activity
Browse Source

aaa

efe
Efe Aydın 6 years ago
parent
db43033a02
commit
2f159b1032
3 changed files with 341 additions and 100 deletions
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. +19
    -10
      Ev3/main.py
  2. +87
    -17
      master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form
  3. +235
    -73
      master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java

+ 19
- 10
Ev3/main.py View File

@ -11,16 +11,18 @@ import json
print("[INFO]: Imported json")
state = True
moving = False
motor1 = ev3.LargeMotor("outA")
motor2 = ev3.LargeMotor("outD")
cam = ev3.MediumMotor('outB')
def move(speed):
if time:
motor1.run_forever(speed_sp=speed)
motor2.run_forever(speed_sp=speed)
cam.run_to_abs_pos(position_sp=0, speed_sp=500)
moving = True
motor1.run_forever(speed_sp=speed)
motor2.run_forever(speed_sp=speed)
cam.run_to_abs_pos(position_sp=0, speed_sp=500)
def stop():
moving = False
motor1.stop()
motor2.stop()
cam.stop()
@ -30,7 +32,7 @@ PORT = 3131
pid=os.fork()
if pid==0: # new process
mjpeg_loc = "/home/robot/mjpg-streamer/"
os.system('{0}mjpg_streamer -i "{0}input_uvc.so -f 15 -y" -o "{0}output_http.so -w {0}www"'.format(mjpeg_loc))
os.system('{0}mjpg_streamer -i "{0}input_uvc.so -f 5" -o "{0}output_http.so -w {0}www"'.format(mjpeg_loc))
exit()
power = PowerSupply()
if power.measured_volts < 7.1:
@ -46,9 +48,8 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
conn, addr = s.accept()
with conn:
print('[INFO]: Connected by', addr)
move(500)
while True:
if cam.speed == 0 and (motor1.speed > 0 and motor2.speed > 0):
if cam.speed == 0 and moving:
if state:
cam.run_to_abs_pos(position_sp=4000, speed_sp=500)
else:
@ -57,7 +58,7 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
try:
recieved = conn.recv(1024)
if not recieved:
pass
raise BrokenPipeError
else:
recieved = recieved.decode().strip()[-1]
print(recieved)
@ -74,9 +75,17 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
}
conn.send((json.dumps(data, ensure_ascii=False)+"\n").encode('gbk'))
elif recieved == '+':
cam.run_timed(time_sp=50, speed_sp=750)
cam.run_timed(time_sp=100, speed_sp=750)
elif recieved == '-':
cam.run_timed(time_sp=50, speed_sp=-750)
cam.run_timed(time_sp=100, speed_sp=-750)
elif recieved == 'f':
stop()
motor1.run_timed(time_sp=500, speed_sp=500)
motor2.run_timed(time_sp=500, speed_sp=500)
elif recieved == 'b':
stop()
motor1.run_timed(time_sp=500, speed_sp=-500)
motor2.run_timed(time_sp=500, speed_sp=-500)
except BrokenPipeError:
print("[INFO]: Client disconnected")


+ 87
- 17
master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form View File

@ -331,24 +331,44 @@
<EmptySpace min="-2" pref="19" max="-2" attributes="0"/>
<Component id="robot_cam_label" min="-2" pref="576" max="-2" attributes="0"/>
<EmptySpace pref="231" max="32767" attributes="0"/>
<Group type="103" groupAlignment="1" attributes="0">
<Component id="battery_voltage_label" min="-2" max="-2" attributes="0"/>
<Component id="current_drawn_label" min="-2" max="-2" attributes="0"/>
<Component id="longitude_label" alignment="1" min="-2" max="-2" attributes="0"/>
<Component id="latitude_label" alignment="1" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="278" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Group type="103" alignment="0" groupAlignment="1" attributes="0">
<Component id="move_robot" min="-2" max="-2" attributes="0"/>
<Component id="robot_stop" min="-2" max="-2" attributes="0"/>
<Group type="102" alignment="1" attributes="0">
<Group type="103" groupAlignment="1" attributes="0">
<Component id="battery_voltage_label" min="-2" max="-2" attributes="0"/>
<Component id="current_drawn_label" min="-2" max="-2" attributes="0"/>
<Component id="longitude_label" alignment="1" min="-2" max="-2" attributes="0"/>
<Component id="latitude_label" alignment="1" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="278" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Group type="103" alignment="0" groupAlignment="1" attributes="0">
<Component id="move_robot" min="-2" max="-2" attributes="0"/>
<Component id="robot_stop" min="-2" max="-2" attributes="0"/>
</Group>
<Group type="102" alignment="0" attributes="0">
<EmptySpace min="-2" pref="4" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Component id="ai_checkbox" min="-2" max="-2" attributes="0"/>
<Component id="cam_slider" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
</Group>
<EmptySpace min="-2" pref="204" max="-2" attributes="0"/>
</Group>
<Group type="102" alignment="0" attributes="0">
<EmptySpace min="-2" pref="4" max="-2" attributes="0"/>
<Component id="cam_slider" min="-2" max="-2" attributes="0"/>
<Group type="102" alignment="1" attributes="0">
<Group type="103" groupAlignment="1" max="-2" attributes="0">
<Component id="forward_button" max="32767" attributes="0"/>
<Component id="back_button" max="32767" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="453" max="-2" attributes="0"/>
</Group>
<Group type="102" alignment="1" attributes="0">
<Component id="left_button" min="-2" max="-2" attributes="0"/>
<EmptySpace min="-2" pref="64" max="-2" attributes="0"/>
<Component id="right_button" min="-2" max="-2" attributes="0"/>
<EmptySpace min="-2" pref="398" max="-2" attributes="0"/>
</Group>
</Group>
<EmptySpace min="-2" pref="204" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
@ -380,9 +400,20 @@
<Component id="cam_slider" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
<EmptySpace type="separate" max="-2" attributes="0"/>
<Component id="ai_checkbox" min="-2" max="-2" attributes="0"/>
<EmptySpace min="-2" pref="121" max="-2" attributes="0"/>
<Component id="forward_button" min="-2" max="-2" attributes="0"/>
<EmptySpace min="-2" pref="10" max="-2" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="right_button" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="left_button" alignment="3" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="7" max="-2" attributes="0"/>
<Component id="back_button" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
<EmptySpace max="32767" attributes="0"/>
<EmptySpace pref="30" max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
@ -422,7 +453,6 @@
<Property name="text" type="java.lang.String" value="Stop Robot"/>
</Properties>
<Events>
<EventHandler event="mousePressed" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="robot_stopMousePressed"/>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="robot_stopActionPerformed"/>
</Events>
</Component>
@ -431,7 +461,6 @@
<Property name="text" type="java.lang.String" value="Move Robot"/>
</Properties>
<Events>
<EventHandler event="mousePressed" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="move_robotMousePressed"/>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="move_robotActionPerformed"/>
</Events>
</Component>
@ -440,6 +469,47 @@
<EventHandler event="stateChanged" listener="javax.swing.event.ChangeListener" parameters="javax.swing.event.ChangeEvent" handler="cam_sliderStateChanged"/>
</Events>
</Component>
<Component class="javax.swing.JCheckBox" name="ai_checkbox">
<Properties>
<Property name="text" type="java.lang.String" value="Send to AI"/>
</Properties>
</Component>
<Component class="javax.swing.JButton" name="forward_button">
<Properties>
<Property name="text" type="java.lang.String" value="&#x2227;"/>
</Properties>
<Events>
<EventHandler event="mousePressed" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="forward_buttonMousePressed"/>
<EventHandler event="mouseReleased" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="forward_buttonMouseReleased"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="back_button">
<Properties>
<Property name="text" type="java.lang.String" value="&#x2228;"/>
</Properties>
<Events>
<EventHandler event="mousePressed" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="back_buttonMousePressed"/>
<EventHandler event="mouseReleased" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="back_buttonMouseReleased"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="right_button">
<Properties>
<Property name="text" type="java.lang.String" value="&gt;"/>
</Properties>
<Events>
<EventHandler event="mousePressed" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="right_buttonMousePressed"/>
<EventHandler event="mouseReleased" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="right_buttonMouseReleased"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="left_button">
<Properties>
<Property name="text" type="java.lang.String" value="&lt;"/>
</Properties>
<Events>
<EventHandler event="mousePressed" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="left_buttonMousePressed"/>
<EventHandler event="mouseReleased" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="left_buttonMouseReleased"/>
</Events>
</Component>
</SubComponents>
</Container>
<Container class="javax.swing.JPanel" name="jPanel6">


+ 235
- 73
master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java View File

@ -5,6 +5,9 @@
*/
package me.yigitcolakoglu.master_app;
import java.awt.AlphaComposite;
import java.awt.BasicStroke;
import java.awt.Color;
import java.awt.Font;
import java.io.*;
import java.net.*;
import java.awt.Graphics2D;
@ -28,6 +31,7 @@ import java.security.cert.*;
import java.security.*;
import javax.net.ssl.*;
import javax.swing.JSlider;
import org.json.JSONArray;
/**
*
@ -45,9 +49,10 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
private ServerSocket server;
private Socket client;
private Thread running = null;
private Thread moverThread = null;
private boolean listening = false;
private String ROBOT_IP = "10.42.0.9";
private String AI_IP = "10.10.26.110";
private String AI_IP = "10.10.26.161";
private Socket robotSocket;
private DataOutputStream out;
private BufferedReader in;
@ -90,6 +95,11 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
robot_stop = new javax.swing.JButton();
move_robot = new javax.swing.JButton();
cam_slider = new javax.swing.JSlider();
ai_checkbox = new javax.swing.JCheckBox();
forward_button = new javax.swing.JButton();
back_button = new javax.swing.JButton();
right_button = new javax.swing.JButton();
left_button = new javax.swing.JButton();
jPanel6 = new javax.swing.JPanel();
light_1_label = new javax.swing.JLabel();
light_2_label = new javax.swing.JLabel();
@ -279,11 +289,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
longitude_label.setText("Longitude");
robot_stop.setText("Stop Robot");
robot_stop.addMouseListener(new java.awt.event.MouseAdapter() {
public void mousePressed(java.awt.event.MouseEvent evt) {
robot_stopMousePressed(evt);
}
});
robot_stop.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
robot_stopActionPerformed(evt);
@ -291,11 +296,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
});
move_robot.setText("Move Robot");
move_robot.addMouseListener(new java.awt.event.MouseAdapter() {
public void mousePressed(java.awt.event.MouseEvent evt) {
move_robotMousePressed(evt);
}
});
move_robot.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
move_robotActionPerformed(evt);
@ -308,6 +308,48 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
});
ai_checkbox.setText("Send to AI");
forward_button.setText("∧");
forward_button.addMouseListener(new java.awt.event.MouseAdapter() {
public void mousePressed(java.awt.event.MouseEvent evt) {
forward_buttonMousePressed(evt);
}
public void mouseReleased(java.awt.event.MouseEvent evt) {
forward_buttonMouseReleased(evt);
}
});
back_button.setText("∨");
back_button.addMouseListener(new java.awt.event.MouseAdapter() {
public void mousePressed(java.awt.event.MouseEvent evt) {
back_buttonMousePressed(evt);
}
public void mouseReleased(java.awt.event.MouseEvent evt) {
back_buttonMouseReleased(evt);
}
});
right_button.setText(">");
right_button.addMouseListener(new java.awt.event.MouseAdapter() {
public void mousePressed(java.awt.event.MouseEvent evt) {
right_buttonMousePressed(evt);
}
public void mouseReleased(java.awt.event.MouseEvent evt) {
right_buttonMouseReleased(evt);
}
});
left_button.setText("<");
left_button.addMouseListener(new java.awt.event.MouseAdapter() {
public void mousePressed(java.awt.event.MouseEvent evt) {
left_buttonMousePressed(evt);
}
public void mouseReleased(java.awt.event.MouseEvent evt) {
left_buttonMouseReleased(evt);
}
});
javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
jPanel2.setLayout(jPanel2Layout);
jPanel2Layout.setHorizontalGroup(
@ -316,20 +358,34 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
.addGap(19, 19, 19)
.addComponent(robot_cam_label, javax.swing.GroupLayout.PREFERRED_SIZE, 576, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 231, Short.MAX_VALUE)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(battery_voltage_label)
.addComponent(current_drawn_label)
.addComponent(longitude_label)
.addComponent(latitude_label))
.addGap(278, 278, 278)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(move_robot)
.addComponent(robot_stop))
.addGroup(jPanel2Layout.createSequentialGroup()
.addGap(4, 4, 4)
.addComponent(cam_slider, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
.addGap(204, 204, 204))
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(battery_voltage_label)
.addComponent(current_drawn_label)
.addComponent(longitude_label)
.addComponent(latitude_label))
.addGap(278, 278, 278)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(move_robot)
.addComponent(robot_stop))
.addGroup(jPanel2Layout.createSequentialGroup()
.addGap(4, 4, 4)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(ai_checkbox)
.addComponent(cam_slider, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))))
.addGap(204, 204, 204))
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
.addComponent(forward_button, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(back_button, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addGap(453, 453, 453))
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
.addComponent(left_button)
.addGap(64, 64, 64)
.addComponent(right_button)
.addGap(398, 398, 398))))
);
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
@ -354,8 +410,18 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
.addGap(18, 18, 18)
.addComponent(robot_stop)
.addGap(18, 18, 18)
.addComponent(cam_slider, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addComponent(cam_slider, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
.addGap(18, 18, 18)
.addComponent(ai_checkbox)
.addGap(121, 121, 121)
.addComponent(forward_button)
.addGap(10, 10, 10)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(right_button)
.addComponent(left_button))
.addGap(7, 7, 7)
.addComponent(back_button)))
.addContainerGap(30, Short.MAX_VALUE))
);
jTabbedPane1.addTab("Robot", jPanel2);
@ -572,14 +638,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
}//GEN-LAST:event_move_robotActionPerformed
private void move_robotMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_move_robotMousePressed
try {
out.writeUTF("m");
} catch (IOException ex) {
System.out.println(ex.toString());
}
}//GEN-LAST:event_move_robotMousePressed
private void robot_stopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_robot_stopActionPerformed
try {
out.writeUTF("s");
@ -588,14 +646,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
}//GEN-LAST:event_robot_stopActionPerformed
private void robot_stopMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_robot_stopMousePressed
try {
out.writeUTF("s");
} catch (IOException ex) {
System.out.println(ex.toString());
}
}//GEN-LAST:event_robot_stopMousePressed
private void cam_sliderStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_cam_sliderStateChanged
JSlider source = (JSlider)evt.getSource();
if (!source.getValueIsAdjusting()) {
@ -617,6 +667,78 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
}//GEN-LAST:event_cam_sliderStateChanged
private void forward_buttonMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_forward_buttonMousePressed
moverThread = new Thread(() -> {
try {
while (true) {
out.writeUTF("f");
Thread.sleep(500);
}
} catch(Exception ex){
System.out.println(ex.toString());
}
});
moverThread.start();
}//GEN-LAST:event_forward_buttonMousePressed
private void forward_buttonMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_forward_buttonMouseReleased
moverThread.stop();
}//GEN-LAST:event_forward_buttonMouseReleased
private void right_buttonMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_right_buttonMousePressed
moverThread = new Thread(() -> {
try {
while (true) {
out.writeUTF("r");
Thread.sleep(500);
}
} catch(Exception ex){
System.out.println(ex.toString());
}
});
moverThread.start();
}//GEN-LAST:event_right_buttonMousePressed
private void right_buttonMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_right_buttonMouseReleased
moverThread.stop();
}//GEN-LAST:event_right_buttonMouseReleased
private void back_buttonMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_back_buttonMousePressed
moverThread = new Thread(() -> {
try {
while (true) {
out.writeUTF("b");
Thread.sleep(500);
}
} catch(Exception ex){
System.out.println(ex.toString());
}
});
moverThread.start();
}//GEN-LAST:event_back_buttonMousePressed
private void back_buttonMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_back_buttonMouseReleased
moverThread.stop();
}//GEN-LAST:event_back_buttonMouseReleased
private void left_buttonMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_left_buttonMousePressed
moverThread = new Thread(() -> {
try {
while (true) {
out.writeUTF("l");
Thread.sleep(500);
}
} catch(Exception ex){
System.out.println(ex.toString());
}
});
moverThread.start();
}//GEN-LAST:event_left_buttonMousePressed
private void left_buttonMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_left_buttonMouseReleased
moverThread.stop();
}//GEN-LAST:event_left_buttonMouseReleased
/**
* @param args the command line arguments
*/
@ -691,16 +813,22 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
boolean run = true;
if (name.equals("robot")) {
robotSocket = new Socket(ROBOT_IP, 3131);
robotSocket.setSoTimeout(1000);
out = new DataOutputStream(robotSocket.getOutputStream());
in = new BufferedReader(new InputStreamReader(robotSocket.getInputStream()));
while (run) {
out.writeUTF("i");
String resp = in.readLine();
String resp;
try {
resp = in.readLine();
} catch (SocketTimeoutException ex) {
resp = "{\"battery_voltage\":\"TIMEOUT\",\"current_drawn\":\"TIMEOUT\",\"lat\":\"TIMEOUT\",\"lng\":\"TIMEOUT\"}";
}
JSONObject values = new JSONObject(resp);
latitude_label.setText("Latitude: " + values.getString("lat"));
longitude_label.setText("Longitude: " + values.getString("lng"));
battery_voltage_label.setText("Battery Voltage: " + values.getString("battery_voltage"));
current_drawn_label.setText("Current Drawn: " + values.getString("current_drawn"));
latitude_label.setText("Latitude: " + values.get("lat"));
longitude_label.setText("Longitude: " + values.get("lng"));
battery_voltage_label.setText("Battery Voltage: " + values.get("battery_voltage"));
current_drawn_label.setText("Current Drawn: " + values.get("current_drawn"));
BufferedImage image;
URL img_url = new URL(String.format("http://%s:8080/?action=snapshot", ROBOT_IP));
@ -712,33 +840,62 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
graphics2D.translate((height - width) / 2, (height - width) / 2);
graphics2D.rotate(Math.PI / 2, height / 2, width / 2);
graphics2D.drawRenderedImage(image, null);
robot_cam_label.setIcon(new ImageIcon(resizeImage(dest,576,768)));
URL obj = new URL(String.format("https://%s:5001/ai", AI_IP));
HttpsURLConnection con = (HttpsURLConnection) obj.openConnection();
con.setRequestMethod("POST");
ByteArrayOutputStream out = new ByteArrayOutputStream();
ImageIO.write(dest, "PNG", out);
byte[] bytes = out.toByteArray();
String base64 = Base64.getEncoder().encodeToString(bytes);
String params = "type=damage&img=" + encodeValue(base64);
con.setDoOutput(true);
DataOutputStream wr = new DataOutputStream(con.getOutputStream());
wr.writeBytes(params);
wr.flush();
wr.close();
BufferedReader in = new BufferedReader(new InputStreamReader(con.getInputStream()));
String inputLine;
StringBuffer response = new StringBuffer();
while ((inputLine = in.readLine()) != null) {
response.append(inputLine);
dest = resizeImage(dest,576,768);
width = dest.getWidth();
height = dest.getHeight();
// robot_cam_label.setIcon(new ImageIcon(dest));
if (ai_checkbox.isSelected()) {
URL obj = new URL(String.format("https://%s:5001/ai", AI_IP));
HttpsURLConnection con = (HttpsURLConnection) obj.openConnection();
con.setRequestMethod("POST");
ByteArrayOutputStream out = new ByteArrayOutputStream();
ImageIO.write(dest, "PNG", out);
byte[] bytes = out.toByteArray();
String base64 = Base64.getEncoder().encodeToString(bytes);
String params = "type=damage&img=" + encodeValue(base64);
con.setDoOutput(true);
DataOutputStream wr = new DataOutputStream(con.getOutputStream());
wr.writeBytes(params);
wr.flush();
wr.close();
BufferedReader in = new BufferedReader(new InputStreamReader(con.getInputStream()));
String inputLine;
StringBuffer response = new StringBuffer();
while ((inputLine = in.readLine()) != null) {
response.append(inputLine);
}
in.close();
JSONObject json = new JSONObject(response.toString());
JSONArray detection_classes = json.getJSONArray("detection_classes");
System.out.println(detection_classes);
JSONArray detection_scores = json.getJSONArray("detection_scores");
System.out.println(detection_scores);
JSONArray detection_boxes = json.getJSONArray("detection_boxes");
Graphics2D graph = dest.createGraphics();
graph.setColor(Color.RED);
graph.setStroke(new BasicStroke(10));
graph.setFont(new Font("Arial Black", Font.BOLD, 20));
for (int i = 0; i < detection_scores.length(); i++) {
if (detection_scores.getDouble(i) < 0.4) {
continue;
}
JSONArray box = detection_boxes.getJSONArray(i);
int left = (int)(box.getDouble(1) * width);
int right = (int)(box.getDouble(3) * width);
int top = (int)(box.getDouble(0) * height);
int bottom = (int)(box.getDouble(2) * height);
graph.setColor(Color.RED);
graph.drawRect(left, top, right - left, bottom - top);
graph.setColor(Color.BLUE);
graph.drawString(Integer.toString((int)(detection_scores.getDouble(i) * 100)) + "%", left, top - 5);
}
}
in.close();
JSONObject json = new JSONObject(response.toString());
robot_cam_label.setIcon(new ImageIcon(dest));
}
return;
}
@ -911,13 +1068,16 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JCheckBox ai_checkbox;
private javax.swing.JLabel ambulance_label;
private javax.swing.JButton back_button;
private javax.swing.JLabel battery_voltage_label;
private javax.swing.JSlider cam_slider;
private javax.swing.JLabel cpu_temp;
private javax.swing.JLabel cpu_usage;
private javax.swing.JLabel current_drawn_label;
private javax.swing.JLabel fan_rpm;
private javax.swing.JButton forward_button;
private javax.swing.JLabel fps_label;
private javax.swing.JLabel gpu_temp;
private javax.swing.JLabel gpu_usage;
@ -946,12 +1106,14 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
private javax.swing.JPanel jPanel8;
private javax.swing.JTabbedPane jTabbedPane1;
private javax.swing.JLabel latitude_label;
private javax.swing.JButton left_button;
private javax.swing.JLabel light_1_label;
private javax.swing.JLabel light_2_label;
private javax.swing.JLabel longitude_label;
private javax.swing.JButton move_robot;
private javax.swing.JLabel ram_temp;
private javax.swing.JLabel ram_usage;
private javax.swing.JButton right_button;
private javax.swing.JLabel robot_cam_label;
private javax.swing.JButton robot_stop;
// End of variables declaration//GEN-END:variables


Write Preview
Loading…
Cancel
Save