diff --git a/Ev3/main.py b/Ev3/main.py index 289e991..ac12da0 100644 --- a/Ev3/main.py +++ b/Ev3/main.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 print("[INFO]: Interpreter started") from ev3dev.core import * +import ev3dev.ev3 as ev3 print("[INFO]: Imported ev3dev.ev3") import socket print("[INFO]: Imported socket") @@ -9,12 +10,32 @@ print("[INFO]: Imported os") import json print("[INFO]: Imported json") +state = True +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) + +def stop(): + motor1.stop() + motor2.stop() + cam.stop() HOST = '0.0.0.0' PORT = 3131 -mjpeg_loc = "/home/robot/mjpeg-streamer/mjpeg-streamer-experimantal/mjpeg-streamer" -os.spawnl(os.P_DETACH, ' -i "./input_uvc.so -f 15 -r 640x480" -o "./output_http.so -w ./www"') +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)) + exit() power = PowerSupply() +if power.measured_volts < 7.1: + print("Change the battery.") + exit() with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: try: @@ -25,19 +46,37 @@ 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 state: + cam.run_to_abs_pos(position_sp=4000, speed_sp=500) + else: + cam.run_to_abs_pos(position_sp=0, speed_sp=500) + state = not state try: - data = { - "battery_voltage":power.measured_volts, - "current_drawn":power.measured_amps, - "lat":31, - "lng":39 - } - conn.send((json.dumps(data, ensure_ascii=False)+"\n").encode('gbk')) + recieved = conn.recv(1024) + if not recieved: + pass + else: + recieved = recieved.decode().strip()[-1] + print(recieved) + if recieved == 's': + stop() + elif recieved == 'm': + move(500) + elif recieved == 'i': + data = { + "battery_voltage":power.measured_volts, + "current_drawn":power.measured_amps, + "lat":31, + "lng":39 + } + conn.send((json.dumps(data, ensure_ascii=False)+"\n").encode('gbk')) except BrokenPipeError: print("[INFO]: Client disconnected") + stop() break - - except KeyboardInterrupt: + stop() s.close() diff --git a/master_app/nbactions.xml b/master_app/nbactions.xml index 3b0d5fa..2e5d247 100644 --- a/master_app/nbactions.xml +++ b/master_app/nbactions.xml @@ -10,7 +10,7 @@ org.codehaus.mojo:exec-maven-plugin:1.5.0:exec - -classpath %classpath ${packageClassName} ips.json + -classpath %classpath me.yigitcolakoglu.master_app.Main ips.json java /home/efeaydin/Masaüstü/MyCity/master_app/src/main/java/me/yigitcolakoglu/master_app diff --git a/master_app/pom.xml b/master_app/pom.xml index 1438ee1..27c7400 100644 --- a/master_app/pom.xml +++ b/master_app/pom.xml @@ -16,6 +16,11 @@ sshj 0.27.0 + + commons-io + commons-io + 2.6 + UTF-8 diff --git a/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form b/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form index d8c1646..5f0cd17 100644 --- a/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form +++ b/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form @@ -82,19 +82,15 @@ - + + + - - + + + - - - - - - - @@ -109,13 +105,10 @@ - - - - - - - + + + + @@ -128,25 +121,31 @@ - + - + - + - + - - - - + - + - + + + + + + + + + + @@ -186,216 +185,11 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + @@ -403,33 +197,21 @@ - - - - - + - - - - - + - - - - - + - - + + @@ -437,19 +219,33 @@ - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -457,210 +253,67 @@ - - - - - - - + + + + + + - + + + + + + + + + - + + + - - - - - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - - - - - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - + - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + diff --git a/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java b/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java index 500d4ce..3775cf8 100644 --- a/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java +++ b/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java @@ -12,6 +12,8 @@ import java.awt.Image; import java.awt.RenderingHints; import java.awt.image.BufferedImage; import java.util.Base64; +import java.util.logging.Level; +import java.util.logging.Logger; import javax.imageio.ImageIO; import javax.net.ssl.HttpsURLConnection; import javax.swing.ImageIcon; @@ -19,7 +21,7 @@ import javax.swing.JOptionPane; import javax.swing.JTabbedPane; import javax.swing.event.ChangeEvent; import javax.swing.event.ChangeListener; -import net.schmizz.sshj.common.IOUtils; +import org.apache.commons.io.IOUtils; import org.json.JSONObject; /** @@ -33,12 +35,16 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ */ public cameraForm() { initComponents(); - initialize(); } private ServerSocket server; private Socket client; private Thread running = null; private boolean listening = false; + private String ROBOT_IP = "10.42.0.9"; + private String AI_IP = "10.10.26.161"; + private Socket robotSocket; + private DataOutputStream out; + private BufferedReader in; /** * This method is called from within the constructor to initialize the form. * WARNING: Do NOT modify this code. The content of this method is always @@ -50,40 +56,22 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ jPanel1 = new javax.swing.JPanel(); jTabbedPane1 = new javax.swing.JTabbedPane(); - jPanel2 = new javax.swing.JPanel(); - camera_full_label = new javax.swing.JLabel(); - ambulance_button = new javax.swing.JButton(); - camera_cut_label = new javax.swing.JLabel(); - jPanel3 = new javax.swing.JPanel(); - jLabel1 = new javax.swing.JLabel(); - jLabel2 = new javax.swing.JLabel(); - jLabel3 = new javax.swing.JLabel(); - jLabel4 = new javax.swing.JLabel(); - jLabel5 = new javax.swing.JLabel(); - jLabel6 = new javax.swing.JLabel(); - gpu_usage = new javax.swing.JLabel(); - gpu_temp = new javax.swing.JLabel(); - cpu_usage = new javax.swing.JLabel(); - cpu_temp = new javax.swing.JLabel(); - ram_usage = new javax.swing.JLabel(); - ram_temp = new javax.swing.JLabel(); - jLabel7 = new javax.swing.JLabel(); - fan_rpm = new javax.swing.JLabel(); - fps_label = new javax.swing.JLabel(); - manage_button = new javax.swing.JButton(); - jPanel4 = new javax.swing.JPanel(); jPanel5 = new javax.swing.JPanel(); - intersect_1_Y = new javax.swing.JLabel(); - intersect_1_G = new javax.swing.JLabel(); - intersect_1_R = new javax.swing.JLabel(); + intersection_label = new javax.swing.JLabel(); + ambulance_label = new javax.swing.JLabel(); + fps_label = new javax.swing.JLabel(); jPanel6 = new javax.swing.JPanel(); - intersect_2_Y = new javax.swing.JLabel(); - intersect_2_G = new javax.swing.JLabel(); - intersect_2_R = new javax.swing.JLabel(); - jLabel8 = new javax.swing.JLabel(); - jLabel9 = new javax.swing.JLabel(); + light_1_label = new javax.swing.JLabel(); + light_2_label = new javax.swing.JLabel(); jPanel7 = new javax.swing.JPanel(); + jPanel2 = new javax.swing.JPanel(); robot_cam_label = new javax.swing.JLabel(); + battery_voltage_label = new javax.swing.JLabel(); + current_drawn_label = new javax.swing.JLabel(); + latitude_label = new javax.swing.JLabel(); + longitude_label = new javax.swing.JLabel(); + robot_stop = new javax.swing.JButton(); + move_robot = new javax.swing.JButton(); javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1); jPanel1.setLayout(jPanel1Layout); @@ -109,14 +97,43 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ } }); - camera_full_label.setText(" "); + intersection_label.setAlignmentY(0.0F); - ambulance_button.setText("Start"); - ambulance_button.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - ambulance_buttonActionPerformed(evt); - } - }); + ambulance_label.setName(""); // NOI18N + + fps_label.setText("0 FPS"); + + javax.swing.GroupLayout jPanel5Layout = new javax.swing.GroupLayout(jPanel5); + jPanel5.setLayout(jPanel5Layout); + jPanel5Layout.setHorizontalGroup( + jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel5Layout.createSequentialGroup() + .addGap(30, 30, 30) + .addComponent(intersection_label, javax.swing.GroupLayout.PREFERRED_SIZE, 1024, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel5Layout.createSequentialGroup() + .addGap(185, 185, 185) + .addComponent(ambulance_label, javax.swing.GroupLayout.PREFERRED_SIZE, 250, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap(204, Short.MAX_VALUE)) + .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel5Layout.createSequentialGroup() + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(fps_label) + .addGap(168, 168, 168)))) + ); + jPanel5Layout.setVerticalGroup( + jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel5Layout.createSequentialGroup() + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel5Layout.createSequentialGroup() + .addGap(52, 52, 52) + .addComponent(fps_label) + .addGap(88, 88, 88) + .addComponent(ambulance_label, javax.swing.GroupLayout.PREFERRED_SIZE, 280, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGroup(jPanel5Layout.createSequentialGroup() + .addGap(29, 29, 29) + .addComponent(intersection_label, javax.swing.GroupLayout.PREFERRED_SIZE, 768, javax.swing.GroupLayout.PREFERRED_SIZE))) + .addContainerGap(181, Short.MAX_VALUE)) + ); jTabbedPane1.addTab("Intersection & Ambulance", jPanel5); @@ -147,16 +164,48 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ jTabbedPane1.addTab("Traffic Lights", jPanel6); - fan_rpm.setFont(new java.awt.Font("Dialog", 1, 24)); // NOI18N - fan_rpm.setText("2500 RPM"); + javax.swing.GroupLayout jPanel7Layout = new javax.swing.GroupLayout(jPanel7); + jPanel7.setLayout(jPanel7Layout); + jPanel7Layout.setHorizontalGroup( + jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGap(0, 1693, Short.MAX_VALUE) + ); + jPanel7Layout.setVerticalGroup( + jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGap(0, 978, Short.MAX_VALUE) + ); + + jTabbedPane1.addTab("Loads", jPanel7); - fps_label.setFont(new java.awt.Font("Dialog", 1, 18)); // NOI18N - fps_label.setText("60 FPS"); + battery_voltage_label.setText("Battery Voltage"); - manage_button.setText("Management"); - manage_button.addActionListener(new java.awt.event.ActionListener() { + current_drawn_label.setText("Current Drawn"); + + latitude_label.setText("Latitude"); + + 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) { - manage_buttonActionPerformed(evt); + robot_stopActionPerformed(evt); + } + }); + + 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); } }); @@ -165,328 +214,48 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ jPanel2Layout.setHorizontalGroup( jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(jPanel2Layout.createSequentialGroup() + .addContainerGap() .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(jPanel2Layout.createSequentialGroup() - .addComponent(camera_full_label, javax.swing.GroupLayout.PREFERRED_SIZE, 1280, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 31, Short.MAX_VALUE)) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup() - .addGap(0, 0, Short.MAX_VALUE) - .addComponent(ambulance_button, javax.swing.GroupLayout.PREFERRED_SIZE, 247, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(475, 475, 475))) - .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup() + .addComponent(robot_cam_label, javax.swing.GroupLayout.DEFAULT_SIZE, 1469, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(move_robot) + .addComponent(robot_stop)) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addGroup(jPanel2Layout.createSequentialGroup() + .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(current_drawn_label) + .addComponent(longitude_label)) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addGroup(jPanel2Layout.createSequentialGroup() .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup() - .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup() - .addComponent(jLabel7, javax.swing.GroupLayout.PREFERRED_SIZE, 131, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) - .addComponent(fan_rpm, javax.swing.GroupLayout.PREFERRED_SIZE, 150, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup() - .addComponent(fps_label, javax.swing.GroupLayout.PREFERRED_SIZE, 84, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(86, 86, 86))) - .addGap(18, 18, 18)) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, 256, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(camera_cut_label, javax.swing.GroupLayout.PREFERRED_SIZE, 300, javax.swing.GroupLayout.PREFERRED_SIZE))) - .addContainerGap()) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup() - .addComponent(manage_button, javax.swing.GroupLayout.PREFERRED_SIZE, 124, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(95, 95, 95)))) + .addComponent(battery_voltage_label) + .addComponent(latitude_label)) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)))) ); jPanel2Layout.setVerticalGroup( jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(jPanel2Layout.createSequentialGroup() - .addGap(32, 32, 32) + .addContainerGap() .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(robot_cam_label, javax.swing.GroupLayout.PREFERRED_SIZE, 480, javax.swing.GroupLayout.PREFERRED_SIZE) .addGroup(jPanel2Layout.createSequentialGroup() - .addComponent(camera_full_label, javax.swing.GroupLayout.PREFERRED_SIZE, 720, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 27, Short.MAX_VALUE) - .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(ambulance_button) - .addComponent(manage_button)) - .addContainerGap()) - .addGroup(jPanel2Layout.createSequentialGroup() - .addComponent(camera_cut_label, javax.swing.GroupLayout.PREFERRED_SIZE, 300, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel2Layout.createSequentialGroup() - .addGap(180, 180, 180) - .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(jLabel7) - .addComponent(fan_rpm, javax.swing.GroupLayout.PREFERRED_SIZE, 38, javax.swing.GroupLayout.PREFERRED_SIZE))) - .addGroup(jPanel2Layout.createSequentialGroup() - .addGap(18, 18, 18) - .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(fps_label, javax.swing.GroupLayout.PREFERRED_SIZE, 33, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(110, 110, 110)))) - ); - - jTabbedPane1.addTab("Loads", jPanel7); - - jPanel5.setBorder(javax.swing.BorderFactory.createBevelBorder(javax.swing.border.BevelBorder.RAISED)); - - intersect_1_Y.setBackground(new java.awt.Color(204, 204, 204)); - intersect_1_Y.setForeground(new java.awt.Color(204, 204, 204)); - intersect_1_Y.setOpaque(true); - - intersect_1_G.setBackground(new java.awt.Color(204, 204, 204)); - intersect_1_G.setForeground(new java.awt.Color(204, 204, 204)); - intersect_1_G.setOpaque(true); - - intersect_1_R.setBackground(new java.awt.Color(204, 204, 204)); - intersect_1_R.setForeground(new java.awt.Color(204, 204, 204)); - intersect_1_R.setOpaque(true); - - javax.swing.GroupLayout jPanel5Layout = new javax.swing.GroupLayout(jPanel5); - jPanel5.setLayout(jPanel5Layout); - jPanel5Layout.setHorizontalGroup( - jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel5Layout.createSequentialGroup() - .addContainerGap(109, Short.MAX_VALUE) - .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(intersect_1_G, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(intersect_1_R, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(intersect_1_Y, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addGap(107, 107, 107)) - ); - jPanel5Layout.setVerticalGroup( - jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel5Layout.createSequentialGroup() - .addGap(54, 54, 54) - .addComponent(intersect_1_R, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(45, 45, 45) - .addComponent(intersect_1_Y, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(45, 45, 45) - .addComponent(intersect_1_G, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addContainerGap(49, Short.MAX_VALUE)) - ); - - jPanel6.setBorder(javax.swing.BorderFactory.createBevelBorder(javax.swing.border.BevelBorder.RAISED)); - - intersect_2_Y.setBackground(new java.awt.Color(204, 204, 204)); - intersect_2_Y.setForeground(new java.awt.Color(204, 204, 204)); - intersect_2_Y.setOpaque(true); - - intersect_2_G.setBackground(new java.awt.Color(204, 204, 204)); - intersect_2_G.setForeground(new java.awt.Color(204, 204, 204)); - intersect_2_G.setOpaque(true); - - intersect_2_R.setBackground(new java.awt.Color(204, 204, 204)); - intersect_2_R.setForeground(new java.awt.Color(255, 153, 153)); - intersect_2_R.setOpaque(true); - - javax.swing.GroupLayout jPanel6Layout = new javax.swing.GroupLayout(jPanel6); - jPanel6.setLayout(jPanel6Layout); - jPanel6Layout.setHorizontalGroup( - jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel6Layout.createSequentialGroup() - .addContainerGap(159, Short.MAX_VALUE) - .addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(intersect_2_G, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(intersect_2_R, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(intersect_2_Y, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addGap(163, 163, 163)) - ); - jPanel6Layout.setVerticalGroup( - jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel6Layout.createSequentialGroup() - .addGap(36, 36, 36) - .addComponent(intersect_2_R, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(53, 53, 53) - .addComponent(intersect_2_Y, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(intersect_2_G, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(38, 38, 38)) - ); - - jLabel8.setText("Intersection 1"); - - jLabel9.setText("Intersection 2"); - - javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4); - jPanel4.setLayout(jPanel4Layout); - jPanel4Layout.setHorizontalGroup( - jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel4Layout.createSequentialGroup() - .addGap(276, 276, 276) - .addComponent(jLabel8) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(jLabel9) - .addGap(241, 241, 241)) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel4Layout.createSequentialGroup() - .addGap(125, 125, 125) - .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 526, Short.MAX_VALUE) - .addComponent(jPanel6, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(33, 33, 33)) - ); - jPanel4Layout.setVerticalGroup( - jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel4Layout.createSequentialGroup() - .addContainerGap() - .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(jLabel9) - .addComponent(jLabel8)) - .addGap(4, 4, 4) - .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(jPanel6, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) - .addContainerGap()) - ); - - jTabbedPane1.addTab("Lights", jPanel4); - - javax.swing.GroupLayout jPanel7Layout = new javax.swing.GroupLayout(jPanel7); - jPanel7.setLayout(jPanel7Layout); - jPanel7Layout.setHorizontalGroup( - jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel7Layout.createSequentialGroup() - .addGap(449, 449, 449) - .addComponent(robot_cam_label) - .addContainerGap(1173, Short.MAX_VALUE)) - ); - jPanel7Layout.setVerticalGroup( - jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel7Layout.createSequentialGroup() - .addGap(243, 243, 243) - .addComponent(robot_cam_label) - .addContainerGap(573, Short.MAX_VALUE)) - ); - - jTabbedPane1.addTab("Robot Cam", jPanel7); - - jPanel5.setBorder(javax.swing.BorderFactory.createBevelBorder(javax.swing.border.BevelBorder.RAISED)); - - intersect_1_Y.setBackground(new java.awt.Color(204, 204, 204)); - intersect_1_Y.setForeground(new java.awt.Color(204, 204, 204)); - intersect_1_Y.setOpaque(true); - - intersect_1_G.setBackground(new java.awt.Color(204, 204, 204)); - intersect_1_G.setForeground(new java.awt.Color(204, 204, 204)); - intersect_1_G.setOpaque(true); - - intersect_1_R.setBackground(new java.awt.Color(204, 204, 204)); - intersect_1_R.setForeground(new java.awt.Color(204, 204, 204)); - intersect_1_R.setOpaque(true); - - javax.swing.GroupLayout jPanel5Layout = new javax.swing.GroupLayout(jPanel5); - jPanel5.setLayout(jPanel5Layout); - jPanel5Layout.setHorizontalGroup( - jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel5Layout.createSequentialGroup() - .addContainerGap(109, Short.MAX_VALUE) - .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(intersect_1_G, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(intersect_1_R, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(intersect_1_Y, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addGap(107, 107, 107)) - ); - jPanel5Layout.setVerticalGroup( - jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel5Layout.createSequentialGroup() - .addGap(54, 54, 54) - .addComponent(intersect_1_R, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(45, 45, 45) - .addComponent(intersect_1_Y, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(45, 45, 45) - .addComponent(intersect_1_G, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addContainerGap(49, Short.MAX_VALUE)) - ); - - jPanel6.setBorder(javax.swing.BorderFactory.createBevelBorder(javax.swing.border.BevelBorder.RAISED)); - - intersect_2_Y.setBackground(new java.awt.Color(204, 204, 204)); - intersect_2_Y.setForeground(new java.awt.Color(204, 204, 204)); - intersect_2_Y.setOpaque(true); - - intersect_2_G.setBackground(new java.awt.Color(204, 204, 204)); - intersect_2_G.setForeground(new java.awt.Color(204, 204, 204)); - intersect_2_G.setOpaque(true); - - intersect_2_R.setBackground(new java.awt.Color(204, 204, 204)); - intersect_2_R.setForeground(new java.awt.Color(255, 153, 153)); - intersect_2_R.setOpaque(true); - - javax.swing.GroupLayout jPanel6Layout = new javax.swing.GroupLayout(jPanel6); - jPanel6.setLayout(jPanel6Layout); - jPanel6Layout.setHorizontalGroup( - jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel6Layout.createSequentialGroup() - .addContainerGap(159, Short.MAX_VALUE) - .addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(intersect_2_G, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(intersect_2_R, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(intersect_2_Y, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addGap(163, 163, 163)) - ); - jPanel6Layout.setVerticalGroup( - jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel6Layout.createSequentialGroup() - .addGap(36, 36, 36) - .addComponent(intersect_2_R, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(53, 53, 53) - .addComponent(intersect_2_Y, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(intersect_2_G, javax.swing.GroupLayout.PREFERRED_SIZE, 196, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(38, 38, 38)) - ); - - jLabel8.setText("Intersection 1"); - - jLabel9.setText("Intersection 2"); - - javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4); - jPanel4.setLayout(jPanel4Layout); - jPanel4Layout.setHorizontalGroup( - jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel4Layout.createSequentialGroup() - .addGap(276, 276, 276) - .addComponent(jLabel8) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(jLabel9) - .addGap(241, 241, 241)) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel4Layout.createSequentialGroup() - .addGap(125, 125, 125) - .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 526, Short.MAX_VALUE) - .addComponent(jPanel6, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(33, 33, 33)) - ); - jPanel4Layout.setVerticalGroup( - jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel4Layout.createSequentialGroup() - .addContainerGap() - .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(jLabel9) - .addComponent(jLabel8)) - .addGap(4, 4, 4) - .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(jPanel6, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) - .addContainerGap()) - ); - - jTabbedPane1.addTab("Lights", jPanel4); - - javax.swing.GroupLayout jPanel7Layout = new javax.swing.GroupLayout(jPanel7); - jPanel7.setLayout(jPanel7Layout); - jPanel7Layout.setHorizontalGroup( - jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel7Layout.createSequentialGroup() - .addGap(449, 449, 449) - .addComponent(robot_cam_label) - .addContainerGap(1173, Short.MAX_VALUE)) - ); - jPanel7Layout.setVerticalGroup( - jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel7Layout.createSequentialGroup() - .addGap(243, 243, 243) - .addComponent(robot_cam_label) - .addContainerGap(573, Short.MAX_VALUE)) + .addComponent(move_robot) + .addGap(18, 18, 18) + .addComponent(robot_stop))) + .addGap(18, 18, 18) + .addComponent(battery_voltage_label) + .addGap(18, 18, 18) + .addComponent(current_drawn_label, javax.swing.GroupLayout.PREFERRED_SIZE, 23, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(18, 18, 18) + .addComponent(longitude_label) + .addGap(18, 18, 18) + .addComponent(latitude_label) + .addContainerGap(182, Short.MAX_VALUE)) ); - jTabbedPane1.addTab("Robot Cam", jPanel7); + jTabbedPane1.addTab("Robot", jPanel2); javax.swing.GroupLayout layout = new javax.swing.GroupLayout(getContentPane()); getContentPane().setLayout(layout); @@ -507,56 +276,7 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ pack(); }// //GEN-END:initComponents - public void initialize() { - jTabbedPane1.addChangeListener(new ChangeListener() { - public void stateChanged(ChangeEvent e) { - System.out.println("Tab: " + jTabbedPane1.getSelectedIndex()); - if(running!=null){ - try{ - server.close(); - client.close(); - running.stop(); - }catch(IOException ex){ - System.out.println("IO Exception occured"); - }catch(Exception ex){ - System.out.println(e.toString()); - } - } - switch (jTabbedPane1.getSelectedIndex()) { - case 0: - running = new Thread(() -> { - try{ - onCreate(8485,"cams"); - }catch(Exception ex){ - System.out.println(e.toString()); - } - }); - running.start(); - break; - case 1: - running = new Thread(() -> { - try{ - onCreate(8484,"lights"); - }catch(Exception ex){ - System.out.println(e.toString()); - } - }); - running.start(); - break; - case 2: - running = new Thread(() -> { - try{ - onCreate(8483,"Loads"); - }catch(Exception ex){ - System.out.println(e.toString()); - } - }); - running.start(); - break; - } - } - }); - } + private void jTabbedPane1MouseExited(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jTabbedPane1MouseExited // TODO add your handling code here: @@ -599,6 +319,38 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ } }//GEN-LAST:event_ambulance_buttonActionPerformed + 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 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 move_robotActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_move_robotActionPerformed + try { + out.writeUTF("m"); + } catch (IOException ex) { + System.out.println(ex.toString()); + } + }//GEN-LAST:event_move_robotActionPerformed + + private void robot_stopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_robot_stopActionPerformed + try { + out.writeUTF("s"); + } catch (IOException ex) { + System.out.println(ex.toString()); + } + }//GEN-LAST:event_robot_stopActionPerformed + /** * @param args the command line arguments */ @@ -632,22 +384,43 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ public void onCreate(int port, String name) throws Exception{ boolean run = true; - if (name == "robot") { + if (name.equals("robot")) { + robotSocket = new Socket(ROBOT_IP, 3131); + out = new DataOutputStream(robotSocket.getOutputStream()); + in = new BufferedReader(new InputStreamReader(robotSocket.getInputStream())); while (run) { - BufferedImage image = null; - URL img_url = new URL("http://10.10.26.141:8080/?action=snapshot"); + out.writeUTF("i"); + String resp = in.readLine(); + System.out.println(resp); + JSONObject values = new JSONObject(resp); + System.out.println(values.getString("lat")); + 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")); + + BufferedImage image; + URL img_url = new URL(String.format("http://%s:8080/?action=snapshot", ROBOT_IP)); image = ImageIO.read(img_url); - robot_cam_label.setIcon(new ImageIcon(image)); + int width = image.getWidth(); + int height = image.getHeight(); + BufferedImage dest = new BufferedImage(height, width, image.getType()); + Graphics2D graphics2D = dest.createGraphics(); + 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(dest)); - URL obj = new URL("http://10.10.26.164:5001/ai"); + 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, "jpg", out); + byte[] bytes = out.toByteArray(); + String base64 = Base64.getEncoder().encodeToString(bytes); - byte[] imageBytes = IOUtils.toByteArray(img_url); - String base64 = Base64.getEncoder().encodeToString(imageBytes); - - String params = "type=coco&img=" + base64; + String params = "type=damage&img=" + base64; con.setDoOutput(true); DataOutputStream wr = new DataOutputStream(con.getOutputStream()); @@ -665,10 +438,10 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ in.close(); JSONObject json = new JSONObject(response.toString()); - Graphics2D g2d = image.createGraphics(); } + return; } - this.camera_cut_label.setIcon(new ImageIcon()); + /*this.camera_cut_label.setIcon(new ImageIcon()); this.camera_full_label.setIcon(new ImageIcon()); String fromClient = ""; String toClient; @@ -748,34 +521,32 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ javax.swing.JLabel[][] labels = {{intersect_1_R,intersect_1_Y,intersect_1_G},{intersect_2_R,intersect_2_Y,intersect_2_G}}; int[] lights = {0,0}; while(run) { - BufferedReader in = new BufferedReader(new InputStreamReader(client.getInputStream())); + BufferedReader in = new BufferedReader(new InputStreamReader(client.getInputStream())); - fromClient = in.readLine(); + fromClient = in.readLine(); - if(fromClient != null) { - if(fromClient.trim().equals("Bye")) { - run = false; - System.out.println("socket closed"); - }else{ - System.out.println("received data in size: " + fromClient.length()); - System.out.println(fromClient); - lights[0] = Character.getNumericValue(fromClient.charAt(0)); - lights[1] = Character.getNumericValue(fromClient.charAt(2)); - for(int i = 0;i < 2;i++){ - for(int j = 0;j<3;j++){ - if(lights[i] == j){ - labels[i][j].setBackground(new java.awt.Color(colors[j][0], colors[j][1], colors[j][2])); - continue; - } - labels[i][j].setBackground(new java.awt.Color(204,204,204)); + if(fromClient != null) { + if(fromClient.trim().equals("Bye")) { + run = false; + System.out.println("socket closed"); + }else{ + System.out.println("received data in size: " + fromClient.length()); + System.out.println(fromClient); + lights[0] = Character.getNumericValue(fromClient.charAt(0)); + lights[1] = Character.getNumericValue(fromClient.charAt(2)); + for(int i = 0;i < 2;i++){ + for(int j = 0;j<3;j++){ + if(lights[i] == j){ + labels[i][j].setBackground(new java.awt.Color(colors[j][0], colors[j][1], colors[j][2])); + continue; } + labels[i][j].setBackground(new java.awt.Color(204,204,204)); } } + } } - - - } - } + } + }*/ } public static BufferedImage resizeImage(final Image image, int width, int height) { @@ -810,7 +581,7 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ try{ onCreate(8485,"cams"); }catch(Exception ex){ - System.out.println(e.toString()); + System.out.println(ex.toString()); } }); running.start(); @@ -825,12 +596,12 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ }); running.start(); break; - case 2: + case 3: running = new Thread(() -> { try{ onCreate(0,"robot"); }catch(Exception ex){ - System.out.println(e.toString()); + System.out.println(ex.toString()); } }); running.start(); @@ -839,42 +610,24 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{ } // Variables declaration - do not modify//GEN-BEGIN:variables - private javax.swing.JButton ambulance_button; - private javax.swing.JLabel camera_cut_label; - private javax.swing.JLabel camera_full_label; - private javax.swing.JLabel cpu_temp; - private javax.swing.JLabel cpu_usage; - private javax.swing.JLabel fan_rpm; + private javax.swing.JLabel ambulance_label; + private javax.swing.JLabel battery_voltage_label; + private javax.swing.JLabel current_drawn_label; private javax.swing.JLabel fps_label; - private javax.swing.JLabel gpu_temp; - private javax.swing.JLabel gpu_usage; - private javax.swing.JLabel intersect_1_G; - private javax.swing.JLabel intersect_1_R; - private javax.swing.JLabel intersect_1_Y; - private javax.swing.JLabel intersect_2_G; - private javax.swing.JLabel intersect_2_R; - private javax.swing.JLabel intersect_2_Y; - private javax.swing.JLabel jLabel1; - private javax.swing.JLabel jLabel2; - private javax.swing.JLabel jLabel3; - private javax.swing.JLabel jLabel4; - private javax.swing.JLabel jLabel5; - private javax.swing.JLabel jLabel6; - private javax.swing.JLabel jLabel7; - private javax.swing.JLabel jLabel8; - private javax.swing.JLabel jLabel9; + private javax.swing.JLabel intersection_label; private javax.swing.JPanel jPanel1; private javax.swing.JPanel jPanel2; - private javax.swing.JPanel jPanel3; - private javax.swing.JPanel jPanel4; private javax.swing.JPanel jPanel5; private javax.swing.JPanel jPanel6; private javax.swing.JPanel jPanel7; private javax.swing.JTabbedPane jTabbedPane1; - private javax.swing.JButton manage_button; - private javax.swing.JLabel ram_temp; - private javax.swing.JLabel ram_usage; + private javax.swing.JLabel latitude_label; + 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 robot_cam_label; + private javax.swing.JButton robot_stop; // End of variables declaration//GEN-END:variables