diff --git a/Ev3/main.py b/Ev3/main.py
index ac12da0..22cc98d 100644
--- a/Ev3/main.py
+++ b/Ev3/main.py
@@ -73,6 +73,11 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
"lng":39
}
conn.send((json.dumps(data, ensure_ascii=False)+"\n").encode('gbk'))
+ elif recieved == '+':
+ cam.run_timed(time_sp=50, speed_sp=750)
+ elif recieved == '-':
+ cam.run_timed(time_sp=50, speed_sp=-750)
+
except BrokenPipeError:
print("[INFO]: Client disconnected")
stop()
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 b39473a..b862b5f 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
@@ -49,8 +49,9 @@
+
-
+
@@ -301,11 +302,6 @@
-
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@@ -332,61 +328,61 @@
+
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@@ -439,7 +435,10 @@
-
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@@ -487,7 +486,7 @@
-
+
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 4da083f..b46d3b9 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
@@ -11,6 +11,7 @@ import java.awt.Graphics2D;
import java.awt.Image;
import java.awt.RenderingHints;
import java.awt.image.BufferedImage;
+import java.nio.charset.StandardCharsets;
import java.util.Base64;
import java.util.logging.Level;
import java.util.logging.Logger;
@@ -23,6 +24,10 @@ import javax.swing.event.ChangeEvent;
import javax.swing.event.ChangeListener;
import org.apache.commons.io.IOUtils;
import org.json.JSONObject;
+import java.security.cert.*;
+import java.security.*;
+import javax.net.ssl.*;
+import javax.swing.JSlider;
/**
*
@@ -35,13 +40,14 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
*/
public cameraForm() {
initComponents();
+ disableSslVerification();
}
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 String AI_IP = "10.10.26.110";
private Socket robotSocket;
private DataOutputStream out;
private BufferedReader in;
@@ -83,7 +89,7 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
longitude_label = new javax.swing.JLabel();
robot_stop = new javax.swing.JButton();
move_robot = new javax.swing.JButton();
- jSlider1 = new javax.swing.JSlider();
+ cam_slider = new javax.swing.JSlider();
jPanel6 = new javax.swing.JPanel();
light_1_label = new javax.swing.JLabel();
light_2_label = new javax.swing.JLabel();
@@ -155,8 +161,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
gpu_temp.setText("40C");
- jLabel6.setIcon(new javax.swing.ImageIcon("/home/colakoglu/Downloads/MyCity/master_app/src/main/java/me/yigitcolakoglu/master_app/fan.png")); // NOI18N
-
fan_rpm.setFont(new java.awt.Font("Dialog", 1, 36)); // NOI18N
fan_rpm.setText("1000RPM");
@@ -298,54 +302,60 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
});
+ cam_slider.addChangeListener(new javax.swing.event.ChangeListener() {
+ public void stateChanged(javax.swing.event.ChangeEvent evt) {
+ cam_sliderStateChanged(evt);
+ }
+ });
+
javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
jPanel2.setLayout(jPanel2Layout);
jPanel2Layout.setHorizontalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
+ .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(53, 53, 53)
- .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(jSlider1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))))
- .addGroup(jPanel2Layout.createSequentialGroup()
- .addGap(19, 19, 19)
- .addComponent(robot_cam_label, javax.swing.GroupLayout.PREFERRED_SIZE, 1375, javax.swing.GroupLayout.PREFERRED_SIZE)))
- .addGap(0, 228, Short.MAX_VALUE))
+ .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))
);
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
- .addGap(16, 16, 16)
- .addComponent(robot_cam_label, javax.swing.GroupLayout.PREFERRED_SIZE, 522, javax.swing.GroupLayout.PREFERRED_SIZE)
- .addGap(18, 18, 18)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
- .addComponent(battery_voltage_label)
- .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
- .addComponent(current_drawn_label, javax.swing.GroupLayout.PREFERRED_SIZE, 23, javax.swing.GroupLayout.PREFERRED_SIZE)
- .addGap(14, 14, 14)
- .addComponent(longitude_label)
- .addGap(18, 18, 18)
- .addComponent(latitude_label))
+ .addGap(16, 16, 16)
+ .addComponent(robot_cam_label, javax.swing.GroupLayout.PREFERRED_SIZE, 768, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGroup(jPanel2Layout.createSequentialGroup()
- .addComponent(move_robot)
- .addGap(18, 18, 18)
- .addComponent(robot_stop)
- .addGap(18, 18, 18)
- .addComponent(jSlider1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
- .addContainerGap(146, Short.MAX_VALUE))
+ .addGap(197, 197, 197)
+ .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+ .addGroup(jPanel2Layout.createSequentialGroup()
+ .addComponent(battery_voltage_label)
+ .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
+ .addComponent(current_drawn_label, javax.swing.GroupLayout.PREFERRED_SIZE, 23, javax.swing.GroupLayout.PREFERRED_SIZE)
+ .addGap(14, 14, 14)
+ .addComponent(longitude_label)
+ .addGap(18, 18, 18)
+ .addComponent(latitude_label))
+ .addGroup(jPanel2Layout.createSequentialGroup()
+ .addComponent(move_robot)
+ .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))
);
jTabbedPane1.addTab("Robot", jPanel2);
@@ -474,7 +484,7 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jPanel7, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
- .addContainerGap(17, Short.MAX_VALUE))
+ .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jTabbedPane1.addTab("Traffic Lights", jPanel6);
@@ -497,8 +507,9 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
layout.setHorizontalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
+ .addContainerGap()
.addComponent(jTabbedPane1, javax.swing.GroupLayout.PREFERRED_SIZE, 1624, javax.swing.GroupLayout.PREFERRED_SIZE)
- .addGap(0, 0, Short.MAX_VALUE))
+ .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
@@ -585,6 +596,27 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
}//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()) {
+ source.setValue(50);
+ }
+ int val = (int)source.getValue();
+ if (val < 50) {
+ try {
+ out.writeUTF("+");
+ } catch (IOException ex) {
+ System.out.println(ex.toString());
+ }
+ } else if (val > 50) {
+ try {
+ out.writeUTF("-");
+ } catch (IOException ex) {
+ System.out.println(ex.toString());
+ }
+ }
+ }//GEN-LAST:event_cam_sliderStateChanged
+
/**
* @param args the command line arguments
*/
@@ -615,7 +647,46 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}});
}
+ private static void disableSslVerification() {
+ try
+ {
+ // Create a trust manager that does not validate certificate chains
+ TrustManager[] trustAllCerts = new TrustManager[] {new X509TrustManager() {
+ public java.security.cert.X509Certificate[] getAcceptedIssuers() {
+ return null;
+ }
+ public void checkClientTrusted(X509Certificate[] certs, String authType) {
+ }
+ public void checkServerTrusted(X509Certificate[] certs, String authType) {
+ }
+ }
+ };
+
+ // Install the all-trusting trust manager
+ SSLContext sc = SSLContext.getInstance("SSL");
+ sc.init(null, trustAllCerts, new java.security.SecureRandom());
+ HttpsURLConnection.setDefaultSSLSocketFactory(sc.getSocketFactory());
+
+ // Create all-trusting host name verifier
+ HostnameVerifier allHostsValid = new HostnameVerifier() {
+ public boolean verify(String hostname, SSLSession session) {
+ return true;
+ }
+ };
+ // Install the all-trusting host verifier
+ HttpsURLConnection.setDefaultHostnameVerifier(allHostsValid);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ private static String encodeValue(String value) {
+ try {
+ return URLEncoder.encode(value, StandardCharsets.UTF_8.toString());
+ } catch (UnsupportedEncodingException ex) {
+ throw new RuntimeException(ex.getCause());
+ }
+ }
public void onCreate(int port, String name) throws Exception{
boolean run = true;
if (name.equals("robot")) {
@@ -625,9 +696,7 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
while (run) {
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"));
@@ -643,35 +712,33 @@ 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(dest));
+ 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, "jpg", out);
+ ImageIO.write(dest, "PNG", out);
byte[] bytes = out.toByteArray();
String base64 = Base64.getEncoder().encodeToString(bytes);
-
- String params = "type=damage&img=" + base64;
+ 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());
+ 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());
}
return;
}
@@ -820,7 +887,7 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
});
running.start();
break;
- case 1:
+ case 2:
running = new Thread(() -> {
try{
onCreate(69,"lights");
@@ -830,7 +897,7 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
});
running.start();
break;
- case 3:
+ case 1:
running = new Thread(() -> {
try{
onCreate(0,"robot");
@@ -846,6 +913,7 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JLabel ambulance_label;
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;
@@ -876,7 +944,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
private javax.swing.JPanel jPanel6;
private javax.swing.JPanel jPanel7;
private javax.swing.JPanel jPanel8;
- private javax.swing.JSlider jSlider1;
private javax.swing.JTabbedPane jTabbedPane1;
private javax.swing.JLabel latitude_label;
private javax.swing.JLabel light_1_label;