From db43033a02526f34eca399933a5016d36383559a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Efe=20Ayd=C4=B1n?= <3feaydin@gmail.com> Date: Wed, 17 Jul 2019 13:37:47 +0300 Subject: [PATCH] robot cam --- Ev3/main.py | 5 + .../yigitcolakoglu/master_app/cameraForm.form | 95 +++++---- .../yigitcolakoglu/master_app/cameraForm.java | 195 ++++++++++++------ 3 files changed, 183 insertions(+), 112 deletions(-) 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 @@ - - - - - @@ -332,61 +328,61 @@ + + + + + + + + + + - - - - - - - - - - - - - - - - - - - + + + - - + + - + - - - - + - - - - - - - - + + + - - - - - + + + + + + + + + + + + + + + + + + + - + @@ -439,7 +435,10 @@ - + + + + @@ -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;