MAC0318/.metadata/.plugins/org.eclipse.core.resources/.history/17/1089c19fcbb90017124d9f37712eb7c1

import java.awt.BorderLayout;
import java.awt.event.KeyEvent;
import java.awt.event.KeyListener;
import java.awt.event.WindowEvent;
import java.awt.event.WindowListener;

import javax.swing.ButtonGroup;
import javax.swing.JFrame;
import javax.swing.JMenu;
import javax.swing.JMenuBar;
import javax.swing.JOptionPane;
import javax.swing.JPanel;
import javax.swing.JRadioButtonMenuItem;
import javax.swing.JSplitPane;
import javax.swing.SwingUtilities;

import config.Map;
import config.Models;
import lejos.robotics.mapping.LineMap;
import lejos.robotics.navigation.Pose;
import robots.DataPose;
import robots.Robot;
import robots.RobotReturn;
import robots.VirtualRobot;

public class MainProgram extends JPanel implements KeyListener, WindowListener, RobotReturn {

	private MapImage imap;
	private Robot robot;
	private ScannerImage scanner;
	private Models smodel;

	public static final byte FORWARD = 0;
	public static final byte STOP = 1;
	public static final byte EXIT = 2;
	public static final byte LEFT = 3;
	public static final byte RIGHT = 4;
	public static final byte BACKWARD = 5;

	public MainProgram(LineMap map, Robot robot) {
		this.robot = robot;
		JFrame frame = new JFrame("Mapa MAC0318");
		

		frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
		frame.setLayout(new BorderLayout());
		imap = new MapImage(map);
		scanner = new ScannerImage(map);
		smodel = new Models(map);
		// frame.add(this.map);
		frame.setSize(800, 800);
		frame.setVisible(true);

		frame.setFocusable(true);
		frame.requestFocusInWindow();
		frame.addKeyListener(this);
		frame.addWindowListener(this);

		JSplitPane splitPane = new JSplitPane(JSplitPane.HORIZONTAL_SPLIT, scanner, imap);
		splitPane.setOneTouchExpandable(true);
		splitPane.setDividerLocation((int) (frame.getHeight() / 2));
		frame.add(splitPane);
		

		boolean result = false;
		if (robot != null) {
			result = robot.connect();
			robot.start(this);
		}

		if (result == false) {
			JOptionPane.showMessageDialog(null, "Não foi possível conectar ao robô");
		}

		 showHelp();
	}

	private void showHelp() {
		String text = "1,2,3 - Change global map view\n";
		 text += "s - Set Pose.\n";
		 text += "l - Show global map trace.\n";
		 text += "c - Clean global map.\n";
		 text += "m - Enter robot movement.\n";
		 text += "r - Enter robo rotation.\n";
		 text += "a - Colect sonar data.\n";
		 text += "z - Make sonar continuous scanner.\n";
		 text += "g - Save global map image.\n";
		 text += "h - Save scanner image.\n";
		 text += "<arrows> - Move robot.\n";
		 JOptionPane.showMessageDialog(null, text, "HELP", JOptionPane.PLAIN_MESSAGE);
	}

	public void addPoint(Pose p) {
		imap.addPoint(p);
	}

	@Override
	public void keyPressed(KeyEvent e) {
		char input = e.getKeyChar();
		if (input == '1')
			imap.setVisual(0);
		else if (input == '2')
			imap.setVisual(1);
		else if (input == '3')
			imap.setVisual(2);
		else if (input == 'l')
			imap.showLine();
		else if (input == 'g')
			imap.save();
		else if (input == 'c')
			imap.clean();
		else if (input == 's')
			setRobotPose();
		
		if (robot == null)
			return;

		switch (e.getKeyCode()) {
		case KeyEvent.VK_UP:
			robot.moveForward();
			break;
		case KeyEvent.VK_DOWN:
			robot.moveBackward();
			break;
		case KeyEvent.VK_LEFT:
			robot.moveLeft();
			break;
		case KeyEvent.VK_RIGHT:
			robot.moveRight();
			break;
		}
	}

	private void setRobotPose() {
		String xs = JOptionPane.showInputDialog("Enter x (cm):");
		String ys = JOptionPane.showInputDialog("Enter y (cm):");
		String as = JOptionPane.showInputDialog("Enter heading (degress):");
		float x  = Float.parseFloat(xs);
		float y  = Float.parseFloat(ys);
		float a  = Float.parseFloat(as);
		robot.setPose(x, y, a);
	}

	@Override
	public void keyReleased(KeyEvent arg0) {
		if (robot == null)
			return;
		robot.stop();
	}

	@Override
	public void keyTyped(KeyEvent arg0) {
	}

	@Override
	public void windowOpened(WindowEvent e) {

	}

	@Override
	public void windowClosing(WindowEvent e) {
		System.err.println("Fechando...");
		if (robot == null)
			return;
		robot.disconnect();

	}

	@Override
	public void windowClosed(WindowEvent e) {
	}

	@Override
	public void windowIconified(WindowEvent e) {

	}

	@Override
	public void windowDeiconified(WindowEvent e) {

	}

	@Override
	public void windowActivated(WindowEvent e) {

	}

	@Override
	public void windowDeactivated(WindowEvent e) {
	}

	@Override
	public void robotData(DataPose data) {
		// posicao do robo
		Pose p = data.getPose();
		
		imap.addPoint(p);

		// ponto do ultrasonico
		double sensor_ang = Math.toRadians(data.getSensorAngle() + p.getHeading());
		double dx = Math.cos(sensor_ang) * data.getDistance();
		double dy = Math.sin(sensor_ang) * data.getDistance();
		imap.addRead(p.getX() + dx, p.getY() + dy);

		double expected = smodel.expectedSonarRead(p, data.getSensorAngle());

		scanner.addRead(p, data.getDistance(), data.getSensorAngle(), expected);
	}

	public static void main(String[] args) {

		LineMap map = Map.makeMap();
		Robot robot = new VirtualRobot(map);
		// Robot robot = new BluetoothRobot("NXJ8");

		SwingUtilities.invokeLater(new Runnable() {
			public void run() {
				new MainProgram(map, robot);
			}
		});
	}
}