lejos.robotics.mapping
Class NavigationPanel

java.lang.Object
  java.awt.Component
      java.awt.Container
          javax.swing.JComponent
              javax.swing.JPanel
                  lejos.robotics.mapping.NavigationPanel

All Implemented Interfaces:

java.awt.event.ActionListener, java.awt.event.MouseListener, java.awt.event.MouseMotionListener, java.awt.image.ImageObserver, java.awt.MenuContainer, java.io.Serializable, java.util.EventListener, javax.accessibility.Accessible, MapApplicationUI

Direct Known Subclasses:

NXJMapCommand

public abstract class NavigationPanel
extends javax.swing.JPanel
implements MapApplicationUI, java.awt.event.MouseListener, java.awt.event.MouseMotionListener, java.awt.event.ActionListener

NavigationPanel is a JPanel that displays navigation data from PCNavigationModel, and allows the user to interact with it.

Author:

Lawrie Griffiths

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class javax.swing.JPanel

javax.swing.JPanel.AccessibleJPanel

Nested classes/interfaces inherited from class javax.swing.JComponent

javax.swing.JComponent.AccessibleJComponent

Nested classes/interfaces inherited from class java.awt.Container

java.awt.Container.AccessibleAWTContainer

Nested classes/interfaces inherited from class java.awt.Component

java.awt.Component.AccessibleAWTComponent, java.awt.Component.BltBufferStrategy, java.awt.Component.FlipBufferStrategy

Field Summary

protected javax.swing.JMenuItem	about
protected javax.swing.JMenu	aboutMenu
protected javax.swing.JMenuItem	backgroundColor
protected javax.swing.JTextField	borderField
protected javax.swing.JLabel	borderLabel
protected javax.swing.JMenuItem	calculatePath
protected javax.swing.JFileChooser	chooser
protected javax.swing.JMenuItem	clear
protected javax.swing.JTextField	clearanceField
protected javax.swing.JLabel	clearanceLabel
protected javax.swing.JTextField	clearField
protected javax.swing.JLabel	clearLabel
protected javax.swing.JMenuItem	closestColor
protected javax.swing.JColorChooser	colorChooser
protected javax.swing.JMenu	colorMenu
protected javax.swing.JPanel	commandPanel
protected javax.swing.JMenu	commandsMenu
protected javax.swing.JDialog	configureDetector
protected javax.swing.JDialog	configureMCL
protected javax.swing.JMenu	configureMenu
protected javax.swing.JDialog	configureMesh
protected javax.swing.JDialog	configurePilot
protected javax.swing.JDialog	configureRandom
protected javax.swing.JDialog	configureScanner
protected javax.swing.JMenuItem	connect
protected javax.swing.JButton	connectButton
protected javax.swing.JLabel	connectedLabel
protected javax.swing.JPanel	connectPanel
protected javax.swing.JPanel	controlPanel
protected javax.swing.JMenuItem	defaultColors
protected javax.swing.JTextField	delayField
protected javax.swing.JLabel	delayLabel
protected java.lang.String	description
protected javax.swing.JMenuItem	detector
protected javax.swing.JPanel	detectorForm
protected javax.swing.JButton	detectorOKButton
protected javax.swing.JPanel	detectorPanel
protected javax.swing.JPanel	differentialPanel
protected javax.swing.JComboBox	driveMotorBox
protected javax.swing.JLabel	driveMotorLabel
protected javax.swing.JCheckBox	driveReverseBox
protected javax.swing.JLabel	driveReverseLabel
protected javax.swing.JMenuItem	estimateColor
protected EventPanel	eventPanel
protected javax.swing.JMenuItem	exit
protected javax.swing.JMenuItem	featureColor
protected javax.swing.JMenu	fileMenu
protected javax.swing.JMenuItem	finder
protected javax.swing.JPanel	finderForm
protected javax.swing.JButton	finderOKButton
protected javax.swing.JPanel	finderPanel
protected javax.swing.JMenuItem	followPath
protected javax.swing.JFrame	frame
protected javax.swing.JTextField	gearRatioField
protected javax.swing.JLabel	gearRatioLabel
protected javax.swing.JMenuItem	getPose
protected javax.swing.JMenuItem	gridColor
protected javax.swing.JTextField	gridSizeField
protected javax.swing.JLabel	gridSizeLabel
protected javax.swing.JComboBox	headMotorBox
protected javax.swing.JLabel	headMotorLabel
protected java.awt.Point	initialViewStart
protected static java.lang.String	KEY_DEFAULT_MAP
protected static java.lang.String	KEY_DEFAULT_NXT
protected static java.lang.String	KEY_DETECTOR_DELAY
protected static java.lang.String	KEY_DETECTOR_MAX_DISTANCE
protected static java.lang.String	KEY_DIFF_PILOT_LEFT_MOTOR
protected static java.lang.String	KEY_DIFF_PILOT_REVERSE
protected static java.lang.String	KEY_DIFF_PILOT_RIGHT_MOTOR
protected static java.lang.String	KEY_DIFF_PILOT_TRACK_WIDTH
protected static java.lang.String	KEY_DIFF_PILOT_WHEEL_DIAMETER
protected static java.lang.String	KEY_MAX_ROTATE_SPEED
protected static java.lang.String	KEY_MAX_TRAVEL_SPEED
protected static java.lang.String	KEY_MCL_CLEARANCE
protected static java.lang.String	KEY_MCL_NUM_PARTICLES
protected static java.lang.String	KEY_MESH_CLEARANCE
protected static java.lang.String	KEY_MESH_GRID_SIZE
protected static java.lang.String	KEY_RANDOM_MOVE_CLEARANCE
protected static java.lang.String	KEY_RANDOM_MOVE_MAX_DISTANCE
protected static java.lang.String	KEY_RANGE_SCANNER_GEAR_RATIO
protected static java.lang.String	KEY_RANGE_SCANNER_HEAD_MOTOR
protected static java.lang.String	KEY_STEER_PILOT_DRIVE_MOTOR
protected static java.lang.String	KEY_STEER_PILOT_DRIVE_MOTOR_REVERSE
protected static java.lang.String	KEY_STEER_PILOT_LEFT_TACHO
protected static java.lang.String	KEY_STEER_PILOT_RIGHT_TACHO
protected static java.lang.String	KEY_STEER_PILOT_STEERING_MOTOR
protected static java.lang.String	KEY_STEER_PILOT_WHEEL_DIAMETER
protected javax.swing.JTextField	lastMoveField
protected javax.swing.JPanel	lastMovePanel
protected javax.swing.JComboBox	leftMotorBox
protected javax.swing.JLabel	leftMotorLabel
protected javax.swing.JTextField	leftTachoField
protected javax.swing.JLabel	leftTachoLabel
protected javax.swing.JButton	loadMapButton
protected javax.swing.JPanel	loadPanel
protected javax.swing.JMenuItem	localize
protected javax.swing.JPanel	logPanel
protected javax.swing.JMenuItem	mapColor
protected javax.swing.JTextField	mapFileField
protected javax.swing.JLabel	mapFileLabel
protected javax.swing.JLabel	mapLabel
protected javax.swing.JMenu	mapMenu
protected MapPanel	mapPanel
protected java.awt.Dimension	mapPaneSize
protected javax.swing.JTextField	maxDistanceField
protected javax.swing.JLabel	maxDistanceLabel
protected javax.swing.JTextField	maxDistField
protected javax.swing.JLabel	maxDistLabel
protected int	maxZoom
protected javax.swing.JMenuItem	mcl
protected javax.swing.JPanel	mclForm
protected javax.swing.JButton	mclOKButton
protected javax.swing.JPanel	mclPanel
protected javax.swing.JMenuBar	menuBar
protected javax.swing.JMenuItem	meshColor
protected javax.swing.JPanel	meshPanel
protected int	minZoom
protected PCNavigationModel	model
protected java.lang.String[]	motors
protected javax.swing.JMenuItem	moveColor
protected javax.swing.JTextField	numParticlesField
protected javax.swing.JLabel	numParticlesLabel
protected javax.swing.JLabel	nxtLabel
protected javax.swing.JTextField	nxtName
protected javax.swing.JMenuItem	open
protected javax.swing.JMenuItem	particleColor
protected javax.swing.JTextField	particleField
protected javax.swing.JPanel	particlePanel
protected javax.swing.JMenuItem	pathColor
protected java.lang.String[]	pathFinders
protected javax.swing.JComboBox	pfBox
protected javax.swing.JLabel	pfLabel
protected javax.swing.JMenuItem	pilot
protected javax.swing.JPanel	pilotForm
protected javax.swing.JButton	pilotOKButton
protected javax.swing.JComboBox	pilotTypeBox
protected javax.swing.JLabel	pilotTypeLabel
protected java.lang.String[]	pilotTypes
protected float	pixelsPerUnit
protected java.lang.String	program
protected java.util.Properties	props
protected javax.swing.JMenuItem	random
protected javax.swing.JPanel	randomForm
protected javax.swing.JMenuItem	randomMove
protected javax.swing.JButton	randomOKButton
protected javax.swing.JPanel	randomPanel
protected javax.swing.JTextField	readingsField
protected javax.swing.JPanel	readingsPanel
protected javax.swing.JMenuItem	repaint
protected javax.swing.JMenuItem	reset
protected javax.swing.JCheckBox	reverseBox
protected javax.swing.JLabel	reverseLabel
protected javax.swing.JComboBox	rightMotorBox
protected javax.swing.JLabel	rightMotorLabel
protected javax.swing.JTextField	rightTachoField
protected javax.swing.JLabel	rightTachoLabel
protected javax.swing.JMenuItem	robotColor
protected javax.swing.JMenuItem	save
protected javax.swing.JMenuItem	scanner
protected javax.swing.JPanel	scannerForm
protected javax.swing.JButton	scannerOKButton
protected javax.swing.JPanel	scannerPanel
protected boolean	showCommandPanel
protected boolean	showConnectPanel
protected boolean	showControlPanel
protected boolean	showEventPanel
protected boolean	showGrid
protected boolean	showLastMovePanel
protected boolean	showLoadMapPanel
protected boolean	showLog
protected boolean	showMesh
protected boolean	showMoves
protected boolean	showParticlePanel
protected boolean	showParticles
protected boolean	showReadingsPanel
protected boolean	showStatusPanel
protected boolean	showZoomLabels
protected java.awt.Point	startDrag
protected javax.swing.JPanel	statusPanel
protected javax.swing.JComboBox	steeringMotorBox
protected javax.swing.JLabel	steeringMotorLabel
protected javax.swing.JPanel	steeringPanel
protected javax.swing.JTextField	steerWheelDiameterField
protected javax.swing.JLabel	steerWheelDiameterLabel
protected javax.swing.JMenuItem	stop
protected javax.swing.JMenuItem	targetColor
protected java.lang.String	title
protected javax.swing.JTextField	trackWidthField
protected javax.swing.JLabel	trackWidthLabel
protected javax.swing.JCheckBox	uploadBox
protected javax.swing.JCheckBoxMenuItem	viewCommands
protected javax.swing.JCheckBoxMenuItem	viewConnect
protected javax.swing.JCheckBoxMenuItem	viewControls
protected javax.swing.JCheckBoxMenuItem	viewEventForm
protected javax.swing.JCheckBoxMenuItem	viewGrid
protected javax.swing.JCheckBoxMenuItem	viewLastMove
protected javax.swing.JCheckBoxMenuItem	viewLoadMap
protected javax.swing.JCheckBoxMenuItem	viewLog
protected javax.swing.JMenu	viewMenu
protected javax.swing.JCheckBoxMenuItem	viewMesh
protected javax.swing.JCheckBoxMenuItem	viewMousePosition
protected javax.swing.JCheckBoxMenuItem	viewParticlePanel
protected javax.swing.JCheckBoxMenuItem	viewParticles
protected javax.swing.JMenuItem	waypointColor
protected javax.swing.JTextField	wheelDiameterField
protected javax.swing.JLabel	wheelDiameterLabel
protected javax.swing.JTextField	xField
protected javax.swing.JLabel	xLabel
protected javax.swing.JPanel	xyPanel
protected javax.swing.JTextField	yField
protected javax.swing.JLabel	yLabel
protected int	zoomIncrement
protected int	zoomInitialValue
protected int	zoomMajorTick
protected javax.swing.JSlider	zoomSlider

Fields inherited from class javax.swing.JComponent

accessibleContext, listenerList, TOOL_TIP_TEXT_KEY, ui, UNDEFINED_CONDITION, WHEN_ANCESTOR_OF_FOCUSED_COMPONENT, WHEN_FOCUSED, WHEN_IN_FOCUSED_WINDOW

Fields inherited from class java.awt.Component

BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, LEFT_ALIGNMENT, RIGHT_ALIGNMENT, TOP_ALIGNMENT

Fields inherited from interface java.awt.image.ImageObserver

ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH

Constructor Summary

NavigationPanel()

Method Summary

protected void	about() Provides a pop up about dialog which can be tailored or overridden
void	actionPerformed(java.awt.event.ActionEvent e) Called when a menu item is selected or button clicked
protected void	buildGUI() Build the GUI- used by MCLTest but deprecated
void	buildPanels() Build all the panels
protected void	createAboutMenu() Create an About menu
protected void	createCommandMenu() Create the Commands menu
protected void	createCommandPanel() Create the command panel - this is added to by overriding classes
protected void	createConfigureMenu() Create the Configure menu
protected void	createConnectPanel() Create the Connect panel to allow connection to a NXT brick
protected void	createControlPanel() Create the control panel, which controls the GUI
protected void	createDetectorPanel() Create the Feature Detector configuration form
protected void	createDifferentialPanel()
protected void	createFileMenu() Create a File menu
protected void	createFinderPanel() Create the PathFinder configuration form
protected void	createHelpMenu() Create a help menu
protected void	createLoadPanel() Create load map panel
protected void	createMapMenu() Create a Map menu
protected void	createMapPanel() Create the map panel
protected void	createMCLPanel() Create the MCL configuration form
protected void	createMenu() Create the menu
protected void	createMeshPanel() Create the mesh configuration panel
protected void	createMovePanel() Create the move panel, which shows the last move made by the robot
protected void	createParticlePanel() Create the particle panel which shows range readings for a specific particle
protected void	createPilotPanel() Create the Pilot Configuration Form
protected void	createRandomPanel() Create the Random Move configuration form
protected void	createReadingsPanel() Create the readings panel which shows the last range readings
protected void	createScannerPanel() Create the range scanner configuration form
protected void	createStatusPanel() Create the status Panel
protected void	createSteeringPanel()
protected void	createViewMenu() Create a View menu
protected void	createXYPanel() Create the map panel which shows the mouse position in map coordinates
void	error(java.lang.String msg) Show a pop-up error message
void	eventReceived(NavigationModel.NavEvent navEvent) Override this method to perform some action (other than repaining) when an event is received
void	fatal(java.lang.String msg) Print the error message and exit
protected void	loadProperties()
void	log(java.lang.String message) Log a message
void	mouseClicked(java.awt.event.MouseEvent e) Optionally overridden by subclasses
void	mouseDragged(java.awt.event.MouseEvent e) Optionally overridden by subclasses
void	mouseEntered(java.awt.event.MouseEvent e) Optionally overridden by subclasses
void	mouseExited(java.awt.event.MouseEvent e) Called when the mouse exits the map panel.
void	mouseMoved(java.awt.event.MouseEvent e) Optionally overridden by subclasses
void	mousePressed(java.awt.event.MouseEvent e) Optionally overridden by subclasses
void	mouseReleased(java.awt.event.MouseEvent e) Optionally overridden by subclasses
static javax.swing.JFrame	openInJFrame(NavigationPanel content, int width, int height, java.lang.String title, java.awt.Color bgColor) Version without a menu
static javax.swing.JFrame	openInJFrame(NavigationPanel content, int width, int height, java.lang.String title, java.awt.Color bgColor, javax.swing.JMenuBar menuBar) Create a frame to display the panel in
void	paintComponent(java.awt.Graphics g)
protected void	popupMenu(java.awt.event.MouseEvent me) Display a context menu at the specified point in the map panel.
protected void	popupMenuItems(java.awt.Point p, javax.swing.JPopupMenu menu) Used by subclasses to add popup menu items
protected void	saveProperties()
void	setDescription(java.lang.String description) Set the description used in the About popup
void	setMapOrigin(java.awt.Point origin)
void	setMapPanelSize(java.awt.Dimension size) Set the size of the map panel
void	setMapSize(java.awt.Dimension size) Set the size of the map panel
void	setTitle(java.lang.String title) Set the title use for the frame and the About popup
void	whenConnected() Override this method to specify actions to do after connection to the NXT

Methods inherited from class javax.swing.JPanel

getAccessibleContext, getUI, getUIClassID, paramString, setUI, updateUI

Methods inherited from class javax.swing.JComponent

addAncestorListener, addNotify, addVetoableChangeListener, computeVisibleRect, contains, createToolTip, disable, enable, firePropertyChange, firePropertyChange, firePropertyChange, fireVetoableChange, getActionForKeyStroke, getActionMap, getAlignmentX, getAlignmentY, getAncestorListeners, getAutoscrolls, getBorder, getBounds, getClientProperty, getComponentGraphics, getComponentPopupMenu, getConditionForKeyStroke, getDebugGraphicsOptions, getDefaultLocale, getFontMetrics, getGraphics, getHeight, getInheritsPopupMenu, getInputMap, getInputMap, getInputVerifier, getInsets, getInsets, getListeners, getLocation, getMaximumSize, getMinimumSize, getNextFocusableComponent, getPopupLocation, getPreferredSize, getRegisteredKeyStrokes, getRootPane, getSize, getToolTipLocation, getToolTipText, getToolTipText, getTopLevelAncestor, getTransferHandler, getVerifyInputWhenFocusTarget, getVetoableChangeListeners, getVisibleRect, getWidth, getX, getY, grabFocus, isDoubleBuffered, isLightweightComponent, isManagingFocus, isOpaque, isOptimizedDrawingEnabled, isPaintingTile, isRequestFocusEnabled, isValidateRoot, paint, paintBorder, paintChildren, paintImmediately, paintImmediately, print, printAll, printBorder, printChildren, printComponent, processComponentKeyEvent, processKeyBinding, processKeyEvent, processMouseEvent, processMouseMotionEvent, putClientProperty, registerKeyboardAction, registerKeyboardAction, removeAncestorListener, removeNotify, removeVetoableChangeListener, repaint, repaint, requestDefaultFocus, requestFocus, requestFocus, requestFocusInWindow, requestFocusInWindow, resetKeyboardActions, reshape, revalidate, scrollRectToVisible, setActionMap, setAlignmentX, setAlignmentY, setAutoscrolls, setBackground, setBorder, setComponentPopupMenu, setDebugGraphicsOptions, setDefaultLocale, setDoubleBuffered, setEnabled, setFocusTraversalKeys, setFont, setForeground, setInheritsPopupMenu, setInputMap, setInputVerifier, setMaximumSize, setMinimumSize, setNextFocusableComponent, setOpaque, setPreferredSize, setRequestFocusEnabled, setToolTipText, setTransferHandler, setUI, setVerifyInputWhenFocusTarget, setVisible, unregisterKeyboardAction, update

Methods inherited from class java.awt.Container

add, add, add, add, add, addContainerListener, addImpl, addPropertyChangeListener, addPropertyChangeListener, applyComponentOrientation, areFocusTraversalKeysSet, countComponents, deliverEvent, doLayout, findComponentAt, findComponentAt, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents, getComponentZOrder, getContainerListeners, getFocusTraversalKeys, getFocusTraversalPolicy, getLayout, getMousePosition, insets, invalidate, isAncestorOf, isFocusCycleRoot, isFocusCycleRoot, isFocusTraversalPolicyProvider, isFocusTraversalPolicySet, layout, list, list, locate, minimumSize, paintComponents, preferredSize, printComponents, processContainerEvent, processEvent, remove, remove, removeAll, removeContainerListener, setComponentZOrder, setFocusCycleRoot, setFocusTraversalPolicy, setFocusTraversalPolicyProvider, setLayout, transferFocusBackward, transferFocusDownCycle, validate, validateTree

Methods inherited from class java.awt.Component

action, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, checkImage, checkImage, coalesceEvents, contains, createImage, createImage, createVolatileImage, createVolatileImage, disableEvents, dispatchEvent, enable, enableEvents, enableInputMethods, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getBackground, getBounds, getColorModel, getComponentListeners, getComponentOrientation, getCursor, getDropTarget, getFocusCycleRootAncestor, getFocusListeners, getFocusTraversalKeysEnabled, getFont, getForeground, getGraphicsConfiguration, getHierarchyBoundsListeners, getHierarchyListeners, getIgnoreRepaint, getInputContext, getInputMethodListeners, getInputMethodRequests, getKeyListeners, getLocale, getLocation, getLocationOnScreen, getMouseListeners, getMouseMotionListeners, getMousePosition, getMouseWheelListeners, getName, getParent, getPeer, getPropertyChangeListeners, getPropertyChangeListeners, getSize, getToolkit, getTreeLock, gotFocus, handleEvent, hasFocus, hide, imageUpdate, inside, isBackgroundSet, isCursorSet, isDisplayable, isEnabled, isFocusable, isFocusOwner, isFocusTraversable, isFontSet, isForegroundSet, isLightweight, isMaximumSizeSet, isMinimumSizeSet, isPreferredSizeSet, isShowing, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseDown, mouseDrag, mouseEnter, mouseExit, mouseMove, mouseUp, move, nextFocus, paintAll, postEvent, prepareImage, prepareImage, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processMouseWheelEvent, remove, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removeMouseWheelListener, removePropertyChangeListener, removePropertyChangeListener, repaint, repaint, repaint, resize, resize, setBounds, setBounds, setComponentOrientation, setCursor, setDropTarget, setFocusable, setFocusTraversalKeysEnabled, setIgnoreRepaint, setLocale, setLocation, setLocation, setName, setSize, setSize, show, show, size, toString, transferFocus, transferFocusUpCycle

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface lejos.robotics.mapping.MapApplicationUI

repaint

Field Detail

KEY_DEFAULT_NXT

protected static final java.lang.String KEY_DEFAULT_NXT

See Also:

Constant Field Values

KEY_DEFAULT_MAP

protected static final java.lang.String KEY_DEFAULT_MAP

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Constant Field Values

KEY_DIFF_PILOT_WHEEL_DIAMETER

protected static final java.lang.String KEY_DIFF_PILOT_WHEEL_DIAMETER

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Constant Field Values

KEY_DIFF_PILOT_TRACK_WIDTH

protected static final java.lang.String KEY_DIFF_PILOT_TRACK_WIDTH

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Constant Field Values

KEY_DIFF_PILOT_LEFT_MOTOR

protected static final java.lang.String KEY_DIFF_PILOT_LEFT_MOTOR

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Constant Field Values

KEY_DIFF_PILOT_RIGHT_MOTOR

protected static final java.lang.String KEY_DIFF_PILOT_RIGHT_MOTOR

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Constant Field Values

KEY_DIFF_PILOT_REVERSE

protected static final java.lang.String KEY_DIFF_PILOT_REVERSE

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Constant Field Values

KEY_STEER_PILOT_WHEEL_DIAMETER

protected static final java.lang.String KEY_STEER_PILOT_WHEEL_DIAMETER

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Constant Field Values

KEY_STEER_PILOT_DRIVE_MOTOR

protected static final java.lang.String KEY_STEER_PILOT_DRIVE_MOTOR

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Constant Field Values

KEY_STEER_PILOT_DRIVE_MOTOR_REVERSE

protected static final java.lang.String KEY_STEER_PILOT_DRIVE_MOTOR_REVERSE

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Constant Field Values

KEY_STEER_PILOT_STEERING_MOTOR

protected static final java.lang.String KEY_STEER_PILOT_STEERING_MOTOR

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Constant Field Values

KEY_STEER_PILOT_LEFT_TACHO

protected static final java.lang.String KEY_STEER_PILOT_LEFT_TACHO

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Constant Field Values

KEY_STEER_PILOT_RIGHT_TACHO

protected static final java.lang.String KEY_STEER_PILOT_RIGHT_TACHO

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Constant Field Values

KEY_MESH_GRID_SIZE

protected static final java.lang.String KEY_MESH_GRID_SIZE

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Constant Field Values

KEY_MESH_CLEARANCE

protected static final java.lang.String KEY_MESH_CLEARANCE

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Constant Field Values

KEY_DETECTOR_DELAY

protected static final java.lang.String KEY_DETECTOR_DELAY

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Constant Field Values

KEY_DETECTOR_MAX_DISTANCE

protected static final java.lang.String KEY_DETECTOR_MAX_DISTANCE

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Constant Field Values

KEY_RANGE_SCANNER_GEAR_RATIO

protected static final java.lang.String KEY_RANGE_SCANNER_GEAR_RATIO

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Constant Field Values

KEY_RANGE_SCANNER_HEAD_MOTOR

protected static final java.lang.String KEY_RANGE_SCANNER_HEAD_MOTOR

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Constant Field Values

KEY_RANDOM_MOVE_MAX_DISTANCE

protected static final java.lang.String KEY_RANDOM_MOVE_MAX_DISTANCE

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Constant Field Values

KEY_RANDOM_MOVE_CLEARANCE

protected static final java.lang.String KEY_RANDOM_MOVE_CLEARANCE

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Constant Field Values

KEY_MCL_NUM_PARTICLES

protected static final java.lang.String KEY_MCL_NUM_PARTICLES

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Constant Field Values

KEY_MCL_CLEARANCE

protected static final java.lang.String KEY_MCL_CLEARANCE

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Constant Field Values

KEY_MAX_TRAVEL_SPEED

protected static final java.lang.String KEY_MAX_TRAVEL_SPEED

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Constant Field Values

KEY_MAX_ROTATE_SPEED

protected static final java.lang.String KEY_MAX_ROTATE_SPEED

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Constant Field Values

minZoom

protected int minZoom

maxZoom

protected int maxZoom

zoomIncrement

protected int zoomIncrement

zoomInitialValue

protected int zoomInitialValue

showZoomLabels

protected boolean showZoomLabels

zoomMajorTick

protected int zoomMajorTick

pixelsPerUnit

protected float pixelsPerUnit

model

protected PCNavigationModel model

mapPanel

protected MapPanel mapPanel

commandPanel

protected javax.swing.JPanel commandPanel

connectPanel

protected javax.swing.JPanel connectPanel

statusPanel

protected javax.swing.JPanel statusPanel

xyPanel

protected javax.swing.JPanel xyPanel

logPanel

protected javax.swing.JPanel logPanel

xLabel

protected javax.swing.JLabel xLabel

xField

protected javax.swing.JTextField xField

yLabel

protected javax.swing.JLabel yLabel

yField

protected javax.swing.JTextField yField

connectedLabel

protected javax.swing.JLabel connectedLabel

mapLabel

protected javax.swing.JLabel mapLabel

controlPanel

protected javax.swing.JPanel controlPanel

zoomSlider

protected javax.swing.JSlider zoomSlider

nxtLabel

protected javax.swing.JLabel nxtLabel

nxtName

protected javax.swing.JTextField nxtName

connectButton

protected javax.swing.JButton connectButton

showConnectPanel

protected boolean showConnectPanel

showStatusPanel

protected boolean showStatusPanel

showControlPanel

protected boolean showControlPanel

showCommandPanel

protected boolean showCommandPanel

showReadingsPanel

protected boolean showReadingsPanel

showLastMovePanel

protected boolean showLastMovePanel

showParticlePanel

protected boolean showParticlePanel

showMoves

protected boolean showMoves

showMesh

protected boolean showMesh

showGrid

protected boolean showGrid

showLog

protected boolean showLog

showParticles

protected boolean showParticles

showLoadMapPanel

protected boolean showLoadMapPanel

showEventPanel

protected boolean showEventPanel

readingsPanel

protected javax.swing.JPanel readingsPanel

readingsField

protected javax.swing.JTextField readingsField

lastMovePanel

protected javax.swing.JPanel lastMovePanel

lastMoveField

protected javax.swing.JTextField lastMoveField

particlePanel

protected javax.swing.JPanel particlePanel

particleField

protected javax.swing.JTextField particleField

mapPaneSize

protected java.awt.Dimension mapPaneSize

startDrag

protected java.awt.Point startDrag

initialViewStart

protected java.awt.Point initialViewStart

title

protected java.lang.String title

description

protected java.lang.String description

program

protected java.lang.String program

menuBar

protected javax.swing.JMenuBar menuBar

fileMenu

protected javax.swing.JMenu fileMenu

aboutMenu

protected javax.swing.JMenu aboutMenu

mapMenu

protected javax.swing.JMenu mapMenu

viewMenu

protected javax.swing.JMenu viewMenu

colorMenu

protected javax.swing.JMenu colorMenu

commandsMenu

protected javax.swing.JMenu commandsMenu

configureMenu

protected javax.swing.JMenu configureMenu

exit

protected javax.swing.JMenuItem exit

about

protected javax.swing.JMenuItem about

clear

protected javax.swing.JMenuItem clear

repaint

protected javax.swing.JMenuItem repaint

reset

protected javax.swing.JMenuItem reset

open

protected javax.swing.JMenuItem open

save

protected javax.swing.JMenuItem save

connect

protected javax.swing.JMenuItem connect

gridColor

protected javax.swing.JMenuItem gridColor

robotColor

protected javax.swing.JMenuItem robotColor

mapColor

protected javax.swing.JMenuItem mapColor

particleColor

protected javax.swing.JMenuItem particleColor

meshColor

protected javax.swing.JMenuItem meshColor

targetColor

protected javax.swing.JMenuItem targetColor

waypointColor

protected javax.swing.JMenuItem waypointColor

pathColor

protected javax.swing.JMenuItem pathColor

moveColor

protected javax.swing.JMenuItem moveColor

featureColor

protected javax.swing.JMenuItem featureColor

backgroundColor

protected javax.swing.JMenuItem backgroundColor

estimateColor

protected javax.swing.JMenuItem estimateColor

closestColor

protected javax.swing.JMenuItem closestColor

getPose

protected javax.swing.JMenuItem getPose

randomMove

protected javax.swing.JMenuItem randomMove

localize

protected javax.swing.JMenuItem localize

stop

protected javax.swing.JMenuItem stop

calculatePath

protected javax.swing.JMenuItem calculatePath

followPath

protected javax.swing.JMenuItem followPath

pilot

protected javax.swing.JMenuItem pilot

scanner

protected javax.swing.JMenuItem scanner

finder

protected javax.swing.JMenuItem finder

detector

protected javax.swing.JMenuItem detector

random

protected javax.swing.JMenuItem random

mcl

protected javax.swing.JMenuItem mcl

defaultColors

protected javax.swing.JMenuItem defaultColors

viewGrid

protected javax.swing.JCheckBoxMenuItem viewGrid

viewMousePosition

protected javax.swing.JCheckBoxMenuItem viewMousePosition

viewControls

protected javax.swing.JCheckBoxMenuItem viewControls

viewConnect

protected javax.swing.JCheckBoxMenuItem viewConnect

viewCommands

protected javax.swing.JCheckBoxMenuItem viewCommands

viewMesh

protected javax.swing.JCheckBoxMenuItem viewMesh

viewLog

protected javax.swing.JCheckBoxMenuItem viewLog

viewLastMove

protected javax.swing.JCheckBoxMenuItem viewLastMove

viewParticlePanel

protected javax.swing.JCheckBoxMenuItem viewParticlePanel

viewParticles

protected javax.swing.JCheckBoxMenuItem viewParticles

viewLoadMap

protected javax.swing.JCheckBoxMenuItem viewLoadMap

viewEventForm

protected javax.swing.JCheckBoxMenuItem viewEventForm

chooser

protected javax.swing.JFileChooser chooser

eventPanel

protected EventPanel eventPanel

colorChooser

protected javax.swing.JColorChooser colorChooser

frame

protected javax.swing.JFrame frame

loadPanel

protected javax.swing.JPanel loadPanel

mapFileLabel

protected javax.swing.JLabel mapFileLabel

mapFileField

protected javax.swing.JTextField mapFileField

loadMapButton

protected javax.swing.JButton loadMapButton

uploadBox

protected javax.swing.JCheckBox uploadBox

configurePilot

protected javax.swing.JDialog configurePilot

differentialPanel

protected javax.swing.JPanel differentialPanel

pilotForm

protected javax.swing.JPanel pilotForm

pilotTypeLabel

protected javax.swing.JLabel pilotTypeLabel

pilotTypes

protected java.lang.String[] pilotTypes

pilotTypeBox

protected javax.swing.JComboBox pilotTypeBox

wheelDiameterLabel

protected javax.swing.JLabel wheelDiameterLabel

wheelDiameterField

protected javax.swing.JTextField wheelDiameterField

trackWidthLabel

protected javax.swing.JLabel trackWidthLabel

trackWidthField

protected javax.swing.JTextField trackWidthField

pilotOKButton

protected javax.swing.JButton pilotOKButton

motors

protected java.lang.String[] motors

leftMotorLabel

protected javax.swing.JLabel leftMotorLabel

leftMotorBox

protected javax.swing.JComboBox leftMotorBox

rightMotorLabel

protected javax.swing.JLabel rightMotorLabel

rightMotorBox

protected javax.swing.JComboBox rightMotorBox

reverseLabel

protected javax.swing.JLabel reverseLabel

reverseBox

protected javax.swing.JCheckBox reverseBox

steeringPanel

protected javax.swing.JPanel steeringPanel

steerWheelDiameterLabel

protected javax.swing.JLabel steerWheelDiameterLabel

steerWheelDiameterField

protected javax.swing.JTextField steerWheelDiameterField

driveMotorLabel

protected javax.swing.JLabel driveMotorLabel

driveMotorBox

protected javax.swing.JComboBox driveMotorBox

driveReverseLabel

protected javax.swing.JLabel driveReverseLabel

driveReverseBox

protected javax.swing.JCheckBox driveReverseBox

steeringMotorLabel

protected javax.swing.JLabel steeringMotorLabel

steeringMotorBox

protected javax.swing.JComboBox steeringMotorBox

leftTachoLabel

protected javax.swing.JLabel leftTachoLabel

leftTachoField

protected javax.swing.JTextField leftTachoField

rightTachoLabel

protected javax.swing.JLabel rightTachoLabel

rightTachoField

protected javax.swing.JTextField rightTachoField

finderPanel

protected javax.swing.JPanel finderPanel

configureMesh

protected javax.swing.JDialog configureMesh

meshPanel

protected javax.swing.JPanel meshPanel

finderForm

protected javax.swing.JPanel finderForm

pfLabel

protected javax.swing.JLabel pfLabel

pathFinders

protected java.lang.String[] pathFinders

pfBox

protected javax.swing.JComboBox pfBox

gridSizeLabel

protected javax.swing.JLabel gridSizeLabel

gridSizeField

protected javax.swing.JTextField gridSizeField

clearanceLabel

protected javax.swing.JLabel clearanceLabel

clearanceField

protected javax.swing.JTextField clearanceField

finderOKButton

protected javax.swing.JButton finderOKButton

delayLabel

protected javax.swing.JLabel delayLabel

delayField

protected javax.swing.JTextField delayField

maxDistanceLabel

protected javax.swing.JLabel maxDistanceLabel

maxDistanceField

protected javax.swing.JTextField maxDistanceField

detectorPanel

protected javax.swing.JPanel detectorPanel

detectorForm

protected javax.swing.JPanel detectorForm

configureDetector

protected javax.swing.JDialog configureDetector

detectorOKButton

protected javax.swing.JButton detectorOKButton

gearRatioLabel

protected javax.swing.JLabel gearRatioLabel

gearRatioField

protected javax.swing.JTextField gearRatioField

headMotorLabel

protected javax.swing.JLabel headMotorLabel

headMotorBox

protected javax.swing.JComboBox headMotorBox

scannerPanel

protected javax.swing.JPanel scannerPanel

scannerForm

protected javax.swing.JPanel scannerForm

configureScanner

protected javax.swing.JDialog configureScanner

scannerOKButton

protected javax.swing.JButton scannerOKButton

maxDistLabel

protected javax.swing.JLabel maxDistLabel

maxDistField

protected javax.swing.JTextField maxDistField

clearLabel

protected javax.swing.JLabel clearLabel

clearField

protected javax.swing.JTextField clearField

randomPanel

protected javax.swing.JPanel randomPanel

randomForm

protected javax.swing.JPanel randomForm

randomOKButton

protected javax.swing.JButton randomOKButton

configureRandom

protected javax.swing.JDialog configureRandom

numParticlesLabel

protected javax.swing.JLabel numParticlesLabel

numParticlesField

protected javax.swing.JTextField numParticlesField

borderLabel

protected javax.swing.JLabel borderLabel

borderField

protected javax.swing.JTextField borderField

mclPanel

protected javax.swing.JPanel mclPanel

mclForm

protected javax.swing.JPanel mclForm

mclOKButton

protected javax.swing.JButton mclOKButton

configureMCL

protected javax.swing.JDialog configureMCL

props

protected java.util.Properties props

Constructor Detail

NavigationPanel

public NavigationPanel()

Method Detail

loadProperties

protected void loadProperties()

saveProperties

protected void saveProperties()

buildPanels

public void buildPanels()

Build all the panels

buildGUI

protected void buildGUI()

Build the GUI- used by MCLTest but deprecated

createMapPanel

protected void createMapPanel()

Create the map panel

createLoadPanel

protected void createLoadPanel()

Create load map panel

createPilotPanel

protected void createPilotPanel()

Create the Pilot Configuration Form

createDifferentialPanel

protected void createDifferentialPanel()

createSteeringPanel

protected void createSteeringPanel()

createFinderPanel

protected void createFinderPanel()

Create the PathFinder configuration form

createMeshPanel

protected void createMeshPanel()

Create the mesh configuration panel

createDetectorPanel

protected void createDetectorPanel()

Create the Feature Detector configuration form

createScannerPanel

protected void createScannerPanel()

Create the range scanner configuration form

createRandomPanel

protected void createRandomPanel()

Create the Random Move configuration form

createMCLPanel

protected void createMCLPanel()

Create the MCL configuration form

createConnectPanel

protected void createConnectPanel()

Create the Connect panel to allow connection to a NXT brick

createControlPanel

protected void createControlPanel()

Create the control panel, which controls the GUI

createXYPanel

protected void createXYPanel()

Create the map panel which shows the mouse position in map coordinates

createStatusPanel

protected void createStatusPanel()

Create the status Panel

createCommandPanel

protected void createCommandPanel()

Create the command panel - this is added to by overriding classes

createReadingsPanel

protected void createReadingsPanel()

Create the readings panel which shows the last range readings

createMovePanel

protected void createMovePanel()

Create the move panel, which shows the last move made by the robot

createParticlePanel

protected void createParticlePanel()

Create the particle panel which shows range readings for a specific particle

createMenu

protected void createMenu()

Create the menu

createFileMenu

protected void createFileMenu()

Create a File menu

createViewMenu

protected void createViewMenu()

Create a View menu

createMapMenu

protected void createMapMenu()

Create a Map menu

createCommandMenu

protected void createCommandMenu()

Create the Commands menu

createConfigureMenu

protected void createConfigureMenu()

Create the Configure menu

createAboutMenu

protected void createAboutMenu()

Create an About menu

createHelpMenu

protected void createHelpMenu()

Create a help menu

fatal

public void fatal(java.lang.String msg)

Print the error message and exit

Specified by:

fatal in interface MapApplicationUI

Parameters:

msg - the message

error

public void error(java.lang.String msg)

Show a pop-up error message

Specified by:

error in interface MapApplicationUI

Parameters:

msg - the message

setMapSize

public void setMapSize(java.awt.Dimension size)

Set the size of the map panel

Parameters:

size - the preferred panel dimensions

paintComponent

public void paintComponent(java.awt.Graphics g)

Overrides:

paintComponent in class javax.swing.JComponent

openInJFrame

public static javax.swing.JFrame openInJFrame(NavigationPanel content,
                                              int width,
                                              int height,
                                              java.lang.String title,
                                              java.awt.Color bgColor,
                                              javax.swing.JMenuBar menuBar)

Create a frame to display the panel in

openInJFrame

public static javax.swing.JFrame openInJFrame(NavigationPanel content,
                                              int width,
                                              int height,
                                              java.lang.String title,
                                              java.awt.Color bgColor)

Version without a menu

log

public void log(java.lang.String message)

Log a message

Specified by:

log in interface MapApplicationUI

Parameters:

message -

mouseDragged

public void mouseDragged(java.awt.event.MouseEvent e)

Optionally overridden by subclasses

Specified by:

mouseDragged in interface java.awt.event.MouseMotionListener

mouseMoved

public void mouseMoved(java.awt.event.MouseEvent e)

Optionally overridden by subclasses

Specified by:

mouseMoved in interface java.awt.event.MouseMotionListener

mouseClicked

public void mouseClicked(java.awt.event.MouseEvent e)

Optionally overridden by subclasses

Specified by:

mouseClicked in interface java.awt.event.MouseListener

mouseEntered

public void mouseEntered(java.awt.event.MouseEvent e)

Optionally overridden by subclasses

Specified by:

mouseEntered in interface java.awt.event.MouseListener

mouseExited

public void mouseExited(java.awt.event.MouseEvent e)

Called when the mouse exits the map panel.

Specified by:

mouseExited in interface java.awt.event.MouseListener

mousePressed

public void mousePressed(java.awt.event.MouseEvent e)

Optionally overridden by subclasses

Specified by:

mousePressed in interface java.awt.event.MouseListener

mouseReleased

public void mouseReleased(java.awt.event.MouseEvent e)

Optionally overridden by subclasses

Specified by:

mouseReleased in interface java.awt.event.MouseListener

popupMenu

protected void popupMenu(java.awt.event.MouseEvent me)

Display a context menu at the specified point in the map panel. Overridden by subclasses.

Parameters:

me - the mouse event

popupMenuItems

protected void popupMenuItems(java.awt.Point p,
                              javax.swing.JPopupMenu menu)

Used by subclasses to add popup menu items

Parameters:

p - the point at which the menu was popped up

menu - the popup menu

whenConnected

public void whenConnected()

Override this method to specify actions to do after connection to the NXT

Specified by:

whenConnected in interface MapApplicationUI

eventReceived

public void eventReceived(NavigationModel.NavEvent navEvent)

Override this method to perform some action (other than repaining) when an event is received

Specified by:

eventReceived in interface MapApplicationUI

Parameters:

navEvent - the event

about

protected void about()

Provides a pop up about dialog which can be tailored or overridden

actionPerformed

public void actionPerformed(java.awt.event.ActionEvent e)

Called when a menu item is selected or button clicked

Specified by:

actionPerformed in interface java.awt.event.ActionListener

setTitle

public void setTitle(java.lang.String title)

Set the title use for the frame and the About popup

Parameters:

title - the title

setDescription

public void setDescription(java.lang.String description)

Set the description used in the About popup

Parameters:

description - the description

setMapPanelSize

public void setMapPanelSize(java.awt.Dimension size)

Set the size of the map panel

Parameters:

size - the size as a Dimension

setMapOrigin

public void setMapOrigin(java.awt.Point origin)