CommunicationVisApplet.java
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00001 package edu.tum.cs.ias.knowrob.vis.applets;
00002 
00003 import java.awt.Color;
00004 import java.util.ArrayList;
00005 
00006 import processing.core.*;
00007 import ros.NodeHandle;
00008 import ros.Ros;
00009 import ros.RosException;
00010 import ros.ServiceClient;
00011 import ros.ServiceServer;
00012 import ros.pkg.mod_vis.srv.CommVisSetLeftImg;
00013 import ros.pkg.mod_vis.srv.CommVisSetRightImg;
00014 import ros.pkg.mod_vis.srv.CommVisSetReqText;
00015 import ros.pkg.mod_vis.srv.CommVisSetResText;
00016 import edu.tum.cs.ias.knowrob.utils.ResourceRetriever;
00017 
00018 public class CommunicationVisApplet extends PApplet {
00019 
00020         private static final long serialVersionUID = -3913679727924919169L;
00021         private PrologVisualizationCanvas prologVisCanvas = null;
00022 
00024         // DISPLAY PROPERTIES (ROTATION, ZOOM, ...)
00025 
00026         PFont verdana;
00027         PFont verdanaBold;
00028         PFont dejavu;
00029 
00030         PImage leftImg, rightImg;
00031 
00032 
00033         String imagePath = "";
00034 
00036         // BUFFERS
00037         ArrayList<Integer> colors = new ArrayList<Integer>(12);       // the colors used in the vis. HumanTrajVis
00038 
00039         int transmitting = 0;
00040         int receiving    = 0;
00041         int FRAMES_TO_DISPLAY_MESSAGES = 70;
00042 
00043         int LINE_LEFT_START = 250;
00044         int LINE_RIGHT_END  = 550;
00045         int LINE_WIDTH=LINE_RIGHT_END-LINE_LEFT_START;
00046 
00047         int UPPER_LINE_YPOS = 280;
00048         int LOWER_LINE_YPOS = 330;
00049 
00050         int transmitPosition=LINE_LEFT_START;
00051         int receivePosition=LINE_RIGHT_END;
00052 
00053         SetLeftImgCallback leftImgCallback;
00054         SetRightImgCallback rightImgCallback;
00055         SetRequestTextCallback requestTextCallback;
00056         SetResponseTextCallback responseTextCallback;
00057 
00058 
00059         String request  = "";
00060 
00061         String response = "";
00062 
00063 
00064         static Ros ros;
00065         public static NodeHandle n;
00066 
00067 
00071         protected static void initRos() {
00072 
00073                 ros = Ros.getInstance();
00074 
00075                 if(!Ros.getInstance().isInitialized()) {
00076                         ros.init("knowrob_comm_vis_applet");
00077                 }
00078                 n = ros.createNodeHandle();
00079 
00080         }
00081 
00082 
00086         public void setup() {
00087 
00088                 size(800, 600, P2D);
00089                 this.frame.setTitle("CommunicationVisualization");
00090                 this.frame.setBackground(new Color(20, 20, 20));
00091                 background(20, 20, 20);
00092 
00093                 initRos();
00094 
00095                 imagePath = ResourceRetriever.findPackage("mod_vis");
00096 
00097                 dejavu = createFont("DejaVu Sans",13);
00098                 textFont(dejavu);
00099                 hint(ENABLE_ACCURATE_TEXTURES);
00100                 ellipseMode(RADIUS);
00101                 frameRate(25);
00102 
00103 
00104                 //leftImg  = new PImage();
00105                 leftImg = loadImage(imagePath+"/images/pr2.jpg");
00106                 rightImg = loadImage(imagePath+"/images/roboearth.png");
00107                 //rightImg = loadImage("/work/ros/tumros-internal/stacks/knowrob/mod_vis/images/pr2.jpg");
00108 
00109                 // init ros environment
00110                 leftImgCallback = new SetLeftImgCallback();
00111                 rightImgCallback =  new SetRightImgCallback();
00112                 requestTextCallback = new SetRequestTextCallback();
00113                 responseTextCallback = new SetResponseTextCallback();
00114 
00115                 Thread startRosServices = new Thread( new RosServiceThread() );
00116                 startRosServices.start();
00117 
00118 
00119                 draw();
00120                 if(prologVisCanvas != null) prologVisCanvas.validate();
00121 
00122         }
00123 
00124 
00128         public void draw() {
00129 
00130                 this.frame.setBackground(new Color(20, 20, 20));
00131                 background(20, 20, 20);
00132 
00133                 cursor(CROSS);
00134 
00135                 textFont(dejavu);
00136                 textMode(SCREEN);
00137                 fill(0xFFFFFFFF);stroke(0xFFFFFFFF);
00138 
00139                 // draw images at the ends of the communication
00140                 synchronized(leftImg) {
00141                         if(leftImg != null)
00142                                 image(leftImg,  ((int)(150-0.5*leftImg.width)), ((int)(300-0.5*leftImg.height)));
00143                 }
00144 
00145                 synchronized(rightImg) {
00146                         if(rightImg != null)
00147                                 image(rightImg, ((int)(650-0.5*rightImg.width)), ((int)(300-0.5*rightImg.height)));
00148                 }
00149 
00150                 // draw dotted line
00151                 for(int x=LINE_LEFT_START;x<LINE_RIGHT_END;x+=20) {
00152                         line(x, UPPER_LINE_YPOS, x+10, UPPER_LINE_YPOS);
00153                         line(x, LOWER_LINE_YPOS, x+10, LOWER_LINE_YPOS);
00154                 }
00155 
00156                 // display query text, draw moving circle
00157                 synchronized(request) {
00158                         textAlign(LEFT, BOTTOM);
00159                         text(request,  250, 30,  300, 230);
00160                 }       
00161                 if(transmitting>0) {
00162                         ellipse(transmitPosition, UPPER_LINE_YPOS, 3, 3);
00163                         transmitPosition= LINE_LEFT_START + ((transmitPosition - LINE_LEFT_START + 10)%LINE_WIDTH);
00164                         transmitting--;
00165                 } else {
00166                         this.request="";
00167                 }
00168 
00169                 // display response text, draw moving circle
00170                 synchronized(response) {
00171                         textAlign(LEFT, TOP);
00172                         text(response, 250, 370, 300, 250);
00173                 }
00174                 if(receiving>0) {
00175 
00176                         ellipse(receivePosition,  LOWER_LINE_YPOS, 3, 3);
00177                         receivePosition = LINE_RIGHT_END  - ((LINE_RIGHT_END   - receivePosition + 10)%LINE_WIDTH);
00178                         receiving--;
00179                 } else {
00180                         this.response="";
00181                 }
00182         }
00183 
00188         public void setRequest(String req) {
00189 
00190                 synchronized(request) {
00191                         this.request = req;
00192                         this.response = "";
00193                 }
00194                 this.setTransmitting(true);
00195 
00196                 draw();
00197         }
00198 
00199 
00204         public void setResponse(String response) {
00205                 synchronized(response) {
00206                         this.response = response;
00207                 }
00208                 this.setReceiving(true);
00209 
00210                 draw();
00211         }
00212 
00213 
00218         public void setLeftImage(String filename) {
00219                 synchronized(leftImg) {
00220                         if(filename.length()>0)
00221                                 this.leftImg  = loadImage(imagePath+"/images/"+filename);
00222                         else 
00223                                 this.leftImg = new PImage();
00224                 }
00225         }
00226 
00227 
00232         public void setRightImage(String filename) {
00233                 synchronized(rightImg) {
00234                         if(filename.length()>0)
00235                                 this.rightImg = loadImage(imagePath+"/images/"+filename);
00236                         else 
00237                                 this.rightImg = new PImage();
00238                 }
00239         }
00240 
00245         public void setTransmitting(boolean on) {
00246                 if(on)
00247                         this.transmitting += FRAMES_TO_DISPLAY_MESSAGES;
00248                 else
00249                         this.transmitting = 0;
00250         }
00251 
00256         public void setReceiving(boolean on) {
00257                 if(on)
00258                         this.receiving += FRAMES_TO_DISPLAY_MESSAGES;
00259                 else
00260                         this.receiving = 0;
00261         }
00262 
00266         public void keyPressed(){
00267 
00268                 switch(keyCode) {
00269                 case 82: // r
00270                         setReceiving(true);
00271                         break;
00272 
00273                 case 84: // t
00274                         setTransmitting(true);
00275                         break;
00276 
00277                 case ESC:
00278                         leftImg  = new PImage();
00279                         rightImg = loadImage(imagePath+"/images/rosie.png");
00280                         this.request = "";
00281                         this.response = "";
00282                         key=0;
00283                         break;
00284                 }
00285 
00286                 delay(50);
00287                 redraw();
00288 
00289 
00290         }
00291 
00292         public void delay(int millis)
00293         {
00294 
00295                 try {
00296                         Thread.sleep(100);
00297                 } catch (InterruptedException e) {
00298                 }
00299         }
00300 
00301 
00309         public class RosServiceThread implements Runnable {
00310 
00311                 @Override public void run() {
00312 
00313                         try {
00314 
00315                                 initRos();
00316 
00317                                 n.advertiseService("comm_vis_set_left_img",  new CommVisSetLeftImg(),  new SetLeftImgCallback());
00318                                 n.advertiseService("comm_vis_set_right_img", new CommVisSetRightImg(), new SetRightImgCallback());
00319                                 n.advertiseService("comm_vis_set_req_text",  new CommVisSetReqText(),  new SetRequestTextCallback());
00320                                 n.advertiseService("comm_vis_set_res_text",  new CommVisSetResText(),  new SetResponseTextCallback());
00321                                 ros.spin();
00322 
00323                         } catch(RosException e) {
00324                                 e.printStackTrace();
00325                         }
00326                 }
00327         }
00328 
00329 
00337         class SetLeftImgCallback implements ServiceServer.Callback<CommVisSetLeftImg.Request, CommVisSetLeftImg.Response> {
00338 
00339                 @Override
00340                 public CommVisSetLeftImg.Response call(CommVisSetLeftImg.Request req) {
00341 
00342                         CommVisSetLeftImg.Response res = new CommVisSetLeftImg.Response();
00343                         res.success = 0;
00344 
00345                         if (req.filename != null) {
00346                                 setLeftImage(req.filename);
00347                         }
00348 
00349                         return res;
00350                 }
00351         }
00352 
00360         class SetRightImgCallback implements ServiceServer.Callback<CommVisSetRightImg.Request, CommVisSetRightImg.Response> {
00361 
00362                 @Override
00363                 public CommVisSetRightImg.Response call(CommVisSetRightImg.Request req) {
00364 
00365                         CommVisSetRightImg.Response res = new CommVisSetRightImg.Response();
00366                         res.success = 0;
00367 
00368                         if (req.filename != null) {
00369                                 setRightImage(req.filename);
00370                         }
00371 
00372                         return res;
00373                 }
00374         }
00375 
00383         class SetRequestTextCallback implements ServiceServer.Callback<CommVisSetReqText.Request, CommVisSetReqText.Response> {
00384 
00385                 @Override
00386                 public CommVisSetReqText.Response call(CommVisSetReqText.Request req) {
00387 
00388                         CommVisSetReqText.Response res = new CommVisSetReqText.Response();
00389                         res.success = 0;
00390 
00391                         if (req.request != null) {
00392                                 setRequest(req.request);
00393                         }
00394 
00395                         return res;
00396                 }
00397         }
00398 
00406         class SetResponseTextCallback implements ServiceServer.Callback<CommVisSetResText.Request, CommVisSetResText.Response> {
00407 
00408                 @Override
00409                 public CommVisSetResText.Response call(CommVisSetResText.Request req) {
00410 
00411                         CommVisSetResText.Response res = new CommVisSetResText.Response();
00412                         res.success = 0;
00413 
00414                         if (req.response != null) {
00415                                 setResponse(req.response);
00416                         }
00417 
00418                         return res;
00419                 }
00420         }
00421 
00422 
00423 
00434         public static void visualizeCommunication(String req, String res, String leftImg, String rightImg) {
00435 
00436                 try {
00437                         initRos();
00438 
00439                         if(leftImg!=null) {
00440                                 try {
00441 
00442                                         CommVisSetLeftImg.Request vis_req = new CommVisSetLeftImg.Request();
00443                                         vis_req.filename = leftImg;
00444                                         ServiceClient<CommVisSetLeftImg.Request, CommVisSetLeftImg.Response, CommVisSetLeftImg> cl =
00445                                                         n.serviceClient("/comm_vis_set_left_img", new CommVisSetLeftImg());
00446                                         cl.call(vis_req);
00447                                         cl.shutdown();                                
00448                                 } catch(RosException e) {
00449 //                                      e.printStackTrace();
00450                                         // fail silently if service has not been advertised
00451                                 }
00452                         }
00453 
00454                         if(rightImg!=null) {
00455                                 try {
00456 
00457                                         CommVisSetRightImg.Request vis_req = new CommVisSetRightImg.Request();
00458                                         vis_req.filename = rightImg;
00459                                         ServiceClient<CommVisSetRightImg.Request, CommVisSetRightImg.Response, CommVisSetRightImg> cl =
00460                                                         n.serviceClient("/comm_vis_set_right_img", new CommVisSetRightImg());
00461                                         cl.call(vis_req);
00462                                         cl.shutdown();                                
00463                                 } catch(RosException e) {
00464 //                                      e.printStackTrace();
00465                                         // fail silently if service has not been advertised
00466                                 }
00467                         }
00468 
00469                         if(req!=null) {
00470                                 try {
00471 
00472                                         CommVisSetReqText.Request vis_req = new CommVisSetReqText.Request();
00473                                         vis_req.request = req;
00474                                         ServiceClient<CommVisSetReqText.Request, CommVisSetReqText.Response, CommVisSetReqText> cl =
00475                                                         n.serviceClient("/comm_vis_set_req_text", new CommVisSetReqText());
00476                                         cl.call(vis_req);
00477                                         cl.shutdown();                                
00478                                 } catch(RosException e) {
00479                                         // fail silently if service has not been advertised
00480                                 }
00481                         }
00482 
00483                         if(res!=null) {
00484 
00485                                 try {
00486                                         CommVisSetResText.Request vis_req = new CommVisSetResText.Request();
00487                                         vis_req.response = res;
00488                                         ServiceClient<CommVisSetResText.Request, CommVisSetResText.Response, CommVisSetResText> cl =
00489                                                         n.serviceClient("/comm_vis_set_res_text", new CommVisSetResText());
00490                                         cl.call(vis_req);
00491                                         cl.shutdown();
00492 
00493                                 } catch(RosException e) {
00494                                         // fail silently if service has not been advertised
00495                                 }
00496 
00497                         }
00498 
00499                 } catch (Exception e) {
00500                         e.printStackTrace();
00501                 }
00502         }
00503 
00504 
00505 
00506         public void setPrologVisCanvas(PrologVisualizationCanvas c){
00507                 prologVisCanvas = c;
00508         }
00509 
00510         public static void main(String args[]) {
00511 
00512                 PApplet.main(new String[] { "edu.tum.cs.ias.knowrob.vis.applets.CommunicationVisApplet" });
00513         }
00514 }
00515 


mod_vis
Author(s): Moritz Tenorth, Jakob Engel
autogenerated on Mon Oct 6 2014 01:30:00