ch.aplu.robotsim

Class RobotContext

java.lang.Object

ch.aplu.robotsim.RobotContext

Direct Known Subclasses:

NxtContext

public class RobotContext
extends java.lang.Object

Class to select user defined initial conditions of the playground and the Nxt or EV3 robot.

Field Summary

Fields

Modifier and Type	Field and Description
static Obstacle	box Box obstacle.
static Obstacle	channel Channel obstacle.

Constructor Summary

Constructors

Constructor and Description
RobotContext() Creates a RobotContext instance.

Method Summary

Modifier and Type	Method and Description
void	addMouseListener(GGMouseListener listener) Registers a mouse listener to get left mouse button press, release and drag events
static void	checkRobot()
void	init() Initializes the static context.
static void	setLocation(int x, int y) Sets the location of the playground (pixel coordinates of the upper left vertex).
static void	setStartDirection(double direction) Sets the Nxt starting direction (zero to EAST).
static void	setStartPosition(int x, int y) Sets the Nxt starting position (x-y-coordinates 0..500, origin at upper left).
static void	setStatusText(java.lang.String text) Displays the given text in the status bar (if available).
static void	showNavigationBar() Shows the navigation bar of the GameGrid and runs the simulation immediately.
static void	showNavigationBar(boolean doRun) Shows the navigation bar of the GameGrid.
static void	showStatusBar(int height) Shows a status bar with given height.
static void	useBackground(java.lang.String filename) Use the given image as background (playground size 501 x 501).
static void	useObstacle(java.awt.image.BufferedImage bi, int x, int y) Defines the given buffered image to be used as touch obstacle.
static void	useObstacle(GGBitmap bm, int x, int y) Defines the given GGBitmap to be used as touch obstacle.
static void	useObstacle(Obstacle obstacle) Defines the given obstacle to be used as touch obstacle.
static void	useObstacle(Obstacle obstacle, int x, int y) Defines the given obstacle to be used as touch obstacle.
static void	useObstacle(java.lang.String filename, int x, int y) Defines the given sprite image to be used as touch obstacle.
static void	useShadow(int ulx, int uly, int lrx, int lry) Defines a shadow with given size and position.
static Target	useTarget(java.awt.image.BufferedImage bi, java.awt.Point[] mesh, int x, int y) Creates a target for the ultrasonic sensor using the given buffered image.
static Target	useTarget(GGBitmap bm, java.awt.Point[] mesh, int x, int y) Creates a target for the ultrasonic sensor using the given GGBitmap.
static Target	useTarget(java.lang.String filename, int[][] mesh, int x, int y) Creates a target for the ultrasonic sensor using the given sprite image.
static Target	useTarget(java.lang.String filename, java.awt.Point[] mesh, int x, int y) Creates a target for the ultrasonic sensor using the given sprite image.
static Target	useTarget(Target target, int x, int y) Defines a clone of the given target to be used as target.
static void	useTorch(double power, int x, int y, int z) Defines a light source (torch) with given power at given position.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

box

public static Obstacle box

Box obstacle.

channel

public static Obstacle channel

Channel obstacle.

Constructor Detail

RobotContext

public RobotContext()

Creates a RobotContext instance.

Method Detail

addMouseListener

public void addMouseListener(GGMouseListener listener)

Registers a mouse listener to get left mouse button press, release and drag events

Parameters:

listener - the GGMouseListener to register

init

public void init()

Initializes the static context. This may be necessary in Jython environment, where static contexts are not reloaded automatically.

useBackground

public static void useBackground(java.lang.String filename)

Use the given image as background (playground size 501 x 501). (Only one image can be used as background; for a complex background, merge your images with an image editor)

Parameters:

filename - the image file to use as background.

setStartPosition

public static void setStartPosition(int x,
                                    int y)

Sets the Nxt starting position (x-y-coordinates 0..500, origin at upper left).

Parameters:

x - the x-coordinate of the starting position

y - the y-coordinate of the starting position

setStartDirection

public static void setStartDirection(double direction)

Sets the Nxt starting direction (zero to EAST).

Parameters:

direction - the starting direction in degrees)

setLocation

public static void setLocation(int x,
                               int y)

Sets the location of the playground (pixel coordinates of the upper left vertex).

Parameters:

x - the x-pixel-coordinate of the upper left vertex (positive to the right)

y - the y-pixel-coordinate of the upper left vertex (positive to the bottom)

useObstacle

public static void useObstacle(java.lang.String filename,
                               int x,
                               int y)

Defines the given sprite image to be used as touch obstacle. It will be shown at the given position. More than one obstacle may be defined. The touch is detected by a JGameGrid collision with a non-transparent pixel of the obstacle sprite image.

Parameters:

filename - the image file of the obstacle

x - the x-coordinate of the image center

y - the y-coordinate of the image center

useObstacle

public static void useObstacle(java.awt.image.BufferedImage bi,
                               int x,
                               int y)

Defines the given buffered image to be used as touch obstacle. It will be shown at the given position. More than one obstacle may be defined. The touch is detected by a JGameGrid collision with a non-transparent pixel of the obstacle sprite image.

Parameters:

bi - the buffered image of the obstacle

x - the x-coordinate of the image center

y - the y-coordinate of the image center

useObstacle

public static void useObstacle(Obstacle obstacle,
                               int x,
                               int y)

Defines the given obstacle to be used as touch obstacle. It will be shown at the given position. More than one obstacle may be defined. The touch is detected by a JGameGrid collision with a non-transparent pixel of the obstacle sprite image.

Parameters:

obstacle - the obstacle to use

x - the x-coordinate of the image center

y - the y-coordinate of the image center

useObstacle

public static void useObstacle(Obstacle obstacle)

Defines the given obstacle to be used as touch obstacle. It will be shown at the center of the simulation window. More than one obstacle may be defined. The touch is detected by a JGameGrid collision with a non-transparent pixel of the obstacle sprite image.

Parameters:

obstacle - the obstacle to use

useObstacle

public static void useObstacle(GGBitmap bm,
                               int x,
                               int y)

Defines the given GGBitmap to be used as touch obstacle. It will be shown at the given position. More than one obstacle may be defined. The touch is detected by a JGameGrid collision with a non-transparent pixel of the obstacle sprite image.

Parameters:

bm - the GGBitmap to be used as obstacle

x - the x-coordinate of the image center

y - the y-coordinate of the image center

useTarget

public static Target useTarget(java.lang.String filename,
                               int[][] mesh,
                               int x,
                               int y)

Creates a target for the ultrasonic sensor using the given sprite image. The LegoRobot constructor displays all targets known at this time. Targets are scaned by the ultrasonic sensor using the mesh triangles. The mesh triangles contain the image center and two successive mesh points. The coordinate system for the mesh has its origin in the center location with pixel coordinates x to the right and y to the bottom.

Parameters:

filename - the image file of the target

mesh - the integer array of mesh points (as x-y-coordinates array) (at least 2)

x - the x-coordinate of the image center

y - the y-coordinate of the image center

Returns:

the reference of the created target

useTarget

public static Target useTarget(java.lang.String filename,
                               java.awt.Point[] mesh,
                               int x,
                               int y)

Creates a target for the ultrasonic sensor using the given sprite image. The LegoRobot constructor displays all targets known at this time. Targets are scaned by the ultrasonic sensor using the mesh triangles. The mesh triangles contain the image center and two successive mesh points. The coordinate system for the mesh has its origin in the center location with pixel coordinates x to the right and y to the bottom.

Parameters:

filename - the image file of the target

mesh - the mesh points (at least 2)

x - the x-coordinate of the image center

y - the y-coordinate of the image center

Returns:

the reference of the created target

useTarget

public static Target useTarget(java.awt.image.BufferedImage bi,
                               java.awt.Point[] mesh,
                               int x,
                               int y)

Creates a target for the ultrasonic sensor using the given buffered image. The LegoRobot constructor displays all targets known at this time. Targets are scaned by the ultrasonic sensor using the mesh triangles. The mesh triangles contain the image center and two successive mesh points. The coordinate system for the mesh has its origin in the center location with pixel coordinates x to the right and y to the bottom.

Parameters:

bi - the buffered image of the target

mesh - the mesh points (at least 2)

x - the x-coordinate of the image center

y - the y-coordinate of the image center

Returns:

the reference of the created target

useTarget

public static Target useTarget(GGBitmap bm,
                               java.awt.Point[] mesh,
                               int x,
                               int y)

Creates a target for the ultrasonic sensor using the given GGBitmap. The LegoRobot constructor displays all targets known at this time. Targets are scaned by the ultrasonic sensor using the mesh triangles. The mesh triangles contain the image center and two successive mesh points. The coordinate system for the mesh has its origin in the center location with pixel coordinates x to the right and y to the bottom.

Parameters:

bm - the GGBitmap to be used as target

mesh - the mesh points (at least 2)

x - the x-coordinate of the image center

y - the y-coordinate of the image center

Returns:

the reference of the created target

useTarget

public static Target useTarget(Target target,
                               int x,
                               int y)

Defines a clone of the given target to be used as target. It will be shown at the given position. More than one target may be defined. The target is detected by the ultrasonic sensor using the mesh triangles.

Parameters:

target - the target to define the clone

x - the x-coordinate of the image center

y - the y-coordinate of the image center

Returns:

the reference of the target clone

useTorch

public static void useTorch(double power,
                            int x,
                            int y,
                            int z)

Defines a light source (torch) with given power at given position. More than one torch may be defined. The torches are used to determine the illumination of light sensors (light strength diminishes with 1/r^2). Mouse pick and drag is enabled by default.

Parameters:

power - the power of the light source (arbitrary units)

x - the x-coordinate of the torch

y - the y-coordinate of the torch

z - the z-coordinate of the torch (height above simulation plane)

useShadow

public static void useShadow(int ulx,
                             int uly,
                             int lrx,
                             int lry)

Defines a shadow with given size and position. The shadows are used to determine the

showNavigationBar

public static void showNavigationBar(boolean doRun)

Shows the navigation bar of the GameGrid.

Parameters:

doRun - if true, runs the simulation immediatetly; otherwise the start button must be hit to run the simulation

showNavigationBar

public static void showNavigationBar()

Shows the navigation bar of the GameGrid and runs the simulation immediately.

showStatusBar

public static void showStatusBar(int height)

Shows a status bar with given height. System.out is redirected to the status bar. All print(), println(), printf() methods are available. Each invocation erases the old content.

Parameters:

height - the height of the status window in pixels.

setStatusText

public static void setStatusText(java.lang.String text)

Displays the given text in the status bar (if available).

Parameters:

text - the text to display.

checkRobot

public static void checkRobot()