ExternalVendorCode/trick
1
0
Fork 0
mirror of https://github.com/nasa/trick.git synced 2024-12-18 20:57:55 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

Modified display for SIM_wheelbot (#1541)

Browse Source 
* modified Java display for SIM_wheelbot so when RUN_mouse is used, images of waypoints stop being drawn when mouse arrives at waypoint.

* removed spaces at beginning of each line in SIM_Wheelbot/models/graphics/src/trick/EVDisplay.java
This commit is contained in:
Andyj4586 2023-08-24 13:52:45 -05:00 committed by GitHub
parent cca7191129
commit 06a1d2bf2e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 81 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

76
trick_sims/SIM_wheelbot/models/Graphics/src/trick/EVDisplay.java
View File

@ -23,6 +23,9 @@ import javax.swing.ImageIcon;
import javax.swing.JFrame;
import javax.swing.JPanel;
import java.awt.Color;
import java.awt.Font;
import java.awt.FontMetrics;
import java.awt.Rectangle;
/**
*
@ -34,11 +37,13 @@ class Feature {
public double north, west;
public double heading;
public BufferedImage bufImage;
public String img_file;
public Feature(double N, double W, double H, String imageFile) {
north = N;
west = W;
heading = H;
img_file = imageFile;
Image img = new ImageIcon(imageFile).getImage();
bufImage = new BufferedImage(img.getWidth(null), img.getHeight(null),
@ -53,6 +58,17 @@ class Feature {
west = W;
heading = H;
}
public boolean isReached(double N, double W){
// Assuming a tolerance of 0.1 for comparison
double tolerance = 0.1;
// Check if the distance between the given N and W values
// and the current north and west values of the waypoint
// is within the tolerance.
double distance = Math.sqrt(Math.pow(N-north,2) + Math.pow(W-west,2));
return distance <= tolerance;
}
}
class ArenaMap extends JPanel {
@ -60,6 +76,10 @@ class ArenaMap extends JPanel {
private List<Feature> featureList;
private double metersPerPixel;
private Color groundColor;
private List<Integer> reachedWaypoints = new ArrayList<>();
private int waypointIndex = -1;
private boolean lastWaypointReached = false;
private boolean mouse = false;
public ArenaMap(List<Feature> flist, double mapScale) {
featureList = flist;
@ -68,6 +88,16 @@ class ArenaMap extends JPanel {
groundColor = new Color(255,255,255);
}
public void updateReachedWaypoint(int waypointIndex){
this.waypointIndex = waypointIndex;
reachedWaypoints.add(waypointIndex);
// Check if the last waypoint has been reached
if(waypointIndex == featureList.size() - 2){
lastWaypointReached = true;
}
}
public void SetScale (double mapScale) {
if (mapScale < 0.00001) {
metersPerPixel = 0.00001;
@ -95,6 +125,32 @@ class ArenaMap extends JPanel {
Feature feature = featureList.get(ii);
if(reachedWaypoints.contains(ii)&&(feature.img_file.equals("images/cheese_64x64.png")||feature.img_file.equals("images/strawberry_64x64.png"))){
mouse = true;
continue; // Skip drawing reached waypoints, but keep drawing vehicle -- only applies to mouse version of sim so snacks disappear.
}
// Draw the message if the last waypoint is reached -- only for RUN_mouse for now.
if(lastWaypointReached && mouse){
Font font = new Font("Comic Sans MS", Font.BOLD, 35); //Choose desired font and size
g2d.setFont(font);
FontMetrics fontMetrics = g2d.getFontMetrics();
String message = "Snacks successfully eaten";
int messageWidth = fontMetrics.stringWidth(message);
int messageHeight = fontMetrics.getHeight();
int x = (getWidth()-messageWidth)/2;
int y = (getHeight() - messageHeight)/2 + fontMetrics.getAscent();
Rectangle messageRect = new Rectangle(x, y - fontMetrics.getAscent(), messageWidth, messageHeight);
//Draw a background rectangle for the message
g2d.setColor(Color.WHITE);
g2d.fill(messageRect);
//Draw the message text
g2d.setColor(Color.BLACK);
g2d.drawString(message, x,y);
}
int featureX = (int) -(feature.west / metersPerPixel);
int featureY = (int) -(feature.north / metersPerPixel);
@ -122,7 +178,7 @@ class ArenaMap extends JPanel {
public class EVDisplay extends JFrame {
private ArenaMap arenaMap;
private static ArenaMap arenaMap;
private BufferedReader in;
private DataOutputStream out;
@ -252,6 +308,24 @@ public class EVDisplay extends JFrame {
double H = Double.parseDouble( field[3] );
vehicle.setState(N,W,H);
//Find the index of the reached waypoint
int reachedWaypointIndex =-1;
for(int i = 0; i < featureList.size(); i++){
Feature feature = featureList.get(i);
if(feature instanceof Feature){
Feature waypoint = (Feature) feature;
if(waypoint.isReached(N,W)){
reachedWaypointIndex = i;
break;
}
}
}
//After the vehicle reaches a waypoint
if(reachedWaypointIndex != -1){
arenaMap.updateReachedWaypoint(reachedWaypointIndex);
}
} catch (IOException | NullPointerException e ) {
go = false;
}