trick/trick_sims/SIM_wheelbot/models/Graphics

Graphics

Contents

• class Feature
  
• class ArenaMap
  
• class EVDisplay
  

---

class Feature

Description

The Feature class represents a graphical feature in an ArenaMap. It consists of a 2D position, an orientation, and an image. The position is specified by North, and West.

Access	Member Name	Type	Units	Value
public	north	double	--
public	west	double	--
public	heading	double	--
public	bufImage	BufferedImage	--

Constructor

public Feature(double N, double W, double H, String imageFile)

Create a Feature with position (N,W), heading (H), and image stored in imageFile.

Member Functions

public void setState(double N, double W, double H)

Set the position (N,W), heading (H) of the Feature.

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class ArenaMap

extends JPanel

Description

The ArenaMap class creates, and manages a graphical display of Features in an arena.

Access	Member Name	Type	Units	Value
private	featureList	List<Feature>	--	Constructor Arg
private	metersPerPixel	double	--	Constructor Arg
private	groundColor	Color	--	White

Constructor

public ArenaMap(List<Feature> flist, double mapScale)

Initialize an ArenaMap object to the given mapscale, and containing the given list of graphical features.

Member Functions

public void SetScale (double mapScale);

Set the screen resolution of the Arenamap (meters/pixel).

private void doDrawing(Graphics g);

---

class EVDisplay

extends JFrame

Description

This class implements a Trick variable server client application for SIM_wheelbot that displays the vehicle and its waypoints. The position of the vehicle is updated over time.

Running the Client

java -jar EVDisplay.jar -v <vehicle-image-file> -w <waypoints-file> <port>

• -v : specify the image to be used for the vehicle.
• -w : specify the waypoint positions, headings, and images, in the format shown below.
• <port> : the port number for the Trick variable server.

Example :

java -jar EVDisplay.jar -v "images/twoWheelRover.png" -w "Modified_data/pentagon.waypoints" <port>

Modified_data/pentagon.waypoints :

1.0000,0.0,0.0,images/wp0.png
0.3093,0.9511,0.0,images/wp1.png
-0.8090,0.5878,0.0,images/wp2.png
-0.8090,-0.5878,0.0,images/wp3.png
0.3090,-0.9511,0.0,images/wp4.png

A More Fun Example:

java -jar EVDisplay.jar -v "images/mouse_128x128.png" -w "Modified_data/pentagon.snackpoints" <port>

Modified_data/pentagon.snackpoints :

1.0000,0.0,0.0,images/cheese_64x64.png
0.3093,0.9511,0.0,images/strawberry_64x64.png
-0.8090,0.5878,0.0,images/cheese_64x64.png
-0.8090,-0.5878,0.0,images/strawberry_64x64.png
0.3090,-0.9511,0.0,images/cheese_64x64.png

Constructor

public EVDisplay(ArenaMap arena)

Member Functions

public void connectToServer(String host, int port ) throws IOException

Connect to the Trick variable server as specified by host and port.

public void drawArenaMap()

Calls the ArenaMap's repaint() method, that is inherited from the Java-Swing JPanel class. This causes the ArenaMap's doDrawing() method to be called, which draws the arena.

public static void main(String[] args) throws IOException

• Process Args
• Validate Parameters
• Read and process the waypoint file:
  • For each waypoint, create a Feature and add it to the feature-list.
• Create a Feature for the vehicle, and add it to the feature-list.
• Connect to the Trick variable server on the local computer ("localhost") at the port number specified by the applicaton arguments.
• Request the vehicle position and heading at 10Hz.
• Enter a continuous while loop that reads, and correspondingly sets the vehicle state.