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| /* |
| AVRcamVIEW: A PC application to test out the functionallity of the |
| AVRcam real-time image processing engine. |
| Copyright (C) 2004 Brent A. Taylor |
| |
| This program is free software; you can redistribute it and/or |
| modify it under the terms of the GNU General Public |
| License as published by the Free Software Foundation; either |
| version 2 of the License, or (at your option) any later version. |
| |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
| General Public License for more details. |
| |
| You should have received a copy of the GNU General Public |
| License along with this program; if not, write to the Free Software |
| Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
| |
| For more information on the AVRcamVIEW, please contact: |
| |
| taylorba@comcast.net |
| |
| or go to www.jrobot.net for more details regarding the system. |
| */ |
| |
| package avr.swing; |
| |
| import java.awt.*; |
| import java.io.*; |
| import java.nio.*; |
| import java.nio.channels.*; |
| import java.text.*; |
| import java.util.*; |
| import javax.swing.*; |
| |
| import avr.device.event.*; |
| import avr.lang.*; |
| |
| public class JTrackingPanel extends JPanel { |
| |
| private static final DateFormat DATE_FORMAT; |
| |
| static { |
| DATE_FORMAT = new SimpleDateFormat("yyyy-MM-dd hh.mm.ss"); |
| } |
| |
| private ColorBlob[] blobs; |
| private DataListener dataHandler; |
| |
| private Dimension preferredSize; |
| |
| private boolean recording; |
| private boolean sendCameraData; |
| |
| private FileOutputStream outStream; |
| private FileChannel outChannel; |
| |
| public JTrackingPanel() { |
| super(null); |
| |
| recording = false; |
| sendCameraData = false; |
| |
| setBackground(Color.BLACK); |
| dataHandler = new TrackingHandler(); |
| |
| preferredSize = null; |
| } |
| |
| public void startRecording() throws FileNotFoundException { |
| File recordFile = new File(DATE_FORMAT.format(new Date()) + ".trk"); |
| outStream = new FileOutputStream(recordFile); |
| outChannel = outStream.getChannel(); |
| |
| recording = true; |
| |
| AVRSystem.LOG.info("Started Recording"); |
| } |
| |
| public void stopRecording() throws IOException { |
| |
| recording = false; |
| |
| outStream.close(); |
| outChannel.close(); |
| |
| AVRSystem.LOG.info("Stopped Recording"); |
| |
| } |
| |
| public void startTracking() { |
| AVRSystem.DEVICE.addDataListener(dataHandler); |
| } |
| |
| public void stopTracking() { |
| AVRSystem.DEVICE.removeDataListener(dataHandler); |
| } |
| |
| public void startSendingCameraData() { |
| sendCameraData = true; |
| } |
| |
| public void stopSendingCameraData() { |
| sendCameraData = false; |
| } |
| |
| public Dimension getMinimumSize() { |
| return getPreferredSize(); |
| } |
| |
| public Dimension getPreferredSize() { |
| if(preferredSize == null) { |
| Insets insets = this.getInsets(); |
| preferredSize = new Dimension(insets.left + AVRSystem.IMAGE_WIDTH + insets.right, |
| insets.top + AVRSystem.IMAGE_HEIGHT + insets.bottom); |
| } |
| |
| return preferredSize; |
| } |
| |
| public Dimension getMaximumSize() { |
| return getPreferredSize(); |
| } |
| |
| public void paintComponent(Graphics g) { |
| |
| super.paintComponent(g); |
| |
| Dimension size = getSize(); |
| |
| Insets insets = getInsets(); |
| |
| double xScale = size.width / |
| (double)(insets.left + 5 + AVRSystem.IMAGE_WIDTH + 5 + |
| insets.right); |
| double yScale = size.height / |
| (double)(insets.top + 5 + AVRSystem.IMAGE_HEIGHT + 5 + |
| insets.bottom); |
| double scale = Math.min(xScale, yScale); |
| |
| int imageWidth = (int)(AVRSystem.IMAGE_WIDTH * scale); |
| int imageHeight = (int)(AVRSystem.IMAGE_HEIGHT * scale); |
| |
| // it is possible for the width or height to be 0 when |
| // the window is resized. If this occurs, don't try |
| // to paint anything. just return |
| if(imageWidth <= 0 || imageHeight <= 0) { |
| return; |
| } |
| |
| Image bufferedImage = createImage(imageWidth, imageHeight); |
| |
| Graphics2D bufferGraphics = (Graphics2D)bufferedImage.getGraphics(); |
| |
| bufferGraphics.setColor(Color.WHITE); |
| bufferGraphics.fillRect(0, 0, imageWidth, imageHeight); |
| |
| bufferGraphics.scale(scale, scale); |
| |
| for(int i = 0; (blobs != null) && (i < blobs.length); i++) { |
| ColorBlob blob = blobs[i]; |
| if(blob != null) { |
| bufferGraphics.setColor(AVRSystem.DEVICE.getMapColors()[blob. |
| colorIndex]); |
| bufferGraphics.fillRect(blob.center.x - 2, blob.center.y - 2, 4, 4); |
| bufferGraphics.setColor(Color.BLACK); |
| bufferGraphics.drawRect(blob.bounds.x, blob.bounds.y, |
| blob.bounds.width, blob.bounds.height); |
| } |
| } |
| |
| g.drawImage(bufferedImage, |
| (size.width - imageWidth) / 2, (size.height - imageHeight) / 2, |
| imageWidth, imageHeight, this); |
| |
| |
| } |
| |
| public void setTrackingData(ByteBuffer data) { |
| blobs = new ColorBlob[data.get() & 0xFF]; |
| |
| for(int i = 0; i < blobs.length; i++) { |
| blobs[i] = new ColorBlob(data); |
| } |
| |
| repaint(); |
| |
| if(sendCameraData) { |
| data.position(0); |
| try { |
| AVRSystem.DEVICE.sendCameraData(data); |
| } catch(IOException ioe) { |
| ioe.printStackTrace(System.err); |
| AVRSystem.LOG.warning(ioe.getMessage()); |
| } |
| } |
| |
| } |
| |
| private final class TrackingHandler extends DataAdapter { |
| |
| public void trackingData(ByteBuffer data) { |
| setTrackingData(data); |
| |
| if(recording) { |
| data.reset(); |
| try { |
| outChannel.write(data); |
| } catch(IOException ioe) { |
| AVRSystem.LOG.warning("TRACKING: " + ioe.getMessage()); |
| } |
| } |
| |
| } |
| |
| } |
| |
| private final static class ColorBlob { |
| |
| public final int colorIndex; |
| public final Point center; |
| public final Rectangle bounds; |
| |
| public ColorBlob(ByteBuffer data) { |
| colorIndex = data.get(); |
| |
| int x = data.get() & 0xFF; |
| int y = data.get() & 0xFF; |
| int width = (data.get() & 0xFF) - x; |
| int height = (data.get() & 0xFF) - y; |
| bounds = new Rectangle(x, y, width, height); |
| |
| center = new Point(x + (width / 2), y + (height / 2)); |
| } |
| |
| public String toString() { |
| return "ColorBlob: " + colorIndex + " (" + center.x + ", " + center.y + ") " + |
| " [" + bounds.x + ", " + bounds.y + ", " + bounds.width + ", " + bounds.height + "]"; |
| } |
| |
| |
| } |
| |
| } |