import javax.swing.*;
import java.awt.*;
import java.awt.event.*;
import java.io.*;
import java.net.*;
import java.util.StringTokenizer;

/*
 * ZazaMap2
 * Brian Rudy (brudyNO@SPAMpraecogito.com)
 * Authored in NetBeans 3.2 IDE
 * Released under GPL (1.0)
 *
 * Grab images of current map, and robot. Scale to
 * dimensions of the applet panel. Get setup info
 * from position server CGI (mode, goal points). Get
 * robot's position and orientation from the position
 * server and draw as appropriate (server-push/client-pull?).
 *
 * Todo- Image auto-scaling, update frequency parameter 
 * loading, exception handling!, server-side status reports, 
 * scroll bars/popup window?
 *
 * --Revision History--
 *
 * 0.46 8-15-2001 
 * Added basic goal pont voting.
 *
 * 0.45 8-2-2001
 * Added basic target info window spawning.
 *
 * 0.44 7-31-2001
 * Added stub for goal point selection.
 *
 * 0.43 7-30-2001
 * Added basic goal plotting and labeling (currently disabled 
 * for clarity). Fixed goal point parsing and array population. 
 * Added getPos support. 
 *
 * 0.42 7-28-2001
 * Fixed exception handling in NetIO routines. Extended parsing.
 * Fixed robotImage scaling.
 *
 * 0.41 7-27-2001
 * Added basic setup data retrieval and preliminary parsing.
 *
 * 0.4 7-25-2001
 * Added basic NetIO framework
 *
 * 0.3 7-23-2001
 * Basic image rendering using Java2D extensions for
 * image manipulation (rotation)
 *
 * Known Bugs- Java2D imagebuffer data not transparent when
 * pasted into 'g' canvas. Robot image has square borders
 * as a result
 */


/*
 * Moves a foreground image in front of a background image.
 */
public class ZazaMap2 extends javax.swing.JApplet implements java.awt.event.ActionListener {
    int frameNumber = -1;
    boolean frozen = false;
    javax.swing.Timer timer;
    ZazaMap2.AnimationPane animationPane;
    Image original;
    boolean isInitialized = false;
    
    // The first array must be initialized
    String[][] goals = new String[20][];
    int numGoals;
    int PosX = 0;
    int PosY = 0;
    int PosTheta; // In degrees
    int goalSize = 10;
    URL targetURL;
    int goalSelected = 0;
    boolean asApplet = false; 

    // These are only used when run as an application
    static String fgFile = "http://www.praecogito.com/~brudy/zaza/java/images/robot.gif";
    static String bgFile = "http://www.praecogito.com/~brudy/zaza/java/images/map-in.gif";
    
    
    //Invoked only when run as an applet.
    public void init() {
        asApplet = true;
        //Get the images.
        Image bgImage = getImage(getCodeBase(), getParameter("MAPIMAGE"));
        Image fgImage = getImage(getCodeBase(), getParameter("ROBOTIMAGE"));
        buildUI(getContentPane(), bgImage, fgImage);
    }
    
    void buildUI(java.awt.Container container, Image bgImage, Image fgImage) {
        //int fps = 10;
        int fps = 1;
        
        //How many milliseconds between frames?
        int delay = (fps > 0) ? (1000 / fps) : 100;
        
        //Set up a timer that calls this object's action handler.
        timer = new javax.swing.Timer(delay, this);
        timer.setInitialDelay(0);
        timer.setCoalesce(true);
 
        animationPane = new ZazaMap2.AnimationPane(bgImage, fgImage);
        container.add(animationPane, java.awt.BorderLayout.CENTER);
        
        animationPane.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mousePressed(java.awt.event.MouseEvent e) {
                boolean clickedOnGoal = goalClick(e.getX(), e.getY(), goalSize);
                if (frozen) {
                    frozen = false;
                    startAnimation();
                } else {
                    if (!clickedOnGoal) {
                      frozen = true;
                      stopAnimation();
                    }
                  }  
                
                // on mouseUp event over goal, do something
                if (clickedOnGoal) {
                    System.out.println("You selected goal number " 
                    + String.valueOf(goalSelected) + " which is "
                    + goals[goalSelected][2]);
                    // Cast your vote
                    sendGoal(goalSelected);
                    if (asApplet) {
                        try {
                            URL infoURL = new URL(goals[goalSelected][3]);
                            getAppletContext().showDocument(infoURL, "infowindow");
                        } catch (MalformedURLException er) {
                        } catch (IOException er) {
                          }
                    }
                } else {
                    System.out.println("You clicked X=" + String.valueOf(e.getX()) 
                    + ", Y=" + String.valueOf(e.getY()) + " but there is nothing here.");
                }
            }
        });
    }
    
    public boolean goalClick(int xposition, int yposition, int diameter) {
        if (isInitialized){
            for(int i = 0; i < numGoals; i++){
                if ((Integer.valueOf(goals[i][0]).intValue()-goalSize/2 <= xposition) && ((Integer.valueOf(goals[i][0]).intValue()-goalSize/2)+diameter >= xposition)){
                    if ((Integer.valueOf(goals[i][1]).intValue()-goalSize/2 <= yposition) && ((Integer.valueOf(goals[i][1]).intValue()-goalSize/2)+diameter >= yposition)){
                        goalSelected = i;
                        return true;
                    }
                }
            }
        } 
        return false;
    }
    
    //Invoked by a browser only.
    public void start() {
        startAnimation();
    }
    
    //Invoked by a browser only.
    public void stop() {
        stopAnimation();
    }
    
    //Can be invoked from any thread.
    public synchronized void startAnimation() {
        if (frozen) {
            //Do nothing.  The user has requested that we
            //stop changing the image.
        } else {
            //Start animating!
            if (!timer.isRunning()) {
                timer.start();
            }
        }
    }
    
    //Can be invoked from any thread.
    public synchronized void stopAnimation() {
        //Stop the animating thread.
        if (timer.isRunning()) {
            timer.stop();
        }
    }
    
    // This is called when the timer expires
    public void actionPerformed(java.awt.event.ActionEvent e) {
        //Advance animation frame.
        frameNumber++;
        
        // Get updated position info from posServer
        getPos();
        
        //Display it.
        animationPane.repaint();
    }
    
    // The following should be in it's own class
    
    String posServer = "http://www.praecogito.com/cgi-bin/posServer";
    
    // Get setup info from posServer (goals)
    public void setup() {
        try {
        System.out.println("Getting setup info...");
        String SetupStr= posServer + "?setup=yes";
        System.out.println("I am getting " + SetupStr);
        URL url = new URL(SetupStr);
        URLConnection connection = url.openConnection();
        BufferedReader in = new BufferedReader(
        new InputStreamReader(
        connection.getInputStream()));
        String inputLine;
        StringTokenizer dataIn;
        String delimiter = ",";
        int tokenIndex;
        int index = 0;
        
        while ((inputLine = in.readLine()) != null) {
            tokenIndex = 0;
            // print it to the console
            System.out.println("Setup data: " + inputLine);
            // Parse with stringTokenizer
            dataIn = new StringTokenizer(inputLine, delimiter, true);

            goals[index] = new String[4]; //create sub-array
            
            // For goal parsing. Add x,y,name to goal array
            // x
            goals[index][0] = dataIn.nextToken();
            // delimiter
            dataIn.nextToken();
            // y
            goals[index][1] = dataIn.nextToken();
            // delimiter
            dataIn.nextToken();
            // name
            goals[index][2] = dataIn.nextToken();
            // delimiter
            dataIn.nextToken();
            // URL
            goals[index][3] = dataIn.nextToken();
            // EOL delimiters
            dataIn.nextToken();
            dataIn.nextToken();
            index++;
        }
        numGoals = index;
        in.close();
        isInitialized = true;
    } catch (MalformedURLException e) {
      } catch (IOException e) {
        }
  }


    
    
    // Get position info (x,y,theta)
    public void getPos() {
        try {
        System.out.println("Getting position info...");
        String posReqStr= posServer + "?getpos=yes";
        URL url = new URL(posReqStr);
        URLConnection connection = url.openConnection();
        BufferedReader in = new BufferedReader(
        new InputStreamReader(
        connection.getInputStream()));
        String inputLine;
        StringTokenizer dataIn;
        String delimiter = ",";
        
        while ((inputLine = in.readLine()) != null) {
            // print it to the console
            //System.out.println("Position data: " + inputLine);
            // Parse with stringTokenizer
            dataIn = new StringTokenizer(inputLine, delimiter, true);
            // x
            PosX = Integer.valueOf(dataIn.nextToken()).intValue();
            // delimiter
            dataIn.nextToken();
            // y
            PosY = Integer.valueOf(dataIn.nextToken()).intValue();
            // delimiter
            dataIn.nextToken();
            // name
            PosTheta = Integer.valueOf(dataIn.nextToken()).intValue();
            // EOL delimiters
            dataIn.nextToken();
            dataIn.nextToken();
        }
        in.close();
        //System.out.println("Current position x=" + String.valueOf(PosX) + ", y=" + String.valueOf(PosY) + ", theta=" + String.valueOf(PosTheta));
    } catch (MalformedURLException e) {
      } catch (IOException e) {
        }
   }
    
    //Get status info (mode change, remote exceptions)
    public void getInfo() {
        try {
        System.out.println("Getting status info...");
        String posReqStr= posServer + "?getinfo";
        URL url = new URL(posReqStr);
        URLConnection connection = url.openConnection();
        BufferedReader in = new BufferedReader(
        new InputStreamReader(
        connection.getInputStream()));
        String inputLine;
        
        while ((inputLine = in.readLine()) != null) {
            // print it to the console
            // Gotta parse this somehow
            System.out.println("Status info: " + inputLine);
        }
        in.close();
     } catch (MalformedURLException e) {
      } catch (IOException e) {
        }
   }
    
    
    // Send goal vote (server-side tally/arbitration)
    public void sendGoal(int goalNum) {
        try {
        System.out.println("Sending goal number " + String.valueOf(goalNum));
        String posReqStr = posServer + "?sendgoal=" + String.valueOf(goalNum);
        URL url = new URL(posReqStr);
        URLConnection connection = url.openConnection();
        BufferedReader in = new BufferedReader(
        new InputStreamReader(
        connection.getInputStream()));
        String inputLine;
        
        while ((inputLine = in.readLine()) != null) {
            // print it to the console
            // Gotta parse this somehow
            System.out.println("Goal request reply: " + inputLine);
        }
        in.close();
     } catch (MalformedURLException e) {
      } catch (IOException e) {
        }
   }
    
    
    class AnimationPane extends javax.swing.JPanel {
        Image background, foreground;
        private java.awt.image.BufferedImage bimg;
        public double angdeg;
        public int xPos, yPos;
        
        public AnimationPane(Image background, Image foreground) {
            this.background = background;
            this.foreground = foreground;
        }
        
        //Draw the current frame of animation.
        public void paintComponent(java.awt.Graphics g) {
            super.paintComponent(g);  //paint any space not covered
            //by the background image
            int compWidth = getWidth();
            int compHeight = getHeight();
            int imageWidth, imageHeight;
            Color goalColor = Color.yellow;
            Color posColor = Color.red;
            Color goalTextColor = Color.blue;
            java.awt.Graphics2D g2 = null;
            //int fgWidth = foreground.getWidth(this);
            //int fgWidth = 20;
            final int fgWidth = 5;
            //int fgHeight = foreground.getHeight(this);
            //int fgHeight = 20;
            final int fgHeight = 5;
            if (bimg == null || bimg.getWidth() != fgWidth || bimg.getHeight() != fgHeight) {
                bimg = (java.awt.image.BufferedImage) createImage(fgWidth, fgHeight) ;
                System.out.print("I haven't a clue what I am doing, does it show?\n");
                // Get setup info from server
                setup();
            }
            g2 = bimg.createGraphics();
            //g2.setBackground(getBackground());
            //g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING,
            //                    RenderingHints.VALUE_ANTIALIAS_ON);
            g2.setRenderingHint(java.awt.RenderingHints.KEY_RENDERING,
            java.awt.RenderingHints.VALUE_RENDER_QUALITY);
            //g2.clearRect(0, 0, fgWidth, fgHeight);
            
            //If we have a valid width and height for the
            //background image, draw it.
            imageWidth = background.getWidth(this);
            imageHeight = background.getHeight(this);
            if ((imageWidth > 0) && (imageHeight > 0)) {
                g.drawImage(background,
                (compWidth - imageWidth)/2,
                (compHeight - imageHeight)/2, this);
            }
            // Draw in goal points
            // We should probably do this once in an off-screen buffer 
            // to make this more efficient... 
            if (isInitialized) {
                // for each element in 1x3 array
                for (int i = 0; i < numGoals; i++) {
                    int goalx = Integer.valueOf(goals[i][0]).intValue();
                    int goaly = Integer.valueOf(goals[i][1]).intValue();
                    //System.out.println("Plotting a goal at x=" + goals[i][0] 
                    //+ " y=" + goals[i][1] + " name=" + goals[i][2]);
                    g.setColor(goalColor);
                    g.fillOval(goalx - goalSize/2, goaly - goalSize/2, goalSize, goalSize);
                    g.setColor(goalTextColor);
                    // This works, but it clutters the canvas
                    //g.drawString(goals[i][2], goalx, goaly-4);
                }
            }
            //If we have a valid width and height for the
            //foreground image, draw it.
            //imageWidth = foreground.getWidth(this);
            imageWidth = fgWidth;
            //imageHeight = foreground.getHeight(this);
            imageHeight = fgHeight;
            if ((imageWidth > 0) && (imageHeight > 0)) {
                //robot position info
                g.setColor(posColor);
                //String s = Double.toString(angdeg);
                //g.drawString("Theta =" + s, 2, background.getHeight(this)-4);
                g.drawString("Theta =" + String.valueOf(PosTheta), 2, background.getHeight(this)-4);
               // xPos = ((frameNumber*2) % (imageWidth + compWidth)) - imageWidth;
               // yPos = (compHeight - imageHeight)/2;
               // String x = Double.toString(xPos);
               // String y = Double.toString(yPos);
                //g.drawString("Robot_x=" + x, 2, background.getHeight(this)-14);
                g.drawString("Robot_x=" + String.valueOf(PosX), 2, background.getHeight(this)-14);
                //g.drawString("Robot_y=" + y, 2, background.getHeight(this)-24);
                g.drawString("Robot_y=" + String.valueOf(PosY), 2, background.getHeight(this)-24);
                
                //g2.rotate(Math.toRadians(angdeg), bimg.getWidth(this)/2, bimg.getHeight(this)/2);
                g2.rotate(Math.toRadians(-PosTheta), bimg.getWidth(this)/2, bimg.getHeight(this)/2);
                g2.translate(bimg.getWidth(this)/2-imageWidth/2,bimg.getHeight(this)/2-imageHeight/2);
                //g2.rotate(Math.toRadians(angdeg));
                //g2.setBackground(getBackground());
                //g2.clearRect(0, 0, fgWidth, fgHeight);
                
                // testing
                //g2.setColor(getBackground());
                //g2.fillRect(0, 0, getWidth(), getHeight());
                //g2.setColor(getForeground());
                
                //setOpaque(true);
                //g2.setBackground(Color.blue);
                
                // This does not appear to have any effect
                // g2.setColor(Color.yellow);
                
                //g2.drawImage(background,0,0,xPos,yPos,this);
                g2.clearRect(0, 0, bimg.getWidth(this), bimg.getHeight(this));
                g2.drawImage(foreground,0,0,imageWidth,imageHeight,this);
                angdeg += 2;
                if (angdeg == 360) {
                    angdeg = 0;
                }
                g2.dispose();
                //g.drawImage(bimg, xPos, yPos, this);
                g.drawImage(bimg, PosX - imageWidth/2, background.getHeight(this) - PosY - imageHeight/2, this);
            }
        }
    }
    

    
    
    
    //Invoked only when run as an application (which should only happen when testing)
    public static void main(String[] args) {
        //Image bgImage = java.awt.Toolkit.getDefaultToolkit().getImage(ZazaMap2.bgFile);
        //Image fgImage = java.awt.Toolkit.getDefaultToolkit().getImage(ZazaMap2.fgFile);
        try {
            URL bgURL = new URL(ZazaMap2.bgFile);
            URL fgURL = new URL(ZazaMap2.fgFile);
            Image bgImage = java.awt.Toolkit.getDefaultToolkit().getImage(bgURL);
            Image fgImage = java.awt.Toolkit.getDefaultToolkit().getImage(fgURL);
            javax.swing.JFrame f = new javax.swing.JFrame("ZazaMap2");
            final ZazaMap2 controller = new ZazaMap2();
            controller.buildUI(f.getContentPane(), bgImage, fgImage);
        
        
        f.addWindowListener(new java.awt.event.WindowAdapter() {
            public void windowIconified(java.awt.event.WindowEvent e) {
                controller.stopAnimation();
            }
            public void windowDeiconified(java.awt.event.WindowEvent e) {
                controller.startAnimation();
            }
            public void windowClosing(java.awt.event.WindowEvent e) {
                System.exit(0);
            }
        });
        f.setSize(new java.awt.Dimension(365, 454));
        f.setVisible(true);
        controller.startAnimation();
        } catch (MalformedURLException e) {
              } catch (IOException e) {
                }
    }
}