/*
 * ZazaMap
 *
 *  Copyright (C) 2001-2003 Brian Rudy (brudyNO@SPAMpraecogito.com)
 *
 *  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.
 *
 ** Info
 **
 * Authored in NetBeans 3.4.1 IDE
 *
 * Grab images of current map, and robot. Scale to
 * dimensions of the applet panel. Get setup info
 * from position server CGI (goal points). Get
 * robot's position and orientation from the position
 * server and draw (client-pull). Scale all graphics based
 * on zoomlevel.
 *
 * Todo- Update frequency parameter loading, exception handling!,
 * server-side status reports, client-side controls?
 *
 *
 ** Revision History
 **
 * 0.72 10-31-2003
 * Added initial support for showmap and auto-startup/shutdown.
 *
 * 0.71 3-13-2003
 * Re-inserted missing tooltips, enabled iconlabel double-buffering. 
 *
 * 0.70 3-8-2003
 * Major code overhaul. Full Netbeans Form Editor support (yea!). The 
 * scroll bars are now enabled in tracking mode and will no longer kill 
 * the applet if an auto-track event occurs while scrolling. Fixed 
 * 'background' auto-tracking graphic bug. Performance improvements with 
 * background threaded position updating. Added magnifying glass icon to
 * zoom buttons for improved intelligibility.
 *
 * 0.62 5-25-2002
 * Performance improvements. Added DRAWPOS option switch for applet mode. 
 *
 * 0.61 3-15-2002
 * Fixed bug preventing screen redraws on image update.
 *
 * 0.60 1-13-2002
 * Much needed code cleanup of map rendering routines. Proper threading of 
 * image downloads.
 *
 * 0.52 11-2-2001
 * Minor UI tweaks. Still needs some work.
 *
 * 0.51 9-16-2001
 * Tracking-related bug seems to have dissapeared after adding some semaphores 
 * during screen redraws after changing zoom level. A minor bug during 
 * auto-tracking leaves remnants of the last screen around the borders of the 
 * animationPane after a zoom level change.
 *
 * 0.50 9-14-2001
 * Added work-arounds for buffer overflow when tracking and user attempts to
 * scroll (remove scroll bars when tracking, should fix this), and when
 * changing zoom level (tracking temporarily disabled during resize).
 * Still has a bug related to auto-tracking.
 *
 * 0.49 9-13-2001
 * Scrollbars now fully functional. Toolbar graphics enhancements.
 * Zoom level now fully functional. Added robot auto-tracking via Track button.
 *
 * 0.48 9-12-2001
 * Basic scrollbar functionality. Updated button logic on toolbar.
 * Basic zoom level support (needs work).
 *
 * 0.47 8-23-2001
 * Added toolbar with start/stop for position retrieval
 * and stubs for magnification level. Added stubs for scrollable window.
 *
 * 0.46 8-15-2001
 * Added basic goal point 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
 */

import java.awt.Color;
import java.awt.Graphics2D;
import java.awt.RenderingHints;
import java.awt.image.BufferedImage;
import java.io.BufferedReader;
import java.io.IOException;
import java.net.MalformedURLException;
import java.net.URL;


public class ZazaMap2 extends javax.swing.JApplet implements java.awt.event.ActionListener {
    
    /** Creates new form zazamap3 */
    public ZazaMap2() {
        int delay = 3000;
        initComponents();        
        //b2.setBackground(Color.green);
        //Set up a timer that calls this object's action handler.
        timer = new javax.swing.Timer(delay, this);
        timer.setInitialDelay(0);
        timer.setCoalesce(true);
        if (!timer.isRunning()) {
            System.out.println("Starting timer...");
            timer.start();
        }
    }
    
    //Invoked only when run as an applet.
    public void init() {
        asApplet = true;
        //Get the images.
        bgImage = getMapImage(getParameter("MAPIMAGE"));
        fgImage = getMapImage(getParameter("ROBOTIMAGE"));
        if (getParameter("DRAWPOS").equalsIgnoreCase("yes")) {
            drawpos = true;
        }
        else {
            drawpos = false;
        }
        setup();        
    }
    
    /** This method is called from within the constructor to
     * initialize the form.
     * WARNING: Do NOT modify this code. The content of this method is
     * always regenerated by the Form Editor.
     */
    private void initComponents() {//GEN-BEGIN:initComponents
        jToolBar1 = new javax.swing.JToolBar();
        iconlabel = new javax.swing.JLabel();
        b1 = new javax.swing.JButton();
        b5 = new javax.swing.JButton();
        jSeparator1 = new javax.swing.JSeparator();
        b2 = new javax.swing.JButton();
        b3 = new javax.swing.JButton();
        b4 = new javax.swing.JButton();
        jScrollPane1 = new javax.swing.JScrollPane();
        mapCanvas = new javax.swing.JLabel();

        jToolBar1.setBackground(new java.awt.Color(0, 0, 0));
        jToolBar1.setForeground(new java.awt.Color(255, 255, 255));
        iconlabel.setIcon(new javax.swing.JLabel() {
            public javax.swing.Icon getIcon() {
                try {
                    return new javax.swing.ImageIcon(
                        new java.net.URL("http://zazaconsole.exhibits.thetech.org/~brudy/zaza/java/images/map-title.jpg")
                    );
                } catch (java.net.MalformedURLException e) {
                }
                return null;
            }
        }.getIcon());
        jToolBar1.add(iconlabel);

        b1.setBackground(java.awt.Color.green);
        b1.setText("Pos");
        b1.setToolTipText("Download position information");
        b1.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseClicked(java.awt.event.MouseEvent evt) {
                Pos_clicked(evt);
            }
        });

        jToolBar1.add(b1);

        b5.setText("Track");
        b5.setToolTipText("Automatically track the robot's position on the map");
        b5.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseClicked(java.awt.event.MouseEvent evt) {
                Track_clicked(evt);
            }
        });

        jToolBar1.add(b5);

        jSeparator1.setOrientation(javax.swing.SwingConstants.VERTICAL);
        jToolBar1.add(jSeparator1);

        b2.setBackground(java.awt.Color.green);
        b2.setIcon(new javax.swing.JLabel() {
            public javax.swing.Icon getIcon() {
                try {
                    return new javax.swing.ImageIcon(
                        new java.net.URL("http://zazaconsole.exhibits.thetech.org/~brudy/zaza/java/images/mag.gif")
                    );
                } catch (java.net.MalformedURLException e) {
                }
                return null;
            }
        }.getIcon());
        b2.setText("1x");
        b2.setToolTipText("Zoom 1x");
        b2.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseClicked(java.awt.event.MouseEvent evt) {
                OneX_clicked(evt);
            }
        });

        jToolBar1.add(b2);

        b3.setText("2x");
        b3.setToolTipText("Zoom 2x");
        b3.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseClicked(java.awt.event.MouseEvent evt) {
                TwoX_clicked(evt);
            }
        });

        jToolBar1.add(b3);

        b4.setText("5x");
        b4.setToolTipText("Zoom 5x");
        b4.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseClicked(java.awt.event.MouseEvent evt) {
                FiveX_clicked(evt);
            }
        });

        jToolBar1.add(b4);

        getContentPane().add(jToolBar1, java.awt.BorderLayout.NORTH);

        mapCanvas.setHorizontalAlignment(javax.swing.SwingConstants.LEFT);
        mapCanvas.setToolTipText("Click on a blue circle if you would like to visit this exhibit");
        mapCanvas.setVerticalAlignment(javax.swing.SwingConstants.TOP);
        mapCanvas.setDoubleBuffered(true);
        mapCanvas.setMaximumSize(new java.awt.Dimension(395, 95));
        mapCanvas.setMinimumSize(new java.awt.Dimension(395, 95));
        mapCanvas.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseClicked(java.awt.event.MouseEvent evt) {
                MapCanvas_clicked(evt);
            }
        });

        jScrollPane1.setViewportView(mapCanvas);

        getContentPane().add(jScrollPane1, java.awt.BorderLayout.CENTER);

    }//GEN-END:initComponents

    private void MapCanvas_clicked(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_MapCanvas_clicked
        boolean clickedOnGoal = goalClick(evt.getX(), evt.getY(), goalSize);
                
        // 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(evt.getX())
                    + ", Y=" + String.valueOf(evt.getY()) + " but there is nothing here.");
           }
    }//GEN-LAST:event_MapCanvas_clicked

    private void Track_clicked(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_Track_clicked
        if (trackEnabled) {
            b5.setBackground(Color.lightGray);
            trackEnabled = false;
        }
        else {
            b5.setBackground(Color.green);
            trackEnabled = true;
        }
    }//GEN-LAST:event_Track_clicked

    private void Pos_clicked(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_Pos_clicked
        if (posEnabled) {
            b1.setBackground(Color.lightGray);
            posEnabled = false;
        }
        else {
            b1.setBackground(Color.green);
            posEnabled = true;
        }        
    }//GEN-LAST:event_Pos_clicked

    private void FiveX_clicked(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_FiveX_clicked
        b4.setBackground(Color.green);
        b2.setSelected(false);
        b2.setBackground(Color.lightGray);
        b3.setSelected(false);
        b3.setBackground(Color.lightGray);
        zoomlevel = 5;
        updateMap();
    }//GEN-LAST:event_FiveX_clicked

    private void TwoX_clicked(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_TwoX_clicked
        b3.setBackground(Color.green);
        b2.setSelected(false);
        b2.setBackground(Color.lightGray);
        b4.setSelected(false);
        b4.setBackground(Color.lightGray);
        zoomlevel = 2;
        updateMap();
    }//GEN-LAST:event_TwoX_clicked

    private void OneX_clicked(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_OneX_clicked
        b2.setBackground(Color.green);
        b3.setSelected(false);
        b3.setBackground(Color.lightGray);
        b4.setSelected(false);
        b4.setBackground(Color.lightGray);
        zoomlevel = 1;
        updateMap();
    }//GEN-LAST:event_OneX_clicked

    //Invoked by a browser only.
    public void start() {
       //Start animating!
       if (!timer.isRunning()) {
         timer.start();
       }
    }
    
    //Invoked by a browser only.
    public void stop() {
        //Stop the animating thread.
        if (timer.isRunning()) {
            timer.stop();
        }
    }
    
    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()*zoomlevel)-goalSize/2 <= xposition) && (((Integer.valueOf(goals[i][0]).intValue()*zoomlevel)-goalSize/2)+diameter >= xposition)){
                    if (((Integer.valueOf(goals[i][1]).intValue()*zoomlevel)-goalSize/2 <= yposition) && (((Integer.valueOf(goals[i][1]).intValue()*zoomlevel)-goalSize/2)+diameter >= yposition)){
                        goalSelected = i;
                        return true;
                    }
                }
            }
        }
        return false;
    }
    
    // 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);
            java.net.URLConnection connection = url.openConnection();
            BufferedReader in = new BufferedReader(
            new java.io.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) {
        }
    }    
        
    // 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);
            java.net.URLConnection connection = url.openConnection();
            BufferedReader in = new BufferedReader(
            new java.io.InputStreamReader(
            connection.getInputStream()));
            String inputLine;
            java.util.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 java.util.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) {
        }
    }
    
        // This is called when the timer expires
    public void actionPerformed(java.awt.event.ActionEvent e) {
        if (tGetPos.activeCount() > 3) {
            System.out.println("tGetPos thread is still running, skipping update. "
              + tGetPos.activeCount() + " threads running");
        }
        else {
        if (posEnabled) {
            //tGetPos = new Thread() {
            //    public void run() {
                    if ((isInitialized) && (fgImage != null) && (bgImage != null)) {
                        getPos();
                        updateMap();
                    }
                    else {
                        System.out.println("Images not ready, skipping...");
                    }
            //    }
            //};
            //tGetPos.start();
            
            if (StatusLoopCounter >= 10) {
                StatusLoopCounter = 0;
                if (getStatus() < 4) {
                    // Robot is not running in Phase IV mode
                    System.out.println("The robot isn't running!");
                    if (asApplet) {
                        try {
                            URL getappletURL = new URL(Server + "/cgi-bin/showmap");
                            getAppletContext().showDocument(getappletURL, "map");
                        } catch (MalformedURLException er) {
                          } catch (IOException er) {}
                    }
                    else {
                        System.out.println("The robot isn't running now, so this is going to be really boring...");
                    }
                }
                else {
                    System.out.println("The robot is running.");
                }
            }
            else { 
                StatusLoopCounter++;
            }
        }
        else {
            boolean threadstat = tGetPos.isAlive();
            System.out.println("tGetPos=" + threadstat);
        }
        }
    }

    public void updateMap() {
        mapCanvas.setIcon(new javax.swing.ImageIcon(drawMap()));
        //tGetPos = null;
    }
    
        // Get position info (x,y,theta)
    public int getStatus() {
        try {
            System.out.println("Getting status info...");
            String statReqStr= posServer + "?getstatus=yes";
            URL StatRequrl = new URL(statReqStr);
            java.net.URLConnection Statconnection = StatRequrl.openConnection();
            BufferedReader in = new BufferedReader(
              new java.io.InputStreamReader(Statconnection.getInputStream()));
            String inputLine;
            java.util.StringTokenizer dataIn;
            String delimiter = ",";
            int StatusMode = 0;
            
            while ((inputLine = in.readLine()) != null) {
                // print it to the console
                System.out.println("Status data: " + inputLine);
                // Parse with stringTokenizer
                dataIn = new java.util.StringTokenizer(inputLine, delimiter, true);
                // Status mode
                StatusMode = Integer.valueOf(dataIn.nextToken()).intValue();
                System.out.println("Mode=" + StatusMode);
                // delimiter
                dataIn.nextToken();
                // Movement status, not yet used, but needed to prevent
                // IO Exceptions in buggy readline routine.
                String movestat = dataIn.nextToken();
                // EOL delimiters
                //dataIn.nextToken();
                //dataIn.nextToken();
            }
            in.close();
            return StatusMode;            
        } catch (MalformedURLException e) {
        } catch (IOException e) {
            System.out.println("There was an IO Exception in getStatus!");
        }
        return 0;
    }
    
    
    // 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);
            java.net.URLConnection connection = url.openConnection();
            BufferedReader in = new BufferedReader(
            new java.io.InputStreamReader(
            connection.getInputStream()));
            String inputLine;
            java.util.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 java.util.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) {
        }
    }
    
    public java.awt.Image getMapImage(String name) {
        //java.awt.Image img = getImage(getCodeBase(), name);
        try {
            //if (asApplet) {
            //  name = getCodeBase() + name;
            //}
            System.out.println("Getting " + name);
            URL imURL = new URL(name);
            java.awt.Image img = java.awt.Toolkit.getDefaultToolkit().createImage(imURL);            
        try {
            java.awt.MediaTracker tracker = new java.awt.MediaTracker(this);
            tracker.addImage(img, 0);
            tracker.waitForID(0);
            return img;
        } catch (Exception e) {}
            } catch (MalformedURLException er) {
            } catch (IOException er) {}
        return null;
    }
    
    public Graphics2D createGraphics2D(int w, int h) {
            Graphics2D g2 = null;
            if (bimg == null || bimg.getWidth() != w || bimg.getHeight() != h) {
                bimg = (BufferedImage) createImage(w, h);
                System.out.print("Resizing canvas.\n");
                retrack = true;
            } 
            else {
                retrack = false;
            }
            g2 = bimg.createGraphics();
            //g2.setBackground(getBackground());
            //g2.setBackground(java.awt.Color.white);
            g2.setRenderingHint(RenderingHints.KEY_RENDERING,
                                RenderingHints.VALUE_RENDER_QUALITY);
            g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING,
                                RenderingHints.VALUE_ANTIALIAS_ON);
            //g2.clearRect(0, 0, w, h);
            return g2;
    }
    
    public BufferedImage drawMap() {
        if ((bgImage != null) && (fgImage != null)) {
        int bgWidth = bgImage.getWidth(this) * zoomlevel;
        int bgHeight = bgImage.getHeight(this) * zoomlevel;
        if ((bgWidth > 0) && (bgHeight > 0)) {
        int fgWidth = 5*zoomlevel;
        int fgHeight = 5*zoomlevel;
        Graphics2D g2 = createGraphics2D(bgWidth, bgHeight);
        //g2.setRenderingHint(java.awt.RenderingHints.KEY_ANTIALIASING,
        //                    java.awt.RenderingHints.VALUE_ANTIALIAS_ON);
        BufferedImage canvasImage = new BufferedImage(bgWidth, bgHeight, BufferedImage.TYPE_INT_RGB);
        Graphics2D biContextcanvasImage = canvasImage.createGraphics();
        biContextcanvasImage.setRenderingHint(java.awt.RenderingHints.KEY_ANTIALIASING,
                                              java.awt.RenderingHints.VALUE_ANTIALIAS_ON);
        biContextcanvasImage.clearRect(0,0,bgWidth,bgHeight);
        
            int imageWidth, imageHeight;
           
            //int fgHeight = foreground.getHeight(this);
            //int fgHeight = 20;
            
            Color goalColor = Color.blue;
            Color posColor = Color.red;
            Color goalTextColor = Color.orange;
            BufferedImage bimgrob = (BufferedImage) createImage(fgWidth, fgHeight);
            Graphics2D grob = bimgrob.createGraphics();
            grob.setBackground(Color.white);
            // This just chews up extra CPU cycles
            grob.setRenderingHint(java.awt.RenderingHints.KEY_ANTIALIASING,
                                  java.awt.RenderingHints.VALUE_ANTIALIAS_ON);
            //grob.setRenderingHint(RenderingHints.KEY_ANTIALIASING,
            //                      RenderingHints.VALUE_ANTIALIAS_OFF);
            grob.setRenderingHint(RenderingHints.KEY_RENDERING,
                                  RenderingHints.VALUE_RENDER_QUALITY);
            
            //If we have a valid width and height for the
            //background image, draw it.
            if ((bgWidth > 0) && (bgHeight > 0)) {
                //g2.drawImage(bgImage.getScaledInstance(bgWidth,bgHeight,java.awt.Image.SCALE_AREA_AVERAGING),0,0,bgWidth,bgHeight,this);
                g2.drawImage(bgImage,0,0,bgWidth,bgHeight,this);
            }
            // Draw in goal points
            if (isInitialized) {
                for (int i = 0; i < numGoals; i++) {
                    int goalx = Integer.valueOf(goals[i][0]).intValue();
                    int goaly = Integer.valueOf(goals[i][1]).intValue();
                    g2.setColor(goalColor);
                    g2.fillOval((goalx*zoomlevel) - goalSize/2, (goaly*zoomlevel) - goalSize/2, goalSize, goalSize);
                    // This works, but clutters the canvas
                    g2.setColor(goalTextColor);
                    g2.drawString(goals[i][2], goalx*zoomlevel, (goaly*zoomlevel)-4);
                }
            }
            //If we have a valid width and height for the
            //foreground image, draw it.
            imageWidth = fgWidth;
            imageHeight = fgWidth;
            
            if ((imageWidth > 0) && (imageHeight > 0)) {
                grob.clearRect(0, 0, bimgrob.getWidth(this), bimgrob.getHeight(this));
                grob.setBackground(getBackground());
                grob.rotate(Math.toRadians(-PosTheta), bimgrob.getWidth(this)/2, bimgrob.getHeight(this)/2);
                grob.translate(bimgrob.getWidth(this)/2-imageWidth/2,bimgrob.getHeight(this)/2-imageHeight/2);
                grob.drawImage(fgImage,0,0,imageWidth,imageHeight,this);
                grob.dispose();
                g2.drawImage(bimgrob, (PosX*zoomlevel) - imageWidth/2, (bgHeight-(PosY*zoomlevel)) - imageHeight/2,imageWidth,imageHeight, this);
                //System.out.println("Drawing robot at " + ((PosX*zoomlevel) - imageWidth/2) + "," + ((bgHeight-(PosY*zoomlevel)) - imageHeight/2));
                // Don't scroll unless we need to
                if (trackEnabled) {
                    int animx = jScrollPane1.getWidth();
                    int animy = jScrollPane1.getHeight();
                    int winstartx = (PosX*zoomlevel) - animx/2;
                    if (winstartx < 0) {
                        winstartx = 0;
                    }
                    int winstarty = bgHeight - (PosY*zoomlevel) - animy/2;
                    if (winstarty < 0) {
                        winstarty = 0;
                    }
                   
                    mapCanvas.scrollRectToVisible(new java.awt.Rectangle(winstartx, winstarty, animx-20, animy-20));
                    //System.out.println("startx=" + winstartx + ", xwidth=" + animx);
                    //System.out.println("starty=" + winstarty + ", ywidth=" + animy);
                    // robot position text
                    if (drawpos) {
                        g2.setColor(posColor);           
                        g2.drawString("Theta\t=" + String.valueOf(PosTheta), winstartx+3, winstarty+animy-20);
                        g2.drawString("Robot\tx=" + String.valueOf(PosX), winstartx+3, winstarty+animy-30);
                        g2.drawString("Robot\ty=" + String.valueOf(PosY), winstartx+3, winstarty+animy-40);
                    }
                    lastPosX = PosX;
                    lastPosY = PosY;          
                }
                else {
                    //robot position text
                    if (drawpos) {
                        g2.setColor(posColor);           
                        g2.drawString("Theta  =" + String.valueOf(PosTheta), 2, bgHeight-4);
                        g2.drawString("Robot x=" + String.valueOf(PosX), 2, bgHeight-14);
                        g2.drawString("Robot y=" + String.valueOf(PosY), 2, bgHeight-24);
                    }
                }
            }
            canvasImage = bimg;
            g2.dispose();
            return canvasImage;
        }
        else {
            System.out.println("bgWidth/bgHeight are invalid!");
            return null;
        }
        } 
        else {
                System.out.println("Images are not yet loaded!");
                return null;
            }
    }  
    
    public static void main(java.lang.String[] args) {
    try {
            URL bgURL = new URL(ZazaMap2.bgFile);
            URL fgURL = new URL(ZazaMap2.fgFile);
            bgImage = java.awt.Toolkit.getDefaultToolkit().getImage(bgURL);
            fgImage = java.awt.Toolkit.getDefaultToolkit().getImage(fgURL);
         } catch (MalformedURLException e) {
           } catch (IOException e) {
             }
        javax.swing.JFrame f = new javax.swing.JFrame("ZazaMap2");
        final ZazaMap2 controller = new ZazaMap2();
        f.getContentPane().add(controller);
        controller.initComponents();
        f.addWindowListener(new java.awt.event.WindowAdapter() {
            public void windowIconified(java.awt.event.WindowEvent e) {
                controller.timer.stop();
            }
            public void windowDeiconified(java.awt.event.WindowEvent e) {
                controller.timer.start();
            }
            public void windowClosing(java.awt.event.WindowEvent e) {
                System.exit(0);
            }
        });
        f.setSize(new java.awt.Dimension(340, 340));  
        f.setVisible(true);
        controller.setup();
    }    

    
    // Variables declaration - do not modify//GEN-BEGIN:variables
    private javax.swing.JScrollPane jScrollPane1;
    private javax.swing.JButton b5;
    private javax.swing.JButton b1;
    private javax.swing.JLabel iconlabel;
    private javax.swing.JButton b3;
    private javax.swing.JToolBar jToolBar1;
    private javax.swing.JSeparator jSeparator1;
    private javax.swing.JButton b4;
    private javax.swing.JLabel mapCanvas;
    private javax.swing.JButton b2;
    // End of variables declaration//GEN-END:variables

    public boolean posEnabled = true;
    public boolean trackEnabled = false;    
    public int zoomlevel = 1;
    static private String bgFile = "http://zazaconsole.exhibits.thetech.org/~brudy/zaza/java/images/map-ex.gif";
    static private String fgFile = "http://zazaconsole.exhibits.thetech.org/~brudy/zaza/java/images/robot.gif";
    static private String Server = "http://zazaconsole.exhibits.thetech.org";
    static private String posServer = Server + "/cgi-bin/posServer";
    public static java.awt.Image bgImage;
    public static java.awt.Image fgImage;
    private BufferedImage bimg;
    private boolean retrack = false;
    private boolean isInitialized = false;
    private int numGoals = 0;
    private String[][] goals = new String[20][];
    private int goalSize = 10;
    public int PosX = 0;
    public int PosY = 0;
    public int PosTheta = 0;
    private int lastPosX;
    private int lastPosY;
    private int lastPosTheta;
    public boolean drawpos = true;
    Thread tGetPos = null;
    boolean frozen = false;
    javax.swing.Timer timer;
    private int goalSelected = 0;
    private boolean asApplet = false;
    private int StatusLoopCounter = 0;
}