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This example also shows you the power of the SWITCH block. In the Control section, you have a pulldown menu that offers two options: Sensor and Value. Choosing the Sensor option will allow you to configure the SWITCH block to determine the correct path for your robot using the sensor and its trigger, which you select. In this example, I ve selected the Ultrasonic sensor. I ve configured the Ultrasonic sensor to detect when an object or obstacle is detected less than 64 centimeters (but not equal to 64) in front of the robot. If this condition is met (True), the SWITCH block will execute any blocks found in the True path (the upper beam, with the small flower icon). If the condition is not met (False), the SWITCH block executes any blocks found in the False path (the lower beam, with the mountain icon). For the moment, let s assume that SPOT has his Ultrasonic sensor and Sound sensor mounted. I m going to give SPOT the following pseudo-code: Me: SPOT, when your Ultrasonic sensor detects an object less than 64 centimeters in front, turn left if your Sound sensor detects a sound level greater than 20. I ve already shown you how to configure the first SWITCH block to use the Ultrasonic sensor. Let s assume that SPOT s Ultrasonic sensor detects an object less than 64 centimeters in front of him. This means that any blocks on the upper beam (True path) will be executed. From the pseudo-code, you

Part II:

4:

FIGURE 25-7

PlugInFilter is a simple interface used to abstract image filtering It has only one method, filter( ), which takes the applet and the source image and returns a new image that has been filtered in some way

Linux determines whether a user or group has access to files, programs, or other resources on a system by checking the overall effective permissions on the resource The traditional permissions model in Linux is simple it is based on four access types, or rules The possible access types are (r) (w) (x) (-) Read permission Write permission Execute permission No permission or no access

interface PlugInFilter { javaawtImage filter(javaappletApplet a, javaawtImage in); }

LoadedImage is a convenient subclass of Canvas, which takes an image at construction time and synchronously loads it using MediaTracker LoadedImage then behaves properly inside of LayoutManager control, because it overrides the getPreferredSize( ) and getMinimumSize( ) methods Also, it has a method called set( ) that can be used to set a new Image to be displayed in this Canvas That is how the filtered image is displayed after the plug-in is finished

In addition, these permissions can be applied to three classes of users The classes are Owner Group The owner of the file or application The group that owns the file or application

import javaawt*; public class LoadedImage extends Canvas { Image img; public LoadedImage(Image i) { set(i); } void set(Image i) { MediaTracker mt = new MediaTracker(this);

25:

The elements of this model can be combined in various ways to permit or deny a user (or group) access to any resource on the system There is, however, a need for an additional type of permission-granting mechanism in Linux This need arises because every application in Linux must run in the context of a user This is explained in the next section, which explains SetUID and SetGID programs

know that if the first condition is met, you want SPOT to turn left only if his Sound sensor detects a sound greater than 20. How will you do this Simple you ll use another SWITCH block! First, you drop another SWITCH block on the top beam and configure it, as shown in Figure 12-6.

mtaddImage(i, 0); try { mtwaitForAll(); } catch (InterruptedException e) { Systemoutprintln("Interrupted"); return; } img = i; repaint(); } public void paint(Graphics g) { if (img == null) { gdrawString("no image", 10, 30); } else { gdrawImage(img, 0, 0, this); } } public Dimension getPreferredSize() { return new Dimension(imggetWidth(this), imggetHeight(this)); } public Dimension getMinimumSize() return getPreferredSize(); } } {

The Grayscale filter is a subclass of RGBImageFilter, which means that Grayscale can use itself as the ImageFilter parameter to FilteredImageSource s constructor Then all it needs to do is override filterRGB( ) to change the incoming color values It takes the red, green, and blue values and computes the brightness of the pixel, using the NTSC (National Television Standards Committee) color-to-brightness conversion factor It then simply returns a gray pixel that is the same brightness as the color source