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com.github.wshackle.crcl4java.motoman.ui.MotomanCrclServerJPanel Maven / Gradle / Ivy
/*
* This software is public domain software, however it is preferred
* that the following disclaimers be attached.
* Software Copywrite/Warranty Disclaimer
*
* This software was developed at the National Institute of Standards and
* Technology by employees of the Federal Government in the course of their
* official duties. Pursuant to title 17 Section 105 of the United States
* Code this software is not subject to copyright protection and is in the
* public domain.
*
* This software is experimental. NIST assumes no responsibility whatsoever
* for its use by other parties, and makes no guarantees, expressed or
* implied, about its quality, reliability, or any other characteristic.
* We would appreciate acknowledgement if the software is used.
* This software can be redistributed and/or modified freely provided
* that any derivative works bear some notice that they are derived from it,
* and any modified versions bear some notice that they have been modified.
*
* See http://www.copyright.gov/title17/92chap1.html#105
*
*/
package com.github.wshackle.crcl4java.motoman.ui;
import com.github.wshackle.crcl4java.motoman.MotoPlusConnection;
import com.github.wshackle.crcl4java.motoman.MotomanCrclServer;
import crcl.utils.CRCLServerSocket;
import crcl.utils.CRCLSocket;
import crcl.utils.PropertiesUtils;
import java.io.File;
import java.io.FileReader;
import java.io.IOException;
import java.net.InetSocketAddress;
import java.net.Socket;
import java.util.Properties;
import java.util.function.Consumer;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
*
* @author shackle
*/
public class MotomanCrclServerJPanel extends javax.swing.JPanel {
/**
* Creates new form MotomanCrclServerJPanel
*/
public MotomanCrclServerJPanel() {
initComponents();
}
/**
* 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.
*/
@SuppressWarnings("unchecked")
// //GEN-BEGIN:initComponents
private void initComponents() {
jPanel1 = new javax.swing.JPanel();
telnetJPanel1 = new com.github.wshackle.crcl4java.motoman.ui.TelnetJPanel();
jPanel2 = new javax.swing.JPanel();
jLabel1 = new javax.swing.JLabel();
jTextFieldCrclPort = new javax.swing.JTextField();
jLabel2 = new javax.swing.JLabel();
jTextFieldMotoplusHost = new javax.swing.JTextField();
jCheckBoxConnect = new javax.swing.JCheckBox();
jLabel3 = new javax.swing.JLabel();
jTextFieldMotoplusPort = new javax.swing.JTextField();
jCheckBoxDebug = new javax.swing.JCheckBox();
jScrollPane1 = new javax.swing.JScrollPane();
jTextAreaErrLog = new javax.swing.JTextArea();
jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Telnet"));
javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1);
jPanel1.setLayout(jPanel1Layout);
jPanel1Layout.setHorizontalGroup(
jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(telnetJPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addContainerGap())
);
jPanel1Layout.setVerticalGroup(
jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(telnetJPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, 206, Short.MAX_VALUE))
);
jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("CRCL"));
jLabel1.setText("CRCL Port:");
jTextFieldCrclPort.setText("64444");
jLabel2.setText("Motoman Motoplus TCP Host:");
jTextFieldMotoplusHost.setText("192.168.1.33");
jCheckBoxConnect.setText("Connected");
jCheckBoxConnect.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jCheckBoxConnectActionPerformed(evt);
}
});
jLabel3.setText("Port:");
jTextFieldMotoplusPort.setText("12222 ");
jCheckBoxDebug.setText("Debug");
jCheckBoxDebug.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jCheckBoxDebugActionPerformed(evt);
}
});
jTextAreaErrLog.setColumns(20);
jTextAreaErrLog.setRows(5);
jScrollPane1.setViewportView(jTextAreaErrLog);
javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
jPanel2.setLayout(jPanel2Layout);
jPanel2Layout.setHorizontalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addComponent(jCheckBoxDebug)
.addGap(0, 0, Short.MAX_VALUE))
.addGroup(jPanel2Layout.createSequentialGroup()
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addComponent(jLabel1)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTextFieldCrclPort, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jCheckBoxConnect))
.addGroup(jPanel2Layout.createSequentialGroup()
.addComponent(jLabel2)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTextFieldMotoplusHost, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel3)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTextFieldMotoplusPort, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addGap(0, 0, Short.MAX_VALUE))))
.addComponent(jScrollPane1))
.addContainerGap())
);
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel1)
.addComponent(jTextFieldCrclPort, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jCheckBoxConnect))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel2)
.addComponent(jTextFieldMotoplusHost, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel3)
.addComponent(jTextFieldMotoplusPort, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 136, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jCheckBoxDebug)
.addContainerGap())
);
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, layout.createSequentialGroup()
.addContainerGap()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addContainerGap())
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, layout.createSequentialGroup()
.addContainerGap()
.addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addContainerGap())
);
}// //GEN-END:initComponents
private MotomanCrclServer motomanCrclServer = null;
private int motomanPort = MotomanCrclServer.DEFAULT_MOTOMAN_PORT;
private int crclPort = CRCLSocket.DEFAULT_PORT;
private String motomanHost = MotomanCrclServer.DEFAULT_MOTOMAN_HOST;
private Thread crclThread = null;
private int connectTimeoutMillis = 2000;
/**
* Get the value of connectTimeoutMillis
*
* @return the value of connectTimeoutMillis
*/
public int getConnectTimeoutMillis() {
return connectTimeoutMillis;
}
/**
* Set the value of connectTimeoutMillis
*
* @param connectTimeoutMillis new value of connectTimeoutMillis
*/
public void setConnectTimeoutMillis(int connectTimeoutMillis) {
this.connectTimeoutMillis = connectTimeoutMillis;
}
private static Socket createSocketWithTimeout(String host, int port, int timeoutMillis) throws IOException {
Socket socket = new Socket();
socket.connect(new InetSocketAddress(host, port), timeoutMillis);
return socket;
}
public boolean isCrclMotoplusConnected() {
return jCheckBoxConnect.isSelected()
&& null != motomanCrclServer
&& null != crclThread
&& crclThread.isAlive()
&& motomanCrclServer.mpcConnected();
}
private final int LOG_SIZE_LIMIT = 5000;
private void appendLog(String s) {
jTextAreaErrLog.append(s+'\n');
String fullString = jTextAreaErrLog.getText();
if(fullString.length() > LOG_SIZE_LIMIT) {
int index = Math.max(LOG_SIZE_LIMIT, fullString.indexOf('\n', LOG_SIZE_LIMIT));
jTextAreaErrLog.setText(fullString.substring(index));
}
}
private final Consumer logConsumer = this::appendLog;
public void connectCrclMotoplus() throws IOException {
internalDisconnect();
motomanCrclServer = new MotomanCrclServer(
new CRCLServerSocket(crclPort),
new MotoPlusConnection(createSocketWithTimeout(motomanHost, motomanPort, connectTimeoutMillis)));
motomanCrclServer.setDebug(jCheckBoxDebug.isSelected());
motomanCrclServer.addLogListener(logConsumer);
crclThread = new Thread(motomanCrclServer, "motomanCrclServer");
crclThread.start();
if (!jCheckBoxConnect.isSelected()) {
jCheckBoxConnect.setSelected(true);
}
}
public void disconnectCrclMotoplus() {
if (jCheckBoxConnect.isSelected()) {
jCheckBoxConnect.setSelected(false);
}
internalDisconnect();
}
private void internalDisconnect() {
if (null != motomanCrclServer) {
motomanCrclServer.removeLogListener(logConsumer);
try {
motomanCrclServer.close();
} catch (Exception ex) {
Logger.getLogger(MotomanCrclServerJPanel.class.getName()).log(Level.SEVERE, null, ex);
}
motomanCrclServer = null;
}
if (null != crclThread) {
if (crclThread.isAlive()) {
System.err.println("Interrupting Motoman CRCL server thread");
try {
crclThread.join(100);
} catch (InterruptedException ex) {
Logger.getLogger(MotomanCrclServerJPanel.class.getName()).log(Level.SEVERE, null, ex);
}
if (crclThread.isAlive()) {
crclThread.interrupt();
try {
crclThread.join(100);
} catch (InterruptedException ex) {
Logger.getLogger(MotomanCrclServerJPanel.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
crclThread = null;
}
}
private void jCheckBoxConnectActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxConnectActionPerformed
updateConnection();
}//GEN-LAST:event_jCheckBoxConnectActionPerformed
private void jCheckBoxDebugActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxDebugActionPerformed
if (null != motomanCrclServer) {
motomanCrclServer.setDebug(jCheckBoxDebug.isSelected());
}
}//GEN-LAST:event_jCheckBoxDebugActionPerformed
private void updateConnection() throws NumberFormatException {
if (this.jCheckBoxConnect.isSelected()) {
try {
disconnectCrclMotoplus();
crclPort = Integer.parseInt(jTextFieldCrclPort.getText());
motomanPort = Integer.parseInt(jTextFieldMotoplusPort.getText());
motomanHost = jTextFieldMotoplusHost.getText();
connectCrclMotoplus();
} catch (IOException ex) {
Logger.getLogger(MotomanCrclServerJPanel.class.getName()).log(Level.SEVERE, null, ex);
}
} else {
disconnectCrclMotoplus();
}
}
private File propertiesFile;
/**
* Get the value of propertiesFile
*
* @return the value of propertiesFile
*/
public File getPropertiesFile() {
return propertiesFile;
}
/**
* Set the value of propertiesFile
*
* @param propertiesFile new value of propertiesFile
*/
public void setPropertiesFile(File propertiesFile) {
this.propertiesFile = propertiesFile;
}
public void saveProperties() throws IOException {
Properties props = new Properties();
props.put(CRCL_PORT_PROPERTY_NAME, jTextFieldCrclPort.getText());
props.put(MOTOPLUS_PORT_PROPERTY_NAME, jTextFieldMotoplusPort.getText());
props.put(MOTOPLUS_HOST_PROPERTY_NAME, jTextFieldMotoplusHost.getText());
props.put("debug", Boolean.toString(jCheckBoxDebug.isSelected()));
System.out.println("MotomanCrclServerJPanel saving properties to " + propertiesFile.getCanonicalPath());
// try (FileWriter fw = new FileWriter(propertiesFile)) {
// props.store(fw, "");
// }
PropertiesUtils.saveProperties(propertiesFile, props);
}
private static final String MOTOPLUS_HOST_PROPERTY_NAME = "MOTOPLUS_HOST";
private static final String MOTOPLUS_PORT_PROPERTY_NAME = "MOTOPLUS_PORT";
private static final String CRCL_PORT_PROPERTY_NAME = "CRCL_PORT";
public void setCrclPort(int port) {
this.jTextFieldCrclPort.setText(Integer.toString(port));
crclPort = Integer.parseInt(jTextFieldCrclPort.getText());
updateConnection();
}
public int getCrclPort() {
return crclPort;
}
public void loadProperties() throws IOException {
Properties props = new Properties();
System.out.println("MotomanCrclServerJPanel loading properties from " + propertiesFile.getCanonicalPath());
try (FileReader fr = new FileReader(propertiesFile)) {
props.load(fr);
}
String crclPortString = props.getProperty(CRCL_PORT_PROPERTY_NAME);
if (null != crclPortString) {
jTextFieldCrclPort.setText(crclPortString);
}
String motoplusPortString = props.getProperty(MOTOPLUS_PORT_PROPERTY_NAME);
if (null != motoplusPortString) {
jTextFieldMotoplusPort.setText(motoplusPortString);
}
String motomanHostString = props.getProperty(MOTOPLUS_HOST_PROPERTY_NAME);
if (null != motomanHostString) {
jTextFieldMotoplusHost.setText(motomanHostString);
}
crclPort = Integer.parseInt(jTextFieldCrclPort.getText());
motomanPort = Integer.parseInt(jTextFieldMotoplusPort.getText());
motomanHost = jTextFieldMotoplusHost.getText();
String debugString = props.getProperty("debug");
if(debugString != null && debugString.length() > 0 && Boolean.valueOf(debugString)) {
jCheckBoxDebug.setSelected(true);
}
}
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JCheckBox jCheckBoxConnect;
private javax.swing.JCheckBox jCheckBoxDebug;
private javax.swing.JLabel jLabel1;
private javax.swing.JLabel jLabel2;
private javax.swing.JLabel jLabel3;
private javax.swing.JPanel jPanel1;
private javax.swing.JPanel jPanel2;
private javax.swing.JScrollPane jScrollPane1;
private javax.swing.JTextArea jTextAreaErrLog;
private javax.swing.JTextField jTextFieldCrclPort;
private javax.swing.JTextField jTextFieldMotoplusHost;
private javax.swing.JTextField jTextFieldMotoplusPort;
private com.github.wshackle.crcl4java.motoman.ui.TelnetJPanel telnetJPanel1;
// End of variables declaration//GEN-END:variables
}
