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User interfaces for CRCL Simulated Robot Server and Client Pendant.
/*
* This 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
* acknowledgment 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.
*
*/
package crcl.ui;
import static crcl.ui.ObjTableJPanel.getAssignableClasses;
import crcl.base.ActuateJointType;
import crcl.base.ActuateJointsType;
import crcl.base.CRCLCommandInstanceType;
import crcl.base.CRCLCommandType;
import crcl.base.CRCLProgramType;
import crcl.base.CRCLStatusType;
import crcl.base.CommandStateEnumType;
import crcl.base.CommandStatusType;
import crcl.base.EndCanonType;
import crcl.base.GripperStatusType;
import crcl.base.InitCanonType;
import crcl.base.JointSpeedAccelType;
import crcl.base.JointStatusType;
import crcl.base.JointStatusesType;
import crcl.base.LengthUnitEnumType;
import crcl.base.MiddleCommandType;
import crcl.base.MoveToType;
import crcl.base.PointType;
import crcl.base.PoseType;
import crcl.base.RotSpeedAbsoluteType;
import crcl.base.SetEndEffectorType;
import crcl.base.SetLengthUnitsType;
import crcl.base.SetRotSpeedType;
import crcl.base.SetTransSpeedType;
import crcl.base.StopConditionEnumType;
import crcl.base.TransSpeedAbsoluteType;
import crcl.base.VectorType;
import static crcl.ui.IconImages.DISCONNECTED_IMAGE;
import static crcl.ui.IconImages.DONE_IMAGE;
import static crcl.ui.IconImages.ERROR_IMAGE;
import static crcl.ui.IconImages.WORKING_IMAGE;
import crcl.utils.AnnotatedPose;
import crcl.utils.CRCLPosemath;
import crcl.utils.CRCLSocket;
import crcl.utils.CRCLException;
import crcl.utils.PendantClientOuter;
import crcl.utils.ProgramPlotter;
import diagapplet.plotter.PlotData;
import diagapplet.plotter.plotterJFrame;
import java.awt.Color;
import java.awt.Desktop;
import java.awt.Dimension;
import java.awt.Font;
import java.awt.Graphics2D;
import java.awt.GraphicsConfiguration;
import java.awt.Image;
import java.awt.Point;
import java.awt.Rectangle;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.awt.event.MouseEvent;
import java.awt.image.BufferedImage;
import java.beans.PropertyChangeEvent;
import java.beans.PropertyChangeListener;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileOutputStream;
import java.io.FileReader;
import java.io.FileWriter;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintStream;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.lang.reflect.Modifier;
import java.math.BigDecimal;
import java.math.BigInteger;
import java.nio.file.Files;
import java.text.SimpleDateFormat;
import java.util.Arrays;
import java.util.Collections;
import java.util.Comparator;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Optional;
import java.util.Set;
import java.util.TreeSet;
import java.util.logging.Level;
import java.util.logging.Logger;
import java.util.stream.Collectors;
import java.util.stream.Stream;
import javax.imageio.ImageIO;
import javax.swing.JFileChooser;
import javax.swing.JFrame;
import javax.swing.JMenu;
import javax.swing.JMenuItem;
import javax.swing.JOptionPane;
import javax.swing.JPopupMenu;
import javax.swing.JTable;
import javax.swing.JViewport;
import javax.swing.filechooser.FileNameExtensionFilter;
import javax.swing.table.DefaultTableModel;
import javax.swing.table.TableModel;
import javax.xml.bind.JAXBException;
import javax.xml.parsers.ParserConfigurationException;
import javax.xml.xpath.XPathExpressionException;
import org.xml.sax.SAXException;
import rcs.posemath.PmException;
import rcs.posemath.PmRotationMatrix;
import rcs.posemath.PmRotationVector;
import rcs.posemath.PmRpy;
import rcs.posemath.Posemath;
/**
*
* @author Will Shackleford{@literal }
*/
public class PendantClient extends javax.swing.JFrame implements PendantClientOuter {
public PendantClient(GraphicsConfiguration gc) throws ParserConfigurationException {
super(gc);
this.internal = new PendantClientInner(this);
init();
}
public PendantClient(String title) throws ParserConfigurationException {
super(title);
this.internal = new PendantClientInner(this);
init();
setTitle(title);
}
public PoseType getCurrentPose() {
return CRCLPosemath.getPose(internal.getStatus());
}
public MiddleCommandType getCurrentProgramCommand() {
CRCLProgramType program = internal.getProgram();
if (null == program) {
return null;
}
int selectedRows[] = this.jTableProgram.getSelectedRows();
int curRow = getProgramRow();
if (curRow > program.getMiddleCommand().size() || curRow < 1) {
return null;
}
return program.getMiddleCommand().get(curRow - 1);
}
/**
* Creates new form PendantClient
*
* @throws javax.xml.parsers.ParserConfigurationException when
* javax.xml.parsers.DocumentBuilderFactory fails in XpathUtils
*/
public PendantClient() throws ParserConfigurationException {
super();
this.internal = new PendantClientInner(this);
init();
}
private void init() {
initComponents();
addCommandsMenu();
String portPropertyString = System.getProperty("crcl4java.port");
if (null != portPropertyString) {
this.jTextFieldPort.setText(portPropertyString);
}
String hostPropertyString = System.getProperty("crcl4java.host");
if (null != hostPropertyString) {
this.jTextFieldHost.setText(hostPropertyString);
}
internal.setStatSchema(CRCLSocket.readStatSchemaFiles(PendantClient.statSchemasFile));
internal.setCmdSchema(CRCLSocket.readCmdSchemaFiles(PendantClient.cmdSchemasFile));
internal.setProgramSchema(CRCLSocket.readProgramSchemaFiles(PendantClient.programSchemasFile));
readRecentCommandFiles();
readRecentPrograms();
final String programPropertyString = System.getProperty("crcl4java.program");
if (null != programPropertyString) {
java.awt.EventQueue.invokeLater(new Runnable() {
@Override
public void run() {
openXmlProgramFile(new File(programPropertyString));
}
});
}
checkSettingsRef();
this.updateUIFromInternal();
this.jTableProgram.getSelectionModel().addListSelectionListener(e -> finishShowCurrentProgramLine(getProgramRow()));
this.internal.addPropertyChangeListener(new MyPropertyChangeListener());
this.transformJPanel1.setPendantClient(this);
this.jTextFieldStatus.setBackground(Color.GRAY);
this.setIconImage(DISCONNECTED_IMAGE);
this.setTitle("CRCL Client: Disconnected?");
try {
this.setIconImage(IconImages.BASE_IMAGE);
} catch (Exception ex) {
Logger.getLogger(SimServer.class.getName()).log(Level.SEVERE, null, ex);
}
}
private void updateUIFromInternal() {
this.jTextFieldJointJogIncrement.setText(Double.toString(internal.getJogIncrement()));
this.jTextFieldXYZJogIncrement.setText(Double.toString(internal.getXyzJogIncrement()));
this.jTextFieldJointJogSpeed.setText(Double.toString(internal.getJogJointSpeed()));
this.jTextFieldTransSpeed.setText(Double.toString(internal.getJogTransSpeed()));
this.jTextFieldRPYJogIncrement.setText(Double.toString(this.rpyJogIncrement));
this.jTextFieldJogInterval.setText(Double.toString(internal.getJogInterval()));
this.jCheckBoxMenuItemQuitProgramOnTestCommandFail.setSelected(internal.isQuitOnTestCommandFailure());
}
private void readRecentCommandFiles() {
File fMainDir = new File(System.getProperty("user.home"),
recent_files_dir);
if (!fMainDir.exists()) {
return;
}
File fa[] = fMainDir.listFiles(new java.io.FileFilter() {
@Override
public boolean accept(File pathname) {
return pathname.isDirectory() && pathname.canRead();
}
});
if (null == fa || fa.length < 1) {
return;
}
Arrays.sort(fa, new Comparator() {
@Override
public int compare(File o1, File o2) {
return o1.getName().compareTo(o2.getName());
}
});
for (File fSubDir : fa) {
JMenu jm = new JMenu(fSubDir.getName());
this.jMenuCommandRecent.add(jm);
File sub_fa[] = fSubDir.listFiles(new java.io.FilenameFilter() {
@Override
public boolean accept(File dir, String name) {
return name.endsWith(".xml");
}
});
Arrays.sort(sub_fa, new Comparator() {
@Override
public int compare(File o1, File o2) {
return Long.compare(o1.lastModified(), o2.lastModified());
}
});
for (int i = 0; i < sub_fa.length && i < 3; i++) {
File xmlFile = sub_fa[i];
JMenuItem jmi = new JMenuItem(xmlFile.getName());
jmi.addActionListener(new ActionListener() {
@Override
public void actionPerformed(ActionEvent e) {
try {
openXmlInstanceFile(xmlFile);
} catch (ParserConfigurationException | CRCLException | JAXBException | XPathExpressionException | IOException | SAXException ex) {
LOGGER.log(Level.SEVERE, null, ex);
showMessage(ex);
}
}
});
jm.add(jmi);
}
}
}
public static final Logger LOGGER = Logger.getLogger(PendantClient.class.getName());
public void openXmlProgramFile(File f) {
try {
this.clearProgramTimesDistances();
this.clearRecordedPoints();
internal.openXmlProgramFile(f, true);
} catch (SAXException | IOException | CRCLException | XPathExpressionException | ParserConfigurationException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
showMessage(ex);
}
}
public void saveXmlProgramFile(File f) throws JAXBException, CRCLException {
if (null != recordPointsProgram) {
recordPointsProgram.getInitCanon().setCommandID(BigInteger.ONE);
for (int i = 0; i < recordPointsProgram.getMiddleCommand().size(); i++) {
recordPointsProgram.getMiddleCommand().get(i).setCommandID(BigInteger.valueOf(i + 1));
}
recordPointsProgram.getEndCanon().setCommandID(BigInteger.valueOf(recordPointsProgram.getMiddleCommand().size()));
internal.setProgram(recordPointsProgram);
this.showProgram(recordPointsProgram);
}
internal.saveXmlProgramFile(f);
}
@Override
public boolean isRecordPoseSelected() {
return this.jCheckBoxMenuItemRecordPoseList.isSelected();
}
private File lastOpenedProgramFile;
/**
* Get the value of lastOpenedProgramFile
*
* @return the value of lastOpenedProgramFile
*/
public File getLastOpenedProgramFile() {
return lastOpenedProgramFile;
}
/**
* Set the value of lastOpenedProgramFile
*
* @param lastOpenedProgramFile new value of lastOpenedProgramFile
*/
public void setLastOpenedProgramFile(File lastOpenedProgramFile) {
this.lastOpenedProgramFile = lastOpenedProgramFile;
}
private ProgramPlotter sideProgramPlotter;
/**
* Get the value of sideProgramPlotter
*
* @return the value of sideProgramPlotter
*/
public ProgramPlotter getSideProgramPlotter() {
return sideProgramPlotter;
}
/**
* Set the value of sideProgramPlotter
*
* @param sideProgramPlotter new value of sideProgramPlotter
*/
public void setSideProgramPlotter(ProgramPlotter sideProgramPlotter) {
this.sideProgramPlotter = sideProgramPlotter;
this.programPlotterJPanelSide.setPlotter(sideProgramPlotter);
}
private ProgramPlotter overheadProgramPlotter;
/**
* Get the value of overheadProgramPlotter
*
* @return the value of overheadProgramPlotter
*/
public ProgramPlotter getOverheadProgramPlotter() {
return overheadProgramPlotter;
}
/**
* Set the value of overheadProgramPlotter
*
* @param overheadProgramPlotter new value of overheadProgramPlotter
*/
public void setOverheadProgramPlotter(ProgramPlotter overheadProgramPlotter) {
this.overheadProgramPlotter = overheadProgramPlotter;
this.programPlotterJPanelOverhead.setPlotter(overheadProgramPlotter);
}
@Override
public void finishOpenXmlProgramFile(File f,
CRCLProgramType program, boolean saveRecent) {
try {
this.recordPointsProgram = null;
showProgram(program);
internal.setProgram(program);
this.saveRecentProgram(f);
this.jTabbedPaneLeftUpper.setSelectedComponent(this.jPanelProgram);
if (null == overheadProgramPlotter) {
setOverheadProgramPlotter(new ProgramPlotter(ProgramPlotter.View.OVERHEAD));
}
if (null == sideProgramPlotter) {
setSideProgramPlotter(new ProgramPlotter(ProgramPlotter.View.SIDE));
}
programPlotterJPanelOverhead.setProgram(program);
programPlotterJPanelSide.setProgram(program);
programPlotterJPanelOverhead.repaint();
programPlotterJPanelSide.repaint();
jTabbedPaneRightUpper.setSelectedComponent(jPanelProgramPlot);
} catch (JAXBException ex) {
LOGGER.log(Level.SEVERE, null, ex);
showMessage(ex);
} catch (IOException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
private String getFirstLine(File f) throws IOException {
try (BufferedReader br = new BufferedReader(new FileReader(f))) {
return br.readLine();
}
}
private Set getRecentPrograms() {
File fMainDir = new File(System.getProperty("user.home"), recent_programs_dir);
Set pathSet = new TreeSet<>();
if (!fMainDir.exists()) {
return pathSet;
}
File fa[] = fMainDir.listFiles(new java.io.FileFilter() {
@Override
public boolean accept(File pathname) {
return !pathname.isDirectory() && pathname.canRead();
}
});
if (null == fa || fa.length < 1) {
return pathSet;
}
Arrays.sort(fa, new Comparator() {
@Override
public int compare(File o1, File o2) {
return o1.getName().compareTo(o2.getName());
}
});
for (File f : fa) {
try {
String path = getFirstLine(f).trim();
File fprog = new File(path);
if (!fprog.exists() || !fprog.canRead() || fprog.isDirectory()) {
f.delete();
continue;
}
final String fprogCanon = fprog.getCanonicalPath();
if (pathSet.contains(fprogCanon)) {
continue;
}
pathSet.add(fprogCanon);
} catch (IOException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
return pathSet;
}
private void readRecentPrograms() {
Set pathSet = this.getRecentPrograms();
this.jMenuRecentProgram.removeAll();
for (final String fprogCanon : pathSet) {
try {
JMenuItem jmi = new JMenuItem(fprogCanon);
jmi.addActionListener(new ActionListener() {
@Override
public void actionPerformed(ActionEvent e) {
openXmlProgramFile(new File(fprogCanon));
}
});
this.jMenuRecentProgram.add(jmi);
} catch (Exception ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
}
private void addCommandsMenu() {
try {
List allClasses = ObjTableJPanel.getClasses();
List cmdClasses = ObjTableJPanel.getAssignableClasses(CRCLCommandType.class,
allClasses);
Collections.sort(cmdClasses, new Comparator() {
@Override
public int compare(Class o1, Class o2) {
return o1.getCanonicalName().compareTo(o2.getCanonicalName());
}
});
for (final Class c : cmdClasses) {
JMenuItem jmi = new JMenuItem(c.getCanonicalName());
jmi.addActionListener(new ActionListener() {
@Override
public void actionPerformed(ActionEvent e) {
try {
CRCLCommandType cmd = (CRCLCommandType) c.newInstance();
cmd
= ObjTableJPanel.editObject(cmd,
internal.getXpu(),
null,
PendantClient.this.internal.getCheckCommandValidPredicate());
if (null != cmd) {
internal.incAndSendCommand(cmd);
saveRecentCommand(cmd);
}
} catch (InstantiationException ex) {
LOGGER.log(Level.SEVERE, null, ex);
} catch (IllegalAccessException ex) {
LOGGER.log(Level.SEVERE, null, ex);
} catch (JAXBException ex) {
LOGGER.log(Level.SEVERE, null, ex);
} catch (IOException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
});
this.jMenuCmds.add(jmi);
}
} catch (Throwable e) {
LOGGER.log(Level.SEVERE, null, e);
}
}
/**
* 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() {
jTabbedPaneLeftUpper = new javax.swing.JTabbedPane();
jPanelProgram = new javax.swing.JPanel();
jScrollPaneProgram = new javax.swing.JScrollPane();
jTableProgram = new javax.swing.JTable();
jButtonProgramPause = new javax.swing.JButton();
jButtonProgramAbort = new javax.swing.JButton();
jButtonEditProgramItem = new javax.swing.JButton();
jButtonDeletProgramItem = new javax.swing.JButton();
jButtonAddProgramItem = new javax.swing.JButton();
jButtonProgramRun = new javax.swing.JButton();
jButtonResume = new javax.swing.JButton();
jButtonPlotProgramItem = new javax.swing.JButton();
jButtonRunProgFromCurrentLine = new javax.swing.JButton();
jButtonStepBack = new javax.swing.JButton();
jButtonStepFwd = new javax.swing.JButton();
jLabel12 = new javax.swing.JLabel();
jTextFieldRunTime = new javax.swing.JTextField();
jLabel13 = new javax.swing.JLabel();
jScrollPane5 = new javax.swing.JScrollPane();
jTextAreaSelectedProgramCommand = new javax.swing.JTextArea();
jLabelHoldingObject2 = new javax.swing.JLabel();
jCheckBoxMonitorHoldingOutput = new javax.swing.JCheckBox();
jLabelExpectHoldingObject = new javax.swing.JLabel();
jPanelJogging = new javax.swing.JPanel();
jComboBox1 = new javax.swing.JComboBox();
jPanelJogMinus = new javax.swing.JPanel();
jLabelJogMinus = new javax.swing.JLabel();
jPanelJogPlus = new javax.swing.JPanel();
jLabelJogPlus = new javax.swing.JLabel();
jComboBoxXYZRPY = new javax.swing.JComboBox();
jPanelJogPlus1 = new javax.swing.JPanel();
jLabelJogPlus1 = new javax.swing.JLabel();
jPanelJogMinus1 = new javax.swing.JPanel();
jLabelJogMinus1 = new javax.swing.JLabel();
jLabel5 = new javax.swing.JLabel();
jLabel7 = new javax.swing.JLabel();
jLabel8 = new javax.swing.JLabel();
jTextFieldJointJogIncrement = new javax.swing.JTextField();
jTextFieldXYZJogIncrement = new javax.swing.JTextField();
jTextFieldRPYJogIncrement = new javax.swing.JTextField();
jLabel9 = new javax.swing.JLabel();
jTextFieldJogInterval = new javax.swing.JTextField();
lengthUnitComboBoxLengthUnit = new crcl.ui.LengthUnitComboBox();
jLabel11 = new javax.swing.JLabel();
jTextFieldJointJogSpeed = new javax.swing.JTextField();
jTextFieldTransSpeed = new javax.swing.JTextField();
jLabel14 = new javax.swing.JLabel();
jLabel15 = new javax.swing.JLabel();
jTextFieldRotationSpeed = new javax.swing.JTextField();
jLabel16 = new javax.swing.JLabel();
jLabel17 = new javax.swing.JLabel();
jButtonRecordPoint = new javax.swing.JButton();
jButtonOpenGripper = new javax.swing.JButton();
jButtonCloseGripper = new javax.swing.JButton();
jLabelHoldingObject = new javax.swing.JLabel();
jPanelMoveTo = new javax.swing.JPanel();
jButtonMoveTo = new javax.swing.JButton();
jScrollPane4 = new javax.swing.JScrollPane();
jTableMoveToPose = new javax.swing.JTable();
jCheckBoxStraight = new javax.swing.JCheckBox();
jButtonMoveToCurrent = new javax.swing.JButton();
transformJPanel1 = new crcl.ui.TransformJPanel();
jPanelConnectionTab = new javax.swing.JPanel();
jTextFieldPort = new javax.swing.JTextField();
jButtonConnect = new javax.swing.JButton();
jButtonDisconnect = new javax.swing.JButton();
jButtonEnd = new javax.swing.JButton();
jButtonInit = new javax.swing.JButton();
jLabel1 = new javax.swing.JLabel();
jTextFieldHost = new javax.swing.JTextField();
jLabel2 = new javax.swing.JLabel();
jCheckBoxPoll = new javax.swing.JCheckBox();
jTextFieldPollTime = new javax.swing.JTextField();
jLabel4 = new javax.swing.JLabel();
jTabbedPaneRightUpper = new javax.swing.JTabbedPane();
jPanelStatus = new javax.swing.JPanel();
jLabel3 = new javax.swing.JLabel();
jTextFieldStatCmdID = new javax.swing.JTextField();
jScrollPane2 = new javax.swing.JScrollPane();
jTableJoints = new javax.swing.JTable();
jLabel6 = new javax.swing.JLabel();
jTextFieldStatus = new javax.swing.JTextField();
jScrollPane3 = new javax.swing.JScrollPane();
jTablePose = new javax.swing.JTable();
jTextFieldStatusID = new javax.swing.JTextField();
jLabel10 = new javax.swing.JLabel();
jLabel18 = new javax.swing.JLabel();
jScrollPane6 = new javax.swing.JScrollPane();
jTextAreaStateDescription = new javax.swing.JTextArea();
jPanelProgramPlot = new javax.swing.JPanel();
jPanelOverheadProgramPlot = new javax.swing.JPanel();
programPlotterJPanelOverhead = new crcl.ui.ProgramPlotterJPanel();
jPanelOverheadProgramPlot1 = new javax.swing.JPanel();
programPlotterJPanelSide = new crcl.ui.ProgramPlotterJPanel();
jScrollPane1 = new javax.swing.JScrollPane();
jTextAreaErrors = new javax.swing.JTextArea();
jMenuBarReplaceCommandState = new javax.swing.JMenuBar();
jMenu1 = new javax.swing.JMenu();
jMenuItemOpenXmlCommandInstance = new javax.swing.JMenuItem();
jMenuCommandRecent = new javax.swing.JMenu();
jMenuItemOpenXmlProgram = new javax.swing.JMenuItem();
jMenuRecentProgram = new javax.swing.JMenu();
jMenuItemSaveProgramAs = new javax.swing.JMenuItem();
jMenuItemClearRecordedPoints = new javax.swing.JMenuItem();
jMenuItemSavePoseList = new javax.swing.JMenuItem();
jMenuItemLoadPrefs = new javax.swing.JMenuItem();
jMenuItemSavePrefs = new javax.swing.JMenuItem();
jMenuItemViewLogFile = new javax.swing.JMenuItem();
jMenuItemExit = new javax.swing.JMenuItem();
jMenu2 = new javax.swing.JMenu();
jMenuTools = new javax.swing.JMenu();
jMenuItemXPathQuery = new javax.swing.JMenuItem();
jCheckBoxMenuItemPlotXYZ = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemJoints = new javax.swing.JCheckBoxMenuItem();
jMenuItemRunTest = new javax.swing.JMenuItem();
jCheckBoxMenuItemRecordPoseList = new javax.swing.JCheckBoxMenuItem();
jMenuItemPoseList3DPlot = new javax.swing.JMenuItem();
jMenuItemOpenStatusLog = new javax.swing.JMenuItem();
jMenuItemShowCommandLog = new javax.swing.JMenuItem();
jMenuItemTransformProgram = new javax.swing.JMenuItem();
jMenuCmds = new javax.swing.JMenu();
jMenuXmlSchemas = new javax.swing.JMenu();
jMenuItemSetSchemaFiles = new javax.swing.JMenuItem();
jCheckBoxMenuItemValidateXml = new javax.swing.JCheckBoxMenuItem();
jMenuOptions = new javax.swing.JMenu();
jCheckBoxMenuItemReplaceState = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemDebugWaitForDone = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemDebugSendCommand = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemDebugReadStatus = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemUseEXI = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemUseReadStatusThread = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemRecordCommands = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemQuitProgramOnTestCommandFail = new javax.swing.JCheckBoxMenuItem();
jMenuItemAbout = new javax.swing.JMenuItem();
FormListener formListener = new FormListener();
setDefaultCloseOperation(javax.swing.WindowConstants.EXIT_ON_CLOSE);
setTitle("CRCL Client");
jTabbedPaneLeftUpper.setBorder(new javax.swing.border.SoftBevelBorder(javax.swing.border.BevelBorder.RAISED));
jTabbedPaneLeftUpper.setName(""); // NOI18N
jTabbedPaneLeftUpper.addChangeListener(formListener);
jTableProgram.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{ new Long(1), "InitCanonType", new Long(-1), new Double(0.0), null},
{ new Long(2), "EndCanonType", new Long(-1), null, null}
},
new String [] {
"ID", "Type", "Time To Execute(ms)", "Distance Moved", "Result"
}
) {
Class[] types = new Class [] {
java.lang.Long.class, java.lang.String.class, java.lang.Long.class, java.lang.Double.class, java.lang.Boolean.class
};
boolean[] canEdit = new boolean [] {
false, false, false, false, false
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jTableProgram.setSelectionMode(javax.swing.ListSelectionModel.SINGLE_SELECTION);
jScrollPaneProgram.setViewportView(jTableProgram);
jButtonProgramPause.setText("Pause");
jButtonProgramPause.setEnabled(false);
jButtonProgramPause.addActionListener(formListener);
jButtonProgramAbort.setText("Abort");
jButtonProgramAbort.addActionListener(formListener);
jButtonEditProgramItem.setText("Edit Item");
jButtonEditProgramItem.addActionListener(formListener);
jButtonDeletProgramItem.setText("Delete Item");
jButtonDeletProgramItem.addActionListener(formListener);
jButtonAddProgramItem.setText("Add Item");
jButtonAddProgramItem.addActionListener(formListener);
jButtonProgramRun.setText("Run From Start");
jButtonProgramRun.addActionListener(formListener);
jButtonResume.setText("Resume");
jButtonResume.setEnabled(false);
jButtonResume.addActionListener(formListener);
jButtonPlotProgramItem.setText("Plot");
jButtonPlotProgramItem.addActionListener(formListener);
jButtonRunProgFromCurrentLine.setText("Run from Current Line");
jButtonRunProgFromCurrentLine.addActionListener(formListener);
jButtonStepBack.setText("Step Back");
jButtonStepBack.addActionListener(formListener);
jButtonStepFwd.setText("Step Fwd");
jButtonStepFwd.addActionListener(formListener);
jLabel12.setText("Run Time:");
jTextFieldRunTime.setEditable(false);
jTextFieldRunTime.setText("-1.0");
jLabel13.setText("Selected Command:");
jTextAreaSelectedProgramCommand.setEditable(false);
jTextAreaSelectedProgramCommand.setColumns(20);
jTextAreaSelectedProgramCommand.setRows(5);
jScrollPane5.setViewportView(jTextAreaSelectedProgramCommand);
jLabelHoldingObject2.setText("HoldingObject: UNKNOWN");
jLabelHoldingObject2.setOpaque(true);
jCheckBoxMonitorHoldingOutput.setText("Monitor Holding Object");
jLabelExpectHoldingObject.setText("Expect Holding Object: FALSE");
jLabelExpectHoldingObject.setOpaque(true);
javax.swing.GroupLayout jPanelProgramLayout = new javax.swing.GroupLayout(jPanelProgram);
jPanelProgram.setLayout(jPanelProgramLayout);
jPanelProgramLayout.setHorizontalGroup(
jPanelProgramLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelProgramLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelProgramLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelProgramLayout.createSequentialGroup()
.addComponent(jLabel12)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTextFieldRunTime))
.addComponent(jScrollPane5)
.addComponent(jScrollPaneProgram)
.addGroup(jPanelProgramLayout.createSequentialGroup()
.addGroup(jPanelProgramLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelProgramLayout.createSequentialGroup()
.addComponent(jButtonEditProgramItem)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonDeletProgramItem)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonAddProgramItem)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonPlotProgramItem)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(jButtonStepBack)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonStepFwd)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabelExpectHoldingObject))
.addComponent(jLabel13)
.addGroup(jPanelProgramLayout.createSequentialGroup()
.addComponent(jButtonProgramPause)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonResume)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonProgramAbort)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonProgramRun)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonRunProgFromCurrentLine)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabelHoldingObject2)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jCheckBoxMonitorHoldingOutput)))
.addGap(0, 0, Short.MAX_VALUE)))
.addContainerGap())
);
jPanelProgramLayout.setVerticalGroup(
jPanelProgramLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelProgramLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPaneProgram, javax.swing.GroupLayout.DEFAULT_SIZE, 258, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel13)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jScrollPane5, javax.swing.GroupLayout.DEFAULT_SIZE, 178, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelProgramLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel12)
.addComponent(jTextFieldRunTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelProgramLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonProgramPause)
.addComponent(jButtonProgramAbort)
.addComponent(jButtonProgramRun)
.addComponent(jButtonResume)
.addComponent(jButtonRunProgFromCurrentLine)
.addComponent(jLabelHoldingObject2)
.addComponent(jCheckBoxMonitorHoldingOutput))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelProgramLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonEditProgramItem)
.addComponent(jButtonDeletProgramItem)
.addComponent(jButtonAddProgramItem)
.addComponent(jButtonPlotProgramItem)
.addComponent(jButtonStepBack)
.addComponent(jButtonStepFwd)
.addComponent(jLabelExpectHoldingObject))
.addContainerGap())
);
jTabbedPaneLeftUpper.addTab("Program", jPanelProgram);
jPanelJogging.setBorder(javax.swing.BorderFactory.createEmptyBorder(1, 1, 1, 1));
jPanelJogging.setName("Jogging"); // NOI18N
jComboBox1.setModel(new javax.swing.DefaultComboBoxModel(new String[] { "Joint 1", "Joint 2", "Joint 3", "Joint 4", "Joint 5", "Joint 6" }));
jPanelJogMinus.setBackground(new java.awt.Color(255, 255, 255));
jPanelJogMinus.setBorder(new javax.swing.border.MatteBorder(null));
jPanelJogMinus.addMouseListener(formListener);
jLabelJogMinus.setBackground(new java.awt.Color(255, 255, 255));
jLabelJogMinus.setFont(new java.awt.Font("Cantarell", 0, 18)); // NOI18N
jLabelJogMinus.setText("Jog -");
jLabelJogMinus.addMouseListener(formListener);
javax.swing.GroupLayout jPanelJogMinusLayout = new javax.swing.GroupLayout(jPanelJogMinus);
jPanelJogMinus.setLayout(jPanelJogMinusLayout);
jPanelJogMinusLayout.setHorizontalGroup(
jPanelJogMinusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJogMinusLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabelJogMinus)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelJogMinusLayout.setVerticalGroup(
jPanelJogMinusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJogMinusLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabelJogMinus, javax.swing.GroupLayout.PREFERRED_SIZE, 18, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelJogPlus.setBackground(new java.awt.Color(255, 255, 255));
jPanelJogPlus.setBorder(new javax.swing.border.MatteBorder(null));
jLabelJogPlus.setBackground(new java.awt.Color(255, 255, 255));
jLabelJogPlus.setFont(new java.awt.Font("Cantarell", 0, 18)); // NOI18N
jLabelJogPlus.setText("Jog +");
jLabelJogPlus.addMouseListener(formListener);
javax.swing.GroupLayout jPanelJogPlusLayout = new javax.swing.GroupLayout(jPanelJogPlus);
jPanelJogPlus.setLayout(jPanelJogPlusLayout);
jPanelJogPlusLayout.setHorizontalGroup(
jPanelJogPlusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJogPlusLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabelJogPlus)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelJogPlusLayout.setVerticalGroup(
jPanelJogPlusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJogPlusLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabelJogPlus, javax.swing.GroupLayout.PREFERRED_SIZE, 18, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jComboBoxXYZRPY.setModel(new javax.swing.DefaultComboBoxModel(new String[] { "X", "Y", "Z", "Roll", "Pitch", "Yaw", " " }));
jPanelJogPlus1.setBackground(new java.awt.Color(255, 255, 255));
jPanelJogPlus1.setBorder(new javax.swing.border.MatteBorder(null));
jLabelJogPlus1.setBackground(new java.awt.Color(255, 255, 255));
jLabelJogPlus1.setFont(new java.awt.Font("Cantarell", 0, 18)); // NOI18N
jLabelJogPlus1.setText("Jog +");
jLabelJogPlus1.addMouseListener(formListener);
javax.swing.GroupLayout jPanelJogPlus1Layout = new javax.swing.GroupLayout(jPanelJogPlus1);
jPanelJogPlus1.setLayout(jPanelJogPlus1Layout);
jPanelJogPlus1Layout.setHorizontalGroup(
jPanelJogPlus1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJogPlus1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabelJogPlus1)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelJogPlus1Layout.setVerticalGroup(
jPanelJogPlus1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJogPlus1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabelJogPlus1, javax.swing.GroupLayout.PREFERRED_SIZE, 18, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelJogMinus1.setBackground(new java.awt.Color(255, 255, 255));
jPanelJogMinus1.setBorder(new javax.swing.border.MatteBorder(null));
jPanelJogMinus1.addMouseListener(formListener);
jLabelJogMinus1.setBackground(new java.awt.Color(255, 255, 255));
jLabelJogMinus1.setFont(new java.awt.Font("Cantarell", 0, 18)); // NOI18N
jLabelJogMinus1.setText("Jog -");
jLabelJogMinus1.addMouseListener(formListener);
javax.swing.GroupLayout jPanelJogMinus1Layout = new javax.swing.GroupLayout(jPanelJogMinus1);
jPanelJogMinus1.setLayout(jPanelJogMinus1Layout);
jPanelJogMinus1Layout.setHorizontalGroup(
jPanelJogMinus1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJogMinus1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabelJogMinus1)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelJogMinus1Layout.setVerticalGroup(
jPanelJogMinus1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJogMinus1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabelJogMinus1, javax.swing.GroupLayout.PREFERRED_SIZE, 18, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jLabel5.setText("Joint Jog Increment: ");
jLabel7.setText("XYZ Jog Increment:");
jLabel8.setText("RPY Jog Increment:");
jTextFieldJointJogIncrement.setText("3.0");
jTextFieldJointJogIncrement.addActionListener(formListener);
jTextFieldXYZJogIncrement.setText("3.0");
jTextFieldXYZJogIncrement.addActionListener(formListener);
jTextFieldRPYJogIncrement.setText("3.0");
jTextFieldRPYJogIncrement.addActionListener(formListener);
jLabel9.setText("Jog Time Period (ms) :");
jTextFieldJogInterval.setText("100");
jTextFieldJogInterval.addActionListener(formListener);
lengthUnitComboBoxLengthUnit.addActionListener(formListener);
jLabel11.setText("Joint Jog Speed:");
jTextFieldJointJogSpeed.setText("100");
jTextFieldJointJogSpeed.addActionListener(formListener);
jTextFieldTransSpeed.setText("3.0");
jTextFieldTransSpeed.addActionListener(formListener);
jLabel14.setText("Trans Speed:");
jLabel15.setText("Rotation Speed:");
jTextFieldRotationSpeed.setText("90.0");
jTextFieldRotationSpeed.addActionListener(formListener);
jLabel16.setText("degrees");
jLabel17.setText("degrees/second");
jButtonRecordPoint.setText("Record Point");
jButtonRecordPoint.addActionListener(formListener);
jButtonOpenGripper.setText("Open Gripper");
jButtonOpenGripper.setEnabled(false);
jButtonOpenGripper.addActionListener(formListener);
jButtonCloseGripper.setText("Close Gripper");
jButtonCloseGripper.setEnabled(false);
jButtonCloseGripper.addActionListener(formListener);
jLabelHoldingObject.setText("HoldingObject: Unknown");
javax.swing.GroupLayout jPanelJoggingLayout = new javax.swing.GroupLayout(jPanelJogging);
jPanelJogging.setLayout(jPanelJoggingLayout);
jPanelJoggingLayout.setHorizontalGroup(
jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJoggingLayout.createSequentialGroup()
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJoggingLayout.createSequentialGroup()
.addGap(12, 12, 12)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJoggingLayout.createSequentialGroup()
.addComponent(jComboBoxXYZRPY, javax.swing.GroupLayout.PREFERRED_SIZE, 108, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanelJogMinus1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanelJogPlus1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGroup(jPanelJoggingLayout.createSequentialGroup()
.addComponent(jComboBox1, javax.swing.GroupLayout.PREFERRED_SIZE, 108, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanelJogMinus, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanelJogPlus, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonRecordPoint)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonOpenGripper)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonCloseGripper)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabelHoldingObject))))
.addGroup(jPanelJoggingLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel5)
.addComponent(jLabel7)
.addComponent(jLabel9)
.addComponent(jLabel8)
.addComponent(jLabel14)
.addComponent(jLabel11)
.addComponent(jLabel15))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTextFieldJogInterval, javax.swing.GroupLayout.PREFERRED_SIZE, 131, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldJointJogSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, 131, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldJointJogIncrement, javax.swing.GroupLayout.PREFERRED_SIZE, 131, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldRPYJogIncrement, javax.swing.GroupLayout.PREFERRED_SIZE, 131, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldTransSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, 131, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldXYZJogIncrement, javax.swing.GroupLayout.PREFERRED_SIZE, 105, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldRotationSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, 131, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(lengthUnitComboBoxLengthUnit, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel16)
.addComponent(jLabel17))))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelJoggingLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jTextFieldJogInterval, jTextFieldJointJogIncrement, jTextFieldJointJogSpeed, jTextFieldRPYJogIncrement, jTextFieldTransSpeed, jTextFieldXYZJogIncrement});
jPanelJoggingLayout.setVerticalGroup(
jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelJoggingLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(jPanelJogMinus, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jComboBox1)
.addComponent(jPanelJogPlus, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonRecordPoint)
.addComponent(jButtonOpenGripper)
.addComponent(jButtonCloseGripper)
.addComponent(jLabelHoldingObject)))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(jPanelJogMinus1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jComboBoxXYZRPY)
.addComponent(jPanelJogPlus1, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel7)
.addComponent(jTextFieldXYZJogIncrement, javax.swing.GroupLayout.PREFERRED_SIZE, 30, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(lengthUnitComboBoxLengthUnit, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jTextFieldTransSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, 30, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel14))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel8, javax.swing.GroupLayout.PREFERRED_SIZE, 18, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldRPYJogIncrement, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel16))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jTextFieldRotationSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel15, javax.swing.GroupLayout.PREFERRED_SIZE, 18, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel17))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel5)
.addComponent(jTextFieldJointJogIncrement, javax.swing.GroupLayout.PREFERRED_SIZE, 30, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel11)
.addComponent(jTextFieldJointJogSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelJoggingLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTextFieldJogInterval, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel9))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelJoggingLayout.linkSize(javax.swing.SwingConstants.VERTICAL, new java.awt.Component[] {jTextFieldJogInterval, jTextFieldJointJogIncrement, jTextFieldJointJogSpeed, jTextFieldRPYJogIncrement, jTextFieldTransSpeed, jTextFieldXYZJogIncrement});
jTabbedPaneLeftUpper.addTab("Jog", jPanelJogging);
jPanelMoveTo.setBorder(javax.swing.BorderFactory.createEmptyBorder(1, 1, 1, 1));
jPanelMoveTo.setName("MoveTo"); // NOI18N
jButtonMoveTo.setText("MoveTo");
jButtonMoveTo.setEnabled(false);
jButtonMoveTo.addActionListener(formListener);
jTableMoveToPose.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{"X", new Double(0.0)},
{"Y", new Double(0.0)},
{"Z", new Double(0.0)},
{"XI", new Double(1.0)},
{"XJ", new Double(0.0)},
{"XK", new Double(0.0)},
{"ZI", new Double(0.0)},
{"ZJ", new Double(0.0)},
{"ZK", new Double(1.0)}
},
new String [] {
"Pose Axis", "Position"
}
) {
Class[] types = new Class [] {
java.lang.String.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, true
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jScrollPane4.setViewportView(jTableMoveToPose);
jCheckBoxStraight.setSelected(true);
jCheckBoxStraight.setText("Straight");
jButtonMoveToCurrent.setText("Current");
jButtonMoveToCurrent.addActionListener(formListener);
javax.swing.GroupLayout jPanelMoveToLayout = new javax.swing.GroupLayout(jPanelMoveTo);
jPanelMoveTo.setLayout(jPanelMoveToLayout);
jPanelMoveToLayout.setHorizontalGroup(
jPanelMoveToLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelMoveToLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelMoveToLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelMoveToLayout.createSequentialGroup()
.addComponent(jButtonMoveTo)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jCheckBoxStraight)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonMoveToCurrent))
.addComponent(jScrollPane4, javax.swing.GroupLayout.PREFERRED_SIZE, 286, javax.swing.GroupLayout.PREFERRED_SIZE))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelMoveToLayout.setVerticalGroup(
jPanelMoveToLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelMoveToLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelMoveToLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonMoveTo)
.addComponent(jCheckBoxStraight)
.addComponent(jButtonMoveToCurrent))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jScrollPane4, javax.swing.GroupLayout.PREFERRED_SIZE, 191, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jTabbedPaneLeftUpper.addTab("MoveTo", jPanelMoveTo);
jTabbedPaneLeftUpper.addTab("Transform Setup", transformJPanel1);
jPanelConnectionTab.setBorder(javax.swing.BorderFactory.createEmptyBorder(1, 1, 1, 1));
jTextFieldPort.setText("64444");
jButtonConnect.setText("Connect");
jButtonConnect.addActionListener(formListener);
jButtonDisconnect.setText("Disconnect ");
jButtonDisconnect.setEnabled(false);
jButtonDisconnect.addActionListener(formListener);
jButtonEnd.setText("End");
jButtonEnd.setEnabled(false);
jButtonEnd.addActionListener(formListener);
jButtonInit.setText("Init");
jButtonInit.setEnabled(false);
jButtonInit.addActionListener(formListener);
jLabel1.setText("Host: ");
jTextFieldHost.setText("localhost");
jLabel2.setText("Port:");
jCheckBoxPoll.setSelected(true);
jCheckBoxPoll.setText("Poll");
jCheckBoxPoll.addActionListener(formListener);
jTextFieldPollTime.setText("50");
jTextFieldPollTime.addActionListener(formListener);
jLabel4.setText("Poll interval(ms):");
javax.swing.GroupLayout jPanelConnectionTabLayout = new javax.swing.GroupLayout(jPanelConnectionTab);
jPanelConnectionTab.setLayout(jPanelConnectionTabLayout);
jPanelConnectionTabLayout.setHorizontalGroup(
jPanelConnectionTabLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelConnectionTabLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelConnectionTabLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelConnectionTabLayout.createSequentialGroup()
.addComponent(jLabel1)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTextFieldHost, javax.swing.GroupLayout.PREFERRED_SIZE, 142, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel2)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTextFieldPort, javax.swing.GroupLayout.PREFERRED_SIZE, 72, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGroup(jPanelConnectionTabLayout.createSequentialGroup()
.addComponent(jButtonConnect, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonDisconnect, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonInit)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonEnd))
.addGroup(jPanelConnectionTabLayout.createSequentialGroup()
.addComponent(jCheckBoxPoll)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel4)
.addGap(1, 1, 1)
.addComponent(jTextFieldPollTime, javax.swing.GroupLayout.PREFERRED_SIZE, 121, javax.swing.GroupLayout.PREFERRED_SIZE)))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanelConnectionTabLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jButtonConnect, jButtonDisconnect});
jPanelConnectionTabLayout.setVerticalGroup(
jPanelConnectionTabLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelConnectionTabLayout.createSequentialGroup()
.addGroup(jPanelConnectionTabLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel1)
.addComponent(jTextFieldHost, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel2)
.addComponent(jTextFieldPort, javax.swing.GroupLayout.PREFERRED_SIZE, 30, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelConnectionTabLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonConnect)
.addComponent(jButtonDisconnect)
.addComponent(jButtonInit)
.addComponent(jButtonEnd))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelConnectionTabLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jCheckBoxPoll)
.addComponent(jLabel4)
.addComponent(jTextFieldPollTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jTabbedPaneLeftUpper.addTab("Connection", jPanelConnectionTab);
jPanelStatus.setBorder(javax.swing.BorderFactory.createEmptyBorder(1, 1, 1, 1));
jPanelStatus.setName("Status"); // NOI18N
jLabel3.setText("Command ID:");
jTextFieldStatCmdID.setEditable(false);
jTextFieldStatCmdID.setText("0");
jTableJoints.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{ new Integer(1), null, null, null},
{ new Integer(2), null, null, null},
{ new Integer(3), null, null, null},
{ new Integer(4), null, null, null},
{ new Integer(5), null, null, null},
{ new Integer(6), null, null, null}
},
new String [] {
"Joint", "Position", "Velocity", "TorqueOrForce"
}
) {
Class[] types = new Class [] {
java.lang.Integer.class, java.lang.Double.class, java.lang.Double.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, false, false, false
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jScrollPane2.setViewportView(jTableJoints);
jLabel6.setText("Status : ");
jTablePose.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{"X", null},
{"Y", null},
{"Z", null},
{"XI", null},
{"XJ", null},
{"XK", null},
{"ZI", null},
{"ZJ", null},
{"Zk", null},
{"Roll", null},
{"Pitch", null},
{"Yaw", null}
},
new String [] {
"Pose Axis", "Position"
}
) {
Class[] types = new Class [] {
java.lang.String.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, false
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jScrollPane3.setViewportView(jTablePose);
jTextFieldStatusID.setText("0");
jLabel10.setText("Status ID:");
jLabel18.setText("State Description:");
jTextAreaStateDescription.setColumns(20);
jTextAreaStateDescription.setRows(2);
jScrollPane6.setViewportView(jTextAreaStateDescription);
javax.swing.GroupLayout jPanelStatusLayout = new javax.swing.GroupLayout(jPanelStatus);
jPanelStatus.setLayout(jPanelStatusLayout);
jPanelStatusLayout.setHorizontalGroup(
jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelStatusLayout.createSequentialGroup()
.addGroup(jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelStatusLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jScrollPane6)
.addComponent(jScrollPane2, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
.addComponent(jScrollPane3, javax.swing.GroupLayout.DEFAULT_SIZE, 279, Short.MAX_VALUE)))
.addGroup(jPanelStatusLayout.createSequentialGroup()
.addGap(12, 12, 12)
.addGroup(jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel3)
.addComponent(jLabel6)
.addComponent(jLabel10)
.addComponent(jLabel18))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTextFieldStatCmdID, javax.swing.GroupLayout.DEFAULT_SIZE, 177, Short.MAX_VALUE)
.addComponent(jTextFieldStatus)
.addComponent(jTextFieldStatusID))
.addGap(10, 10, 10)))
.addContainerGap())
);
jPanelStatusLayout.setVerticalGroup(
jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelStatusLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel3)
.addComponent(jTextFieldStatCmdID, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel6)
.addComponent(jTextFieldStatus, javax.swing.GroupLayout.PREFERRED_SIZE, 27, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanelStatusLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jTextFieldStatusID, javax.swing.GroupLayout.PREFERRED_SIZE, 27, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel10))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel18)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jScrollPane6, javax.swing.GroupLayout.DEFAULT_SIZE, 48, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jScrollPane2, javax.swing.GroupLayout.DEFAULT_SIZE, 134, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jScrollPane3, javax.swing.GroupLayout.DEFAULT_SIZE, 248, Short.MAX_VALUE)
.addGap(18, 18, 18))
);
jTabbedPaneRightUpper.addTab("Status", jPanelStatus);
jPanelProgramPlot.setName("ProgramPlot"); // NOI18N
jPanelOverheadProgramPlot.setBorder(javax.swing.BorderFactory.createTitledBorder("Overhead"));
javax.swing.GroupLayout programPlotterJPanelOverheadLayout = new javax.swing.GroupLayout(programPlotterJPanelOverhead);
programPlotterJPanelOverhead.setLayout(programPlotterJPanelOverheadLayout);
programPlotterJPanelOverheadLayout.setHorizontalGroup(
programPlotterJPanelOverheadLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 249, Short.MAX_VALUE)
);
programPlotterJPanelOverheadLayout.setVerticalGroup(
programPlotterJPanelOverheadLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 239, Short.MAX_VALUE)
);
javax.swing.GroupLayout jPanelOverheadProgramPlotLayout = new javax.swing.GroupLayout(jPanelOverheadProgramPlot);
jPanelOverheadProgramPlot.setLayout(jPanelOverheadProgramPlotLayout);
jPanelOverheadProgramPlotLayout.setHorizontalGroup(
jPanelOverheadProgramPlotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelOverheadProgramPlotLayout.createSequentialGroup()
.addContainerGap()
.addComponent(programPlotterJPanelOverhead, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addContainerGap())
);
jPanelOverheadProgramPlotLayout.setVerticalGroup(
jPanelOverheadProgramPlotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelOverheadProgramPlotLayout.createSequentialGroup()
.addContainerGap()
.addComponent(programPlotterJPanelOverhead, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addContainerGap())
);
jPanelOverheadProgramPlot1.setBorder(javax.swing.BorderFactory.createTitledBorder("Side"));
javax.swing.GroupLayout programPlotterJPanelSideLayout = new javax.swing.GroupLayout(programPlotterJPanelSide);
programPlotterJPanelSide.setLayout(programPlotterJPanelSideLayout);
programPlotterJPanelSideLayout.setHorizontalGroup(
programPlotterJPanelSideLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 0, Short.MAX_VALUE)
);
programPlotterJPanelSideLayout.setVerticalGroup(
programPlotterJPanelSideLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 239, Short.MAX_VALUE)
);
javax.swing.GroupLayout jPanelOverheadProgramPlot1Layout = new javax.swing.GroupLayout(jPanelOverheadProgramPlot1);
jPanelOverheadProgramPlot1.setLayout(jPanelOverheadProgramPlot1Layout);
jPanelOverheadProgramPlot1Layout.setHorizontalGroup(
jPanelOverheadProgramPlot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelOverheadProgramPlot1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(programPlotterJPanelSide, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addContainerGap())
);
jPanelOverheadProgramPlot1Layout.setVerticalGroup(
jPanelOverheadProgramPlot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelOverheadProgramPlot1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(programPlotterJPanelSide, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addContainerGap())
);
javax.swing.GroupLayout jPanelProgramPlotLayout = new javax.swing.GroupLayout(jPanelProgramPlot);
jPanelProgramPlot.setLayout(jPanelProgramPlotLayout);
jPanelProgramPlotLayout.setHorizontalGroup(
jPanelProgramPlotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelProgramPlotLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanelProgramPlotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jPanelOverheadProgramPlot, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jPanelOverheadProgramPlot1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addContainerGap())
);
jPanelProgramPlotLayout.setVerticalGroup(
jPanelProgramPlotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanelProgramPlotLayout.createSequentialGroup()
.addContainerGap()
.addComponent(jPanelOverheadProgramPlot, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanelOverheadProgramPlot1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addContainerGap())
);
jTabbedPaneRightUpper.addTab("Program Plot", jPanelProgramPlot);
jTextAreaErrors.setColumns(20);
jTextAreaErrors.setLineWrap(true);
jTextAreaErrors.setRows(3);
jTextAreaErrors.addMouseListener(formListener);
jScrollPane1.setViewportView(jTextAreaErrors);
jMenu1.setText("File");
jMenu1.addActionListener(formListener);
jMenuItemOpenXmlCommandInstance.setText("Open CRCL XML Command Instance File ... ");
jMenuItemOpenXmlCommandInstance.addActionListener(formListener);
jMenu1.add(jMenuItemOpenXmlCommandInstance);
jMenuCommandRecent.setText("Recent CRCL XML Command Instance Files");
jMenu1.add(jMenuCommandRecent);
jMenuItemOpenXmlProgram.setText("Open CRCL XML Program File ...");
jMenuItemOpenXmlProgram.addActionListener(formListener);
jMenu1.add(jMenuItemOpenXmlProgram);
jMenuRecentProgram.setText("Recent CRCL XML Program File ...");
jMenu1.add(jMenuRecentProgram);
jMenuItemSaveProgramAs.setText("Save Recorded Points Program As ...");
jMenuItemSaveProgramAs.addActionListener(formListener);
jMenu1.add(jMenuItemSaveProgramAs);
jMenuItemClearRecordedPoints.setText("Clear Recorded Points");
jMenuItemClearRecordedPoints.addActionListener(formListener);
jMenu1.add(jMenuItemClearRecordedPoints);
jMenuItemSavePoseList.setText("Save Pose List ...");
jMenuItemSavePoseList.addActionListener(formListener);
jMenu1.add(jMenuItemSavePoseList);
jMenuItemLoadPrefs.setText("Load Preferences File ...");
jMenuItemLoadPrefs.addActionListener(formListener);
jMenu1.add(jMenuItemLoadPrefs);
jMenuItemSavePrefs.setText("Save Preferences File ...");
jMenuItemSavePrefs.addActionListener(formListener);
jMenu1.add(jMenuItemSavePrefs);
jMenuItemViewLogFile.setText("View Log File ");
jMenuItemViewLogFile.addActionListener(formListener);
jMenu1.add(jMenuItemViewLogFile);
jMenuItemExit.setText("Exit");
jMenuItemExit.addActionListener(formListener);
jMenu1.add(jMenuItemExit);
jMenuBarReplaceCommandState.add(jMenu1);
jMenu2.setText("Edit");
jMenuBarReplaceCommandState.add(jMenu2);
jMenuTools.setText(" Tools ");
jMenuItemXPathQuery.setText("XPath Status Query ... ");
jMenuItemXPathQuery.addActionListener(formListener);
jMenuTools.add(jMenuItemXPathQuery);
jCheckBoxMenuItemPlotXYZ.setText("2D Plot XYZ vs Time ...");
jCheckBoxMenuItemPlotXYZ.addActionListener(formListener);
jMenuTools.add(jCheckBoxMenuItemPlotXYZ);
jCheckBoxMenuItemJoints.setText("Plot Joints");
jCheckBoxMenuItemJoints.addActionListener(formListener);
jMenuTools.add(jCheckBoxMenuItemJoints);
jMenuItemRunTest.setText("Run Test");
jMenuItemRunTest.addActionListener(formListener);
jMenuTools.add(jMenuItemRunTest);
jCheckBoxMenuItemRecordPoseList.setSelected(true);
jCheckBoxMenuItemRecordPoseList.setText("Record Pose List");
jMenuTools.add(jCheckBoxMenuItemRecordPoseList);
jMenuItemPoseList3DPlot.setText("3D Pose List Plot ...");
jMenuItemPoseList3DPlot.addActionListener(formListener);
jMenuTools.add(jMenuItemPoseList3DPlot);
jMenuItemOpenStatusLog.setText("Open Status Log ...");
jMenuItemOpenStatusLog.addActionListener(formListener);
jMenuTools.add(jMenuItemOpenStatusLog);
jMenuItemShowCommandLog.setText("Show Command Log ...");
jMenuItemShowCommandLog.addActionListener(formListener);
jMenuTools.add(jMenuItemShowCommandLog);
jMenuItemTransformProgram.setText("Transform Program");
jMenuItemTransformProgram.addActionListener(formListener);
jMenuTools.add(jMenuItemTransformProgram);
jMenuBarReplaceCommandState.add(jMenuTools);
jMenuCmds.setText("Commands");
jMenuBarReplaceCommandState.add(jMenuCmds);
jMenuXmlSchemas.setText("XML Schemas");
jMenuItemSetSchemaFiles.setText("Set XML Schema Files ... ");
jMenuItemSetSchemaFiles.addActionListener(formListener);
jMenuXmlSchemas.add(jMenuItemSetSchemaFiles);
jCheckBoxMenuItemValidateXml.setSelected(true);
jCheckBoxMenuItemValidateXml.setText("Validate using Schemas");
jMenuXmlSchemas.add(jCheckBoxMenuItemValidateXml);
jMenuBarReplaceCommandState.add(jMenuXmlSchemas);
jMenuOptions.setText("Options");
jCheckBoxMenuItemReplaceState.setText("Replace Ready,Done,.. with CRCL_Ready,CRCL_DONE ...");
jMenuOptions.add(jCheckBoxMenuItemReplaceState);
jCheckBoxMenuItemDebugWaitForDone.setText("Debug waitForDone()");
jMenuOptions.add(jCheckBoxMenuItemDebugWaitForDone);
jCheckBoxMenuItemDebugSendCommand.setText("Debug sendCommand()");
jMenuOptions.add(jCheckBoxMenuItemDebugSendCommand);
jCheckBoxMenuItemDebugReadStatus.setText("Debug readStatus() ");
jMenuOptions.add(jCheckBoxMenuItemDebugReadStatus);
jCheckBoxMenuItemUseEXI.setText("USE EXI (Efficient XML Interchange)");
jCheckBoxMenuItemUseEXI.addActionListener(formListener);
jMenuOptions.add(jCheckBoxMenuItemUseEXI);
jCheckBoxMenuItemUseReadStatusThread.setText("Use seperate read status thread.");
jCheckBoxMenuItemUseReadStatusThread.addActionListener(formListener);
jMenuOptions.add(jCheckBoxMenuItemUseReadStatusThread);
jCheckBoxMenuItemRecordCommands.setSelected(true);
jCheckBoxMenuItemRecordCommands.setText("Record Commands");
jCheckBoxMenuItemRecordCommands.addActionListener(formListener);
jMenuOptions.add(jCheckBoxMenuItemRecordCommands);
jCheckBoxMenuItemQuitProgramOnTestCommandFail.setSelected(true);
jCheckBoxMenuItemQuitProgramOnTestCommandFail.setText("Quit Program on Test Command Fail");
jCheckBoxMenuItemQuitProgramOnTestCommandFail.addActionListener(formListener);
jMenuOptions.add(jCheckBoxMenuItemQuitProgramOnTestCommandFail);
jMenuItemAbout.setText("About");
jMenuItemAbout.addActionListener(formListener);
jMenuOptions.add(jMenuItemAbout);
jMenuBarReplaceCommandState.add(jMenuOptions);
setJMenuBar(jMenuBarReplaceCommandState);
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(getContentPane());
getContentPane().setLayout(layout);
layout.setHorizontalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addComponent(jScrollPane1)
.addContainerGap())
.addGroup(layout.createSequentialGroup()
.addComponent(jTabbedPaneLeftUpper)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(jTabbedPaneRightUpper)
.addGap(11, 11, 11))))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTabbedPaneLeftUpper)
.addComponent(jTabbedPaneRightUpper))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 96, Short.MAX_VALUE)
.addContainerGap())
);
pack();
}
// Code for dispatching events from components to event handlers.
private class FormListener implements java.awt.event.ActionListener, java.awt.event.MouseListener, javax.swing.event.ChangeListener {
FormListener() {}
public void actionPerformed(java.awt.event.ActionEvent evt) {
if (evt.getSource() == jButtonProgramPause) {
PendantClient.this.jButtonProgramPauseActionPerformed(evt);
}
else if (evt.getSource() == jButtonProgramAbort) {
PendantClient.this.jButtonProgramAbortActionPerformed(evt);
}
else if (evt.getSource() == jButtonEditProgramItem) {
PendantClient.this.jButtonEditProgramItemActionPerformed(evt);
}
else if (evt.getSource() == jButtonDeletProgramItem) {
PendantClient.this.jButtonDeletProgramItemActionPerformed(evt);
}
else if (evt.getSource() == jButtonAddProgramItem) {
PendantClient.this.jButtonAddProgramItemActionPerformed(evt);
}
else if (evt.getSource() == jButtonProgramRun) {
PendantClient.this.jButtonProgramRunActionPerformed(evt);
}
else if (evt.getSource() == jButtonResume) {
PendantClient.this.jButtonResumeActionPerformed(evt);
}
else if (evt.getSource() == jButtonPlotProgramItem) {
PendantClient.this.jButtonPlotProgramItemActionPerformed(evt);
}
else if (evt.getSource() == jButtonRunProgFromCurrentLine) {
PendantClient.this.jButtonRunProgFromCurrentLineActionPerformed(evt);
}
else if (evt.getSource() == jButtonStepBack) {
PendantClient.this.jButtonStepBackActionPerformed(evt);
}
else if (evt.getSource() == jButtonStepFwd) {
PendantClient.this.jButtonStepFwdActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldJointJogIncrement) {
PendantClient.this.jTextFieldJointJogIncrementActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldXYZJogIncrement) {
PendantClient.this.jTextFieldXYZJogIncrementActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldRPYJogIncrement) {
PendantClient.this.jTextFieldRPYJogIncrementActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldJogInterval) {
PendantClient.this.jTextFieldJogIntervalActionPerformed(evt);
}
else if (evt.getSource() == lengthUnitComboBoxLengthUnit) {
PendantClient.this.lengthUnitComboBoxLengthUnitActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldJointJogSpeed) {
PendantClient.this.jTextFieldJointJogSpeedActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldTransSpeed) {
PendantClient.this.jTextFieldTransSpeedActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldRotationSpeed) {
PendantClient.this.jTextFieldRotationSpeedActionPerformed(evt);
}
else if (evt.getSource() == jButtonRecordPoint) {
PendantClient.this.jButtonRecordPointActionPerformed(evt);
}
else if (evt.getSource() == jButtonOpenGripper) {
PendantClient.this.jButtonOpenGripperActionPerformed(evt);
}
else if (evt.getSource() == jButtonCloseGripper) {
PendantClient.this.jButtonCloseGripperActionPerformed(evt);
}
else if (evt.getSource() == jButtonMoveTo) {
PendantClient.this.jButtonMoveToActionPerformed(evt);
}
else if (evt.getSource() == jButtonMoveToCurrent) {
PendantClient.this.jButtonMoveToCurrentActionPerformed(evt);
}
else if (evt.getSource() == jButtonConnect) {
PendantClient.this.jButtonConnectActionPerformed(evt);
}
else if (evt.getSource() == jButtonDisconnect) {
PendantClient.this.jButtonDisconnectActionPerformed(evt);
}
else if (evt.getSource() == jButtonEnd) {
PendantClient.this.jButtonEndActionPerformed(evt);
}
else if (evt.getSource() == jButtonInit) {
PendantClient.this.jButtonInitActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxPoll) {
PendantClient.this.jCheckBoxPollActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldPollTime) {
PendantClient.this.jTextFieldPollTimeActionPerformed(evt);
}
else if (evt.getSource() == jMenu1) {
PendantClient.this.jMenu1ActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemOpenXmlCommandInstance) {
PendantClient.this.jMenuItemOpenXmlCommandInstanceActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemOpenXmlProgram) {
PendantClient.this.jMenuItemOpenXmlProgramActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemSaveProgramAs) {
PendantClient.this.jMenuItemSaveProgramAsActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemClearRecordedPoints) {
PendantClient.this.jMenuItemClearRecordedPointsActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemSavePoseList) {
PendantClient.this.jMenuItemSavePoseListActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemLoadPrefs) {
PendantClient.this.jMenuItemLoadPrefsActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemSavePrefs) {
PendantClient.this.jMenuItemSavePrefsActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemViewLogFile) {
PendantClient.this.jMenuItemViewLogFileActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemExit) {
PendantClient.this.jMenuItemExitActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemXPathQuery) {
PendantClient.this.jMenuItemXPathQueryActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemPlotXYZ) {
PendantClient.this.jCheckBoxMenuItemPlotXYZActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemJoints) {
PendantClient.this.jCheckBoxMenuItemJointsActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemRunTest) {
PendantClient.this.jMenuItemRunTestActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemPoseList3DPlot) {
PendantClient.this.jMenuItemPoseList3DPlotActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemOpenStatusLog) {
PendantClient.this.jMenuItemOpenStatusLogActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemShowCommandLog) {
PendantClient.this.jMenuItemShowCommandLogActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemTransformProgram) {
PendantClient.this.jMenuItemTransformProgramActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemSetSchemaFiles) {
PendantClient.this.jMenuItemSetSchemaFilesActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemUseEXI) {
PendantClient.this.jCheckBoxMenuItemUseEXIActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemUseReadStatusThread) {
PendantClient.this.jCheckBoxMenuItemUseReadStatusThreadActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemRecordCommands) {
PendantClient.this.jCheckBoxMenuItemRecordCommandsActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemQuitProgramOnTestCommandFail) {
PendantClient.this.jCheckBoxMenuItemQuitProgramOnTestCommandFailActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemAbout) {
PendantClient.this.jMenuItemAboutActionPerformed(evt);
}
}
public void mouseClicked(java.awt.event.MouseEvent evt) {
if (evt.getSource() == jTextAreaErrors) {
PendantClient.this.jTextAreaErrorsMouseClicked(evt);
}
}
public void mouseEntered(java.awt.event.MouseEvent evt) {
}
public void mouseExited(java.awt.event.MouseEvent evt) {
if (evt.getSource() == jLabelJogMinus) {
PendantClient.this.jLabelJogMinusMouseExited(evt);
}
else if (evt.getSource() == jLabelJogPlus) {
PendantClient.this.jLabelJogPlusMouseExited(evt);
}
else if (evt.getSource() == jLabelJogPlus1) {
PendantClient.this.jLabelJogPlus1MouseExited(evt);
}
else if (evt.getSource() == jLabelJogMinus1) {
PendantClient.this.jLabelJogMinus1MouseExited(evt);
}
}
public void mousePressed(java.awt.event.MouseEvent evt) {
if (evt.getSource() == jPanelJogMinus) {
PendantClient.this.jPanelJogMinusMousePressed(evt);
}
else if (evt.getSource() == jLabelJogMinus) {
PendantClient.this.jLabelJogMinusMousePressed(evt);
}
else if (evt.getSource() == jLabelJogPlus) {
PendantClient.this.jLabelJogPlusMousePressed(evt);
}
else if (evt.getSource() == jLabelJogPlus1) {
PendantClient.this.jLabelJogPlus1MousePressed(evt);
}
else if (evt.getSource() == jPanelJogMinus1) {
PendantClient.this.jPanelJogMinus1MousePressed(evt);
}
else if (evt.getSource() == jLabelJogMinus1) {
PendantClient.this.jLabelJogMinus1MousePressed(evt);
}
else if (evt.getSource() == jTextAreaErrors) {
PendantClient.this.jTextAreaErrorsMousePressed(evt);
}
}
public void mouseReleased(java.awt.event.MouseEvent evt) {
if (evt.getSource() == jLabelJogMinus) {
PendantClient.this.jLabelJogMinusMouseReleased(evt);
}
else if (evt.getSource() == jLabelJogPlus) {
PendantClient.this.jLabelJogPlusMouseReleased(evt);
}
else if (evt.getSource() == jLabelJogPlus1) {
PendantClient.this.jLabelJogPlus1MouseReleased(evt);
}
else if (evt.getSource() == jLabelJogMinus1) {
PendantClient.this.jLabelJogMinus1MouseReleased(evt);
}
else if (evt.getSource() == jTextAreaErrors) {
PendantClient.this.jTextAreaErrorsMouseReleased(evt);
}
}
public void stateChanged(javax.swing.event.ChangeEvent evt) {
if (evt.getSource() == jTabbedPaneLeftUpper) {
PendantClient.this.jTabbedPaneLeftUpperStateChanged(evt);
}
}
}// //GEN-END:initComponents
private final static File statSchemasFile = new File(System.getProperty("user.home"),
".crcljava_pendantclient_stat_schemas.txt");
private final static File cmdSchemasFile = new File(System.getProperty("user.home"),
".crcljava_pendantclient_cmd_schemas.txt");
private final static File programSchemasFile = new File(System.getProperty("user.home"),
".crcljava_pendantclient_cmd_schemas.txt");
private boolean showing_message = false;
private volatile long last_message_show_time = 0;
@Override
public void showMessage(final String s) {
if (showDebugMessage(s)) {
return;
}
if (showing_message) {
return;
}
showing_message = true;
java.awt.EventQueue.invokeLater(new Runnable() {
@Override
public void run() {
long t = System.currentTimeMillis();
if (t - last_message_show_time > 5000) {
last_message_show_time = System.currentTimeMillis();
MultiLineStringJPanel.showText(s, PendantClient.this, "Message from Client", true);
}
last_message_show_time = System.currentTimeMillis();
showing_message = false;
}
});
}
@Override
public boolean showDebugMessage(final String s) {
final String sWithThread = "Thread:" + Thread.currentThread().getName() + " " + s;
LOGGER.log(Level.FINE, sWithThread);
if (!this.isVisible()) {
return true;
}
java.awt.EventQueue.invokeLater(new Runnable() {
@Override
public void run() {
jTextAreaErrors.append("\n" + sWithThread);
}
});
return false;
}
@Override
public void showMessage(Throwable t) {
this.showMessage(t.toString());
}
double last_t_pos_logged = 0;
final Map last_joints = new HashMap<>();
private boolean jointsChanged(List jsl) {
if (jsl.size() != last_joints.values().size()) {
return true;
}
for (JointStatusType jst : jsl) {
BigDecimal D = last_joints.get(jst.getJointNumber());
if (null == D) {
return true;
}
if (!D.equals(jst.getJointPosition())) {
return true;
}
}
return false;
}
private void copyJointPositions(List jsl) {
this.last_joints.clear();
for (JointStatusType jst : jsl) {
this.last_joints.put(jst.getJointNumber(), jst.getJointPosition());
}
}
public void setStatus(CRCLStatusType _status) {
internal.setStatus(_status);
}
@Override
public void checkXmlQuery(CRCLSocket crclSocket) {
if (null != this.xqJFrame && this.xqJFrame.isUpdateAutomaticallySelected()) {
String q = this.xqJFrame.getQuery();
if (q != null && q.length() > 0) {
xqJFrame.runQuery(q, crclSocket.getLastStatusString());
}
}
}
@Override
public void finishConnect() {
this.jButtonConnect.setEnabled(false);
this.jButtonDisconnect.setEnabled(true);
this.jButtonEnd.setEnabled(true);
this.jButtonInit.setEnabled(true);
this.jButtonMoveTo.setEnabled(true);
this.jButtonCloseGripper.setEnabled(true);
this.jButtonOpenGripper.setEnabled(true);
if (this.jCheckBoxPoll.isSelected()) {
this.startPollTimer();
}
}
@Override
public void finishSetStatus() {
java.awt.EventQueue.invokeLater(new Runnable() {
@Override
public void run() {
PendantClient.this.finishSetStatusPriv();
}
});
}
private String lastStateDescription = "";
private String lastProgramFile = null;
private File findProgram(String filename) {
File f0 = new File(filename);
if(f0.exists()) {
return f0;
}
for (String recent : getRecentPrograms()) {
File f = new File(recent);
if (f.exists() && f.getName().equals(filename)) {
return f;
}
}
for (String recent : getRecentPrograms()) {
File f = new File(recent).getParentFile();
if (f.exists() && f.getName().equals(filename)) {
return f;
}
}
f0 = new File(System.getProperty("user.dir"),filename);
if(f0.exists()) {
return f0;
}
return null;
}
private int lastProgramIndex = 0;
private void finishSetStatusPriv() {
if (null != internal.getStatus() && null != internal.getStatus().getCommandStatus()) {
CommandStatusType ccst = internal.getStatus().getCommandStatus();
if (null != ccst) {
if (null != ccst.getCommandID()) {
this.jTextFieldStatCmdID.setText(ccst.getCommandID().toString());
}
String stateDescription = ccst.getStateDescription();
if (null != ccst.getCommandState()) {
final CommandStateEnumType state = ccst.getCommandState();
final String stateString = state.toString();
this.jTextFieldStatus.setText(stateString);
switch (state) {
case CRCL_ERROR:
this.jTextFieldStatus.setBackground(Color.RED);
this.setIconImage(ERROR_IMAGE);
break;
case CRCL_WORKING:
this.jTextFieldStatus.setBackground(Color.GREEN);
this.setIconImage(WORKING_IMAGE);
break;
case CRCL_READY:
case CRCL_DONE:
default:
this.jTextFieldStatus.setBackground(Color.WHITE);
this.setIconImage(DONE_IMAGE);
// this.setIconImage(image);
break;
}
String program = (null != ccst.getProgramFile() && null != ccst.getProgramIndex())
? " " + ccst.getProgramFile() + ":" + ccst.getProgramIndex().toString() : "";
if (!program.isEmpty() && null != ccst.getProgramLength()) {
program += "/" + ccst.getProgramLength().toString();
}
this.setTitle("CRCL Client:" + stateString
+ ((stateDescription != null && stateDescription.length() > 1) ? " : " + stateDescription : "")
+ program);
if (!internal.isRunningProgram()) {
if (null != ccst.getProgramFile()
&& !ccst.getProgramFile().equals(internal.getOutgoingProgramFile())
&& !ccst.getProgramFile().equals(lastProgramFile)) {
File f = findProgram(ccst.getProgramFile());
if (null != f) {
openXmlProgramFile(f);
}
lastProgramFile = ccst.getProgramFile();
}
if(null != ccst.getProgramIndex()) {
int index = ccst.getProgramIndex().intValue();
if(index != lastProgramIndex) {
finishShowCurrentProgramLine(index);
lastProgramIndex = index;
}
}
}
}
this.jTextFieldStatusID.setText(ccst.getStatusID().toString());
if (null != stateDescription && !stateDescription.equals(lastStateDescription)) {
this.jTextAreaStateDescription.setText(stateDescription);
lastStateDescription = stateDescription;
}
GripperStatusType gripperStatus = internal.getStatus().getGripperStatus();
if (null == gripperStatus || null == gripperStatus.isHoldingObject()) {
jLabelHoldingObject.setText("HoldingObject: UNKNOWN");
jLabelHoldingObject.setOpaque(false);
jLabelHoldingObject.setForeground(Color.BLACK);
jLabelHoldingObject2.setText("HoldingObject: UNKNOWN");
jLabelHoldingObject2.setOpaque(false);
jLabelHoldingObject2.setForeground(Color.BLACK);
} else {
if (gripperStatus.isHoldingObject()) {
jLabelHoldingObject.setText("HoldingObject: TRUE");
jLabelHoldingObject.setForeground(Color.BLACK);
jLabelHoldingObject.setBackground(Color.WHITE);
jLabelHoldingObject2.setText("HoldingObject: TRUE");
jLabelHoldingObject2.setForeground(Color.BLACK);
jLabelHoldingObject2.setBackground(Color.WHITE);
} else {
jLabelHoldingObject.setText("HoldingObject: FALSE");
jLabelHoldingObject.setForeground(Color.WHITE);
jLabelHoldingObject.setBackground(Color.BLACK);
jLabelHoldingObject2.setText("HoldingObject: FALSE");
jLabelHoldingObject2.setForeground(Color.WHITE);
jLabelHoldingObject2.setBackground(Color.BLACK);
}
jLabelHoldingObject.setOpaque(true);
jLabelHoldingObject2.setOpaque(true);
}
}
JointStatusesType jsst = internal.getStatus().getJointStatuses();
if (jsst != null) {
List jsl = jsst.getJointStatus();
boolean joints_changed = this.jointsChanged(jsl);
if (joints_changed) {
this.copyJointPositions(jsl);
DefaultTableModel tm = (DefaultTableModel) this.jTableJoints.getModel();
double t = System.currentTimeMillis();
tm.setRowCount(jsl.size());
for (JointStatusType js : jsl) {
int jn = js.getJointNumber().intValue();
if (null != js.getJointVelocity()) {
tm.setValueAt(js.getJointVelocity().doubleValue(), jn - 1, 2);
}
if (null != js.getJointTorqueOrForce()) {
tm.setValueAt(js.getJointTorqueOrForce().doubleValue(), jn - 1, 3);
}
if (null == js.getJointPosition()) {
// tm.setValueAt(Double.NaN, jn-1,1);
continue;
}
double pos = js.getJointPosition().doubleValue();
tm.setValueAt(jn, jn - 1, 0);
tm.setValueAt(pos, jn - 1, 1);
if (this.jCheckBoxMenuItemJoints.isSelected()) {
if (null == this.jointsPlotter) {
jointsPlotter = new plotterJFrame();
jointsPlotter.setTitle("JOINTS");
jointsPlotter.setDefaultCloseOperation(JFrame.DISPOSE_ON_CLOSE);
jointsPlotter.setVisible(true);
}
String pname = "joint[" + jn + "]";
PlotData pd = this.jointsPlotter.getPlotByName(pname);
if (null == pd) {
pd = new PlotData();
pd.name = pname;
this.jointsPlotter.AddPlot(pd, pname);
}
this.jointsPlotter.AddPointToPlot(pd, t, pos, rootPaneCheckingEnabled);
if (pd.get_num_points() < 100) {
this.jointsPlotter.FitToGraph();
}
}
}
if (null != this.jointsPlotter) {
this.jointsPlotter.ScrollRight();
}
}
}
PoseType p
= Optional.ofNullable(internal)
.map(PendantClientInner::getStatus)
.map(CRCLPosemath::getPose)
.orElse(null);
if (null != p) {
updatePoseTable(p, this.jTablePose);
PointType pt = p.getPoint();
if (this.jCheckBoxMenuItemPlotXYZ.isSelected()) {
if (null == xyzPlotter) {
xyzPlotter = new plotterJFrame();
xyzPlotter.setTitle("XYZ");
xyzPlotter.setDefaultCloseOperation(JFrame.DISPOSE_ON_CLOSE);
xyzPlotter.setVisible(true);
}
double t = System.currentTimeMillis();
// XMLGregorianCalendar xgc = p.getTimestamp();
// if (null != xgc) {
// double old_t = t;
// t = (double) xgc.toGregorianCalendar().getTime().getTime();
// }
if (t > this.last_t_pos_logged) {
PlotData xpd = xyzPlotter.getPlotByName("x");
if (null == xpd) {
xpd = new PlotData();
xpd.name = "x";
xyzPlotter.AddPlot(xpd, "x");
}
double x = pt.getX().doubleValue();
xyzPlotter.AddPointToPlot(xpd, t, x, true);
PlotData ypd = xyzPlotter.getPlotByName("y");
if (null == ypd) {
ypd = new PlotData();
ypd.name = "y";
xyzPlotter.AddPlot(xpd, "y");
}
double y = pt.getY().doubleValue();
xyzPlotter.AddPointToPlot(ypd, t, y, true);
PlotData zpd = xyzPlotter.getPlotByName("z");
if (null == zpd) {
zpd = new PlotData();
zpd.name = "x";
xyzPlotter.AddPlot(zpd, "z");
}
double z = pt.getZ().doubleValue();
xyzPlotter.AddPointToPlot(zpd, t, z, true);
if (xpd.get_num_points() < 100) {
xyzPlotter.FitToGraph();
}
xyzPlotter.ScrollRight();
xyzPlotter.repaint();
this.last_t_pos_logged = t;
}
}
}
}
}
public static void updatePoseTable(PoseType p, JTable jTable) {
try {
DefaultTableModel tm = (DefaultTableModel) jTable.getModel();
PointType pt = p.getPoint();
if (null != pt) {
tm.setValueAt(pt.getX().doubleValue(), 0, 1);
tm.setValueAt(pt.getY().doubleValue(), 1, 1);
tm.setValueAt(pt.getZ().doubleValue(), 2, 1);
}
VectorType xv = p.getXAxis();
if (null != xv) {
tm.setValueAt(xv.getI().doubleValue(), 3, 1);
tm.setValueAt(xv.getJ().doubleValue(), 4, 1);
tm.setValueAt(xv.getK().doubleValue(), 5, 1);
}
VectorType zv = p.getZAxis();
if (null != zv) {
tm.setValueAt(zv.getI().doubleValue(), 6, 1);
tm.setValueAt(zv.getJ().doubleValue(), 7, 1);
tm.setValueAt(zv.getK().doubleValue(), 8, 1);
}
if (tm.getRowCount() >= 12) {
PmRpy rpy = CRCLPosemath.toPmRpy(p);
tm.setValueAt(Math.toDegrees(rpy.r), 9, 1);
tm.setValueAt(Math.toDegrees(rpy.p), 10, 1);
tm.setValueAt(Math.toDegrees(rpy.y), 11, 1);
}
} catch (PmException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
private void disconnect() {
this.jTextFieldStatus.setBackground(Color.GRAY);
this.setIconImage(DISCONNECTED_IMAGE);
this.setTitle("CRCL Client: Disconnected?");
internal.disconnect();
jogWorldSpeedsSet = false;
}
@Override
public void finishDisconnect() {
this.jButtonConnect.setEnabled(true);
this.jButtonDisconnect.setEnabled(false);
this.jButtonEnd.setEnabled(false);
this.jButtonInit.setEnabled(false);
this.jButtonMoveTo.setEnabled(false);
this.jButtonCloseGripper.setEnabled(false);
this.jButtonOpenGripper.setEnabled(false);
this.stopPollTimer();
}
private final PendantClientInner internal;
public boolean isConnected() {
return internal.isConnected();
}
public void connect(String _host, int _port) {
internal.connect(_host, _port);
jogWorldSpeedsSet = false;
}
private void jMenuItemExitActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemExitActionPerformed
System.exit(0);
}//GEN-LAST:event_jMenuItemExitActionPerformed
// JointControlModeEnumType jcme = null;
//
// private void setJointControlModes(JointControlModeEnumType _jcme) {
// if (this.jcme != _jcme) {
// SetJointControlModesType setjcm = new SetJointControlModesType();
// List ljcm = setjcm.getJointControlMode();
// JointStatusesType jsst = internal.getStatus().getJointStatuses();
// if (jsst != null) {
// List jsl = jsst.getJointStatus();
// for (JointStatusType js : jsl) {
// JointControlModeType jcm = new JointControlModeType();
// jcm.setMode(_jcme);
// jcm.setJointNumber(js.getJointNumber());
// ljcm.shift(jcm);
// }
// }
// cmdId = cmdId.shift(BigInteger.ONE);
// setjcm.setCommandID(cmdId);
// this.cmd_instance.setCRCLCommand(setjcm);
// this.sendCommand();
// this.jcme = _jcme;
// }
// }
private javax.swing.Timer jog_timer = null;
private double lastJogJointPos = Double.NEGATIVE_INFINITY;
private void jogJointStart(final double increment) {
if (null == internal.getCRCLSocket()
|| null == internal.getStatus()) {
showMessage("Can not send command when not connected.");
return;
}
internal.setJogIncrement(Double.valueOf(this.jTextFieldJointJogIncrement.getText()));
// this.setJointControlModes(JointControlModeEnumType.POSITION);
final int index = this.jComboBox1.getSelectedIndex() + 1;
if (null != jog_timer) {
jog_timer.stop();
jog_timer = null;
}
lastJogJointPos = Double.NEGATIVE_INFINITY;
jogStopFlag = false;
ActionListener jogActionListener = new ActionListener() {
private int apCount = 0;
@Override
public void actionPerformed(ActionEvent e) {
try {
apCount++;
if (jogStopFlag) {
return;
}
final JointStatusType js = CRCLSocket.getJointStatus(internal.getStatus(), index);
if (null == js) {
showMessage("Can't jog without joint position internal.getStatus() for joint " + index);
return;
}
if (internal.getStatus().getCommandStatus().getCommandState() == CommandStateEnumType.CRCL_ERROR) {
showMessage("Can't when status commandState = " + CommandStateEnumType.CRCL_ERROR);
jogStop();
}
if (internal.getStatus().getCommandStatus().getCommandState() != CommandStateEnumType.CRCL_DONE) {
if (PendantClient.this.jCheckBoxMenuItemDebugWaitForDone.isSelected()
|| PendantClient.this.jCheckBoxMenuItemDebugSendCommand.isSelected()) {
System.err.println("Jog Timer ActionListener waiting for DONE");
}
return;
}
if (internal.getStatus().getCommandStatus().getCommandID().compareTo(internal.getCmdId()) < 0) {
if (PendantClient.this.jCheckBoxMenuItemDebugWaitForDone.isSelected()
|| PendantClient.this.jCheckBoxMenuItemDebugSendCommand.isSelected()) {
System.err.println("Jog Timer ActionListener waiting for ID greater than " + internal.getCmdId());
}
return;
}
ActuateJointsType ajst = new ActuateJointsType();
List ajl = ajst.getActuateJoint();
ActuateJointType aj = new ActuateJointType();
aj.setJointNumber(js.getJointNumber());
double pos = js.getJointPosition().doubleValue();
if (Math.abs(pos - lastJogJointPos) <= Math.abs((increment) * 0.001)) {
return;
}
lastJogJointPos = pos;
aj.setJointPosition(js.getJointPosition().add(BigDecimal.valueOf(increment)));
JointSpeedAccelType jsa = new JointSpeedAccelType();
jsa.setJointSpeed(BigDecimal.valueOf(Double.valueOf(PendantClient.this.jTextFieldJointJogSpeed.getText())));
aj.setJointDetails(jsa);
ajl.add(aj);
internal.incAndSendCommand(ajst);
apCount = 0;
} catch (Exception ex) {
ex.printStackTrace();
jogStop();
}
}
};
jogActionListener.actionPerformed(null);
jog_timer = new javax.swing.Timer(internal.getJogInterval(), jogActionListener);
jog_timer.start();
}
private double rpyJogIncrement = 3.0;
private boolean jogStopFlag = true;
/**
* Get the value of rpyJogIncrement
*
* @return the value of rpyJogIncrement
*/
public double getRpyJogIncrement() {
return rpyJogIncrement;
}
/**
* Set the value of rpyJogIncrement
*
* @param rpyJogIncrement new value of rpyJogIncrement
*/
public void setRpyJogIncrement(double rpyJogIncrement) {
this.rpyJogIncrement = rpyJogIncrement;
}
private boolean jogWorldSpeedsSet = false;
private void jogWorldStart(double sign) {
try {
if (null == internal.getStatus()
|| null == internal.getStatus()) {
showMessage("Can not send command when not connected.");
return;
}
if (!jogWorldSpeedsSet) {
SetTransSpeedType stst = new SetTransSpeedType();
TransSpeedAbsoluteType tas = new TransSpeedAbsoluteType();
tas.setSetting(BigDecimal.valueOf(Double.valueOf(this.jTextFieldTransSpeed.getText())));
stst.setTransSpeed(tas);
internal.incAndSendCommand(stst);
internal.waitForDone(stst.getCommandID(), 200);
SetRotSpeedType srst = new SetRotSpeedType();
RotSpeedAbsoluteType ras = new RotSpeedAbsoluteType();
ras.setSetting(BigDecimal.valueOf(Double.valueOf(this.jTextFieldRotationSpeed.getText())));
srst.setRotSpeed(ras);
internal.incAndSendCommand(srst);
internal.waitForDone(srst.getCommandID(), 200);
jogWorldSpeedsSet = true;
}
// this.setJointControlModes(JointControlModeEnumType.POSITION);
final String axis = (String) this.jComboBoxXYZRPY.getSelectedItem();
double tmpinc = 1.0;
sign = Math.signum(sign);
switch (axis) {
case "X":
case "Y":
case "Z":
tmpinc = internal.getXyzJogIncrement() * sign;
break;
case "Roll":
case "Pitch":
case "Yaw":
tmpinc = Math.toRadians(this.rpyJogIncrement) * sign;
break;
}
final BigDecimal axisIncrement = BigDecimal.valueOf(tmpinc);
final double inc = tmpinc;
if (null != jog_timer) {
jog_timer.stop();
jog_timer = null;
}
jogStopFlag = false;
ActionListener jogActionListener = new ActionListener() {
@Override
public void actionPerformed(ActionEvent e) {
try {
if (jogStopFlag) {
return;
}
if (internal.getStatus().getCommandStatus().getCommandState() == CommandStateEnumType.CRCL_ERROR) {
showMessage("Can not jog when status is " + CommandStateEnumType.CRCL_ERROR);
jogStop();
}
if (internal.getStatus().getCommandStatus().getCommandState() != CommandStateEnumType.CRCL_DONE) {
if (PendantClient.this.jCheckBoxMenuItemDebugWaitForDone.isSelected()
|| PendantClient.this.jCheckBoxMenuItemDebugSendCommand.isSelected()) {
System.err.println("Jog Timer ActionListener waiting for DONE");
}
return;
}
if (internal.getStatus().getCommandStatus().getCommandID().compareTo(internal.getCmdId()) < 0) {
if (PendantClient.this.jCheckBoxMenuItemDebugWaitForDone.isSelected()
|| PendantClient.this.jCheckBoxMenuItemDebugSendCommand.isSelected()) {
System.err.println("Jog Timer ActionListener waiting for ID greater than " + internal.getCmdId());
}
return;
}
MoveToType moveToCmd = new MoveToType();
PoseType endPos = new PoseType();
endPos.setPoint(new PointType());
endPos.setXAxis(new VectorType());
endPos.setZAxis(new VectorType());
moveToCmd.setEndPosition(endPos);
PoseType pose = Optional.ofNullable(internal)
.map(PendantClientInner::getStatus)
.map(CRCLPosemath::getPose)
.orElse(null);
if (null != pose) {
moveToCmd.getEndPosition().getPoint().setX(pose.getPoint().getX());
moveToCmd.getEndPosition().getPoint().setY(pose.getPoint().getY());
moveToCmd.getEndPosition().getPoint().setZ(pose.getPoint().getZ());
moveToCmd.getEndPosition().getXAxis().setI(pose.getXAxis().getI());
moveToCmd.getEndPosition().getXAxis().setJ(pose.getXAxis().getJ());
moveToCmd.getEndPosition().getXAxis().setK(pose.getXAxis().getK());
moveToCmd.getEndPosition().getZAxis().setI(pose.getZAxis().getI());
moveToCmd.getEndPosition().getZAxis().setJ(pose.getZAxis().getJ());
moveToCmd.getEndPosition().getZAxis().setK(pose.getZAxis().getK());
switch (axis) {
case "X":
moveToCmd.getEndPosition().getPoint().setX(pose.getPoint().getX().add(axisIncrement));
break;
case "Y":
moveToCmd.getEndPosition().getPoint().setY(pose.getPoint().getY().add(axisIncrement));
break;
case "Z":
moveToCmd.getEndPosition().getPoint().setZ(pose.getPoint().getZ().add(axisIncrement));
break;
case "Roll":
incrementRoll(moveToCmd, inc);
break;
case "Pitch":
incrementPitch(moveToCmd, inc);
break;
case "Yaw":
incrementYaw(moveToCmd, inc);
break;
}
internal.incAndSendCommand(moveToCmd);
} else {
showMessage("Can't jog when pose == null");
jogStop();
}
} catch (Exception ex) {
ex.printStackTrace();
jogStop();
}
}
private void incrementYaw(MoveToType moveToType, final double inc) throws PmException {
PmRotationMatrix pm = CRCLPosemath.toPmRotationMatrix(internal.getPose());
PmRpy rpy = Posemath.toRpy(pm);
rpy.y += inc;
PmRotationVector pm2 = Posemath.toRot(rpy);
PoseType nextPose = CRCLPosemath.toPoseType(
CRCLPosemath.toPmCartesian(internal.getPoint()),
pm2);
moveToType.setEndPosition(nextPose);
}
private void incrementPitch(MoveToType moveToType, final double inc) throws PmException {
PmRotationMatrix pm = CRCLPosemath.toPmRotationMatrix(internal.getPose());
PmRpy rpy = Posemath.toRpy(pm);
rpy.p += inc;
PmRotationVector pm2 = Posemath.toRot(rpy);
PoseType nextPose = CRCLPosemath.toPoseType(
CRCLPosemath.toPmCartesian(internal.getPoint()),
pm2);
moveToType.setEndPosition(nextPose);
}
private void incrementRoll(MoveToType moveToType, final double inc) throws PmException {
PmRotationMatrix pm = CRCLPosemath.toPmRotationMatrix(internal.getPose());
PmRpy rpy = Posemath.toRpy(pm);
rpy.r += inc;
PmRotationVector pm2 = Posemath.toRot(rpy);
PoseType nextPose = CRCLPosemath.toPoseType(
CRCLPosemath.toPmCartesian(internal.getPoint()),
pm2);
moveToType.setEndPosition(nextPose);
}
};
jogActionListener.actionPerformed(null);
jog_timer = new javax.swing.Timer(internal.getJogInterval(), jogActionListener);
jog_timer.start();
} catch (JAXBException | InterruptedException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, "Can not start world jog.", ex);
}
}
private void jogStop() {
jogStopFlag = true;
if (null != jog_timer) {
try {
jog_timer.stop();
jog_timer = null;
internal.stopMotion(StopConditionEnumType.FAST);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
@Override
public void checkPollSelected() {
if (this.jCheckBoxPoll.isSelected()) {
this.startPollTimer();
}
}
private void commonJogStop() {
this.jogStop();
this.jLabelJogMinus.setBackground(Color.WHITE);
this.jLabelJogMinus.setForeground(Color.BLACK);
this.jPanelJogMinus.setBackground(Color.WHITE);
this.jLabelJogMinus.repaint();
this.jPanelJogMinus.repaint();
this.jLabelJogMinus1.setBackground(Color.WHITE);
this.jLabelJogMinus1.setForeground(Color.BLACK);
this.jPanelJogMinus1.setBackground(Color.WHITE);
this.jLabelJogMinus1.repaint();
this.jPanelJogMinus1.repaint();
this.jLabelJogPlus.setBackground(Color.WHITE);
this.jLabelJogPlus.setForeground(Color.BLACK);
this.jPanelJogPlus.setBackground(Color.WHITE);
this.jLabelJogPlus.repaint();
this.jPanelJogPlus.repaint();
this.jLabelJogPlus1.setBackground(Color.WHITE);
this.jLabelJogPlus1.setForeground(Color.BLACK);
this.jPanelJogPlus1.setBackground(Color.WHITE);
this.jLabelJogPlus1.repaint();
this.jPanelJogPlus1.repaint();
}
private XpathQueryJFrame xqJFrame = null;
private void jMenuItemXPathQueryActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemXPathQueryActionPerformed
if (null == xqJFrame) {
try {
xqJFrame = new XpathQueryJFrame();
} catch (ParserConfigurationException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
xqJFrame.setVisible(true);
}//GEN-LAST:event_jMenuItemXPathQueryActionPerformed
diagapplet.plotter.plotterJFrame xyzPlotter = null;
diagapplet.plotter.plotterJFrame jointsPlotter = null;
private void jMenuItemSetSchemaFilesActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemSetSchemaFilesActionPerformed
JFileChooser jFileChooser = new JFileChooser();
javax.swing.filechooser.FileFilter[] ffa = jFileChooser.getChoosableFileFilters();
for (javax.swing.filechooser.FileFilter ff : ffa) {
jFileChooser.removeChoosableFileFilter(ff);
}
jFileChooser.addChoosableFileFilter(new FileNameExtensionFilter("XML Schema file", "xsd"));
jFileChooser.setMultiSelectionEnabled(true);
int result = jFileChooser.showOpenDialog(this);
if (result == JFileChooser.APPROVE_OPTION) {
File fa[] = jFileChooser.getSelectedFiles();
internal.setCmdSchema(fa);
CRCLSocket.saveCmdSchemaFiles(PendantClient.cmdSchemasFile, fa);
internal.setStatSchema(fa);
CRCLSocket.saveStatSchemaFiles(PendantClient.statSchemasFile, fa);
internal.setProgramSchema(fa);
CRCLSocket.saveProgramSchemaFiles(PendantClient.programSchemasFile, fa);
}
}//GEN-LAST:event_jMenuItemSetSchemaFilesActionPerformed
private void jCheckBoxMenuItemJointsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemJointsActionPerformed
if (this.jCheckBoxMenuItemJoints.isSelected()) {
jointsPlotter = new plotterJFrame();
jointsPlotter.setTitle("JOINTS");
jointsPlotter.setDefaultCloseOperation(JFrame.DISPOSE_ON_CLOSE);
jointsPlotter.setVisible(true);
}
}//GEN-LAST:event_jCheckBoxMenuItemJointsActionPerformed
private void jCheckBoxMenuItemPlotXYZActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemPlotXYZActionPerformed
if (this.jCheckBoxMenuItemPlotXYZ.isSelected()) {
xyzPlotter = new plotterJFrame();
xyzPlotter.setTitle("XYZ");
xyzPlotter.setDefaultCloseOperation(JFrame.DISPOSE_ON_CLOSE);
xyzPlotter.setVisible(true);
}
}//GEN-LAST:event_jCheckBoxMenuItemPlotXYZActionPerformed
private static final String recent_files_dir = ".crcl_pendant_client_recent_files";
private void saveRecentCommandInstance(CRCLCommandInstanceType cmd) throws JAXBException, IOException {
CRCLSocket tmpcs = internal.getTempCRCLSocket();
String s = tmpcs.commandInstanceToPrettyDocString(cmd, true);
File fDir = new File(System.getProperty("user.home"), recent_files_dir);
fDir.mkdirs();
String name = cmd.getCRCLCommand().getClass().getSimpleName();
int pindex = name.lastIndexOf('.');
if (pindex > 0 && pindex < name.length()) {
name = name.substring(pindex + 1);
}
File fDir2 = new File(fDir, name);
fDir2.mkdirs();
Date dNow = new Date();
SimpleDateFormat ft
= new SimpleDateFormat("yyyy-MM-dd_hh_mm_ss_a_zzz_");
String date_string = ft.format(dNow);
File f = File.createTempFile(date_string, ".xml", fDir2);
try (FileWriter fw = new FileWriter(f)) {
fw.write(s);
}
}
private static final String recent_programs_dir = ".crcl_pendant_client_recent_programs";
private void saveRecentProgram(File fprog) throws JAXBException, IOException {
Set pathSet = this.getRecentPrograms();
if (pathSet.contains(fprog.getCanonicalPath())) {
return;
}
File fDir = new File(System.getProperty("user.home"), recent_programs_dir);
fDir.mkdirs();
String name = fprog.getName();
if (null == name) {
name = "untitled";
}
Date dNow = new Date();
SimpleDateFormat ft
= new SimpleDateFormat("yyyy-MM-dd_hh_mm_ss_a_zzz_");
String date_string = ft.format(dNow);
File flink = File.createTempFile(name + "_" + date_string, ".txt", fDir);
try (FileWriter fw = new FileWriter(flink)) {
fw.write(fprog.getCanonicalPath());
}
}
private void saveRecentCommand(CRCLCommandType cmd) throws JAXBException, IOException {
CRCLCommandInstanceType instanceForSave = new CRCLCommandInstanceType();
instanceForSave.setCRCLCommand(cmd);
this.saveRecentCommandInstance(instanceForSave);
}
private void browseOpenCommandXml() {
JFileChooser chooser = new JFileChooser();
FileNameExtensionFilter filter = new FileNameExtensionFilter(
"XML Instance Files", "xml");
chooser.setFileFilter(filter);
int returnVal = chooser.showOpenDialog(this);
if (returnVal == JFileChooser.APPROVE_OPTION) {
try {
File f = chooser.getSelectedFile();
openXmlInstanceFile(f);
} catch (SAXException | JAXBException | CRCLException | IOException | XPathExpressionException | ParserConfigurationException ex) {
LOGGER.log(Level.SEVERE, null, ex);
this.showMessage(ex);
}
}
}
private void browseOpenProgramXml() {
JFileChooser chooser = new JFileChooser();
FileNameExtensionFilter filter = new FileNameExtensionFilter(
"XML Program Files", "xml");
chooser.setFileFilter(filter);
int returnVal = chooser.showOpenDialog(this);
this.clearRecordedPoints();
if (null != internal.getProgram()) {
internal.getProgram().getMiddleCommand().clear();
try {
this.showProgram(internal.getProgram());
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
if (returnVal == JFileChooser.APPROVE_OPTION) {
File f = chooser.getSelectedFile();
openXmlProgramFile(f);
}
}
@Override
public CRCLProgramType editProgram(CRCLProgramType program) {
// internal.getXpu().setSchemaFiles(internal.getProgramSchemaFiles());
program = ObjTableJPanel.editObject(program,
internal.getXpu(),
internal.getProgramSchemaFiles(),
internal.getCheckProgramValidPredicate());
return program;
}
private void openXmlInstanceFile(File f) throws CRCLException, SAXException, JAXBException, IOException, ParserConfigurationException, XPathExpressionException {
String s = internal.getXpu().queryXml(f, "/");
CRCLCommandInstanceType cmdInstance
= internal.getCRCLSocket().stringToCommand(s, this.jCheckBoxMenuItemValidateXml.isSelected());
CRCLCommandType cmd = cmdInstance.getCRCLCommand();
cmd = ObjTableJPanel.editObject(cmd, internal.getXpu(), internal.getCmdSchemaFiles(),
internal.getCheckCommandValidPredicate());
internal.incAndSendCommand(cmd);
this.saveRecentCommand(cmd);
}
private String tableCommandString(CRCLCommandType cmd) throws ParserConfigurationException, SAXException, IOException, JAXBException {
return this.internal.getTempCRCLSocket().commandToSimpleString(cmd);
}
public void showProgram(CRCLProgramType program) throws JAXBException {
try {
DefaultTableModel dtm = (DefaultTableModel) this.jTableProgram.getModel();
BigInteger maxCmdId = BigInteger.ONE;
InitCanonType init = program.getInitCanon();
List middleCommands = program.getMiddleCommand();
dtm.setRowCount(2 + middleCommands.size());
if (init.getCommandID() == null) {
init.setCommandID(maxCmdId);
} else {
maxCmdId = maxCmdId.max(init.getCommandID());
}
dtm.setValueAt(init.getCommandID().longValue(), 0, 0);
try {
dtm.setValueAt(tableCommandString(init), 0, 1);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
dtm.setValueAt(-1, 0, 2);
dtm.setValueAt(0.0, 0, 2);
for (int i = 0; i < middleCommands.size(); i++) {
MiddleCommandType middleCommand = middleCommands.get(i);
if (null == middleCommand) {
showDebugMessage("middleCommands contains null at " + i);
continue;
}
maxCmdId = maxCmdId.add(BigInteger.ONE);
middleCommand.setCommandID(maxCmdId);
maxCmdId = maxCmdId.max(middleCommand.getCommandID());
dtm.setValueAt(middleCommand.getCommandID().longValue(), i + 1, 0);
dtm.setValueAt(tableCommandString(middleCommand), i + 1, 1);
dtm.setValueAt(-1, i + 1, 2);
dtm.setValueAt(0.0, i + 1, 3);
dtm.setValueAt(false, i + 1, 4);
}
EndCanonType endCommand = program.getEndCanon();
maxCmdId = maxCmdId.add(BigInteger.ONE);
if (endCommand.getCommandID() == null || endCommand.getCommandID().compareTo(maxCmdId) < 0) {
endCommand.setCommandID(maxCmdId);
}
dtm.setValueAt(endCommand.getCommandID().longValue(), 1 + middleCommands.size(), 0);
dtm.setValueAt(tableCommandString(endCommand), 1 + middleCommands.size(), 1);
dtm.setValueAt(-1, 1 + middleCommands.size(), 2);
dtm.setValueAt(0.0, 1 + middleCommands.size(), 3);
} catch (ParserConfigurationException | SAXException | IOException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
programLineShowing = -1;
}
private void jMenuItemOpenXmlCommandInstanceActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemOpenXmlCommandInstanceActionPerformed
this.browseOpenCommandXml();
}//GEN-LAST:event_jMenuItemOpenXmlCommandInstanceActionPerformed
private void jMenuItemOpenXmlProgramActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemOpenXmlProgramActionPerformed
this.browseOpenProgramXml();
}//GEN-LAST:event_jMenuItemOpenXmlProgramActionPerformed
// javax.swing.Timer pollTimer = null;
private Thread pollingThread = null;
private volatile boolean statusRequested = false;
private long max_diff_readStatusEndTime_requestStatusStartTime = 0;
private long maxPollStatusCycleTime = 0;
private long cycles = 0;
private void pollStatus() {
try {
while (!Thread.currentThread().isInterrupted()
&& this.jCheckBoxPoll.isSelected() && null != internal.getCRCLSocket()) {
cycles++;
long requestStatusStartTime = System.currentTimeMillis();
internal.requestStatus();
statusRequested = true;
internal.readStatus();
statusRequested = false;
long readStatusEndTime = System.currentTimeMillis();
long diff_readStatusEndTime_requestStatusStartTime = (readStatusEndTime - requestStatusStartTime);
if (max_diff_readStatusEndTime_requestStatusStartTime < diff_readStatusEndTime_requestStatusStartTime) {
max_diff_readStatusEndTime_requestStatusStartTime = diff_readStatusEndTime_requestStatusStartTime;
}
Thread.sleep(internal.getPoll_ms());
long endCycleTime = System.currentTimeMillis();
long pollStatusCycleTime = endCycleTime - requestStatusStartTime;
if (pollStatusCycleTime > maxPollStatusCycleTime) {
maxPollStatusCycleTime = pollStatusCycleTime;
}
}
} catch (InterruptedException interruptedException) {
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
private void startPollTimer() {
// pollTimer = new javax.swing.Timer(internal.getPoll_ms(), new ActionListener() {
//
// private boolean toggler = false;
//
// @Override
// public void actionPerformed(ActionEvent e) {
//
// if (!toggler) {
// internal.requestStatus();
// if (!isUseReadStatusThreadSelected()) {
// toggler = true;
// }
// } else {
// if (!isUseReadStatusThreadSelected()) {
// internal.readStatus();
// }
// toggler = false;
// }
// }
// });
// pollTimer.start();
this.stopPollTimer();
pollingThread = new Thread(this::pollStatus, "PendantClient.pollStatus");
pollingThread.start();
}
@Override
public void stopPollTimer() {
if (null != pollingThread) {
pollingThread.interrupt();
try {
pollingThread.join(1000);
} catch (InterruptedException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
pollingThread = null;
if (statusRequested) {
internal.readStatus();
}
}
}
private void jMenuItemRunTestActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemRunTestActionPerformed
Map testPropsMap
= PropertiesJPanel.confirmPropertiesMap(this, "Test Run Properties", true, internal.getDefaultTestPropertiesMap());
internal.startRunTestThread(testPropsMap);
}//GEN-LAST:event_jMenuItemRunTestActionPerformed
private void clearProgramTimesDistances() {
DefaultTableModel dtm = (DefaultTableModel) this.jTableProgram.getModel();
for (int i = 0; i < dtm.getRowCount(); i++) {
dtm.setValueAt(-1, i, 2);
dtm.setValueAt(0.0, i, 3);
dtm.setValueAt(false, i, 4);
}
programLineShowing = -1;
jogWorldSpeedsSet = false;
}
long pauseTime = -1;
private void jMenuItemSaveProgramAsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemSaveProgramAsActionPerformed
JFileChooser chooser = new JFileChooser();
FileNameExtensionFilter filter = new FileNameExtensionFilter(
"XML Program Files", "xml");
chooser.setFileFilter(filter);
int returnVal = chooser.showSaveDialog(this);
if (returnVal == JFileChooser.APPROVE_OPTION) {
try {
File f = chooser.getSelectedFile();
saveXmlProgramFile(f);
} catch (JAXBException | CRCLException ex) {
LOGGER.log(Level.SEVERE, null, ex);
this.showMessage(ex);
}
}
}//GEN-LAST:event_jMenuItemSaveProgramAsActionPerformed
private void jMenuItemSavePoseListActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemSavePoseListActionPerformed
JFileChooser chooser = new JFileChooser();
FileNameExtensionFilter filter = new FileNameExtensionFilter(
"Comma-Separated-Values", "csv");
chooser.setFileFilter(filter);
int returnVal = chooser.showSaveDialog(this);
if (returnVal == JFileChooser.APPROVE_OPTION) {
try {
this.internal.savePoseListToCsvFile(chooser.getSelectedFile().getAbsolutePath());
} catch (IOException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
} catch (PmException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
}//GEN-LAST:event_jMenuItemSavePoseListActionPerformed
private void jMenuItemPoseList3DPlotActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemPoseList3DPlotActionPerformed
try {
// File tmpFile = File.createTempFile("poseList", ".csv");
// this.internal.savePoseListToCsvFile(tmpFile.getAbsolutePath());
com.github.wshackle.poselist3dplot.MainJFrame.showPoseList(this.internal.getPoseList());
} catch (Exception ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jMenuItemPoseList3DPlotActionPerformed
private void jMenuItemOpenStatusLogActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemOpenStatusLogActionPerformed
try {
File tmpFile = File.createTempFile("poseList", ".csv");
this.internal.savePoseListToCsvFile(tmpFile.getAbsolutePath());
Desktop.getDesktop().open(tmpFile);
} catch (IOException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
} catch (PmException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jMenuItemOpenStatusLogActionPerformed
private void jCheckBoxMenuItemUseEXIActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemUseEXIActionPerformed
if (this.isConnected()) {
this.disconnect();
this.connect(this.jTextFieldHost.getText(), Integer.valueOf(this.jTextFieldPort.getText()));
}
}//GEN-LAST:event_jCheckBoxMenuItemUseEXIActionPerformed
private void jCheckBoxMenuItemUseReadStatusThreadActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemUseReadStatusThreadActionPerformed
if (this.jCheckBoxMenuItemDebugReadStatus.isSelected()) {
internal.startStatusReaderThread();
} else {
internal.stopStatusReaderThread();
}
}//GEN-LAST:event_jCheckBoxMenuItemUseReadStatusThreadActionPerformed
private void jCheckBoxMenuItemRecordCommandsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemRecordCommandsActionPerformed
internal.setRecordCommands(this.jCheckBoxMenuItemRecordCommands.isSelected());
}//GEN-LAST:event_jCheckBoxMenuItemRecordCommandsActionPerformed
private void jMenuItemShowCommandLogActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemShowCommandLogActionPerformed
MultiLineStringJPanel.showText(internal.getRecordedCommandsList().stream().map(cmd -> internal.getTempCRCLSocket().commandToPrettyString(cmd, "")).collect(Collectors.joining("\n\n")));
}//GEN-LAST:event_jMenuItemShowCommandLogActionPerformed
private CRCLProgramType recordPointsProgram = null;
public void recordPoint(PoseType pose) {
try {
if (recordPointsProgram == null) {
recordPointsProgram = new CRCLProgramType();
InitCanonType initCmd = new InitCanonType();
initCmd.setCommandID(BigInteger.ONE);
recordPointsProgram.setInitCanon(initCmd);
EndCanonType endCmd = new EndCanonType();
initCmd.setCommandID(BigInteger.valueOf(3));
recordPointsProgram.setEndCanon(endCmd);
}
MoveToType moveToCmd = new MoveToType();
PoseType endPose = new PoseType();
endPose.setPoint(pose.getPoint());
endPose.setXAxis(pose.getXAxis());
endPose.setZAxis(pose.getZAxis());
moveToCmd.setEndPosition(endPose);
moveToCmd.setMoveStraight(this.jCheckBoxStraight.isSelected());
moveToCmd.setCommandID(BigInteger.valueOf(recordPointsProgram.getMiddleCommand().size() + 1));
recordPointsProgram.getMiddleCommand().add(moveToCmd);
recordPointsProgram.getEndCanon().setCommandID(moveToCmd.getCommandID().add(BigInteger.ONE));
internal.setProgram(recordPointsProgram);
showProgram(recordPointsProgram);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
public void recordCurrentPoint() {
Optional.ofNullable(internal)
.map(PendantClientInner::getStatus)
.map(CRCLPosemath::getPose)
.ifPresent(this::recordPoint);
}
public void clearRecordedPoints() {
if (null != recordPointsProgram) {
try {
recordPointsProgram.getMiddleCommand().clear();
this.internal.setProgram(recordPointsProgram);
this.showProgram(recordPointsProgram);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
private void jMenuItemClearRecordedPointsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemClearRecordedPointsActionPerformed
this.clearRecordedPoints();
}//GEN-LAST:event_jMenuItemClearRecordedPointsActionPerformed
private void jButtonRecordPointActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonRecordPointActionPerformed
this.recordCurrentPoint();
}//GEN-LAST:event_jButtonRecordPointActionPerformed
private void jButtonCloseGripperActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonCloseGripperActionPerformed
try {
SetEndEffectorType seeCmd = new SetEndEffectorType();
seeCmd.setSetting(BigDecimal.ZERO);
internal.incAndSendCommand(seeCmd);
if (null != recordPointsProgram) {
this.recordCurrentPoint();
recordPointsProgram.getMiddleCommand().add(seeCmd);
internal.setProgram(recordPointsProgram);
showProgram(recordPointsProgram);
}
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jButtonCloseGripperActionPerformed
private void jButtonOpenGripperActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonOpenGripperActionPerformed
try {
SetEndEffectorType seeCmd = new SetEndEffectorType();
seeCmd.setSetting(BigDecimal.ONE);
internal.incAndSendCommand(seeCmd);
if (null != recordPointsProgram) {
this.recordCurrentPoint();
recordPointsProgram.getMiddleCommand().add(seeCmd);
internal.setProgram(recordPointsProgram);
showProgram(recordPointsProgram);
}
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jButtonOpenGripperActionPerformed
private void jTextFieldPollTimeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldPollTimeActionPerformed
int new_poll_ms = Integer.valueOf(this.jTextFieldPollTime.getText());
internal.setPoll_ms(new_poll_ms);
this.stopPollTimer();
if (this.jCheckBoxPoll.isSelected()) {
this.startPollTimer();
}
}//GEN-LAST:event_jTextFieldPollTimeActionPerformed
private void jCheckBoxPollActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxPollActionPerformed
this.stopPollTimer();
if (this.jCheckBoxPoll.isSelected() && null != internal.getCRCLSocket()) {
this.startPollTimer();
}
}//GEN-LAST:event_jCheckBoxPollActionPerformed
private void jButtonInitActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonInitActionPerformed
try {
InitCanonType init = new InitCanonType();
internal.incAndSendCommand(init);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jButtonInitActionPerformed
private void jButtonEndActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonEndActionPerformed
try {
EndCanonType end = new EndCanonType();
internal.incAndSendCommand(end);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jButtonEndActionPerformed
private void jButtonDisconnectActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonDisconnectActionPerformed
this.disconnect();
}//GEN-LAST:event_jButtonDisconnectActionPerformed
private void jButtonConnectActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonConnectActionPerformed
this.connect(this.jTextFieldHost.getText(), Integer.valueOf(this.jTextFieldPort.getText()));
}//GEN-LAST:event_jButtonConnectActionPerformed
private void jMenuItemLoadPrefsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemLoadPrefsActionPerformed
JFileChooser chooser = new JFileChooser(new File(System.getProperty("user.home")));
if (JFileChooser.APPROVE_OPTION == chooser.showOpenDialog(this)) {
File f = chooser.getSelectedFile();
loadPrefsFile(f);
}
}//GEN-LAST:event_jMenuItemLoadPrefsActionPerformed
private void jMenuItemSavePrefsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemSavePrefsActionPerformed
JFileChooser chooser = new JFileChooser(new File(System.getProperty("user.home")));
if (JFileChooser.APPROVE_OPTION == chooser.showSaveDialog(this)) {
File f = chooser.getSelectedFile();
savePrefsFile(f);
}
}//GEN-LAST:event_jMenuItemSavePrefsActionPerformed
private void jMenu1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenu1ActionPerformed
// TODO add your handling code here:
}//GEN-LAST:event_jMenu1ActionPerformed
private LengthUnitEnumType lengthUnit = LengthUnitEnumType.MILLIMETER;
private void updateLengthUnit(LengthUnitEnumType newUnit) {
LengthUnitEnumType oldUnit
= lengthUnit;
if (newUnit != oldUnit) {
double oldScale = 1.0;
double newScale = 1.0;
switch (oldUnit) {
case METER:
oldScale = 1.0;
break;
case MILLIMETER:
oldScale = 0.001;
break;
case INCH:
oldScale = 0.0254;
break;
}
switch (newUnit) {
case METER:
newScale = 1.0;
break;
case MILLIMETER:
newScale = 0.001;
break;
case INCH:
newScale = 0.0254;
break;
}
lengthUnitComboBoxLengthUnit.setSelectedItem(newUnit);
double oldInc = internal.getXyzJogIncrement();
double newInc = oldInc * oldScale / newScale;
internal.setXyzJogIncrement(newInc);
this.jTextFieldXYZJogIncrement.setText(Double.toString(newInc));
lengthUnit = newUnit;
}
}
@Override
public boolean isMonitoringHoldingObject() {
return this.jCheckBoxMonitorHoldingOutput.isSelected();
}
@Override
public void setExpectedHoldingObject(boolean x) {
this.jLabelExpectHoldingObject.setText("Expect Holding Object:" + x);
if (x) {
jLabelExpectHoldingObject.setForeground(Color.BLACK);
jLabelExpectHoldingObject.setBackground(Color.WHITE);
} else {
jLabelExpectHoldingObject.setForeground(Color.WHITE);
jLabelExpectHoldingObject.setBackground(Color.BLACK);
}
}
private class MyPropertyChangeListener implements PropertyChangeListener {
@Override
public void propertyChange(PropertyChangeEvent evt) {
switch (evt.getPropertyName()) {
case PendantClientInner.PROP_LENGTHUNIT:
updateLengthUnit(internal.getLengthUnit());
break;
}
}
}
private void jCheckBoxMenuItemQuitProgramOnTestCommandFailActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemQuitProgramOnTestCommandFailActionPerformed
this.internal.setQuitOnTestCommandFailure(this.jCheckBoxMenuItemQuitProgramOnTestCommandFail.isSelected());
}//GEN-LAST:event_jCheckBoxMenuItemQuitProgramOnTestCommandFailActionPerformed
private void jMenuItemViewLogFileActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemViewLogFileActionPerformed
internal.openLogFile();
}//GEN-LAST:event_jMenuItemViewLogFileActionPerformed
private void jMenuItemTransformProgramActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemTransformProgramActionPerformed
TransformSetupJFrame setupFrame = new TransformSetupJFrame();
setupFrame.setPendantClient(this);
setupFrame.setVisible(true);
}//GEN-LAST:event_jMenuItemTransformProgramActionPerformed
private void jTabbedPaneLeftUpperStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_jTabbedPaneLeftUpperStateChanged
jogWorldSpeedsSet = false;
}//GEN-LAST:event_jTabbedPaneLeftUpperStateChanged
private void jButtonMoveToCurrentActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonMoveToCurrentActionPerformed
this.updatePoseTable(internal.getPose(), this.jTableMoveToPose);
}//GEN-LAST:event_jButtonMoveToCurrentActionPerformed
private void jButtonMoveToActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonMoveToActionPerformed
try {
MoveToType moveto = new MoveToType();
PoseType p = tableToPose(this.jTableMoveToPose);
moveto.setEndPosition(p);
moveto.setMoveStraight(this.jCheckBoxStraight.isSelected());
internal.incAndSendCommand(moveto);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jButtonMoveToActionPerformed
public CRCLProgramType getProgram() {
return internal.getProgram();
}
public void setProgram(CRCLProgramType program) throws JAXBException {
this.internal.setProgram(program);
this.showProgram(program);
}
public static PoseType tableToPose(JTable table) {
PoseType p = new PoseType();
TableModel tm = table.getModel();
PointType pt = new PointType();
pt.setX(BigDecimal.valueOf((Double) tm.getValueAt(0, 1)));
pt.setY(BigDecimal.valueOf((Double) tm.getValueAt(1, 1)));
pt.setZ(BigDecimal.valueOf((Double) tm.getValueAt(2, 1)));
VectorType xv = new VectorType();
xv.setI(BigDecimal.valueOf((Double) tm.getValueAt(3, 1)));
xv.setJ(BigDecimal.valueOf((Double) tm.getValueAt(4, 1)));
xv.setK(BigDecimal.valueOf((Double) tm.getValueAt(5, 1)));
VectorType zv = new VectorType();
zv.setI(BigDecimal.valueOf((Double) tm.getValueAt(6, 1)));
zv.setJ(BigDecimal.valueOf((Double) tm.getValueAt(7, 1)));
zv.setK(BigDecimal.valueOf((Double) tm.getValueAt(8, 1)));
p.setPoint(pt);
p.setXAxis(xv);
p.setZAxis(zv);
return p;
}
private void jTextFieldRotationSpeedActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldRotationSpeedActionPerformed
internal.setJogRotSpeed(Double.valueOf(this.jTextFieldRotationSpeed.getText()));
jogWorldSpeedsSet = false;
}//GEN-LAST:event_jTextFieldRotationSpeedActionPerformed
private void jTextFieldTransSpeedActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldTransSpeedActionPerformed
internal.setJogTransSpeed(Double.valueOf(this.jTextFieldTransSpeed.getText()));
jogWorldSpeedsSet = false;
}//GEN-LAST:event_jTextFieldTransSpeedActionPerformed
private void jTextFieldJointJogSpeedActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldJointJogSpeedActionPerformed
internal.setJogJointSpeed(Double.valueOf(this.jTextFieldJointJogSpeed.getText()));
}//GEN-LAST:event_jTextFieldJointJogSpeedActionPerformed
private void lengthUnitComboBoxLengthUnitActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_lengthUnitComboBoxLengthUnitActionPerformed
try {
SetLengthUnitsType setLengthUnitsCmd = new SetLengthUnitsType();
setLengthUnitsCmd.setUnitName(this.lengthUnitComboBoxLengthUnit.getSelectedItem());
this.updateLengthUnit(setLengthUnitsCmd.getUnitName());
internal.incAndSendCommand(setLengthUnitsCmd);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_lengthUnitComboBoxLengthUnitActionPerformed
private void jTextFieldJogIntervalActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldJogIntervalActionPerformed
internal.setJogInterval(Integer.valueOf(this.jTextFieldJogInterval.getText()));
}//GEN-LAST:event_jTextFieldJogIntervalActionPerformed
private void jTextFieldRPYJogIncrementActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldRPYJogIncrementActionPerformed
this.setRpyJogIncrement(Double.valueOf(this.jTextFieldRPYJogIncrement.getText()));
}//GEN-LAST:event_jTextFieldRPYJogIncrementActionPerformed
private void jTextFieldXYZJogIncrementActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldXYZJogIncrementActionPerformed
internal.setXyzJogIncrement(Double.valueOf(this.jTextFieldXYZJogIncrement.getText()));
}//GEN-LAST:event_jTextFieldXYZJogIncrementActionPerformed
private void jTextFieldJointJogIncrementActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldJointJogIncrementActionPerformed
internal.setJogIncrement(Double.valueOf(this.jTextFieldJointJogIncrement.getText()));
}//GEN-LAST:event_jTextFieldJointJogIncrementActionPerformed
private void jPanelJogMinus1MousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jPanelJogMinus1MousePressed
this.jogWorldStart(-1.0);
this.jLabelJogMinus1.setBackground(Color.BLACK);
this.jLabelJogMinus1.setForeground(Color.WHITE);
this.jPanelJogMinus1.setBackground(Color.BLACK);
this.jLabelJogMinus1.repaint();
this.jPanelJogMinus1.repaint();
}//GEN-LAST:event_jPanelJogMinus1MousePressed
private void jLabelJogMinus1MouseExited(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogMinus1MouseExited
this.commonJogStop();
}//GEN-LAST:event_jLabelJogMinus1MouseExited
private void jLabelJogMinus1MouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogMinus1MouseReleased
this.commonJogStop();
}//GEN-LAST:event_jLabelJogMinus1MouseReleased
private void jLabelJogMinus1MousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogMinus1MousePressed
this.jogWorldStart(-1.0);
this.jLabelJogMinus1.setBackground(Color.BLACK);
this.jLabelJogMinus1.setForeground(Color.WHITE);
this.jPanelJogMinus1.setBackground(Color.BLACK);
this.jLabelJogMinus1.repaint();
this.jPanelJogMinus1.repaint();
}//GEN-LAST:event_jLabelJogMinus1MousePressed
private void jLabelJogPlus1MouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogPlus1MouseReleased
this.commonJogStop();
}//GEN-LAST:event_jLabelJogPlus1MouseReleased
private void jLabelJogPlus1MousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogPlus1MousePressed
this.jogWorldStart(+1.0);
this.jLabelJogPlus1.setBackground(Color.BLACK);
this.jLabelJogPlus1.setForeground(Color.WHITE);
this.jPanelJogPlus1.setBackground(Color.BLACK);
this.jLabelJogPlus1.repaint();
this.jPanelJogPlus1.repaint();
}//GEN-LAST:event_jLabelJogPlus1MousePressed
private void jLabelJogPlus1MouseExited(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogPlus1MouseExited
this.commonJogStop();
}//GEN-LAST:event_jLabelJogPlus1MouseExited
private void jLabelJogPlusMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogPlusMouseReleased
this.commonJogStop();
}//GEN-LAST:event_jLabelJogPlusMouseReleased
private void jLabelJogPlusMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogPlusMousePressed
this.jogJointStart(+1.0 * internal.getJogIncrement());
this.jLabelJogPlus.setBackground(Color.BLACK);
this.jLabelJogPlus.setForeground(Color.WHITE);
this.jPanelJogPlus.setBackground(Color.BLACK);
this.jLabelJogPlus.repaint();
this.jPanelJogPlus.repaint();
}//GEN-LAST:event_jLabelJogPlusMousePressed
private void jLabelJogPlusMouseExited(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogPlusMouseExited
this.commonJogStop();
}//GEN-LAST:event_jLabelJogPlusMouseExited
private void jPanelJogMinusMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jPanelJogMinusMousePressed
// ActuateJointsType jog = new ActuateJointsType();
// cmdId = cmdId.shift(BigInteger.ONE);
// jog.setCommandID(cmdId);
// ActuateJointType joint = new ActuateJointType();
// List l = jog.getActuateJoint();
// if(l == null) {
// l = new ArrayList<>();
// }
// l.shift(joint);
// joint.setActuate(true);
//
// this.cmd_instance.setCRCLCommand(jog);
// this.sendCommand();
}//GEN-LAST:event_jPanelJogMinusMousePressed
private void jLabelJogMinusMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogMinusMouseReleased
this.commonJogStop();
}//GEN-LAST:event_jLabelJogMinusMouseReleased
private void jLabelJogMinusMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogMinusMousePressed
this.jogJointStart(-1.0 * internal.getJogIncrement());
this.jLabelJogMinus.setBackground(Color.BLACK);
this.jLabelJogMinus.setForeground(Color.WHITE);
this.jPanelJogMinus.setBackground(Color.BLACK);
this.jLabelJogMinus.repaint();
this.jPanelJogMinus.repaint();
}//GEN-LAST:event_jLabelJogMinusMousePressed
private void jLabelJogMinusMouseExited(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jLabelJogMinusMouseExited
this.commonJogStop();
}//GEN-LAST:event_jLabelJogMinusMouseExited
private void jButtonStepFwdActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonStepFwdActionPerformed
internal.setStepMode(true);
if (internal.isPaused() && internal.isRunningProgram()) {
internal.unpause();
} else {
internal.startRunProgramThread(this.getCurrentProgramLine());
}
}//GEN-LAST:event_jButtonStepFwdActionPerformed
private void jButtonStepBackActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonStepBackActionPerformed
internal.setStepMode(true);
internal.abort();
int l = this.getCurrentProgramLine();
if (l > 0) {
l--;
}
internal.startRunProgramThread(l);
}//GEN-LAST:event_jButtonStepBackActionPerformed
private void jButtonRunProgFromCurrentLineActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonRunProgFromCurrentLineActionPerformed
if (pauseTime > this.internal.runStartMillis) {
this.internal.runStartMillis += (System.currentTimeMillis() - pauseTime);
}
pauseTime = -1;
if (this.getCurrentProgramLine() < 1) {
this.internal.runStartMillis = System.currentTimeMillis();
}
this.internal.setStepMode(false);
if (internal.isPaused() && internal.isRunningProgram()) {
internal.unpause();
} else {
internal.startRunProgramThread(this.getCurrentProgramLine());
}
}//GEN-LAST:event_jButtonRunProgFromCurrentLineActionPerformed
public int getProgramRow() {
final int selectedRows[] = this.jTableProgram.getSelectedRows();
return (null == selectedRows || selectedRows.length < 1) ? 0 : selectedRows[0];
}
private void jButtonPlotProgramItemActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonPlotProgramItemActionPerformed
final int index = getProgramRow();
if (index > 0 && index < this.jTableProgram.getRowCount() - 1) {
MiddleCommandType cmdOrig = internal.getProgram().getMiddleCommand().get(index - 1);
BigInteger id = cmdOrig.getCommandID();
final List l
= this.internal
.getPoseList()
.stream()
.filter(x -> x.getLastCommandIdSent().compareTo(id) == 0)
.collect(Collectors.toList());
com.github.wshackle.poselist3dplot.MainJFrame
.showPoseList(l);
}
}//GEN-LAST:event_jButtonPlotProgramItemActionPerformed
private void jButtonResumeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonResumeActionPerformed
if (pauseTime > this.internal.getRunStartMillis()) {
this.internal.runStartMillis += (System.currentTimeMillis() - pauseTime);
pauseTime = -1;
}
internal.unpause();
this.jButtonResume.setEnabled(internal.isPaused());
this.jButtonProgramPause.setEnabled(internal.isRunningProgram());
jogWorldSpeedsSet = false;
}//GEN-LAST:event_jButtonResumeActionPerformed
private void jButtonProgramRunActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonProgramRunActionPerformed
this.clearProgramTimesDistances();
int new_poll_ms = Integer.valueOf(this.jTextFieldPollTime.getText());
internal.setPoll_ms(new_poll_ms);
internal.setWaitForDoneDelay(new_poll_ms);
internal.setStepMode(false);
internal.startRunProgramThread(0);
this.jButtonResume.setEnabled(internal.isPaused());
this.jButtonProgramPause.setEnabled(internal.isRunningProgram());
jogWorldSpeedsSet = false;
}//GEN-LAST:event_jButtonProgramRunActionPerformed
private void jButtonAddProgramItemActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonAddProgramItemActionPerformed
int index = getProgramRow();
if (index > 0 && index < this.jTableProgram.getRowCount() - 1) {
try {
Class clss = MiddleCommandType.class;
List availClasses = getAssignableClasses(clss,
ObjTableJPanel.getClasses());
Class ca[] = availClasses.toArray(new Class[availClasses.size()]);
Class selectedClss = ListChooserJPanel.Choose(this, "Type of new Item", ca, null);
if (selectedClss == null) {
showDebugMessage("Add Program Item cancelled. selectedClss == null");
return;
}
MiddleCommandType cmdOrig = (MiddleCommandType) selectedClss.newInstance();
MiddleCommandType cmdEdited
= (MiddleCommandType) ObjTableJPanel.editObject(cmdOrig,
internal.getXpu(),
internal.getCmdSchemaFiles(),
PendantClient.this.internal.getCheckCommandValidPredicate());
if (null == cmdEdited) {
showDebugMessage("Add Program Item cancelled. cmdEdited == null");
return;
}
internal.getProgram().getMiddleCommand().add(index - 1, cmdEdited);
this.showProgram(internal.getProgram());
this.showCurrentProgramLine(index);
} catch (InstantiationException | IllegalAccessException ex) {
LOGGER.log(Level.SEVERE, null, ex);
showMessage(ex);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
}//GEN-LAST:event_jButtonAddProgramItemActionPerformed
private void jButtonDeletProgramItemActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonDeletProgramItemActionPerformed
int index = getProgramRow();
if (index > 0 && index < this.jTableProgram.getRowCount() - 1) {
try {
internal.getProgram().getMiddleCommand().remove(index - 1);
this.showProgram(internal.getProgram());
this.showCurrentProgramLine(index);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
}//GEN-LAST:event_jButtonDeletProgramItemActionPerformed
private void jButtonEditProgramItemActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonEditProgramItemActionPerformed
int index = getProgramRow();
if (index > 0 && index < this.jTableProgram.getRowCount() - 1) {
try {
MiddleCommandType cmdOrig = internal.getProgram().getMiddleCommand().get(index - 1);
MiddleCommandType cmdEdited
= (MiddleCommandType) ObjTableJPanel.editObject(cmdOrig,
internal.getXpu(),
internal.getCmdSchemaFiles(),
PendantClient.this.internal.getCheckCommandValidPredicate());
if (null == cmdEdited) {
showDebugMessage("Edit Program Item cancelled. cmdEdited == null");
return;
}
internal.getProgram().getMiddleCommand().set(index - 1, cmdEdited);
this.showProgram(internal.getProgram());
this.showCurrentProgramLine(index);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
}//GEN-LAST:event_jButtonEditProgramItemActionPerformed
private void jButtonProgramAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonProgramAbortActionPerformed
pauseTime = System.currentTimeMillis();
internal.abort();
}//GEN-LAST:event_jButtonProgramAbortActionPerformed
private void jButtonProgramPauseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonProgramPauseActionPerformed
pauseTime = System.currentTimeMillis();
internal.pause();
this.jButtonResume.setEnabled(internal.isPaused());
this.jButtonProgramPause.setEnabled(internal.isRunningProgram());
jogWorldSpeedsSet = false;
}//GEN-LAST:event_jButtonProgramPauseActionPerformed
private void jTextAreaErrorsMouseClicked(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jTextAreaErrorsMouseClicked
if (evt.isPopupTrigger()) {
showErrorsPopup(evt);
}
}//GEN-LAST:event_jTextAreaErrorsMouseClicked
private void jTextAreaErrorsMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jTextAreaErrorsMousePressed
if (evt.isPopupTrigger()) {
showErrorsPopup(evt);
}
}//GEN-LAST:event_jTextAreaErrorsMousePressed
private void jTextAreaErrorsMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_jTextAreaErrorsMouseReleased
if (evt.isPopupTrigger()) {
showErrorsPopup(evt);
}
}//GEN-LAST:event_jTextAreaErrorsMouseReleased
public String getVersion() throws IOException {
try (BufferedReader br = new BufferedReader(new InputStreamReader(ClassLoader.getSystemResourceAsStream("version")))) {
StringBuilder sb = new StringBuilder();
String line = null;
while (null != (line = br.readLine())) {
sb.append(line);
}
sb.append("\nSchema versions = ").append(CRCLSocket.getSchemaVersions().toString());
return sb.toString();
}
}
private void jMenuItemAboutActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemAboutActionPerformed
try {
JOptionPane.showMessageDialog(this, getVersion());
} catch (IOException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jMenuItemAboutActionPerformed
private void showErrorsPopup(MouseEvent evt) {
JPopupMenu errorsPop = new JPopupMenu();
JMenuItem clearMi = new JMenuItem("Clear");
clearMi.addActionListener(e -> {
jTextAreaErrors.setText("");
errorsPop.setVisible(false);
});
errorsPop.add(clearMi);
errorsPop.show(evt.getComponent(), evt.getX(), evt.getY());
}
private static void scrollToVisible(JTable table, int rowIndex, int vColIndex) {
if (!(table.getParent() instanceof JViewport)) {
return;
}
JViewport viewport = (JViewport) table.getParent();
Rectangle rect = table.getCellRect(rowIndex, vColIndex, true);
Point pt = viewport.getViewPosition();
rect.setLocation(rect.x - pt.x, rect.y - pt.y);
viewport.scrollRectToVisible(rect);
}
public int getCurrentProgramLine() {
return jTableProgram.getSelectionModel().getMinSelectionIndex();
}
int programLineShowing = -1;
private void finishShowCurrentProgramLine(final int line) {
if (line != programLineShowing) {
final CRCLProgramType program = internal.getProgram();
if (null != program) {
if (getProgramRow() != line) {
jTableProgram.getSelectionModel().setSelectionInterval(line, line);
}
scrollToVisible(jTableProgram, line, 0);
jTableProgram.repaint();
jPanelProgram.revalidate();
jPanelProgram.repaint();
long endMillis
= (internal.getRunEndMillis() > 0 && internal.getRunEndMillis() > internal.getRunStartMillis())
? internal.getRunEndMillis() : System.currentTimeMillis();
double runTime = (endMillis - this.internal.getRunStartMillis()) / 1000.0;
this.jTextFieldRunTime.setText(String.format("%.1f", runTime));
if (line == 0) {
try {
InitCanonType cmd = program.getInitCanon();
String cmdString = this.internal.getTempCRCLSocket().commandToPrettyString(cmd);
showSelectedProgramCommand(cmdString);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
} else if (line > 0 && (null == program.getMiddleCommand())) {
try {
EndCanonType cmd = program.getEndCanon();
String cmdString = this.internal.getTempCRCLSocket().commandToPrettyString(cmd);
showSelectedProgramCommand(cmdString);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
} else if (line > 0 && line <= program.getMiddleCommand().size()) {
try {
MiddleCommandType cmd = program.getMiddleCommand().get(line - 1);
String cmdString = this.internal.getTempCRCLSocket().commandToPrettyString(cmd);
showSelectedProgramCommand(cmdString);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
} else if (line == program.getMiddleCommand().size() + 1) {
try {
EndCanonType cmd = program.getEndCanon();
String cmdString = this.internal.getTempCRCLSocket().commandToPrettyString(cmd);
showSelectedProgramCommand(cmdString);
} catch (JAXBException ex) {
Logger.getLogger(PendantClient.class.getName()).log(Level.SEVERE, null, ex);
}
}
if (null == overheadProgramPlotter) {
setOverheadProgramPlotter(new ProgramPlotter(ProgramPlotter.View.OVERHEAD));
}
if (null == sideProgramPlotter) {
setSideProgramPlotter(new ProgramPlotter(ProgramPlotter.View.SIDE));
}
programPlotterJPanelOverhead.setProgram(program);
programPlotterJPanelSide.setProgram(program);
programPlotterJPanelOverhead.setIndex(line);
programPlotterJPanelSide.setIndex(line);
programPlotterJPanelOverhead.repaint();
programPlotterJPanelSide.repaint();
} else {
showSelectedProgramCommand("No Program loaded.");
}
}
programLineShowing = line;
}
private void showSelectedProgramCommand(String cmdString) {
int endlineindex = cmdString.indexOf('\n');
if (endlineindex > 0 && endlineindex < cmdString.length()) {
cmdString = cmdString.substring(endlineindex + 1);
}
int instancestartindex = cmdString.indexOf("");
if (instancestartindex >= 0) {
cmdString = cmdString.substring(instancestartindex + "".length());
endlineindex = cmdString.indexOf('\n');
if (endlineindex > 0 && endlineindex < cmdString.length()) {
cmdString = cmdString.substring(endlineindex + 1);
}
}
int instanceendindex = cmdString.indexOf(" ");
if (instanceendindex > 0) {
cmdString = cmdString.substring(0, instanceendindex);
}
cmdString = cmdString.trim();
this.jTextAreaSelectedProgramCommand.setText(cmdString);
this.jTextAreaSelectedProgramCommand.setCaretPosition(0);
}
@Override
public void showCurrentProgramLine(final int line) {
if (line >= this.jTableProgram.getRowCount() || line < 0) {
return;
}
java.awt.EventQueue.invokeLater(new Runnable() {
@Override
public void run() {
finishShowCurrentProgramLine(line);
}
});
}
@Override
public boolean isEXISelected() {
return this.jCheckBoxMenuItemUseEXI.isSelected();
}
@Override
public boolean isUseReadStatusThreadSelected() {
return this.jCheckBoxMenuItemUseReadStatusThread.isSelected();
}
/**
* @param args the command line arguments
*/
public static void main(String args[]) {
/* Set the Nimbus look and feel */
//
/* If Nimbus (introduced in Java SE 6) is not available, stay with the default look and feel.
* For details see http://download.oracle.com/javase/tutorial/uiswing/lookandfeel/plaf.html
*/
try {
for (javax.swing.UIManager.LookAndFeelInfo info : javax.swing.UIManager.getInstalledLookAndFeels()) {
if ("Nimbus".equals(info.getName())) {
javax.swing.UIManager.setLookAndFeel(info.getClassName());
break;
}
}
} catch (ClassNotFoundException ex) {
LOGGER.log(java.util.logging.Level.SEVERE, null, ex);
} catch (InstantiationException ex) {
LOGGER.log(java.util.logging.Level.SEVERE, null, ex);
} catch (IllegalAccessException ex) {
LOGGER.log(java.util.logging.Level.SEVERE, null, ex);
} catch (javax.swing.UnsupportedLookAndFeelException ex) {
LOGGER.log(java.util.logging.Level.SEVERE, null, ex);
}
//
//
/* Create and display the form */
java.awt.EventQueue.invokeLater(new Runnable() {
@Override
public void run() {
try {
new PendantClient().setVisible(true);
} catch (ParserConfigurationException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
});
}
@Override
public boolean validateXmlSelected() {
return this.jCheckBoxMenuItemValidateXml.isSelected();
}
@Override
public boolean replaceStateSelected() {
return this.jCheckBoxMenuItemReplaceState.isSelected();
}
@Override
public String getHost() {
return this.jTextFieldHost.getText();
}
@Override
public int getPort() {
return Integer.valueOf(this.jTextFieldPort.getText());
}
@Override
public boolean isDebugWaitForDoneSelected() {
return this.jCheckBoxMenuItemDebugWaitForDone.isSelected();
}
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