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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 Statesm
* 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 com.github.wshackle.crcl4java.exi.CrclExiSocket;
import crcl.base.CRCLCommandInstanceType;
import crcl.base.CRCLCommandType;
import crcl.base.CRCLStatusType;
import crcl.base.CommandStateEnumType;
import crcl.base.GetStatusType;
import crcl.base.JointStatusType;
import crcl.base.JointStatusesType;
import crcl.base.LengthUnitEnumType;
import crcl.base.PoseType;
import static crcl.ui.IconImages.SERVER_IMAGE;
import crcl.utils.CRCLSocket;
import crcl.utils.CRCLException;
import crcl.utils.SimRobotEnum;
import crcl.utils.SimServerOuter;
import java.awt.event.MouseEvent;
import java.io.BufferedReader;
import java.io.File;
import java.io.IOException;
import java.io.InputStreamReader;
import java.math.BigInteger;
import java.nio.file.Files;
import java.util.List;
import java.util.Objects;
import java.util.function.Predicate;
import java.util.logging.Level;
import java.util.logging.Logger;
import java.util.stream.Collectors;
import javax.swing.DefaultComboBoxModel;
import javax.swing.JFileChooser;
import javax.swing.JMenuItem;
import javax.swing.JOptionPane;
import javax.swing.JPopupMenu;
import javax.swing.filechooser.FileNameExtensionFilter;
import javax.xml.bind.JAXBException;
import javax.xml.parsers.DocumentBuilderFactory;
import javax.xml.parsers.ParserConfigurationException;
import org.xml.sax.SAXException;
import org.xml.sax.XMLReader;
/**
*
* @author Will Shackleford{@literal }
*/
public class SimServer extends javax.swing.JFrame implements SimServerOuter {
String tempDir = "/tmp";
private final static SimRobotEnum DEFAULT_ROBOTTYPE = SimRobotEnum.valueOf(System.getProperty("crcl4java.simserver.robottype", SimRobotEnum.SIMPLE.toString()));
/**
* Creates new form SimServer
*
* @throws javax.xml.parsers.ParserConfigurationException when
* javax.xml.parsers.DocumentBuilderFactory fails in XpathUtils
*/
public SimServer() throws ParserConfigurationException {
initComponents();
SimRobotEnum defaultRobotType
= DEFAULT_ROBOTTYPE;
this.inner = new SimServerInner(this);
java.awt.EventQueue.invokeLater(() -> this.updatePanelsPrivate());
this.lengthUnitComboBox.setSelectedItem(LengthUnitEnumType.MILLIMETER);
for (SimRobotEnum srType : SimRobotEnum.values()) {
this.setRobotType(SimRobotEnum.PLAUSIBLE);
inner.setLengthUnit(LengthUnitEnumType.MILLIMETER);
}
this.jComboBoxRobotType.setModel(new DefaultComboBoxModel<>(SimRobotEnum.values()));
this.jComboBoxRobotType.setSelectedItem(defaultRobotType);
this.setRobotType(defaultRobotType);
this.setStatSchema(CRCLSocket.readStatSchemaFiles(SimServer.statSchemasFile));
this.setCmdSchema(CRCLSocket.readCmdSchemaFiles(SimServer.cmdSchemasFile));
String portPropertyString = System.getProperty("crcl4java.port");
if (null != portPropertyString) {
inner.setPort(Integer.valueOf(portPropertyString));
this.jTextFieldPort.setText(portPropertyString);
} else {
this.jTextFieldPort.setText(Integer.toString(inner.getPort()));
}
inner.restartServer();
try {
String imageLogDirProp = System.getProperty("crcl4java.simserver.imagelogdir");
File imageLogDir = null;
if (imageLogDirProp != null && imageLogDirProp.length() > 0) {
imageLogDir = new File(imageLogDirProp);
if (!imageLogDir.exists()
|| !imageLogDir.isDirectory()
|| !imageLogDir.canWrite()) {
Logger.getLogger(SimServer.class.getName()).log(Level.SEVERE, "Can''t use tempDir from property temp.dir {0}", imageLogDir);
imageLogDir = null;
}
}
if (null == imageLogDir) {
File testTempFile = File.createTempFile("test", "suffix");
imageLogDir = testTempFile.getParentFile();
Files.delete(testTempFile.toPath());
}
String imageLogDirPath = imageLogDir.getCanonicalPath();
this.overHeadJPanel1.setImageLogDir(imageLogDirPath);
this.sideViewJPanel1.setImageLogDir(imageLogDirPath);
} catch (IOException ex) {
Logger.getLogger(SimServer.class.getName()).log(Level.SEVERE, null, ex);
}
boolean logImages = LOG_IMAGES_DEFAULT;
this.jCheckBoxMenuItemLogImages.setSelected(logImages);
this.overHeadJPanel1.setLogImages(logImages);
this.sideViewJPanel1.setLogImages(logImages);
this.jCheckBoxTeleportToGoals.setSelected(inner.isTeleportToGoals());
this.setIconImage(SERVER_IMAGE);
}
private static final boolean LOG_IMAGES_DEFAULT = Boolean.getBoolean("crcl4java.simserver.logimages");
private boolean toolChangerOpen;
/**
* Get the value of toolChangerOpen
*
* @return the value of toolChangerOpen
*/
public boolean isToolChangerOpen() {
return toolChangerOpen;
}
/**
* Set the value of toolChangerOpen
*
* @param toolChangerOpen new value of toolChangerOpen
*/
public void setToolChangerOpen(boolean toolChangerOpen) {
this.toolChangerOpen = toolChangerOpen;
}
/**
* 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() {
jSplitPane1 = new javax.swing.JSplitPane();
jPanel1 = new javax.swing.JPanel();
overHeadJPanel1 = new crcl.ui.OverHeadJPanel();
jPanel2 = new javax.swing.JPanel();
sideViewJPanel1 = new crcl.ui.SideViewJPanel();
jPanel3 = new javax.swing.JPanel();
jScrollPane1 = new javax.swing.JScrollPane();
jTextAreaErrors = new javax.swing.JTextArea();
jPanel4 = new javax.swing.JPanel();
jLabel1 = new javax.swing.JLabel();
jTextFieldPort = new javax.swing.JTextField();
jLabel3 = new javax.swing.JLabel();
jTextFieldCycleTime = new javax.swing.JTextField();
jButtonReset = new javax.swing.JButton();
jCheckBoxInitialized = new javax.swing.JCheckBox();
jCheckBoxSendStatusWithoutRequest = new javax.swing.JCheckBox();
jButtonRestartServer = new javax.swing.JButton();
jComboBoxRobotType = new javax.swing.JComboBox<>();
jCheckBoxTeleportToGoals = new javax.swing.JCheckBox();
jPanel5 = new javax.swing.JPanel();
jLabel2 = new javax.swing.JLabel();
jLabel4 = new javax.swing.JLabel();
jTextFieldConnectedClients = new javax.swing.JTextField();
jTextFieldCycleCount = new javax.swing.JTextField();
jLabel5 = new javax.swing.JLabel();
jTextFieldNumWaypoints = new javax.swing.JTextField();
jLabel6 = new javax.swing.JLabel();
jTextFieldCurWaypoint = new javax.swing.JTextField();
jLabel7 = new javax.swing.JLabel();
jLabel8 = new javax.swing.JLabel();
jTextFieldEndEffector = new javax.swing.JTextField();
jLabel9 = new javax.swing.JLabel();
jTextFieldCurrentCommandType = new javax.swing.JTextField();
lengthUnitComboBox = new crcl.ui.LengthUnitComboBox();
jMenuBar1 = new javax.swing.JMenuBar();
jMenu1 = new javax.swing.JMenu();
jMenuItemExit = new javax.swing.JMenuItem();
jMenu2 = new javax.swing.JMenu();
jMenuItemEditStatus = new javax.swing.JMenuItem();
jMenu3 = new javax.swing.JMenu();
jMenuItemSetSchema = new javax.swing.JMenuItem();
jCheckBoxMenuItemValidateXML = new javax.swing.JCheckBoxMenuItem();
jMenu4 = new javax.swing.JMenu();
jCheckBoxMenuItemRandomPacket = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemAppendZero = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemIncludeGripperStatus = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemReplaceState = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemDebugMoveDone = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemDebugReadCommand = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemDebugSendStatus = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemReplaceXmlHeader = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemEXI = new javax.swing.JCheckBoxMenuItem();
jCheckBoxMenuItemLogImages = new javax.swing.JCheckBoxMenuItem();
jMenuItemAbout = new javax.swing.JMenuItem();
jMenu5 = new javax.swing.JMenu();
jMenuItemViewCommandLogBrief = new javax.swing.JMenuItem();
jMenuItemViewCommandLogFull = new javax.swing.JMenuItem();
FormListener formListener = new FormListener();
setDefaultCloseOperation(javax.swing.WindowConstants.EXIT_ON_CLOSE);
setTitle("CRCL SImulation Server");
jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Overhead View"));
jPanel1.setLayout(new java.awt.BorderLayout());
javax.swing.GroupLayout overHeadJPanel1Layout = new javax.swing.GroupLayout(overHeadJPanel1);
overHeadJPanel1.setLayout(overHeadJPanel1Layout);
overHeadJPanel1Layout.setHorizontalGroup(
overHeadJPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 232, Short.MAX_VALUE)
);
overHeadJPanel1Layout.setVerticalGroup(
overHeadJPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 250, Short.MAX_VALUE)
);
jPanel1.add(overHeadJPanel1, java.awt.BorderLayout.CENTER);
jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Side View"));
jPanel2.setLayout(new java.awt.BorderLayout());
javax.swing.GroupLayout sideViewJPanel1Layout = new javax.swing.GroupLayout(sideViewJPanel1);
sideViewJPanel1.setLayout(sideViewJPanel1Layout);
sideViewJPanel1Layout.setHorizontalGroup(
sideViewJPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 232, Short.MAX_VALUE)
);
sideViewJPanel1Layout.setVerticalGroup(
sideViewJPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 251, Short.MAX_VALUE)
);
jPanel2.add(sideViewJPanel1, java.awt.BorderLayout.CENTER);
jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Errors and Messages"));
jTextAreaErrors.setColumns(20);
jTextAreaErrors.setLineWrap(true);
jTextAreaErrors.setRows(5);
jTextAreaErrors.addMouseListener(formListener);
jScrollPane1.setViewportView(jTextAreaErrors);
javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3);
jPanel3.setLayout(jPanel3Layout);
jPanel3Layout.setHorizontalGroup(
jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPane1)
.addContainerGap())
);
jPanel3Layout.setVerticalGroup(
jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel3Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 110, Short.MAX_VALUE)
.addContainerGap())
);
jPanel4.setBorder(javax.swing.BorderFactory.createTitledBorder("Setup"));
jLabel1.setText("Port: ");
jTextFieldPort.setText("64444");
jTextFieldPort.addActionListener(formListener);
jLabel3.setText("Cycle Time (ms): ");
jTextFieldCycleTime.setText("100");
jTextFieldCycleTime.addActionListener(formListener);
jButtonReset.setText("Reset");
jButtonReset.addActionListener(formListener);
jCheckBoxInitialized.setText("Initialized");
jCheckBoxInitialized.addActionListener(formListener);
jCheckBoxSendStatusWithoutRequest.setText("Send Status Without Requests");
jButtonRestartServer.setText("Restart Server");
jButtonRestartServer.addActionListener(formListener);
jComboBoxRobotType.addActionListener(formListener);
jCheckBoxTeleportToGoals.setText("Teleport to Goals");
jCheckBoxTeleportToGoals.addActionListener(formListener);
javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4);
jPanel4.setLayout(jPanel4Layout);
jPanel4Layout.setHorizontalGroup(
jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel4Layout.createSequentialGroup()
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addGroup(jPanel4Layout.createSequentialGroup()
.addGap(0, 0, Short.MAX_VALUE)
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel4Layout.createSequentialGroup()
.addGap(12, 12, 12)
.addComponent(jCheckBoxSendStatusWithoutRequest))
.addGroup(jPanel4Layout.createSequentialGroup()
.addComponent(jButtonReset)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonRestartServer)))
.addGap(12, 12, 12))
.addGroup(jPanel4Layout.createSequentialGroup()
.addGap(12, 12, 12)
.addComponent(jCheckBoxInitialized)
.addGap(0, 0, Short.MAX_VALUE)))
.addContainerGap(92, Short.MAX_VALUE))
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel4Layout.createSequentialGroup()
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jComboBoxRobotType, javax.swing.GroupLayout.PREFERRED_SIZE, 116, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap())
.addGroup(jPanel4Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel4Layout.createSequentialGroup()
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel1)
.addComponent(jLabel3))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 15, Short.MAX_VALUE)
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(jTextFieldCycleTime)
.addComponent(jTextFieldPort, javax.swing.GroupLayout.DEFAULT_SIZE, 199, Short.MAX_VALUE))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addGroup(jPanel4Layout.createSequentialGroup()
.addComponent(jCheckBoxTeleportToGoals)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))))
);
jPanel4Layout.setVerticalGroup(
jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel4Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel1)
.addComponent(jTextFieldPort, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel3)
.addComponent(jTextFieldCycleTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonReset)
.addComponent(jButtonRestartServer)
.addComponent(jComboBoxRobotType, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jCheckBoxInitialized)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jCheckBoxSendStatusWithoutRequest)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jCheckBoxTeleportToGoals))
);
jPanel5.setBorder(javax.swing.BorderFactory.createTitledBorder("Status"));
jLabel2.setText("Connected Clients: ");
jLabel4.setText("Cycle Count:");
jTextFieldConnectedClients.setEditable(false);
jTextFieldConnectedClients.setText("0");
jTextFieldCycleCount.setEditable(false);
jTextFieldCycleCount.setText("0");
jLabel5.setText("Number of Waypoints: ");
jTextFieldNumWaypoints.setEditable(false);
jTextFieldNumWaypoints.setText("0");
jLabel6.setText("Current Waypoint:");
jTextFieldCurWaypoint.setEditable(false);
jTextFieldCurWaypoint.setText("0");
jLabel7.setText("Length Units: ");
jLabel8.setText("End Effector: ");
jLabel9.setText("Current Commant Type:");
lengthUnitComboBox.addActionListener(formListener);
javax.swing.GroupLayout jPanel5Layout = new javax.swing.GroupLayout(jPanel5);
jPanel5.setLayout(jPanel5Layout);
jPanel5Layout.setHorizontalGroup(
jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createSequentialGroup()
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel5)
.addComponent(jLabel4)
.addComponent(jLabel6)
.addComponent(jLabel8)
.addComponent(jLabel2)
.addComponent(jLabel9)))
.addGroup(jPanel5Layout.createSequentialGroup()
.addGap(12, 12, 12)
.addComponent(jLabel7)))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTextFieldEndEffector, javax.swing.GroupLayout.PREFERRED_SIZE, 94, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldCurrentCommandType, javax.swing.GroupLayout.PREFERRED_SIZE, 94, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldCurWaypoint, javax.swing.GroupLayout.PREFERRED_SIZE, 94, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldNumWaypoints, javax.swing.GroupLayout.PREFERRED_SIZE, 94, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldCycleCount, javax.swing.GroupLayout.PREFERRED_SIZE, 94, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jTextFieldConnectedClients, javax.swing.GroupLayout.PREFERRED_SIZE, 139, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(lengthUnitComboBox, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jTextFieldConnectedClients, jTextFieldCurWaypoint, jTextFieldCurrentCommandType, jTextFieldCycleCount, jTextFieldEndEffector, jTextFieldNumWaypoints});
jPanel5Layout.setVerticalGroup(
jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createSequentialGroup()
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel2)
.addComponent(jTextFieldConnectedClients, javax.swing.GroupLayout.PREFERRED_SIZE, 30, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel4)
.addComponent(jTextFieldCycleCount, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel5)
.addComponent(jTextFieldNumWaypoints, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jTextFieldCurWaypoint, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel6))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel9)
.addComponent(jTextFieldCurrentCommandType, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGap(12, 12, 12)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTextFieldEndEffector, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel8))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(lengthUnitComboBox, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel7))
.addContainerGap(30, Short.MAX_VALUE))
);
jMenu1.setText("File");
jMenuItemExit.setText("Exit");
jMenuItemExit.addActionListener(formListener);
jMenu1.add(jMenuItemExit);
jMenuBar1.add(jMenu1);
jMenu2.setText("Edit");
jMenuItemEditStatus.setText("Status in Table ...");
jMenuItemEditStatus.addActionListener(formListener);
jMenu2.add(jMenuItemEditStatus);
jMenuBar1.add(jMenu2);
jMenu3.setText("XML Schemas");
jMenuItemSetSchema.setText("Set Schema File(s) ... ");
jMenuItemSetSchema.addActionListener(formListener);
jMenu3.add(jMenuItemSetSchema);
jCheckBoxMenuItemValidateXML.setSelected(true);
jCheckBoxMenuItemValidateXML.setText("Validate XML with Schema(s)");
jMenu3.add(jCheckBoxMenuItemValidateXML);
jMenuBar1.add(jMenu3);
jMenu4.setText("Options");
jCheckBoxMenuItemRandomPacket.setText("Randomize Packeting");
jMenu4.add(jCheckBoxMenuItemRandomPacket);
jCheckBoxMenuItemAppendZero.setText("Append 0 for string termination");
jMenu4.add(jCheckBoxMenuItemAppendZero);
jCheckBoxMenuItemIncludeGripperStatus.setText("Connect to Gripper Server ...");
jCheckBoxMenuItemIncludeGripperStatus.addActionListener(formListener);
jMenu4.add(jCheckBoxMenuItemIncludeGripperStatus);
jCheckBoxMenuItemReplaceState.setText("Replace CRCL_Working,CRCL_Done with Working,Done ...");
jMenu4.add(jCheckBoxMenuItemReplaceState);
jCheckBoxMenuItemDebugMoveDone.setText("Debug MOVE Done");
jMenu4.add(jCheckBoxMenuItemDebugMoveDone);
jCheckBoxMenuItemDebugReadCommand.setText("Debug Read Command");
jMenu4.add(jCheckBoxMenuItemDebugReadCommand);
jCheckBoxMenuItemDebugSendStatus.setText("Debug Send Status");
jMenu4.add(jCheckBoxMenuItemDebugSendStatus);
jCheckBoxMenuItemReplaceXmlHeader.setSelected(true);
jCheckBoxMenuItemReplaceXmlHeader.setText("Replace XML Headers");
jMenu4.add(jCheckBoxMenuItemReplaceXmlHeader);
jCheckBoxMenuItemEXI.setText("Use EXI (Efficient XML Interchange)");
jCheckBoxMenuItemEXI.addActionListener(formListener);
jMenu4.add(jCheckBoxMenuItemEXI);
jCheckBoxMenuItemLogImages.setText("Log Images");
jCheckBoxMenuItemLogImages.addActionListener(formListener);
jMenu4.add(jCheckBoxMenuItemLogImages);
jMenuItemAbout.setText("About");
jMenuItemAbout.addActionListener(formListener);
jMenu4.add(jMenuItemAbout);
jMenuBar1.add(jMenu4);
jMenu5.setText("Tools");
jMenuItemViewCommandLogBrief.setText("View Command Log Brief");
jMenuItemViewCommandLogBrief.addActionListener(formListener);
jMenu5.add(jMenuItemViewCommandLogBrief);
jMenuItemViewCommandLogFull.setText("View Command Log Full");
jMenuItemViewCommandLogFull.addActionListener(formListener);
jMenu5.add(jMenuItemViewCommandLogFull);
jMenuBar1.add(jMenu5);
setJMenuBar(jMenuBar1);
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)
.addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(layout.createSequentialGroup()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(jPanel4, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))))
.addContainerGap())
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE))
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap())
);
pack();
}
// Code for dispatching events from components to event handlers.
private class FormListener implements java.awt.event.ActionListener, java.awt.event.MouseListener {
FormListener() {}
public void actionPerformed(java.awt.event.ActionEvent evt) {
if (evt.getSource() == jTextFieldPort) {
SimServer.this.jTextFieldPortActionPerformed(evt);
}
else if (evt.getSource() == jTextFieldCycleTime) {
SimServer.this.jTextFieldCycleTimeActionPerformed(evt);
}
else if (evt.getSource() == jButtonReset) {
SimServer.this.jButtonResetActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxInitialized) {
SimServer.this.jCheckBoxInitializedActionPerformed(evt);
}
else if (evt.getSource() == jButtonRestartServer) {
SimServer.this.jButtonRestartServerActionPerformed(evt);
}
else if (evt.getSource() == jComboBoxRobotType) {
SimServer.this.jComboBoxRobotTypeActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxTeleportToGoals) {
SimServer.this.jCheckBoxTeleportToGoalsActionPerformed(evt);
}
else if (evt.getSource() == lengthUnitComboBox) {
SimServer.this.lengthUnitComboBoxActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemExit) {
SimServer.this.jMenuItemExitActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemEditStatus) {
SimServer.this.jMenuItemEditStatusActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemSetSchema) {
SimServer.this.jMenuItemSetSchemaActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemIncludeGripperStatus) {
SimServer.this.jCheckBoxMenuItemIncludeGripperStatusActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemEXI) {
SimServer.this.jCheckBoxMenuItemEXIActionPerformed(evt);
}
else if (evt.getSource() == jCheckBoxMenuItemLogImages) {
SimServer.this.jCheckBoxMenuItemLogImagesActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemViewCommandLogBrief) {
SimServer.this.jMenuItemViewCommandLogBriefActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemViewCommandLogFull) {
SimServer.this.jMenuItemViewCommandLogFullActionPerformed(evt);
}
else if (evt.getSource() == jMenuItemAbout) {
SimServer.this.jMenuItemAboutActionPerformed(evt);
}
}
public void mouseClicked(java.awt.event.MouseEvent evt) {
if (evt.getSource() == jTextAreaErrors) {
SimServer.this.jTextAreaErrorsMouseClicked(evt);
}
}
public void mouseEntered(java.awt.event.MouseEvent evt) {
}
public void mouseExited(java.awt.event.MouseEvent evt) {
}
public void mousePressed(java.awt.event.MouseEvent evt) {
if (evt.getSource() == jTextAreaErrors) {
SimServer.this.jTextAreaErrorsMousePressed(evt);
}
}
public void mouseReleased(java.awt.event.MouseEvent evt) {
if (evt.getSource() == jTextAreaErrors) {
SimServer.this.jTextAreaErrorsMouseReleased(evt);
}
}
}// //GEN-END:initComponents
private boolean editing_status = false;
// public String getDocumentation(String name) throws SAXException, IOException, XPathExpressionException, ParserConfigurationException {
// return xpu.queryXml(statSchemaFiles, "/schema/complexType[@name=\""+name+"\"]/annotation/documentation/text()");
// }
final SimServerInner inner;
@Override
public boolean isValidateXMLSelected() {
return jCheckBoxMenuItemValidateXML.isSelected();
}
private CRCLStatusType getStatus() {
return inner.getStatus();
}
private void jMenuItemEditStatusActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemEditStatusActionPerformed
this.editing_status = true;
try {
CRCLStatusType newstat = ObjTableJPanel.editObject(this.getStatus(),
this, "Edit Status", true,
inner.getXpu(),
null,
this.checkStatusValidPredicate);
if (null != newstat) {
inner.setStatus(newstat);
JointStatusesType jsst = this.getStatus().getJointStatuses();
if (null == jsst) {
return;
}
List jsl = jsst.getJointStatus();
for (JointStatusType jst : jsl) {
int jvindex = jst.getJointNumber().intValue() - 1;
double pos = jst.getJointPosition().doubleValue();
inner.setJointPosition(pos, jvindex);
inner.setCommandedJointPosition(pos, jvindex);
}
this.updatePanels(true);
}
} catch (Exception e) {
e.printStackTrace();
} finally {
this.editing_status = false;
}
}//GEN-LAST:event_jMenuItemEditStatusActionPerformed
private void jMenuItemExitActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemExitActionPerformed
System.exit(0);
}//GEN-LAST:event_jMenuItemExitActionPerformed
private void jMenuItemSetSchemaActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemSetSchemaActionPerformed
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();
setCmdSchema(fa);
CRCLSocket.saveCmdSchemaFiles(SimServer.cmdSchemasFile, fa);
setStatSchema(fa);
CRCLSocket.saveStatSchemaFiles(SimServer.statSchemasFile, fa);
}
}//GEN-LAST:event_jMenuItemSetSchemaActionPerformed
private void sideViewJPanel1ComponentResized(java.awt.event.ComponentEvent evt) {//GEN-FIRST:event_sideViewJPanel1ComponentResized
this.updatePanels(true);
}//GEN-LAST:event_sideViewJPanel1ComponentResized
private CrclExiSocket gripperSocket = null;
private Thread gripperReadThread = null;
private int gripperPort = 4005;
private String gripperHost = "localhost";
private boolean sendGripperStatusRequests = true;
private void closeGripperSocket() {
if (null != gripperSocket) {
try {
gripperSocket.close();
gripperSocket = null;
this.inner.setGripperSocket(gripperSocket);
} catch (IOException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
if (null != gripperReadThread) {
try {
gripperReadThread.interrupt();
gripperReadThread.join(100);
gripperReadThread = null;
} catch (InterruptedException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
}
public static final Logger LOGGER = Logger.getLogger(SimServer.class.getName());
private void jCheckBoxMenuItemIncludeGripperStatusActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemIncludeGripperStatusActionPerformed
if (this.jCheckBoxMenuItemIncludeGripperStatus.isSelected()) {
try {
this.closeGripperSocket();
String gripperPortString = JOptionPane.showInputDialog(this, "Gripper Server Port?", this.gripperPort);
gripperPort = Integer.valueOf(gripperPortString);
String gripperHostString = JOptionPane.showInputDialog(this, "Gripper Server Host?", this.gripperHost);
gripperPort = Integer.valueOf(gripperPortString);
sendGripperStatusRequests = (JOptionPane.showConfirmDialog(this, "Send status requests?") == JOptionPane.YES_OPTION);
this.gripperSocket = new CrclExiSocket(gripperHost, gripperPort);
this.gripperReadThread = new Thread(new Runnable() {
@Override
public void run() {
try {
GetStatusType getStatus = new GetStatusType();
getStatus.setCommandID(BigInteger.ONE);
CRCLCommandInstanceType cmdInstance = new CRCLCommandInstanceType();
cmdInstance.setCRCLCommand(getStatus);
while (!Thread.currentThread().isInterrupted()) {
CRCLCommandInstanceType gripperCmd = inner.getGripperCmdQueue().poll();
if (null != gripperCmd) {
gripperSocket.writeCommand(gripperCmd);
}
if (sendGripperStatusRequests) {
Thread.sleep(inner.getDelayMillis());
getStatus.setCommandID(getStatus.getCommandID().add(BigInteger.ONE));
gripperSocket.writeCommand(cmdInstance, false);
}
CRCLStatusType gripperStatus
= gripperSocket.readStatus(jCheckBoxMenuItemValidateXML.isSelected());
SimServer.this.getStatus().setGripperStatus(gripperStatus.getGripperStatus());
}
} catch (CRCLException ex) {
LOGGER.log(Level.SEVERE, null, ex);
showMessage(ex);
} catch (InterruptedException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
}, "simServerReadGripperThread");
gripperReadThread.start();
this.inner.setGripperSocket(gripperSocket);
} catch (IOException | CRCLException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
}//GEN-LAST:event_jCheckBoxMenuItemIncludeGripperStatusActionPerformed
private void setRobotType(SimRobotEnum robotType) {
this.inner.setRobotType(robotType);
this.overHeadJPanel1.setJointvals(inner.getJointPositions());
this.sideViewJPanel1.setJointvals(inner.getJointPositions());
this.overHeadJPanel1.setSeglengths(inner.getSeglengths());
this.sideViewJPanel1.setSeglengths(inner.getSeglengths());
this.overHeadJPanel1.setRobotType(robotType);
this.sideViewJPanel1.setRobotType(robotType);
this.updatePanels(true);
}
private void jCheckBoxMenuItemEXIActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemEXIActionPerformed
inner.restartServer();
}//GEN-LAST:event_jCheckBoxMenuItemEXIActionPerformed
public R apply(TryFunction f, T b) {
try {
return f.apply(b);
} catch (Exception ex) {
Logger.getLogger(SimServer.class.getName()).log(Level.SEVERE, null, ex);
}
return null;
}
private static interface TryFunction {
public R apply(T o) throws Exception;
};
private void jMenuItemViewCommandLogBriefActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemViewCommandLogBriefActionPerformed
List l = inner.getCmdLog();
final CRCLSocket s = this.inner.getCheckerCRCLSocket();
String string = l.stream()
.map(c -> apply(s::commandToSimpleString, c))
.filter(Objects::nonNull)
.collect(Collectors.joining("\n"));
this.showMessage(string);
}//GEN-LAST:event_jMenuItemViewCommandLogBriefActionPerformed
private void jMenuItemViewCommandLogFullActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jMenuItemViewCommandLogFullActionPerformed
List l = inner.getCmdLog();
final CRCLSocket s = this.inner.getCheckerCRCLSocket();
String string = l.stream()
.map((CRCLCommandType c) -> s.commandToPrettyString(c, ""))
.filter(Objects::nonNull)
.collect(Collectors.joining("\n"));
this.showMessage(string);
}//GEN-LAST:event_jMenuItemViewCommandLogFullActionPerformed
private void jCheckBoxMenuItemLogImagesActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxMenuItemLogImagesActionPerformed
this.overHeadJPanel1.setLogImages(this.jCheckBoxMenuItemLogImages.isSelected());
this.sideViewJPanel1.setLogImages(this.jCheckBoxMenuItemLogImages.isSelected());
}//GEN-LAST:event_jCheckBoxMenuItemLogImagesActionPerformed
private void jComboBoxRobotTypeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jComboBoxRobotTypeActionPerformed
SimRobotEnum robotType = SimRobotEnum.valueOf(this.jComboBoxRobotType.getSelectedItem().toString());
this.setRobotType(robotType);
}//GEN-LAST:event_jComboBoxRobotTypeActionPerformed
private void jButtonRestartServerActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonRestartServerActionPerformed
int new_port = Integer.valueOf(this.jTextFieldPort.getText());
new Thread(() -> {
inner.setPort(new_port);
inner.restartServer();
}).start();
}//GEN-LAST:event_jButtonRestartServerActionPerformed
private void jButtonResetActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonResetActionPerformed
inner.reset();
this.updatePanels(true);
}//GEN-LAST:event_jButtonResetActionPerformed
private void jTextFieldCycleTimeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldCycleTimeActionPerformed
long newDelayMillis = Long.valueOf(this.jTextFieldCycleTime.getText());
inner.setDelayMillis(newDelayMillis);
}//GEN-LAST:event_jTextFieldCycleTimeActionPerformed
private void jTextFieldPortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jTextFieldPortActionPerformed
int new_port = Integer.valueOf(this.jTextFieldPort.getText());
inner.setPort(new_port);
inner.restartServer();
}//GEN-LAST:event_jTextFieldPortActionPerformed
private void lengthUnitComboBoxActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_lengthUnitComboBoxActionPerformed
if (this.inner.getLengthUnit() != lengthUnitComboBox.getSelectedItem()) {
this.inner.setLengthUnit(lengthUnitComboBox.getSelectedItem());
}
}//GEN-LAST:event_lengthUnitComboBoxActionPerformed
private void jCheckBoxInitializedActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxInitializedActionPerformed
if (this.jCheckBoxInitialized.isSelected()) {
this.inner.initialize();
}
}//GEN-LAST:event_jCheckBoxInitializedActionPerformed
private void jCheckBoxTeleportToGoalsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jCheckBoxTeleportToGoalsActionPerformed
this.inner.setTeleportToGoals(this.jCheckBoxTeleportToGoals.isSelected());
}//GEN-LAST:event_jCheckBoxTeleportToGoalsActionPerformed
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(SimServer.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());
}
@Override
public boolean isEXISelected() {
return this.jCheckBoxMenuItemEXI.isSelected();
}
private final static File cmdSchemasFile = new File(System.getProperty("user.home"),
".crcljava_simserver_cmd_schemas.txt");
private final static File statSchemasFile = new File(System.getProperty("user.home"),
".crcljava_simserver_stat_schemas.txt");
private void setCmdSchema(File[] fa) {
inner.setCmdSchema(fa);
}
private void setStatSchema(File[] fa) {
inner.setStatSchema(fa);
}
// public String getStatusXmlString() {
// try {
// StringWriter sw = new StringWriter();
// JAXBContext jc = JAXBContext.newInstance("crcl");
// Marshaller m = jc.createMarshaller();
// m.setProperty(Marshaller.JAXB_FRAGMENT, true);
// m.marshal(jaxb_status, sw);
// return sw.toString();
// } catch (JAXBException ex) {
// Logger.getLogger(SimServer.class.getName()).log(Level.SEVERE, null, ex);
// }
// return null;
// }
// JointControlModeEnumType controlmodes[] = new JointControlModeEnumType[]{
// JointControlModeEnumType.POSITION,
// JointControlModeEnumType.POSITION,
// JointControlModeEnumType.POSITION,
// JointControlModeEnumType.POSITION,
// JointControlModeEnumType.POSITION,
// JointControlModeEnumType.POSITION,};
public void setCommandState(CommandStateEnumType state) {
inner.setCommandState(state);
}
public CommandStateEnumType getCommandState() {
return inner.getCommandState();
}
public boolean checkPose(PoseType goalPose) {
return inner.checkPose(goalPose);
}
@Override
public boolean isAppendZeroSelected() {
return this.jCheckBoxMenuItemAppendZero.isSelected();
}
@Override
public boolean isReplaceXmlHeaderSelected() {
return this.jCheckBoxMenuItemReplaceXmlHeader.isSelected();
}
@Override
public boolean isRandomPacketSelected() {
return this.jCheckBoxMenuItemRandomPacket.isSelected();
}
@Override
public boolean isReplaceStateSelected() {
return this.jCheckBoxMenuItemReplaceState.isSelected();
}
@Override
public boolean isEditingStatus() {
return this.editing_status;
}
@Override
public void updateCycleCount(int _newCycleCount) {
this.jTextFieldCycleCount.setText(Integer.toString(_newCycleCount));
}
private final Predicate checkStatusValidPredicate = new Predicate() {
@Override
public boolean test(CRCLStatusType t) {
return checkStatusValid(t);
}
};
// = this::checkStatusValid;
public boolean checkStatusValid(CRCLStatusType statusObj) {
try {
String s = inner.getCheckerCRCLSocket().statusToPrettyString(statusObj, true);
return MultiLineStringJPanel.showText(s);
} catch (JAXBException ex) {
LOGGER.log(Level.SEVERE, null, ex);
showMessage(ex);
}
return false;
}
@Override
public boolean isSendStatusWithoutRequestSelected() {
return jCheckBoxSendStatusWithoutRequest.isSelected();
}
public void showMessage(Throwable t) {
showMessage(t.toString());
}
private volatile long last_message_show_time = 0;
@Override
public void showDebugMessage(final String s) {
final String sWithThread = "Thread:" + Thread.currentThread().getName() + " \n" + s;
LOGGER.log(Level.FINE, sWithThread);
java.awt.EventQueue.invokeLater(new Runnable() {
@Override
public void run() {
jTextAreaErrors.setText(jTextAreaErrors.getText() + "\n" + sWithThread);
}
});
}
@Override
public void updateNumWaypoints(int numWaypoints) {
this.jTextFieldNumWaypoints.setText(Integer.toString(numWaypoints));
}
@Override
public void showMessage(final String s) {
showDebugMessage(s);
inner.setStateDescription(s);
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 > 500) {
last_message_show_time = System.currentTimeMillis();
MultiLineStringJPanel.showText(s, SimServer.this, "SimServer Message", true);
}
last_message_show_time = System.currentTimeMillis();
showing_message = false;
}
});
}
private void updatePanelsPrivate() {
this.overHeadJPanel1.setJointvals(inner.getJointPositions());
this.overHeadJPanel1.setSeglengths(inner.getSeglengths());
this.overHeadJPanel1.repaint();
this.sideViewJPanel1.setJointvals(inner.getJointPositions());
this.sideViewJPanel1.repaint();
}
@Override
public void updatePanels(boolean jointschanged) {
if (jointschanged) {
updatePanelsPrivate();
}
}
@Override
public void finishSetCurrentWaypoint(int currentWaypoint) {
this.jTextFieldCurWaypoint.setText(Integer.toString(currentWaypoint));
}
@Override
public void updateIsInitialized(boolean initialized) {
this.jCheckBoxInitialized.setSelected(initialized);
}
@Override
public void updateCurrentCommandType(String cmdName) {
this.jTextFieldCurrentCommandType.setText(cmdName);
}
private boolean showing_message = false;
@Override
public boolean isInitializedSelected() {
return this.jCheckBoxInitialized.isSelected();
}
@Override
public void updateEndEffector(String text) {
this.jTextFieldEndEffector.setText(text);
}
@Override
public void updateToolChangerIsOpen(boolean isOpen) {
this.setToolChangerOpen(isOpen);
}
@Override
public void updateLengthUnit(LengthUnitEnumType lu) {
this.lengthUnitComboBox.setSelectedItem(lu);
}
@Override
public void updateConnectedClients(int numClients) {
this.jTextFieldConnectedClients.setText(Integer.toString(numClients));
}
/**
* @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 (Exception 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 SimServer().setVisible(true);
} catch (ParserConfigurationException ex) {
LOGGER.log(Level.SEVERE, null, ex);
}
}
});
}
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JButton jButtonReset;
private javax.swing.JButton jButtonRestartServer;
private javax.swing.JCheckBox jCheckBoxInitialized;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemAppendZero;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemDebugMoveDone;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemDebugReadCommand;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemDebugSendStatus;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemEXI;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemIncludeGripperStatus;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemLogImages;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemRandomPacket;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemReplaceState;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemReplaceXmlHeader;
private javax.swing.JCheckBoxMenuItem jCheckBoxMenuItemValidateXML;
private javax.swing.JCheckBox jCheckBoxSendStatusWithoutRequest;
private javax.swing.JCheckBox jCheckBoxTeleportToGoals;
private javax.swing.JComboBox jComboBoxRobotType;
private javax.swing.JLabel jLabel1;
private javax.swing.JLabel jLabel2;
private javax.swing.JLabel jLabel3;
private javax.swing.JLabel jLabel4;
private javax.swing.JLabel jLabel5;
private javax.swing.JLabel jLabel6;
private javax.swing.JLabel jLabel7;
private javax.swing.JLabel jLabel8;
private javax.swing.JLabel jLabel9;
private javax.swing.JMenu jMenu1;
private javax.swing.JMenu jMenu2;
private javax.swing.JMenu jMenu3;
private javax.swing.JMenu jMenu4;
private javax.swing.JMenu jMenu5;
private javax.swing.JMenuBar jMenuBar1;
private javax.swing.JMenuItem jMenuItemAbout;
private javax.swing.JMenuItem jMenuItemEditStatus;
private javax.swing.JMenuItem jMenuItemExit;
private javax.swing.JMenuItem jMenuItemSetSchema;
private javax.swing.JMenuItem jMenuItemViewCommandLogBrief;
private javax.swing.JMenuItem jMenuItemViewCommandLogFull;
private javax.swing.JPanel jPanel1;
private javax.swing.JPanel jPanel2;
private javax.swing.JPanel jPanel3;
private javax.swing.JPanel jPanel4;
private javax.swing.JPanel jPanel5;
private javax.swing.JScrollPane jScrollPane1;
private javax.swing.JSplitPane jSplitPane1;
private javax.swing.JTextArea jTextAreaErrors;
private javax.swing.JTextField jTextFieldConnectedClients;
private javax.swing.JTextField jTextFieldCurWaypoint;
private javax.swing.JTextField jTextFieldCurrentCommandType;
private javax.swing.JTextField jTextFieldCycleCount;
private javax.swing.JTextField jTextFieldCycleTime;
private javax.swing.JTextField jTextFieldEndEffector;
private javax.swing.JTextField jTextFieldNumWaypoints;
private javax.swing.JTextField jTextFieldPort;
private crcl.ui.LengthUnitComboBox lengthUnitComboBox;
private crcl.ui.OverHeadJPanel overHeadJPanel1;
private crcl.ui.SideViewJPanel sideViewJPanel1;
// End of variables declaration//GEN-END:variables
@Override
public boolean isDebugMoveDoneSelected() {
return this.jCheckBoxMenuItemDebugMoveDone.isSelected();
}
@Override
public boolean isDebugReadCommandSelected() {
return this.jCheckBoxMenuItemDebugReadCommand.isSelected();
}
@Override
public boolean isDebugSendStatusSelected() {
return this.jCheckBoxMenuItemDebugSendStatus.isSelected();
}
}
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