org.opentcs.operationsdesk.components.drawing.figures.VehicleFigure Maven / Gradle / Ivy
/**
* Copyright (c) The openTCS Authors.
*
* This program is free software and subject to the MIT license. (For details,
* see the licensing information (LICENSE.txt) you should have received with
* this copy of the software.)
*/
package org.opentcs.operationsdesk.components.drawing.figures;
import static java.awt.image.ImageObserver.ABORT;
import static java.awt.image.ImageObserver.ALLBITS;
import static java.awt.image.ImageObserver.FRAMEBITS;
import static java.util.Objects.requireNonNull;
import com.google.inject.assistedinject.Assisted;
import jakarta.inject.Inject;
import java.awt.Graphics2D;
import java.awt.Image;
import java.awt.Rectangle;
import java.awt.event.MouseEvent;
import java.awt.geom.AffineTransform;
import java.awt.geom.Point2D;
import java.awt.geom.Rectangle2D;
import java.awt.image.ImageObserver;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.Objects;
import javax.swing.SwingUtilities;
import org.jhotdraw.draw.DrawingView;
import org.jhotdraw.draw.Figure;
import org.jhotdraw.draw.handle.Handle;
import org.jhotdraw.geom.BezierPath;
import org.opentcs.components.plantoverview.VehicleTheme;
import org.opentcs.data.model.Triple;
import org.opentcs.data.order.TransportOrder;
import org.opentcs.guing.base.components.properties.event.AttributesChangeEvent;
import org.opentcs.guing.base.components.properties.event.AttributesChangeListener;
import org.opentcs.guing.base.components.properties.type.AngleProperty;
import org.opentcs.guing.base.model.elements.AbstractConnection;
import org.opentcs.guing.base.model.elements.PathModel;
import org.opentcs.guing.base.model.elements.PointModel;
import org.opentcs.guing.base.model.elements.VehicleModel;
import org.opentcs.guing.common.application.ApplicationState;
import org.opentcs.guing.common.components.drawing.ZoomPoint;
import org.opentcs.guing.common.components.drawing.course.Origin;
import org.opentcs.guing.common.components.drawing.figures.FigureConstants;
import org.opentcs.guing.common.components.drawing.figures.LabeledPointFigure;
import org.opentcs.guing.common.components.drawing.figures.PathConnection;
import org.opentcs.guing.common.components.drawing.figures.PointFigure;
import org.opentcs.guing.common.components.drawing.figures.TCSFigure;
import org.opentcs.guing.common.components.drawing.figures.ToolTipTextGenerator;
import org.opentcs.guing.common.components.drawing.figures.liner.TripleBezierLiner;
import org.opentcs.guing.common.components.drawing.figures.liner.TupelBezierLiner;
import org.opentcs.guing.common.persistence.ModelManager;
import org.opentcs.operationsdesk.application.menus.MenuFactory;
import org.opentcs.operationsdesk.application.menus.VehiclePopupMenu;
import org.opentcs.operationsdesk.components.dialogs.SingleVehicleView;
import org.opentcs.operationsdesk.components.drawing.figures.decoration.VehicleOutlineHandle;
import org.opentcs.operationsdesk.util.OperationsDeskConfiguration;
/**
* The graphical representation of a vehicle.
*/
public class VehicleFigure
extends
TCSFigure
implements
AttributesChangeListener,
ImageObserver {
/**
* When the position of the vehicle changed.
*/
public static final String POSITION_CHANGED = "position_changed";
/**
* The figure's length in drawing units.
*/
private static final double LENGTH = 30.0;
/**
* The figure's width in drawing units.
*/
private static final double WIDTH = 20.0;
/**
* The vehicle theme to be used.
*/
private final VehicleTheme vehicleTheme;
/**
* A factory for popup menus.
*/
private final MenuFactory menuFactory;
/**
* The tool tip text generator.
*/
private final ToolTipTextGenerator textGenerator;
/**
* The model manager.
*/
private final ModelManager modelManager;
/**
* The application's current state.
*/
private final ApplicationState applicationState;
/**
* The angle at which the image is to be drawn.
*/
private double fAngle;
/**
* The image.
*/
private transient Image fImage;
/**
* Whether to ignore the vehicle's precise position or not.
*/
private boolean ignorePrecisePosition;
/**
* Whether to ignore the vehicle's orientation angle or not.
*/
private boolean ignoreOrientationAngle;
/**
* Indicates whether figure details changed.
*/
private boolean figureDetailsChanged;
/**
* Creates a new instance.
*
* @param vehicleTheme The vehicle theme to be used.
* @param menuFactory A factory for popup menus.
* @param appConfig The application's configuration.
* @param model The model corresponding to this graphical object.
* @param textGenerator The tool tip text generator.
* @param modelManager The model manager.
* @param applicationState The application's current state.
*/
@Inject
@SuppressWarnings("this-escape")
public VehicleFigure(
VehicleTheme vehicleTheme,
MenuFactory menuFactory,
OperationsDeskConfiguration appConfig,
@Assisted
VehicleModel model,
ToolTipTextGenerator textGenerator,
ModelManager modelManager,
ApplicationState applicationState
) {
super(model);
this.vehicleTheme = requireNonNull(vehicleTheme, "vehicleTheme");
this.menuFactory = requireNonNull(menuFactory, "menuFactory");
this.textGenerator = requireNonNull(textGenerator, "textGenerator");
this.modelManager = requireNonNull(modelManager, "modelManager");
this.applicationState = requireNonNull(applicationState, "applicationState");
fDisplayBox = new Rectangle((int) LENGTH, (int) WIDTH);
fZoomPoint = new ZoomPoint(0.5 * LENGTH, 0.5 * WIDTH);
setIgnorePrecisePosition(appConfig.ignoreVehiclePrecisePosition());
setIgnoreOrientationAngle(appConfig.ignoreVehicleOrientationAngle());
fImage = vehicleTheme.statelessImage(model.getVehicle());
}
@Override
public VehicleModel getModel() {
return (VehicleModel) get(FigureConstants.MODEL);
}
public void setAngle(double angle) {
fAngle = angle;
}
public double getAngle() {
return fAngle;
}
@Override
public Rectangle2D.Double getBounds() {
Rectangle2D.Double r2d = new Rectangle2D.Double();
r2d.setRect(fDisplayBox.getBounds2D());
return r2d;
}
@Override
public Object getTransformRestoreData() {
return fDisplayBox.clone();
}
@Override
public void restoreTransformTo(Object restoreData) {
Rectangle r = (Rectangle) restoreData;
fDisplayBox.x = r.x;
fDisplayBox.y = r.y;
fDisplayBox.width = r.width;
fDisplayBox.height = r.height;
fZoomPoint.setX(r.getCenterX());
fZoomPoint.setY(r.getCenterY());
}
@Override
public void transform(AffineTransform tx) {
Point2D center = fZoomPoint.getPixelLocationExactly();
setBounds((Point2D.Double) tx.transform(center, center), null);
}
@Override
public String getToolTipText(Point2D.Double p) {
return textGenerator.getToolTipText(getModel());
}
/**
* Sets the ignore flag for the vehicle's reported orientation angle.
*
* @param doIgnore Whether to ignore the reported orientation angle.
*/
public final void setIgnoreOrientationAngle(boolean doIgnore) {
ignoreOrientationAngle = doIgnore;
PointModel point = getModel().getPoint();
if (point == null) {
// Only draw the vehicle if the point is known or the precise position is to be used.
setVisible(!ignorePrecisePosition);
}
else {
Figure pointFigure = modelManager.getModel().getFigure(point);
Rectangle2D.Double r = pointFigure.getBounds();
Point2D.Double pCenter = new Point2D.Double(r.getCenterX(), r.getCenterY());
setBounds(pCenter, null);
fireFigureChanged();
}
}
/**
* Sets the ignore flag for the vehicle's precise position.
*
* @param doIgnore Whether to ignore the reported precise position of the
* vehicle.
*/
public final void setIgnorePrecisePosition(boolean doIgnore) {
ignorePrecisePosition = doIgnore;
PointModel point = getModel().getPoint();
if (point == null) {
// Only draw the vehicle if the point is known or the precise position is to be used.
setVisible(!ignorePrecisePosition);
}
else {
Figure pointFigure = modelManager.getModel().getFigure(point);
Rectangle2D.Double r = pointFigure.getBounds();
Point2D.Double pCenter = new Point2D.Double(r.getCenterX(), r.getCenterY());
setBounds(pCenter, null);
fireFigureChanged();
}
}
/**
* Draws the center of the figure at anchor; the size does not
* change.
*
* @param anchor Center of the figure
* @param lead Not used
*/
@Override
public void setBounds(Point2D.Double anchor, Point2D.Double lead) {
VehicleModel model = getModel();
Rectangle2D.Double oldBounds = getBounds();
setVisible(false);
Triple precisePosition = model.getPrecisePosition();
if (!ignorePrecisePosition) {
if (precisePosition != null) {
setVisible(true);
Origin origin = modelManager.getModel().getDrawingMethod().getOrigin();
if (origin.getScaleX() != 0.0 && origin.getScaleY() != 0.0) {
anchor.x = precisePosition.getX() / origin.getScaleX();
anchor.y = -precisePosition.getY() / origin.getScaleY();
}
}
}
fZoomPoint.setX(anchor.x);
fZoomPoint.setY(anchor.y);
fDisplayBox.x = (int) (anchor.x - 0.5 * LENGTH);
fDisplayBox.y = (int) (anchor.y - 0.5 * WIDTH);
firePropertyChange(POSITION_CHANGED, oldBounds, getBounds());
updateVehicleOrientation();
}
private void updateVehicleOrientation() {
VehicleModel model = getModel();
// orientation:
// 1. Use exact orientation from vehicle adapter.
// 2. Use orientation from current point.
// 3. Use direction to next point.
// 4. Use last known orientation.
double angle = model.getOrientationAngle();
PointModel currentPoint = model.getPoint();
if (currentPoint != null) {
setVisible(true);
}
if (!Double.isNaN(angle) && !ignoreOrientationAngle) {
fAngle = angle;
}
else if (currentPoint != null) {
// Use orientation from current point.
AngleProperty ap = currentPoint.getPropertyVehicleOrientationAngle();
angle = (double) ap.getValue();
if (!Double.isNaN(angle)) {
fAngle = angle;
}
else {
alignVehicleToNextPoint();
}
}
}
private void alignVehicleToNextPoint() {
VehicleModel model = getModel();
PointModel nextPoint = model.getNextPoint();
PointModel currentPoint = model.getPoint();
AbstractConnection connection;
if (model.getDriveOrderState() == TransportOrder.State.BEING_PROCESSED) {
connection = model.getCurrentDriveOrderPath();
}
else {
if (nextPoint != null) {
connection = currentPoint.getConnectionTo(nextPoint);
}
else {
// No destination point, use a random point connected to the current point.
connection = currentPoint.getConnections().stream()
.filter(con -> con instanceof PathModel)
.filter(con -> Objects.equals(con.getStartComponent(), currentPoint))
.findFirst()
.orElse(null);
}
}
if (connection != null) {
fAngle = calculateAngle(connection);
}
}
private double calculateAngle(AbstractConnection connection) {
PointModel currentPoint = (PointModel) connection.getStartComponent();
PointModel nextPoint = (PointModel) connection.getEndComponent();
PathConnection pathFigure
= (PathConnection) modelManager.getModel().getFigure(connection);
LabeledPointFigure clpf
= (LabeledPointFigure) modelManager.getModel().getFigure(currentPoint);
PointFigure cpf = clpf.getPresentationFigure();
if (pathFigure.getLiner() instanceof TupelBezierLiner
|| pathFigure.getLiner() instanceof TripleBezierLiner) {
BezierPath bezierPath = pathFigure.getBezierPath();
Point2D.Double cp = bezierPath.get(0, BezierPath.C2_MASK);
double dx = cp.getX() - cpf.getZoomPoint().getX();
double dy = cp.getY() - cpf.getZoomPoint().getY();
return Math.toDegrees(Math.atan2(-dy, dx));
}
else {
LabeledPointFigure nlpf
= (LabeledPointFigure) modelManager.getModel().getFigure(nextPoint);
PointFigure npf = nlpf.getPresentationFigure();
double dx = npf.getZoomPoint().getX() - cpf.getZoomPoint().getX();
double dy = npf.getZoomPoint().getY() - cpf.getZoomPoint().getY();
return Math.toDegrees(Math.atan2(-dy, dx));
}
}
/**
* Forces the vehicle figure to be drawn. (Used primarily for {@link SingleVehicleView}.)
*
* @param g2d The graphics context.
*/
public void forcedDraw(Graphics2D g2d) {
drawFill(g2d);
}
@Override
protected void drawFigure(Graphics2D g2d) {
VehicleModel model = getModel();
PointModel currentPoint = model.getPoint();
Triple precisePosition = model.getPrecisePosition();
if (currentPoint != null || precisePosition != null) {
drawFill(g2d);
}
}
@Override
protected void drawFill(Graphics2D g2d) {
if (g2d == null) {
return;
}
int dx;
int dy;
Rectangle r = displayBox();
if (fImage != null) {
dx = (r.width - fImage.getWidth(this)) / 2;
dy = (r.height - fImage.getHeight(this)) / 2;
int x = r.x + dx;
int y = r.y + dy;
AffineTransform oldAF = g2d.getTransform();
g2d.translate(r.getCenterX(), r.getCenterY());
g2d.rotate(-Math.toRadians(fAngle));
g2d.translate(-r.getCenterX(), -r.getCenterY());
g2d.drawImage(fImage, x, y, null);
g2d.setTransform(oldAF);
}
else {
// TODO: Draw an outline, e.g. a rectangle.
}
}
@Override
protected void drawStroke(Graphics2D g2d) {
// Nothing to do here - Vehicle Figure is completely drawn in drawFill()
}
@Override
public Collection createHandles(int detailLevel) {
Collection handles = new ArrayList<>();
switch (detailLevel) {
case -1: // Mouse Moved
handles.add(new VehicleOutlineHandle(this));
break;
case 0: // Mouse clicked
// handles.add(new VehicleOutlineHandle(this));
break;
case 1: // Double-Click
// handles.add(new VehicleOutlineHandle(this));
break;
default:
break;
}
return handles;
}
@Override
public boolean handleMouseClick(
Point2D.Double p,
MouseEvent evt,
DrawingView drawingView
) {
// This gets executed on a double click AND a right click on the figure
VehicleModel model = getModel();
VehiclePopupMenu menu = menuFactory.createVehiclePopupMenu(Arrays.asList(model));
menu.show(drawingView.getComponent(), evt.getX(), evt.getY());
return false;
}
@Override
public void propertiesChanged(AttributesChangeEvent e) {
if (e.getInitiator().equals(this)
|| e.getModel() == null) {
return;
}
updateFigureDetails((VehicleModel) e.getModel());
if (isFigureDetailsChanged()) {
SwingUtilities.invokeLater(() -> {
// Only call if the figure is visible - will cause NPE in BoundsOutlineHandle otherwise.
if (isVisible()) {
fireFigureChanged();
}
});
setFigureDetailsChanged(false);
}
}
/**
* Updates the figure details based on the given vehicle model.
*
* If figure details do change, call {@link #setFigureDetailsChanged(boolean)} to set the
* corresponding flag to {@code true}.
* When overriding this method, always remember to call the super-implementation.
*
*
* @param model The updated vehicle model.
*/
protected void updateFigureDetails(VehicleModel model) {
fImage = getVehicleTheme().statefulImage(model.getVehicle());
setFigureDetailsChanged(true);
}
@Override
public boolean imageUpdate(
Image img, int infoflags,
int x, int y,
int width, int height
) {
if ((infoflags & (FRAMEBITS | ALLBITS)) != 0) {
invalidate();
}
return (infoflags & (ALLBITS | ABORT)) == 0;
}
/**
* Returns the vehicle theme.
*
* @return The vehicle theme.
*/
protected VehicleTheme getVehicleTheme() {
return vehicleTheme;
}
public boolean isFigureDetailsChanged() {
return figureDetailsChanged;
}
public void setFigureDetailsChanged(boolean figureDetailsChanged) {
this.figureDetailsChanged = figureDetailsChanged;
}
public boolean isIgnorePrecisePosition() {
return ignorePrecisePosition;
}
public ModelManager getModelManager() {
return modelManager;
}
}