diff options
Diffstat (limited to 'roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommFrame.java')
| -rw-r--r-- | roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommFrame.java | 2239 |
1 files changed, 2239 insertions, 0 deletions
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommFrame.java b/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommFrame.java new file mode 100644 index 0000000..7df55ad --- /dev/null +++ b/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommFrame.java @@ -0,0 +1,2239 @@ +/* + * RoombaCommFrame - + * + * Based heavily on RoombaCommPanel, but very altered. + * + * Copyright (c) 2006 Tod E. Kurt, tod@todbot.com, ThingM + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; if not, write to the + * Free Software Foundation, Inc., 59 Temple Place, Suite 330, + * Boston, MA 02111-1307 USA + * + */ + +package com.hackingroomba.roombacomm; +import java.awt.Dimension; +import java.awt.GridBagConstraints; +import java.awt.GridBagLayout; +import java.awt.GridLayout; +import java.awt.Insets; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.awt.event.ComponentAdapter; +import java.awt.event.ComponentEvent; +import java.awt.event.FocusAdapter; +import java.awt.event.FocusEvent; +import java.awt.event.ItemEvent; +import java.awt.event.ItemListener; +import java.awt.event.KeyEvent; +import java.awt.event.WindowAdapter; +import java.awt.event.WindowEvent; +import java.text.SimpleDateFormat; +import java.util.ArrayList; +import java.util.Date; + +import javax.swing.BorderFactory; +import javax.swing.BoxLayout; +import javax.swing.ButtonGroup; +import javax.swing.ImageIcon; +import javax.swing.JButton; +import javax.swing.JCheckBox; +import javax.swing.JComboBox; +import javax.swing.JFrame; +import javax.swing.JLabel; +import javax.swing.JPanel; +import javax.swing.JRadioButton; +import javax.swing.JScrollPane; +import javax.swing.JSlider; +import javax.swing.JTabbedPane; +import javax.swing.JTextArea; +import javax.swing.JTextField; +import javax.swing.JTextPane; +import javax.swing.border.TitledBorder; +import javax.swing.event.ChangeEvent; +import javax.swing.event.ChangeListener; +import javax.swing.text.DefaultCaret; + +/** +* This code was edited or generated using CloudGarden's Jigloo +* SWT/Swing GUI Builder, which is free for non-commercial +* use. If Jigloo is being used commercially (ie, by a corporation, +* company or business for any purpose whatever) then you +* should purchase a license for each developer using Jigloo. +* Please visit www.cloudgarden.com for details. +* Use of Jigloo implies acceptance of these licensing terms. +* A COMMERCIAL LICENSE HAS NOT BEEN PURCHASED FOR +* THIS MACHINE, SO JIGLOO OR THIS CODE CANNOT BE USED +* LEGALLY FOR ANY CORPORATE OR COMMERCIAL PURPOSE. +*/ +/** + * A JFrame containing controls for testing RoombaComm. + * + * It is hoped that this UI will implement ways to + * manually test RoombaComm and maybe even support more automated + * testing in the future. + * + * SVN id value is $Id: RoombaCommFrame.java 139 2010-05-26 22:30:41Z black.123 $ + */ +public class RoombaCommFrame extends JFrame implements ActionListener, + ChangeListener { + + /** The led panel. */ + JPanel ctrlPanel, selectPanel, buttonPanel, displayPanel, ledPanel; + + /** The j panel4. */ + private JPanel jPanel4; + + /** The led panel shared. */ + private JPanel ledPanelShared; + + /** The led panel oi only. */ + private JPanel ledPanelOIOnly; + + /** The j text pane1. */ + private JTextPane jTextPane1; + + /** The j panel power. */ + private JPanel jPanelPower; + + /** The j panel vacuum. */ + private JPanel jPanelVacuum; + + /** The but_play rttl. */ + private JButton but_playRTTL; + + /** The j panel sensors. */ + private JPanel jPanelSensors; + + /** The j panel test programs. */ + private JPanel jPanelTestPrograms; + + /** The port choices. */ + JComboBox portChoices; + + /** The protocol choices. */ + JComboBox protocolChoices; + + /** The handshake button. */ + JCheckBox handshakeButton; + + /** The display text. */ + JTextArea displayText; + + /** The connect button. */ + JButton connectButton; + + /** The net button. */ + JButton netButton; + + /** The power color intensity. */ + JSlider speedSlider, powerColorSlider, powerColorIntensity; + + /** The debug. */ + private boolean debug = false; + + /** The tribble on. */ + boolean tribbleOn = false; + // default values for flags for LEDs + /** The red on. */ + boolean redOn = false; + + /** The green on. */ + boolean greenOn = false; + + /** The toggle spot. */ + boolean toggleSpot = false; + + /** The toggle clean. */ + boolean toggleClean = false; + + /** The toggle max. */ + boolean toggleMax = false; + + /** The toggle dirt. */ + boolean toggleDirt = false; + + /** The toggle check robot. */ + boolean toggleCheckRobot = false; + + /** The toggle dock. */ + boolean toggleDock = false; + + /** The j panel sounds. */ + private JPanel jPanelSounds; + + /** The j panel modes. */ + private JPanel jPanelModes; + + /** The j panel3. */ + private JPanel jPanel3; + + /** The j panel2. */ + private JPanel jPanel2; + + /** The j label comm. */ + private JLabel jLabelCOMM; + + /** The j text field port. */ + private JTextField jTextFieldPort; + + /** The j label port. */ + private JLabel jLabelPort; + + /** The j panel1. */ + private JPanel jPanel1; + + /** The j text field host. */ + private JTextField jTextFieldHost; + + /** The j label host. */ + private JLabel jLabelHost; + + /** The j panel config serial. */ + private JPanel jPanelConfigSerial; + + /** The j panel config net. */ + private JPanel jPanelConfigNet; + + /** The j tabbed panel config. */ + private JTabbedPane jTabbedPanelConfig; + + /** The j button4. */ + private JButton jButton4; + + /** The j button3. */ + private JButton jButton3; + + /** The j button2. */ + private JButton jButton2; + + /** The j button1. */ + private JButton jButton1; + + /** The power_color. */ + int power_color = 0; + + /** The power_int. */ + int power_int = 0; + + /** The roomba comm serial. */ + RoombaCommSerial roombaCommSerial; + + /** The roomba comm abstract class to allow the actions to work with serial or net connections. */ + RoombaComm roombaComm; + + /** The roomba comm tcp client. */ + RoombaCommTCPClient roombaCommTCPClient; + + /** The formatter. */ + SimpleDateFormat formatter = new SimpleDateFormat("EEE, dd-MMM-yyyy HH:mm:ss"); + + /** The led panel sci only. */ + private JPanel ledPanelSCIOnly; + + /** The protocols. */ + private String[] protocols = new String[] { "Roomba 1xx-4xx (SCI)", "Roomba 5xx (OI)" }; + + /** + * Instantiates a new roomba comm frame without any params + */ + public RoombaCommFrame() { + this(false); + } + + /** + * Instantiates a new roomba comm frame. + * + * @param debug boolean will increase STDOUT to show details about the process at runtime. + */ + public RoombaCommFrame(boolean debug) { + super(); + debugPrintln(debug,"RoombaCommFrame-start"); + debugPrintln(debug," debug is ("+debug+")"); + initialize(); + roombaCommSerial = new RoombaCommSerial(); + roombaCommTCPClient = new RoombaCommTCPClient(); + this.debug = debug; + roombaCommSerial.debug = debug; + roombaCommTCPClient.debug = debug; + debugPrintln(debug,"RoombaCommFrame-makePanels-start"); + makePanels(); + debugPrintln(debug,"RoombaCommFrame-makePanels-end"); + // Set Look & Feel + try { + javax.swing.UIManager.setLookAndFeel("javax.swing.plaf.metal.MetalLookAndFeel"); + } catch (Exception e) { + e.printStackTrace(); + } + debugPrintln(debug,"RoombaCommFrame-end"); + setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + } + + /** + * The main method. + * + * @param args the arguments are currently ignored + */ + public static void main(String[] args) { + // by default (for now) turn on debug output if the class is called directly. + RoombaCommFrame me = new RoombaCommFrame(true); + me.pack(); + me.setVisible(true); + } + + /** + * This method initializes this class to initial default conditions. + * In the future this method may also take args to control/style the UI to multiple styles. + */ + private void initialize() { + Dimension defaultSize = new Dimension(826,651); + this.addComponentListener(new ComponentAdapter() { + public void componentResized(java.awt.event.ComponentEvent e) { + debugPrintln(debug,"147-componentResized("+e.getComponent().getWidth()+","+e.getComponent().getHeight()+")"); // TODO Auto-generated Event stub componentResized() + } + public void componentMoved(java.awt.event.ComponentEvent e) { + } + public void componentShown(ComponentEvent e) { + } + public void componentHidden(java.awt.event.ComponentEvent e) { + } + }); + debugPrintln(debug,"initialize : setting size to (" +defaultSize.getWidth()+","+defaultSize.getHeight()+")"); + GridBagLayout thisLayout = new GridBagLayout(); + this.setSize(defaultSize); + thisLayout.rowWeights = new double[] {0.0}; + thisLayout.rowHeights = new int[] {137}; + thisLayout.columnWeights = new double[] {0.0}; + thisLayout.columnWidths = new int[] {538}; + getContentPane().setLayout(thisLayout); + this.setPreferredSize(new java.awt.Dimension(defaultSize)); //638 + this.setFocusTraversalKeysEnabled(false); + this.setTitle("RoombaComm"); + this.addWindowListener(new WindowAdapter() { + public void windowClosed(WindowEvent evt) { + thisWindowClosed(evt); + } + }); + } + + /** + * Set to 'false' to hide the "h/w handshake" button, which seems to be only + * needed on Windows. + * + * @param b the new show hardware handhake + */ + public void setShowHardwareHandhake(boolean b) { + handshakeButton.setVisible(b); + } + + /** + * Connect to a Roomba using a serial connection.<br> + * This method uses the value of protocol to set the connection to the correct Roomba API version. <br> + * This method uses the value of handshakeButton and portChoices to make the serial connection. <br> + * This method also "chirps" the Roomba when it connects to provide an audio feedback/confirmation of the connection. + * + * @return true, if successful + */ + public boolean connect() { + debugPrintln(debug,"connect-start"); + String portname = (String) portChoices.getSelectedItem(); + roombaCommSerial.setWaitForDSR(handshakeButton.isSelected()); + int i = protocolChoices.getSelectedIndex(); + roombaCommSerial.setProtocol((i == 0) ? "SCI" : "OI"); + if (portname == null){ + // we do not yet have ports so refresh the list + setCommPorts(); + } + updateDisplay("connecting to " + portname + "\n"); + connectButton.setText("connecting"); + if (portname != null){ + if (!roombaCommSerial.connect(portname)) { + updateDisplay("Couldn't connect to " + portname + "\n"); + connectButton.setText(" connect "); + debugPrintln(debug,"connect-end (could not connect)"); + return false; + }else{ + updateDisplay("connected to " + portname + "\n"); + } + }else{ + updateDisplay("you must first select a COMM port to use before you can attempt to connect"); + jTabbedPanelConfig.setSelectedIndex(1); + return false; + } + updateDisplay("Roomba startup\n"); + + roombaCommSerial.startup(); + roombaCommSerial.control(); + roombaCommSerial.playNote(72, 10); // C , test note + roombaCommSerial.pause(200); + + connectButton.setText("disconnect"); + connectButton.setActionCommand("disconnect"); + roombaComm = roombaCommSerial; + updateDisplay("Checking for Roomba... "); + if (roombaCommSerial.updateSensors()) { + updateDisplay("Roomba found!\n"); + debugPrintln(debug,"connect-end"); + return true; + }else{ + updateDisplay("No Roomba. :( Is it turned on?\n"); + debugPrintln(debug,"connect-end"); + return true ; + } + } + + /** + * Connect to a Roomba using a network connection.<br> + * This method uses the value of protocol to set the connection to the correct Roomba API version. <br> + * This method uses the value of host and port to make the network connection. <br> + * This method also "chirps" the Roomba when it connects to provide an audio feedback/confirmation of the connection. + * + * @param portname the portname + * @return true, if successful + */ + public boolean connectNet(String portname) { + debugPrintln(debug,"connectNet called"); + int i = protocolChoices.getSelectedIndex(); + if (roombaCommTCPClient == null){ + roombaCommTCPClient = new RoombaCommTCPClient(); + roombaCommTCPClient.setConnected(false); + } + roombaCommTCPClient.setProtocol((i == 0) ? "SCI" : "OI"); + if (!roombaCommTCPClient.connect(portname)) { + updateDisplay("Couldn't connect to " + portname); + return false; + } + updateDisplay("Roomba startup on port " + portname); + roombaCommTCPClient.startup(); + roombaCommTCPClient.control(); + // roombacomm.setSensorsAutoUpdate(true); + roombaCommTCPClient.pause(30); + //TODO: I am not sure this works yet... need to test to confirm. (2010.03.03) + //TODO: The commented block below did not work.. so I commented it and hardcoded a "true" for the connect + updateDisplay("Checking for Roomba... \n"); + roombaCommTCPClient.setConnected(true); +// if (roombaCommTCPClient.updateSensors()) { +// updateDisplay("Roomba found!\n"); +// updateDisplay(roombaCommTCPClient.getSensorsAsString()); +// } else { +// updateDisplay("No Roomba. :( Is it turned on?\n"); +// } + updateDisplay("buffer is(" + roombaCommTCPClient.getBuffer() + ")", + this.debug); + updateDisplay("connected (" + roombaCommTCPClient.connected() + ")\n"); + if (roombaCommTCPClient.connected()) { + updateDisplay("Playing some notes\n"); + roombaCommTCPClient.playNote(72, 10); // C + roombaCommTCPClient.pause(200); + roombaCommTCPClient.playNote(79, 10); // G + roombaCommTCPClient.pause(200); + roombaCommTCPClient.playNote(76, 10); // E + roombaCommTCPClient.pause(200); + netButton.setText("disconnect-net"); + netButton.setActionCommand("disconnect-net"); + roombaComm = roombaCommTCPClient; // set the pointer so that the + // action stuff can work against + // any class + } + return true; + } + + /** + * Disconnect from the roomba when it is connected via a serial connection. + */ + public void disconnect() { + roombaCommSerial.disconnect(); + connectButton.setText(" connect "); + connectButton.setActionCommand("connect"); + } + + /** + * Disconnect from the roomba when it is connected via a network connection. + */ + public void disconnectNet() { + roombaCommTCPClient.disconnect(); + netButton.setText(" net "); + netButton.setActionCommand("net"); + } + + /** + * Play a (MIDI) note, that is, make the Roomba a musical instrument<br> + * notenums 32-127:<br> notenum == corresponding note played thru beeper<br> + * velocity == duration in number of 1/64s of a second (e.g. 64==1 second)<br> + * notenum 24: notenum == main vacuum velocity == non-zero turns on, zero + * turns off<br> notenum 25: blink LEDs, velcoity is color of Power<br> notenum 28 & 29: spin left & spin right, velocity is speed + * + * @param notenum 32-127<br>corresponding note played thru beeper<br> + * @param velocity duration in number of 1/64s of a second (e.g. 64==1 second) + */ + public void playMidiNote(int notenum, int velocity) { + updateDisplay("play note: " + notenum + "," + velocity + "\n"); + if (!roombaCommSerial.connected()) + return; + + if (notenum >= 31) { // G and above + if (velocity == 0) + return; + if (velocity < 4) + velocity = 4; // has problems at lower durations + else + velocity = velocity / 2; + roombaCommSerial.playNote(notenum, velocity); + } else if (notenum == 24) { // C + roombaCommSerial.vacuum(!(velocity == 0)); + } else if (notenum == 25) { // C# + boolean lon = (velocity != 0); + int inten = (lon) ? 255 : 128; // either full bright or half bright + roombaCommSerial.setLEDs(lon, lon, lon, lon, lon, lon, + velocity * 2, inten); + } else if (notenum == 28) { // E + if (velocity != 0) + roombaCommSerial.spinLeftAt(velocity * 2); + else + roombaCommSerial.stop(); + } else if (notenum == 29) { // F + if (velocity != 0) + roombaCommSerial.spinRightAt(velocity * 2); + else + roombaCommSerial.stop(); + } + } + + /** + * implement actionlistener. + * + * @param event the event + */ + public void actionPerformed(ActionEvent event) { + String action = event.getActionCommand(); + updateDisplay(formatter.format(new Date()) + ": action (" + action + + ") happened\n", this.debug); + if ("comboBoxChanged".equals(action)) { + int i = protocolChoices.getSelectedIndex(); + if (roombaComm != null) { + roombaComm.setProtocol((i == 0) ? "SCI" : "OI"); + } else { + updateDisplay( + formatter.format(new Date()) + + ": null roombaComm object found in actionPerformed\n", + this.debug); + } + return; + } + if ("net".equals(action)) { + if (jTextFieldHost != null && jTextFieldHost.getText() != null && jTextFieldPort != null && jTextFieldPort.getText() != null){ + if(connectNet(jTextFieldHost.getText()+":"+jTextFieldPort.getText())){ + // TODO: find a way to hide/disable the other connect tab until the session is disconnected +// getJTabbedPanelConfig().getComponentAt(1).setVisible(false); // hide the Serial tab while we are connected with a Net port + }else{ + // TODO: reenable/show the other tab(s) +// getJTabbedPanelConfig().getComponentAt(0).setVisible(true); // make sure the net tab is not hidden when we fail to connect + } + }else{ + updateDisplay("connect (via net) pressed with missing values:"); + if (jTextFieldHost != null && jTextFieldHost.getText() != null){ + updateDisplay(" host :"+jTextFieldHost.getText()); + }else{ + updateDisplay(" host : MISSING VALUE"); + } + if (jTextFieldPort != null && jTextFieldPort.getText() != null){ + updateDisplay(" port :"+jTextFieldPort.getText()); + }else{ + updateDisplay(" port : MISSING VALUE"); + } + } + return; + } else if ("disconnect-net".equals(action)) { + disconnectNet(); + // TODO: reenable/show the other tab(s) +// getJTabbedPanelConfig().getComponentAt(1).setVisible(true); // show the serial tab while we disconnect from the net + return; + } + if ("connect".equals(action)) { + if (connect()){ + // TODO: find a way to hide/disable the other connect tab until the session is disconnected + }else{ + // TODO: reenable/show the other tab(s) +// getJTabbedPanelConfig().getComponentAt(0).setEnabled(true); // make sure the net tab is not hidden when we fail to connect +// getJTabbedPanelConfig().repaint(100); + } + return; + } else if ("disconnect".equals(action)) { + disconnect(); + // TODO: reenable/show the other tab(s) +// getJTabbedPanelConfig().getComponentAt(0).setEnabled(true); // show the net tab while we disconnect from the serial + return; + } + // stop right here if we're not connected + if (roombaComm == null || !roombaComm.connected()) { + updateDisplay("not connected!\n"); + return; + } + + if ("stop".equals(action)) { + roombaComm.stop(); + } else if ("forward".equals(action)) { + // updateDisplay("Speed is("+roombaComm.getSpeed()+")\n"); + roombaComm.goForward(); + } else if ("backward".equals(action)) { + // updateDisplay("Speed is("+roombaComm.getSpeed()+")\n"); + roombaComm.goBackward(); + } else if ("spinleft".equals(action)) { + // updateDisplay("Speed is("+roombaComm.getSpeed()+")\n"); + roombaComm.spinLeft(); + } else if ("spinright".equals(action)) { + // updateDisplay("Speed is("+roombaComm.getSpeed()+")\n"); + roombaComm.spinRight(); + } else if ("turnleft".equals(action)) { + roombaComm.turnLeft(); + } else if ("turnright".equals(action)) { + roombaComm.turnRight(); + } else if ("max".equals(action)) { + roombaComm.max(); + } else if ("dock".equals(action)) { + roombaComm.dock(); + } else if ("test".equals(action)) { + LogoA.square(roombaComm, 300); + } else if ("OSU".equals(action)) { + updateDisplay("Going to play OSU\n"); + roombaComm.stop(); + roombaComm.pause(500); + playSong( + roombaComm, + "OSU:d=4,o=5,b=125:a,g,a#,a,8g#,a,8g#,2a,8p,8f,8g,8g#,a,8g#,a,8g#,a,g,f,a,g,8a,g,d,8f,8p,8f,8p,8f,8p,8f,8p,c6,a,g,f,8a#,a,8g,f,p,c6,a,g,a,8a#,a,8a#,c6,p,2d6,d,8c6,a#,g,f,8f,8f,8g,a#,8g,a#,a,2a#"); + // playSong(roombacomm,"Baa Baa Black Sheep:d=4,o=5,b=125:c,c,g,g,8a,8b,8c6,8a,g,p,f,f,e,e,d,d,c"); + roombaComm.stop(); + } else if ("Play RTTL".equals(action)){ + updateDisplay("Going to prompt for rttl string...\n"); + String rttl =""; + updateDisplay("Going to play rttl string ("+rttl+")...\n"); + } else if ("Tribble On".equals(action)) { + tribbleOn = true; + tribbleStart(roombaComm, displayText, tribbleOn); + } else if ("reset".equals(action)) { + roombaComm.stop(); + roombaComm.startup(); + roombaComm.control(); + } else if ("passive".equals(action)) { + //passive / start command + roombaComm.start(); + } else if ("safe".equals(action)) { + roombaComm.safe(); + } else if ("full".equals(action)) { + roombaComm.full(); + } else if ("power-off".equals(action)) { + roombaComm.powerOff(); + } else if ("power-on".equals(action)) { + roombaComm.powerOn(); + } else if ("wakeup".equals(action)) { + roombaComm.wakeup(); + } else if ("beep-lo".equals(action)) { + roombaComm.playNote(50, 32); // C1 + roombaComm.pause(200); + } else if ("beep-hi".equals(action)) { + roombaComm.playNote(90, 32); // C7 + roombaComm.pause(200); + } else if ("clean".equals(action)) { + roombaComm.clean(); + } else if ("spot".equals(action)) { + roombaComm.spot(); + } else if ("vacuum-on".equals(action)) { + roombaComm.vacuum(true); + } else if ("vacuum-off".equals(action)) { + roombaComm.vacuum(false); + } else if ("blink-leds".equals(action)) { + roombaComm.setLEDs(true, true, true, true, true, true, 255, 255); + roombaComm.pause(300); + roombaComm.setLEDs(false, false, false, false, false, false, 0, 128); + } else if ("sensors".equals(action)) { + if (roombaComm.updateSensors()) + updateDisplay(roombaComm.sensorsAsString() + "\n"); + else + updateDisplay("couldn't read Roomba. Is it connected?\n"); + } else if ("chargedata".equals(action)) { + if (roombaComm.updateSensors()) + updateDisplay("*****\n" + roombaComm.chargeDataAsString()+ "\n"); + else + updateDisplay("couldn't read Roomba. Is it connected?\n"); + } else if ("toggleGreen".equals(action)) { + setChgGreenLED(roombaComm, !greenOn); + } else if ("toggleRed".equals(action)) { + setChgRedLED(roombaComm, !redOn); + } else if ("toggleSpot".equals(action)) { + setChgSpotLED(roombaComm, !toggleSpot); + } else if ("toggleClean".equals(action)) { + setChgCleanLED(roombaComm, !toggleClean); + } else if ("toggleMax".equals(action)) { + setChgMaxLED(roombaComm, !toggleMax); + } else if ("toggleDirt".equals(action)) { + setChgDirtLED(roombaComm, !toggleDirt); + } else if ("toggleCheckRobot".equals(action)) { + setToggleCheckRobot(roombaComm, !toggleCheckRobot); + } else if ("toggleDock".equals(action)) { + setToggleDock(roombaComm, !toggleDock); + } + } + + /** + * implement ChangeListener, for the slider. + * + * @param e the e + */ + public void stateChanged(ChangeEvent e) { + // System.err.println("stateChanged:"+e); + JSlider src = (JSlider) e.getSource(); + if (!src.getValueIsAdjusting()) { + int speed = (int) src.getValue(); + speed = (speed < 1) ? 1 : speed; // don't allow zero speed + if (roombaComm != null){ + updateDisplay("setting speed = " + speed + "\n"); + roombaComm.setSpeed(speed); + } + } + } + + /** + * TODO: comment needed for makePanels. + */ + void makePanels() { + debugPrintln(debug,"makePanels-start"); + getContentPane().add(getJPanel4xx(), new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.BOTH, new Insets(2, 2, 2, 2), 2, 2)); + makeDisplayPanel(); + updateDisplay("RoombaComm, version " + RoombaComm.VERSION + "\n"); + debugPrintln(debug,"makePanels-finish"); + } + + /** + * TODO: need comment for makeDisplayPanel. + */ + void makeDisplayPanel() { + JTextArea displayText2 = new JTextArea(25, 30); + displayText2.setLineWrap(true); + DefaultCaret dc = new DefaultCaret(); + dc.setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE); + } + + /** + * Update display. + * + * @param s the s + */ + protected void updateDisplay(String s) { + debugPrintln(debug,"updateDisplay(string): start"); + displayText.append(s); + if (s != null && !(s.endsWith("\n"))) { + displayText.append("\n"); + } + debugPrintln(debug,"updateDisplay(string): reposition to "+displayText.getDocument().getLength()); + displayText.getParent().validate(); + displayText.getParent().repaint(100); + displayText.setText(displayText.getText() ); + debugPrintln(debug,"updateDisplay(string): end"); + } + + /** + * Update display. + * + * @param s the s + * @param onlyDebug the only debug + */ + protected void updateDisplay(String s, boolean onlyDebug) { + if (onlyDebug && (roombaCommSerial.debug || roombaCommTCPClient.debug)) { + updateDisplay(s); + debugPrintln(true,s); + } + } + + /** + * Update display. + * + * @param roombacomm the roombacomm + * @param jtextarea the jtextarea + * @param s the s + * @param onlyDebug the only debug + */ + protected static void updateDisplay(RoombaComm roombacomm, + JTextArea jtextarea, String s, boolean onlyDebug) { + if (onlyDebug && roombacomm.debug) { + jtextarea.append(s); + jtextarea.setCaretPosition(jtextarea.getDocument().getLength()); + jtextarea.getParent().validate(); + jtextarea.getParent().repaint(100); + System.out.println(s); + } + } + + /** + * Returns an ImageIcon, or null if the path was invalid. + * + * @param path the path + * @param description the description + * @return the image icon + */ + protected static ImageIcon createImageIcon(String path, String description) { + java.net.URL imgURL = RoombaCommFrame.class.getResource(path); + if (imgURL != null) { + return new ImageIcon(imgURL, description); + } else { + System.err.println("Couldn't find file: " + path); + return null; + } + } + + // uh... we should try to avoid @SuppressWarnings ... + /** + * Play song. + * + * @param roombacomm the roombacomm + * @param rtttl the rtttl + */ + @SuppressWarnings("unchecked") + protected void playSong(RoombaComm roombacomm, String rtttl) { + ArrayList notelist = RTTTLParser.parse(rtttl); + int songsize = notelist.size(); + // if within the size of a roomba song, make the nsong, then play + if (songsize <= 16) { + updateDisplay("creating a song with createSong()", this.debug); + int notearray[] = new int[songsize * 2]; + int j = 0; + for (int i = 0; i < songsize; i++) { + Note note = (Note) notelist.get(i); + int sec64ths = note.duration * 64 / 1000; + notearray[j++] = note.notenum; + notearray[j++] = sec64ths; + } + roombacomm.createSong(1, notearray); + roombacomm.playSong(1); + } + // otherwise, try to play it in realtime + else { + updateDisplay("playing song in realtime with playNote()\n", + this.debug); + int fudge = 20; + for (int i = 0; i < songsize; i++) { + Note note = (Note) notelist.get(i); + int duration = note.duration; + int sec64ths = duration * 64 / 1000; + if (sec64ths < 5) + sec64ths = 5; + if (note.notenum != 0) + roombacomm.playNote(note.notenum, sec64ths); + roombacomm.pause(duration + fudge); + } + } + } + + /** + * Tribble start. + * + * @param roombacomm the roombacomm + * @param jtextarea the jtextarea + * @param tribbleOn the tribble on + */ + protected static void tribbleStart(RoombaComm roombacomm, + JTextArea jtextarea, boolean tribbleOn) { + createTribblePurrSong(roombacomm); + + updateDisplay(roombacomm, jtextarea, "Press return to exit.", roombacomm.debug); + + while (tribbleOn) { + purr(roombacomm, jtextarea); + if (Math.random() < 0.1) + bark(roombacomm, jtextarea); + roombacomm.pause(1500 + (int) (Math.random() * 500)); + // tribbleOn = keyIsPressed(); + roombacomm.updateSensors(); + boolean b = roombacomm.maxButton(); + updateDisplay(roombacomm, jtextarea, "max button is (" + b + ")",roombacomm.debug); + tribbleOn = (!b); + } + } + + /** + * Purr. + * + * @param roombacomm the roombacomm + * @param jtextarea the jtextarea + */ + protected static void purr(RoombaComm roombacomm, JTextArea jtextarea) { + updateDisplay(roombacomm, jtextarea, "purr", roombacomm.debug); + roombacomm.playSong(5); + for (int i = 0; i < 5; i++) { + roombacomm.spinLeftAt(75); + roombacomm.pause(100); + roombacomm.spinRightAt(75); + roombacomm.pause(100); + roombacomm.stop(); + } + } + + /** + * Creates the tribble purr song. + * + * @param roombacomm the roombacomm + */ + protected static void createTribblePurrSong(RoombaComm roombacomm) { + int song[] = { 68, 4, 67, 4, 66, 4, 65, 4, 64, 4, 63, 4, 62, 4, 61, 4, + 60, 4, 59, 4, 60, 4, 61, 4, }; + roombacomm.createSong(5, song); + } + + /** + * Bark. + * + * @param roombacomm the roombacomm + * @param jtextarea the jtextarea + */ + protected static void bark(RoombaComm roombacomm, JTextArea jtextarea) { + updateDisplay(roombacomm, jtextarea, "bark", roombacomm.debug); + roombacomm.vacuum(true); + roombacomm.playNote(50, 5); + roombacomm.pause(150); + roombacomm.vacuum(false); + } + + /** + * Gets the power_color. + * + * @return the power_color + */ + protected int getPower_color() { + return power_color; + } + + /** + * Sets the power_color. + * + * @param power_color the new power_color + */ + protected void setPower_color(int power_color) { + if (power_color >= 0 && power_color <= 255) { + this.power_color = power_color; + } else { + this.power_color = 0; + updateDisplay("invalid power color attempted (" + power_color + ")"); + } + } + + /** + * Gets the power_int. + * + * @return the power_int + */ + protected int getPower_int() { + return power_int; + } + + /** + * Sets the power_int. + * + * @param power_int the new power_int + */ + protected void setPower_int(int power_int) { + + if (power_color >= 0 && power_color <= 255) { + this.power_int = power_int; + } else { + this.power_int = 0; + updateDisplay("invalid power intensity attempted (" + power_color + + ")"); + } + } + + /** + * Sets the lE ds. + * + * @param roombacomm the new lE ds + */ + protected void setLEDs(RoombaComm roombacomm) { + if (!roombacomm.connected()) + return; + if (roombacomm.getProtocol().equalsIgnoreCase("SCI")) { + roombacomm.setLEDs(this.greenOn, this.redOn, this.toggleSpot, + this.toggleClean, this.toggleMax, this.toggleDirt, + this.power_color, this.power_int); + } + if (roombacomm.getProtocol().equalsIgnoreCase("OI")) { + roombacomm.setLEDsOI(this.toggleCheckRobot, this.toggleSpot, + this.toggleDock, this.toggleDirt, this.power_color, + this.power_int); + } + return; + } + + /** + * Sets the chg green led. + * + * @param roombacomm the roombacomm + * @param green the green + */ + protected void setChgGreenLED(RoombaComm roombacomm, boolean green) { + this.greenOn = green; + updateDisplay("setChgGreenLED", this.debug); + this.setLEDs(roombacomm); + } + + /** + * Sets the chg red led. + * + * @param roombacomm the roombacomm + * @param red the red + */ + protected void setChgRedLED(RoombaComm roombacomm, boolean red) { + this.redOn = red; + updateDisplay("setChgRedLED", this.debug); + this.setLEDs(roombacomm); + } + + /** + * Sets the chg spot led. + * + * @param roombacomm the roombacomm + * @param spot the spot + */ + protected void setChgSpotLED(RoombaComm roombacomm, boolean spot) { + updateDisplay("setChgSpotLED value(" + spot + ")", this.debug); + roombacomm.setChgSpotLED(roombacomm, spot); + this.toggleSpot = roombacomm.isToggleSpot(); + } + + /** + * Sets the chg clean led. + * + * @param roombacomm the roombacomm + * @param clean the clean + */ + protected void setChgCleanLED(RoombaComm roombacomm, boolean clean) { + updateDisplay("setChgCleanLED value(" + clean + ")", this.debug); + roombacomm.setChgCleanLED(roombacomm, clean); + this.toggleClean = roombacomm.isToggleClean(); + } + + /** + * Sets the chg max led. + * + * @param roombacomm the roombacomm + * @param max the max + */ + protected void setChgMaxLED(RoombaComm roombacomm, boolean max) { + updateDisplay("setChgMaxLED value(" + max + ")", this.debug); + roombacomm.setChgMaxLED(roombacomm, max); + this.toggleMax = roombacomm.isToggleMax(); + } + + /** + * Sets the chg dirt led. + * + * @param roombacomm the roombacomm + * @param dirt the dirt + */ + protected void setChgDirtLED(RoombaComm roombacomm, boolean dirt) { + updateDisplay("setChgDirtLED value(" + dirt + ")", this.debug); + roombacomm.setChgDirtLED(roombacomm, dirt); + this.toggleDirt = roombacomm.isToggleDirt(); + } + + /** + * Sets the toggle check robot. + * + * @param roombacomm the roombacomm + * @param CheckRobot the check robot + */ + public void setToggleCheckRobot(RoombaComm roombacomm, boolean CheckRobot) { + updateDisplay("setChgCheckRobotLED value(" + CheckRobot + ")",this.debug); + roombacomm.setChgCheckRobotLED(roombacomm, CheckRobot); + this.toggleCheckRobot = roombacomm.isToggleCheckRobot(); + } + + /** + * Sets the toggle dock. + * + * @param roombacomm the roombacomm + * @param dock the dock + */ + public void setToggleDock(RoombaComm roombacomm, boolean dock) { + updateDisplay("setChgDockLED value(" + dock + ")", this.debug); + roombacomm.setChgDockLED(roombacomm, dock); + this.toggleDock = roombacomm.isToggleDock(); + } + + /** + * Sets the chg power color led. + * + * @param roombacomm the roombacomm + * @param power_color the power_color + */ + protected void setChgPowerColorLED(RoombaComm roombacomm, int power_color) { + updateDisplay("setChgPowerColorLED value(" + power_color + ")",this.debug); + roombacomm.setChgPowerColorLED(roombacomm, power_color); + // this.power_color + // TODO: Keep track of power color + } + + /** + * Sets the chg power intensity led. + * + * @param roombacomm the roombacomm + * @param power_intensity the power_intensity + */ + protected void setChgPowerIntensityLED(RoombaComm roombacomm, int power_intensity) { + updateDisplay("setChgPowerIntensityLED value(" + power_intensity + ")",this.debug); + roombacomm.setChgPowerIntensityLED(roombacomm, power_intensity); + // TODO: Keep track of Power Intensity + } + + /** + * Gets the toggle check robot. + * + * @return the toggle check robot + */ + public boolean getToggleCheckRobot() { + return toggleCheckRobot; + } + + /** + * Gets the toggle dock. + * + * @return the toggle dock + */ + public boolean getToggleDock() { + return toggleDock; + } + + /** + * Gets the j tabbed panel config. + * + * @return the j tabbed panel config + */ + private JTabbedPane getJTabbedPanelConfig() { + if(jTabbedPanelConfig == null) { + jTabbedPanelConfig = new JTabbedPane(); + jTabbedPanelConfig.setPreferredSize(new java.awt.Dimension(139, 28)); + jTabbedPanelConfig.addTab("Net", null, getJPanelConfigNet(), "set the TCP network settings here"); + jTabbedPanelConfig.addTab("Serial", null, getJPanelConfigSerial(), "set the serial settings here"); + } + jTabbedPanelConfig.setMinimumSize(new Dimension(200,100)); + jTabbedPanelConfig.setPreferredSize(new java.awt.Dimension(254, 100)); + jTabbedPanelConfig.setToolTipText("Use one of the two connection methods to communicate with the Roomba"); + // Register a change listener + jTabbedPanelConfig.addChangeListener(new ChangeListener() { + // This method is called whenever the selected tab changes + public void stateChanged(ChangeEvent evt) { + debugPrintln(debug,"jTabbedPanelConfig - state changed"); + JTabbedPane pane = (JTabbedPane)evt.getSource(); + // Get current tab + int sel = pane.getSelectedIndex(); + debugPrintln(debug,"jTabbedPanelConfig - tab "+sel+" selected"); + debugPrintln(debug,"jTabbedPanelConfig - roombaCommSerial.isConnected() "+roombaCommSerial.isConnected()); + debugPrintln(debug,"jTabbedPanelConfig - roombaCommTCPClient.isConnected() "+roombaCommTCPClient.isConnected()); + if (roombaCommTCPClient.isConnected() && roombaCommSerial.isConnected()){ + debugPrintln(debug,"***** I have no idea why both should ever be connected at the same time... THIS IS STRANGE *****"); + } + if (sel == 1){ + setCommPorts(); + if (roombaCommTCPClient.isConnected() && !roombaCommSerial.isConnected()){ + pane.setSelectedIndex(0); + debugPrintln(debug,"active net connection found setting focus to the correct tab"); + } + } + if (sel == 0){ + if (!roombaCommTCPClient.isConnected() && roombaCommSerial.isConnected()){ + pane.setSelectedIndex(1); + debugPrintln(debug,"active Serial connection found setting focus to the correct tab"); + } + } + } + }); + return jTabbedPanelConfig; + } + + /** + * Gets the j panel config net. + * + * @return the j panel config net + */ + private JPanel getJPanelConfigNet() { + if(jPanelConfigNet == null) { + jPanelConfigNet = new JPanel(); + GridBagLayout jPanelConfigNetLayout = new GridBagLayout(); + jPanelConfigNetLayout.rowWeights = new double[] {0.0, 0.1}; + jPanelConfigNetLayout.rowHeights = new int[] {26, 7}; + jPanelConfigNetLayout.columnWeights = new double[] {0.1, 0.1, 0.1}; + jPanelConfigNetLayout.columnWidths = new int[] {7, 7, 7}; + jPanelConfigNet.setLayout(jPanelConfigNetLayout); + jPanelConfigNet.setPreferredSize(new java.awt.Dimension(318, 72)); + jPanelConfigNet.add(getJLabelHost(), new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.EAST, GridBagConstraints.VERTICAL, new Insets(0, 0, 0, 0), 0, 0)); + jPanelConfigNet.add(getJTextFieldHost(), new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.HORIZONTAL, new Insets(0, 0, 0, 0), 0, 0)); + jPanelConfigNet.add(getJLabelPort(), new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.EAST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + jPanelConfigNet.add(getJTextFieldPort(), new GridBagConstraints(1, 1, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.HORIZONTAL, new Insets(0, 0, 0, 0), 0, 0)); + { + netButton = new JButton(); + jPanelConfigNet.add(netButton, new GridBagConstraints(2, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + netButton.setText("connect"); + netButton.setActionCommand("net"); + netButton.addActionListener(this); + } + } + return jPanelConfigNet; + } + + /** + * Gets the j panel config serial. + * + * @return the j panel config serial + */ + private JPanel getJPanelConfigSerial() { + if(jPanelConfigSerial == null) { + jPanelConfigSerial = new JPanel(); + GridBagLayout jPanelConfigSerialLayout = new GridBagLayout(); + jPanelConfigSerial.setPreferredSize(new java.awt.Dimension(318, 72)); + jPanelConfigSerialLayout.rowWeights = new double[] {0.1}; + jPanelConfigSerialLayout.rowHeights = new int[] {7}; + jPanelConfigSerialLayout.columnWeights = new double[] {0.0, 0.1, 0.1}; + jPanelConfigSerialLayout.columnWidths = new int[] {77, 7, 7}; + jPanelConfigSerial.setLayout(jPanelConfigSerialLayout); + jPanelConfigSerial.addFocusListener(new FocusAdapter() { + public void focusGained(FocusEvent evt) { + jPanelConfigSerialFocusGained(evt); + } + }); + { + portChoices = new JComboBox(); + jPanelConfigSerial.add(portChoices, new GridBagConstraints(1, -1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(0, 0, 0, 0), 0, 0)); + portChoices.validate(); + portChoices.repaint(); + portChoices.addActionListener(this); + } + { + connectButton = new JButton(); + jPanelConfigSerial.add(connectButton, new GridBagConstraints(2, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + jPanelConfigSerial.add(getJLabelCOMM(), new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.EAST, GridBagConstraints.NONE, new Insets(0, 5, 0, 5), 0, 0)); + connectButton.setText(" connect "); + connectButton.setActionCommand("connect"); + connectButton.addActionListener(this); + } + } + return jPanelConfigSerial; + } + + /** + * Gets the j label host. + * + * @return the j label host + */ + private JLabel getJLabelHost() { + if(jLabelHost == null) { + jLabelHost = new JLabel(); + jLabelHost.setLayout(null); + jLabelHost.setText("Host"); + jLabelHost.setPreferredSize(new java.awt.Dimension(39, 17)); + jLabelHost.setLabelFor(getJTextFieldHost()); + jLabelHost.setToolTipText("Set the hostname/IP address"); + } + return jLabelHost; + } + + /** + * Gets the j text field host. + * + * @return the j text field host + */ + private JTextField getJTextFieldHost() { + if(jTextFieldHost == null) { + jTextFieldHost = new JTextField(); + jTextFieldHost.setText("192.168.2.15"); + jTextFieldHost.setToolTipText("Set the hostname/IP address"); + } + return jTextFieldHost; + } + + /** + * Gets the j panel1. + * + * @return the j panel1 + */ + private JPanel getJPanel1() { + if(jPanel1 == null) { + jPanel1 = new JPanel(); + GridBagLayout jPanel1Layout = new GridBagLayout(); + jPanel1Layout.rowWeights = new double[] {0.1}; + jPanel1Layout.rowHeights = new int[] {7}; + jPanel1Layout.columnWeights = new double[] {0.1, 0.1}; + jPanel1Layout.columnWidths = new int[] {7, 7}; + jPanel1.setLayout(jPanel1Layout); + jPanel1.setPreferredSize(new java.awt.Dimension(800,320)); + { + ledPanel = new JPanel(); + GridBagLayout ledPanelLayout = new GridBagLayout(); + ledPanel.setLayout(ledPanelLayout); + jPanel1.add(ledPanel, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + { + ledPanelSCIOnly = new JPanel(new GridLayout(3, 3)); + GridBagLayout ledPanel1Layout = new GridBagLayout(); + ledPanel.add(getLedPanelShared(), new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + ledPanel.add(getJPanel4x(), new GridBagConstraints(0, 2, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + ledPanel.add(ledPanelSCIOnly, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + ledPanel1Layout.rowWeights = new double[] {0.1}; + ledPanel1Layout.rowHeights = new int[] {7}; + ledPanel1Layout.columnWeights = new double[] {0.1, 0.1, 0.1, 0.1}; + ledPanel1Layout.columnWidths = new int[] {7, 7, 7, 7}; + ledPanelSCIOnly.setLayout(ledPanel1Layout); + ButtonGroup group = new ButtonGroup(); + String off="None"; + String green="Green"; + String red="Red"; + String both="Orange"; + { + JRadioButton statusOffButton = new JRadioButton(off); + ledPanelSCIOnly.add(statusOffButton, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + statusOffButton.setMnemonic(KeyEvent.VK_N); + statusOffButton.setActionCommand("StatusLED-" + off); + statusOffButton.setSelected(true); + group.add(statusOffButton); + statusOffButton.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + updateDisplay("setting Power Color = " + e.getActionCommand() + + "\n"); + setChgGreenLED(roombaCommSerial, false); + setChgRedLED(roombaCommSerial, false); + } + }); + } + { + JRadioButton statusGreenButton = new JRadioButton(green); + ledPanelSCIOnly.add(statusGreenButton, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + statusGreenButton.setMnemonic(KeyEvent.VK_G); + statusGreenButton.setActionCommand("StatusLED-" + green); + group.add(statusGreenButton); + statusGreenButton.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + updateDisplay("setting Power Color = " + e.getActionCommand() + + "\n"); + setChgGreenLED(roombaCommSerial, true); + setChgRedLED(roombaCommSerial, false); + } + }); + } + { + JRadioButton statusRedButton = new JRadioButton(red); + ledPanelSCIOnly.add(statusRedButton, new GridBagConstraints(2, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + statusRedButton.setMnemonic(KeyEvent.VK_R); + statusRedButton.setActionCommand("StatusLED-" + red); + group.add(statusRedButton); + statusRedButton.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + updateDisplay("setting Power Color = " + e.getActionCommand() + + "\n"); + setChgGreenLED(roombaCommSerial, false); + setChgRedLED(roombaCommSerial, true); + } + }); + } + { + JRadioButton statusBothButton = new JRadioButton(both); + ledPanelSCIOnly.add(statusBothButton, new GridBagConstraints(3, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + statusBothButton.setMnemonic(KeyEvent.VK_O); + statusBothButton.setActionCommand("StatusLED-" + both); + group.add(statusBothButton); + statusBothButton.addActionListener(new ActionListener() { + public void actionPerformed(ActionEvent e) { + updateDisplay("setting Power Color = " + e.getActionCommand() + + "\n"); + setChgGreenLED(roombaCommSerial, true); + setChgRedLED(roombaCommSerial, true); + } + }); + } + } + { + powerColorSlider = new JSlider(JSlider.HORIZONTAL, 0, 255, 100); + ledPanel.add(powerColorSlider, new GridBagConstraints(0, 4, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.BOTH, new Insets(2, 2, 2, 2), 2, 2)); + powerColorSlider.setPaintTicks(true); + powerColorSlider.setMajorTickSpacing(100); + powerColorSlider.setMinorTickSpacing(25); + powerColorSlider.setPaintLabels(true); + powerColorSlider.setSize(200, 46); + powerColorSlider.setPreferredSize(new java.awt.Dimension(224, 48)); + powerColorSlider.addChangeListener(new ChangeListener() { + public void stateChanged(ChangeEvent e) { + JSlider src = (JSlider) e.getSource(); + if (!src.getValueIsAdjusting()) { + setPower_color((int) src.getValue()); + updateDisplay("setting Power Color = " + getPower_color() + + "\n"); + setLEDs(roombaCommSerial); + } + } + }); + } + { + JLabel powerColorLabel = new JLabel("PowerColor", JLabel.CENTER); + ledPanel.add(powerColorLabel, new GridBagConstraints(0, 3, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 2, 2)); + } + { + powerColorIntensity = new JSlider(JSlider.HORIZONTAL, 0, 255, 100); + ledPanel.add(powerColorIntensity, new GridBagConstraints(0, 6, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 2, 2)); + powerColorIntensity.setPaintTicks(true); + powerColorIntensity.setMajorTickSpacing(100); + powerColorIntensity.setMinorTickSpacing(25); + powerColorIntensity.setPaintLabels(true); + powerColorIntensity.setPreferredSize(new java.awt.Dimension(248, 45)); + powerColorIntensity.addChangeListener(new ChangeListener() { + public void stateChanged(ChangeEvent e) { + // System.err.println("stateChanged:"+e); + JSlider src = (JSlider) e.getSource(); + if (!src.getValueIsAdjusting()) { + setPower_int((int) src.getValue()); + updateDisplay("setting Power Color Intensity = " + + getPower_int() + "\n"); + setLEDs(roombaCommSerial); + } + } + }); + } + { + JLabel powerColorIntensityLabel = new JLabel("PowerColorIntensity", + JLabel.CENTER); + ledPanel.add(powerColorIntensityLabel, new GridBagConstraints(0, 5, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 2, 2)); + } + ledPanelLayout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; + ledPanelLayout.rowHeights = new int[] {7, 7, 7, 7, 7, 7, 7}; + ledPanelLayout.columnWeights = new double[] {0.1}; + ledPanelLayout.columnWidths = new int[] {7}; + ledPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("LEDs"),BorderFactory.createEmptyBorder(5,5,5,5))); + ledPanel.setPreferredSize(new java.awt.Dimension(288, 313)); + } + + { + ctrlPanel = new JPanel(); + jPanel1.add(ctrlPanel, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.BOTH, new Insets(0, 0, 0, 0), 0, 0)); + { + JPanel ctrlPanel1 = new JPanel(); + ctrlPanel.add(ctrlPanel1); + { + JButton but_turnleft = new JButton(); + ctrlPanel1.add(but_turnleft); + but_turnleft.setActionCommand("turnleft"); + but_turnleft.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_turnleft.png"))); + but_turnleft.addActionListener(this); + } + { + JButton but_forward = new JButton(); + ctrlPanel1.add(but_forward); + but_forward.setActionCommand("forward"); + but_forward.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_forward.png"))); + but_forward.addActionListener(this); + } + { + JButton but_turnright = new JButton(); + ctrlPanel1.add(but_turnright); + but_turnright.setActionCommand("turnright"); + but_turnright.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_turnright.png"))); + but_turnright.addActionListener(this); + } + { + JButton but_spinleft = new JButton(); + ctrlPanel1.add(but_spinleft); + but_spinleft.setActionCommand("spinleft"); + but_spinleft.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_spinleft.png"))); + but_spinleft.addActionListener(this); + } + { + JButton but_stop = new JButton(); + ctrlPanel1.add(but_stop); + but_stop.setActionCommand("stop"); + but_stop.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_stop.png"))); + but_stop.addActionListener(this); + } + { + JButton but_spinright = new JButton(); + ctrlPanel1.add(but_spinright); + but_spinright.setActionCommand("spinright"); + but_spinright.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_spinright.png"))); + but_spinright.addActionListener(this); + } + { + ctrlPanel1.add(new JLabel()); + } + { + JButton but_backward = new JButton(); + ctrlPanel1.add(but_backward); + but_backward.setActionCommand("backward"); + but_backward.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_backward.png"))); + but_backward.setPreferredSize(new java.awt.Dimension(55, 78)); + but_backward.addActionListener(this); + } + { + ctrlPanel1.add(new JLabel()); + } + ctrlPanel1.setLayout(new GridLayout(3, 3)); + ctrlPanel1.setPreferredSize(new java.awt.Dimension(194, 199)); + ctrlPanel1.setSize(194, 199); +// ctrlPanel1.setTabTitle(""); + } + { + speedSlider = new JSlider(JSlider.HORIZONTAL, 0, 500, 200); + ctrlPanel.add(speedSlider); + speedSlider.setPaintTicks(true); + speedSlider.setMajorTickSpacing(100); + speedSlider.setMinorTickSpacing(25); + speedSlider.setPaintLabels(true); + speedSlider.addChangeListener(this); + } + { + JLabel sliderLabel = new JLabel(); + ctrlPanel.add(sliderLabel); + sliderLabel.setText("speed (mm/s)"); + sliderLabel.setAlignmentX(JLabel.CENTER); + } + ctrlPanel.setLayout(new BoxLayout(ctrlPanel, BoxLayout.Y_AXIS)); + ctrlPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Movement"),BorderFactory.createEmptyBorder(5,5,5,5))); + } + } + return jPanel1; + } + + /** + * Gets the j label port. + * + * @return the j label port + */ + private JLabel getJLabelPort() { + if(jLabelPort == null) { + jLabelPort = new JLabel(); + jLabelPort.setText("Port"); + jLabelPort.setPreferredSize(new java.awt.Dimension(39, 33)); + jLabelPort.setLabelFor(getJTextFieldPort()); + jLabelPort.setToolTipText("Set the TCP port"); + } + return jLabelPort; + } + + /** + * Gets the j text field port. + * + * @return the j text field port + */ + private JTextField getJTextFieldPort() { + if(jTextFieldPort == null) { + jTextFieldPort = new JTextField(); + jTextFieldPort.setToolTipText("Set the TCP port"); + jTextFieldPort.setText("5001"); + } + return jTextFieldPort; + } + + /** + * J panel config serial focus gained. + * + * @param evt the evt + */ + private void jPanelConfigSerialFocusGained(FocusEvent evt) { + debugPrintln(debug,"jPanelConfigSerial.focusGained, event="+evt); + //TODO add your code for jPanelConfigSerial.focusGained + // make sure we have a roombaCommSerial object + setCommPorts(); + } + + /** + * Sets the comm ports. + */ + private void setCommPorts() { + debugPrintln(debug,"setCommPorts-start"); + if (roombaCommSerial == null){ + debugPrintln(debug,"setCommPorts-roombaCommSerial is null"); + roombaCommSerial = new RoombaCommSerial(this.debug); + } + if (portChoices != null) { + debugPrintln(debug,"setCommPorts-portChoices object is not null"); + // if the list of ports is empty then try to fill it + if (portChoices.getItemCount() ==0){ + // fill in the comm ports (combo box) with choices. + debugPrintln(debug,"setCommPorts-getting list of ports"); + String[] ports = roombaCommSerial.listPorts(); + // for now short cutting looking for serial ports to speed up start/stop of the UI + // String[] ports = {"a","b"}; + debugPrintln(debug,"setCommPorts-found "+ports.length+" serialports"); + for (int i = 0; i < ports.length; i++) { + String s = ports[i]; + debugPrintln(debug,"setCommPorts-adding ["+i+"] as "+s); + portChoices.addItem(ports[i]); + if (s.equals(roombaCommSerial.getPortname())) { + debugPrintln(debug,"setCommPorts- setting port as selected due to "+roombaCommSerial.getPortname()); + portChoices.setSelectedItem(s); + } + } + portChoices.validate(); + portChoices.repaint(); + } + } + debugPrintln(debug,"setCommPorts-start"); + } + + /** + * Gets the j label comm. + * + * @return the j label comm + */ + private JLabel getJLabelCOMM() { + if(jLabelCOMM == null) { + jLabelCOMM = new JLabel(); + jLabelCOMM.setText("COM"); + } + return jLabelCOMM; + } + + /** + * Gets the j panel2. + * + * @return the j panel2 + */ + private JPanel getJPanel2() { + if(jPanel2 == null) { + jPanel2 = new JPanel(); + GridBagLayout jPanel2Layout = new GridBagLayout(); + jPanel2Layout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; + jPanel2Layout.rowHeights = new int[] {7, 7, 7, 7, 7, 7}; + jPanel2Layout.columnWeights = new double[] {0.0}; + jPanel2Layout.columnWidths = new int[] {150}; + jPanel2.setLayout(jPanel2Layout); + jPanel2.setBorder(BorderFactory.createTitledBorder(null,"Commands",TitledBorder.LEADING,TitledBorder.DEFAULT_POSITION)); + jPanel2.setPreferredSize(new java.awt.Dimension(233,505)); + jPanel2.add(getJPanelModes(), new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0)); + jPanel2.add(getJPanelSounds(), new GridBagConstraints(0, 2, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0)); + jPanel2.add(getJPanelTestPrograms(), new GridBagConstraints(0, 4, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0)); + jPanel2.add(getJPanelVacuum(), new GridBagConstraints(0, 5, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0)); + jPanel2.add(getJPanelPower(), new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0)); + jPanel2.add(getJPanel4(), new GridBagConstraints(0, 6, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0)); + } + return jPanel2; + } + + /** + * Gets the j panel3. + * + * @return the j panel3 + */ + private JPanel getJPanel3() { + if(jPanel3 == null) { + jPanel3 = new JPanel(); + jPanel3.setVisible(false); + GridBagLayout jPanel3Layout = new GridBagLayout(); + jPanel3Layout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; + jPanel3Layout.rowHeights = new int[] {7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7}; + jPanel3Layout.columnWeights = new double[] {0.1}; + jPanel3Layout.columnWidths = new int[] {7}; + jPanel3.setLayout(jPanel3Layout); + { + JButton but_nyi = new JButton(); + jPanel3.add(but_nyi, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_nyi.setText("nyi"); + but_nyi.setVisible(false); + } + { + JButton but_nyi2 = new JButton(); + jPanel3.add(but_nyi2, new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_nyi2.setText("nyi2"); + but_nyi2.setVisible(false); + } + { + JButton but_nyi3 = new JButton(); + jPanel3.add(but_nyi3, new GridBagConstraints(0, 2, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_nyi3.setText("nyi3"); + but_nyi3.setVisible(false); + } + { + JButton but_nyi4 = new JButton(); + jPanel3.add(but_nyi4, new GridBagConstraints(0, 3, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_nyi4.setText("nyi4"); + but_nyi4.setVisible(false); + } + { + JButton but_nyi5 = new JButton(); + jPanel3.add(but_nyi5, new GridBagConstraints(0, 5, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_nyi5.setText("nyi5"); + but_nyi5.setVisible(false); + } + { + JButton but_nyi6 = new JButton(); + jPanel3.add(but_nyi6, new GridBagConstraints(0, 6, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_nyi6.setText("nyi6"); + but_nyi6.setVisible(false); + } + { + JButton but_nyi7 = new JButton(); + jPanel3.add(but_nyi7, new GridBagConstraints(0, 8, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_nyi7.setText("nyi7"); + but_nyi7.setVisible(false); + } + { + jButton2 = new JButton(); + jPanel3.add(jButton2, new GridBagConstraints(0, 9, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + jButton2.setText("nyi5"); + jButton2.setVisible(false); + } + { + jButton1 = new JButton(); + jPanel3.add(jButton1, new GridBagConstraints(0, 10, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + jButton1.setText("nyi6"); + jButton1.setVisible(false); + } + { + jButton3 = new JButton(); + jPanel3.add(jButton3, new GridBagConstraints(0, 11, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + jButton3.setText("nyi3"); + jButton3.setVisible(false); + } + { + jButton4 = new JButton(); + jPanel3.add(jButton4, new GridBagConstraints(0, 12, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + jButton4.setText("nyi2"); + jButton4.setVisible(false); + } + } + return jPanel3; + } + + /** + * Gets the j panel modes. + * + * @return the j panel modes + */ + private JPanel getJPanelModes() { + if(jPanelModes == null) { + jPanelModes = new JPanel(); + GridBagLayout jPanelModesLayout = new GridBagLayout(); + jPanelModesLayout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1}; + jPanelModesLayout.rowHeights = new int[] {7, 7, 7, 7, 7}; + jPanelModesLayout.columnWeights = new double[] {0.1, 0.1}; + jPanelModesLayout.columnWidths = new int[] {95, 95}; + jPanelModes.setLayout(jPanelModesLayout); + jPanelModes.setBorder(BorderFactory.createTitledBorder("Modes")); + { + JButton but_spot = new JButton(); + jPanelModes.add(but_spot, new GridBagConstraints(0, 3, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_spot.setText("spot"); + but_spot.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_spot.addActionListener(this); + } + { + JButton but_full = new JButton(); + jPanelModes.add(but_full, new GridBagConstraints(0, 2, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_full.setText("full"); + but_full.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_full.addActionListener(this); + } + { + JButton but_safe = new JButton(); + jPanelModes.add(but_safe, new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_safe.setText("safe"); + but_safe.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_safe.addActionListener(this); + } + { + JButton but_dock = new JButton(); + jPanelModes.add(but_dock, new GridBagConstraints(1, 4, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_dock.setText("dock"); + but_dock.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_dock.addActionListener(this); + } + { + JButton but_max = new JButton(); + jPanelModes.add(but_max, new GridBagConstraints(0, 4, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_max.setText("max"); + but_max.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_max.addActionListener(this); + } + { + JButton but_clean = new JButton(); + jPanelModes.add(but_clean, new GridBagConstraints(1, 3, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_clean.setText("clean"); + but_clean.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_clean.addActionListener(this); + } + { + JButton but_wakeup = new JButton(); + jPanelModes.add(but_wakeup, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_wakeup.setText("wakeup"); + but_wakeup.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_wakeup.addActionListener(this); + } + { + JButton but_reset = new JButton(); + jPanelModes.add(but_reset, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_reset.setText("reset"); + but_reset.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_reset.addActionListener(this); + } + { + JButton but_passive = new JButton(); + jPanelModes.add(but_passive, new GridBagConstraints(1, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_passive.setText("passive"); + but_passive.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_passive.addActionListener(this); + } + } + return jPanelModes; + } + + /** + * Gets the j panel sounds. + * + * @return the j panel sounds + */ + private JPanel getJPanelSounds() { + if(jPanelSounds == null) { + jPanelSounds = new JPanel(); + GridBagLayout jPanelSoundsLayout = new GridBagLayout(); + jPanelSoundsLayout.rowWeights = new double[] {0.1, 0.1}; + jPanelSoundsLayout.rowHeights = new int[] {7, 7}; + jPanelSoundsLayout.columnWeights = new double[] {0.1, 0.1}; + jPanelSoundsLayout.columnWidths = new int[] {95, 95}; + jPanelSounds.setLayout(jPanelSoundsLayout); + jPanelSounds.setBorder(BorderFactory.createTitledBorder("Sounds")); + { + JButton but_OSU = new JButton(); + jPanelSounds.add(but_OSU, new GridBagConstraints(1, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_OSU.setText("OSU"); + but_OSU.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_OSU.addActionListener(this); + } + { + JButton but_beeplo = new JButton(); + jPanelSounds.add(but_beeplo, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_beeplo.setText("beep-lo"); + but_beeplo.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_beeplo.addActionListener(this); + } + { + JButton but_beephi = new JButton(); + jPanelSounds.add(but_beephi, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_beephi.setText("beep-hi"); + but_beephi.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_beephi.addActionListener(this); + } + { + JButton but_playRTTL = getBut_playRTTL(); + jPanelSounds.add(getBut_playRTTL(), new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_playRTTL.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_playRTTL.addActionListener(this); + } + } + return jPanelSounds; + } + + /** + * Gets the j panel test programs. + * + * @return the j panel test programs + */ + private JPanel getJPanelTestPrograms() { + if(jPanelTestPrograms == null) { + jPanelTestPrograms = new JPanel(); + GridBagLayout jPanelTestProgramsLayout = new GridBagLayout(); + jPanelTestProgramsLayout.rowWeights = new double[] {0.1}; + jPanelTestProgramsLayout.rowHeights = new int[] {7}; + jPanelTestProgramsLayout.columnWeights = new double[] {0.1, 0.1}; + jPanelTestProgramsLayout.columnWidths = new int[] {95, 95}; + jPanelTestPrograms.setLayout(jPanelTestProgramsLayout); + jPanelTestPrograms.setBorder(BorderFactory.createTitledBorder("Test Programs")); + { + JButton but_TribbleOn = new JButton(); + jPanelTestPrograms.add(but_TribbleOn, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_TribbleOn.setText("Tribble On"); + but_TribbleOn.setPreferredSize(new java.awt.Dimension(93, 26)); + but_TribbleOn.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_TribbleOn.setSize(93, 26); + but_TribbleOn.addActionListener(this); + } + { + JButton but_test = new JButton(); + jPanelTestPrograms.add(but_test, new GridBagConstraints(1, 0, 2, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_test.setText("LogoA.square"); + but_test.setPreferredSize(new java.awt.Dimension(93, 26)); + but_test.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_test.setSize(93, 26); + but_test.addActionListener(this); + } + } + return jPanelTestPrograms; + } + + /** + * Gets the j panel4. + * + * @return the j panel4 + */ + private JPanel getJPanel4() { + if(jPanelSensors == null) { + jPanelSensors = new JPanel(); + GridBagLayout jPanelSensorsLayout = new GridBagLayout(); + jPanelSensorsLayout.rowWeights = new double[] {0.1}; + jPanelSensorsLayout.rowHeights = new int[] {7}; + jPanelSensorsLayout.columnWeights = new double[] {0.1, 0.1}; + jPanelSensorsLayout.columnWidths = new int[] {95, 95}; + jPanelSensors.setLayout(jPanelSensorsLayout); + jPanelSensors.setBorder(BorderFactory.createTitledBorder(null, "Sensors", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION)); + { + JButton but_chargedata = new JButton(); + jPanelSensors.add(but_chargedata, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 0, 0)); + but_chargedata.setText("chargedata"); + but_chargedata.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_chargedata.setPreferredSize(new java.awt.Dimension(93, 26)); + but_chargedata.setSize(93, 26); + but_chargedata.addActionListener(this); + } + { + JButton but_sensors = new JButton(); + jPanelSensors.add(but_sensors, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 0, 0)); + but_sensors.setText("sensors"); + but_sensors.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_sensors.setPreferredSize(new java.awt.Dimension(93, 26)); + but_sensors.setSize(93, 26); + but_sensors.addActionListener(this); + } + } + return jPanelSensors; + } + + /** + * Gets the j panel vacuum. + * + * @return the j panel vacuum + */ + private JPanel getJPanelVacuum() { + if(jPanelVacuum == null) { + jPanelVacuum = new JPanel(); + GridBagLayout jPanelVacuumLayout = new GridBagLayout(); + jPanelVacuumLayout.rowWeights = new double[] {0.1}; + jPanelVacuumLayout.rowHeights = new int[] {7}; + jPanelVacuumLayout.columnWeights = new double[] {0.1, 0.1}; + jPanelVacuumLayout.columnWidths = new int[] {95, 95}; + jPanelVacuum.setLayout(jPanelVacuumLayout); + jPanelVacuum.setBorder(BorderFactory.createTitledBorder(BorderFactory.createTitledBorder(""), "Vacuum", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION)); + { + JButton but_vacon = new JButton(); + jPanelVacuum.add(but_vacon, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_vacon.setText("vacuum-on"); + but_vacon.setSize(93, 26); + but_vacon.setPreferredSize(new java.awt.Dimension(93, 26)); + but_vacon.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_vacon.addActionListener(this); + } + { + JButton but_vacoff = new JButton(); + but_vacoff.setLayout(null); + jPanelVacuum.add(but_vacoff, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_vacoff.setText("vacuum-off"); + but_vacoff.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_vacoff.setPreferredSize(new java.awt.Dimension(93, 26)); + but_vacoff.setSize(93, 26); + but_vacoff.addActionListener(this); + } + } + return jPanelVacuum; + } + + /** + * Gets the j panel power. + * + * @return the j panel power + */ + private JPanel getJPanelPower() { + if(jPanelPower == null) { + jPanelPower = new JPanel(); + GridBagLayout jPanelPowerLayout = new GridBagLayout(); + jPanelPower.setBorder(BorderFactory.createTitledBorder(null, "Power", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION)); + jPanelPowerLayout.rowWeights = new double[] {0.1}; + jPanelPowerLayout.rowHeights = new int[] {7}; + jPanelPowerLayout.columnWeights = new double[] {0.1, 0.1}; + jPanelPowerLayout.columnWidths = new int[] {95, 95}; + jPanelPower.setLayout(jPanelPowerLayout); + { + JButton but_powerOn = new JButton(); + jPanelPower.add(but_powerOn, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_powerOn.setText("power-on"); + but_powerOn.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_powerOn.addActionListener(this); + } + { + JButton but_power = new JButton(); + jPanelPower.add(but_power, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0)); + but_power.setText("power-off"); + but_power.setMargin(new java.awt.Insets(2, 2, 2, 2)); + but_power.addActionListener(this); + } + } + return jPanelPower; + } + + /** + * Gets the j text pane1. + * + * @return the j text pane1 + */ + private JTextPane getJTextPane1() { + if(jTextPane1 == null) { + jTextPane1 = new JTextPane(); + jTextPane1.setText("Set the Protocal, then connect via a network or Serial connection.\nThen you can use the Commands, LED's, and/or Movement controls to operate your Roomba."); + jTextPane1.setBorder(BorderFactory.createEmptyBorder(0, 0, 0, 0)); + jTextPane1.setOpaque(false); + } + return jTextPane1; + } + + /** + * Gets the j panel4x. + * + * @return the j panel4x + */ + private JPanel getJPanel4x() { + if(ledPanelOIOnly == null) { + ledPanelOIOnly = new JPanel(); + GridBagLayout jPanel4Layout = new GridBagLayout(); + ledPanelOIOnly.setPreferredSize(new java.awt.Dimension(134, 49)); + jPanel4Layout.rowWeights = new double[] {0.1}; + jPanel4Layout.rowHeights = new int[] {7}; + jPanel4Layout.columnWeights = new double[] {0.1, 0.1, 0.1, 0.1}; + jPanel4Layout.columnWidths = new int[] {7, 7, 7, 7}; + ledPanelOIOnly.setLayout(jPanel4Layout); + ledPanelOIOnly.setVisible(false); + { + JButton but_toggleDock = new JButton(); + GridBagLayout but_toggleDockLayout = new GridBagLayout(); + ledPanelOIOnly.add(but_toggleDock, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_toggleDock.setActionCommand("toggleDock"); + but_toggleDock.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_dockOn.png"))); + but_toggleDock.setPreferredSize(new java.awt.Dimension(40, 40)); + but_toggleDock.setSize(40, 40); + but_toggleDockLayout.rowWeights = new double[] {0.1}; + but_toggleDockLayout.rowHeights = new int[] {7}; + but_toggleDockLayout.columnWeights = new double[] {0.1, 0.1}; + but_toggleDockLayout.columnWidths = new int[] {7, 7}; + but_toggleDock.setLayout(but_toggleDockLayout); + but_toggleDock.addActionListener(this); + } + { + JButton but_toggleCheckRobot = new JButton(); + GridBagLayout but_toggleCheckRobotLayout = new GridBagLayout(); + ledPanelOIOnly.add(but_toggleCheckRobot, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + but_toggleCheckRobot.setActionCommand("toggleCheckRobot"); + but_toggleCheckRobot.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_checkrobotOn.png"))); + but_toggleCheckRobot.setPreferredSize(new java.awt.Dimension(40, 40)); + but_toggleCheckRobot.setSize(40, 40); + but_toggleCheckRobotLayout.rowWeights = new double[] {0.1}; + but_toggleCheckRobotLayout.rowHeights = new int[] {7}; + but_toggleCheckRobotLayout.columnWeights = new double[] {0.1, 0.1}; + but_toggleCheckRobotLayout.columnWidths = new int[] {7, 7}; + but_toggleCheckRobot.setLayout(but_toggleCheckRobotLayout); + but_toggleCheckRobot.addActionListener(this); + } + } + return ledPanelOIOnly; + } + + /** + * Gets the led panel shared. + * + * @return the led panel shared + */ + private JPanel getLedPanelShared() { + if(ledPanelShared == null) { + ledPanelShared = new JPanel(); + { + JButton but_toggleSpot = new JButton(); + ledPanelShared.add(but_toggleSpot); + but_toggleSpot.setActionCommand("toggleSpot"); + but_toggleSpot.setIcon(getIcon("com/hackingroomba/roombacomm/images/but_spotOn.png")); + but_toggleSpot.setPreferredSize(new java.awt.Dimension(40, 40)); + but_toggleSpot.setSize(40, 40); + but_toggleSpot.addActionListener(this); + } + { + JButton but_toggleClean = new JButton(); + ledPanelShared.add(but_toggleClean); + but_toggleClean.setActionCommand("toggleClean"); + but_toggleClean.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_cleanOn.png"))); + but_toggleClean.setPreferredSize(new java.awt.Dimension(40, 40)); + but_toggleClean.setSize(40, 40); + but_toggleClean.addActionListener(this); + } + { + JButton but_toggleDirt = new JButton(); + ledPanelShared.add(but_toggleDirt); + but_toggleDirt.setActionCommand("toggleDirt"); + but_toggleDirt.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_dirtOn.png"))); + but_toggleDirt.setPreferredSize(new java.awt.Dimension(40, 40)); + but_toggleDirt.setSize(40, 40); + but_toggleDirt.addActionListener(this); + } + { + JButton but_toggleMax = new JButton(); + ledPanelShared.add(but_toggleMax); + but_toggleMax.setActionCommand("toggleMax"); + but_toggleMax.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_maxOn.png"))); + but_toggleMax.setSize(40, 40); + but_toggleMax.setPreferredSize(new java.awt.Dimension(40, 40)); + but_toggleMax.addActionListener(this); + } + } + return ledPanelShared; + } + + /** + * Gets the icon. + * + * @param str the str + * @return the icon + * @return + */ + private ImageIcon getIcon(String str) { + java.net.URL file =getClass().getClassLoader().getResource(str); + if (file != null){ + return new ImageIcon(file); + }else{ + // return the default icon + //TODO: Get a better default icon. :) + System.err.println("failed to find icon (" + str + ")"); + return new ImageIcon("com/hackingroomba/roombacomm/images/but_spotOn.png"); + } + } + + /** + * Gets the j panel4xx. + * + * @return the j panel4xx + */ + private JPanel getJPanel4xx() { + if(jPanel4 == null) { + jPanel4 = new JPanel(); + GridBagLayout jPanel4Layout1 = new GridBagLayout(); + jPanel4.setLayout(jPanel4Layout1); + jPanel4.setPreferredSize(new java.awt.Dimension(806, 608)); + { + selectPanel = new JPanel(); + GridBagLayout selectPanelLayout = new GridBagLayout(); + selectPanel.setLayout(selectPanelLayout); + jPanel4.add(selectPanel, new GridBagConstraints(0, 0, 2, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 0, 0, 0), 0, 0)); + { + protocolChoices = new JComboBox(protocols); + selectPanel.add(protocolChoices, new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.BOTH, new Insets(0, 5, 0, 5), 0, 0)); + protocolChoices.setSelectedIndex(protocolChoices.getSelectedIndex() >=0 ? protocolChoices.getSelectedIndex() : 0); + protocolChoices.setBorder(BorderFactory.createTitledBorder(BorderFactory.createEmptyBorder(0, 0, 0, 0), "Protocal", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION)); + protocolChoices.setToolTipText("Set the protocal based on the roomba hardware version"); + protocolChoices.addItemListener(new ItemListener() { + public void itemStateChanged(ItemEvent evt) { + debugPrintln(debug,"protocolChoices.itemStateChanged, event="+evt); + //TODO add your code for protocolChoices.itemStateChanged + if (evt.getItem().equals(protocolChoices.getItemAt(0)) && (evt.getStateChange() == ItemEvent.SELECTED)){ + ledPanelOIOnly.setVisible(false); + ledPanelSCIOnly.setVisible(true); + } + if (evt.getItem().equals(protocolChoices.getItemAt(1)) && (evt.getStateChange() == ItemEvent.SELECTED)){ + ledPanelOIOnly.setVisible(true); + ledPanelSCIOnly.setVisible(false); + } + ledPanelOIOnly.repaint(); + ledPanelSCIOnly.repaint(); + } + }); + protocolChoices.addActionListener(this); + } + { + handshakeButton = new JCheckBox("<html>h/w<br>handshake</html>"); + selectPanel.add(handshakeButton, new GridBagConstraints(0, 2, 1, 1, 0.1, 0.1, GridBagConstraints.WEST, GridBagConstraints.BOTH, new Insets(0, 0, 0, 0), 0, 0)); + selectPanel.add(getJTabbedPanelConfig(), new GridBagConstraints(1, 1, 1, 2, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0)); + selectPanel.add(getJTextPane1(), new GridBagConstraints(0, 0, 2, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 2, 2)); + handshakeButton.setPreferredSize(new java.awt.Dimension(148, 40)); + handshakeButton.setText("h/w handshake"); + handshakeButton.setToolTipText("check if you want to use the hardware handshake setting"); + } + selectPanelLayout.rowWeights = new double[] {0.0, 0.0}; + selectPanelLayout.rowHeights = new int[] {53, 58}; + selectPanelLayout.columnWeights = new double[] {0.0, 0.0}; + selectPanelLayout.columnWidths = new int[] {177, 375}; + selectPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Select Roomba Type & Port"),BorderFactory.createEmptyBorder(1,1,1,1))); + selectPanel.setPreferredSize(new java.awt.Dimension(535,128)); + } + { + displayPanel = new JPanel(); + jPanel4.add(displayPanel, new GridBagConstraints(1, 2, 3, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.BOTH, new Insets(0, 0, 0, 0), 0, 0)); + jPanel4.add(getJPanel1(), new GridBagConstraints(1, 1, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + jPanel4.add(getJPanel2(), new GridBagConstraints(2, 0, 1, 2, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + jPanel4.add(getJPanel3(), new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0)); + GridBagLayout displayPanelLayout = new GridBagLayout(); + displayPanelLayout.rowWeights = new double[] {0.1}; + displayPanelLayout.rowHeights = new int[] {7}; + displayPanelLayout.columnWeights = new double[] {0.1}; + displayPanelLayout.columnWidths = new int[] {7}; + displayPanel.setLayout(displayPanelLayout); + displayPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Display"),BorderFactory.createEmptyBorder(1,1,1,1))); + displayPanel.setPreferredSize(new java.awt.Dimension(803, 67)); + { + displayText = new JTextArea(10, 75); + displayText.setEditable(false); + JScrollPane scrollPane = new JScrollPane(displayText, + JScrollPane.VERTICAL_SCROLLBAR_ALWAYS, + JScrollPane.HORIZONTAL_SCROLLBAR_NEVER); + displayPanel.add(scrollPane, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.BOTH, new Insets(0, 0, 0, 0), 0, 0)); + scrollPane.setSize(795, 163); + scrollPane.setPreferredSize(new java.awt.Dimension(791, 38)); + displayText.setLineWrap(false); + } + } + jPanel4Layout1.rowWeights = new double[] {0.1, 0.1, 2.0}; + jPanel4Layout1.rowHeights = new int[] {7, 7, 80}; + jPanel4Layout1.columnWeights = new double[] {0.1, 0.1, 0.1}; + jPanel4Layout1.columnWidths = new int[] {7, 7, 7}; + } + return jPanel4; + } + + /** + * Debug println. + * + * @param debug the debug + * @param str the str + */ + private void debugPrintln(boolean debug, String str){ + if (debug){ + System.out.println(str); + } + } + + /** + * This window closed. + * + * @param evt the evt + */ + private void thisWindowClosed(WindowEvent evt) { + System.out.println("this.windowClosed, event="+evt); + //TODO: add code for this.windowClosed ? Do we need anything else? + dispose(); + } + + /** + * Gets the but_play rttl. + * + * @return the but_play rttl + */ + private JButton getBut_playRTTL() { + if(but_playRTTL == null) { + but_playRTTL = new JButton(); + but_playRTTL.setText("Play RTTL"); + but_playRTTL.setVisible(false); + } + return but_playRTTL; + } +}
\ No newline at end of file |