/**
* stop sending file commands to the robot.
*
* @todo add an e-stop command?
*/
public void Halt() {
running = false;
paused = false;
linesProcessed = 0;
previewPane.setLinesProcessed(0);
previewPane.setRunning(running);
UpdateMenuBar();
}
/** When receive a message, analyze message content and then execute the command: Draw or Clear */
public void receive(Message msg) {
byte[] buf = msg.getRawBuffer();
if (buf == null) {
System.err.println(
"["
+ channel.getAddress()
+ "] received null buffer from "
+ msg.getSrc()
+ ", headers: "
+ msg.printHeaders());
return;
}
try {
DrawCommand comm =
(DrawCommand)
Util.streamableFromByteBuffer(
DrawCommand.class, buf, msg.getOffset(), msg.getLength());
switch (comm.mode) {
case DrawCommand.DRAW:
if (drawPanel != null) drawPanel.drawPoint(comm);
break;
case DrawCommand.CLEAR:
clearPanel();
default:
System.err.println("***** received invalid draw command " + comm.mode);
break;
}
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* Init JWhiteBoard interface
*
* @throws Exception
*/
public void go() throws Exception {
if (!noChannel && !useState) channel.connect(groupName);
mainFrame = new JFrame();
mainFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
drawPanel = new DrawPanel(useState);
drawPanel.setBackground(backgroundColor);
subPanel = new JPanel();
mainFrame.getContentPane().add("Center", drawPanel);
clearButton = new JButton("Clean");
clearButton.setFont(defaultFont);
clearButton.addActionListener(this);
leaveButton = new JButton("Exit");
leaveButton.setFont(defaultFont);
leaveButton.addActionListener(this);
subPanel.add("South", clearButton);
subPanel.add("South", leaveButton);
mainFrame.getContentPane().add("South", subPanel);
mainFrame.setBackground(backgroundColor);
clearButton.setForeground(Color.blue);
leaveButton.setForeground(Color.blue);
mainFrame.pack();
mainFrame.setLocation(15, 25);
mainFrame.setBounds(new Rectangle(250, 250));
if (!noChannel && useState) {
channel.connect(groupName, null, stateTimeout);
}
mainFrame.setVisible(true);
}
/**
* Opens a file. If the file can be opened, get a drawing time estimate, update recent files list,
* and repaint the preview tab.
*
* @param filename what file to open
*/
public void LoadGCode(String filename) {
CloseFile();
try {
Scanner scanner = new Scanner(new FileInputStream(filename));
linesTotal = 0;
gcode = new ArrayList<String>();
try {
while (scanner.hasNextLine()) {
gcode.add(scanner.nextLine());
++linesTotal;
}
} finally {
scanner.close();
}
} catch (IOException e) {
Log("<span style='color:red'>File could not be opened.</span>\n");
RemoveRecentFile(filename);
return;
}
previewPane.setGCode(gcode);
fileOpened = true;
EstimateDrawTime();
UpdateRecentFiles(filename);
Halt();
}
// save paper limits
public void SetRecentPaperSize() {
String id = Long.toString(robot_uid);
prefs.putDouble(id + "_paper_left", paper_left);
prefs.putDouble(id + "_paper_right", paper_right);
prefs.putDouble(id + "_paper_top", paper_top);
prefs.putDouble(id + "_paper_bottom", paper_bottom);
previewPane.setPaperSize(paper_top, paper_bottom, paper_left, paper_right);
}
/**
* Called in case of emergency after deserialization. Deserialization doesn't save listeners
* because they are transient because listeners are mostly windows which cannot be serialized.
* After Deserialization we have to find instances of classes implementing IChangesListener and
* reconstruct listeners list once again to get everything working smooth.
*/
public synchronized void recoverChangesListeners() {
if (listeners == null || listeners.size() < 2) {
listeners = new java.util.concurrent.LinkedBlockingQueue<IChangesListener>();
listeners.add(VehicleInspector.getInstance());
listeners.add(BuildingInspector.getInstance());
listeners.add(DrawPanel.getInstance());
}
}
public Container CreateContentPane() {
// Create the content-pane-to-be.
JPanel contentPane = new JPanel(new BorderLayout());
contentPane.setOpaque(true);
// the log panel
log = new JTextPane();
log.setEditable(false);
log.setBackground(Color.BLACK);
logPane = new JScrollPane(log);
kit = new HTMLEditorKit();
doc = new HTMLDocument();
log.setEditorKit(kit);
log.setDocument(doc);
DefaultCaret c = (DefaultCaret) log.getCaret();
c.setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE);
ClearLog();
// the preview panel
previewPane = new DrawPanel();
previewPane.setPaperSize(paper_top, paper_bottom, paper_left, paper_right);
// status bar
statusBar = new StatusBar();
Font f = statusBar.getFont();
statusBar.setFont(f.deriveFont(Font.BOLD, 15));
Dimension d = statusBar.getMinimumSize();
d.setSize(d.getWidth(), d.getHeight() + 30);
statusBar.setMinimumSize(d);
// layout
Splitter split = new Splitter(JSplitPane.VERTICAL_SPLIT);
split.add(previewPane);
split.add(logPane);
split.setDividerSize(8);
contentPane.add(statusBar, BorderLayout.SOUTH);
contentPane.add(split, BorderLayout.CENTER);
// open the file
if (recentFiles[0].length() > 0) {
OpenFileOnDemand(recentFiles[0]);
}
// connect to the last port
ListSerialPorts();
if (Arrays.asList(portsDetected).contains(recentPort)) {
OpenPort(recentPort);
}
return contentPane;
}
/**
* Complete the handshake, load robot-specific configuration, update the menu, repaint the preview
* with the limits.
*
* @return true if handshake succeeds.
*/
public boolean ConfirmPort() {
if (portConfirmed == true) return true;
String hello = "HELLO WORLD! I AM DRAWBOT #";
int found = line3.lastIndexOf(hello);
if (found >= 0) {
portConfirmed = true;
// get the UID reported by the robot
String[] lines = line3.substring(found + hello.length()).split("\\r?\\n");
if (lines.length > 0) {
try {
robot_uid = Long.parseLong(lines[0]);
} catch (NumberFormatException e) {
}
}
// new robots have UID=0
if (robot_uid == 0) GetNewRobotUID();
mainframe.setTitle("Drawbot #" + Long.toString(robot_uid) + " connected");
// load machine specific config
GetRecentPaperSize();
LoadConfig();
if (limit_top == 0 && limit_bottom == 0 && limit_left == 0 && limit_right == 0) {
UpdateConfig();
}
previewPane.setMachineLimits(limit_top, limit_bottom, limit_left, limit_right);
SendConfig();
UpdateMenuBar();
previewPane.setConnected(true);
}
return portConfirmed;
}
// Take the next line from the file and send it to the robot, if permitted.
public void SendFileCommand() {
if (running == false
|| paused == true
|| fileOpened == false
|| portConfirmed == false
|| linesProcessed >= linesTotal) return;
String line;
do {
// are there any more commands?
line = gcode.get((int) linesProcessed++).trim();
previewPane.setLinesProcessed(linesProcessed);
statusBar.SetProgress(linesProcessed, linesTotal);
// loop until we find a line that gets sent to the robot, at which point we'll
// pause for the robot to respond. Also stop at end of file.
} while (ProcessLine(line) && linesProcessed < linesTotal);
if (linesProcessed == linesTotal) {
// end of file
Halt();
}
}
public void ClosePort() {
if (portOpened) {
if (serialPort != null) {
try {
// Close the I/O streams.
out.close();
in.close();
// Close the port.
serialPort.removeEventListener();
serialPort.close();
} catch (IOException e) {
// Don't care
}
}
ClearLog();
portOpened = false;
portConfirmed = false;
previewPane.setConnected(false);
UpdateMenuBar();
}
}
/** Clear all the content on a whiteboard */
public void clearPanel() {
if (drawPanel != null) drawPanel.clear();
}
/** Set state of the Group */
public void setState(InputStream istream) throws Exception {
drawPanel.readState(istream);
}
/** Get state of the Group */
public void getState(OutputStream ostream) throws Exception {
drawPanel.writeState(ostream);
}
// The user has done something. respond to it.
public void actionPerformed(ActionEvent e) {
Object subject = e.getSource();
if (subject == buttonZoomIn) {
previewPane.ZoomIn();
return;
}
if (subject == buttonZoomOut) {
previewPane.ZoomOut();
return;
}
if (subject == buttonOpenFile) {
OpenFileDialog();
return;
}
if (subject == buttonStart) {
if (fileOpened) {
paused = false;
running = true;
UpdateMenuBar();
linesProcessed = 0;
previewPane.setRunning(running);
previewPane.setLinesProcessed(linesProcessed);
statusBar.Start();
SendFileCommand();
}
return;
}
if (subject == buttonPause) {
if (running) {
if (paused == true) {
buttonPause.setText("Pause");
paused = false;
// @TODO: if the robot is not ready to unpause, this might fail and the program would
// appear to hang.
SendFileCommand();
} else {
buttonPause.setText("Unpause");
paused = true;
}
}
return;
}
if (subject == buttonDrive) {
Drive();
return;
}
if (subject == buttonHalt) {
Halt();
return;
}
if (subject == buttonRescan) {
ListSerialPorts();
UpdateMenuBar();
return;
}
if (subject == buttonConfig) {
UpdateConfig();
return;
}
if (subject == buttonJogMotors) {
JogMotors();
return;
}
if (subject == buttonAbout) {
JOptionPane.showMessageDialog(
null,
"Created by Dan Royer ([email protected]).\n\n"
+ "Find out more at http://www.marginallyclever.com/\n"
+ "Get the latest version and read the documentation online @ http://github.com/i-make-robots/DrawBot/");
return;
}
if (subject == buttonCheckForUpdate) {
CheckForUpdate();
return;
}
if (subject == buttonExit) {
System.exit(0); // @TODO: be more graceful?
return;
}
int i;
for (i = 0; i < 10; ++i) {
if (subject == buttonRecent[i]) {
OpenFileOnDemand(recentFiles[i]);
return;
}
}
for (i = 0; i < portsDetected.length; ++i) {
if (subject == buttonPorts[i]) {
OpenPort(portsDetected[i]);
return;
}
}
}
