public static void main(String[] args) {
if (args.length != 1) {
System.out.println("usage java TestSer port");
System.exit(-1);
}
TestSer ts = new TestSer(args[0]);
byte[] buf = new byte[256];
ts.start();
start = System.currentTimeMillis();
new Thread() {
public void run() {
for (; ; ) {
try {
Thread.sleep(1000);
} catch (Exception e) {
}
long i = cntRcv;
long t = System.currentTimeMillis() - start;
if (t != 0) {
System.out.print(
(cntSend / 1024)
+ " KB sent "
+ (i / 1024)
+ " KB received "
+ (cntSend / 1024 * 1000 / t)
+ " KB/s "
+ (i / 1024 * 1000 / t)
+ " KB/s \r");
}
}
}
}.start();
for (; ; ) {
try {
os.write(buf);
} catch (Exception e) {
System.out.println(e);
}
cntSend += buf.length;
}
}
Server() throws IOException {
if (useSerial) {
ServerThread.initSerial();
ServerThread.writeSerial(true);
try {
Thread.sleep(200);
} catch (InterruptedException e1) {
}
ServerThread.writeSerial(true);
try {
Thread.sleep(200);
} catch (InterruptedException e1) {
}
ServerThread.writeSerial(true);
}
int port = 10055;
ServerSocket serverSocket = null;
try {
serverSocket = new ServerSocket(port);
System.out.println("Soccer robots server active on port " + port + ".");
} catch (IOException e) {
System.err.println("Could not listen on port: " + port + ".");
System.exit(-1);
}
while (true) {
ServerThread tmp = new ServerThread(serverSocket.accept());
threads.add(tmp);
}
}
public boolean avrdude(Collection params) throws RunnerException {
List commandDownloader = new ArrayList();
commandDownloader.add("avrdude");
// Point avrdude at its config file since it's in a non-standard location.
if (Base.isMacOS()) {
commandDownloader.add("-C" + "hardware/tools/avr/etc/avrdude.conf");
} else if (Base.isWindows()) {
String userdir = System.getProperty("user.dir") + File.separator;
commandDownloader.add("-C" + userdir + "hardware/tools/avr/etc/avrdude.conf");
} else {
// ???: is it better to have Linux users install avrdude themselves, in
// a way that it can find its own configuration file?
commandDownloader.add("-C" + "hardware/tools/avrdude.conf");
}
if (Preferences.getBoolean("upload.verbose")) {
commandDownloader.add("-v");
commandDownloader.add("-v");
commandDownloader.add("-v");
commandDownloader.add("-v");
} else {
commandDownloader.add("-q");
commandDownloader.add("-q");
}
// XXX: quick hack to chop the "atmega" off of "atmega8" and "atmega168",
// then shove an "m" at the beginning. won't work for attiny's, etc.
commandDownloader.add(
"-pm" + Preferences.get("boards." + Preferences.get("board") + ".build.mcu").substring(6));
commandDownloader.addAll(params);
return executeUploadCommand(commandDownloader);
}
public TestSer(String port) {
try {
portId = CommPortIdentifier.getPortIdentifier(port);
serialPort = (SerialPort) portId.open("TestSer", 2000);
is = serialPort.getInputStream();
os = serialPort.getOutputStream();
/*
serialPort.addEventListener(this);
serialPort.notifyOnDataAvailable(true);
*/
serialPort.setSerialPortParams(
115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
serialPort.setFlowControlMode(
SerialPort.FLOWCONTROL_RTSCTS_OUT | SerialPort.FLOWCONTROL_RTSCTS_IN);
serialPort.enableReceiveTimeout(TIMEOUT);
// serialPort.enableReceiveThreshold(4);
} catch (Exception e) {
System.out.println(e.getMessage());
System.exit(-1);
}
}
public static Serial open(String defaultPort) {
boolean portFound = false;
final int mComPortIdentifier = CommPortIdentifier.PORT_SERIAL;
final Enumeration portList = CommPortIdentifier.getPortIdentifiers();
final int BAUD = 115200;
while (portList.hasMoreElements()) {
final CommPortIdentifier portId = (CommPortIdentifier) portList.nextElement();
System.out.println("Found port id: " + portId);
if (portId.getPortType() == mComPortIdentifier) {
System.out.println("Found CommPortIdentifier.");
if (portId.getName().equals(defaultPort)) {
System.out.println("Found port " + defaultPort);
SerialPort serialPort;
OutputStream outputStream = null;
try {
serialPort = (SerialPort) portId.open("SimpleWrite", 2000);
} catch (PortInUseException e) {
System.out.println("Port in use.");
continue;
}
try {
outputStream = serialPort.getOutputStream();
} catch (IOException e) {
e.printStackTrace();
}
try {
serialPort.setSerialPortParams(
BAUD, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
} catch (UnsupportedCommOperationException e) {
e.printStackTrace();
}
try {
serialPort.notifyOnOutputEmpty(true);
} catch (Exception e) {
System.out.println("Error setting event notification");
System.out.println(e.toString());
System.exit(-1);
}
return new Serial(serialPort, outputStream);
}
}
}
if (!portFound) {
System.out.println("port " + defaultPort + " not found.");
}
return null;
}
private void sendData(byte[] data) throws SerialConnectionException {
try {
int size = data.length;
int sent = 0;
_sent = 0;
long starttime = System.currentTimeMillis();
while (sent < size) {
int tosend;
if (!_keepRunning) return;
if ((sent + _chunkSize) > size) {
tosend = size - sent;
} else {
tosend = _chunkSize;
}
_os.write(data, sent, tosend);
sent += tosend;
_sent = sent;
// update GUI
_results.updateBytesSent(sent);
}
} catch (IOException e) {
throw new SerialConnectionException("Error writing to i/o streams");
}
}
class ServerThread extends Thread implements constants {
static Team[] teams = new Team[2];
DataInputStream in;
ServerThread(Socket socket) {
try {
in = new DataInputStream(socket.getInputStream());
} catch (IOException e) {
e.printStackTrace();
}
teams[0] = new KairusTeam(0);
teams[1] = new EmptyTeam(1);
this.start();
new gameRunner(new Team[] {teams[0], teams[1]}).start();
}
long lastTime = System.currentTimeMillis();
double[][][] robotVelocitys = new double[2][5][3];
double[][][] robotPositions = new double[2][5][3];
double[] ballPosition = new double[2];
double[] ballVelocity = new double[2];
public double toBigEndian(double d) {
ByteBuffer bb = ByteBuffer.wrap(new byte[8]);
bb.putDouble(d);
bb.order(ByteOrder.LITTLE_ENDIAN);
bb.position(0);
return bb.getDouble();
}
public double toRadians(double d) {
return (d * Math.PI) / 180;
}
static DataOutputStream comOS = null;
public static void initSerial() {
Enumeration portList = CommPortIdentifier.getPortIdentifiers();
CommPortIdentifier portId = null;
boolean portFound = false;
while (portList.hasMoreElements()) {
portId = (CommPortIdentifier) portList.nextElement();
if (portId.getPortType() == CommPortIdentifier.PORT_SERIAL) {
if (portId.getName().equals("COM3")) {
portFound = true;
}
}
}
if (!portFound) {
System.out.println("port COM3 not found.");
return;
}
SerialPort port;
try {
port = (SerialPort) portId.open("COM3", 2000);
port.setSerialPortParams(
115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
comOS = new DataOutputStream(port.getOutputStream());
} catch (PortInUseException e) {
e.printStackTrace();
} catch (IOException e) {
e.printStackTrace();
} catch (UnsupportedCommOperationException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
static int[] inputs = new int[10];
public static void writeSerial(boolean stop) {
byte[] toSend = new byte[48];
toSend[0] = (byte) 0xff;
toSend[1] = (byte) 0xff;
toSend[2] = (byte) 0x01;
int MAX_SPEED = 8196; // 8196
int accelerationJump = 30;
if (!stop) {
for (int i = 0; i < 5; i++) {
// if (i == 0)
// System.out.println("speed: "+teams[0].robot[i].GetSpeedInput()+" spin:
// "+teams[0].robot[i].GetSpinInput());
inputs[i * 2] = (int) (teams[0].robot[i].GetSpeedInput() * MAX_SPEED * -1);
inputs[i * 2 + 1] = (int) (teams[0].robot[i].GetSpinInput() * MAX_SPEED * -1);
// if (i == 0)
// System.out.println("new speed: "+inputs[i*2]+" spin: "+inputs[i*2+1]);
}
for (int i = 0; i < 10; i++) {
if (inputs[i] > MAX_SPEED) inputs[i] = MAX_SPEED;
if (inputs[i] < -MAX_SPEED) inputs[i] = -MAX_SPEED;
toSend[2 * i + 0 + 3] = (byte) ((inputs[i]) & 0xff);
toSend[2 * i + 1 + 3] = (byte) ((inputs[i] >> 8) & 0xff);
}
}
/*
for (int team = 0;team<1;team++)
for (int i = 0;i<5;i++){
int linV = (int) (teams[team].robot[i].GetSpeedInput()*MAX_SPEED);
int angV = (int) (teams[team].robot[i].GetSpinInput() *MAX_SPEED);
toSend[team*20+ 4*i+0+3] = (byte)( (linV ) & 0xff);
toSend[team*20+ 4*i+1+3] = (byte)( (linV>>8) & 0xff);
toSend[team*20+ 4*i+2+3] = (byte)( (angV ) & 0xff);
toSend[team*20+ 4*i+3+3] = (byte)( (angV>>8) & 0xff);
}
*/
byte checksum = 0;
for (int i = 0; i < 47; i++) {
checksum += toSend[i];
}
toSend[47] = (byte) -checksum;
try {
comOS.write(toSend);
} catch (IOException e) {
e.printStackTrace();
}
}
int upto = 0;
float goalX1 = 0.001f;
float wallX1 = 0.095f;
float wallX2 = 2.111f;
float goalX2 = 2.208f;
float Xoffset = -wallX1;
float Xmultiplier = (FIELD_WIDTH / 100) / (wallX2 - wallX1);
public void run() {
try {
Thread.sleep(1000);
// writeSerial(false);
// Thread.sleep(1000);
// writeSerial(true);
// System.exit(0);
while (true) {
long delta = System.currentTimeMillis() - lastTime;
lastTime = System.currentTimeMillis();
double multiplier = (delta == 0 ? (1000 / 1) : (1000 / delta)) / SCALE;
for (int team = 0; team < 2; team++)
for (int i = 0; i < 5; i++) {
// System.out.print("[ ");
for (int o = 0; o < 3; o++) {
double read = in.readDouble();
// System.out.print(o+" Read: "+read);
double newValue = toBigEndian(read);
// System.out.print(" Converted: "+newValue);
if (o == 0) { // Convert X
newValue += Xoffset;
newValue *= Xmultiplier;
}
if (o == 1) { // Flip Y
newValue = (1.8 - newValue);
}
if (o == 2) { // Convert angle
newValue = -1 * toRadians(newValue);
}
robotVelocitys[team][i][o] = (newValue - robotPositions[team][i][o]) * multiplier;
robotPositions[team][i][o] = newValue;
// System.out.print(" "+newValue+" ("+robotVelocitys[team][i][o]+") ");
/*
if (team == 0 && i == 0){
System.out.print(newValue+" ");
if (o == 2)
System.out.println();
}*/
// System.out.println();
}
// System.out.print("] ");
}
// Get the ball
for (int i = 0; i < 2; i++) {
double newValue = toBigEndian(in.readDouble());
if (i == 0) { // Convert X
newValue += Xoffset;
newValue *= Xmultiplier;
}
if (i == 1) { // Flip Y
newValue = 1.8 - newValue;
}
ballVelocity[i] = (newValue - ballPosition[i]) * multiplier;
ballPosition[i] = newValue;
}
// Put unknown positions (enemies) at -10000
for (int i = 0; i < 2; i++)
for (int o = 0; o < 5; o++)
for (int p = 0; p < 2; p++) {
if (robotPositions[i][o][p] < -1 || robotPositions[i][o][p] > 2.6) {
System.out.println(
i + " " + o + " " + p + " Out of bounds! " + robotPositions[i][o][p]);
robotPositions[i][o][p] = -10000;
}
}
// Set frame data!
for (int i = 0; i < 2; i++)
for (int o = 0; o < 5; o++) {
teams[i].robot[o].body.setType(BodyType.STATIC);
teams[i].robot[o].body.setTransform(
new Vec2(
(float) robotPositions[i][o][0] * 100, (float) robotPositions[i][o][1] * 100),
(float) (robotPositions[i][o][2]));
// System.out.println("Setting to "+(float)robotPositions[i][o][0]*100+"
// "+(float)robotPositions[i][o][1]*100);
teams[i].robot[o].body.setType(BodyType.DYNAMIC);
teams[i].robot[o].body.setLinearVelocity(
new Vec2(
(float) robotVelocitys[i][o][0] * 100, (float) robotVelocitys[i][o][1] * 100));
teams[i].robot[o].body.setAngularVelocity((float) robotVelocitys[i][o][2]);
}
teams[1].ball.setType(BodyType.STATIC);
teams[1].ball.setTransform(
new Vec2((float) ballPosition[0] * 100, (float) ballPosition[1] * 100), 0);
teams[1].ball.setType(BodyType.DYNAMIC);
teams[1].ball.setLinearVelocity(
new Vec2((float) ballVelocity[0] * 100, (float) ballVelocity[1] * 100));
teams[1].ball.setAngularVelocity(0); // Not sent, reset it!
// Simulate a frame!
for (int i = 0; i < 2; i++) teams[i].gameFrame();
// Send information to serial port!
if (Server.useSerial) writeSerial(false);
}
} catch (IOException e) {
Server.threads.remove(this);
e.printStackTrace();
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
public void run() {
try {
Thread.sleep(1000);
// writeSerial(false);
// Thread.sleep(1000);
// writeSerial(true);
// System.exit(0);
while (true) {
long delta = System.currentTimeMillis() - lastTime;
lastTime = System.currentTimeMillis();
double multiplier = (delta == 0 ? (1000 / 1) : (1000 / delta)) / SCALE;
for (int team = 0; team < 2; team++)
for (int i = 0; i < 5; i++) {
// System.out.print("[ ");
for (int o = 0; o < 3; o++) {
double read = in.readDouble();
// System.out.print(o+" Read: "+read);
double newValue = toBigEndian(read);
// System.out.print(" Converted: "+newValue);
if (o == 0) { // Convert X
newValue += Xoffset;
newValue *= Xmultiplier;
}
if (o == 1) { // Flip Y
newValue = (1.8 - newValue);
}
if (o == 2) { // Convert angle
newValue = -1 * toRadians(newValue);
}
robotVelocitys[team][i][o] = (newValue - robotPositions[team][i][o]) * multiplier;
robotPositions[team][i][o] = newValue;
// System.out.print(" "+newValue+" ("+robotVelocitys[team][i][o]+") ");
/*
if (team == 0 && i == 0){
System.out.print(newValue+" ");
if (o == 2)
System.out.println();
}*/
// System.out.println();
}
// System.out.print("] ");
}
// Get the ball
for (int i = 0; i < 2; i++) {
double newValue = toBigEndian(in.readDouble());
if (i == 0) { // Convert X
newValue += Xoffset;
newValue *= Xmultiplier;
}
if (i == 1) { // Flip Y
newValue = 1.8 - newValue;
}
ballVelocity[i] = (newValue - ballPosition[i]) * multiplier;
ballPosition[i] = newValue;
}
// Put unknown positions (enemies) at -10000
for (int i = 0; i < 2; i++)
for (int o = 0; o < 5; o++)
for (int p = 0; p < 2; p++) {
if (robotPositions[i][o][p] < -1 || robotPositions[i][o][p] > 2.6) {
System.out.println(
i + " " + o + " " + p + " Out of bounds! " + robotPositions[i][o][p]);
robotPositions[i][o][p] = -10000;
}
}
// Set frame data!
for (int i = 0; i < 2; i++)
for (int o = 0; o < 5; o++) {
teams[i].robot[o].body.setType(BodyType.STATIC);
teams[i].robot[o].body.setTransform(
new Vec2(
(float) robotPositions[i][o][0] * 100, (float) robotPositions[i][o][1] * 100),
(float) (robotPositions[i][o][2]));
// System.out.println("Setting to "+(float)robotPositions[i][o][0]*100+"
// "+(float)robotPositions[i][o][1]*100);
teams[i].robot[o].body.setType(BodyType.DYNAMIC);
teams[i].robot[o].body.setLinearVelocity(
new Vec2(
(float) robotVelocitys[i][o][0] * 100, (float) robotVelocitys[i][o][1] * 100));
teams[i].robot[o].body.setAngularVelocity((float) robotVelocitys[i][o][2]);
}
teams[1].ball.setType(BodyType.STATIC);
teams[1].ball.setTransform(
new Vec2((float) ballPosition[0] * 100, (float) ballPosition[1] * 100), 0);
teams[1].ball.setType(BodyType.DYNAMIC);
teams[1].ball.setLinearVelocity(
new Vec2((float) ballVelocity[0] * 100, (float) ballVelocity[1] * 100));
teams[1].ball.setAngularVelocity(0); // Not sent, reset it!
// Simulate a frame!
for (int i = 0; i < 2; i++) teams[i].gameFrame();
// Send information to serial port!
if (Server.useSerial) writeSerial(false);
}
} catch (IOException e) {
Server.threads.remove(this);
e.printStackTrace();
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
public synchronized void serialEvent(SerialPortEvent oEvent) {
if (oEvent.getEventType() == SerialPortEvent.DATA_AVAILABLE) {
try {
int available = input.available();
if (count < BUF_SIZE) {
count =
count
+ input.read(
buf, count, (available > BUF_SIZE - count) ? BUF_SIZE - count : available);
}
start = newline;
for (int i = newline; i <= count; i++) {
if (buf[i] == 'U' || buf[i] == '$') { // start byte
start = i;
break;
}
}
for (int i = start; i <= count; i++) {
if (buf[i] == '\n') { // end byte
newline = i;
break;
}
}
if (newline <= start) {
if (count == BUF_SIZE) { // buf full an no valid datagram found, clear the buffer
// need to copy the stuff after the start byte to the beginning
if ((count - start) <= 128) {
System.arraycopy(buf, start, buf, 0, count - start);
count = count - start;
start = 0;
newline = 0;
} else { // buf full and last start byte is more than max packet size clear all of the
// buffer
count = 0; // no need to copy since the buf is grabage
start = 0;
newline = 0;
}
}
return;
}
if (buf[start] == '$') {
buf[newline] = '\0';
System.out.println(new String(buf, start + 1, newline - start));
}
// found valid datagram
// parse datagram comma delimited
buf[newline] = ',';
String newbuf = new String(buf, start, newline - start);
StringTokenizer st = new StringTokenizer(newbuf, ",");
int[] data = new int[5];
int i = 0;
while (st.hasMoreElements() && i < 5) {
String temp = st.nextToken();
try {
data[i] = Integer.parseInt(temp, 16);
} catch (NumberFormatException e) {
}
i++;
}
RobotEvent ev = new RobotEvent();
int checksum;
ev.setCommand(EventEnum.getEvent(data[1]));
ev.setIndex((short) data[2]);
ev.setValue((int) data[3]);
checksum = data[4];
int checksum2 =
(int)
(((int) (ev.getCommand().getValue() & 0x000000FF)
+ (int) (ev.getIndex() & 0x000000FF)
+ (int) (ev.getValue() & 0x000000FF)
+ (int) ((ev.getValue() & 0x0000FF00) >> 8))
% 256);
if (checksum2 == checksum) {
// log event received
recv.put(ev);
}
} catch (Exception e) {
}
}
}
protected boolean executeUploadCommand(Collection commandDownloader) throws RunnerException {
firstErrorFound = false; // haven't found any errors yet
secondErrorFound = false;
notFoundError = false;
int result = 0; // pre-initialized to quiet a bogus warning from jikes
String userdir = System.getProperty("user.dir") + File.separator;
try {
String[] commandArray = new String[commandDownloader.size()];
commandDownloader.toArray(commandArray);
String avrBasePath;
if (Base.isLinux()) {
avrBasePath = new String(Base.getHardwarePath() + "/tools/");
} else {
avrBasePath = new String(Base.getHardwarePath() + "/tools/avr/bin/");
}
commandArray[0] = avrBasePath + commandArray[0];
if (verbose || Preferences.getBoolean("upload.verbose")) {
for (int i = 0; i < commandArray.length; i++) {
System.out.print(commandArray[i] + " ");
}
System.out.println();
}
Process process = Runtime.getRuntime().exec(commandArray);
new MessageSiphon(process.getInputStream(), this);
new MessageSiphon(process.getErrorStream(), this);
// wait for the process to finish. if interrupted
// before waitFor returns, continue waiting
//
boolean compiling = true;
while (compiling) {
try {
result = process.waitFor();
compiling = false;
} catch (InterruptedException intExc) {
}
}
if (exception != null) {
exception.hideStackTrace();
throw exception;
}
if (result != 0) return false;
} catch (Exception e) {
String msg = e.getMessage();
if ((msg != null)
&& (msg.indexOf("uisp: not found") != -1)
&& (msg.indexOf("avrdude: not found") != -1)) {
// System.err.println("uisp is missing");
// JOptionPane.showMessageDialog(editor.base,
// "Could not find the compiler.\n" +
// "uisp is missing from your PATH,\n" +
// "see readme.txt for help.",
// "Compiler error",
// JOptionPane.ERROR_MESSAGE);
return false;
} else {
e.printStackTrace();
result = -1;
}
}
// System.out.println("result2 is "+result);
// if the result isn't a known, expected value it means that something
// is fairly wrong, one possibility is that jikes has crashed.
//
if (exception != null) throw exception;
if ((result != 0) && (result != 1)) {
exception = new RunnerException(SUPER_BADNESS);
// editor.error(exception);
// PdeBase.openURL(BUGS_URL);
// throw new PdeException(SUPER_BADNESS);
}
return (result == 0); // ? true : false;
}
// 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;
}
}
}
public class DrawbotGUI extends JPanel implements ActionListener, SerialPortEventListener {
static final long serialVersionUID = 1;
private static final String cue = "> ";
private static final String eol = ";";
private static final String NL = System.getProperty("line.separator");
private static DrawbotGUI singletonObject;
// Serial connection
private static int BAUD_RATE = 57600;
private CommPortIdentifier portIdentifier;
private CommPort commPort;
private SerialPort serialPort;
private InputStream in;
private OutputStream out;
private String[] portsDetected;
private boolean portOpened = false;
private boolean portConfirmed = false;
// Preferences
private Preferences prefs = Preferences.userRoot().node("DrawBot");
private String[] recentFiles;
private String recentPort;
// Robot config
private long robot_uid = 0;
private double limit_top = 10;
private double limit_bottom = -10;
private double limit_left = -10;
private double limit_right = 10;
// paper area (stock material
private double paper_top = 10;
private double paper_bottom = -10;
private double paper_left = -10;
private double paper_right = 10;
private boolean m1invert = false;
private boolean m2invert = false;
// GUI elements
private static JFrame mainframe;
private JMenuBar menuBar;
private JMenuItem buttonOpenFile, buttonExit;
private JMenuItem buttonConfig, buttonRescan, buttonJogMotors;
private JMenuItem buttonStart, buttonPause, buttonHalt, buttonDrive;
private JMenuItem buttonZoomIn, buttonZoomOut;
private JMenuItem buttonAbout, buttonCheckForUpdate;
private JMenuItem[] buttonRecent = new JMenuItem[10];
private JMenuItem[] buttonPorts;
private JTextPane log;
private JScrollPane logPane;
HTMLEditorKit kit;
HTMLDocument doc;
private DrawPanel previewPane;
private StatusBar statusBar;
// parsing input from Drawbot
private String line3 = "";
// reading file
private boolean running = false;
private boolean paused = true;
private long linesTotal = 0;
private long linesProcessed = 0;
private boolean fileOpened = false;
private ArrayList<String> gcode;
private float estimated_time = 0;
// Singleton stuff
private DrawbotGUI() {
LoadConfig();
GetRecentFiles();
GetRecentPaperSize();
GetRecentPort();
}
public static DrawbotGUI getSingleton() {
if (singletonObject == null) {
singletonObject = new DrawbotGUI();
}
return singletonObject;
}
// data access
public ArrayList<String> getGcode() {
return gcode;
}
// manages the vertical split in the GUI
public class Splitter extends JSplitPane {
static final long serialVersionUID = 1;
public Splitter(int split_direction) {
super(split_direction);
setResizeWeight(0.9);
setDividerLocation(0.9);
}
}
public void LoadImage(String filename) {
BufferedImage img;
try {
img = ImageIO.read(new File(filename));
Filter_BlackAndWhite bwc = new Filter_BlackAndWhite();
img = bwc.Process(img);
Filter_Resize rs =
new Filter_Resize(paper_top, paper_bottom, paper_left, paper_right, 1, 0.9f);
img = rs.Process(img);
Filter_DitherFloydSteinberg dither = new Filter_DitherFloydSteinberg();
img = dither.Process(img);
String ngcPair = filename.substring(0, filename.lastIndexOf('.')) + ".ngc";
Filter_TSPGcodeGenerator tsp = new Filter_TSPGcodeGenerator(ngcPair);
tsp.Process(img);
} catch (IOException e) {
}
}
// returns angle of dy/dx as a value from 0...2PI
private double atan3(double dy, double dx) {
double a = Math.atan2(dy, dx);
if (a < 0) a = (Math.PI * 2.0) + a;
return a;
}
// appends a message to the log tab and system out.
public void Log(String msg) {
try {
kit.insertHTML(doc, doc.getLength(), msg, 0, 0, null);
int over_length = doc.getLength() - msg.length() - 5000;
doc.remove(0, over_length);
} catch (BadLocationException e) {
// TODO Auto-generated catch block
// e.printStackTrace();
} catch (IOException e) {
// TODO Auto-generated catch block
// e.printStackTrace();
}
}
public void ClearLog() {
try {
doc.replace(0, doc.getLength(), "", null);
kit.insertHTML(doc, 0, "", 0, 0, null);
} catch (BadLocationException e) {
// TODO Auto-generated catch block
// e.printStackTrace();
} catch (IOException e) {
// TODO Auto-generated catch block
// e.printStackTrace();
}
}
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();
}
}
// open a serial connection to a device. We won't know it's the robot until
public int OpenPort(String portName) {
if (portOpened && portName.equals(recentPort)) return 0;
ClosePort();
Log("<font color='green'>Connecting to " + portName + "...</font>\n");
// find the port
try {
portIdentifier = CommPortIdentifier.getPortIdentifier(portName);
} catch (Exception e) {
Log("<span style='color:red'>Ports could not be identified:" + e.getMessage() + "</span>\n");
e.printStackTrace();
return 1;
}
if (portIdentifier.isCurrentlyOwned()) {
Log(
"<span style='color:red'>Error: Another program is currently using this port."
+ "</span>\n");
return 2;
}
// open the port
try {
commPort = portIdentifier.open("DrawbotGUI", 2000);
} catch (Exception e) {
Log("Port could not be opened:" + e.getMessage() + NL);
e.printStackTrace();
return 3;
}
if ((commPort instanceof SerialPort) == false) {
Log("<span style='color:red'>Only serial ports are handled by this example." + "</span>\n");
return 4;
}
// set the port parameters (like baud rate)
serialPort = (SerialPort) commPort;
try {
serialPort.setSerialPortParams(
BAUD_RATE, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
} catch (Exception e) {
Log("<span style='color:red'>Port could not be configured:" + e.getMessage() + "</span>\n");
return 5;
}
try {
in = serialPort.getInputStream();
out = serialPort.getOutputStream();
} catch (Exception e) {
Log("<span style='color:red'>Streams could not be opened:" + e.getMessage() + "</span>\n");
return 6;
}
try {
serialPort.addEventListener(this);
serialPort.notifyOnDataAvailable(true);
} catch (TooManyListenersException e) {
Log("<span style='color:red'>Streams could not be opened:" + e.getMessage() + "</span>\n");
return 7;
}
Log("<span style='green'>Opened.</span>\n");
SetRecentPort(portName);
portOpened = true;
UpdateMenuBar();
return 0;
}
/**
* 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;
}
/** based on http://www.exampledepot.com/egs/java.net/Post.html */
private void GetNewRobotUID() {
try {
// Send data
URL url = new URL("http://marginallyclever.com/drawbot_getuid.php");
URLConnection conn = url.openConnection();
BufferedReader rd = new BufferedReader(new InputStreamReader(conn.getInputStream()));
robot_uid = Long.parseLong(rd.readLine());
rd.close();
} catch (Exception e) {
}
// did read go ok?
if (robot_uid != 0) {
SendLineToRobot("UID " + robot_uid);
}
}
// find all available serial ports for the settings->ports menu.
public String[] ListSerialPorts() {
@SuppressWarnings("unchecked")
Enumeration<CommPortIdentifier> ports =
(Enumeration<CommPortIdentifier>) CommPortIdentifier.getPortIdentifiers();
ArrayList<String> portList = new ArrayList<String>();
while (ports.hasMoreElements()) {
CommPortIdentifier port = (CommPortIdentifier) ports.nextElement();
if (port.getPortType() == CommPortIdentifier.PORT_SERIAL) {
portList.add(port.getName());
}
}
portsDetected = (String[]) portList.toArray(new String[0]);
return portsDetected;
}
// pull the last connected port from prefs
public void GetRecentPort() {
recentPort = prefs.get("recent-port", "");
}
// update the prefs with the last port connected and refreshes the menus.
// @TODO: only update when the port is confirmed?
public void SetRecentPort(String portName) {
prefs.put("recent-port", portName);
recentPort = portName;
UpdateMenuBar();
}
// 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);
}
public void GetRecentPaperSize() {
String id = Long.toString(robot_uid);
paper_left = Double.parseDouble(prefs.get(id + "_paper_left", "0"));
paper_right = Double.parseDouble(prefs.get(id + "_paper_right", "0"));
paper_top = Double.parseDouble(prefs.get(id + "_paper_top", "0"));
paper_bottom = Double.parseDouble(prefs.get(id + "_paper_bottom", "0"));
}
// close the file, clear the preview tab
public void CloseFile() {
if (fileOpened == true) {
fileOpened = false;
}
}
void EstimateDrawTime() {
int i, j;
float drawScale = 1.0f;
double px = 0, py = 0, pz = 0;
float feed_rate = 1.0f;
estimated_time = 0;
float estimated_length = 0;
int estimate_count = 0;
for (i = 0; i < gcode.size(); ++i) {
String line = gcode.get(i);
String[] pieces = line.split(";");
if (pieces.length == 0) continue;
String[] tokens = pieces[0].split("\\s");
if (tokens.length == 0) continue;
for (j = 0; j < tokens.length; ++j) {
if (tokens[j].equals("G20")) drawScale = 0.393700787f;
if (tokens[j].equals("G21")) drawScale = 0.1f;
if (tokens[j].startsWith("F")) {
feed_rate = Float.valueOf(tokens[j].substring(1)) * drawScale;
Log("<span style='color:green'>feed rate=" + feed_rate + "</span>\n");
feed_rate *= 1;
}
}
double x = px;
double y = py;
double z = pz;
double ai = px;
double aj = py;
for (j = 1; j < tokens.length; ++j) {
if (tokens[j].startsWith("X")) x = Float.valueOf(tokens[j].substring(1)) * drawScale;
if (tokens[j].startsWith("Y")) y = Float.valueOf(tokens[j].substring(1)) * drawScale;
if (tokens[j].startsWith("Z")) z = Float.valueOf(tokens[j].substring(1)) * drawScale;
if (tokens[j].startsWith("I")) ai = px + Float.valueOf(tokens[j].substring(1)) * drawScale;
if (tokens[j].startsWith("J")) aj = py + Float.valueOf(tokens[j].substring(1)) * drawScale;
}
if (tokens[0].equals("G00")
|| tokens[0].equals("G0")
|| tokens[0].equals("G01")
|| tokens[0].equals("G1")) {
// draw a line
double ddx = x - px;
double ddy = y - py;
double dd = Math.sqrt(ddx * ddx + ddy * ddy);
estimated_time += dd / feed_rate;
estimated_length += dd;
++estimate_count;
px = x;
py = y;
pz = z;
} else if (tokens[0].equals("G02")
|| tokens[0].equals("G2")
|| tokens[0].equals("G03")
|| tokens[0].equals("G3")) {
// draw an arc
int dir = (tokens[0].equals("G02") || tokens[0].equals("G2")) ? -1 : 1;
double dx = px - ai;
double dy = py - aj;
double radius = Math.sqrt(dx * dx + dy * dy);
// find angle of arc (sweep)
double angle1 = atan3(dy, dx);
double angle2 = atan3(y - aj, x - ai);
double theta = angle2 - angle1;
if (dir > 0 && theta < 0) angle2 += 2.0 * Math.PI;
else if (dir < 0 && theta > 0) angle1 += 2.0 * Math.PI;
theta = Math.abs(angle2 - angle1);
// Draw the arc from a lot of little line segments.
for (int k = 0; k <= theta * DrawPanel.STEPS_PER_DEGREE; ++k) {
double angle3 =
(angle2 - angle1) * ((double) k / (theta * DrawPanel.STEPS_PER_DEGREE)) + angle1;
float nx = (float) (ai + Math.cos(angle3) * radius);
float ny = (float) (aj + Math.sin(angle3) * radius);
double ddx = nx - px;
double ddy = ny - py;
double dd = Math.sqrt(ddx * ddx + ddy * ddy);
estimated_time += dd / feed_rate;
estimated_length += dd;
++estimate_count;
px = nx;
py = ny;
}
double ddx = x - px;
double ddy = y - py;
double dd = Math.sqrt(ddx * ddx + ddy * ddy);
estimated_time += dd / feed_rate;
estimated_length += dd;
++estimate_count;
px = x;
py = y;
pz = z;
}
} // for ( each instruction )
estimated_time += estimate_count * 0.007617845117845f;
Log(
"<font color='green'>"
+ estimate_count
+ " line segments.\n"
+ estimated_length
+ "cm of line.\n"
+ "Estimated "
+ statusBar.formatTime((long) (estimated_time * 10000))
+ "s to draw.</font>\n");
}
/**
* 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();
}
/**
* changes the order of the recent files list in the File submenu, saves the updated prefs, and
* refreshes the menus.
*
* @param filename the file to push to the top of the list.
*/
public void UpdateRecentFiles(String filename) {
int cnt = recentFiles.length;
String[] newFiles = new String[cnt];
newFiles[0] = filename;
int i, j = 1;
for (i = 0; i < cnt; ++i) {
if (!filename.equals(recentFiles[i]) && recentFiles[i] != "") {
newFiles[j++] = recentFiles[i];
if (j == cnt) break;
}
}
recentFiles = newFiles;
// update prefs
for (i = 0; i < cnt; ++i) {
if (recentFiles[i] != null && !recentFiles[i].isEmpty()) {
prefs.put("recent-files-" + i, recentFiles[i]);
}
}
UpdateMenuBar();
}
// A file failed to load. Remove it from recent files, refresh the menu bar.
public void RemoveRecentFile(String filename) {
int i;
for (i = 0; i < recentFiles.length - 1; ++i) {
if (recentFiles[i] == filename) {
break;
}
}
for (; i < recentFiles.length - 1; ++i) {
recentFiles[i] = recentFiles[i + 1];
}
recentFiles[recentFiles.length - 1] = "";
// update prefs
for (i = 0; i < recentFiles.length; ++i) {
if (recentFiles[i] != null && !recentFiles[i].isEmpty()) {
prefs.put("recent-files-" + i, recentFiles[i]);
}
}
UpdateMenuBar();
}
// Load recent files from prefs
public void GetRecentFiles() {
recentFiles = new String[10];
int i;
for (i = 0; i < recentFiles.length; ++i) {
recentFiles[i] = prefs.get("recent-files-" + i, "");
}
}
// User has asked that a file be opened.
public void OpenFileOnDemand(String filename) {
Log("<font color='green'>Opening file " + recentFiles[0] + "...</font>\n");
String ext = filename.substring(filename.lastIndexOf('.'));
if (!ext.equalsIgnoreCase(".ngc")) {
LoadImage(filename);
} else {
LoadGCode(filename);
}
statusBar.Clear();
}
// creates a file open dialog. If you don't cancel it opens that file.
public void OpenFileDialog() {
// Note: source for ExampleFileFilter can be found in FileChooserDemo,
// under the demo/jfc directory in the Java 2 SDK, Standard Edition.
String filename = (recentFiles[0].length() > 0) ? filename = recentFiles[0] : "";
FileFilter filterImage =
new FileNameExtensionFilter(
"Images (jpg/bmp/png/gif)", "jpg", "jpeg", "png", "wbmp", "bmp", "gif");
FileFilter filterGCODE = new FileNameExtensionFilter("GCODE files (ngc)", "ngc");
JFileChooser fc = new JFileChooser(new File(filename));
fc.addChoosableFileFilter(filterImage);
fc.addChoosableFileFilter(filterGCODE);
if (fc.showOpenDialog(this) == JFileChooser.APPROVE_OPTION) {
OpenFileOnDemand(fc.getSelectedFile().getAbsolutePath());
}
}
public void GoHome() {
SendLineToRobot("G00 X0 Y0 Z0");
}
/**
* Open the config dialog, send the config update to the robot, save it for future, and refresh
* the preview tab.
*/
public void UpdateConfig() {
final JDialog driver = new JDialog(mainframe, "Configure Limits", true);
driver.setLayout(new GridBagLayout());
final JTextField mtop = new JTextField(String.valueOf(limit_top));
final JTextField mbottom = new JTextField(String.valueOf(limit_bottom));
final JTextField mleft = new JTextField(String.valueOf(limit_left));
final JTextField mright = new JTextField(String.valueOf(limit_right));
final JTextField ptop = new JTextField(String.valueOf(paper_top));
final JTextField pbottom = new JTextField(String.valueOf(paper_bottom));
final JTextField pleft = new JTextField(String.valueOf(paper_left));
final JTextField pright = new JTextField(String.valueOf(paper_right));
final JButton cancel = new JButton("Cancel");
final JButton save = new JButton("Save");
GridBagConstraints c = new GridBagConstraints();
c.gridx = 3;
c.gridy = 0;
driver.add(mtop, c);
c.gridx = 3;
c.gridy = 5;
driver.add(mbottom, c);
c.gridx = 0;
c.gridy = 3;
driver.add(mleft, c);
c.gridx = 5;
c.gridy = 3;
driver.add(mright, c);
c.gridx = 3;
c.gridy = 1;
driver.add(ptop, c);
c.gridx = 3;
c.gridy = 4;
driver.add(pbottom, c);
c.gridx = 1;
c.gridy = 3;
driver.add(pleft, c);
c.gridx = 4;
c.gridy = 3;
driver.add(pright, c);
c.gridx = 4;
c.gridy = 6;
driver.add(save, c);
c.gridx = 5;
c.gridy = 6;
driver.add(cancel, c);
Dimension s = ptop.getPreferredSize();
s.width = 80;
ptop.setPreferredSize(s);
pbottom.setPreferredSize(s);
pleft.setPreferredSize(s);
pright.setPreferredSize(s);
mtop.setPreferredSize(s);
mbottom.setPreferredSize(s);
mleft.setPreferredSize(s);
mright.setPreferredSize(s);
ActionListener driveButtons =
new ActionListener() {
public void actionPerformed(ActionEvent e) {
Object subject = e.getSource();
if (subject == save) {
paper_top = Float.valueOf(ptop.getText());
paper_bottom = Float.valueOf(pbottom.getText());
paper_right = Float.valueOf(pright.getText());
paper_left = Float.valueOf(pleft.getText());
limit_top = Float.valueOf(mtop.getText());
limit_bottom = Float.valueOf(mbottom.getText());
limit_right = Float.valueOf(mright.getText());
limit_left = Float.valueOf(mleft.getText());
previewPane.setMachineLimits(limit_top, limit_bottom, limit_left, limit_right);
previewPane.setPaperSize(paper_top, paper_bottom, paper_left, paper_right);
SetRecentPaperSize();
SaveConfig();
SendConfig();
driver.dispose();
}
if (subject == cancel) {
driver.dispose();
}
}
};
save.addActionListener(driveButtons);
cancel.addActionListener(driveButtons);
SendLineToRobot("M114"); // "where" command
driver.pack();
driver.setVisible(true);
}
void LoadConfig() {
String id = Long.toString(robot_uid);
limit_top = Double.valueOf(prefs.get(id + "_limit_top", "0"));
limit_bottom = Double.valueOf(prefs.get(id + "_limit_bottom", "0"));
limit_left = Double.valueOf(prefs.get(id + "_limit_left", "0"));
limit_right = Double.valueOf(prefs.get(id + "_limit_right", "0"));
m1invert = Boolean.parseBoolean(prefs.get(id + "_m1invert", "false"));
m2invert = Boolean.parseBoolean(prefs.get(id + "_m2invert", "false"));
}
void SaveConfig() {
String id = Long.toString(robot_uid);
prefs.put(id + "_limit_top", Double.toString(limit_top));
prefs.put(id + "_limit_bottom", Double.toString(limit_bottom));
prefs.put(id + "_limit_right", Double.toString(limit_right));
prefs.put(id + "_limit_left", Double.toString(limit_left));
prefs.put(id + "_m1invert", Boolean.toString(m1invert));
prefs.put(id + "_m2invert", Boolean.toString(m2invert));
}
void SendConfig() {
if (!portConfirmed) return;
// Send a command to the robot with new configuration values
String line =
"CONFIG T"
+ limit_top
+ " B"
+ limit_bottom
+ " L"
+ limit_left
+ " R"
+ limit_right
+ " I"
+ (m1invert ? "-1" : "1")
+ " J"
+ (m2invert ? "-1" : "1");
SendLineToRobot(line);
SendLineToRobot("TELEPORT X0 Y0 Z0");
}
// 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();
}
}
/**
* removes comments, processes commands drawbot shouldn't have to handle.
*
* @param line command to send
* @return true if the robot is ready for another command to be sent.
*/
public boolean ProcessLine(String line) {
// tool change request?
String[] tokens = line.split("\\s");
// tool change?
if (Arrays.asList(tokens).contains("M06") || Arrays.asList(tokens).contains("M6")) {
for (int i = 0; i < tokens.length; ++i) {
if (tokens[i].startsWith("T")) {
JOptionPane.showMessageDialog(
null, "Please change to tool #" + tokens[i].substring(1) + " and click OK.");
}
}
// still ready to send
return true;
}
// end of program?
if (tokens[0] == "M02" || tokens[0] == "M2") {
Halt();
return false;
}
// other machine code to ignore?
if (tokens[0].startsWith("M")) {
Log("<font color='pink'>" + line + "</font>\n");
return true;
}
// contains a comment? if so remove it
int index = line.indexOf('(');
if (index != -1) {
String comment = line.substring(index + 1, line.lastIndexOf(')'));
line = line.substring(0, index).trim();
Log("<font color='grey'>* " + comment + "</font\n");
if (line.length() == 0) {
// entire line was a comment.
return true; // still ready to send
}
}
// send relevant part of line to the robot
SendLineToRobot(line);
return false;
}
/**
* Sends a single command the robot. Could be anything.
*
* @param line command to send.
* @return true means the command is sent. false means it was not.
*/
public void SendLineToRobot(String line) {
if (!portConfirmed) return;
line += eol;
Log("<font color='white'>" + line + "</font>");
try {
out.write(line.getBytes());
} catch (IOException e) {
}
}
/**
* 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();
}
// 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;
}
}
}
// Deal with something robot has sent.
public void serialEvent(SerialPortEvent events) {
switch (events.getEventType()) {
case SerialPortEvent.DATA_AVAILABLE:
try {
final byte[] buffer = new byte[1024];
int len = in.read(buffer);
if (len > 0) {
String line2 = new String(buffer, 0, len);
Log("<span style='color:#FFA500'>" + line2.replace("\n", "<br>") + "</span>");
line3 += line2;
// wait for the cue ("> ") to send another command
if (line3.lastIndexOf(cue) != -1) {
if (ConfirmPort()) {
line3 = "";
SendFileCommand();
}
}
}
} catch (IOException e) {
}
break;
}
}
public void CheckForUpdate() {
/*
try {
// Send data
URL url = new URL("http://marginallyclever.com/drawbot_get.php");
URLConnection conn = url.openConnection();
BufferedReader rd = new BufferedReader(new InputStreamReader(conn.getInputStream()));
robot_uid = Long.parseLong(rd.readLine());
rd.close();
} catch (Exception e) {}
*/
// TODO Get latest version
// TODO Offer to download latest version?
}
/** Open the config dialog, update the paper size, refresh the preview tab. */
public void Drive() {
JDialog driver = new JDialog(mainframe, "Manual Control", true);
driver.setLayout(new GridBagLayout());
JButton find = new JButton("FIND HOME");
JButton home = new JButton("GO HOME");
JButton center = new JButton("THIS IS HOME");
JButton up1 = new JButton("Y1");
JButton up10 = new JButton("Y10");
JButton up100 = new JButton("Y100");
JButton down1 = new JButton("Y-1");
JButton down10 = new JButton("Y-10");
JButton down100 = new JButton("Y-100");
JButton left1 = new JButton("X-1");
JButton left10 = new JButton("X-10");
JButton left100 = new JButton("X-100");
JButton right1 = new JButton("X1");
JButton right10 = new JButton("X10");
JButton right100 = new JButton("X100");
GridBagConstraints c = new GridBagConstraints();
c.gridx = 3;
c.gridy = 0;
driver.add(up100, c);
c.gridx = 3;
c.gridy = 1;
driver.add(up10, c);
c.gridx = 3;
c.gridy = 2;
driver.add(up1, c);
c.gridx = 3;
c.gridy = 4;
driver.add(down1, c);
c.gridx = 3;
c.gridy = 5;
driver.add(down10, c);
c.gridx = 3;
c.gridy = 6;
driver.add(down100, c);
c.gridx = 0;
c.gridy = 3;
driver.add(left100, c);
c.gridx = 1;
c.gridy = 3;
driver.add(left10, c);
c.gridx = 2;
c.gridy = 3;
driver.add(left1, c);
c.gridx = 4;
c.gridy = 3;
driver.add(right1, c);
c.gridx = 5;
c.gridy = 3;
driver.add(right10, c);
c.gridx = 6;
c.gridy = 3;
driver.add(right100, c);
c.gridx = 3;
c.gridy = 3;
driver.add(home, c);
c.gridx = 6;
c.gridy = 0;
driver.add(center, c);
c.gridx = 6;
c.gridy = 1;
driver.add(find, c);
ActionListener driveButtons =
new ActionListener() {
public void actionPerformed(ActionEvent e) {
Object subject = e.getSource();
JButton b = (JButton) subject;
String t = b.getText();
if (t == "GO HOME") {
GoHome();
SendLineToRobot("M114");
} else if (t == "FIND HOME") {
SendLineToRobot("G28");
} else if (t == "THIS IS HOME") {
SendLineToRobot("TELEPORT XO YO");
} else {
SendLineToRobot("G91");
SendLineToRobot("G00 " + b.getText());
SendLineToRobot("G90");
SendLineToRobot("M114");
}
}
};
up1.addActionListener(driveButtons);
up10.addActionListener(driveButtons);
up100.addActionListener(driveButtons);
down1.addActionListener(driveButtons);
down10.addActionListener(driveButtons);
down100.addActionListener(driveButtons);
left1.addActionListener(driveButtons);
left10.addActionListener(driveButtons);
left100.addActionListener(driveButtons);
right1.addActionListener(driveButtons);
right10.addActionListener(driveButtons);
right100.addActionListener(driveButtons);
center.addActionListener(driveButtons);
home.addActionListener(driveButtons);
find.addActionListener(driveButtons);
SendLineToRobot("M114");
driver.pack();
driver.setVisible(true);
}
protected void JogMotors() {
JDialog driver = new JDialog(mainframe, "Jog Motors", true);
driver.setLayout(new GridBagLayout());
GridBagConstraints c = new GridBagConstraints();
final JButton buttonAneg = new JButton("IN");
final JButton buttonApos = new JButton("OUT");
final JCheckBox m1i = new JCheckBox("Invert", m1invert);
final JButton buttonBneg = new JButton("IN");
final JButton buttonBpos = new JButton("OUT");
final JCheckBox m2i = new JCheckBox("Invert", m2invert);
c.gridx = 0;
c.gridy = 0;
driver.add(new JLabel("L"), c);
c.gridx = 0;
c.gridy = 1;
driver.add(new JLabel("R"), c);
c.gridx = 1;
c.gridy = 0;
driver.add(buttonAneg, c);
c.gridx = 1;
c.gridy = 1;
driver.add(buttonBneg, c);
c.gridx = 2;
c.gridy = 0;
driver.add(buttonApos, c);
c.gridx = 2;
c.gridy = 1;
driver.add(buttonBpos, c);
c.gridx = 3;
c.gridy = 0;
driver.add(m1i, c);
c.gridx = 3;
c.gridy = 1;
driver.add(m2i, c);
ActionListener driveButtons =
new ActionListener() {
public void actionPerformed(ActionEvent e) {
Object subject = e.getSource();
if (subject == buttonApos) SendLineToRobot("D00 L100");
if (subject == buttonAneg) SendLineToRobot("D00 L-100");
if (subject == buttonBpos) SendLineToRobot("D00 R100");
if (subject == buttonBneg) SendLineToRobot("D00 R-100");
SendLineToRobot("M114");
}
};
ActionListener invertButtons =
new ActionListener() {
public void actionPerformed(ActionEvent e) {
m1invert = m1i.isSelected();
m2invert = m2i.isSelected();
SaveConfig();
SendConfig();
}
};
buttonApos.addActionListener(driveButtons);
buttonAneg.addActionListener(driveButtons);
buttonBpos.addActionListener(driveButtons);
buttonBneg.addActionListener(driveButtons);
m1i.addActionListener(invertButtons);
m2i.addActionListener(invertButtons);
SendLineToRobot("M114");
driver.pack();
driver.setVisible(true);
}
public JMenuBar CreateMenuBar() {
// If the menu bar exists, empty it. If it doesn't exist, create it.
menuBar = new JMenuBar();
UpdateMenuBar();
return menuBar;
}
// Rebuild the contents of the menu based on current program state
public void UpdateMenuBar() {
JMenu menu;
int i;
menuBar.removeAll();
// Build the first menu.
menu = new JMenu("File");
menu.setMnemonic(KeyEvent.VK_F);
menuBar.add(menu);
buttonOpenFile = new JMenuItem("Open File...", KeyEvent.VK_O);
buttonOpenFile.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_O, ActionEvent.ALT_MASK));
buttonOpenFile.getAccessibleContext().setAccessibleDescription("Open a g-code file...");
buttonOpenFile.addActionListener(this);
menu.add(buttonOpenFile);
menu.addSeparator();
// list recent files
if (recentFiles != null && recentFiles.length > 0) {
// list files here
for (i = 0; i < recentFiles.length; ++i) {
if (recentFiles[i] == null || recentFiles[i].length() == 0) break;
buttonRecent[i] = new JMenuItem((1 + i) + " " + recentFiles[i], KeyEvent.VK_1 + i);
if (buttonRecent[i] != null) {
buttonRecent[i].addActionListener(this);
menu.add(buttonRecent[i]);
}
}
if (i != 0) menu.addSeparator();
}
buttonExit = new JMenuItem("Exit", KeyEvent.VK_Q);
buttonExit.getAccessibleContext().setAccessibleDescription("Goodbye...");
buttonExit.addActionListener(this);
menu.add(buttonExit);
menuBar.add(menu);
// settings menu
menu = new JMenu("Settings");
menu.setMnemonic(KeyEvent.VK_T);
menu.getAccessibleContext().setAccessibleDescription("Adjust the robot settings.");
JMenu subMenu = new JMenu("Port");
subMenu.setMnemonic(KeyEvent.VK_P);
subMenu.getAccessibleContext().setAccessibleDescription("What port to connect to?");
subMenu.setEnabled(!running);
ButtonGroup group = new ButtonGroup();
ListSerialPorts();
buttonPorts = new JRadioButtonMenuItem[portsDetected.length];
for (i = 0; i < portsDetected.length; ++i) {
buttonPorts[i] = new JRadioButtonMenuItem(portsDetected[i]);
if (recentPort.equals(portsDetected[i]) && portOpened) {
buttonPorts[i].setSelected(true);
}
buttonPorts[i].addActionListener(this);
group.add(buttonPorts[i]);
subMenu.add(buttonPorts[i]);
}
subMenu.addSeparator();
buttonRescan = new JMenuItem("Rescan", KeyEvent.VK_N);
buttonRescan.getAccessibleContext().setAccessibleDescription("Rescan the available ports.");
buttonRescan.addActionListener(this);
subMenu.add(buttonRescan);
menu.add(subMenu);
buttonConfig = new JMenuItem("Configure limits", KeyEvent.VK_L);
buttonConfig.getAccessibleContext().setAccessibleDescription("Adjust the robot & paper shape.");
buttonConfig.addActionListener(this);
buttonConfig.setEnabled(portConfirmed && !running);
menu.add(buttonConfig);
buttonJogMotors = new JMenuItem("Jog Motors", KeyEvent.VK_J);
buttonJogMotors.addActionListener(this);
buttonJogMotors.setEnabled(portConfirmed && !running);
menu.add(buttonJogMotors);
buttonDrive = new JMenuItem("Drive Manually", KeyEvent.VK_R);
buttonDrive.getAccessibleContext().setAccessibleDescription("Etch-a-sketch style driving");
buttonDrive.addActionListener(this);
buttonDrive.setEnabled(portConfirmed && !running);
menu.add(buttonDrive);
menuBar.add(menu);
// Draw menu
menu = new JMenu("Draw");
menu.setMnemonic(KeyEvent.VK_D);
menu.getAccessibleContext().setAccessibleDescription("Start & Stop progress");
buttonStart = new JMenuItem("Start", KeyEvent.VK_S);
buttonStart.getAccessibleContext().setAccessibleDescription("Start sending g-code");
buttonStart.addActionListener(this);
buttonStart.setEnabled(portConfirmed && !running);
menu.add(buttonStart);
buttonPause = new JMenuItem("Pause", KeyEvent.VK_P);
buttonPause.getAccessibleContext().setAccessibleDescription("Pause sending g-code");
buttonPause.addActionListener(this);
buttonPause.setEnabled(portConfirmed && running);
menu.add(buttonPause);
buttonHalt = new JMenuItem("Halt", KeyEvent.VK_H);
buttonHalt.getAccessibleContext().setAccessibleDescription("Halt sending g-code");
buttonHalt.addActionListener(this);
buttonHalt.setEnabled(portConfirmed && running);
menu.add(buttonHalt);
menuBar.add(menu);
// tools menu
menu = new JMenu("Tools");
buttonZoomOut = new JMenuItem("Zoom -");
buttonZoomOut.addActionListener(this);
buttonZoomOut.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_MINUS, ActionEvent.ALT_MASK));
menu.add(buttonZoomOut);
buttonZoomIn = new JMenuItem("Zoom +", KeyEvent.VK_EQUALS);
buttonZoomIn.addActionListener(this);
buttonZoomIn.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_EQUALS, ActionEvent.ALT_MASK));
menu.add(buttonZoomIn);
menuBar.add(menu);
// Help menu
menu = new JMenu("Help");
menu.setMnemonic(KeyEvent.VK_H);
menu.getAccessibleContext().setAccessibleDescription("Get help");
buttonAbout = new JMenuItem("About", KeyEvent.VK_A);
menu.getAccessibleContext().setAccessibleDescription("Find out about this program");
buttonAbout.addActionListener(this);
menu.add(buttonAbout);
buttonCheckForUpdate = new JMenuItem("Check for updates", KeyEvent.VK_U);
menu.getAccessibleContext().setAccessibleDescription("Is there a newer version available?");
buttonCheckForUpdate.addActionListener(this);
buttonCheckForUpdate.setEnabled(false);
menu.add(buttonCheckForUpdate);
menuBar.add(menu);
// finish
menuBar.updateUI();
}
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;
}
// Create the GUI and show it. For thread safety, this method should be invoked from the
// event-dispatching thread.
private static void CreateAndShowGUI() {
// Create and set up the window.
mainframe = new JFrame("No Drawbot Connected");
mainframe.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
// Create and set up the content pane.
DrawbotGUI demo = DrawbotGUI.getSingleton();
mainframe.setJMenuBar(demo.CreateMenuBar());
mainframe.setContentPane(demo.CreateContentPane());
// Display the window.
mainframe.setSize(800, 700);
mainframe.setVisible(true);
}
public static void main(String[] args) {
// Schedule a job for the event-dispatching thread:
// creating and showing this application's GUI.
javax.swing.SwingUtilities.invokeLater(
new Runnable() {
public void run() {
CreateAndShowGUI();
}
});
}
}
