@Override
public void handle(final ActionEvent event) {
final MenuItem menuItem = (MenuItem) event.getSource();
Application.setUserAgentStylesheet(menuItem.getUserData().toString());
preferences.put(LAST, menuItem.getUserData().toString());
final String current = preferences.get(LAST, null);
if (current != null && !current.equals(menuItem.getUserData().toString())) {
Application.setUserAgentStylesheet(menuItem.getUserData().toString());
}
}
@Override
public void start(Stage primaryStage) {
primaryStage.setTitle("OpenBot");
primaryStage.setResizable(false);
GridPane grid = new GridPane();
grid.setAlignment(Pos.CENTER_LEFT);
grid.setHgap(10);
grid.setVgap(10);
grid.setPadding(new Insets(25, 25, 25, 25));
Label scenetitle = new Label("Move Joints");
scenetitle.setFont(Font.font("Tahoma", FontWeight.NORMAL, 20));
grid.add(scenetitle, 2, 0, 5, 1);
Image imgRight = new Image("images/arrowRight.png");
Image imgLeft = new Image("images/arrowLeft.png");
Button baseLeft = new Button();
baseLeft.setGraphic(new ImageView(imgLeft));
HBox hbbaseLeft = new HBox(10);
hbbaseLeft.setAlignment(Pos.CENTER_LEFT);
hbbaseLeft.getChildren().add(baseLeft);
grid.add(hbbaseLeft, 0, 1);
Label baseLabel = new Label("BASE");
grid.add(baseLabel, 5, 1);
Button baseRight = new Button();
baseRight.setGraphic(new ImageView(imgRight));
HBox hbbaseRight = new HBox(10);
hbbaseRight.setAlignment(Pos.CENTER_RIGHT);
hbbaseRight.getChildren().add(baseRight);
grid.add(hbbaseRight, 7, 1);
TextField baseText = new TextField();
baseText.setPromptText("Base angle");
grid.add(baseText, 8, 1);
Button shoulderLeft = new Button();
shoulderLeft.setGraphic(new ImageView(imgLeft));
HBox hbshoulderLeft = new HBox(10);
hbshoulderLeft.setAlignment(Pos.CENTER_LEFT);
hbshoulderLeft.getChildren().add(shoulderLeft);
grid.add(hbshoulderLeft, 0, 2);
Label shoulderLabel = new Label("SHOULDER");
grid.add(shoulderLabel, 5, 2);
Button shoulderRight = new Button();
shoulderRight.setGraphic(new ImageView(imgRight));
HBox hbshoulderRight = new HBox(10);
hbshoulderRight.setAlignment(Pos.CENTER_RIGHT);
hbshoulderRight.getChildren().add(shoulderRight);
grid.add(hbshoulderRight, 7, 2);
TextField shoulderText = new TextField();
shoulderText.setPromptText("Shoulder angle");
grid.add(shoulderText, 8, 2);
Button elbowLeft = new Button();
elbowLeft.setGraphic(new ImageView(imgLeft));
HBox hbelbowLeft = new HBox(10);
hbelbowLeft.setAlignment(Pos.CENTER_LEFT);
hbelbowLeft.getChildren().add(elbowLeft);
grid.add(hbelbowLeft, 0, 3);
Label elbowLabel = new Label("ELBOW");
grid.add(elbowLabel, 5, 3);
Button elbowRight = new Button();
elbowRight.setGraphic(new ImageView(imgRight));
HBox hbelbowRight = new HBox(10);
hbelbowRight.setAlignment(Pos.CENTER_RIGHT);
hbelbowRight.getChildren().add(elbowRight);
grid.add(hbelbowRight, 7, 3);
TextField elbowText = new TextField();
elbowText.setPromptText("Elbow angle");
grid.add(elbowText, 8, 3);
Button wrist1Left = new Button();
wrist1Left.setGraphic(new ImageView(imgLeft));
HBox hbwrist1Left = new HBox(10);
hbwrist1Left.setAlignment(Pos.CENTER_LEFT);
hbwrist1Left.getChildren().add(wrist1Left);
grid.add(hbwrist1Left, 0, 4);
Label wrist1Label = new Label("WRIST 1");
grid.add(wrist1Label, 5, 4);
Button wrist1Right = new Button();
wrist1Right.setGraphic(new ImageView(imgRight));
HBox hbwrist1Right = new HBox(10);
hbwrist1Right.setAlignment(Pos.CENTER_RIGHT);
hbwrist1Right.getChildren().add(wrist1Right);
grid.add(hbwrist1Right, 7, 4);
TextField wrist1Text = new TextField();
wrist1Text.setPromptText("Wrist 1 angle");
grid.add(wrist1Text, 8, 4);
Button wrist2Left = new Button();
wrist2Left.setGraphic(new ImageView(imgLeft));
HBox hbwrist2Left = new HBox(10);
hbwrist2Left.setAlignment(Pos.CENTER_LEFT);
hbwrist2Left.getChildren().add(wrist2Left);
grid.add(hbwrist2Left, 0, 5);
Label wrist2Label = new Label("WRIST 2");
grid.add(wrist2Label, 5, 5);
Button wrist2Right = new Button();
wrist2Right.setGraphic(new ImageView(imgRight));
HBox hbwrist2Right = new HBox(10);
hbwrist2Right.setAlignment(Pos.CENTER_RIGHT);
hbwrist2Right.getChildren().add(wrist2Right);
grid.add(hbwrist2Right, 7, 5);
TextField wrist2Text = new TextField();
wrist2Text.setPromptText("Wrist 2 angle");
grid.add(wrist2Text, 8, 5);
Button wrist3Left = new Button();
wrist3Left.setGraphic(new ImageView(imgLeft));
HBox hbwrist3Left = new HBox(10);
hbwrist3Left.setAlignment(Pos.CENTER_LEFT);
hbwrist3Left.getChildren().add(wrist3Left);
grid.add(hbwrist3Left, 0, 6);
Label wrist3Label = new Label("WRIST 3");
grid.add(wrist3Label, 5, 6);
Button wrist3Right = new Button();
wrist3Right.setGraphic(new ImageView(imgRight));
HBox hbwrist3Right = new HBox(10);
hbwrist3Right.setAlignment(Pos.CENTER_RIGHT);
hbwrist3Right.getChildren().add(wrist3Right);
grid.add(hbwrist3Right, 7, 6);
TextField wrist3Text = new TextField();
wrist3Text.setPromptText("Wrist 3 angle");
grid.add(wrist3Text, 8, 6);
Button sendAllAnglesButton = new Button("Send All Angles");
grid.add(sendAllAnglesButton, 8, 7);
sendAllAnglesButton.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(baseText.getText());
if (currentValue != -1) {
client.moveBaseHorizontalTo(currentValue);
}
currentValue = parseInt(shoulderText.getText());
if (currentValue != -1) {
client.moveShoulderTo(currentValue);
}
currentValue = parseInt(elbowText.getText());
if (currentValue != -1) {
client.moveElbowTo(currentValue);
}
currentValue = parseInt(wrist1Text.getText());
if (currentValue != -1) {
client.moveWristOneTo(currentValue);
}
currentValue = parseInt(wrist2Text.getText());
if (currentValue != -1) {
client.moveWristTwoTo(currentValue);
}
currentValue = parseInt(wrist3Text.getText());
if (currentValue != -1) {
client.moveWristThreeTo(currentValue);
}
}
});
baseLeft.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(baseText.getText());
if (currentValue != -1) {
int targetValue = currentValue - 1;
baseText.setText(String.valueOf(targetValue));
client.moveBaseHorizontalTo(targetValue);
}
}
});
baseRight.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(baseText.getText());
if (currentValue != -1) {
int targetValue = currentValue + 1;
baseText.setText(String.valueOf(targetValue));
client.moveBaseHorizontalTo(targetValue);
}
}
});
shoulderLeft.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(shoulderText.getText());
if (currentValue != -1) {
int targetValue = currentValue - 1;
shoulderText.setText(String.valueOf(targetValue));
client.moveShoulderTo(targetValue);
}
}
});
shoulderRight.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(shoulderText.getText());
if (currentValue != -1) {
int targetValue = currentValue + 1;
shoulderText.setText(String.valueOf(targetValue));
client.moveShoulderTo(targetValue);
}
}
});
elbowLeft.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(elbowText.getText());
if (currentValue != -1) {
int targetValue = currentValue - 1;
elbowText.setText(String.valueOf(targetValue));
client.moveElbowTo(targetValue);
}
}
});
elbowRight.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(elbowText.getText());
if (currentValue != -1) {
int targetValue = currentValue + 1;
elbowText.setText(String.valueOf(targetValue));
client.moveElbowTo(targetValue);
}
}
});
wrist1Left.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(wrist1Text.getText());
if (currentValue != -1) {
int targetValue = currentValue - 1;
wrist1Text.setText(String.valueOf(targetValue));
client.moveWristOneTo(targetValue);
}
}
});
wrist1Right.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(wrist1Text.getText());
if (currentValue != -1) {
int targetValue = currentValue + 1;
wrist1Text.setText(String.valueOf(targetValue));
client.moveWristOneTo(targetValue);
}
}
});
wrist2Left.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(wrist2Text.getText());
if (currentValue != -1) {
int targetValue = currentValue - 1;
wrist2Text.setText(String.valueOf(targetValue));
client.moveWristTwoTo(targetValue);
}
}
});
wrist2Right.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(wrist2Text.getText());
if (currentValue != -1) {
int targetValue = currentValue + 1;
wrist2Text.setText(String.valueOf(targetValue));
client.moveWristTwoTo(targetValue);
}
}
});
wrist3Left.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(wrist3Text.getText());
if (currentValue != -1) {
int targetValue = currentValue - 1;
wrist3Text.setText(String.valueOf(targetValue));
client.moveWristThreeTo(targetValue);
}
}
});
wrist3Right.setOnAction(
new EventHandler<ActionEvent>() {
@Override
public void handle(ActionEvent event) {
int currentValue = parseInt(wrist3Text.getText());
if (currentValue != -1) {
int targetValue = currentValue + 1;
wrist3Text.setText(String.valueOf(targetValue));
client.moveWristThreeTo(targetValue);
}
}
});
Label scenetitle2 = new Label("Enter Angle");
scenetitle2.setFont(Font.font("Tahoma", FontWeight.NORMAL, 20));
grid.add(scenetitle2, 8, 0, 5, 1);
Label scenetitle3 = new Label("Tool Position");
scenetitle3.setFont(Font.font("Tahoma", FontWeight.NORMAL, 20));
grid.add(scenetitle3, 10, 0, 5, 1);
String xValue = "360.0";
grid.add(x, 11, 1);
x.setText("X : " + xValue);
String yValue = "360.0";
grid.add(y, 11, 2);
y.setText("Y : " + yValue);
String zValue = "360.0";
grid.add(z, 11, 3);
z.setText("Z : " + zValue);
String rxValue = "360.0";
grid.add(rx, 11, 4);
rx.setText("RX : " + rxValue);
String ryValue = "360.0";
grid.add(ry, 11, 5);
ry.setText("RY : " + ryValue);
String rzValue = "360.0";
grid.add(rz, 11, 6);
rz.setText("RZ : " + rzValue);
// Scene
Scene scene = new Scene(grid, 700, 600);
primaryStage.setScene(scene);
primaryStage.show();
primaryStage.setOnCloseRequest(
new EventHandler<WindowEvent>() {
@Override
public void handle(WindowEvent event) {
client.killClient();
}
});
Application.setUserAgentStylesheet(Application.STYLESHEET_MODENA);
StyleManager.getInstance()
.addUserAgentStylesheet(
this.getClass().getResource("/resources/styleSheet.css").toExternalForm());
}
public static void restoreLastUsedTheme() {
Application.setUserAgentStylesheet(preferences.get(LAST, Application.STYLESHEET_MODENA));
}