Esempio n. 1
0
    @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());
      }
    }
Esempio n. 2
0
  @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());
  }
Esempio n. 3
0
 public static void restoreLastUsedTheme() {
   Application.setUserAgentStylesheet(preferences.get(LAST, Application.STYLESHEET_MODENA));
 }