Improve puck loading management

src/main/java/ch/psi/mxsc/Controller.java

@@ -25,6 +25,7 @@ import ch.psi.pshell.swing.SwingUtils;
 import ch.psi.pshell.utils.State.StateException;
 import java.awt.BorderLayout;
 import java.awt.Dimension;
+import java.awt.Point;
 import java.awt.event.WindowAdapter;
 import java.awt.event.WindowEvent;
 import java.io.File;
@@ -463,25 +464,83 @@ public class Controller {
     }
     
     
-    public Boolean isDoorClosed() {
+    //Non-blocking
+    public boolean isDoorOpen() {
+        try {
+            return doorsOpened;
+            //if (getMainFrame().getState().isInitialized()){
+            //    return getMainFrame().eval("is_door_closed()", true).equals(false);
+           // }
+        } catch (Exception ex) {            
+        }
+        return false;
+    }    
+    
+    //Non-blocking
+    public boolean isRobotParked() {
         try {
             if (getMainFrame().getState().isInitialized()){
-                return getMainFrame().eval("is_door_closed()", true).equals(true);
+                return getMainFrame().eval("'pPark' in robot.get_current_points_cached()", true).equals(true);
             }
         } catch (Exception ex) {            
         }
-        return null;
-    }    
+        return false;
+    }     
+    
+    Point fmm;
+    public void onCoverDetection(Point fmm ){
+        this.fmm = fmm;        
+        checkPuckLoading();
+    }
+    
+    public boolean isCoverDetected() {
+        return fmm!=null;
+    }
 
+    boolean doorsOpened;
+    boolean doorsHaveOpened;
+    public void onDoorsOpenChange(boolean value){
+        doorsOpened = value;
+        doorsHaveOpened =value;
+        checkPuckLoading();
+    }
+    
     public void setServiceMode(boolean value){
         try{
             String state = value ? "True" : "False";
-            getMainFrame().evalAsync("set_service_mode(" + state + ")");                                               
+            getMainFrame().eval("set_service_mode(" + state + ")", true);                                               
         } catch (Exception ex) {
             Logger.getLogger(Controller.class.getName()).log(Level.SEVERE, null, ex);
         }
+        checkPuckLoading();
     }
     
+    public boolean canSetPuckLoading(){
+        if (isServiceMode()){
+            return true;
+        }
+        return  !isCoverDetected() && isDoorOpen() && isRobotParked() && getState().isInitialized();
+    }
+
+    private void checkPuckLoading(){
+        try{
+            if (isServiceMode()){
+                //Open/close manually in service mode 
+            } else {            
+                if (!canSetPuckLoading()){
+                    setPuckLoading(false); 
+                } else {                 
+                    //Opens automatically once after door is oppen
+                    if (doorsHaveOpened){
+                        doorsHaveOpened=false;
+                        //setPuckLoading(true);                
+                    }
+                }
+            }
+        } catch (Exception ex) {
+            Logger.getLogger(Controller.class.getName()).log(Level.SEVERE, null, ex);
+        }        
+    }
 
     public Boolean isBarcodeReaderScanPucks() {
         try {
@@ -700,14 +759,12 @@ public class Controller {
     boolean puckReaderOk = true;
     String insertedPuckDatamatrix;
     Puck removedPuck;    
-
-    //true->load
-    //false->unload
-    //null->finish transfer mode
+    
     void setPuckLoading(boolean load) {              
         if (load != puckLoading) {
-            if (load){
-                if (isDoorClosed()){
+            if (load){               
+                if (!canSetPuckLoading()){
+                    Logger.getLogger(Controller.class.getName()).warning("Cannot set puck loading");
                     return;
                 }
                 insertedPuckDatamatrix = null;
@@ -752,7 +809,16 @@ public class Controller {
                 } catch (Exception ex) {
                     errorHandler.apply(null, ex);
                 }
-                onPuckLoadingModeChange(puckLoading);
+                
+                if ( hasLoadDialog()) {
+                    if (puckLoading) {
+                        showDialogPuckLoading();
+                        mainFrame.setViewDesign();
+                    } else {
+                        hideDialogPuckLoading();
+                        mainFrame.setViewCamera();
+                    }
+                }                
             }
         }
     }
@@ -772,8 +838,10 @@ public class Controller {
         return puckLoading;
     }
     
+    String laserPos;
     public void setLaserPos(String pos){            
         try {
+            laserPos = pos;
             getMainFrame().evalAsync("set_laser_pos(" +  ((pos==null) ? "" : ("'" + pos + "'") ) + ")" ,true);
             getMainFrame().basePlatePanel.pointPuck((pos==null) ? null : basePlate.getPuckByName(pos));
         } catch (StateException ex) {
@@ -790,6 +858,10 @@ public class Controller {
         }
         
     }
+    
+    public String getLaserPos(){
+        return laserPos;
+    }
 
     void playSound(String name) {
         try {
@@ -1007,11 +1079,11 @@ public class Controller {
     }
     
 
-    void showDialogPuckLoading(boolean load) {
+    void showDialogPuckLoading() {
         if ((dialogPuckLoading != null) && (dialogPuckLoading.isVisible())) {
             return;
         }
-        dialogPuckLoading = new PuckLoadingDialog(mainFrame.getTopLevel(), load, false);
+        dialogPuckLoading = new PuckLoadingDialog(mainFrame.getTopLevel(), false);
         dialogPuckLoading.setLocationRelativeTo(mainFrame);
         dialogPuckLoading.setVisible(true);
         checkPuckDetectionEnabling();
@@ -1048,23 +1120,13 @@ public class Controller {
         }
     }
 
-    public void onPuckLoadingModeChange(boolean puckLoadMode) {
-        if ( hasLoadDialog()) {
-            if (puckLoadMode) {
-                showDialogPuckLoading(puckLoadMode);
-                mainFrame.setViewDesign();
-            } else {
-                hideDialogPuckLoading();
-                mainFrame.setViewCamera();
-            }
-        }
-    }
 
     public void onPuckScanned(String datamatrix) {
+        Logger.getLogger(Controller.class.getName()).info("Scanned puck: "  + datamatrix);
         if (isPuckLoading()) {
             getMainFrame().setPuckDatamatrix(datamatrix);
             if ( hasLoadDialog()) {
-                showDialogPuckLoading(puckLoading);
+                showDialogPuckLoading();
                 dialogPuckLoading.onPuckScanned(datamatrix);
             }
         } else {
@@ -1093,7 +1155,7 @@ public class Controller {
         }
         
         if (hasLoadDialog()) {
-            showDialogPuckLoading(puckLoading);
+            showDialogPuckLoading();
             dialogPuckLoading.onPuckMounted(puck, datamatrix);
         } else {
             if ((datamatrix == null) || (datamatrix.isEmpty())){
@@ -1110,11 +1172,11 @@ public class Controller {
         clearPuckMountedSample(puck);
         Controller.getInstance().linkPuckDatamatrix(puck, null, !hasLoadDialog());    
         if ( hasLoadDialog()) {
-            showDialogPuckLoading(puckLoading);
+            showDialogPuckLoading();
             dialogPuckLoading.onPuckUnmounted(puck);
         } 
         removedPuck = puck;
-    }
+    }              
 
     void clearPuckMountedSample(Puck puck){
         try{