import ch.psi.pshell.core.Context;
import ch.psi.pshell.device.Device;
import ch.psi.pshell.device.DeviceAdapter;
import ch.psi.pshell.device.DeviceListener;
import ch.psi.pshell.device.GenericDevice;
import ch.psi.pshell.imaging.MjpegSource;
import ch.psi.pshell.imaging.RendererMode;
import ch.psi.pshell.ui.App;
import ch.psi.pshell.ui.Panel;
import ch.psi.utils.State;
import ch.psi.utils.swing.SwingUtils;
import java.awt.Color;
import java.awt.Component;
import java.util.logging.Level;
import java.util.logging.Logger;
import java.util.Map;
import javax.swing.DefaultComboBoxModel;
import javax.swing.ImageIcon;
import javax.swing.JButton;
import javax.swing.JSpinner;
import javax.swing.JTextField;

/**
 *
 */
public class RobotBernina extends Panel {
    volatile boolean updatingRobotControls;
    volatile boolean moving;
    volatile String currentCamera;
        
    public RobotBernina() {
        initComponents();
        ((JSpinner.DefaultEditor)spinnerSpeed.getEditor()).getTextField().setHorizontalAlignment(JTextField.CENTER);
        renderer.setMode(RendererMode.Fit);
        updateCameraControls();        
    }

    //Overridable callbacks
    @Override
    public void onInitialize(int runCount) {
        updateCameraControls();
        DefaultComboBoxModel model = new DefaultComboBoxModel();
        renderer.setDeviceName(null);        
        for (GenericDevice dev : Context.getInstance().getDevicePool().getAllDevices(MjpegSource.class)){
            MjpegSource camera =(MjpegSource) dev;
            model.addElement(camera.getName());
        }        
        model.addElement("");
        model.setSelectedItem(null);
        comboCameras.setModel(model);
        currentCamera = null;
        comboCameras.requestFocus();
    }

    @Override
    public void onStateChange(State state, State former) {
        if (state.isInitialized()){
            GenericDevice robot = getDevice("robot");
            if (robot!=null){
                robot.addListener(robotListener);
            } 
        }
        for (Component c:SwingUtils.getComponentsByType(panelCommands, Component.class)){
            c.setEnabled(state.isReady());
        }
    }

    @Override
    public void onExecutedFile(String fileName, Object result) {
    }

    @Override
    protected void onTimer() {
    }

    @Override
    protected void onLoaded() {

    }

    @Override
    protected void onUnloaded() {

    }

    //Invoked by 'update()' to update components in the event thread
    @Override
    protected void doUpdate() {
    }
    
    void updateCameraControls(){
        boolean isCameraSelected = (currentCamera!=null);
        boolean enabled = isCameraSelected && getState().isNormal() && !moving;
        for (Component button : SwingUtils.getComponentsByType(panelControls, JButton.class)){
            button.setEnabled(enabled);
        }
    }
    
    protected void evalCmd(String cmd){
        evalCmd(cmd, false);
    }
    
    protected void evalCmd(String cmd, boolean background){
        try{                
            this.evalAsync(cmd, background).handle((ret, ex) -> {
                if (ex != null){
                    showException((Exception)ex);            
                }
                return ret;
            });
        } catch (Exception ex) {
            showException(ex);            
        }          
    }
    
    final DeviceListener robotListener = new DeviceAdapter() {
        @Override
        public void onStateChanged(Device device, State state, State former) {
            boolean enabled = state.isNormal();
            spinnerSpeed.setEnabled(enabled);
            buttonAbort.setEnabled(enabled);
            if (!enabled){
                buttonEnable.setEnabled(enabled);
                buttonDisable.setEnabled(enabled);
                butonStop.setEnabled(enabled);
                buttonPause.setEnabled(enabled);
                buttonResume.setEnabled(enabled);
            }
        }

        @Override
        public void onCacheChanged(Device device, Object value, Object former, long timestamp, boolean valueChange) {
            updatingRobotControls = true;        
            try{
                Boolean powered = null;
                Boolean empty = null;
                Boolean settled = null;
                Boolean moving = null;
                Boolean open = null;
                Integer speed = null;
                String task = null;
                String mode = null;
                String position = null;

                if ((value != null) && (value instanceof Map)) {
                    Map status = (Map) value;
                    try {
                        powered = (Boolean) status.get("powered");
                    } catch (Exception ex) {
                    }
                    try {
                        empty = (Boolean) status.get("empty");
                    } catch (Exception ex) {
                    }
                    try {
                        settled = (Boolean) status.get("settled");
                    } catch (Exception ex) {
                    }
                    try {
                        open = (Boolean) status.get("open");
                    } catch (Exception ex) {
                    }
                    try {
                        speed = (Integer) status.get("speed");
                    } catch (Exception ex) {
                    }
                    try {
                        position = (String) status.get("pos");
                        if (position==null){
                            position = "";
                        }
                    } catch (Exception ex) {
                    }                
                    try {            
                        task = ((status.containsKey("task")) && (status.get("task") == null)) ? "" : ((String) status.get("task")).trim();
                    } catch (Exception ex) {
                        System.out.println(ex);
                        ex.printStackTrace();
                    }
                    try {
                        mode = ((String) status.get("mode")).trim();
                    } catch (Exception ex) {
                    }                
                    try {
                        moving = Boolean.FALSE.equals(settled) ||  Boolean.FALSE.equals(empty);
                    } catch (Exception ex) {
                    }                
                }

                boolean remote = mode.equals("remote");
                boolean enabled = Boolean.TRUE.equals(powered);
                buttonEnable.setEnabled((powered != null) && (powered == false));
                buttonDisable.setEnabled(enabled);

                butonStop.setEnabled(remote && Boolean.TRUE.equals(moving));
                buttonPause.setEnabled(remote && enabled && Boolean.TRUE.equals(moving) && Boolean.FALSE.equals(settled));
                buttonResume.setEnabled(remote && enabled && Boolean.TRUE.equals(moving) && Boolean.TRUE.equals(settled));


                ledPowered.setColor((powered == null) ? Color.GRAY : (powered ? Color.YELLOW : Color.DARK_GRAY));
                ledEmpty.setColor((empty == null) ? Color.GRAY : (empty ? Color.GREEN : Color.YELLOW));
                ledSettled.setColor((settled == null) ? Color.GRAY : (settled ? Color.GREEN : Color.YELLOW));
                ledOpen.setColor((open == null) ? Color.GRAY : (open ? Color.GREEN : Color.DARK_GRAY));
                ledMoving.setColor((moving == null) ? Color.GRAY : (moving ? Color.YELLOW : Color.DARK_GRAY));
                textTask.setText((task == null) ? "" : task);
                ledTask.setColor((task == null) ? Color.GRAY : (task.isEmpty() ? Color.DARK_GRAY : Color.YELLOW));
                textPosition.setText((position == null) ? "" : position);
                ledPosition.setColor((position == null) ? Color.GRAY : (position.isEmpty() ? Color.DARK_GRAY : Color.GREEN));            
                //buttonAbort.setEnabled(!textTask.getText().isEmpty());
                spinnerSpeed.setEnabled(speed != null);
                if (speed == null) {
                    spinnerSpeed.setValue(0);
                } else {
                    spinnerSpeed.setValue(speed);
                }
                ledMode.setColor((mode == null) ? Color.BLACK : (remote ? Color.GREEN : Color.YELLOW));
                textMode.setText((mode == null) ? "" : mode);

            } finally{
                updatingRobotControls = false;
            }
        }
    };
    
    
    //Cameras
    void selectCamera(String name){
        renderer.clear();
        currentCamera = ((name == null)||(name.isBlank()))? null : name;
        renderer.setDeviceName(currentCamera);            
        updateCameraControls();
    }
    
    
    void move(String direction){
        try {
            moving = true;
            updateCameraControls();                
            String camera = comboCameras.getSelectedItem().toString();
            this.evalAsync("axis_move(" + camera + ", '" + direction + "')", true).handle((ret,ex)->{
                if (ex!=null){
                    getLogger().log(Level.WARNING, null, ex);
                }
                moving = false;
                updateCameraControls();
                return ret;
            });
        } catch (Context.ContextStateException ex) {
            getLogger().log(Level.SEVERE, null, ex);
            moving = false;
            updateCameraControls();                
            
        }                
    }
    
    void zoom(int steps){
        try {
            moving = true;
            updateCameraControls();                
            String camera = comboCameras.getSelectedItem().toString();
            this.evalAsync("axis_rzoom(" + camera + ", " + steps + ")", true).handle((ret,ex)->{
                if (ex!=null){
                    getLogger().log(Level.WARNING, null, ex);
                }
                moving = false;
                updateCameraControls();
                return ret;
            });
        } catch (Context.ContextStateException ex) {
            getLogger().log(Level.SEVERE, null, ex);
            moving = false;
            updateCameraControls();                
            
        }                
    }    
    
    ImageIcon getIcon(String name) {
        ImageIcon ret = null;
        try {
            ret = new ImageIcon(ch.psi.pshell.ui.App.class.getResource("/ch/psi/pshell/ui/" + name + ".png"));
            if (ch.psi.utils.swing.MainFrame.isDark()) {
                try {
                    ret = new ImageIcon(ch.psi.pshell.ui.App.class.getResource("/ch/psi/pshell/ui/dark/" + name + ".png"));
                } catch (Exception e) {
                }
            }
        } catch (Exception ex) {
            ex.printStackTrace();
        }
        return ret;
    }        
    
    @SuppressWarnings("unchecked")
    // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
    private void initComponents() {

        panelCommands = new javax.swing.JPanel();
        movePark = new javax.swing.JButton();
        moveHome = new javax.swing.JButton();
        buttonTweakX = new javax.swing.JButton();
        spinnerOffsetX = new javax.swing.JSpinner();
        buttonTweakX1 = new javax.swing.JButton();
        spinnerOffsetY = new javax.swing.JSpinner();
        panelRobot = new javax.swing.JPanel();
        deviceStatePanel1 = new ch.psi.pshell.swing.DeviceStatePanel();
        jPanel4 = new javax.swing.JPanel();
        jLabel3 = new javax.swing.JLabel();
        ledSettled = new ch.psi.pshell.swing.Led();
        jLabel4 = new javax.swing.JLabel();
        ledEmpty = new ch.psi.pshell.swing.Led();
        textTask = new javax.swing.JTextField();
        jLabel6 = new javax.swing.JLabel();
        textMode = new javax.swing.JTextField();
        buttonAbort = new javax.swing.JButton();
        jLabel8 = new javax.swing.JLabel();
        ledTask = new ch.psi.pshell.swing.Led();
        ledMode = new ch.psi.pshell.swing.Led();
        textPosition = new javax.swing.JTextField();
        ledPosition = new ch.psi.pshell.swing.Led();
        jLabel9 = new javax.swing.JLabel();
        jPanel5 = new javax.swing.JPanel();
        jLabel2 = new javax.swing.JLabel();
        spinnerSpeed = new ch.psi.utils.swing.HorizontalSpinner();
        jLabel7 = new javax.swing.JLabel();
        ledMoving = new ch.psi.pshell.swing.Led();
        panelMotionCtr = new javax.swing.JPanel();
        butonStop = new javax.swing.JButton();
        buttonResume = new javax.swing.JButton();
        buttonPause = new javax.swing.JButton();
        jPanel6 = new javax.swing.JPanel();
        ledPowered = new ch.psi.pshell.swing.Led();
        jLabel1 = new javax.swing.JLabel();
        panelPowerCtr = new javax.swing.JPanel();
        buttonDisable = new javax.swing.JButton();
        buttonEnable = new javax.swing.JButton();
        jPanel7 = new javax.swing.JPanel();
        ledOpen = new ch.psi.pshell.swing.Led();
        jLabel5 = new javax.swing.JLabel();
        panelPowerCtr1 = new javax.swing.JPanel();
        buttonClose = new javax.swing.JButton();
        buttonOpen = new javax.swing.JButton();
        panelCameras = new javax.swing.JPanel();
        renderer = new ch.psi.pshell.imaging.Renderer();
        panelControls = new javax.swing.JPanel();
        jPanel8 = new javax.swing.JPanel();
        buttonMoveLeft = new javax.swing.JButton();
        buttonMoveDLeft = new javax.swing.JButton();
        buttonMoveDRight = new javax.swing.JButton();
        buttonMoveRight = new javax.swing.JButton();
        buttonMoveUReight = new javax.swing.JButton();
        buttonMoveHome = new javax.swing.JButton();
        buttonMoveDown = new javax.swing.JButton();
        buttonMoveULeft = new javax.swing.JButton();
        buttonMoveUp = new javax.swing.JButton();
        jPanel9 = new javax.swing.JPanel();
        buttonZoomOut = new javax.swing.JButton();
        buttonZooHome = new javax.swing.JButton();
        buttonZoomIn = new javax.swing.JButton();
        jPanel10 = new javax.swing.JPanel();
        comboCameras = new javax.swing.JComboBox<>();

        panelCommands.setBorder(javax.swing.BorderFactory.createTitledBorder("Commands"));

        movePark.setText("Move to Park");
        movePark.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                moveParkActionPerformed(evt);
            }
        });

        moveHome.setText("Move to Home");
        moveHome.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                moveHomeActionPerformed(evt);
            }
        });

        buttonTweakX.setText("Tweak X");
        buttonTweakX.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonTweakXActionPerformed(evt);
            }
        });

        spinnerOffsetX.setModel(new javax.swing.SpinnerNumberModel(1.0d, -10.0d, 10.0d, 1.0d));

        buttonTweakX1.setText("Tweak Y");
        buttonTweakX1.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonTweakX1ActionPerformed(evt);
            }
        });

        spinnerOffsetY.setModel(new javax.swing.SpinnerNumberModel(1.0d, -10.0d, 10.0d, 1.0d));

        javax.swing.GroupLayout panelCommandsLayout = new javax.swing.GroupLayout(panelCommands);
        panelCommands.setLayout(panelCommandsLayout);
        panelCommandsLayout.setHorizontalGroup(
            panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelCommandsLayout.createSequentialGroup()
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addComponent(movePark, javax.swing.GroupLayout.PREFERRED_SIZE, 138, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(moveHome, javax.swing.GroupLayout.PREFERRED_SIZE, 138, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addGroup(panelCommandsLayout.createSequentialGroup()
                        .addComponent(buttonTweakX, javax.swing.GroupLayout.PREFERRED_SIZE, 138, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                        .addComponent(spinnerOffsetX, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                    .addGroup(panelCommandsLayout.createSequentialGroup()
                        .addComponent(buttonTweakX1, javax.swing.GroupLayout.PREFERRED_SIZE, 138, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                        .addComponent(spinnerOffsetY, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );
        panelCommandsLayout.setVerticalGroup(
            panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelCommandsLayout.createSequentialGroup()
                .addContainerGap()
                .addComponent(movePark)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addComponent(moveHome)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonTweakX)
                    .addComponent(spinnerOffsetX, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonTweakX1)
                    .addComponent(spinnerOffsetY, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );

        panelRobot.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot"));

        deviceStatePanel1.setDeviceName("robot");

        jPanel4.setBorder(javax.swing.BorderFactory.createTitledBorder("Status"));

        jLabel3.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel3.setText("Settled:");

        ledSettled.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N

        jLabel4.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel4.setText("Empty:");

        ledEmpty.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N

        textTask.setEditable(false);
        textTask.setHorizontalAlignment(javax.swing.JTextField.CENTER);

        jLabel6.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel6.setText("Mode:");

        textMode.setEditable(false);
        textMode.setHorizontalAlignment(javax.swing.JTextField.CENTER);

        buttonAbort.setText("Abort");
        buttonAbort.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonAbortActionPerformed(evt);
            }
        });

        jLabel8.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel8.setText("Task:");

        ledTask.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N

        ledMode.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N

        textPosition.setEditable(false);
        textPosition.setHorizontalAlignment(javax.swing.JTextField.CENTER);

        ledPosition.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N

        jLabel9.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel9.setText("Position:");

        javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4);
        jPanel4.setLayout(jPanel4Layout);
        jPanel4Layout.setHorizontalGroup(
            jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel4Layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addComponent(jLabel3)
                    .addComponent(jLabel4)
                    .addComponent(jLabel6)
                    .addComponent(jLabel8)
                    .addComponent(jLabel9))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addGroup(jPanel4Layout.createSequentialGroup()
                        .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                            .addComponent(ledTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                            .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                                .addComponent(ledEmpty, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                                .addComponent(ledSettled, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                            .addComponent(ledPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                            .addComponent(textTask)
                            .addComponent(textPosition)))
                    .addGroup(jPanel4Layout.createSequentialGroup()
                        .addComponent(ledMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addComponent(textMode)))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(buttonAbort)
                .addContainerGap())
        );

        jPanel4Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel3, jLabel4, jLabel6, jLabel8, jLabel9});

        jPanel4Layout.setVerticalGroup(
            jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel4Layout.createSequentialGroup()
                .addGap(4, 4, 4)
                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel3)
                    .addComponent(ledSettled, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(2, 2, 2)
                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel4)
                    .addComponent(ledEmpty, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(2, 2, 2)
                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(textMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(ledMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(jLabel6))
                .addGap(2, 2, 2)
                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(buttonAbort)
                    .addComponent(jLabel8)
                    .addComponent(ledTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(textTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(2, 2, 2)
                .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel9)
                    .addComponent(ledPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(textPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(2, 2, 2))
        );

        jPanel5.setBorder(javax.swing.BorderFactory.createTitledBorder("Motion"));

        jLabel2.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel2.setText("Speed:");

        spinnerSpeed.setModel(new javax.swing.SpinnerNumberModel(10, null, 100, 1));
        spinnerSpeed.addChangeListener(new javax.swing.event.ChangeListener() {
            public void stateChanged(javax.swing.event.ChangeEvent evt) {
                spinnerSpeedStateChanged(evt);
            }
        });

        jLabel7.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel7.setText("Moving:");

        ledMoving.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N

        butonStop.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Stop.png")));
        butonStop.setText(" ");
        butonStop.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER);
        butonStop.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                butonStopActionPerformed(evt);
            }
        });

        buttonResume.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Play.png")));
        buttonResume.setText(" ");
        buttonResume.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER);
        buttonResume.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonResumeActionPerformed(evt);
            }
        });

        buttonPause.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Pause.png")));
        buttonPause.setText(" ");
        buttonPause.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER);
        buttonPause.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonPauseActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout panelMotionCtrLayout = new javax.swing.GroupLayout(panelMotionCtr);
        panelMotionCtr.setLayout(panelMotionCtrLayout);
        panelMotionCtrLayout.setHorizontalGroup(
            panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelMotionCtrLayout.createSequentialGroup()
                .addGap(0, 0, 0)
                .addComponent(butonStop, javax.swing.GroupLayout.DEFAULT_SIZE, 45, Short.MAX_VALUE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(buttonPause, javax.swing.GroupLayout.DEFAULT_SIZE, 46, Short.MAX_VALUE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(buttonResume, javax.swing.GroupLayout.DEFAULT_SIZE, 47, Short.MAX_VALUE)
                .addGap(0, 0, 0))
        );
        panelMotionCtrLayout.setVerticalGroup(
            panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelMotionCtrLayout.createSequentialGroup()
                .addGap(0, 0, 0)
                .addGroup(panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(butonStop, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonPause, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonResume, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
                .addGap(0, 0, 0))
        );

        javax.swing.GroupLayout jPanel5Layout = new javax.swing.GroupLayout(jPanel5);
        jPanel5.setLayout(jPanel5Layout);
        jPanel5Layout.setHorizontalGroup(
            jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel5Layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addGroup(jPanel5Layout.createSequentialGroup()
                        .addComponent(jLabel7)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                        .addComponent(ledMoving, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                    .addComponent(jLabel2))
                .addGap(14, 14, 14)
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
                    .addComponent(panelMotionCtr, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(spinnerSpeed))
                .addContainerGap())
        );

        jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel2, jLabel7});

        jPanel5Layout.setVerticalGroup(
            jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel5Layout.createSequentialGroup()
                .addGap(4, 4, 4)
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel7)
                    .addComponent(ledMoving, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(panelMotionCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(jLabel2)
                    .addComponent(spinnerSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(2, 2, 2))
        );

        jPanel6.setBorder(javax.swing.BorderFactory.createTitledBorder("Power"));

        ledPowered.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N

        jLabel1.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel1.setText("Powered:");

        buttonDisable.setText("Disable");
        buttonDisable.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonDisableActionPerformed(evt);
            }
        });

        buttonEnable.setText("Enable");
        buttonEnable.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonEnableActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout panelPowerCtrLayout = new javax.swing.GroupLayout(panelPowerCtr);
        panelPowerCtr.setLayout(panelPowerCtrLayout);
        panelPowerCtrLayout.setHorizontalGroup(
            panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelPowerCtrLayout.createSequentialGroup()
                .addGap(0, 0, 0)
                .addComponent(buttonEnable)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 18, Short.MAX_VALUE)
                .addComponent(buttonDisable))
        );
        panelPowerCtrLayout.setVerticalGroup(
            panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelPowerCtrLayout.createSequentialGroup()
                .addGap(0, 0, 0)
                .addGroup(panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
                    .addComponent(buttonDisable, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonEnable))
                .addGap(0, 0, 0))
        );

        javax.swing.GroupLayout jPanel6Layout = new javax.swing.GroupLayout(jPanel6);
        jPanel6.setLayout(jPanel6Layout);
        jPanel6Layout.setHorizontalGroup(
            jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel6Layout.createSequentialGroup()
                .addContainerGap()
                .addComponent(jLabel1)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(ledPowered, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                .addComponent(panelPowerCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );
        jPanel6Layout.setVerticalGroup(
            jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel6Layout.createSequentialGroup()
                .addGap(4, 4, 4)
                .addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel1)
                    .addComponent(ledPowered, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(panelPowerCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(2, 2, 2))
        );

        jPanel7.setBorder(javax.swing.BorderFactory.createTitledBorder("Tool"));

        ledOpen.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N

        jLabel5.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
        jLabel5.setText("Open:");

        buttonClose.setText(" Close ");
        buttonClose.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonCloseActionPerformed(evt);
            }
        });

        buttonOpen.setText(" Open  ");
        buttonOpen.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonOpenActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout panelPowerCtr1Layout = new javax.swing.GroupLayout(panelPowerCtr1);
        panelPowerCtr1.setLayout(panelPowerCtr1Layout);
        panelPowerCtr1Layout.setHorizontalGroup(
            panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelPowerCtr1Layout.createSequentialGroup()
                .addGap(0, 0, 0)
                .addComponent(buttonOpen)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 18, Short.MAX_VALUE)
                .addComponent(buttonClose))
        );
        panelPowerCtr1Layout.setVerticalGroup(
            panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelPowerCtr1Layout.createSequentialGroup()
                .addGap(0, 0, 0)
                .addGroup(panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
                    .addComponent(buttonClose, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonOpen))
                .addGap(0, 0, 0))
        );

        javax.swing.GroupLayout jPanel7Layout = new javax.swing.GroupLayout(jPanel7);
        jPanel7.setLayout(jPanel7Layout);
        jPanel7Layout.setHorizontalGroup(
            jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel7Layout.createSequentialGroup()
                .addContainerGap()
                .addComponent(jLabel5, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(ledOpen, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                .addComponent(panelPowerCtr1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );
        jPanel7Layout.setVerticalGroup(
            jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel7Layout.createSequentialGroup()
                .addGap(4, 4, 4)
                .addGroup(jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel5)
                    .addComponent(ledOpen, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(panelPowerCtr1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(2, 2, 2))
        );

        javax.swing.GroupLayout panelRobotLayout = new javax.swing.GroupLayout(panelRobot);
        panelRobot.setLayout(panelRobotLayout);
        panelRobotLayout.setHorizontalGroup(
            panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelRobotLayout.createSequentialGroup()
                .addContainerGap()
                .addGroup(panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addComponent(jPanel4, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(deviceStatePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(jPanel6, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(jPanel7, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
                .addContainerGap())
        );
        panelRobotLayout.setVerticalGroup(
            panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelRobotLayout.createSequentialGroup()
                .addComponent(jPanel6, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(jPanel7, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addComponent(deviceStatePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addContainerGap())
        );

        panelCameras.setBorder(javax.swing.BorderFactory.createTitledBorder("Camera"));
        panelCameras.setLayout(new java.awt.BorderLayout());
        panelCameras.add(renderer, java.awt.BorderLayout.CENTER);

        jPanel8.setBorder(javax.swing.BorderFactory.createTitledBorder("Move"));

        buttonMoveLeft.setIcon(getIcon("arrows/Left"));
        buttonMoveLeft.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveLeftActionPerformed(evt);
            }
        });

        buttonMoveDLeft.setIcon(getIcon("arrows/DLeft"));
        buttonMoveDLeft.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveDLeftActionPerformed(evt);
            }
        });

        buttonMoveDRight.setIcon(getIcon("arrows/DRight"));
        buttonMoveDRight.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveDRightActionPerformed(evt);
            }
        });

        buttonMoveRight.setIcon(getIcon("arrows/Right"));
        buttonMoveRight.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveRightActionPerformed(evt);
            }
        });

        buttonMoveUReight.setIcon(getIcon("arrows/URight"));
        buttonMoveUReight.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveUReightActionPerformed(evt);
            }
        });

        buttonMoveHome.setIcon(getIcon("arrows/Center"));
        buttonMoveHome.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveHomeActionPerformed(evt);
            }
        });

        buttonMoveDown.setIcon(getIcon("arrows/Down"));
        buttonMoveDown.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveDownActionPerformed(evt);
            }
        });

        buttonMoveULeft.setIcon(getIcon("arrows/ULeft"));
        buttonMoveULeft.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveULeftActionPerformed(evt);
            }
        });

        buttonMoveUp.setIcon(getIcon("arrows/Up"));
        buttonMoveUp.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveUpActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout jPanel8Layout = new javax.swing.GroupLayout(jPanel8);
        jPanel8.setLayout(jPanel8Layout);
        jPanel8Layout.setHorizontalGroup(
            jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel8Layout.createSequentialGroup()
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                .addGroup(jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
                    .addGroup(jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                        .addComponent(buttonMoveULeft, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addComponent(buttonMoveDLeft, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE))
                    .addComponent(buttonMoveLeft, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
                    .addComponent(buttonMoveDown, javax.swing.GroupLayout.DEFAULT_SIZE, 40, Short.MAX_VALUE)
                    .addComponent(buttonMoveHome, javax.swing.GroupLayout.DEFAULT_SIZE, 40, Short.MAX_VALUE)
                    .addComponent(buttonMoveUp, javax.swing.GroupLayout.Alignment.LEADING, javax.swing.GroupLayout.DEFAULT_SIZE, 40, Short.MAX_VALUE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
                    .addComponent(buttonMoveRight, javax.swing.GroupLayout.PREFERRED_SIZE, 1, Short.MAX_VALUE)
                    .addComponent(buttonMoveUReight, javax.swing.GroupLayout.PREFERRED_SIZE, 1, Short.MAX_VALUE)
                    .addComponent(buttonMoveDRight, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );
        jPanel8Layout.setVerticalGroup(
            jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel8Layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonMoveUp, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonMoveUReight, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonMoveULeft, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonMoveLeft, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonMoveRight, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonMoveHome, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(jPanel8Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonMoveDown, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonMoveDLeft, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonMoveDRight, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addContainerGap())
        );

        jPanel9.setBorder(javax.swing.BorderFactory.createTitledBorder("Zoom"));

        buttonZoomOut.setIcon(getIcon("arrows/Out"));
        buttonZoomOut.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonZoomOutActionPerformed(evt);
            }
        });

        buttonZooHome.setIcon(getIcon("arrows/Center"));
        buttonZooHome.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonZooHomeActionPerformed(evt);
            }
        });

        buttonZoomIn.setIcon(getIcon("arrows/In"));
        buttonZoomIn.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonZoomInActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout jPanel9Layout = new javax.swing.GroupLayout(jPanel9);
        jPanel9.setLayout(jPanel9Layout);
        jPanel9Layout.setHorizontalGroup(
            jPanel9Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel9Layout.createSequentialGroup()
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                .addComponent(buttonZoomOut, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(buttonZooHome, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(buttonZoomIn, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );
        jPanel9Layout.setVerticalGroup(
            jPanel9Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel9Layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(jPanel9Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonZoomOut, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonZoomIn, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonZooHome, javax.swing.GroupLayout.PREFERRED_SIZE, 40, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addContainerGap())
        );

        jPanel10.setBorder(javax.swing.BorderFactory.createTitledBorder("Selection"));

        comboCameras.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                comboCamerasActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout jPanel10Layout = new javax.swing.GroupLayout(jPanel10);
        jPanel10.setLayout(jPanel10Layout);
        jPanel10Layout.setHorizontalGroup(
            jPanel10Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel10Layout.createSequentialGroup()
                .addContainerGap()
                .addComponent(comboCameras, 0, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                .addContainerGap())
        );
        jPanel10Layout.setVerticalGroup(
            jPanel10Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel10Layout.createSequentialGroup()
                .addContainerGap()
                .addComponent(comboCameras, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addContainerGap())
        );

        javax.swing.GroupLayout panelControlsLayout = new javax.swing.GroupLayout(panelControls);
        panelControls.setLayout(panelControlsLayout);
        panelControlsLayout.setHorizontalGroup(
            panelControlsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelControlsLayout.createSequentialGroup()
                .addContainerGap()
                .addGroup(panelControlsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addComponent(jPanel9, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(jPanel8, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(jPanel10, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
                .addContainerGap())
        );
        panelControlsLayout.setVerticalGroup(
            panelControlsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelControlsLayout.createSequentialGroup()
                .addContainerGap()
                .addComponent(jPanel10, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addComponent(jPanel8, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addComponent(jPanel9, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addContainerGap(229, Short.MAX_VALUE))
        );

        panelCameras.add(panelControls, java.awt.BorderLayout.WEST);

        javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
        this.setLayout(layout);
        layout.setHorizontalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(layout.createSequentialGroup()
                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
                    .addComponent(panelCommands, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(panelRobot, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addComponent(panelCameras, javax.swing.GroupLayout.PREFERRED_SIZE, 197, Short.MAX_VALUE)
                .addGap(5, 5, 5))
        );
        layout.setVerticalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(layout.createSequentialGroup()
                .addComponent(panelCommands, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(panelRobot, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
            .addComponent(panelCameras, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
        );
    }// </editor-fold>//GEN-END:initComponents

    private void moveParkActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_moveParkActionPerformed
        evalCmd("move_park()"); 
    }//GEN-LAST:event_moveParkActionPerformed

    private void moveHomeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_moveHomeActionPerformed
        evalCmd("move_home()"); 
    }//GEN-LAST:event_moveHomeActionPerformed

    private void buttonAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonAbortActionPerformed
        evalCmd("robot.stop_task()", true); 
    }//GEN-LAST:event_buttonAbortActionPerformed

    private void spinnerSpeedStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_spinnerSpeedStateChanged
        if (!updatingRobotControls){
            evalCmd("robot.set_monitor_speed(" +  spinnerSpeed.getValue() + ")"); 
        }
    }//GEN-LAST:event_spinnerSpeedStateChanged

    private void butonStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_butonStopActionPerformed
        evalCmd("robot.reset_motion()", true);         
    }//GEN-LAST:event_butonStopActionPerformed

    private void buttonResumeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonResumeActionPerformed
        evalCmd("robot.resume()", true); 
    }//GEN-LAST:event_buttonResumeActionPerformed

    private void buttonPauseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPauseActionPerformed
        evalCmd("robot.stop()",true); 
    }//GEN-LAST:event_buttonPauseActionPerformed

    private void buttonDisableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDisableActionPerformed
        evalCmd("robot.disable()", true); 
    }//GEN-LAST:event_buttonDisableActionPerformed

    private void buttonEnableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableActionPerformed
        evalCmd("robot.enable()", true); 
    }//GEN-LAST:event_buttonEnableActionPerformed

    private void buttonCloseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonCloseActionPerformed
        evalCmd("robot.close_tool()"); 
    }//GEN-LAST:event_buttonCloseActionPerformed

    private void buttonOpenActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonOpenActionPerformed
        evalCmd("robot.open_tool()"); 
    }//GEN-LAST:event_buttonOpenActionPerformed

    private void buttonMoveLeftActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveLeftActionPerformed
        move("left");
    }//GEN-LAST:event_buttonMoveLeftActionPerformed

    private void buttonMoveDLeftActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveDLeftActionPerformed
        move("downleft");
    }//GEN-LAST:event_buttonMoveDLeftActionPerformed

    private void buttonMoveDRightActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveDRightActionPerformed
        move("downright");
    }//GEN-LAST:event_buttonMoveDRightActionPerformed

    private void buttonMoveRightActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveRightActionPerformed
        move("right");
    }//GEN-LAST:event_buttonMoveRightActionPerformed

    private void buttonMoveUReightActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveUReightActionPerformed
        move("upright");
    }//GEN-LAST:event_buttonMoveUReightActionPerformed

    private void buttonMoveHomeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveHomeActionPerformed
        move("home");
    }//GEN-LAST:event_buttonMoveHomeActionPerformed

    private void buttonMoveDownActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveDownActionPerformed
        move("down");
    }//GEN-LAST:event_buttonMoveDownActionPerformed

    private void buttonMoveULeftActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveULeftActionPerformed
        move("upleft");
    }//GEN-LAST:event_buttonMoveULeftActionPerformed

    private void buttonMoveUpActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveUpActionPerformed
        move("up");
    }//GEN-LAST:event_buttonMoveUpActionPerformed

    private void buttonZoomOutActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonZoomOutActionPerformed
        zoom(-100);
    }//GEN-LAST:event_buttonZoomOutActionPerformed

    private void buttonZooHomeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonZooHomeActionPerformed
        move("home");
    }//GEN-LAST:event_buttonZooHomeActionPerformed

    private void buttonZoomInActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonZoomInActionPerformed
        zoom(100);
    }//GEN-LAST:event_buttonZoomInActionPerformed

    private void comboCamerasActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_comboCamerasActionPerformed
        try{
            if (getState().isInitialized()){
                Object selection = comboCameras.getSelectedItem();
                selectCamera((selection==null) ? null :selection.toString());
            }
        } catch(Exception ex){
            showException(ex);
        }
    }//GEN-LAST:event_comboCamerasActionPerformed

    private void buttonTweakXActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonTweakXActionPerformed
        evalCmd("tweak_x(" + spinnerOffsetX.getValue() + ")");
    }//GEN-LAST:event_buttonTweakXActionPerformed

    private void buttonTweakX1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonTweakX1ActionPerformed
        evalCmd("tweak_y(" + spinnerOffsetY.getValue() + ")");
    }//GEN-LAST:event_buttonTweakX1ActionPerformed

    // Variables declaration - do not modify//GEN-BEGIN:variables
    private javax.swing.JButton butonStop;
    private javax.swing.JButton buttonAbort;
    private javax.swing.JButton buttonClose;
    private javax.swing.JButton buttonDisable;
    private javax.swing.JButton buttonEnable;
    private javax.swing.JButton buttonMoveDLeft;
    private javax.swing.JButton buttonMoveDRight;
    private javax.swing.JButton buttonMoveDown;
    private javax.swing.JButton buttonMoveHome;
    private javax.swing.JButton buttonMoveLeft;
    private javax.swing.JButton buttonMoveRight;
    private javax.swing.JButton buttonMoveULeft;
    private javax.swing.JButton buttonMoveUReight;
    private javax.swing.JButton buttonMoveUp;
    private javax.swing.JButton buttonOpen;
    private javax.swing.JButton buttonPause;
    private javax.swing.JButton buttonResume;
    private javax.swing.JButton buttonTweakX;
    private javax.swing.JButton buttonTweakX1;
    private javax.swing.JButton buttonZooHome;
    private javax.swing.JButton buttonZoomIn;
    private javax.swing.JButton buttonZoomOut;
    private javax.swing.JComboBox<String> comboCameras;
    private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel1;
    private javax.swing.JLabel jLabel1;
    private javax.swing.JLabel jLabel2;
    private javax.swing.JLabel jLabel3;
    private javax.swing.JLabel jLabel4;
    private javax.swing.JLabel jLabel5;
    private javax.swing.JLabel jLabel6;
    private javax.swing.JLabel jLabel7;
    private javax.swing.JLabel jLabel8;
    private javax.swing.JLabel jLabel9;
    private javax.swing.JPanel jPanel10;
    private javax.swing.JPanel jPanel4;
    private javax.swing.JPanel jPanel5;
    private javax.swing.JPanel jPanel6;
    private javax.swing.JPanel jPanel7;
    private javax.swing.JPanel jPanel8;
    private javax.swing.JPanel jPanel9;
    private ch.psi.pshell.swing.Led ledEmpty;
    private ch.psi.pshell.swing.Led ledMode;
    private ch.psi.pshell.swing.Led ledMoving;
    private ch.psi.pshell.swing.Led ledOpen;
    private ch.psi.pshell.swing.Led ledPosition;
    private ch.psi.pshell.swing.Led ledPowered;
    private ch.psi.pshell.swing.Led ledSettled;
    private ch.psi.pshell.swing.Led ledTask;
    private javax.swing.JButton moveHome;
    private javax.swing.JButton movePark;
    private javax.swing.JPanel panelCameras;
    private javax.swing.JPanel panelCommands;
    private javax.swing.JPanel panelControls;
    private javax.swing.JPanel panelMotionCtr;
    private javax.swing.JPanel panelPowerCtr;
    private javax.swing.JPanel panelPowerCtr1;
    private javax.swing.JPanel panelRobot;
    private ch.psi.pshell.imaging.Renderer renderer;
    private javax.swing.JSpinner spinnerOffsetX;
    private javax.swing.JSpinner spinnerOffsetY;
    private javax.swing.JSpinner spinnerSpeed;
    private javax.swing.JTextField textMode;
    private javax.swing.JTextField textPosition;
    private javax.swing.JTextField textTask;
    // End of variables declaration//GEN-END:variables
}