import ch.psi.pshell.device.Device;
import ch.psi.pshell.ui.App;
import ch.psi.pshell.swing.DevicePanel;
import ch.psi.pshell.core.Context;
import ch.psi.utils.State;
import java.awt.Color;
import java.util.Map;
import javax.swing.JSpinner;
import javax.swing.JTextField;

/**
 *
 */
public class RobotPanel extends DevicePanel {

    /**
     * Creates new form RobotPanel
     */
    public RobotPanel() {
        initComponents();
         ((JSpinner.DefaultEditor)spinnerSpeed.getEditor()).getTextField().setHorizontalAlignment(JTextField.CENTER);
    }

    @Override
    public void setDevice(Device device) {
        super.setDevice(device);
        if (device == null) {

        }
        panelState.setDevice(device);
    }

    @Override
    protected void onDeviceStateChanged(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);
        }
    }

    boolean updating;
    @Override
    protected void onDeviceCacheChanged(Object value, Object former, long timestamp, boolean valueChange) {
        updating = 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();
                    //mode = (String) Context.getInstance().evalLineBackground(getDevice().getName() + ".working_mode");
                } catch (Exception ex) {
                }                
                try {
                    //if (status.get("status").equals("hold")){
                    //    moving = false;
                    //}  else if (status.get("status").equals("move")){
                    //    moving = true;
                    //}
                    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{
            updating = false;
        }
    }

    /**
     * This method is called from within the constructor to initialize the form.
     * WARNING: Do NOT modify this code. The content of this method is always
     * regenerated by the Form Editor.
     */
    @SuppressWarnings("unchecked")
    // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
    private void initComponents() {

        jPanel1 = 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();
        jPanel2 = 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();
        jPanel3 = 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();
        panelState = new ch.psi.pshell.swing.DeviceStatePanel();
        jPanel4 = 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();

        jPanel1.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 jPanel1Layout = new javax.swing.GroupLayout(jPanel1);
        jPanel1.setLayout(jPanel1Layout);
        jPanel1Layout.setHorizontalGroup(
            jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel1Layout.createSequentialGroup()
                .addContainerGap()
                .addComponent(jLabel1, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
                .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)
                .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))
        );
        jPanel1Layout.setVerticalGroup(
            jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel1Layout.createSequentialGroup()
                .addGap(4, 4, 4)
                .addGroup(jPanel1Layout.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))
        );

        jPanel2.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 jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
        jPanel2.setLayout(jPanel2Layout);
        jPanel2Layout.setHorizontalGroup(
            jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel2Layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addGroup(jPanel2Layout.createSequentialGroup()
                        .addComponent(jLabel7, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .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, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(14, 14, 14)
                .addGroup(jPanel2Layout.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())
        );
        jPanel2Layout.setVerticalGroup(
            jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel2Layout.createSequentialGroup()
                .addGap(4, 4, 4)
                .addGroup(jPanel2Layout.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(jPanel2Layout.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))
        );

        jPanel3.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 jPanel3Layout = new javax.swing.GroupLayout(jPanel3);
        jPanel3.setLayout(jPanel3Layout);
        jPanel3Layout.setHorizontalGroup(
            jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel3Layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addGroup(jPanel3Layout.createSequentialGroup()
                        .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                            .addGroup(jPanel3Layout.createSequentialGroup()
                                .addComponent(jLabel8, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
                                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                                .addComponent(ledTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                            .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
                                .addGroup(jPanel3Layout.createSequentialGroup()
                                    .addComponent(jLabel4, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
                                    .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                                    .addComponent(ledEmpty, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                                .addGroup(jPanel3Layout.createSequentialGroup()
                                    .addComponent(jLabel3, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
                                    .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                                    .addComponent(ledSettled, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
                            .addGroup(jPanel3Layout.createSequentialGroup()
                                .addComponent(jLabel9, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
                                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                                .addComponent(ledPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                            .addComponent(textTask)
                            .addComponent(textPosition)))
                    .addGroup(jPanel3Layout.createSequentialGroup()
                        .addComponent(jLabel6, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                        .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())
        );

        jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel3, jLabel4, jLabel6, jLabel8, jLabel9});

        jPanel3Layout.setVerticalGroup(
            jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel3Layout.createSequentialGroup()
                .addGap(4, 4, 4)
                .addGroup(jPanel3Layout.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(jPanel3Layout.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(jPanel3Layout.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(jPanel3Layout.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(jPanel3Layout.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))
        );

        jPanel4.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.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonClose, buttonOpen});

        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 jPanel4Layout = new javax.swing.GroupLayout(jPanel4);
        jPanel4.setLayout(jPanel4Layout);
        jPanel4Layout.setHorizontalGroup(
            jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel4Layout.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)
                .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))
        );
        jPanel4Layout.setVerticalGroup(
            jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel4Layout.createSequentialGroup()
                .addGap(4, 4, 4)
                .addGroup(jPanel4Layout.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 layout = new javax.swing.GroupLayout(this);
        this.setLayout(layout);
        layout.setHorizontalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
            .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
            .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
            .addComponent(panelState, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
            .addComponent(jPanel4, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
        );
        layout.setVerticalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(layout.createSequentialGroup()
                .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addGap(0, 0, 0)
                .addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addGap(0, 0, 0)
                .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addGap(0, 0, 0)
                .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addGap(0, 0, 0)
                .addComponent(panelState, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
        );
    }// </editor-fold>//GEN-END:initComponents

    private void buttonEnableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableActionPerformed
        try{
            Context.getInstance().evalLineBackground(getDevice().getName() + ".enable()");
        } catch (Exception ex){
            this.showException(ex);
        }
    }//GEN-LAST:event_buttonEnableActionPerformed

    private void buttonDisableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDisableActionPerformed
        try{
            Context.getInstance().evalLineBackground(getDevice().getName() + ".disable()");
        } catch (Exception ex){
            this.showException(ex);
        }
    }//GEN-LAST:event_buttonDisableActionPerformed

    private void spinnerSpeedStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_spinnerSpeedStateChanged
        try{
            if (!updating){
                Context.getInstance().evalLineBackground(getDevice().getName() + ".set_monitor_speed(" +  spinnerSpeed.getValue() + ")");
            }
        } catch (Exception ex){
            this.showException(ex);
        }
    }//GEN-LAST:event_spinnerSpeedStateChanged

    private void butonStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_butonStopActionPerformed
        try{
            Context.getInstance().evalLineBackground(getDevice().getName() + ".reset_motion()");
        } catch (Exception ex){
            this.showException(ex);
        }
    }//GEN-LAST:event_butonStopActionPerformed

    private void buttonPauseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPauseActionPerformed
        try{
            Context.getInstance().evalLineBackground(getDevice().getName() + ".stop()");
        } catch (Exception ex){
            this.showException(ex);
        }
    }//GEN-LAST:event_buttonPauseActionPerformed

    private void buttonResumeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonResumeActionPerformed
        try{
            Context.getInstance().evalLineBackground(getDevice().getName() + ".resume()");
        } catch (Exception ex){
            this.showException(ex);
        }
    }//GEN-LAST:event_buttonResumeActionPerformed

    private void buttonAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonAbortActionPerformed
        try{
            Context.getInstance().evalLineBackground(getDevice().getName() + ".stop_task()");            
            //Context.getInstance().evalLineBackground(getDevice().getName() + ".task_kill('" + textTask.getText() + "')");
        } catch (Exception ex){
            this.showException(ex);
        }                
    }//GEN-LAST:event_buttonAbortActionPerformed

    private void buttonCloseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonCloseActionPerformed
        try{
            Context.getInstance().evalLineBackground(getDevice().getName() + ".close_tool()");
        } catch (Exception ex){
            this.showException(ex);
        }
    }//GEN-LAST:event_buttonCloseActionPerformed

    private void buttonOpenActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonOpenActionPerformed
        try{
            Context.getInstance().evalLineBackground(getDevice().getName() + ".open_tool()");
        } catch (Exception ex){
            this.showException(ex);
        }
    }//GEN-LAST:event_buttonOpenActionPerformed


    // 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 buttonOpen;
    private javax.swing.JButton buttonPause;
    private javax.swing.JButton buttonResume;
    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 jPanel1;
    private javax.swing.JPanel jPanel2;
    private javax.swing.JPanel jPanel3;
    private javax.swing.JPanel jPanel4;
    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.JPanel panelMotionCtr;
    private javax.swing.JPanel panelPowerCtr;
    private javax.swing.JPanel panelPowerCtr1;
    private ch.psi.pshell.swing.DeviceStatePanel panelState;
    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
}