1197 lines
63 KiB
Java
1197 lines
63 KiB
Java
import ch.psi.pshell.core.Context;
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import ch.psi.pshell.device.Device;
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import ch.psi.pshell.device.DeviceAdapter;
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import ch.psi.pshell.device.DeviceListener;
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import ch.psi.pshell.device.GenericDevice;
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import ch.psi.pshell.imaging.MjpegSource;
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import ch.psi.pshell.imaging.RendererMode;
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import ch.psi.pshell.ui.App;
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import ch.psi.pshell.ui.Panel;
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import ch.psi.utils.State;
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import ch.psi.utils.swing.SwingUtils;
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import java.awt.Color;
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import java.awt.Component;
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import java.util.logging.Level;
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import java.util.logging.Logger;
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import java.util.Map;
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import javax.swing.DefaultComboBoxModel;
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import javax.swing.ImageIcon;
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import javax.swing.JButton;
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import javax.swing.JSpinner;
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import javax.swing.JTextField;
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/**
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*
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*/
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public class RobotBernina extends Panel {
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volatile boolean updatingRobotControls;
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volatile boolean moving;
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volatile String currentCamera;
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public RobotBernina() {
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initComponents();
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((JSpinner.DefaultEditor)spinnerSpeed.getEditor()).getTextField().setHorizontalAlignment(JTextField.CENTER);
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renderer.setMode(RendererMode.Fit);
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updateCameraControls();
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}
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//Overridable callbacks
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@Override
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public void onInitialize(int runCount) {
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updateCameraControls();
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DefaultComboBoxModel model = new DefaultComboBoxModel();
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renderer.setDeviceName(null);
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for (GenericDevice dev : Context.getInstance().getDevicePool().getAllDevices(MjpegSource.class)){
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MjpegSource camera =(MjpegSource) dev;
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model.addElement(camera.getName());
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}
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model.addElement("");
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model.setSelectedItem(null);
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comboCameras.setModel(model);
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currentCamera = null;
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comboCameras.requestFocus();
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}
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@Override
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public void onStateChange(State state, State former) {
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if (state.isInitialized()){
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GenericDevice robot = getDevice("robot");
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if (robot!=null){
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robot.addListener(robotListener);
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}
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}
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for (Component c:SwingUtils.getComponentsByType(panelCommands, Component.class)){
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c.setEnabled(state.isReady());
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}
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}
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@Override
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public void onExecutedFile(String fileName, Object result) {
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}
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@Override
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protected void onTimer() {
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}
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@Override
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protected void onLoaded() {
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}
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@Override
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protected void onUnloaded() {
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}
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//Invoked by 'update()' to update components in the event thread
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@Override
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protected void doUpdate() {
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}
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void updateCameraControls(){
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boolean isCameraSelected = (currentCamera!=null);
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boolean enabled = isCameraSelected && getState().isNormal() && !moving;
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for (Component button : SwingUtils.getComponentsByType(panelControls, JButton.class)){
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button.setEnabled(enabled);
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}
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}
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protected void evalCmd(String cmd){
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evalCmd(cmd, false);
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}
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protected void evalCmd(String cmd, boolean background){
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try{
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this.evalAsync(cmd, background).handle((ret, ex) -> {
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if (ex != null){
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showException((Exception)ex);
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}
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return ret;
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});
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} catch (Exception ex) {
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showException(ex);
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}
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}
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final DeviceListener robotListener = new DeviceAdapter() {
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@Override
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public void onStateChanged(Device device, State state, State former) {
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boolean enabled = state.isNormal();
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spinnerSpeed.setEnabled(enabled);
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buttonAbort.setEnabled(enabled);
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if (!enabled){
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buttonEnable.setEnabled(enabled);
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buttonDisable.setEnabled(enabled);
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butonStop.setEnabled(enabled);
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buttonPause.setEnabled(enabled);
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buttonResume.setEnabled(enabled);
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}
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}
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@Override
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public void onCacheChanged(Device device, Object value, Object former, long timestamp, boolean valueChange) {
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updatingRobotControls = true;
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try{
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Boolean powered = null;
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Boolean empty = null;
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Boolean settled = null;
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Boolean moving = null;
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Boolean open = null;
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Integer speed = null;
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String task = null;
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String mode = null;
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String position = null;
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if ((value != null) && (value instanceof Map)) {
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Map status = (Map) value;
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try {
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powered = (Boolean) status.get("powered");
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} catch (Exception ex) {
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}
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try {
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empty = (Boolean) status.get("empty");
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} catch (Exception ex) {
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}
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try {
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settled = (Boolean) status.get("settled");
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} catch (Exception ex) {
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}
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try {
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open = (Boolean) status.get("open");
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} catch (Exception ex) {
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}
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try {
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speed = (Integer) status.get("speed");
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} catch (Exception ex) {
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}
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try {
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position = (String) status.get("pos");
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if (position==null){
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position = "";
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}
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} catch (Exception ex) {
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}
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try {
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task = ((status.containsKey("task")) && (status.get("task") == null)) ? "" : ((String) status.get("task")).trim();
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} catch (Exception ex) {
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System.out.println(ex);
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ex.printStackTrace();
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}
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try {
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mode = ((String) status.get("mode")).trim();
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} catch (Exception ex) {
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}
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try {
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moving = Boolean.FALSE.equals(settled) || Boolean.FALSE.equals(empty);
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} catch (Exception ex) {
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}
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}
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boolean remote = mode.equals("remote");
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boolean enabled = Boolean.TRUE.equals(powered);
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buttonEnable.setEnabled((powered != null) && (powered == false));
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buttonDisable.setEnabled(enabled);
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butonStop.setEnabled(remote && Boolean.TRUE.equals(moving));
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buttonPause.setEnabled(remote && enabled && Boolean.TRUE.equals(moving) && Boolean.FALSE.equals(settled));
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buttonResume.setEnabled(remote && enabled && Boolean.TRUE.equals(moving) && Boolean.TRUE.equals(settled));
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ledPowered.setColor((powered == null) ? Color.GRAY : (powered ? Color.YELLOW : Color.DARK_GRAY));
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ledEmpty.setColor((empty == null) ? Color.GRAY : (empty ? Color.GREEN : Color.YELLOW));
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ledSettled.setColor((settled == null) ? Color.GRAY : (settled ? Color.GREEN : Color.YELLOW));
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ledOpen.setColor((open == null) ? Color.GRAY : (open ? Color.GREEN : Color.DARK_GRAY));
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ledMoving.setColor((moving == null) ? Color.GRAY : (moving ? Color.YELLOW : Color.DARK_GRAY));
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textTask.setText((task == null) ? "" : task);
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ledTask.setColor((task == null) ? Color.GRAY : (task.isEmpty() ? Color.DARK_GRAY : Color.YELLOW));
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textPosition.setText((position == null) ? "" : position);
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ledPosition.setColor((position == null) ? Color.GRAY : (position.isEmpty() ? Color.DARK_GRAY : Color.GREEN));
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//buttonAbort.setEnabled(!textTask.getText().isEmpty());
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spinnerSpeed.setEnabled(speed != null);
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if (speed == null) {
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spinnerSpeed.setValue(0);
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} else {
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spinnerSpeed.setValue(speed);
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}
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ledMode.setColor((mode == null) ? Color.BLACK : (remote ? Color.GREEN : Color.YELLOW));
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textMode.setText((mode == null) ? "" : mode);
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} finally{
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updatingRobotControls = false;
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}
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}
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};
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//Cameras
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void selectCamera(String name){
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renderer.clear();
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currentCamera = ((name == null)||(name.isBlank()))? null : name;
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renderer.setDeviceName(currentCamera);
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updateCameraControls();
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}
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void move(String direction){
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try {
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moving = true;
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updateCameraControls();
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String camera = comboCameras.getSelectedItem().toString();
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this.evalAsync("axis_move(" + camera + ", '" + direction + "')", true).handle((ret,ex)->{
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if (ex!=null){
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getLogger().log(Level.WARNING, null, ex);
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}
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moving = false;
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updateCameraControls();
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return ret;
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});
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} catch (Context.ContextStateException ex) {
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getLogger().log(Level.SEVERE, null, ex);
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moving = false;
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updateCameraControls();
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}
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}
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void zoom(int steps){
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try {
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moving = true;
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updateCameraControls();
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String camera = comboCameras.getSelectedItem().toString();
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this.evalAsync("axis_rzoom(" + camera + ", " + steps + ")", true).handle((ret,ex)->{
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if (ex!=null){
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getLogger().log(Level.WARNING, null, ex);
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}
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moving = false;
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updateCameraControls();
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return ret;
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});
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} catch (Context.ContextStateException ex) {
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getLogger().log(Level.SEVERE, null, ex);
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moving = false;
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updateCameraControls();
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}
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}
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ImageIcon getIcon(String name) {
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ImageIcon ret = null;
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try {
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ret = new ImageIcon(ch.psi.pshell.ui.App.class.getResource("/ch/psi/pshell/ui/" + name + ".png"));
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if (ch.psi.utils.swing.MainFrame.isDark()) {
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try {
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ret = new ImageIcon(ch.psi.pshell.ui.App.class.getResource("/ch/psi/pshell/ui/dark/" + name + ".png"));
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} catch (Exception e) {
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}
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}
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} catch (Exception ex) {
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ex.printStackTrace();
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}
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return ret;
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}
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@SuppressWarnings("unchecked")
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// <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
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private void initComponents() {
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panelCommands = new javax.swing.JPanel();
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movePark = new javax.swing.JButton();
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moveHome = new javax.swing.JButton();
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buttonTweakX = new javax.swing.JButton();
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spinnerOffsetX = new javax.swing.JSpinner();
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panelRobot = new javax.swing.JPanel();
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deviceStatePanel1 = new ch.psi.pshell.swing.DeviceStatePanel();
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jPanel4 = new javax.swing.JPanel();
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jLabel3 = new javax.swing.JLabel();
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ledSettled = new ch.psi.pshell.swing.Led();
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jLabel4 = new javax.swing.JLabel();
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ledEmpty = new ch.psi.pshell.swing.Led();
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textTask = new javax.swing.JTextField();
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jLabel6 = new javax.swing.JLabel();
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textMode = new javax.swing.JTextField();
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buttonAbort = new javax.swing.JButton();
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jLabel8 = new javax.swing.JLabel();
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ledTask = new ch.psi.pshell.swing.Led();
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ledMode = new ch.psi.pshell.swing.Led();
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textPosition = new javax.swing.JTextField();
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ledPosition = new ch.psi.pshell.swing.Led();
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jLabel9 = new javax.swing.JLabel();
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jPanel5 = new javax.swing.JPanel();
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jLabel2 = new javax.swing.JLabel();
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spinnerSpeed = new ch.psi.utils.swing.HorizontalSpinner();
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jLabel7 = new javax.swing.JLabel();
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ledMoving = new ch.psi.pshell.swing.Led();
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panelMotionCtr = new javax.swing.JPanel();
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butonStop = new javax.swing.JButton();
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buttonResume = new javax.swing.JButton();
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buttonPause = new javax.swing.JButton();
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jPanel6 = new javax.swing.JPanel();
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ledPowered = new ch.psi.pshell.swing.Led();
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jLabel1 = new javax.swing.JLabel();
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panelPowerCtr = new javax.swing.JPanel();
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buttonDisable = new javax.swing.JButton();
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buttonEnable = new javax.swing.JButton();
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jPanel7 = new javax.swing.JPanel();
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ledOpen = new ch.psi.pshell.swing.Led();
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jLabel5 = new javax.swing.JLabel();
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panelPowerCtr1 = new javax.swing.JPanel();
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buttonClose = new javax.swing.JButton();
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buttonOpen = new javax.swing.JButton();
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panelCameras = new javax.swing.JPanel();
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renderer = new ch.psi.pshell.imaging.Renderer();
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panelControls = new javax.swing.JPanel();
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jPanel8 = new javax.swing.JPanel();
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buttonMoveLeft = new javax.swing.JButton();
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buttonMoveDLeft = new javax.swing.JButton();
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buttonMoveDRight = new javax.swing.JButton();
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buttonMoveRight = new javax.swing.JButton();
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buttonMoveUReight = new javax.swing.JButton();
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buttonMoveHome = new javax.swing.JButton();
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buttonMoveDown = new javax.swing.JButton();
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buttonMoveULeft = new javax.swing.JButton();
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buttonMoveUp = new javax.swing.JButton();
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jPanel9 = new javax.swing.JPanel();
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buttonZoomOut = new javax.swing.JButton();
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buttonZooHome = new javax.swing.JButton();
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buttonZoomIn = new javax.swing.JButton();
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jPanel10 = new javax.swing.JPanel();
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comboCameras = new javax.swing.JComboBox<>();
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panelCommands.setBorder(javax.swing.BorderFactory.createTitledBorder("Commands"));
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movePark.setText("Move to Park");
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movePark.addActionListener(new java.awt.event.ActionListener() {
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public void actionPerformed(java.awt.event.ActionEvent evt) {
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moveParkActionPerformed(evt);
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}
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});
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moveHome.setText("Move to Home");
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moveHome.addActionListener(new java.awt.event.ActionListener() {
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public void actionPerformed(java.awt.event.ActionEvent evt) {
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moveHomeActionPerformed(evt);
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}
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});
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buttonTweakX.setText("Tweak X");
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buttonTweakX.addActionListener(new java.awt.event.ActionListener() {
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public void actionPerformed(java.awt.event.ActionEvent evt) {
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buttonTweakXActionPerformed(evt);
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}
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});
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spinnerOffsetX.setModel(new javax.swing.SpinnerNumberModel(1.0d, -10.0d, 10.0d, 1.0d));
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javax.swing.GroupLayout panelCommandsLayout = new javax.swing.GroupLayout(panelCommands);
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panelCommands.setLayout(panelCommandsLayout);
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panelCommandsLayout.setHorizontalGroup(
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panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addGroup(panelCommandsLayout.createSequentialGroup()
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.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
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.addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addComponent(movePark, javax.swing.GroupLayout.PREFERRED_SIZE, 138, javax.swing.GroupLayout.PREFERRED_SIZE)
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.addComponent(moveHome, javax.swing.GroupLayout.PREFERRED_SIZE, 138, javax.swing.GroupLayout.PREFERRED_SIZE)
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.addGroup(panelCommandsLayout.createSequentialGroup()
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.addComponent(buttonTweakX, javax.swing.GroupLayout.PREFERRED_SIZE, 138, javax.swing.GroupLayout.PREFERRED_SIZE)
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
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.addComponent(spinnerOffsetX, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
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.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
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);
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panelCommandsLayout.setVerticalGroup(
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panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addGroup(panelCommandsLayout.createSequentialGroup()
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.addContainerGap()
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.addComponent(movePark)
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
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.addComponent(moveHome)
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
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.addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
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.addComponent(buttonTweakX)
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.addComponent(spinnerOffsetX, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
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.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
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);
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panelRobot.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot"));
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deviceStatePanel1.setDeviceName("robot");
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jPanel4.setBorder(javax.swing.BorderFactory.createTitledBorder("Status"));
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jLabel3.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
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jLabel3.setText("Settled:");
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ledSettled.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
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jLabel4.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
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jLabel4.setText("Empty:");
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ledEmpty.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
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textTask.setEditable(false);
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textTask.setHorizontalAlignment(javax.swing.JTextField.CENTER);
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jLabel6.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
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jLabel6.setText("Mode:");
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textMode.setEditable(false);
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textMode.setHorizontalAlignment(javax.swing.JTextField.CENTER);
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buttonAbort.setText("Abort");
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buttonAbort.addActionListener(new java.awt.event.ActionListener() {
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public void actionPerformed(java.awt.event.ActionEvent evt) {
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buttonAbortActionPerformed(evt);
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}
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});
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jLabel8.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
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jLabel8.setText("Task:");
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ledTask.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
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ledMode.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
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textPosition.setEditable(false);
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textPosition.setHorizontalAlignment(javax.swing.JTextField.CENTER);
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ledPosition.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
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jLabel9.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
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jLabel9.setText("Position:");
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javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4);
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jPanel4.setLayout(jPanel4Layout);
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jPanel4Layout.setHorizontalGroup(
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jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addGroup(jPanel4Layout.createSequentialGroup()
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.addContainerGap()
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.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addComponent(jLabel3)
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.addComponent(jLabel4)
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.addComponent(jLabel6)
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.addComponent(jLabel8)
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.addComponent(jLabel9))
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
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.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.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(200, 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("robot.move_park()");
|
|
}//GEN-LAST:event_moveParkActionPerformed
|
|
|
|
private void moveHomeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_moveHomeActionPerformed
|
|
evalCmd("robot.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("robot.tweak_x(" + spinnerOffsetX.getValue() + ")");
|
|
}//GEN-LAST:event_buttonTweakXActionPerformed
|
|
|
|
// 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 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;
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private javax.swing.JLabel jLabel7;
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private javax.swing.JLabel jLabel8;
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private javax.swing.JLabel jLabel9;
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private javax.swing.JPanel jPanel10;
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private javax.swing.JPanel jPanel4;
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private javax.swing.JPanel jPanel5;
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private javax.swing.JPanel jPanel6;
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private javax.swing.JPanel jPanel7;
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private javax.swing.JPanel jPanel8;
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private javax.swing.JPanel jPanel9;
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private ch.psi.pshell.swing.Led ledEmpty;
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private ch.psi.pshell.swing.Led ledMode;
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private ch.psi.pshell.swing.Led ledMoving;
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private ch.psi.pshell.swing.Led ledOpen;
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private ch.psi.pshell.swing.Led ledPosition;
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private ch.psi.pshell.swing.Led ledPowered;
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private ch.psi.pshell.swing.Led ledSettled;
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private ch.psi.pshell.swing.Led ledTask;
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private javax.swing.JButton moveHome;
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private javax.swing.JButton movePark;
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private javax.swing.JPanel panelCameras;
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private javax.swing.JPanel panelCommands;
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private javax.swing.JPanel panelControls;
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private javax.swing.JPanel panelMotionCtr;
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private javax.swing.JPanel panelPowerCtr;
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private javax.swing.JPanel panelPowerCtr1;
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private javax.swing.JPanel panelRobot;
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private ch.psi.pshell.imaging.Renderer renderer;
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private javax.swing.JSpinner spinnerOffsetX;
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private javax.swing.JSpinner spinnerSpeed;
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private javax.swing.JTextField textMode;
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private javax.swing.JTextField textPosition;
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private javax.swing.JTextField textTask;
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// End of variables declaration//GEN-END:variables
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}
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