/*
 * Copyright (c) 2014-2017 Paul Scherrer Institute. All rights reserved.
 */

import ch.psi.pshell.core.Context;
import ch.psi.pshell.ui.Panel;
import ch.psi.utils.State;
import ch.psi.utils.swing.SwingUtils;
import java.awt.Component;
import java.util.logging.Level;
import java.util.logging.Logger;
import javax.swing.JComponent;
import javax.swing.JSpinner;
import javax.swing.JTextField;
import javax.swing.SwingConstants;

/**
 *
 */
public class Expert extends Panel {

    public Expert() {
        initComponents();
        ((JSpinner.DefaultEditor)spinnerSegment.getEditor()).getTextField().setHorizontalAlignment(JTextField.RIGHT);
    }

    //Overridable callbacks
    @Override
    public void onInitialize(int runCount) {

    }

    @Override
    public void onStateChange(State state, State former) {
        for (Component c: SwingUtils.getComponentsByType(panelCommands, JComponent.class)){
            c.setEnabled(state == State.Ready);
        }
        buttonHomingHexiposi.setEnabled(state == State.Ready);
    }

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

    //Callback to perform update - in event thread
    @Override
    protected void doUpdate() {
    }
    
    void execute(String statement){
        execute(statement, false);
    }
    
    void execute(String statement, boolean background){
        execute(statement, background, false);
    }
    
    void execute(String statement, boolean background, boolean showReturn){
        try {
            evalAsync(statement, background).handle((ret, ex) -> {
                if (ex != null){
                    showException((Exception)ex);
                } else if (showReturn){
                    SwingUtils.showMessage(getTopLevel(), "Return", String.valueOf(ret));
                }
                return ret;
            });
        } catch (Exception ex) {
            showException(ex);
        }        
    }
    
    void execute(String script, Object args){
        try {
            runAsync(script, args).handle((ret, ex) -> {
                if (ex != null){
                    showException((Exception)ex);
                }
                return ret;
            });
        } catch (Exception ex) {
            showException(ex);
        }        
    }    
    
    

    @SuppressWarnings("unchecked")
    // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
    private void initComponents() {

        panelRobot = new javax.swing.JPanel();
        buttonEnable = new javax.swing.JButton();
        buttonDisable = new javax.swing.JButton();
        jPanel2 = new javax.swing.JPanel();
        buttonPositionsHexiposi = new javax.swing.JButton();
        panelSafety = new javax.swing.JPanel();
        buttonReleasePsys = new javax.swing.JButton();
        buttonEnableAll = new javax.swing.JButton();
        buttonReleaseLocal = new javax.swing.JButton();
        panelCommands = new javax.swing.JPanel();
        buttonMount = new javax.swing.JButton();
        buttonUnmount = new javax.swing.JButton();
        buttonGetDewar = new javax.swing.JButton();
        buttonPutDewar = new javax.swing.JButton();
        buttonGetGonio = new javax.swing.JButton();
        buttonPutGonio = new javax.swing.JButton();
        jPanel5 = new javax.swing.JPanel();
        jLabel4 = new javax.swing.JLabel();
        checkForce = new javax.swing.JCheckBox();
        spinnerSample = new javax.swing.JSpinner();
        spinnerPuck = new javax.swing.JSpinner();
        jLabel1 = new javax.swing.JLabel();
        jLabel2 = new javax.swing.JLabel();
        spinnerSegment = new javax.swing.JSpinner();
        jLabel3 = new javax.swing.JLabel();
        buttonMovePark = new javax.swing.JButton();
        buttonHomingHexiposi = new javax.swing.JButton();
        buttonMoveHome = new javax.swing.JButton();
        buttonMoveGonio = new javax.swing.JButton();
        buttonMoveDewar = new javax.swing.JButton();
        buttonMoveScanner = new javax.swing.JButton();
        buttonMoveHeater = new javax.swing.JButton();
        buttonDry = new javax.swing.JButton();
        spinnerDryTime = new javax.swing.JSpinner();
        jLabel6 = new javax.swing.JLabel();
        jLabel7 = new javax.swing.JLabel();
        spinnerDrySpeed = new javax.swing.JSpinner();
        jPanel3 = new javax.swing.JPanel();
        buttonPuckDetCheck = new javax.swing.JButton();
        buttonPuckDetStop = new javax.swing.JButton();
        buttonPuckDetStart = new javax.swing.JButton();
        panelRobot1 = new javax.swing.JPanel();
        buttonHeater = new javax.swing.JToggleButton();
        buttonStream = new javax.swing.JToggleButton();

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

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

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

        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(32, Short.MAX_VALUE)
                .addComponent(buttonEnable)
                .addGap(27, 27, 27)
                .addComponent(buttonDisable)
                .addContainerGap(32, Short.MAX_VALUE))
        );

        panelRobotLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable});

        panelRobotLayout.setVerticalGroup(
            panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelRobotLayout.createSequentialGroup()
                .addContainerGap()
                .addGroup(panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonEnable)
                    .addComponent(buttonDisable))
                .addContainerGap())
        );

        jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Hexiposi"));

        buttonPositionsHexiposi.setText("Positions");
        buttonPositionsHexiposi.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonPositionsHexiposiActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
        jPanel2.setLayout(jPanel2Layout);
        jPanel2Layout.setHorizontalGroup(
            jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
                .addContainerGap(76, Short.MAX_VALUE)
                .addComponent(buttonPositionsHexiposi)
                .addContainerGap(74, Short.MAX_VALUE))
        );
        jPanel2Layout.setVerticalGroup(
            jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel2Layout.createSequentialGroup()
                .addContainerGap()
                .addComponent(buttonPositionsHexiposi)
                .addContainerGap())
        );

        panelSafety.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety"));

        buttonReleasePsys.setText("Release PSYS");
        buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonReleasePsysActionPerformed(evt);
            }
        });

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

        buttonReleaseLocal.setText("Release Local");
        buttonReleaseLocal.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonReleaseLocalActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout panelSafetyLayout = new javax.swing.GroupLayout(panelSafety);
        panelSafety.setLayout(panelSafetyLayout);
        panelSafetyLayout.setHorizontalGroup(
            panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelSafetyLayout.createSequentialGroup()
                .addContainerGap()
                .addGroup(panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
                    .addComponent(buttonEnableAll, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addGroup(panelSafetyLayout.createSequentialGroup()
                        .addComponent(buttonReleasePsys)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addComponent(buttonReleaseLocal)))
                .addContainerGap())
        );
        panelSafetyLayout.setVerticalGroup(
            panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelSafetyLayout.createSequentialGroup()
                .addContainerGap()
                .addComponent(buttonEnableAll)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addGroup(panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonReleaseLocal)
                    .addComponent(buttonReleasePsys))
                .addContainerGap())
        );

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

        buttonMount.setText("Mount");
        buttonMount.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMountActionPerformed(evt);
            }
        });

        buttonUnmount.setText("Unmount");
        buttonUnmount.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonUnmountActionPerformed(evt);
            }
        });

        buttonGetDewar.setText("Get Dewar");
        buttonGetDewar.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonGetDewarActionPerformed(evt);
            }
        });

        buttonPutDewar.setText("Put Dewar");
        buttonPutDewar.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonPutDewarActionPerformed(evt);
            }
        });

        buttonGetGonio.setText("Get Gonio");
        buttonGetGonio.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonGetGonioActionPerformed(evt);
            }
        });

        buttonPutGonio.setText("Put Gonio");
        buttonPutGonio.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonPutGonioActionPerformed(evt);
            }
        });

        jLabel4.setText("Force:");

        checkForce.setHorizontalTextPosition(javax.swing.SwingConstants.LEADING);

        spinnerSample.setModel(new javax.swing.SpinnerNumberModel(1, 1, 16, 1));

        spinnerPuck.setModel(new javax.swing.SpinnerNumberModel(1, 1, 5, 1));

        jLabel1.setText("Segment:");

        jLabel2.setText("Puck:");

        spinnerSegment.setModel(new javax.swing.SpinnerListModel(new String[] {"A", "B", "C", "D", "E", "F"}));

        jLabel3.setText("Sample:");

        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)
                    .addComponent(jLabel3)
                    .addComponent(jLabel2)
                    .addComponent(jLabel1)
                    .addComponent(jLabel4))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addComponent(checkForce)
                    .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );

        jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel1, jLabel2, jLabel3});

        jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {spinnerPuck, spinnerSample, spinnerSegment});

        jPanel5Layout.setVerticalGroup(
            jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel5Layout.createSequentialGroup()
                .addGap(0, 0, 0)
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel1)
                    .addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel2)
                    .addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel3)
                    .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(jLabel4)
                    .addComponent(checkForce))
                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
        );

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

        buttonHomingHexiposi.setText("Homing Hexiposi");
        buttonHomingHexiposi.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonHomingHexiposiActionPerformed(evt);
            }
        });

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

        buttonMoveGonio.setText("Move Gonio");
        buttonMoveGonio.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveGonioActionPerformed(evt);
            }
        });

        buttonMoveDewar.setText("Move Dewar");
        buttonMoveDewar.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveDewarActionPerformed(evt);
            }
        });

        buttonMoveScanner.setText("Move Scanner");
        buttonMoveScanner.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveScannerActionPerformed(evt);
            }
        });

        buttonMoveHeater.setText("Move Heater");
        buttonMoveHeater.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonMoveHeaterActionPerformed(evt);
            }
        });

        buttonDry.setText("Dry");
        buttonDry.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonDryActionPerformed(evt);
            }
        });

        spinnerDryTime.setModel(new javax.swing.SpinnerNumberModel(10.0d, 1.0d, 30.0d, 1.0d));

        jLabel6.setText("Heat time(s):");

        jLabel7.setText("Speed(%):");

        spinnerDrySpeed.setModel(new javax.swing.SpinnerNumberModel(1.0d, 0.1d, 10.0d, 1.0d));

        javax.swing.GroupLayout panelCommandsLayout = new javax.swing.GroupLayout(panelCommands);
        panelCommands.setLayout(panelCommandsLayout);
        panelCommandsLayout.setHorizontalGroup(
            panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelCommandsLayout.createSequentialGroup()
                .addContainerGap()
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
                    .addComponent(buttonMoveHeater, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonMoveGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonMovePark, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonGetGonio, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonPutGonio, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonMount, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonUnmount, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonGetDewar, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonPutDewar, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                    .addComponent(buttonDry, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
                .addGap(30, 30, 30)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
                        .addComponent(buttonMoveScanner, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                        .addComponent(buttonMoveHome, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                        .addComponent(buttonMoveDewar, 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))
                    .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
                        .addGroup(panelCommandsLayout.createSequentialGroup()
                            .addComponent(jLabel7)
                            .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                            .addComponent(spinnerDrySpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                        .addGroup(panelCommandsLayout.createSequentialGroup()
                            .addComponent(jLabel6)
                            .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                            .addComponent(spinnerDryTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
                    .addComponent(buttonHomingHexiposi, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
                .addContainerGap(30, Short.MAX_VALUE))
        );

        panelCommandsLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonGetDewar, buttonGetGonio, buttonHomingHexiposi, buttonMount, buttonMoveDewar, buttonMoveGonio, buttonMoveHeater, buttonMoveHome, buttonMovePark, buttonMoveScanner, buttonPutDewar, buttonPutGonio, buttonUnmount});

        panelCommandsLayout.setVerticalGroup(
            panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelCommandsLayout.createSequentialGroup()
                .addGap(18, 18, 18)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
                    .addGroup(panelCommandsLayout.createSequentialGroup()
                        .addComponent(buttonMount)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                        .addComponent(buttonUnmount)
                        .addGap(18, 18, 18)
                        .addComponent(buttonGetDewar)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                        .addComponent(buttonPutDewar))
                    .addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
                .addGap(18, 18, 18)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonGetGonio)
                    .addComponent(buttonHomingHexiposi))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addComponent(buttonPutGonio)
                .addGap(18, 18, 18)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonMovePark)
                    .addComponent(buttonMoveHome))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonMoveGonio)
                    .addComponent(buttonMoveDewar))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonMoveHeater)
                    .addComponent(buttonMoveScanner))
                .addGap(18, 18, 18)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonDry)
                    .addComponent(spinnerDryTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(jLabel6))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
                .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(spinnerDrySpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(jLabel7))
                .addContainerGap())
        );

        jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Puck Detection"));

        buttonPuckDetCheck.setText("Ckeck");
        buttonPuckDetCheck.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonPuckDetCheckActionPerformed(evt);
            }
        });

        buttonPuckDetStop.setText("Stop");
        buttonPuckDetStop.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonPuckDetStopActionPerformed(evt);
            }
        });

        buttonPuckDetStart.setText("Start");
        buttonPuckDetStart.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonPuckDetStartActionPerformed(evt);
            }
        });

        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()
                .addComponent(buttonPuckDetCheck)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 11, Short.MAX_VALUE)
                .addComponent(buttonPuckDetStop)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 11, Short.MAX_VALUE)
                .addComponent(buttonPuckDetStart)
                .addContainerGap())
        );

        jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonPuckDetCheck, buttonPuckDetStart, buttonPuckDetStop});

        jPanel3Layout.setVerticalGroup(
            jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(jPanel3Layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonPuckDetCheck)
                    .addComponent(buttonPuckDetStop)
                    .addComponent(buttonPuckDetStart))
                .addContainerGap())
        );

        panelRobot1.setBorder(javax.swing.BorderFactory.createTitledBorder("Dryer"));

        buttonHeater.setText("Heater");
        buttonHeater.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonHeaterActionPerformed(evt);
            }
        });

        buttonStream.setText("Air Stream");
        buttonStream.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonStreamActionPerformed(evt);
            }
        });

        javax.swing.GroupLayout panelRobot1Layout = new javax.swing.GroupLayout(panelRobot1);
        panelRobot1.setLayout(panelRobot1Layout);
        panelRobot1Layout.setHorizontalGroup(
            panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelRobot1Layout.createSequentialGroup()
                .addContainerGap(24, Short.MAX_VALUE)
                .addComponent(buttonHeater)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addComponent(buttonStream)
                .addContainerGap(25, Short.MAX_VALUE))
        );

        panelRobot1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHeater, buttonStream});

        panelRobot1Layout.setVerticalGroup(
            panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(panelRobot1Layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(buttonHeater)
                    .addComponent(buttonStream))
                .addContainerGap())
        );

        javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
        this.setLayout(layout);
        layout.setHorizontalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
                    .addComponent(panelRobot1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(panelRobot, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addGap(18, 18, 18)
                .addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                .addContainerGap())
        );

        layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jPanel2, jPanel3, panelRobot, panelRobot1, panelSafety});

        layout.setVerticalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                    .addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addGroup(layout.createSequentialGroup()
                        .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addComponent(panelRobot, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addComponent(panelRobot1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
                .addContainerGap(29, Short.MAX_VALUE))
        );
    }// </editor-fold>//GEN-END:initComponents

    private void buttonEnableAllActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableAllActionPerformed
        execute("enable_motion()", true);
    }//GEN-LAST:event_buttonEnableAllActionPerformed

    private void buttonMountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMountActionPerformed
        String segment = (String) spinnerSegment.getValue();
        int puck = (Integer) spinnerPuck.getValue();
        int sample = (Integer)  spinnerSample.getValue();
        String force = checkForce.isSelected() ? "True" : "False";
        execute("mount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
        
    }//GEN-LAST:event_buttonMountActionPerformed

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

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

    private void buttonReleaseLocalActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleaseLocalActionPerformed
        execute("release_local()", true);
    }//GEN-LAST:event_buttonReleaseLocalActionPerformed

    private void buttonReleasePsysActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleasePsysActionPerformed
        execute("release_psys()", true);
    }//GEN-LAST:event_buttonReleasePsysActionPerformed

    private void buttonHomingHexiposiActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHomingHexiposiActionPerformed
        execute("homing_hexiposi()");
    }//GEN-LAST:event_buttonHomingHexiposiActionPerformed

    private void buttonPositionsHexiposiActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPositionsHexiposiActionPerformed
        this.showDevicePanel("hexiposi");
    }//GEN-LAST:event_buttonPositionsHexiposiActionPerformed

    private void buttonUnmountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonUnmountActionPerformed
        String segment = (String) spinnerSegment.getValue();
        int puck = (Integer) spinnerPuck.getValue();
        int sample = (Integer)  spinnerSample.getValue();
        String force = checkForce.isSelected() ? "True" : "False";
        execute("unmount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
    }//GEN-LAST:event_buttonUnmountActionPerformed

    private void buttonGetDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetDewarActionPerformed
        String segment = (String) spinnerSegment.getValue();
        int puck = (Integer) spinnerPuck.getValue();
        int sample = (Integer)  spinnerSample.getValue();
        String force = checkForce.isSelected() ? "True" : "False";
        execute("get_dewar('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
    }//GEN-LAST:event_buttonGetDewarActionPerformed

    private void buttonPutDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutDewarActionPerformed
        String segment = (String) spinnerSegment.getValue();
        int puck = (Integer) spinnerPuck.getValue();
        int sample = (Integer)  spinnerSample.getValue();
        String force = checkForce.isSelected() ? "True" : "False";
        execute("put_dewar('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
    }//GEN-LAST:event_buttonPutDewarActionPerformed

    private void buttonGetGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetGonioActionPerformed
        String force = checkForce.isSelected() ? "True" : "False";
        execute("get_gonio('force=" + force + ")");
    }//GEN-LAST:event_buttonGetGonioActionPerformed

    private void buttonPutGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutGonioActionPerformed
        String force = checkForce.isSelected() ? "True" : "False";
        execute("put_gonio('force=" + force + ")");
    }//GEN-LAST:event_buttonPutGonioActionPerformed

    private void buttonPuckDetCheckActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetCheckActionPerformed
        execute("check_puck_detection()", true, true);
    }//GEN-LAST:event_buttonPuckDetCheckActionPerformed

    private void buttonPuckDetStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetStopActionPerformed
        execute("stop_puck_detection()", true);
    }//GEN-LAST:event_buttonPuckDetStopActionPerformed

    private void buttonPuckDetStartActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetStartActionPerformed
        execute("start_puck_detection()", true);
    }//GEN-LAST:event_buttonPuckDetStartActionPerformed

    private void buttonMoveParkActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveParkActionPerformed
        execute("move_park()");
    }//GEN-LAST:event_buttonMoveParkActionPerformed

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

    private void buttonMoveGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveGonioActionPerformed
        execute("move_gonio()");
    }//GEN-LAST:event_buttonMoveGonioActionPerformed

    private void buttonMoveDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveDewarActionPerformed
        execute("move_dewar()");
    }//GEN-LAST:event_buttonMoveDewarActionPerformed

    private void buttonMoveScannerActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveScannerActionPerformed
        execute("move_scanner()");
    }//GEN-LAST:event_buttonMoveScannerActionPerformed

    private void buttonMoveHeaterActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveHeaterActionPerformed
        execute("move_heater()");
    }//GEN-LAST:event_buttonMoveHeaterActionPerformed

    private void buttonDryActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDryActionPerformed
        double dryTime = (Double) spinnerDryTime.getValue();
        double streamTime = (Double) spinnerDrySpeed.getValue();
        
        execute("dry(" + dryTime + ", " + streamTime +  ")");
    }//GEN-LAST:event_buttonDryActionPerformed

    private void buttonHeaterActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHeaterActionPerformed
        execute("set_heater(" +  (buttonHeater.isSelected() ? "True": "False") + ")", true);
    }//GEN-LAST:event_buttonHeaterActionPerformed

    private void buttonStreamActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonStreamActionPerformed
        execute("set_air_stream(" +  (buttonStream.isSelected()? "True": "False")+ ")", true);
    }//GEN-LAST:event_buttonStreamActionPerformed

    // Variables declaration - do not modify//GEN-BEGIN:variables
    private javax.swing.JButton buttonDisable;
    private javax.swing.JButton buttonDry;
    private javax.swing.JButton buttonEnable;
    private javax.swing.JButton buttonEnableAll;
    private javax.swing.JButton buttonGetDewar;
    private javax.swing.JButton buttonGetGonio;
    private javax.swing.JToggleButton buttonHeater;
    private javax.swing.JButton buttonHomingHexiposi;
    private javax.swing.JButton buttonMount;
    private javax.swing.JButton buttonMoveDewar;
    private javax.swing.JButton buttonMoveGonio;
    private javax.swing.JButton buttonMoveHeater;
    private javax.swing.JButton buttonMoveHome;
    private javax.swing.JButton buttonMovePark;
    private javax.swing.JButton buttonMoveScanner;
    private javax.swing.JButton buttonPositionsHexiposi;
    private javax.swing.JButton buttonPuckDetCheck;
    private javax.swing.JButton buttonPuckDetStart;
    private javax.swing.JButton buttonPuckDetStop;
    private javax.swing.JButton buttonPutDewar;
    private javax.swing.JButton buttonPutGonio;
    private javax.swing.JButton buttonReleaseLocal;
    private javax.swing.JButton buttonReleasePsys;
    private javax.swing.JToggleButton buttonStream;
    private javax.swing.JButton buttonUnmount;
    private javax.swing.JCheckBox checkForce;
    private javax.swing.JLabel jLabel1;
    private javax.swing.JLabel jLabel2;
    private javax.swing.JLabel jLabel3;
    private javax.swing.JLabel jLabel4;
    private javax.swing.JLabel jLabel6;
    private javax.swing.JLabel jLabel7;
    private javax.swing.JPanel jPanel2;
    private javax.swing.JPanel jPanel3;
    private javax.swing.JPanel jPanel5;
    private javax.swing.JPanel panelCommands;
    private javax.swing.JPanel panelRobot;
    private javax.swing.JPanel panelRobot1;
    private javax.swing.JPanel panelSafety;
    private javax.swing.JSpinner spinnerDrySpeed;
    private javax.swing.JSpinner spinnerDryTime;
    private javax.swing.JSpinner spinnerPuck;
    private javax.swing.JSpinner spinnerSample;
    private javax.swing.JSpinner spinnerSegment;
    // End of variables declaration//GEN-END:variables
}