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

import ch.psi.pshell.device.Device;
import ch.psi.pshell.ui.Panel;
import ch.psi.utils.State;
import ch.psi.utils.swing.SwingUtils;
import java.awt.Color;
import java.util.List;
import javax.swing.SwingUtilities;

/**
 *
 */
public class Recovery extends Panel {

    public Recovery() {
        initComponents();
        startTimer(5000, 200);
    }

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

    }

    @Override
    public void onStateChange(State state, State former) {
         if (state==State.Ready){
             SwingUtilities.invokeLater(()->{onTimer();});
         }
         textSegment.setEnabled(state == State.Ready);
         textDistance.setEnabled(state == State.Ready);
         textPosition.setEnabled(state == State.Ready);
         updateButton();
    }
    
    void updateButton(){
        buttonRecover.setEnabled((getContext().getState() == State.Ready) &&
                (!textSegment.getText().trim().isEmpty()) &&
                (textPosition.getText().trim().isEmpty()) );
        
    }

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

    @Override
    protected void onTimer() {
        Device robot = getContext().getDevicePool().getByName("robot", Device.class);
        if ((robot==null) || (!robot.getState().isNormal())){
            ledValidSegment.setColor(Color.BLACK);
            textSegment.setText("");            
            ledKnownPosition.setColor(Color.BLACK);
            textPosition.setText("");
        } else {    
            if (getState()==State.Ready){
                String point = null;
                try{
                    point = (String) eval("robot.get_current_point()", true);
                    ledKnownPosition.setColor((point == null) ? Color.RED : Color.GREEN);
                    textPosition.setText((point == null) ? "": point);
                } catch (Exception ex) {
                    System.out.println(ex);
                    ledKnownPosition.setColor(Color.BLACK);
                    textPosition.setText("");
                }                 
                try{
                    List segment = (List) eval("get_current_segment()", true);
                    ledValidSegment.setColor((segment == null) ? Color.RED : Color.GREEN);
                    textSegment.setText((segment == null) ? "": segment.get(0) + "->" + segment.get(1) + " [" + segment.get(2) + "mm]");
                    if ((segment == null)||(point!=null)){
                        textDistance.setText("");
                    } else {
                        try{
                            Object distance =  eval("get_current_distance()", true);
                            textDistance.setText((distance == null) ? "" : String.format("%1.2f",((Number)distance).doubleValue()));
                        } catch (Exception ex) {
                            textDistance.setText("");
                        }  
                    }
                } catch (Exception ex) {
                    System.out.println(ex);
                    ledValidSegment.setColor(Color.BLACK);
                    textSegment.setText("");
                    textDistance.setText("");
                }         
            }
        }
        updateButton();
    }
   
       
    @SuppressWarnings("unchecked")
    // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
    private void initComponents() {

        ledKnownPosition = new ch.psi.pshell.swing.Led();
        jLabel6 = new javax.swing.JLabel();
        ledValidSegment = new ch.psi.pshell.swing.Led();
        jLabel7 = new javax.swing.JLabel();
        buttonRecover = new javax.swing.JButton();
        buttonAbort = new javax.swing.JButton();
        textPosition = new javax.swing.JTextField();
        textSegment = new javax.swing.JTextField();
        textDistance = new javax.swing.JTextField();
        jLabel8 = new javax.swing.JLabel();

        jLabel6.setText("Known position");

        jLabel7.setText("Valid segment");

        buttonRecover.setText("Recover");
        buttonRecover.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                buttonRecoverActionPerformed(evt);
            }
        });

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

        textPosition.setEditable(false);

        textSegment.setEditable(false);

        textDistance.setEditable(false);
        textDistance.setHorizontalAlignment(javax.swing.JTextField.TRAILING);

        jLabel8.setText("Distance:");

        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.LEADING)
                    .addGroup(layout.createSequentialGroup()
                        .addComponent(ledKnownPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                        .addComponent(jLabel6)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                        .addComponent(textPosition))
                    .addGroup(layout.createSequentialGroup()
                        .addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                        .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                        .addComponent(jLabel7)
                        .addGap(16, 16, 16)
                        .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                            .addGroup(layout.createSequentialGroup()
                                .addGap(0, 0, Short.MAX_VALUE)
                                .addComponent(jLabel8)
                                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                                .addComponent(textDistance, javax.swing.GroupLayout.PREFERRED_SIZE, 86, javax.swing.GroupLayout.PREFERRED_SIZE))
                            .addComponent(textSegment))))
                .addGap(8, 8, 8))
            .addGroup(layout.createSequentialGroup()
                .addContainerGap(136, Short.MAX_VALUE)
                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
                    .addComponent(buttonAbort, javax.swing.GroupLayout.PREFERRED_SIZE, 73, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(buttonRecover))
                .addContainerGap(144, Short.MAX_VALUE))
        );

        layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonAbort, buttonRecover});

        layout.setVerticalGroup(
            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
            .addGroup(layout.createSequentialGroup()
                .addContainerGap()
                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(ledKnownPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(jLabel6)
                    .addComponent(textPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                    .addComponent(jLabel7)
                    .addComponent(textSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
                    .addComponent(jLabel8)
                    .addComponent(textDistance, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 81, Short.MAX_VALUE)
                .addComponent(buttonRecover)
                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
                .addComponent(buttonAbort)
                .addContainerGap())
        );
    }// </editor-fold>//GEN-END:initComponents

    private void buttonRecoverActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonRecoverActionPerformed
        try{
            buttonAbort.setEnabled(true);
            evalAsync("recover()", false).handle((ret, ex) -> {
                if (ex != null){
                    showException((Exception)ex);
                } else {
                    SwingUtils.showMessage(getTopLevel(), "Return", String.valueOf(ret));
                }
                buttonAbort.setEnabled(false);
                return ret;
            });
        } catch (Exception ex) {
            showException(ex);
        }
    }//GEN-LAST:event_buttonRecoverActionPerformed

    private void buttonAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonAbortActionPerformed
        try {
            abort();
            try{
                eval("robot.disable()", true);
            } catch (Exception ex){
                this.showException(ex);
            }   
            try{
                eval("stop_task()", true);           
            } catch (Exception ex){
                this.showException(ex);
            }                
            try{
                eval("robot.reset_motion()", true);
            } catch (Exception ex){
                this.showException(ex);
            }            
        } catch (InterruptedException ex) {
            showException(ex);
        }
    }//GEN-LAST:event_buttonAbortActionPerformed

    // Variables declaration - do not modify//GEN-BEGIN:variables
    private javax.swing.JButton buttonAbort;
    private javax.swing.JButton buttonRecover;
    private javax.swing.JLabel jLabel6;
    private javax.swing.JLabel jLabel7;
    private javax.swing.JLabel jLabel8;
    private ch.psi.pshell.swing.Led ledKnownPosition;
    private ch.psi.pshell.swing.Led ledValidSegment;
    private javax.swing.JTextField textDistance;
    private javax.swing.JTextField textPosition;
    private javax.swing.JTextField textSegment;
    // End of variables declaration//GEN-END:variables
}