289 lines
13 KiB
Java
289 lines
13 KiB
Java
/*
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* Copyright (c) 2014-2017 Paul Scherrer Institute. All rights reserved.
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*/
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import ch.psi.pshell.device.Device;
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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.io.IOException;
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import java.util.List;
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import java.util.logging.Level;
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import java.util.logging.Logger;
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import javax.swing.SwingUtilities;
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/**
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*
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*/
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public class Recovery extends Panel {
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public Recovery() {
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initComponents();
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startTimer(2500, 200);
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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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getContext().setGlobal("recovering", null);
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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==State.Ready){
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SwingUtilities.invokeLater(()->{onTimer();});
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}
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textSegment.setEnabled(state == State.Ready);
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textDistance.setEnabled(state == State.Ready);
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textPosition.setEnabled(state == State.Ready);
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updateButton();
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}
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void updateButton(){
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buttonRecover.setEnabled((getContext().getState().isNormal()) &&
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(textPosition.getText().trim().isEmpty()) &&
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(!textSegment.getText().trim().isEmpty()) &&
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!isRecovering()
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);
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}
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boolean isRecovering(){
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return "true".equals(getContext().getGlobal("recovering"));
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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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System.out.println(".");
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Device robot = getContext().getDevicePool().getByName("robot", Device.class);
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if ((robot==null) || (!robot.getState().isNormal())){
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System.out.println("*");
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ledValidSegment.setColor(Color.BLACK);
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textSegment.setText("");
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ledKnownPosition.setColor(Color.BLACK);
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textPosition.setText("");
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} else {
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if (getState().isNormal()){
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String point = null;
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try{
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point = (String) eval("robot.get_current_point()", true);
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ledKnownPosition.setColor((point == null) ? Color.RED : Color.GREEN);
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textPosition.setText((point == null) ? "": point);
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} catch (Exception ex) {
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System.out.println(ex);
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ledKnownPosition.setColor(Color.BLACK);
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textPosition.setText("");
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}
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List segment = null;
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try{
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segment = (List) eval("get_current_segment()", true);
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ledValidSegment.setColor((segment == null) ? Color.RED : Color.GREEN);
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textSegment.setText((segment == null) ? "": segment.get(0) + "->" + segment.get(1) + " [" + segment.get(2) + "mm]");
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if ((segment == null)||(point!=null)){
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textDistance.setText("");
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} else {
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try{
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Object distance = eval("get_current_distance()", true);
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textDistance.setText((distance == null) ? "" : String.format("%1.2f",((Number)distance).doubleValue()));
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} catch (Exception ex) {
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textDistance.setText("");
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}
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}
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} catch (Exception ex) {
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System.out.println(ex);
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ledValidSegment.setColor(Color.BLACK);
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textSegment.setText("");
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textDistance.setText("");
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}
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try{
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Boolean is_in_dewar = (Boolean) eval("is_in_dewar()", true);
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if ((segment==null) && is_in_dewar){
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ledValidSegment.setColor(Color.GREEN);
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textSegment.setText("Inside Dewar");
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}
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} catch (Exception ex) {
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System.out.println(ex);
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}
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}
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}
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updateButton();
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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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ledKnownPosition = new ch.psi.pshell.swing.Led();
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jLabel6 = new javax.swing.JLabel();
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ledValidSegment = new ch.psi.pshell.swing.Led();
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jLabel7 = new javax.swing.JLabel();
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buttonRecover = new javax.swing.JButton();
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buttonAbort = new javax.swing.JButton();
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textPosition = new javax.swing.JTextField();
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textSegment = new javax.swing.JTextField();
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textDistance = new javax.swing.JTextField();
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jLabel8 = new javax.swing.JLabel();
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jLabel6.setText("Known position");
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jLabel7.setText("Valid segment");
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buttonRecover.setText("Recover");
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buttonRecover.addActionListener(new java.awt.event.ActionListener() {
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public void actionPerformed(java.awt.event.ActionEvent evt) {
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buttonRecoverActionPerformed(evt);
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}
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});
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buttonAbort.setText("Abort");
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buttonAbort.setEnabled(false);
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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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textPosition.setEditable(false);
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textSegment.setEditable(false);
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textDistance.setEditable(false);
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textDistance.setHorizontalAlignment(javax.swing.JTextField.TRAILING);
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jLabel8.setText("Distance:");
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javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
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this.setLayout(layout);
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layout.setHorizontalGroup(
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layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addGroup(layout.createSequentialGroup()
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.addContainerGap()
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.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addGroup(layout.createSequentialGroup()
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.addComponent(ledKnownPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
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.addComponent(jLabel6)
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
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.addComponent(textPosition))
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.addGroup(layout.createSequentialGroup()
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.addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
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.addComponent(jLabel7)
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.addGap(16, 16, 16)
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.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addGroup(layout.createSequentialGroup()
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.addGap(0, 103, Short.MAX_VALUE)
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.addComponent(jLabel8)
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
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.addComponent(textDistance, javax.swing.GroupLayout.PREFERRED_SIZE, 86, javax.swing.GroupLayout.PREFERRED_SIZE))
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.addComponent(textSegment))))
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.addGap(8, 8, 8))
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.addGroup(layout.createSequentialGroup()
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.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
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.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
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.addComponent(buttonRecover, javax.swing.GroupLayout.DEFAULT_SIZE, 179, Short.MAX_VALUE)
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.addComponent(buttonAbort, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
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.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
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);
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layout.setVerticalGroup(
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layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addGroup(layout.createSequentialGroup()
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.addContainerGap()
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.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
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.addComponent(ledKnownPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
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.addComponent(jLabel6)
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.addComponent(textPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
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.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
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.addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
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.addComponent(jLabel7)
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.addComponent(textSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
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.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
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.addComponent(jLabel8)
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.addComponent(textDistance, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
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.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 61, Short.MAX_VALUE)
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.addComponent(buttonRecover)
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.addGap(18, 18, 18)
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.addComponent(buttonAbort)
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.addGap(24, 24, 24))
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);
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}// </editor-fold>//GEN-END:initComponents
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private void buttonRecoverActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonRecoverActionPerformed
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try{
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if (isRecovering()){
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getLogger().warning("Ongoing recovery ");
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return;
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}
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buttonAbort.setEnabled(true);
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getContext().setGlobal("recovering", "true");
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Device robot = getContext().getDevicePool().getByName("robot", Device.class);
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abort();
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getContext().waitState(State.Ready, 5000);
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eval("robot.stop_task()", false);
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robot.waitReady(5000);
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evalAsync("recover()", false).handle((ret, ex) -> {
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if (ex != null){
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if (!getContext().isAborted()){
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showException((Exception)ex);
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}
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} else {
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SwingUtils.showMessage(getTopLevel(), "Return", String.valueOf(ret));
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}
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getContext().setGlobal("recovering", null);
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buttonAbort.setEnabled(false);
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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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getContext().setGlobal("recovering", null);
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buttonAbort.setEnabled(false);
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}
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}//GEN-LAST:event_buttonRecoverActionPerformed
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private void buttonAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonAbortActionPerformed
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try {
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abort();
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try{
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eval("robot.disable()", true);
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} catch (Exception ex){
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this.showException(ex);
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}
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try{
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eval("robot.stop_task()", true);
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} catch (Exception ex){
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this.showException(ex);
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}
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try{
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eval("robot.reset_motion()", true);
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} catch (Exception ex){
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this.showException(ex);
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}
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} catch (InterruptedException ex) {
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//showException(ex);
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}
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}//GEN-LAST:event_buttonAbortActionPerformed
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// Variables declaration - do not modify//GEN-BEGIN:variables
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private javax.swing.JButton buttonAbort;
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private javax.swing.JButton buttonRecover;
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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 ch.psi.pshell.swing.Led ledKnownPosition;
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private ch.psi.pshell.swing.Led ledValidSegment;
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private javax.swing.JTextField textDistance;
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private javax.swing.JTextField textPosition;
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private javax.swing.JTextField textSegment;
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// End of variables declaration//GEN-END:variables
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}
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