DataPanel.java

package com.roboclub.robobuggy.ui;

import com.roboclub.robobuggy.messages.BrakeControlMessage;
import com.roboclub.robobuggy.messages.EncoderMeasurement;
import com.roboclub.robobuggy.messages.GpsMeasurement;
import com.roboclub.robobuggy.messages.ImuMeasurement;
import com.roboclub.robobuggy.messages.SteeringMeasurement;
import com.roboclub.robobuggy.ros.Message;
import com.roboclub.robobuggy.ros.MessageListener;
import com.roboclub.robobuggy.ros.NodeChannel;
import com.roboclub.robobuggy.ros.Subscriber;

import javax.swing.BorderFactory;
import javax.swing.JLabel;
import javax.swing.JPanel;
import java.awt.Color;
import java.awt.GridLayout;
//import com.roboclub.robobuggy.ui.GpsPanel.LocTuple;

/**
 * {@link RobobuggyGUIContainer} used for displaying sensor data
 *
 * @author Trevor Decker
 * @author Kevin Brennan
 * @version 0.5
 *          <p>
 *          CHANGELOG: NONE
 *          <p>
 *          DESCRIPTION: TODO
 */
public class DataPanel extends RobobuggyGUIContainer {

    private static final long serialVersionUID = 3950373392222628865L;
    private static final int MAX_LENGTH = 10;


    /* Data Fields */
    private JLabel aX, aY, aZ;
    private JLabel rX, rY, rZ;
    private JLabel mX, mY, mZ;
    private JLabel velocity;
    private JLabel distance;
    private JLabel steeringAng;
    private JLabel commandAng;
    private JLabel bracking;
    private JLabel errorNum;
    private JLabel latitude, longitude;

    /**
     * Construct a new {@link DataPanel}
     */
    public DataPanel() {
        this.addComponent(createDataPanel(), 0, .8, 1, .2);
    }

    private JPanel createDataPanel() {
        JPanel panel = new JPanel();
        panel.setBorder(BorderFactory.createLineBorder(Color.black));
        panel.setLayout(new GridLayout(5, 6));

        aX = new JLabel();
        JLabel label = new JLabel("   yaw: ");
        panel.add(label);
        panel.add(aX);

        aY = new JLabel();
        label = new JLabel("   pitch: ");
        panel.add(label);
        panel.add(aY);

        aZ = new JLabel();
        label = new JLabel("   roll: ");
        panel.add(label);
        panel.add(aZ);

        rX = new JLabel();
        label = new JLabel("   rX: ");
        panel.add(label);
        panel.add(rX);

        rY = new JLabel();
        label = new JLabel("   rY: ");
        panel.add(label);
        panel.add(rY);

        rZ = new JLabel();
        label = new JLabel("   rZ: ");
        panel.add(label);
        panel.add(rZ);

        mX = new JLabel();
        label = new JLabel("   mX: ");
        panel.add(label);
        panel.add(mX);

        mY = new JLabel();
        label = new JLabel("   mY: ");
        panel.add(label);
        panel.add(mY);

        mZ = new JLabel();
        label = new JLabel("   mZ: ");
        panel.add(label);
        panel.add(mZ);

        latitude = new JLabel();
        label = new JLabel("  lat: ");
        panel.add(label);
        panel.add(latitude);

        longitude = new JLabel();
        label = new JLabel(" long: ");
        panel.add(label);
        panel.add(longitude);

        // Subscriber for Imu updates
        new Subscriber("uiDataPan", NodeChannel.IMU.getMsgPath(), new MessageListener() {
            @Override
            public void actionPerformed(String topicName, Message m) {

                ImuMeasurement msg = (ImuMeasurement) m;

                // Limit measurement values to 10 characters
                String tmp = Double.toString(msg.getYaw());
                if (tmp.length() > MAX_LENGTH) tmp = tmp.substring(0, MAX_LENGTH);
                aX.setText(tmp);

                tmp = Double.toString(msg.getPitch());
                if (tmp.length() > MAX_LENGTH) tmp = tmp.substring(0, MAX_LENGTH);
                aY.setText(tmp);

                tmp = Double.toString(msg.getRoll());
                if (tmp.length() > MAX_LENGTH) tmp = tmp.substring(0, MAX_LENGTH);
                aZ.setText(tmp);

            }
        });

        new Subscriber("uiDataPan", NodeChannel.GPS.getMsgPath(), new MessageListener() {
            @Override
            public void actionPerformed(String topicName, Message m) {
                double lat = ((GpsMeasurement) m).getLatitude();
                double longit = ((GpsMeasurement) m).getLongitude();
                latitude.setText(Double.toString(lat));
                longitude.setText(Double.toString(longit));
                //latitude and longitude are both needed
                Gui.getInstance().fixPaint();
            }
        });

        velocity = new JLabel();
        label = new JLabel("   Velocity: ");
        panel.add(label);
        panel.add(velocity);

        distance = new JLabel();
        label = new JLabel("   Distance: ");
        panel.add(label);
        panel.add(distance);

        // Subscriber for encoder updates
        new Subscriber("uiDataPan", NodeChannel.ENCODER.getMsgPath(), new MessageListener() {
            @Override
            public void actionPerformed(String topicName, Message m) {
                EncoderMeasurement msg = (EncoderMeasurement) m;

                String tmp = Double.toString(msg.getVelocity());
                if (tmp.length() > MAX_LENGTH) tmp = tmp.substring(0, MAX_LENGTH);
                velocity.setText(tmp);

                tmp = Double.toString(msg.getDistance());
                if (tmp.length() > MAX_LENGTH) tmp = tmp.substring(0, MAX_LENGTH);
                distance.setText(tmp);
                Gui.getInstance().fixPaint();
            }
        });

        steeringAng = new JLabel();
        label = new JLabel("   Angle: ");
        panel.add(label);
        panel.add(steeringAng);

        // Subscriber for drive control updates
        new Subscriber("uiDataPan", NodeChannel.STEERING.getMsgPath(), new MessageListener() {
            @Override
            public void actionPerformed(String topicName, Message m) {
                steeringAng.setText(Double.toString(((SteeringMeasurement) m).getAngle()));
                Gui.getInstance().fixPaint();
            }
        });

        commandAng = new JLabel();
        label = new JLabel("   command: ");
        panel.add(label);
        panel.add(commandAng);

        // Subscriber for drive control updates
        new Subscriber("uiDataPan", NodeChannel.STEERING_COMMANDED.getMsgPath(), new MessageListener() {
            @Override
            public void actionPerformed(String topicName, Message m) {
                commandAng.setText(Double.toString(((SteeringMeasurement) m).getAngle()));
                Gui.getInstance().fixPaint();
            }
        });

        bracking = new JLabel();
        label = new JLabel(" Bracking: ");
        panel.add(label);
        panel.add(bracking);
        new Subscriber("uiDataPan", NodeChannel.BRAKE_CTRL.getMsgPath(), new MessageListener() {

            @Override
            public void actionPerformed(String topicName, Message m) {
                bracking.setText(Boolean.toString(((BrakeControlMessage) m).isBrakeEngaged()));

            }
        });


        errorNum = new JLabel();
        label = new JLabel("   Errors: ");
        panel.add(label);
        panel.add(errorNum);

        return panel;
    }

    //added by Abhinav Girish ; only temporary

    /**
     * Returns the values of the {@link DataPanel}
     *
     * @return the values of the {@link DataPanel}
     */
    public String getValues() {
        String values = "";
        values += "aX: " + aX.getText() + " ";
        values += "aY: " + aY.getText() + " ";
        values += "aZ: " + aZ.getText() + " ";
        values += "rX: " + rX.getText() + " ";
        values += "rY: " + rY.getText() + " ";
        values += "rZ: " + rZ.getText() + " ";
        values += "mX: " + mX.getText() + " ";
        values += "mY: " + mY.getText() + " ";
        values += "mZ: " + mZ.getText() + " ";

        return values;
    }

}