/**
*
* @author greg (at) myrobotlab.org
*
* This file is part of MyRobotLab (http://myrobotlab.org).
*
* MyRobotLab is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version (subject to the "Classpath" exception
* as provided in the LICENSE.txt file that accompanied this code).
*
* MyRobotLab is distributed in the hope that it will be useful or fun,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* All libraries in thirdParty bundle are subject to their own license
* requirements - please refer to http://myrobotlab.org/libraries for
* details.
*
* Enjoy !
*
* */
package org.myrobotlab.control;
import java.awt.GridBagLayout;
import javax.swing.BorderFactory;
import javax.swing.JLabel;
import javax.swing.JPanel;
import javax.swing.JTabbedPane;
import javax.swing.border.TitledBorder;
import org.myrobotlab.service.GUIService;
import org.myrobotlab.service.RobotPlatform;
public class AndroidProxyGUI extends ServiceGUI {
// if is local - can get a reference (experimental)
RobotPlatform localReference = null;
JLabel speed = new JLabel("0.0");
// bindings begin --------------
JLabel dimensionX = new JLabel("0.0");;
JLabel dimensionY = new JLabel("0.0");
JLabel dimensionZ = new JLabel("0.0");
JLabel positionX = new JLabel("0.0");
JLabel positionY = new JLabel("0.0");
JLabel positionZ = new JLabel("0.0");
JLabel targetX = new JLabel("0.0");
JLabel targetY = new JLabel("0.0");
JLabel targetZ = new JLabel("0.0");
JLabel dhT = new JLabel("0.0");
JLabel speedLast = new JLabel("0.0");
JLabel power = new JLabel("0.0");
JLabel headingCurrent = new JLabel("0.0");
JLabel headingTarget = new JLabel("0.0");
JLabel headingLast = new JLabel("0.0");
JLabel headingDelta = new JLabel("0.0");
JLabel headingSpeed = new JLabel("0.0");
JLabel directionCurrent = new JLabel("0.0");
JLabel directionTarget = new JLabel("0.0");
JLabel inMotion = new JLabel("false");
public AndroidProxyGUI(final String boundServiceName, final GUIService myService, final JTabbedPane tabs) {
super(boundServiceName, myService, tabs);
}
@Override
public void attachGUI() {
subscribe("publishState", "getState", RobotPlatform.class);
}
@Override
public void detachGUI() {
unsubscribe("publishState", "getState", RobotPlatform.class);
}
// new state function begin ---------------
// binding function TODO - do reflectively with default components?
public void getState(RobotPlatform t) {
// dimensionX.setText(t.dimensionX.toString());
// dimensionY.setText(t.dimensionY.toString());
// dimensionZ.setText(t.dimensionZ.toString());
positionX.setText(Integer.toString(t.positionX));
positionY.setText(Integer.toString(t.positionY));
targetX.setText(Integer.toString(t.targetX));
targetY.setText(Integer.toString(t.targetY));
dhT.setText(Long.toString(t.updateHeadingTime - t.updateHeadingTimeLast));
// TODO separate left & right power or a ratio factor for unbalanced
// wheels/motors
// TODO - possibly let motor deal with it?
// power.setText(t.power.toString());
headingCurrent.setText(Integer.toString(t.headingCurrent));
headingTarget.setText(Integer.toString(t.headingTarget));
headingLast.setText(Integer.toString(t.headingLast));
headingDelta.setText(Integer.toString(t.headingDelta));
if (t.headingDelta < 0) {
directionTarget.setText("left");
} else if (t.headingDelta > 0) {
directionTarget.setText("right");
} else {
directionTarget.setText("locked");
}
headingSpeed.setText(Integer.toString(t.headingSpeed));
headingSpeed.setText(Integer.toString(t.headingSpeed));
}
@Override
public void init() {
// position
TitledBorder title;
title = BorderFactory.createTitledBorder("position");
JPanel p = new JPanel(new GridBagLayout());
p.setBorder(title);
gc.gridx = 0;
gc.gridy = 0;
// display.add(new JLabel("position (x,y,z)"));
p.add(new JLabel("(x,y) ("), gc);
++gc.gridx;
p.add(positionX, gc);
++gc.gridx;
p.add(new JLabel(","), gc);
++gc.gridx;
p.add(positionY, gc);
++gc.gridx;
p.add(new JLabel(")"), gc);
gc.gridx = 0;
++gc.gridy;
p.add(new JLabel("inMotion "), gc);
++gc.gridx;
p.add(inMotion, gc);
display.add(p);
// heading
title = BorderFactory.createTitledBorder("heading");
p = new JPanel(new GridBagLayout());
p.setBorder(title);
gc.gridx = 0;
gc.gridy = 0;
p.add(new JLabel("current "), gc);
++gc.gridx;
p.add(headingCurrent, gc);
gc.gridx = 0;
++gc.gridy;
p.add(new JLabel("last "), gc);
++gc.gridx;
p.add(headingLast, gc);
gc.gridx = 0;
++gc.gridy;
p.add(new JLabel("dT "), gc);
++gc.gridx;
p.add(dhT, gc);
gc.gridx = 0;
++gc.gridy;
p.add(new JLabel("speed "), gc);
++gc.gridx;
p.add(headingSpeed, gc);
display.add(p);
// target
title = BorderFactory.createTitledBorder("target");
p = new JPanel(new GridBagLayout());
p.setBorder(title);
gc.gridx = 0;
gc.gridy = 0;
p.add(new JLabel("(x,y) ("), gc);
++gc.gridx;
p.add(targetX, gc);
++gc.gridx;
p.add(new JLabel(","), gc);
++gc.gridx;
p.add(targetY, gc);
++gc.gridx;
p.add(new JLabel(")"), gc);
gc.gridx = 0;
++gc.gridy;
p.add(new JLabel("bearing "), gc);
++gc.gridx;
p.add(headingTarget, gc);
gc.gridx = 0;
++gc.gridy;
p.add(new JLabel("delta "), gc);
++gc.gridx;
p.add(headingDelta, gc);
gc.gridx = 0;
++gc.gridy;
p.add(new JLabel("direction "), gc);
++gc.gridx;
p.add(directionTarget, gc);
display.add(p);
// targetY.setPreferredSize(new Dimension(d.width+60,d.height));;
}
}