JoystickGUI.java

/**
 *                    
 * @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 !
 * 
 * References :
 * 	http://www.pjrc.com/teensy/td_joystick.html gamepad map
 * 
 * */

package org.myrobotlab.control;

import java.awt.BorderLayout;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.util.HashMap;
import java.util.Iterator;
import java.util.Map;
import java.util.TreeMap;

import javax.swing.BorderFactory;
import javax.swing.JButton;
import javax.swing.JComboBox;
import javax.swing.JLabel;
import javax.swing.JPanel;
import javax.swing.JTabbedPane;
import javax.swing.SwingUtilities;
import javax.swing.border.TitledBorder;

import org.myrobotlab.control.widget.JoystickButtonsPanel;
import org.myrobotlab.control.widget.JoystickCompassPanel;
import org.myrobotlab.service.GUIService;
import org.myrobotlab.service.Joystick;
import org.myrobotlab.service.Runtime;
import org.myrobotlab.service.data.JoystickData;

public class JoystickGUI extends ServiceGUI implements ActionListener {

  static final long serialVersionUID = 1L;

  JComboBox<String> controllers = new JComboBox<String>();
  TreeMap<String, Integer> controllerNames = new TreeMap<String, Integer>();
  TreeMap<String, Integer> components = new TreeMap<String, Integer>();
  HashMap<String, JLabel> outputValues = new HashMap<String, JLabel>();

  JButton refresh = new JButton("refresh");

  JoystickGUI self = null;
  Joystick myJoy = null;

  JPanel output = new JPanel();

  JoystickButtonsPanel buttonsPanel = null;

  private JoystickCompassPanel xyPanel, zrzPanel, rxryPanel, hatPanel;

  public JoystickGUI(final String boundServiceName, final GUIService myService, final JTabbedPane tabs) {
    super(boundServiceName, myService, tabs);
    self = this;
  }

  @Override
  public void actionPerformed(ActionEvent e) {
    Object o = e.getSource();
    if (o == controllers) {
      String selected = (String) controllers.getSelectedItem();
      if (selected == null || "".equals(selected)) {
        send("stopPolling");
      } else {
        log.info(String.format("changed to %s ", selected));
        send("setController", selected);
        send("startPolling");
      }
    } else if (o == refresh) {
      send("getControllers");
    }
    // myService.send(boundServiceName, "setType", e.getActionCommand());
  }

  @Override
  public void attachGUI() {
    subscribe("publishState", "getState", Joystick.class);
    subscribe("getControllers", "getControllers", Map.class);

    subscribe("publishX", "publishX", Float.class);
    subscribe("publishY", "publishY", Float.class);

    // xbox specific begin
    subscribe("publishRX", "publishRX", Float.class);
    subscribe("publishRY", "publishRY", Float.class);
    // xbox specific end

    subscribe("publishZ", "publishZ", Float.class);
    subscribe("publishRZ", "publishRZ", Float.class);
    subscribe("publishPOV", "publishPOV", Float.class);

    /*
     * subscribe("XAxis", "XAxis", Integer.class); subscribe("YAxis", "YAxis",
     * Integer.class); subscribe("ZAxis", "ZAxis", Integer.class);
     * subscribe("ZRotation", "ZRotation", Integer.class);
     * subscribe("hatSwitch", "hatSwitch", Integer.class);
     */

    subscribe("publish0", "publish0", Float.class);
    subscribe("publish1", "publish1", Float.class);
    subscribe("publish2", "publish2", Float.class);
    subscribe("publish3", "publish3", Float.class);
    subscribe("publish4", "publish4", Float.class);
    subscribe("publish5", "publish5", Float.class);
    subscribe("publish6", "publish6", Float.class);
    subscribe("publish7", "publish7", Float.class);
    subscribe("publish8", "publish8", Float.class);
    subscribe("publish9", "publish9", Float.class);
    subscribe("publish10", "publish10", Float.class);
    subscribe("publish11", "publish11", Float.class);
    subscribe("publish12", "publish12", Float.class);
    subscribe("publish13", "publish13", Float.class);

    subscribe("getComponents", "getComponents", Map.class);
    subscribe("publishButton", "onButton", Float.class);

    send("publishState");
    send("getControllers");
  }

  @Override
  public void detachGUI() {
    unsubscribe("publishState", "getState", Joystick.class);

    unsubscribe("XAxisRaw", "XAxisRaw", Float.class);
    unsubscribe("YAxisRaw", "YAxisRaw", Float.class);
    unsubscribe("ZAxisRaw", "ZAxisRaw", Float.class);
    unsubscribe("ZRotationRaw", "ZRotationRaw", Float.class);
    unsubscribe("hatSwitchRaw", "hatSwitchRaw", Float.class);

    unsubscribe("XAxis", "XAxis", Float.class);
    unsubscribe("YAxis", "YAxis", Float.class);
    unsubscribe("ZAxis", "ZAxis", Float.class);
    unsubscribe("ZRotation", "ZRotation", Float.class);
    unsubscribe("hatSwitch", "hatSwitch", Float.class);

    unsubscribe("button0", "button0", Float.class);
    unsubscribe("button1", "button1", Float.class);
    unsubscribe("button2", "button2", Float.class);
    unsubscribe("button3", "button3", Float.class);
    unsubscribe("button4", "button4", Float.class);
    unsubscribe("button5", "button5", Float.class);
    unsubscribe("button6", "button6", Float.class);
    unsubscribe("button7", "button7", Float.class);
    unsubscribe("button8", "button8", Float.class);
    unsubscribe("button9", "button9", Float.class);
    unsubscribe("button10", "button10", Float.class);
    unsubscribe("button11", "button11", Float.class);
  }

  public void getComponents(final HashMap<String, Integer> cmpnts) {
    SwingUtilities.invokeLater(new Runnable() {
      @Override
      public void run() {

        output.removeAll();
        outputValues.clear();

        components.clear();
        components.putAll(cmpnts);

        Iterator<String> it = components.keySet().iterator();

        while (it.hasNext()) {
          String name = it.next();
          JPanel p = new JPanel();

          TitledBorder title = BorderFactory.createTitledBorder("");
          p.setBorder(title);

          p.add(new JLabel(String.format("%s:", name)));
          JLabel l = new JLabel("0.0");
          outputValues.put(name, l);
          p.add(l);
          output.add(p);
        }

        output.invalidate();
        output.repaint();
      }
    });

  }

  public void getControllers(final Map<String, Integer> contrls) {
    SwingUtilities.invokeLater(new Runnable() {
      @Override
      public void run() {
        controllers.removeAllItems();
        controllerNames.clear();
        controllerNames.putAll(contrls);
        Iterator<String> it = controllerNames.keySet().iterator();
        controllers.addItem("");
        while (it.hasNext()) {
          String name = it.next();
          controllers.addItem(name);
        }
        controllers.addActionListener(self);

      }
    });

  }

  // FIXME - is get/set state interact with Runtime registry ???
  // it probably should
  public void getState(final Joystick joy) {
    SwingUtilities.invokeLater(new Runnable() {
      @Override
      public void run() {
        // update reference
        myJoy = joy;

        // controllers.setSelectedItem(null);

      }
    });

  }

  @Override
  public void init() {
    display.setLayout(new BorderLayout());

    // PAGE_START
    TitledBorder title;
    title = BorderFactory.createTitledBorder("axis");

    JPanel axisDisplay = new JPanel();
    axisDisplay.setBorder(title);
    // page_start.setLayout(new BoxLayout(page_start, BoxLayout.X_AXIS)); //
    // horizontal box
    // layout
    // three CompassPanels in a row
    hatPanel = new JoystickCompassPanel("POV");
    axisDisplay.add(hatPanel);

    xyPanel = new JoystickCompassPanel("x y");
    axisDisplay.add(xyPanel);

    rxryPanel = new JoystickCompassPanel("rx ry");
    axisDisplay.add(rxryPanel);

    zrzPanel = new JoystickCompassPanel("z rz");
    axisDisplay.add(zrzPanel);

    JPanel north = new JPanel(new BorderLayout());
    north.add(axisDisplay, BorderLayout.NORTH);

    // CENTER
    JPanel topCenter = new JPanel();
    // center.setLayout(new BoxLayout(center, BoxLayout.Y_AXIS));

    title = BorderFactory.createTitledBorder("controller");
    JPanel controllerPanel = new JPanel();
    controllerPanel.setBorder(title);
    controllerPanel.add(controllers);
    controllerPanel.add(refresh);

    topCenter.add(controllerPanel);
    north.add(topCenter, BorderLayout.CENTER);

    display.add(north, BorderLayout.NORTH);

    refresh.addActionListener(this);

    title = BorderFactory.createTitledBorder("output");
    output.setBorder(title);

    topCenter.add(output);

    // PAGE_END
    buttonsPanel = new JoystickButtonsPanel();
    display.add(buttonsPanel, BorderLayout.PAGE_END);

    display.add(output, BorderLayout.CENTER);
    myJoy = (Joystick) Runtime.getService(boundServiceName);
  }

  public void onInput(final JoystickData input) {
    log.info(String.format("onButton %s", input));
    if (input.value == null) {
      outputValues.get(input.id).setText("null");
      return;
    }
    if (outputValues.containsKey(input.id)) {
      outputValues.get(input.id).setText(input.value.toString());
    }
  }

  public void publish0(Float value) {
    buttonsPanel.setButton(0, value);
  }

  public void publish1(Float value) {
    buttonsPanel.setButton(1, value);
  }

  public void publish10(Float value) {
    buttonsPanel.setButton(10, value);
  }

  public void publish11(Float value) {
    buttonsPanel.setButton(11, value);
  }

  public void publish12(Float value) {
    buttonsPanel.setButton(12, value);
  }

  public void publish13(Float value) {
    buttonsPanel.setButton(13, value);
  }

  public void publish2(Float value) {
    buttonsPanel.setButton(2, value);
  }

  public void publish3(Float value) {
    buttonsPanel.setButton(3, value);
  }

  public void publish4(Float value) {
    buttonsPanel.setButton(4, value);
  }

  public void publish5(Float value) {
    buttonsPanel.setButton(5, value);
  }

  public void publish6(Float value) {
    buttonsPanel.setButton(6, value);
  }

  public void publish7(Float value) {
    buttonsPanel.setButton(7, value);
  }

  public void publish8(Float value) {
    buttonsPanel.setButton(8, value);
  }

  public void publish9(Float value) {
    buttonsPanel.setButton(9, value);
  }

  public void publishPOV(Float value) {
    log.debug("{}", value);
    hatPanel.setDir(value);
    hatPanel.repaint();
    // hatOutput.setText(String.format("%.3f", value));
  }

  public void publishRX(Float value) {
    rxryPanel.setX(value);
    rxryPanel.repaint();
  }

  public void publishRY(Float value) {
    rxryPanel.setY(value);
    rxryPanel.repaint();
  }

  public void publishRZ(Float value) {
    zrzPanel.setY(value);
    zrzPanel.repaint();
  }

  public void publishX(Float value) {
    xyPanel.setX(value);
    xyPanel.repaint();
  }

  public void publishY(Float value) {
    xyPanel.setY(value);
    xyPanel.repaint();
  }

  public void publishZ(Float value) {
    zrzPanel.setX(value);
    zrzPanel.repaint();
  }

}