robotcmdgui.java

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/*									tab:4
 *
 *
 * "Copyright (c) 2002 and The Regents of the University 
 * of California.  All rights reserved.
 *
 * Permission to use, copy, modify, and distribute this software and its
 * documentation for any purpose, without fee, and without written agreement is
 * hereby granted, provided that the above copyright notice, the following
 * two paragraphs and the author appear in all copies of this software.
 * 
 * IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR
 * DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT
 * OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF
 * CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 * THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES,
 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS FOR A PARTICULAR PURPOSE.  THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS."
 *
 */

/**
 * File: RobotCmdGUI.java
 *
 * Description:
 * RobotCmdGUI provides a GUI interface to RobotCmd.  RobotCmd will send TinyOS
 * packets over the base station.  These commands are then re-packaged on the 
 * micamote and sent to the MotorBoard.
 *
 * @author written by Sarah Bergbreiter and mig-ified by Phoebus Chen
 * 
 * Created on August 10, 2002, 12:26 AM
 * Last Modified: 2/2/2003
 */

package RobotCmd;

import net.tinyos.util.*;
import net.tinyos.message.*;
import java.io.*;

public class RobotCmdGUI extends javax.swing.JFrame implements MessageListener {

    /*Constants for Commands or Reading-Types included in RC.java */

    /* Mote Communication Variable */
    private MoteIF mote;

    
    /** Creates new form RobotCmd */
    public RobotCmdGUI(int groupID) {
        initComponents();

        /* Set up mote communication */
        try {
	  mote = new MoteIF(PrintStreamMessenger.err, groupID);
	  mote.registerListener(new RobotCmdMsg(), this);
	  //mote.start();
	} catch(Exception e){
	  e.printStackTrace();
	  System.err.println("\t");
          System.err.println("\tSerialForwarder must be opened first!");
	  System.exit(-1);  //should this be a system exit?
	}
    }
    
    /** This method is called from within the constructor to
     * initialize the form.
     * WARNING: Do NOT modify this code. The content of this method is
     * always regenerated by the Form Editor.
     */
    private void initComponents() {//GEN-BEGIN:initComponents
        topPanel = new javax.swing.JPanel();
        jTabbedPane1 = new javax.swing.JTabbedPane();
        carControlPanel = new javax.swing.JPanel();
        speedPanel = new javax.swing.JPanel();
        speedSlider = new javax.swing.JSlider();
        spacerLabel1 = new javax.swing.JLabel();
        offButton = new javax.swing.JButton();
        spacerLabel11 = new javax.swing.JLabel();
        turnPanel = new javax.swing.JPanel();
        turnSlider = new javax.swing.JSlider();
        spacerLabel12 = new javax.swing.JLabel();
        straightButton = new javax.swing.JButton();
        spacerLabel13 = new javax.swing.JLabel();
        dirPanel = new javax.swing.JPanel();
        forwardButton = new javax.swing.JButton();
        reverseButton = new javax.swing.JButton();
        navPanel = new javax.swing.JPanel();
        navDirText = new javax.swing.JTextArea();
        navDataPanel = new javax.swing.JPanel();
        x1Label = new javax.swing.JLabel();
        x1Field = new javax.swing.JTextField();
        y1Label = new javax.swing.JLabel();
        y1Field = new javax.swing.JTextField();
        piNumLabel = new javax.swing.JLabel();
        piNumField = new javax.swing.JTextField();
        piDenLabel = new javax.swing.JLabel();
        piDenField = new javax.swing.JTextField();
        x2Label = new javax.swing.JLabel();
        x2Field = new javax.swing.JTextField();
        y2Label = new javax.swing.JLabel();
        y2Field = new javax.swing.JTextField();
        navigateButtonPanel = new javax.swing.JPanel();
        navigateButton = new javax.swing.JButton();
        figure8Panel = new javax.swing.JPanel();
        fig8CtlPanel = new javax.swing.JPanel();
        startFig8Button = new javax.swing.JButton();
        stopFig8Button = new javax.swing.JButton();
        fig8CalibPanel = new javax.swing.JPanel();
        fig8CalibButtonPanel = new javax.swing.JPanel();
        fig8SpeedButton = new javax.swing.JButton();
        fig8SpeedField = new javax.swing.JTextField();
        fig8Turn1Button = new javax.swing.JButton();
        fig8Turn1Field = new javax.swing.JTextField();
        fig8Turn2Button = new javax.swing.JButton();
        fig8Turn2Field = new javax.swing.JTextField();
        fig8Turn3Button = new javax.swing.JButton();
        fig8Turn3Field = new javax.swing.JTextField();
        fig8Turn4Button = new javax.swing.JButton();
        fig8Turn4Field = new javax.swing.JTextField();
        jLabel1 = new javax.swing.JLabel();
        servoPanel = new javax.swing.JPanel();
        straightPanel = new javax.swing.JPanel();
        getStraightButton = new javax.swing.JButton();
        getStraightLabel = new javax.swing.JLabel();
        setStraightButton = new javax.swing.JButton();
        setStraightField = new javax.swing.JTextField();
        kPanel = new javax.swing.JPanel();
        getConstantsButton = new javax.swing.JButton();
        getConstantsField = new javax.swing.JLabel();
        setKpButton = new javax.swing.JButton();
        setKpField = new javax.swing.JTextField();
        setKiButton = new javax.swing.JButton();
        setKiField = new javax.swing.JTextField();
        speed2Panel = new javax.swing.JPanel();
        jPanel1 = new javax.swing.JPanel();
        turn2Slider = new javax.swing.JSlider();
        straight2Button = new javax.swing.JButton();
        jPanel2 = new javax.swing.JPanel();
        forward50Button = new javax.swing.JButton();
        reverse60Button = new javax.swing.JButton();
        off2Button = new javax.swing.JButton();
        otherPanel = new javax.swing.JPanel();
        ledPanel = new javax.swing.JPanel();
        micaLEDButton = new javax.swing.JButton();
        motorLEDButton = new javax.swing.JButton();
        motorTestPanel = new javax.swing.JPanel();
        startMotorTestButton = new javax.swing.JButton();
        stopMotorTestButton = new javax.swing.JButton();
        jScrollPane1 = new javax.swing.JScrollPane();
        msgArea = new javax.swing.JTextArea();
        navigationPanel1 = new NavigationPanel();

        addWindowListener(new java.awt.event.WindowAdapter() {
            public void windowClosing(java.awt.event.WindowEvent evt) {
                exitForm(evt);
            }
        });

	setTitle("Robot Command GUI");

        topPanel.setLayout(new javax.swing.BoxLayout(topPanel, javax.swing.BoxLayout.X_AXIS));

        jTabbedPane1.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(10, 10, 10, 10)));
        carControlPanel.setLayout(new java.awt.GridLayout(3, 1));

        carControlPanel.setToolTipText("Controlling the Robot Remotely");
        speedPanel.setLayout(new javax.swing.BoxLayout(speedPanel, javax.swing.BoxLayout.X_AXIS));

        speedPanel.setBorder(new javax.swing.border.TitledBorder("Speed (0-255)"));
        speedSlider.setMinorTickSpacing(10);
        speedSlider.setPaintLabels(true);
        speedSlider.setPaintTicks(true);
        speedSlider.setMajorTickSpacing(50);
        speedSlider.setMaximum(250);
        speedSlider.addChangeListener(new javax.swing.event.ChangeListener() {
            public void stateChanged(javax.swing.event.ChangeEvent evt) {
                speedSliderStateChanged(evt);
            }
        });

        speedSlider.addKeyListener(new java.awt.event.KeyAdapter() {
            public void keyReleased(java.awt.event.KeyEvent evt) {
                speedSliderKeyReleased(evt);
            }
        });

        speedSlider.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseReleased(java.awt.event.MouseEvent evt) {
                speedSliderMouseReleased(evt);
            }
        });

        speedPanel.add(speedSlider);

        spacerLabel1.setText("        ");
        speedPanel.add(spacerLabel1);

        offButton.setText("OFF");
        offButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                offButtonActionPerformed(evt);
            }
        });

        speedPanel.add(offButton);

        spacerLabel11.setText("        ");
        speedPanel.add(spacerLabel11);

        carControlPanel.add(speedPanel);

        turnPanel.setLayout(new javax.swing.BoxLayout(turnPanel, javax.swing.BoxLayout.X_AXIS));

        turnPanel.setBorder(new javax.swing.border.TitledBorder("Turn (0-60, 30=straight)"));
        turnSlider.setMinorTickSpacing(5);
        turnSlider.setPaintLabels(true);
        turnSlider.setPaintTicks(true);
        turnSlider.setMajorTickSpacing(10);
        turnSlider.setMaximum(60);
        turnSlider.setValue(30);
        turnSlider.addChangeListener(new javax.swing.event.ChangeListener() {
            public void stateChanged(javax.swing.event.ChangeEvent evt) {
                turnSliderStateChanged(evt);
            }
        });

        turnSlider.addKeyListener(new java.awt.event.KeyAdapter() {
            public void keyReleased(java.awt.event.KeyEvent evt) {
                turnSliderKeyReleased(evt);
            }
        });

        turnSlider.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseReleased(java.awt.event.MouseEvent evt) {
                turnSliderMouseReleased(evt);
            }
        });

        turnPanel.add(turnSlider);

        spacerLabel12.setText("        ");
        turnPanel.add(spacerLabel12);

        straightButton.setText("STRAIGHT");
        straightButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                straightButtonActionPerformed(evt);
            }
        });

        turnPanel.add(straightButton);

        spacerLabel13.setText("        ");
        turnPanel.add(spacerLabel13);

        carControlPanel.add(turnPanel);

        dirPanel.setLayout(new java.awt.FlowLayout(java.awt.FlowLayout.CENTER, 30, 20));

        dirPanel.setBorder(new javax.swing.border.TitledBorder("Direction"));
        forwardButton.setText("FORWARD");
        forwardButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                forwardButtonActionPerformed(evt);
            }
        });

        dirPanel.add(forwardButton);

        reverseButton.setText("REVERSE");
        reverseButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                reverseButtonActionPerformed(evt);
            }
        });

        dirPanel.add(reverseButton);

        carControlPanel.add(dirPanel);

        jTabbedPane1.addTab("Car Control", carControlPanel);

        navPanel.setLayout(new javax.swing.BoxLayout(navPanel, javax.swing.BoxLayout.Y_AXIS));

        navPanel.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(5, 5, 5, 5)));
        navPanel.setToolTipText("Send Navigation Messages");
        navDirText.setLineWrap(true);
        navDirText.setText("Directions: \nEnter the robot's current location in cm in (x1,y1).\nEnter the robot's current heading as (Num*PI/Den).\nEnter the position the robot should navigate to in (x2,y2).");
        navDirText.setBackground((java.awt.Color) javax.swing.UIManager.getDefaults().get("Panel.background"));
        navPanel.add(navDirText);

        navDataPanel.setLayout(new java.awt.GridLayout(3, 4, 15, 10));

        navDataPanel.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(10, 10, 10, 10)));
        x1Label.setText("    x1:");
        x1Label.setFont(new java.awt.Font("Dialog", 1, 14));
        navDataPanel.add(x1Label);

        x1Field.setText("0");
        navDataPanel.add(x1Field);

        y1Label.setText("    y1:");
        y1Label.setFont(new java.awt.Font("Dialog", 1, 14));
        navDataPanel.add(y1Label);

        y1Field.setText("0");
        navDataPanel.add(y1Field);

        piNumLabel.setText("Num:");
        piNumLabel.setFont(new java.awt.Font("Dialog", 1, 14));
        navDataPanel.add(piNumLabel);

        piNumField.setText("1");
        navDataPanel.add(piNumField);

        piDenLabel.setText("Den:");
        piDenLabel.setFont(new java.awt.Font("Dialog", 1, 14));
        navDataPanel.add(piDenLabel);

        piDenField.setText("2");
        navDataPanel.add(piDenField);

        x2Label.setText("    x2:");
        x2Label.setFont(new java.awt.Font("Dialog", 1, 14));
        navDataPanel.add(x2Label);

        x2Field.setText("70");
        navDataPanel.add(x2Field);

        y2Label.setText("    y2:");
        y2Label.setFont(new java.awt.Font("Dialog", 1, 14));
        navDataPanel.add(y2Label);

        y2Field.setText("70");
        navDataPanel.add(y2Field);

        navPanel.add(navDataPanel);

        navigateButton.setText("Navigate!");
        navigateButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                navigateButtonActionPerformed(evt);
            }
        });

        navigateButtonPanel.add(navigateButton);