package nomadgui; import javax.swing.*; import javax.swing.event.*; import java.awt.*; import java.awt.event.*; import java.beans.*; import nomadgui.state.*; import nomadgui.control.*; import nomadgui.nddsJava.*; import nomadgui.tools.*; /** An extension of JFrame that forms the base container for the rest of the * GUI. It contains a menubar, a status bar, and a desktop pane which holds * the three windows of the GUI (State, Control, and Science). * @see nomadgui.NomadDesktopPane * @see nomadgui.state.RSPFrame * @see nomadgui.control.RCPFrame */ public class NomadFrame extends JFrame { Container contentPane; NomadDesktopPane deskpane; nddsTelemetryThread ndds; JPanel statusArea = new JPanel(); JLabel status = new JLabel(""); statusListener listener = new statusListener(this); RSPFrame RSP; RCPFrame RCP; JInternalFrame SAP; /** Default Constructor. Creates a NomadFrame with title "Nomad GUI." */ public NomadFrame() { this("Nomad GUI"); } /** Creates an instance of NomadFrame with the specified title. * @param title The string to be displayed in the title bar of the GUI. */ public NomadFrame(String title) { super(title); setBounds(100, 100, 1000, 740); contentPane = getContentPane(); deskpane = new NomadDesktopPane(); setJMenuBar(createMenuBar()); statusArea.setBorder(BorderFactory.createRaisedBevelBorder()); statusArea.setLayout(new FlowLayout(FlowLayout.LEFT,0,0)); statusArea.add(status); status.setHorizontalAlignment(JLabel.LEFT); showStatus(" "); contentPane.add(deskpane, BorderLayout.CENTER); contentPane.add(statusArea, BorderLayout.SOUTH); RCP = new RCPFrame("Robot Control", false, true, true, true); RCP.setBounds(40, 40, 690, 300); deskpane.add(RCP); RSP = new RSPFrame("Robot State", false, true, true, true); RSP.setBounds(0, 0, 820, 575); deskpane.add(RSP); //SAP = new JInternalFrame("Science Autonomy", true, true, true, true); //SAP.setBounds(80, 80, 820, 575); //deskpane.add(SAP); } /** Sets the reference to the nddsTelemetryThread for the GUI. This is * done outside of the constructor because of the way the thread was added * to the GUI, and since the thread is not always present (test mode). * @param t The reference to the GUI's nddsTelemetryThread. * @see nomad.nddsJava.nddsTelemetryThread */ public void setNdds(nddsTelemetryThread t) { ndds = t; } private JMenuBar createMenuBar() { JMenuBar mb = new JMenuBar(); JMenu fileMenu = new JMenu("File"); JMenuItem exitItem = new JMenuItem("Exit", 'x'); JMenu windowMenu = new JMenu("Window"); JMenu newWinMenu = new JMenu("New..."); JMenuItem rspItem = new JMenuItem("Robot State", 'S'); JMenuItem rcpItem = new JMenuItem("Robot Control", 'C'); JMenuItem sapItem = new JMenuItem("Science Autonomy", 'A'); JMenuItem cascadeItem = new JMenuItem("Cascade", 'C'); JMenuItem miniAllItem = new JMenuItem("Minimize All", 'M'); JMenuItem openAllItem = new JMenuItem("Open All", 'O'); JMenu testMenu = new JMenu("Test"); JMenu testRobotMenu = new JMenu("Robot"); JMenuItem linksItem = new JMenuItem("Links", 'L'); JMenuItem armItem = new JMenuItem("Arm", 'A'); JMenuItem bogieItem = new JMenuItem("Bogies", 'B'); JMenuItem cameraItem = new JMenuItem("Camera", 'C'); JMenu testPositionMenu = new JMenu("Positions"); JMenuItem rpItem = new JMenuItem("Roll/Pitch", 'R'); JMenuItem speedItem = new JMenuItem("Speed", 'S'); JMenuItem headingItem = new JMenuItem("Heading", 'H'); JMenuItem gpsItem = new JMenuItem("GPS", 'G'); JMenu testVitalsMenu = new JMenu("Vitals"); JMenuItem wheelsItem = new JMenuItem("Wheels", 'W'); JMenu testWeatherMenu = new JMenu("Weather"); JMenuItem TempItem = new JMenuItem("Temperature", 'T'); JMenuItem PressItem = new JMenuItem("Pressure", 'P'); fileMenu.add(exitItem); windowMenu.add(newWinMenu); newWinMenu.add(rspItem); newWinMenu.add(rcpItem); newWinMenu.add(sapItem); windowMenu.addSeparator(); windowMenu.add(cascadeItem); windowMenu.add(miniAllItem); windowMenu.add(openAllItem); testMenu.add(testRobotMenu); testMenu.add(testPositionMenu); testMenu.add(testVitalsMenu); testMenu.add(testWeatherMenu); testRobotMenu.add(linksItem); testRobotMenu.add(armItem); testRobotMenu.add(bogieItem); testRobotMenu.add(cameraItem); testPositionMenu.add(rpItem); testPositionMenu.add(speedItem); testPositionMenu.add(headingItem); testPositionMenu.add(gpsItem); testVitalsMenu.add(wheelsItem); testWeatherMenu.add(TempItem); testWeatherMenu.add(PressItem); exitItem.setActionCommand("Exit the Nomad Interface"); rspItem.setActionCommand("Open a new Robot State Window"); rcpItem.setActionCommand("Open a new Robot Control Window"); sapItem.setActionCommand("Open a new Science Autonomy Window"); cascadeItem.setActionCommand("Cascade all Open Windows"); miniAllItem.setActionCommand("Minimize all Open Windows"); openAllItem.setActionCommand("Open all Minimzed Windows"); linksItem.setActionCommand("Test Links (Deploy/Stow Once)"); armItem.setActionCommand("Test Arm (Theta 0->120, Phi 0->180, Alpha 10->170)"); bogieItem.setActionCommand("Test Bogie Angles (0 -> 20 -> -20 -> 0)"); cameraItem.setActionCommand("Test Pan, Tilt, and Field of View of Hi-res camera"); rpItem.setActionCommand("Test Roll/Pitch (Pitch, Roll, Pitch & Roll)"); speedItem.setActionCommand("Test Speed (0 -> 50 -> -50 -> 0)"); headingItem.setActionCommand("Test Heading (N, E, S, W, Circle)"); gpsItem.setActionCommand("Test GPS (up, right, down, left)"); wheelsItem.setActionCommand("Test Wheel Speeds and Amps"); TempItem.setActionCommand("Test Internal Temperature"); TempItem.setActionCommand("Test Pressure"); exitItem.addChangeListener(listener); rspItem.addChangeListener(listener); rcpItem.addChangeListener(listener); sapItem.addChangeListener(listener); cascadeItem.addChangeListener(listener); miniAllItem.addChangeListener(listener); openAllItem.addChangeListener(listener); linksItem.addChangeListener(listener); armItem.addChangeListener(listener); bogieItem.addChangeListener(listener); cameraItem.addChangeListener(listener); rpItem.addChangeListener(listener); speedItem.addChangeListener(listener); headingItem.addChangeListener(listener); gpsItem.addChangeListener(listener); wheelsItem.addChangeListener(listener); TempItem.addChangeListener(listener); PressItem.addChangeListener(listener); fileMenu.setMnemonic('F'); windowMenu.setMnemonic('W'); newWinMenu.setMnemonic('N'); testMenu.setMnemonic('T'); testRobotMenu.setMnemonic('R'); testPositionMenu.setMnemonic('P'); testVitalsMenu.setMnemonic('V'); testWeatherMenu.setMnemonic('W'); mb.add(fileMenu); mb.add(windowMenu); mb.add(testMenu); exitItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { if (ndds != null) ndds.disconnect(); // disconnect from telemetry, if connected System.exit(0); // exit program } }); rspItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { if (RSP.isClosed()) { // RSP is closed RSP = new RSPFrame("Robot State", false, true, true, true); RSP.setBounds(0, 0, 820, 575); deskpane.add(RSP); return; } else { // already a RSP panel around JOptionPane.showMessageDialog(NomadFrame.this, "A Robot State window already exists.", "Window Exists", JOptionPane.INFORMATION_MESSAGE); } } }); rcpItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { if (RCP.isClosed()) { // no existing RCP RCP = new RCPFrame("Robot Control", false, true, true, true); RCP.setBounds(0, 0, 820, 575); deskpane.add(RCP); return; } else { // already a RCP panel around JOptionPane.showMessageDialog(NomadFrame.this, "A Robot Control window already exists.", "Window Exists", JOptionPane.INFORMATION_MESSAGE); } } }); // sapItem.addActionListener(new ActionListener() { // public void actionPerformed(ActionEvent e) { // if (SAP.isClosed()) { // no existing SAP // //SAP = new SAPFrame("Science Autonomy", false, true, true, true); // //SAP.setBounds(0, 0, 820, 575); // //deskpane.add(SAP); // return; // } else { // already a SAP panel around // JOptionPane.showMessageDialog(NomadFrame.this, // "A Science Autonomy window "+ // "already exists.", // "Window Exists", // JOptionPane.INFORMATION_MESSAGE); // } // } // }); cascadeItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { deskpane.cascade(); } }); miniAllItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { deskpane.minimizeAll(); } }); openAllItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { deskpane.openAll(); } }); // Test functions linksItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { linkTestThread t = new linkTestThread(RSP); t.start(); } } }); armItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { armTestThread t = new armTestThread(RSP); t.start(); } } }); bogieItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { bogieTestThread t = new bogieTestThread(RSP); t.start(); } } }); cameraItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { fovTestThread t = new fovTestThread(RSP); t.start(); } } }); rpItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { rpTestThread t = new rpTestThread(RSP); t.start(); } } }); speedItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { speedTestThread t = new speedTestThread(RSP); t.start(); } } }); headingItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { headingTestThread t = new headingTestThread(RSP); t.start(); } } }); gpsItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { gpsTestThread t = new gpsTestThread(RSP); t.start(); } } }); wheelsItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { wheelTestThread t = new wheelTestThread(RSP); t.start(); } } }); TempItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { TempTestThread t = new TempTestThread(RSP); t.start(); } } }); PressItem.addActionListener(new ActionListener() { public void actionPerformed(ActionEvent e) { synchronized(RSP) { pressureTestThread t = new pressureTestThread(RSP); t.start(); } } }); return mb; } /** Sets the text in the status bar of the GUI. * @param s The string to be displayed in the status bar. */ public void showStatus(String s) { runnableText text = new runnableText(s, status); SwingUtilities.invokeLater(text); //status.setText(s); } // ------------------------------ // update functions for telemetry // ------------------------------ /** Gives the GUI the current roll of the robot. * @param r The roll of the robot. */ synchronized public void setRoll(float r) { RSP.setRoll(r); } /** Gives the GUI the current pitch of the robot. * @param p The pitch of the robot. */ synchronized public void setPitch(float p) { RSP.setPitch(p); } /** Gives the GUI the current speed of the robot. The speed in this case * is determined by the change in GPS position, and represents the actual * movement of the robot rather than the speed of the wheels, which may be * inaccurate due to wheel slippage, etc. * @param speed The speed of the robot. */ synchronized public void setRobotSpeed(int speed) { RSP.setRobotSpeed(speed); } /** Gives the GUI the current turn radius of the robot. * @param rad The turn radius of the robot. */ synchronized public void setRadius(int rad) { RSP.setRadius(rad); } /** Gives the GUI the current heading of the robot. * @param h The heading of the robot. */ synchronized public void setHeading(int h) { RSP.setHeading(h); } /** Gives the GUI the current angle of the first arm joint. * @param t angle of the first arm joint. */ synchronized public void setTheta(float t) { RSP.setTheta(t); } /** Gives the GUI the current angle of the second arm joint. * @param p The angle of the second arm joint. */ synchronized public void setPhi(float p) { RSP.setPhi(p); } /** Gives the GUI the current angle of the wrist joint. * @param a The angle of the wrist joint. */ synchronized public void setAlpha(float a) { RSP.setAlpha(a); } /** Gives the GUI the current bogie angle of the robot. * @param b The bogie angle of the robot. */ synchronized public void setBogie(float b) { RSP.setBogie(b); } /** Gives the GUI the current link positions of the robot's steering racks. * @param gr The right rack position. * @param gl The left rack position. */ synchronized public void setLinks(float gr, float gl) { RSP.setLinks(gr, gl); } /** Gives the GUI the current wheel speeds of the robot. * @param fr The front right wheel speed. * @param fl The front left wheel speed. * @param br The back right wheel speed. * @param bl The back left wheel speed. */ synchronized public void setWheelSpeed(int fr, int fl, int br, int bl) { RSP.setWheelSpeed(fr, fl, br, bl); } /** Gives the GUI the current amp states. * @param fre "Enable" status of the front right wheel amp. * @param fle "Enable" status of the front left wheel amp. * @param bre "Enable" status of the back right wheel amp. * @param ble "Enable" status of the back left wheel amp. * @param sre "Enable" status of the right steering amp. * @param sle "Enable" status of the left steering amp. * @param frf "Fault" status of the front right wheel amp. * @param flf "Fault" status of the front left wheel amp. * @param brf "Fault" status of the back right wheel amp. * @param blf "Fault" status of the back left wheel amp. * @param srf "Fault" status of the right steering amp. * @param slf "Fault" status of the left steering amp. */ synchronized public void setAmps(boolean fre, boolean fle, boolean bre, boolean ble, boolean sre, boolean sle, boolean frf, boolean flf, boolean brf, boolean blf, boolean srf, boolean slf) { RSP.setAmps(fre, fle, bre, ble, sre, sle, frf, flf, brf, blf, srf, slf); } /** Gives the GUI the current inside and outside temperatures. * @param i The inside temperature of the robot. * @param o The outside temperature. */ synchronized public void setTemp(int i, int o) { RSP.setTemp(i,o); } /** Gives the GUI the current GPS position of the robot. * @param x The x (north) position of the robot. * @param y The y (east) position of the robot. * @param z The z (up) position of the robot. */ synchronized public void setGPS(float x, float y, float z) { RSP.setGPS(x,y,z); } /** Gives the GUI the current pressure (weather). * @param p The current pressure. */ synchronized public void setPressure(int p) { RSP.setPressure(p); } /** Gives the GUI the current wind conditions. * @param s The current wind speed. * @param g The current wind gust. * @param c The current wind chill. * @param d The current wind direction. */ synchronized public void setWind(short s, short g, int c, short d) { RSP.setWind(s,g,c,d); } /** Gives the GUI the most recent odomoter update (new distance travelled). * @param dist The amount travelled since the last odometer update. */ synchronized public void setOdometer(long dist) { RSP.setOdometer(dist); } /** Gives the GUI the change in time (for time ON) since the last update. * @param t The amount of time passed since the last time update. */ synchronized public void setTime(long t) { RSP.setTime(t); } /** Gives the GUI the current driving mode of the robot. Currently, the * value 0 gives a driving mode of "Autonomous", the value 1 gives a * driving mode of "Manual", and the value 2 gives a driving mode of * "Independent." * @param m The driving mode of the robot. */ synchronized public void setDriveMode(int m) { RSP.setDriveMode(m); } /** Gives the GUI the value of the currents for each motor. The motors are * numbered as follows: * * @param c The commanded currents of each motor. * @param m The monitored currents of each motor. * @param s The sensed currents of each motor.*/ synchronized public void setCurrents(float c[], float m[], float s[]) { RSP.setCurrents(c, m, s); } /** Gives the GUI the current motor speeds and power consumption. The motors * are numbered as follows: * * @param p The current power consumption of each motor. * @param s The current speed of each motor.*/ synchronized public void setMotors(float p[], float s[]) { RSP.setMotors(p, s); } /** Gives the GUI the current field of view of the hi-res camera. * @param p The pan of the hi-res camera. * @param t The tilt of the hi-res camera. * @param f The field of view of the hi-res camera, in degrees.*/ synchronized public void setFOV(float p, float t, float f) { RSP.setFOV(p,t,f); } } class statusListener implements ChangeListener { NomadFrame nframe; public statusListener(NomadFrame n) { nframe = n; } public void stateChanged(ChangeEvent e) { JMenuItem b = (JMenuItem)e.getSource(); if (b.isArmed()) nframe.showStatus(b.getActionCommand()); } }