GrxRangeSensorView.java

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/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * General Robotix Inc.
 * National Institute of Advanced Industrial Science and Technology (AIST) 
 */
/*
 *  GrxRangeSensorView.java
 *
 *  Copyright (C) 2007 GeneralRobotix, Inc.
 *  All Rights Reserved
 *
 *  @author Yuichiro Kawasumi (General Robotix, Inc.)
 */

package com.generalrobotix.ui.view;

import java.util.ArrayList;
import java.util.Iterator;
import java.util.List;

import jp.go.aist.hrp.simulator.SensorState;

import org.eclipse.swt.SWT;
import org.eclipse.swt.events.PaintEvent;
import org.eclipse.swt.events.PaintListener;
import org.eclipse.swt.events.SelectionEvent;
import org.eclipse.swt.events.SelectionListener;
import org.eclipse.swt.graphics.Rectangle;
import org.eclipse.swt.layout.GridData;
import org.eclipse.swt.layout.GridLayout;
import org.eclipse.swt.widgets.Canvas;
import org.eclipse.swt.widgets.Combo;
import org.eclipse.swt.widgets.Composite;

import com.generalrobotix.ui.GrxBaseItem;
import com.generalrobotix.ui.GrxBasePlugin;
import com.generalrobotix.ui.GrxBaseView;
import com.generalrobotix.ui.GrxBaseViewPart;
import com.generalrobotix.ui.GrxPluginManager;
import com.generalrobotix.ui.grxui.Activator;
import com.generalrobotix.ui.item.GrxModelItem;
import com.generalrobotix.ui.item.GrxSensorItem;
import com.generalrobotix.ui.item.GrxWorldStateItem;
import com.generalrobotix.ui.item.GrxWorldStateItem.CharacterStateEx;
import com.generalrobotix.ui.item.GrxWorldStateItem.WorldStateEx;

@SuppressWarnings("serial")
public class GrxRangeSensorView extends GrxBaseView implements PaintListener{
    public static final String TITLE = "Range Sensor View";

    private Composite canvas_;
    private GrxWorldStateItem currentWorld_ = null;
    private GrxModelItem currentModel_ = null;
    private GrxSensorItem currentSensor_ = null;
    private SensorState  currentSensorState_ = null;
    
    private Combo comboModelName_;
    private Combo comboSensorName_;
    private List<GrxModelItem> modelList_;
    private List<GrxSensorItem> sensorList_;
    
    public GrxRangeSensorView(String name, GrxPluginManager manager, GrxBaseViewPart vp, Composite parent) {
        super(name, manager, vp, parent);
        
        GridLayout layout = new GridLayout(1, false);
        composite_.setLayout(layout);
        
        Composite northPane = new Composite(composite_,SWT.NONE);
        northPane.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
        GridLayout gridLayout = new GridLayout(2,true);
        northPane.setLayout(gridLayout);
        
        comboModelName_ = new Combo(northPane,SWT.READ_ONLY);
        comboModelName_.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
        modelList_ = new ArrayList<GrxModelItem>();
        
        comboModelName_.addSelectionListener(new SelectionListener(){
            public void widgetSelected(SelectionEvent e) {
                GrxModelItem item = modelList_.get(comboModelName_.getSelectionIndex());
                if (item == null || item == currentModel_)
                    return;

                currentModel_ = item;
                List<GrxSensorItem> sensors = currentModel_.getSensors("Range");
                comboSensorName_.removeAll();
                sensorList_.clear();
                if (sensors != null){
                        for (int i=0; i<sensors.size(); i++){
                                comboSensorName_.add(sensors.get(i).getName());
                                sensorList_.add(sensors.get(i));
                        }
                        if(sensors.size()>0){
                                comboSensorName_.select(0);
                                comboSensorName_.notifyListeners(SWT.Selection, null);
                        }
                }else
                        updateCanvas(null);
                        
            }
                        public void widgetDefaultSelected(SelectionEvent e) {
                        }
        });

        comboSensorName_ = new Combo(northPane,SWT.READ_ONLY);
        comboSensorName_.setLayoutData(new GridData(GridData.FILL_HORIZONTAL));
        sensorList_ = new ArrayList<GrxSensorItem>();
        
        comboSensorName_.addSelectionListener(new SelectionListener(){
                public void widgetSelected(SelectionEvent e){
                        currentSensor_ = sensorList_.get(comboSensorName_.getSelectionIndex());
                        if(currentWorld_!=null)
                                updateCanvas(currentWorld_.getValue());
                }
                        public void widgetDefaultSelected(SelectionEvent e) {
                        }
        });
        canvas_ = new Canvas(composite_,SWT.NONE);
        canvas_.addPaintListener(this);
        canvas_.setLayoutData(new GridData(GridData.FILL_BOTH));

        setUp();
        manager_.registerItemChangeListener(this, GrxModelItem.class);
        manager_.registerItemChangeListener(this, GrxWorldStateItem.class);
   }

    public void setUp(){
        Iterator<GrxModelItem> it = modelList_.iterator();
        while(it.hasNext())
                comboModelName_.remove(it.next().getName());
        modelList_ = manager_.<GrxModelItem>getSelectedItemList(GrxModelItem.class);
        it = modelList_.iterator();
            while(it.hasNext())
                comboModelName_.add(it.next().getName());
            if(comboModelName_.getItemCount()>0){
                        comboModelName_.select(0);
                        comboModelName_.notifyListeners(SWT.Selection, null);
            }
                
                if(currentWorld_ != null){
                        currentWorld_.deleteObserver(this);
                        currentWorld_.deletePosObserver(this);
                }
        currentWorld_ = manager_.<GrxWorldStateItem>getSelectedItem(GrxWorldStateItem.class, null);
        if(currentWorld_!=null){
                currentWorld_.addObserver(this);
                currentWorld_.addPosObserver(this);
                updateCanvas(currentWorld_.getValue());
        }else
                updateCanvas(null);

    }
    
    public void paintControl(PaintEvent e) {
        if (currentSensor_ != null && currentSensorState_ != null){
                double step = currentSensor_.getDbl("scanStep", 0.1);
                double maxD = currentSensor_.getDbl("maxDistance", 10.0);
                if (currentSensor_.id_ >= 0 && currentSensor_.id_ < currentSensorState_.range.length){
                Rectangle bounds = canvas_.getBounds();
                if(bounds.height < bounds.width) {
                        bounds.x = (bounds.width - bounds.height) / 2;
                        bounds.width = bounds.height;
                        bounds.y = 0;
                } else {
                        bounds.y = (bounds.height - bounds.width) / 2;
                        bounds.height = bounds.width;
                        bounds.x = 0;
                }
                e.gc.drawArc(bounds.x, bounds.y, bounds.width-1, bounds.height-1,0,360);
                        double [] distances = currentSensorState_.range[currentSensor_.id_];
                        int centerx = bounds.x + bounds.width / 2;
                        int centery = bounds.y + bounds.height / 2;
                        double scale = bounds.width/(maxD*2);
                        e.gc.setBackground(Activator.getDefault().getColor("darkGray"));
                        int stepAngle = (int)(step*57.29579+0.5);
                        int half = (int)(distances.length/2);
                        double startAngle = 1.570796-step*half-step/2;
                        for(int i=0; i<distances.length; i++){
                                double distance = distances[i];
                                if(distance==0)
                                        distance = maxD;
                                int iDistance = (int)(scale*distance);
                                e.gc.fillArc(centerx-iDistance, centery-iDistance, iDistance*2, iDistance*2, (int)(startAngle*57.29579), stepAngle);
                                startAngle += step;
                        }
                }
        }
    }
    
    public void updatePosition(GrxBasePlugin plugin, Integer arg_pos){
        if(currentWorld_!=plugin) return;

        int pos = arg_pos.intValue();
        WorldStateEx state = currentWorld_.getValue(pos);
        updateCanvas(state);
    }
    
    private void updateCanvas( WorldStateEx state ){
        if (state != null  && currentModel_ != null) {
                CharacterStateEx charStat = state.get(currentModel_.getName());
                if (charStat != null ) {
                        currentSensorState_ = charStat.sensorState;
                        canvas_.redraw();
                }
        }else{
                currentSensorState_ = null;
                canvas_.redraw();
        }
    }
    
    public void registerItemChange(GrxBaseItem item, int event){
        if(item instanceof GrxModelItem){
                GrxModelItem modelItem = (GrxModelItem) item;
                switch(event){
                case GrxPluginManager.ADD_ITEM:
                        if(!modelList_.contains(modelItem)){
                                modelList_.add(modelItem);
                                comboModelName_.add(modelItem.getName());
                                if(currentModel_==null){
                                        comboModelName_.select(0);
                                        comboModelName_.notifyListeners(SWT.Selection, null);
                                }
                        }
                        break;
                case GrxPluginManager.REMOVE_ITEM:
                        if(modelList_.contains(modelItem)){
                                modelList_.remove(modelItem);
                                comboModelName_.remove(modelItem.getName());
                                if(currentModel_==modelItem){
                                        if(modelList_.size()>0){
                                                comboModelName_.select(0);
                                                comboModelName_.notifyListeners(SWT.Selection, null);
                                        }else
                                                currentModel_=null;
                                }
                        }
                        break;
                default:
                        break;
                }
        }else if(item instanceof GrxWorldStateItem){
                GrxWorldStateItem worldStateItem = (GrxWorldStateItem) item;
                switch(event){
                case GrxPluginManager.SELECTED_ITEM:
                        if(currentWorld_!=worldStateItem){
                                currentWorld_ = worldStateItem;
                                currentWorld_.addObserver(this);
                                currentWorld_.addPosObserver(this);
                                updateCanvas(currentWorld_.getValue());
                        }
                        break;
                case GrxPluginManager.REMOVE_ITEM:
                case GrxPluginManager.NOTSELECTED_ITEM:
                        if(currentWorld_==worldStateItem){
                                currentWorld_.deleteObserver(this);
                                currentWorld_.deletePosObserver(this);
                                currentWorld_ = null;
                                updateCanvas(null);
                        }
                        break;
                default:
                        break;
                }
        }
    }
    
    public void shutdown() {
        manager_.removeItemChangeListener(this, GrxModelItem.class);
        manager_.removeItemChangeListener(this, GrxWorldStateItem.class);
        if(currentWorld_!=null) {
                         currentWorld_.deleteObserver(this);
                         currentWorld_.deletePosObserver(this);
        }
        }
}