ControllerPanel.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) 
 */
package com.generalrobotix.ui.view.simulation;

import java.io.File;
import java.util.Iterator;
import java.util.List;
import java.util.Vector;

import org.eclipse.jface.dialogs.MessageDialog;
import org.eclipse.jface.viewers.ArrayContentProvider;
import org.eclipse.jface.viewers.ColumnWeightData;
import org.eclipse.jface.viewers.ILabelProviderListener;
import org.eclipse.jface.viewers.ITableLabelProvider;
import org.eclipse.jface.viewers.TableLayout;
import org.eclipse.jface.viewers.TableViewer;
import org.eclipse.swt.SWT;
import org.eclipse.swt.events.SelectionEvent;
import org.eclipse.swt.events.SelectionListener;
import org.eclipse.swt.graphics.Image;
import org.eclipse.swt.layout.FillLayout;
import org.eclipse.swt.layout.GridData;
import org.eclipse.swt.layout.GridLayout;
import org.eclipse.swt.widgets.Button;
import org.eclipse.swt.widgets.Combo;
import org.eclipse.swt.widgets.Composite;
import org.eclipse.swt.widgets.Control;
import org.eclipse.swt.widgets.FileDialog;
import org.eclipse.swt.widgets.Label;
import org.eclipse.swt.widgets.TableColumn;
import org.eclipse.swt.widgets.Text;

import com.generalrobotix.ui.grxui.Activator;
import com.generalrobotix.ui.grxui.GrxUIPerspectiveFactory;
import com.generalrobotix.ui.GrxBaseItem;
import com.generalrobotix.ui.GrxPluginManager;
import com.generalrobotix.ui.item.GrxModelItem;
import com.generalrobotix.ui.util.GrxCorbaUtil;
import com.generalrobotix.ui.util.GrxXmlUtil;
import com.generalrobotix.ui.util.MessageBundle;
import com.generalrobotix.ui.view.graph.SEDoubleTextWithSpinForSWT;

@SuppressWarnings("serial") //$NON-NLS-1$
public class ControllerPanel extends Composite{
    private GrxPluginManager manager_;
    private TableViewer viewer_;
    //private JScrollPane scrollPane_;
    
    private Vector<GrxModelItem> vecRobot_;
    
    private Button btnRemove_;
    private Button btnEdit_;
    
    private ControllerEditorPanel editorPanel_;
    
    private static final String ATTRIBUTE_CONTROLLER = "controller"; //$NON-NLS-1$
    private static final String ATTRIBUTE_CONTROL_TIME = "controlTime"; //$NON-NLS-1$
    private static final String ATTRIBUTE_SETUP_DIRECTORY = "setupDirectory"; //$NON-NLS-1$
    private static final String ATTRIBUTE_SETUP_COMMAND = "setupCommand"; //$NON-NLS-1$
    
    private static final int BUTTONS_HEIGHT = 26;
    
    private final String[] clmName_ ={
        MessageBundle.get("panel.controller.table.robot"), //$NON-NLS-1$
        MessageBundle.get("panel.controller.table.controller"), //$NON-NLS-1$
        MessageBundle.get("panel.controller.table.controlTime"), //$NON-NLS-1$
        MessageBundle.get("panel.controller.table.setupDirectory"), //$NON-NLS-1$
        MessageBundle.get("panel.controller.table.setupCommand") //$NON-NLS-1$
    };
    private final String[] attrName_ = {
        "dummy", //$NON-NLS-1$
        ATTRIBUTE_CONTROLLER,
        ATTRIBUTE_CONTROL_TIME,
        ATTRIBUTE_SETUP_DIRECTORY,
        ATTRIBUTE_SETUP_COMMAND
    };
    
    public ControllerPanel(Composite parent,int style, GrxPluginManager manager) {
        super(parent, style);
        
        manager_ = manager;
        vecRobot_ = new Vector<GrxModelItem>();
        setLayout(new GridLayout(1,false));
       
        viewer_ = new TableViewer(this, SWT.SINGLE | SWT.BORDER | SWT.V_SCROLL | SWT.H_SCROLL | SWT.FULL_SELECTION);
        viewer_.setContentProvider(new ArrayContentProvider());
        viewer_.setLabelProvider(new ControllerPanelTableLabelProvider());
        TableLayout tableLayout = new TableLayout();
        for(int i=0;i<clmName_.length;i++){
            new TableColumn(viewer_.getTable(),i).setText(clmName_[i]);
            tableLayout.addColumnData(new ColumnWeightData(1,true));
        }
        viewer_.getTable().setLayout(tableLayout);
        viewer_.getTable().setHeaderVisible(true);
        
        viewer_.getTable().addSelectionListener(new SelectionListener(){

            public void widgetDefaultSelected(SelectionEvent e) {
            }

            public void widgetSelected(SelectionEvent e) {
                int row = viewer_.getTable().getSelectionIndex();
                if(row>=0 && row<vecRobot_.size()){
                    editorPanel_.setNode(vecRobot_.get(row));
                }
            }
        });
        viewer_.getTable().setLinesVisible(true);
        viewer_.getTable().setLayoutData(new GridData(GridData.FILL_BOTH));
        viewer_.setInput(vecRobot_);
        Composite pnlBttn = new Composite(this,SWT.NONE);
        GridData gridData = new GridData(GridData.FILL_HORIZONTAL);
        gridData.heightHint = BUTTONS_HEIGHT;
        pnlBttn.setLayoutData(gridData);
        pnlBttn.setLayout(new FillLayout(SWT.HORIZONTAL));
        
        btnRemove_ = new Button(pnlBttn,SWT.PUSH);
        btnRemove_.setText(MessageBundle.get("panel.detach")); //$NON-NLS-1$
        btnRemove_.addSelectionListener(new SelectionListener(){

            public void widgetDefaultSelected(SelectionEvent e) {
            }

            public void widgetSelected(SelectionEvent e) {
                int row = viewer_.getTable().getSelectionIndex();
                if (row >= 0 && row < vecRobot_.size()) {
                    if (_checkDialog(MessageBundle.get("controller.remove"))) //$NON-NLS-1$
                    {
                        GrxModelItem node = vecRobot_.get(row);
                        try {
                            node.setProperty(ATTRIBUTE_CONTROLLER, ""); //$NON-NLS-1$
                            node.setProperty(ATTRIBUTE_CONTROL_TIME, ""); //$NON-NLS-1$
                            node.setProperty(ATTRIBUTE_SETUP_DIRECTORY, ""); //$NON-NLS-1$
                            node.setProperty(ATTRIBUTE_SETUP_COMMAND, ""); //$NON-NLS-1$
                        } catch (Exception ex) {
                            ex.printStackTrace();
                        }
                        _repaint();
                    }
                }
            }
            
        });
        
        btnEdit_ = new Button(pnlBttn,SWT.PUSH);
        btnEdit_.setText(MessageBundle.get("panel.edit")); //$NON-NLS-1$
        btnEdit_.addSelectionListener(new SelectionListener(){

            public void widgetDefaultSelected(SelectionEvent e) {
            }

            public void widgetSelected(SelectionEvent e) {
                int row = viewer_.getTable().getSelectionIndex();
                if(row>=0 && row<vecRobot_.size()){
                    _setButtonEnabled(false);
                    editorPanel_.startEditMode(vecRobot_.get(row));
                }
            }
            
        });
        
        String[] names = GrxCorbaUtil.getObjectNameList();
        if(names == null){
            names = new String[0];
        }
        
        Composite editorPanelComposite = new Composite(this,SWT.NONE);
        GridData editorPanelGridData = new GridData(GridData.FILL_HORIZONTAL);
        editorPanelComposite.setLayoutData(editorPanelGridData);
        editorPanelComposite.setLayout(new FillLayout(SWT.HORIZONTAL));
        
        editorPanel_ = new ControllerEditorPanel(editorPanelComposite,SWT.NONE,names);
        
        updateTableFont();
    }
    
    
    
    private boolean _checkDialog(String msg) {
        boolean overwrite = MessageDialog.openQuestion(getShell(), MessageBundle.get("dialog.overwrite"), msg); //$NON-NLS-1$
        return overwrite;
    }

    private void _setButtonEnabled(boolean flag) {
        btnRemove_.setEnabled(flag);
        btnEdit_.setEnabled(flag);
        viewer_.getTable().setEnabled(flag);
        _repaint();
    }

    private void _repaint() {
        viewer_.setInput(vecRobot_);
        viewer_.getTable().update();
        //viewer_.columnMarginChanged(new ChangeEvent(viewer_) );
        //scrollPane_.repaint();
    }
    
    public void setEnabled(boolean flag) {
        super.setEnabled(flag);
        editorPanel_.doCancel();
        _setButtonEnabled(flag);
    }
    
    public double getMaxControllTime() {
        double maxTime = 0;
        boolean flag = false;
        Iterator it = manager_.getItemMap(GrxModelItem.class).values().iterator();
        while (it.hasNext()) {
            GrxBaseItem node = (GrxBaseItem)it.next();
            if (node instanceof GrxModelItem) {
                String controllName = node.getProperty(ATTRIBUTE_CONTROLLER);
                if (controllName != null) {
                    double t = node.getDbl(ATTRIBUTE_CONTROL_TIME, 0.001);
                    if (maxTime < t) {
                        maxTime = t;
                        flag = true;
                    }
                }
            }
                
        }

        if (flag) 
            return maxTime;
        return Double.MAX_VALUE;
    }


    //--------------------------------------------------------------------
    private class ControllerEditorPanel extends Composite {
        //private static final int MODE_ADD = 0 ;
        private static final int MODE_EDIT = 1 ;

        private static final int COMBO_WIDTH = 200;
        private static final int BUTTON_WIDTH = 50;
        
        private int mode_;
        private GrxBaseItem node_;
        private Combo boxController_;
        private SEDoubleTextWithSpinForSWT spinControlTime_;
        private Text tfSetupDirectory_;
        private Text tfSetupCommand_;
        private Button btnOk_,btnCancel_;
        private ControllerBridgePanel controllerBridge_;
        
        public ControllerEditorPanel(Composite parent,int style,String[] initialNames) {
            super(parent,style);
            setLayout(new GridLayout(5,true));

            Label lbl = new Label(this,SWT.SHADOW_NONE);
            lbl.setText(MessageBundle.get("panel.controller.controller")); //$NON-NLS-1$
            lbl.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
            
            boxController_ = new Combo(this,SWT.DROP_DOWN);
            boxController_.setItems(initialNames);
            boxController_.select(0);
            GridData gridData = new GridData();
            gridData.widthHint = COMBO_WIDTH;
            gridData.horizontalSpan = 2;
            boxController_.setLayoutData(gridData);
            boxController_.setItems(new String[0]);
            
                        // Control Time
            lbl = new Label(this,SWT.SHADOW_NONE);
            lbl.setText(MessageBundle.get("panel.controller.controlTime")); //$NON-NLS-1$
            lbl.setLayoutData(new GridData(GridData.VERTICAL_ALIGN_CENTER|GridData.HORIZONTAL_ALIGN_END));
            
            spinControlTime_ = new SEDoubleTextWithSpinForSWT(this,SWT.NONE,0,10,0.001);
            gridData = new GridData(GridData.FILL_HORIZONTAL);
            spinControlTime_.setLayoutData(gridData);
            
            // Setup Command Working Directory
            lbl = new Label(this,SWT.SHADOW_NONE);
            lbl.setText(MessageBundle.get("panel.controller.setupDirectory")); //$NON-NLS-1$
            lbl.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
            
            tfSetupDirectory_ = new Text(this,SWT.DROP_DOWN);
            tfSetupDirectory_.setText(GrxXmlUtil.expandEnvVal("$(PROJECT_DIR)")); //$NON-NLS-1$
            gridData = new GridData(GridData.FILL_HORIZONTAL);
            gridData.horizontalSpan = 2;
            tfSetupDirectory_.setLayoutData(gridData);
            
            Button btnCmdRef = new Button(this, SWT.PUSH);
            GridData btnGridData = new GridData(GridData.VERTICAL_ALIGN_END);
            btnGridData.verticalSpan = 2;
            btnCmdRef.setLayoutData(btnGridData);
            btnCmdRef.setText(MessageBundle.get("panel.controller.selectFile")); //$NON-NLS-1$
            
            Button btnCreate = new Button(this, SWT.PUSH);
           // btnCreate.setLayoutData(btnGridData);
            btnCreate.setText(MessageBundle.get("panel.controller.newFile")); //$NON-NLS-1$
            btnCreate.addSelectionListener(new SelectionListener(){
                                public void widgetDefaultSelected(SelectionEvent e) {                           
                                }
                                public void widgetSelected(SelectionEvent e) {          
                                        controllerBridge_ = new ControllerBridgePanel(getShell());
                                        int row = viewer_.getTable().getSelectionIndex();
                            GrxModelItem model = vecRobot_.get(row);
                        controllerBridge_.setRobot(model);
                        String controllerName = boxController_.getText(); 
                        if(controllerName==""){
                                MessageDialog.openError(getShell(), MessageBundle.get("dialog.error.title"), 
                                                MessageBundle.get("panel.controller.setControllerName"));
                                return;
                        }
                        controllerBridge_.setControllerName(controllerName);
                        controllerBridge_.setProjectControllerName(controllerName);
                        controllerBridge_.setControlTime(spinControlTime_.getValueDouble());
                            controllerBridge_.open();
                                }
            });

                        // Setup Command
            lbl = new Label(this,SWT.SHADOW_NONE);
            lbl.setText(MessageBundle.get("panel.controller.setupCommand")); //$NON-NLS-1$
            lbl.setLayoutData(new GridData(GridData.HORIZONTAL_ALIGN_END));
            
            tfSetupCommand_ = new Text(this, SWT.DROP_DOWN);
            tfSetupCommand_.setLayoutData(gridData);

            btnCmdRef.addSelectionListener(new SelectionListener(){
                public void widgetDefaultSelected(SelectionEvent e) {
                }

                public void widgetSelected(SelectionEvent e) {
                    FileDialog fdlg = new FileDialog( GrxUIPerspectiveFactory.getCurrentShell(), SWT.OPEN );
                    fdlg.setFilterPath(tfSetupDirectory_.getText());
                    String fPath = fdlg.open();
                    if( fPath != null ) {
                        File selFile = new File(fPath); 
                        tfSetupDirectory_.setText(selFile.getParent());
                        tfSetupCommand_.setText(selFile.getName());
                    }
                }
            });
            
            Button btnEdit_ = new Button(this, SWT.PUSH);
            btnEdit_.setText(MessageBundle.get("panel.controller.openFile"));
            btnEdit_.addSelectionListener(new SelectionListener(){
                                public void widgetDefaultSelected(SelectionEvent e) {                           
                                }
                                public void widgetSelected(SelectionEvent e) {          
                            controllerBridge_ = new ControllerBridgePanel(getShell());
                            if(!controllerBridge_.load(tfSetupDirectory_.getText()+File.separator+tfSetupCommand_.getText())){
                                MessageDialog.openError(getShell(), MessageBundle.get("dialog.error.title"),
                                                MessageBundle.get("panel.controller.cantOpenFile"));
                                return;
                            }
                            int row = viewer_.getTable().getSelectionIndex();
                            GrxModelItem model = vecRobot_.get(row);
                        controllerBridge_.setRobot(model);
                        String controllerName = boxController_.getText(); 
                        if(controllerName==""){
                                MessageDialog.openError(getShell(), MessageBundle.get("dialog.error.title"), 
                                                MessageBundle.get("panel.controller.setControllerName"));
                                return;
                        }
                        if(!controllerBridge_.setProjectControllerName(controllerName)){
                                if(MessageDialog.openQuestion(getShell(), MessageBundle.get("dialog.error.title"), 
                                                MessageBundle.get("panel.controller.invalidControllerName")))                           
                                        controllerBridge_.setControllerName(controllerName);
                        }
                        if(!controllerBridge_.checkNameServer()){
                                if(MessageDialog.openQuestion(getShell(), MessageBundle.get("dialog.error.title"),
                                                MessageBundle.get("panel.controller.invalidNameServer")))
                                        controllerBridge_.setNameServer();
                        }
                        controllerBridge_.setControlTime(spinControlTime_.getValueDouble());
                            controllerBridge_.open();

                                }
            });
            
            btnOk_ = new Button(this,SWT.PUSH);
            btnOk_.setText(MessageBundle.get("dialog.okButton")); //$NON-NLS-1$
            btnOk_.addSelectionListener(new SelectionListener(){

                public void widgetDefaultSelected(SelectionEvent e) {
                }

                public void widgetSelected(SelectionEvent e) {
                    switch (mode_) {
                        case MODE_EDIT:
                            _setAttribute(node_);
                            break;
                        }
                        setEnabled(false);
                        viewer_.refresh();
                }
                
                private boolean _setAttribute(GrxBaseItem node) {
                    try {
                        node.setProperty(
                            ATTRIBUTE_CONTROLLER,
                            boxController_.getText()
                        );
                        node.setProperty(
                            ATTRIBUTE_CONTROL_TIME,
                            spinControlTime_.getValue().toString()
                        );
                        node.setProperty(
                            ATTRIBUTE_SETUP_DIRECTORY,
                            tfSetupDirectory_.getText()
                        );
                        node.setProperty(
                            ATTRIBUTE_SETUP_COMMAND,
                            tfSetupCommand_.getText()
                        );
                    } catch (Exception ex) {
                        MessageDialog.openWarning(getShell(),"", MessageBundle.get("message.attributeerror")); //$NON-NLS-1$ //$NON-NLS-2$
                        return false;
                        //ex.printStackTrace();
                    }
                    return true;
                }
                
            });
            gridData = new GridData(GridData.HORIZONTAL_ALIGN_CENTER);
            gridData.widthHint = BUTTON_WIDTH;
            btnOk_.setLayoutData(gridData);
            
            btnCancel_ = new Button(this,SWT.PUSH);
            btnCancel_.setText(MessageBundle.get("dialog.cancelButton")); //$NON-NLS-1$
            btnCancel_.addSelectionListener(new SelectionListener() {
                    public void widgetDefaultSelected(SelectionEvent e) {
                    }

                    public void widgetSelected(SelectionEvent e) {
                        doCancel();
                    }
                }
            );
            gridData = new GridData();
            //gridData.widthHint = BUTTON_WIDTH;
            btnCancel_.setLayoutData(gridData);
            this.layout();
        }

        public void startEditMode(GrxModelItem node) {
            mode_ = MODE_EDIT;
            String[] names = GrxCorbaUtil.getObjectNameList();
            if(names == null){
                names = new String[0];
            }
            boxController_.removeAll();
            boxController_.setItems(names);
            setNode(node);
            setEnabled(true);
        }
        
        public void doCancel() {
            setEnabled(false);
        }
        
        public void setNode(GrxModelItem node) {
            try {
                boolean is_set_boxctrl = false;
                String attr = node.getProperty(ATTRIBUTE_CONTROLLER, "");
                for (int i = 0; i < boxController_.getItemCount(); i ++) {
                    if (attr.equals(boxController_.getItem(i).toString())) {
                        is_set_boxctrl = true;
                        boxController_.select(i);
                        break;
                    }
                }
                if(is_set_boxctrl == false)
                    boxController_.setText(attr);

                spinControlTime_.setValue(node.getProperty(ATTRIBUTE_CONTROL_TIME, "0.001")); //$NON-NLS-1$
                tfSetupDirectory_.setText(node.getStr(ATTRIBUTE_SETUP_DIRECTORY ,GrxXmlUtil.expandEnvVal("$(PROJECT_DIR)"))); //$NON-NLS-1$
                
                attr = node.getStr(ATTRIBUTE_SETUP_COMMAND, ""); //$NON-NLS-1$
                tfSetupCommand_.setText(attr);
            } catch (Exception ex) {
                ex.printStackTrace();
            }
            node_ = node;
        }
        
        public void setEnabled(boolean flag) {
            super.setEnabled(flag);
            Control[] cmps = this.getChildren();
            for(int i = 0; i < cmps.length; i ++) {
                cmps[i].setEnabled(flag);
            }
            _setButtonEnabled(!flag);
        }
        
    }
    
    public void childAdded(GrxModelItem node) {
          int i;
          for (i = 0; i < vecRobot_.size(); i ++) {
              vecRobot_.get(i);
              if ((vecRobot_.get(i)).getName().compareTo(node.getName()) > 0)
                break;
            //  if (viewable.compareTo(node) > 0)
            //      break;
          }
          vecRobot_.add(i, node);
          _repaint();
          return;
  }

    private class ControllerPanelTableLabelProvider implements ITableLabelProvider{

        public Image getColumnImage(Object element, int columnIndex) {
            return null;
        }

        public String getColumnText(Object element, int columnIndex) {
            GrxModelItem node = (GrxModelItem)element;
            String str = null;
            if (columnIndex ==0){
                return node.getName();
            }
            try{
                str = node.getStr(attrName_[columnIndex]);
            }catch(Exception ex){
                ex.printStackTrace();
                return ""; //$NON-NLS-1$
            }
            if (str == null)
              str = ""; //$NON-NLS-1$
            
            return str;
        }

        public void addListener(ILabelProviderListener listener) {
        }

        public void dispose() {
        }

        public boolean isLabelProperty(Object element, String property) {
            return false;
        }

        public void removeListener(ILabelProviderListener listener) {
        }

        
    }
    
  public void childRemoved(GrxModelItem node) {
      if(node instanceof GrxModelItem){
          vecRobot_.remove(node);
          _repaint();
          editorPanel_.doCancel();
          return;
      }
  }
  
  public void updateRobots(List<GrxModelItem> list) {
    editorPanel_.doCancel();
    vecRobot_ = new Vector<GrxModelItem>();
    for (int i=0; i<list.size(); i++) {
      GrxBaseItem item = list.get(i);
      if (item instanceof GrxModelItem && ((GrxModelItem)item).isRobot()) 
        vecRobot_.add(list.get(i));
    }
    setEnabled(vecRobot_.size() > 0);
    viewer_.setInput(vecRobot_);
    _repaint();
  }
   
  public int getRobotNum() {
    return vecRobot_.size();
  }

  public void updateTableFont(){
    viewer_.getTable().setFont(Activator.getDefault().getFont("preference_table"));
  }
}