SemanticMapEditorForms.java

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package edu.tum.cs.ias.knowrob.map;

import java.awt.Container;
import java.awt.Frame;
import java.awt.event.KeyEvent;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Calendar;
import java.util.HashMap;
import java.util.Vector;

import javax.vecmath.Matrix4d;
import javax.vecmath.Quat4d;
import javax.vecmath.Vector3d;

import org.semanticweb.owlapi.io.RDFXMLOntologyFormat;
import org.semanticweb.owlapi.model.*;

import controlP5.Button;
import controlP5.ControlP5;
import controlP5.ListBox;
import controlP5.ListBoxItem;
import controlP5.Textfield;
import controlP5.Textlabel;
import edu.tum.cs.ias.knowrob.owl.JointInstance;
import edu.tum.cs.ias.knowrob.owl.OWLClass;
import edu.tum.cs.ias.knowrob.owl.OWLThing;
import edu.tum.cs.ias.knowrob.owl.ObjectInstance;
import edu.tum.cs.ias.knowrob.owl.utils.OWLFileUtils;
import edu.tum.cs.ias.knowrob.owl.utils.OWLImportExport;
import edu.tum.cs.ias.knowrob.prolog.PrologInterface;
import edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils;
import edu.tum.cs.ias.knowrob.vis.applets.SemanticMapVisApplet;
import edu.tum.cs.ias.knowrob.vis.themes.GreyTheme;
import processing.core.PApplet;



public class SemanticMapEditorForms extends PApplet {

        private static final long serialVersionUID = -4266603809510554926L;

        // visualization and user interface stuff

        private SemanticMapVisApplet mapVisApplet = null;
        public ControlP5 controlP5;
        boolean[] keys = new boolean[526];
        boolean selectParentObj = false; // switch mode from normal obj selection to parent obj selection
        boolean selectChildObj = false;  // switch mode from normal obj selection to child obj selection
        
        // form elements
        Textfield t_id;
        ListBox t_types;
        
        Textfield[] t_dim;
        Textfield[] t_matrix;
        Textfield[] t_quat;
        Textfield[] t_pos;
        Textfield[] t_qpos;
        Textfield[] t_jointdir;
        Textfield[] t_jointlim;
        public Textfield t_filename;
        Textfield t_namespace;
        Textfield t_map_id;
        Textfield t_parent;
        Textfield t_radius;
        Textlabel l_jointdir;
        Textlabel l_jointlim;
        Textlabel l_radius;
        Textlabel l_dim;
        Button[] b_rot;
        Button b_child;
        Button b_new_obj;
        Button b_del_obj;
        Button b_update;
        Textfield t_child;
        ArrayList<Textfield> t_all_simple; // for using the tab key
        ArrayList<Textfield> t_all_matrix; // for using the tab key
        ArrayList<Textfield> t_all_quat; // for using the tab key
        ArrayList<Textfield> t_all_joint; // for using the tab key
        
        public enum Tab {SIMPLE, MATRIX, QUATERNION, JOINTS, SETTINGS};
        Tab tab;
        
        
        
        
        HashMap<String, ObjectInstance> objects;

        boolean cp5_initialized = false;
        
        String map_id = "";
        String map_namespace = "";
        
        
        protected static final HashMap<Integer, String> objClasses = new HashMap<Integer, String>();
        static {
                objClasses.put(1022,   "Sushi");
                objClasses.put(1023,   "BentoBox");
                objClasses.put(1024,   "Riceball");
                objClasses.put(1025,   "Pizza");
                objClasses.put(1026,   "Sandwich");
                objClasses.put(1027,   "HamburgerSandwich");
                objClasses.put(1028,   "Beer");
                objClasses.put(1029,   "Water");
                objClasses.put(1030,   "Coffee-Beverage");
                objClasses.put(1031,   "ColaSoftDrink");
                objClasses.put(1032,   "LemonLimeSoftDrink");
                objClasses.put(1033,   "GreenTea");
                objClasses.put(1034,   "EnergyDrink");
                objClasses.put(1035,   "Chip-Food");
                objClasses.put(1036,   "Cracker-FoodItem");
                objClasses.put(1037,   "Pretzel");
                objClasses.put(1038,   "InstantRamenNoodles");
                objClasses.put(1039,   "Cake");
                objClasses.put(1040,   "Bread");
                objClasses.put(1041,   "ChocolateCandy");
                objClasses.put(1042,   "CandyBar");
                objClasses.put(1043,   "Caramel");
                objClasses.put(1044,   "ChewingGum");
                objClasses.put(1045,   "Shampoo");
                objClasses.put(1046,   "BodyWash");
                objClasses.put(1047,   "Toothpaste");
                objClasses.put(1048,   "ShavingCream");
                objClasses.put(1049,   "ToiletPaper");
                objClasses.put(1050,   "Envelope");
                objClasses.put(1051,   "SheetOfPaper");
                objClasses.put(1052,   "Pencil");
                objClasses.put(1053,   "Notepad");
                objClasses.put(1054,   "Toy");
                objClasses.put(1055,   "CashRegister");
                objClasses.put(1056,   "ShelfInABuilding");
                objClasses.put(1057,   "Robot");
                
//              objClasses.put(1022,   "Cupboard");
//              objClasses.put(1023,   "Dishwasher");
//              objClasses.put(1024,   "Drawer");
//              objClasses.put(1025,   "Oven");
//              objClasses.put(1026,   "Refrigerator");
//              objClasses.put(1027,   "Door");
//              objClasses.put(1028,   "Handle");
//              objClasses.put(1029,   "ControlKnob");
//              objClasses.put(1030,   "Cabinet-PieceOfFurniture");
//              objClasses.put(1031,   "Bed-PieceOfFurniture");
//              objClasses.put(1032,   "HingedJoint");
//              objClasses.put(1033,   "PrismaticJoint");
//              objClasses.put(1034,   "RoomInAConstruction");
//              objClasses.put(1035,   "ShelfInABuilding");
//              objClasses.put(1036,   "Sushi");
//              objClasses.put(1037,   "Tea-Beverage");
//              objClasses.put(1038,   "Computer");
//              objClasses.put(1039,   "CashRegister");
//              objClasses.put(1040,   "Whiteboard");
//              objClasses.put(1041,   "Desk");
                
        }
        
        
        public void setup() {

                size(320, 600, P2D);
                frameRate(20);
                objects = new HashMap<String, ObjectInstance>();
                tab=Tab.SIMPLE;

                initControlP5Forms();
                
                frameRate(20);
                
                draw(); 
                
        }
        
        public Frame findFrame() {      
                Container f = this.getParent();
                while (!(f instanceof Frame) && f!=null)
                        f = f.getParent();
                return (Frame) f;
        }
        
        public void draw() {

                background(40);
                controlP5.draw();
                
        }


        //
        //
        // INITIALIZE FORMS
        //
        //
        
        
        private void initControlP5Forms() {

                // location definitions:
                
                int OBJ_ID_X=10;
                int OBJ_ID_Y=25;
                
                int OBJ_DIM_X=10;
                int OBJ_DIM_Y=200;

                int TAB_X=10;
                int TAB_Y=300;
                
                int UPDATE_X = 10;
                int UPDATE_Y = 500;

                // for using the tab key
                t_all_simple = new ArrayList<Textfield>();
                t_all_matrix = new ArrayList<Textfield>();
                t_all_quat = new ArrayList<Textfield>();
                t_all_joint = new ArrayList<Textfield>();
                
                
                // wait till window has been created
                while(findFrame()==null) {
                        try { Thread.sleep(50);
                        } catch (InterruptedException e) {
                                e.printStackTrace(); } 
                }
                this.frame = findFrame();
                
                
                controlP5 = new ControlP5(this);
                GreyTheme.applyStyle(controlP5);
                
                GreyTheme.applyStyle(controlP5.getTab("default")).setLabel("simple").setWidth(35);
                
                GreyTheme.applyStyle(controlP5.addTab("matrix")).setWidth(35);
                
                GreyTheme.applyStyle(controlP5.addTab("quaternion")).setWidth(50);

                GreyTheme.applyStyle(controlP5.addTab("joint properties")).setWidth(80);

                GreyTheme.applyStyle(controlP5.addTab("settings")).setWidth(45);
                
                
                // text field for object name
                t_id = controlP5.addTextfield("object id",       OBJ_ID_X, OBJ_ID_Y, 200, 20);
                t_id.moveTo("global");
                t_all_simple.add(t_id); t_all_matrix.add(t_id); t_all_quat.add(t_id);
                t_id.setAutoClear(false);
                

                b_new_obj = GreyTheme.applyStyle(controlP5.addButton("new",    17, OBJ_ID_X,      OBJ_ID_Y+40, 24, 20));
                b_new_obj.moveTo("global");

                b_del_obj = GreyTheme.applyStyle(controlP5.addButton("delete", 18, OBJ_ID_X + 30, OBJ_ID_Y+40, 34, 20));
                b_del_obj.moveTo("global");

                b_update = GreyTheme.applyStyle(controlP5.addButton("add to map", 23, OBJ_ID_X+70, OBJ_ID_Y+40, 55, 20));
                b_update.setId(23);
                b_update.moveTo("global");

                
                t_types = GreyTheme.applyStyle(controlP5.addListBox("object class",   OBJ_ID_X, OBJ_ID_Y+100,200,60), 15);
                t_types.setId(42);

                t_types.moveTo("global");
                
                ListBoxItem b;
                OWLClass cl;
                for(int i: objClasses.keySet()) {
                        
                        // add to OWLClass identifier buffer to enable later resolution by shortname
                        cl = OWLClass.getOWLClass("http://ias.cs.tum.edu/kb/knowrob.owl#" + objClasses.get(i));
                        
                        b = t_types.addItem(cl.getShortName(),i);
                        
                        b.setId(i);
                }
                
                // object dimensions
                l_dim = GreyTheme.applyStyle(controlP5.addTextlabel("l_dim","OBJECT DIMENSIONS",OBJ_DIM_X,OBJ_DIM_Y));
                l_dim.setWidth(200);
                l_dim.moveTo("global");
                
                t_dim = new Textfield[3];
                t_dim[0] = GreyTheme.applyStyle(controlP5.addTextfield("x_dim",OBJ_DIM_X,     OBJ_DIM_Y+15, 40,20));
                t_dim[1] = GreyTheme.applyStyle(controlP5.addTextfield("y_dim",OBJ_DIM_X+50,  OBJ_DIM_Y+15,40,20));
                t_dim[2] = GreyTheme.applyStyle(controlP5.addTextfield("z_dim",OBJ_DIM_X+100, OBJ_DIM_Y+15,40,20));
                
                for(Textfield t : t_dim) {
                        t.moveTo("global");
                        t.setAutoClear(false);
                        t_all_simple.add(t);
                        t_all_matrix.add(t);
                        t_all_quat.add(t);
                }
                b_rot = new Button[3];
                b_rot[0] = GreyTheme.applyStyle(controlP5.addButton("rot_x", 20, OBJ_DIM_X,    OBJ_DIM_Y+55, 32, 20));
                b_rot[0].setId(20);
                b_rot[0].moveTo("global");

                b_rot[1] = GreyTheme.applyStyle(controlP5.addButton("rot_y", 21, OBJ_DIM_X+50, OBJ_DIM_Y+55, 32, 20));
                b_rot[1].setId(21);
                b_rot[1].moveTo("global");

                b_rot[2] = GreyTheme.applyStyle(controlP5.addButton("rot_z", 22, OBJ_DIM_X+100, OBJ_DIM_Y+55, 32, 20));
                b_rot[2].setId(22);
                b_rot[2].moveTo("global");
                
                
                
                
                
                Button parent = GreyTheme.applyStyle(controlP5.addButton("select parent", 24, UPDATE_X, UPDATE_Y, 72, 20));
                parent.moveTo("global");

                t_parent = GreyTheme.applyStyle(controlP5.addTextfield("parent", UPDATE_X+85, UPDATE_Y, 130, 20));
                t_parent.moveTo("global");
                
                
                Button export = GreyTheme.applyStyle(controlP5.addButton("export to owl", 25, UPDATE_X, UPDATE_Y+40, 72, 20));
                export.moveTo("global");
                
                t_filename = GreyTheme.applyStyle(controlP5.addTextfield("filename", UPDATE_X+85, UPDATE_Y+40, 130, 20));
                t_filename.moveTo("global");
                
                
                // TABS

                // simple position tab
                Textlabel l_pos = GreyTheme.applyStyle(controlP5.addTextlabel("l_pos","OBJECT POSITION",TAB_X,TAB_Y));
                l_pos.setWidth(200);

                t_pos = new Textfield[3];
                t_pos[0] = GreyTheme.applyStyle(controlP5.addTextfield("x_pos",TAB_X,    TAB_Y+15, 40, 20));
                t_pos[1] = GreyTheme.applyStyle(controlP5.addTextfield("y_pos",TAB_X+50, TAB_Y+15, 40, 20));
                t_pos[2] = GreyTheme.applyStyle(controlP5.addTextfield("z_pos",TAB_X+100,TAB_Y+15, 40, 20));
                
                for(Textfield t : t_pos) { // for using the tab key
                        t.setAutoClear(false);
                        t_all_simple.add(t);
                }


                // pose matrix tab
                Textlabel l_matrix = GreyTheme.applyStyle(controlP5.addTextlabel("l_matrix","POSE MATRIX ",TAB_X,TAB_Y));
                l_matrix.setWidth(200);
                l_matrix.moveTo("matrix");

                t_matrix = new Textfield[16];
                for(int i=0;i<4;i++) {
                        for(int j=0;j<4;j++) {

                                t_matrix[i*4+j] = GreyTheme.applyStyle(controlP5.addTextfield("m"+i+j, TAB_X+j*50, TAB_Y+15 + 40*i, 40, 20));
                                t_matrix[i*4+j].moveTo("matrix");
                                //t_matrix[i*4+j].setColorBackground(color(255,60));
                                t_all_matrix.add(t_matrix[i*4+j]);
                        }
                }


                // quaternion pose tab
                Textlabel l_quat = GreyTheme.applyStyle(controlP5.addTextlabel("l_qpos","POSE QUATERNION",TAB_X,TAB_Y));
                l_quat.setWidth(200);
                l_quat.moveTo("quaternion");

                t_qpos = new Textfield[3];
                t_qpos[0] = GreyTheme.applyStyle(controlP5.addTextfield("x_qpos",TAB_X,    TAB_Y+15, 40,20)).setCaptionLabel("x_pos");
                t_qpos[1] = GreyTheme.applyStyle(controlP5.addTextfield("y_qpos",TAB_X+50, TAB_Y+15, 40,20)).setCaptionLabel("y_pos");
                t_qpos[2] = GreyTheme.applyStyle(controlP5.addTextfield("z_qpos",TAB_X+100,TAB_Y+15, 40,20)).setCaptionLabel("z_pos");
                
                for(Textfield t : t_qpos) { // for using the tab key
                        t.moveTo("quaternion");
                        t.setAutoClear(false);
                        t_all_quat.add(t);
                }
                
                t_quat = new Textfield[4];
                t_quat[0] = GreyTheme.applyStyle(controlP5.addTextfield("w",TAB_X,     TAB_Y+55, 40,20));
                t_quat[1] = GreyTheme.applyStyle(controlP5.addTextfield("x",TAB_X+50,  TAB_Y+55,40,20));
                t_quat[2] = GreyTheme.applyStyle(controlP5.addTextfield("y",TAB_X+100, TAB_Y+55,40,20));
                t_quat[3] = GreyTheme.applyStyle(controlP5.addTextfield("z",TAB_X+150, TAB_Y+55,40,20));

                for(Textfield t : t_quat) { // for using the tab key
                        t.moveTo("quaternion");
                        t.setAutoClear(false);
                        t_all_quat.add(t);
                }
                

                // joint properties tab
                l_jointdir = GreyTheme.applyStyle(controlP5.addTextlabel("l_joint","DIRECTION (PRISMATIC ONLY)",TAB_X,TAB_Y));
                l_jointdir.setWidth(200);
                l_jointdir.moveTo("joint properties");

                t_jointdir = new Textfield[3];
                t_jointdir[0] = GreyTheme.applyStyle(controlP5.addTextfield("dir_x",TAB_X,    TAB_Y+15, 40,20).setCaptionLabel("dir_x"));
                t_jointdir[1] = GreyTheme.applyStyle(controlP5.addTextfield("dir_y",TAB_X+50, TAB_Y+15, 40,20).setCaptionLabel("dir_y"));
                t_jointdir[2] = GreyTheme.applyStyle(controlP5.addTextfield("dir_z",TAB_X+100,TAB_Y+15, 40,20).setCaptionLabel("dir_z"));
                
                for(Textfield t : t_jointdir) { // for using the tab key
                        t.moveTo("joint properties");
                        t.setAutoClear(false);
                        t_all_joint.add(t);
                }

                
                l_jointlim = GreyTheme.applyStyle(controlP5.addTextlabel("l_jointlim","JOINT LIMITS",TAB_X,TAB_Y+60));
                l_jointlim.setWidth(200);
                l_jointlim.moveTo("joint properties");

                t_jointlim = new Textfield[2];
                t_jointlim[0] = GreyTheme.applyStyle(controlP5.addTextfield("q_min",TAB_X,    TAB_Y+75, 40,20).setCaptionLabel("q_min"));
                t_jointlim[1] = GreyTheme.applyStyle(controlP5.addTextfield("q_max",TAB_X+50, TAB_Y+75, 40,20).setCaptionLabel("q_max"));
                
                for(Textfield t : t_jointlim) { // for using the tab key
                        t.moveTo("joint properties");
                        t.setAutoClear(false);
                        t_all_joint.add(t);
                }
                

                l_radius = GreyTheme.applyStyle(controlP5.addTextlabel("l_radius","RADIUS",TAB_X+100,TAB_Y+60));
                l_radius.setWidth(200);
                l_radius.moveTo("joint properties");

                t_radius = GreyTheme.applyStyle(controlP5.addTextfield("radius",TAB_X+100,    TAB_Y+75, 40,20).setCaptionLabel("radius"));
                t_radius.moveTo("joint properties");
                

                b_child = GreyTheme.applyStyle(controlP5.addButton("select child", 26, UPDATE_X, UPDATE_Y-40, 72, 20));
                b_child.moveTo("joint properties");

                t_child = GreyTheme.applyStyle(controlP5.addTextfield("child", UPDATE_X+85, UPDATE_Y-40, 130, 20));
                t_child.moveTo("joint properties");
                
                

                // settings tab
                Textlabel l_settings = GreyTheme.applyStyle(controlP5.addTextlabel("l_settings","GLOBAL SETTINGS",OBJ_ID_X,OBJ_ID_Y));
                l_settings.setWidth(200);
                l_settings.moveTo("settings");
                
                t_namespace = GreyTheme.applyStyle(controlP5.addTextfield("OWL NAMESPACE",OBJ_ID_X, OBJ_ID_Y+15, 250, 20));
                
                if(map_namespace!=null && !map_namespace.equals("")) {
                        t_namespace.setText(map_namespace);
                } else {
                        t_namespace.setText("http://ias.cs.tum.edu/kb/ias_semantic_map.owl#");
                }
                t_namespace.moveTo("settings");
                
                // init semantic map ID with a generated quasi-unique string
                t_map_id = GreyTheme.applyStyle(controlP5.addTextfield("MAP IDENTIFIER",OBJ_ID_X, OBJ_ID_Y+55, 250, 20));
                
                if(map_id!=null && !map_id.equals("")) {
                        t_map_id.setText(map_id);
                } else {
                        t_map_id.setText("SemanticEnvironmentMap" + 
                                        new SimpleDateFormat("yyyyMMddHHmmss").
                                        format(Calendar.getInstance().getTime()));
                }
                t_map_id.moveTo("settings");
                
                
                cp5_initialized  = true;
                
        }


        //
        //
        // HANDLE USER EVENTS
        //
        //
        
        public void controlEvent(controlP5.ControlEvent theControlEvent) {
                
                if(theControlEvent.isController()) {
                        
                        // update button
                        if(theControlEvent.getName().equals("add to map")) {
                                
                                // read information from the forms, create/update objects[] entry
                                String obj = readFormData();

                                if(obj!=null)
                                        mapVisApplet.addObject(obj);
                                
                        }
                        

                        if(theControlEvent.getName().equals("new")) {

                                clearFormFields(); // new object is implicitly created when a new identifier is used
                        }
                        

                        if(theControlEvent.getName().equals("delete")) {

                                if(t_id.getText() != null) {
                                        objects.remove(t_id.getText());
                                        
                                        String id = t_id.getText();
                                        OWLThing rem = OWLThing.getOWLThingByShortname(id);
                                        ObjectInstance reminst = (ObjectInstance) rem; 
                                        
                                        for(ObjectInstance o : objects.values()) {
                                                
                                                if(o.hasPhysicalPart(reminst)) {
                                                        o.removePhysicalPart(reminst);
                                                }
                                                
                                                Vector<String> propval = o.getObjPropValues("http://ias.cs.tum.edu/kb/knowrob.owl#connectedTo-Rigidly");
                                                if(propval!=null && propval.contains(reminst.getIRI())) {
                                                        propval.remove(reminst.getIRI());
                                                }
                                                
                                                propval = o.getObjPropValues("http://ias.cs.tum.edu/kb/knowrob.owl#hingedTo");
                                                if(propval!=null && propval.contains(reminst.getIRI())) {
                                                        propval.remove(reminst.getIRI());
                                                }
                                                
                                                propval = o.getObjPropValues("http://ias.cs.tum.edu/kb/knowrob.owl#prismaticallyConnectedTo");
                                                if(propval!=null && propval.contains(reminst.getIRI())) {
                                                        propval.remove(reminst.getIRI());
                                                }
                                        }
                                        
                                        PrologQueryUtils.deleteObjectInstance(reminst.getIRI());
                                        clearFormFields(); // reset interface
                                        
                                        mapVisApplet.removeObject(rem.getIRI());
                                        mapVisApplet.redraw();
                                }
                        }


                        if(theControlEvent.getName().equals("rot_x")) {
                                ObjectInstance cur = ((ObjectInstance) OWLThing.getOWLThingByShortname(t_id.getText())); 
                                cur.getPoseMatrix().mul(new Matrix4d(
                                                1, 0, 0,  0,
                                                0, 0, -1, 0,
                                                0, 1, 0,  0,
                                                0, 0, 0,  1));
                                cur.setSaveToProlog(true);
                                cur.writeToProlog();
                                

                                mapVisApplet.removeObject(cur.getIRI());
                                mapVisApplet.addObject(cur.getIRI());
                                mapVisApplet.redraw();
                                writeFormData(cur);
                        }
                        
                        if(theControlEvent.getName().equals("rot_y")) {
                                ObjectInstance cur = ((ObjectInstance) OWLThing.getOWLThingByShortname(t_id.getText())); 
                                cur.getPoseMatrix().mul(new Matrix4d(
                                                0,      0,      1, 0,
                                                0,      1,      0, 0,
                                           -1,  0,      0, 0,
                                                0,  0,  0, 1));
                                cur.setSaveToProlog(true);
                                cur.writeToProlog();
                                

                                mapVisApplet.removeObject(cur.getIRI());
                                mapVisApplet.addObject(cur.getIRI());
                                mapVisApplet.redraw();
                                writeFormData(cur);
                        }
                        
                        if(theControlEvent.getName().equals("rot_z")) {
                                ObjectInstance cur = ((ObjectInstance) OWLThing.getOWLThingByShortname(t_id.getText())); 
                                cur.getPoseMatrix().mul(new Matrix4d(
                                                0,-1, 0,  0,
                                                1, 0, 0, 0,
                                                0, 0, 1,  0,
                                                0, 0, 0,  1));
                                cur.setSaveToProlog(true);
                                cur.writeToProlog();
                                

                                mapVisApplet.removeObject(cur.getIRI());
                                mapVisApplet.addObject(cur.getIRI());
                                mapVisApplet.redraw();
                                writeFormData(cur);
                        }
                        

                        if(theControlEvent.getName().equals("export to owl")) {
                                saveMapToFile(t_filename.getText());
                        }

                        if(theControlEvent.getName().equals("select parent")) {

                                selectParentObj=true;
                                cursor(HAND);
                                this.mapVisApplet.cursor(HAND);
                                
                        }
                        
                        if(theControlEvent.getName().equals("select child")) {

                                selectChildObj=true;
                                cursor(HAND);
                                this.mapVisApplet.cursor(HAND);
                                
                        }
                        
                        
                        
                // switch tabs (update information in the tabs)
                } else if (theControlEvent.isTab()) {
                        
                        if(theControlEvent.getName().equals("default")) {
                                this.tab = Tab.SIMPLE;
                                showObjSpecificElements();
                                
                        } else if (theControlEvent.getName().equals("matrix")) {
                                this.tab = Tab.MATRIX;
                                showObjSpecificElements();
                                
                        } else if (theControlEvent.getName().equals("quaternion")) {
                                this.tab = Tab.QUATERNION;
                                showObjSpecificElements();

                        } else if (theControlEvent.getName().equals("settings")) {
                                this.tab = Tab.SETTINGS;
                                hideObjSpecificElements();
                                
                        } else if (theControlEvent.getName().equals("joint properties")) {
                                this.tab = Tab.JOINTS;
                                showObjSpecificElements();
                                
                                // deactivate fields that are not available for the current object type
                                showJointSpecificFormFields();

                        }
                        
                        
                } else if (theControlEvent.isGroup()) {
                        
                        // handle listbox events
                        if(theControlEvent.getGroup().getId()==42) {
                                t_types.getCaptionLabel().set( objClasses.get( (int) theControlEvent.getGroup().getValue()) );
                                
                        }
                }
                redraw();
        }


        public void saveMapToFile(String filename) {
                
                OWLImportExport exp = new OWLImportExport();
                
                RDFXMLOntologyFormat format = new RDFXMLOntologyFormat();
                format.setPrefix("knowrob:", "http://ias.cs.tum.edu/kb/knowrob.owl#");
                format.setPrefix("owl:", "http://www.w3.org/2002/07/owl#");
                format.setPrefix("rdfs:", "http://www.w3.org/2000/01/rdf-schema#");
                format.setPrefix("map:", t_namespace.getText());
                
                OWLOntology ont = exp.createOWLMapDescription(map_namespace, map_id, new ArrayList<ObjectInstance>(this.objects.values()));
                
                OWLFileUtils.saveOntologyToFile(ont, format, filename);
        }


        private void hideObjSpecificElements() {
                

                b_new_obj.hide();
                b_del_obj.hide();
                b_update.hide();
                t_id.hide();
                t_types.hide();
                
                l_dim.hide();
                for(Textfield t : t_dim)
                        t.hide();
                                
                for(Button b : b_rot)
                        b.hide();

        }
        
        private void showObjSpecificElements() {

                b_new_obj.show();
                b_del_obj.show();
                b_update.show();
                t_id.show();
                t_types.show();
                
                l_dim.show();
                for(Textfield t : t_dim)
                        t.show();
                                
                for(Button b : b_rot)
                        b.show();
        }
        
        
        private void showJointSpecificFormFields() {
                // draw joint limits and child selection for all kinds of joints
                if(t_types.getCaptionLabel().getText().equals("PrismaticJoint") || 
                                t_types.getCaptionLabel().getText().equals("HingedJoint")) {
                        l_jointlim.show();
                        for(Textfield t : t_jointlim) {
                                t.show();
                        }
                        t_child.show();
                        b_child.show();
                } else {
                        l_jointlim.hide();
                        for(Textfield t : t_jointlim) {
                                t.hide();
                        }
                        t_child.hide();
                        b_child.hide();
                }

                // draw direction fields only for prismatic joints
                if(t_types.getCaptionLabel().getText().equals("PrismaticJoint")) {
                        l_jointdir.show();
                        for(Textfield t : t_jointdir) {
                                t.show();
                        }
                } else {
                        l_jointdir.hide();
                        for(Textfield t : t_jointdir) {
                                t.hide();
                        }
                }


                // draw direction fields only for rotational joints
                if(t_types.getCaptionLabel().getText().equals("HingedJoint")) {
                        l_radius.show();
                        t_radius.show();
                } else {
                        l_radius.hide();
                        t_radius.hide();
                }
        }
        
        
        public void keyPressed() {
                
                keys[keyCode] = true;
                
                // ENTER key updates visualization
                if (key == ENTER || key == RETURN) {
                        String obj = readFormData();
                        
                        if(obj!=null) {
                                mapVisApplet.removeObject(obj);
                                mapVisApplet.addObject(obj);
                        }
                }
                
                
                // switch through the text fields using TAB
                if (keyCode == KeyEvent.VK_TAB) {
                        
                        boolean fwd = true; // direction to skip through the fields
                        if(checkKey(KeyEvent.VK_SHIFT)) {
                                fwd=false;
                        }
                        
                        if(this.tab==Tab.SIMPLE) {
                                switchFocus(t_all_simple, fwd);
                        } else if(this.tab==Tab.MATRIX) {
                                switchFocus(t_all_matrix, fwd);
                        } else if(this.tab==Tab.QUATERNION) {
                                switchFocus(t_all_quat, fwd);
                        } else if(this.tab==Tab.JOINTS) {
                                switchFocus(t_all_joint, fwd);
                        }

                }
                
                if (keyCode == KeyEvent.VK_PAGE_UP) {
                        
                        if(this.tab==Tab.SIMPLE) {
                                incTextfieldValue(t_all_simple, 0.05f);
                        } else if(this.tab==Tab.MATRIX) {
                                incTextfieldValue(t_all_matrix, 0.05f);
                        } else if(this.tab==Tab.QUATERNION) {
                                incTextfieldValue(t_all_quat, 0.05f);
                        } else if(this.tab==Tab.JOINTS) {
                                incTextfieldValue(t_all_joint, 0.05f);
                        }
                        String obj = readFormData();
                        
                        if(obj!=null) {
                                mapVisApplet.removeObject(obj);
                                mapVisApplet.addObject(obj);
                        }
                }
                
                if (keyCode == KeyEvent.VK_PAGE_DOWN) {
                        
                        if(this.tab==Tab.SIMPLE) {
                                incTextfieldValue(t_all_simple, -0.05f);
                        } else if(this.tab==Tab.MATRIX) {
                                incTextfieldValue(t_all_matrix, -0.05f);
                        } else if(this.tab==Tab.QUATERNION) {
                                incTextfieldValue(t_all_quat, -0.05f);
                        } else if(this.tab==Tab.JOINTS) {
                                incTextfieldValue(t_all_joint, -0.05f);
                        }
                        String obj = readFormData();
                        
                        if(obj!=null) {
                                mapVisApplet.removeObject(obj);
                                mapVisApplet.addObject(obj);
                        }
                }
                
        }

        
        
        public void keyReleased() { 
          keys[keyCode] = false; 
        }
        
        
        boolean checkKey(int k) {
                return keys[k];
        }

        
        protected void switchFocus(ArrayList<Textfield> t_all, boolean forward) {
                
                for(int i=0;i<t_all.size();i++) {
                        if(t_all.get(i).isActive()){
                                
                                if(forward) {
                                        t_all.get(i).setFocus(false);
                                        t_all.get((i+1)%t_all.size()).setFocus(true);
                                } else {
                                        t_all.get(i).setFocus(false);
                                        
                                        if(i>0)
                                                t_all.get(i-1).setFocus(true);
                                        else 
                                                t_all.get(t_all.size()-1).setFocus(true);
                                }
                                break;
                        }
                }
        }
        
        
        protected void incTextfieldValue(ArrayList<Textfield> t_all, float inc) {
                
                for(int i=0;i<t_all.size();i++) {
                        if(t_all.get(i).isActive()){
                                
                                try{
                                        float val = Float.valueOf(t_all.get(i).getText());
                                        t_all.get(i).setText((val+inc)+"");
                                } catch(NumberFormatException e) {}
                                
                        }
                }
        }
        
        


        //
        //
        // READ AND WRITE FORM DATA
        //
        //
        
        
        
        protected String readFormData() {
                
                // check if the object already exists or if we should create a new one
                
                ObjectInstance cur;
                String shortname =  t_id.getText();
                String namespace = t_namespace.getText();
                
                // skip this if the ID or class are not set
                if(t_id.equals("") || t_types.getCaptionLabel().getText().equals("object class")){
                        return null;
                }
                
                if(objects.containsKey(shortname)) {
                        cur = objects.get(shortname);
                } else {
                        
                        if(t_types.getCaptionLabel().getText().equals("HingedJoint") ||
                           t_types.getCaptionLabel().getText().equals("PrismaticJoint")) {
                                
                                cur = JointInstance.getMapJoint(namespace + shortname);
                                
                        } else {
                                cur = ObjectInstance.getObjectInstance(namespace + shortname);
                        }
                        objects.put(shortname, cur);
                }
                
                 
                // get OWL class based on their shortname (which is used for display)
                cur.addType((OWLClass) OWLThing.getOWLThingByShortname(t_types.getCaptionLabel().getText()));

                
                double xdim=0.0, ydim=0.0, zdim=0.0;
                try{xdim = Double.valueOf(t_dim[0].getText());} catch(NumberFormatException e) {}
                try{ydim = Double.valueOf(t_dim[1].getText());} catch(NumberFormatException e) {}
                try{zdim = Double.valueOf(t_dim[2].getText()); } catch(NumberFormatException e) {}
                cur.setDimensions(new Vector3d(xdim, ydim, zdim));

                
                
                // set per-tab values
                switch(tab) {
                
                        case SIMPLE:
                                // set only position
                                double x=0.0, y=0.0, z=0.0;
                                try{x = Double.valueOf(t_pos[0].getText());} catch(NumberFormatException e) {}
                                try{y = Double.valueOf(t_pos[1].getText());} catch(NumberFormatException e) {}
                                try{z = Double.valueOf(t_pos[2].getText());} catch(NumberFormatException e) {}
                                
                                cur.setPosition(new Vector3d(x, y, z ));
                                updateQuaternionForm(cur.getPosition(), cur.getPoseQuaternion());
                                updateMatrixForm(cur.getPoseMatrix());
                                break;
                                
                        case MATRIX:
                                
                                double[] m = new double[16];
                                
                                try{m[0] = Double.valueOf(t_matrix[0].getText());} catch(NumberFormatException e) {m[0]=0.0;}
                                try{m[1] = Double.valueOf(t_matrix[1].getText());} catch(NumberFormatException e) {m[1]=0.0;}
                                try{m[2] = Double.valueOf(t_matrix[2].getText());} catch(NumberFormatException e) {m[2]=0.0;}
                                try{m[3] = Double.valueOf(t_matrix[3].getText());} catch(NumberFormatException e) {m[3]=0.0;}
                                
                                try{m[4] = Double.valueOf(t_matrix[4].getText());} catch(NumberFormatException e) {m[4]=0.0;}
                                try{m[5] = Double.valueOf(t_matrix[5].getText());} catch(NumberFormatException e) {m[5]=0.0;}
                                try{m[6] = Double.valueOf(t_matrix[6].getText());} catch(NumberFormatException e) {m[6]=0.0;}
                                try{m[7] = Double.valueOf(t_matrix[7].getText());} catch(NumberFormatException e) {m[7]=0.0;}
                                
                                try{m[8] = Double.valueOf(t_matrix[8].getText());} catch(NumberFormatException e) {m[8]=0.0;}
                                try{m[9] = Double.valueOf(t_matrix[9].getText());} catch(NumberFormatException e) {m[9]=0.0;}
                                try{m[10] = Double.valueOf(t_matrix[10].getText());} catch(NumberFormatException e) {m[10]=0.0;}
                                try{m[11] = Double.valueOf(t_matrix[11].getText());} catch(NumberFormatException e) {m[11]=0.0;}
                                
                                try{m[12] = Double.valueOf(t_matrix[12].getText());} catch(NumberFormatException e) {m[12]=0.0;}
                                try{m[13] = Double.valueOf(t_matrix[13].getText());} catch(NumberFormatException e) {m[13]=0.0;}
                                try{m[14] = Double.valueOf(t_matrix[14].getText());} catch(NumberFormatException e) {m[14]=0.0;}
                                try{m[15] = Double.valueOf(t_matrix[15].getText());} catch(NumberFormatException e) {m[15]=0.0;}
                                
                                cur.setPoseMatrix(new Matrix4d(m));
                                updateQuaternionForm(cur.getPosition(), cur.getPoseQuaternion());
                                updatePositionForm(cur.getPosition());
                                break;

                        case QUATERNION:
                                
                                try{x = Double.valueOf(t_qpos[0].getText());} catch(NumberFormatException e) {x=0.0;}
                                try{y = Double.valueOf(t_qpos[1].getText());} catch(NumberFormatException e) {y=0.0;}
                                try{z = Double.valueOf(t_qpos[2].getText());} catch(NumberFormatException e) {z=0.0;}
                                
                                double qx=0.0, qy=0.0, qz=0.0, qw=1.0;
                                try{qw = Double.valueOf(t_quat[0].getText());} catch(NumberFormatException e) {}
                                try{qy = Double.valueOf(t_quat[1].getText());} catch(NumberFormatException e) {}
                                try{qz = Double.valueOf(t_quat[2].getText());} catch(NumberFormatException e) {}
                                try{qz = Double.valueOf(t_quat[3].getText());} catch(NumberFormatException e) {}
                                
                                cur.setPoseQuaternion(new Vector3d(x,y,z), 
                                                                new Quat4d(qx,qy,qz,qw),1.0);
                                
                                updateMatrixForm(cur.getPoseMatrix());
                                updatePositionForm(cur.getPosition());
                                break;
                                
                        case JOINTS:
                                
                                
                                if(t_types.getCaptionLabel().getText().equals("HingedJoint") ||
                                   t_types.getCaptionLabel().getText().equals("PrismaticJoint")) {
                                        
                                        // set direction of prismatic joints
                                        try{x = Double.valueOf(t_jointdir[0].getText());} catch(NumberFormatException e) {x=0.0;}
                                        try{y = Double.valueOf(t_jointdir[1].getText());} catch(NumberFormatException e) {y=0.0;}
                                        try{z = Double.valueOf(t_jointdir[2].getText());} catch(NumberFormatException e) {z=0.0;}

                                        ((JointInstance) cur).setDirection(new Vector3d(x,y,z));

                                        // set joint limits
                                        double q_min=0.0, q_max=0.0;
                                        try{q_min = Double.valueOf(t_jointlim[0].getText());} catch(NumberFormatException e) {}
                                        try{q_max = Double.valueOf(t_jointlim[1].getText());} catch(NumberFormatException e) {}
                                        
                                        ((JointInstance) cur).setQ_min(q_min);
                                        ((JointInstance) cur).setQ_max(q_max);
                                        
                                        double radius=0.0;
                                        try{
                                                radius = Double.valueOf(t_radius.getText());} 
                                        catch(NumberFormatException e) {
                                                e.printStackTrace();
                                        }
                                        ((JointInstance) cur).setRadius(radius);
                                        
                                        
                                        // set child/parent fields (hinges have only one each)
                                        if(t_child.getText() != null) {
                                                if(objects.get(t_child.getText())!=null)
                                                        ((JointInstance) cur).setChild(objects.get(t_child.getText()));
                                        }

                                        if(t_parent.getText() != null) {
                                                if(objects.get(t_parent.getText())!=null)
                                                        ((JointInstance) cur).setParent(objects.get(t_parent.getText()));
                                        }

                                }
                                updateMatrixForm(cur.getPoseMatrix());
                                updateQuaternionForm(cur.getPosition(), cur.getPoseQuaternion());
                                updatePositionForm(cur.getPosition());
                                break;
                }

                // set object as physicalPart of parent object
                if(t_parent.getText() != null && !t_parent.getText().isEmpty()) {
                        if(objects.get(t_parent.getText())!=null) {
                                objects.get(t_parent.getText()).addPhysicalPart(cur);
                        }
                }
                
                // synchronize with Prolog if initialized
                if(PrologInterface.isInitialized()) {
                        cur.setSaveToProlog(true);
                        cur.writeToProlog();
                }
                return cur.getIRI();
        }
        
        void writeFormData(ObjectInstance cur) {
                
                t_id.setText(cur.getShortName());
                
                
                // find object that has this object as physical part
                for(ObjectInstance o : objects.values()) {

                        if(o.hasPhysicalPart(cur)) {
                                t_parent.setText(o.getShortName());
                                break;
                        } else {
                                t_parent.setText("");
                        }
                }
                
                t_types.getCaptionLabel().set(cur.getTypes().get(0).getShortName());

                t_dim[0].setText(""+cur.getDimensions().x);
                t_dim[1].setText(""+cur.getDimensions().y);
                t_dim[2].setText(""+cur.getDimensions().z);
                
                updateQuaternionForm(cur.getPosition(), cur.getPoseQuaternion());
                updateMatrixForm(cur.getPoseMatrix());
                updatePositionForm(cur.getPosition());
                updateJointForm(cur);
        }
        
        
        void updateMatrixForm(Matrix4d m) {
                
                t_matrix[0].setText(""+m.m00);
                t_matrix[1].setText(""+m.m01);
                t_matrix[2].setText(""+m.m02);
                t_matrix[3].setText(""+m.m03);
                
                t_matrix[4].setText(""+m.m10);
                t_matrix[5].setText(""+m.m11);
                t_matrix[6].setText(""+m.m12);
                t_matrix[7].setText(""+m.m13);
                
                t_matrix[8].setText(""+m.m20);
                t_matrix[9].setText(""+m.m21);
                t_matrix[10].setText(""+m.m22);
                t_matrix[11].setText(""+m.m23);
                
                t_matrix[12].setText(""+m.m30);
                t_matrix[13].setText(""+m.m31);
                t_matrix[14].setText(""+m.m32);
                t_matrix[15].setText(""+m.m33);
        }

        void updatePositionForm(Vector3d pos) {
                
                t_pos[0].setText(""+pos.x);
                t_pos[1].setText(""+pos.y);
                t_pos[2].setText(""+pos.z);
        }
        
        
        void updateQuaternionForm(Vector3d pos, Quat4d q) {
                
                t_qpos[0].setText(""+pos.x);
                t_qpos[1].setText(""+pos.y);
                t_qpos[2].setText(""+pos.z);
                
                t_quat[0].setText(""+q.w);
                t_quat[1].setText(""+q.x);
                t_quat[2].setText(""+q.y);
                t_quat[3].setText(""+q.z);
        }
        
        void updateJointForm(ObjectInstance cur) {
                
                showJointSpecificFormFields();
                
                if(cur instanceof JointInstance) {
                        t_jointlim[0].setText(((JointInstance)cur).getQ_min()+"");
                        t_jointlim[1].setText(((JointInstance)cur).getQ_max()+"");
                        
                        t_jointdir[0].setText(((JointInstance)cur).getDirection().x+"");
                        t_jointdir[1].setText(((JointInstance)cur).getDirection().y+"");
                        t_jointdir[2].setText(((JointInstance)cur).getDirection().z+"");
                        
                        if(((JointInstance)cur).getChild()!=null && ((JointInstance)cur).getChild().getShortName() != null)
                                t_child.setText(((JointInstance)cur).getChild().getShortName());
                        
                        if(((JointInstance)cur).getParent()!=null && ((JointInstance)cur).getParent().getShortName() != null)
                                t_parent.setText(((JointInstance)cur).getParent().getShortName());
                        
                        t_radius.setText(((JointInstance)cur).getRadius()+"");
                }
                
        }
        
        void clearFormFields(){
                
                for(Textfield t : t_all_simple) {
                        t.setText("");
                }
                for(Textfield t : t_all_matrix) {
                        t.setText("");
                }
                for(Textfield t : t_all_quat) {
                        t.setText("");
                }
                
        }
        

        //
        //
        // MANAGE OBJECT INSTANCES
        //
        //

        public void selectAndLoadInputFile() {

                String filename = selectInput();
                if (filename != null) {
                        loadInputFile(filename);
                }
        }
        
        public void loadInputFile(String filename) {

                // clean up if re-loading a map
                for(ObjectInstance o : objects.values()) {
                        OWLThing.removeOWLThing(o.getIRI());
                }
                this.objects.clear();
                
                if(map_id!=null && !map_id.equals("")) {
                        PrologQueryUtils.deleteObjectInstanceWithChildren(map_namespace + map_id);
                        mapVisApplet.clear();
                }
                
                // load map from OWL
                if (filename != null) {
                        this.objects = OWLImportExport.readObjectInstanceFromOWL(filename);     
                }
                PrologQueryUtils.parseOwlFile(filename);
                
                String mapInstance = PrologQueryUtils.getSemanticMapInstance(null, null, null, null);           
                if(mapInstance != null) {
                        mapInstance = PrologInterface.removeSingleQuotes(mapInstance);
                        setMapIdentifier(OWLThing.getShortNameOfIRI(mapInstance));
                        setNamespace(OWLThing.getPrefixOfIRI(mapInstance) + "#");
                        
                        if(t_map_id!=null) {
                                t_map_id.setText(map_id);
                        }
                        if(t_namespace!=null) {
                                t_namespace.setText(map_namespace);
                        }
                }
                
                for(ObjectInstance o : objects.values()) {
                        mapVisApplet.addObjectWithChildren(o.getIRI());
                }
                mapVisApplet.redraw();
        }
        

        //
        //
        // INTERFACE WITH PROLOG CANVAS
        //
        //

        
        public void setMapVisApplet(SemanticMapVisApplet app) {
                this.mapVisApplet = app;
        }

        
        public void editObject(String identifier) {

                if(identifier==null)
                        return;
                
                // special mode: select the parent object for the currently edited object
                if(selectParentObj) {
                        
                        ObjectInstance cur = objects.get(t_id.getText());
                        
                        // clear previous parent objects
                        for(ObjectInstance o : objects.values()) {
                                if(o.getPhysicalParts().contains(cur)) {
                                        o.removePhysicalPart(cur);
                                }
                        }
                        
                        objects.get(identifier).addPhysicalPart(cur);
                        
                        if(cur instanceof JointInstance)
                                ((JointInstance) cur).parent = objects.get(identifier);
                                
                        this.t_parent.setText(identifier);
                        
                        selectParentObj=false;
                        cursor(ARROW);
                        mapVisApplet.cursor(ARROW);
                        
                        
                        
                } else if(selectChildObj) {
                                
                                ObjectInstance cur = objects.get(t_id.getText());
                                
                                // clear previous parent objects
                                for(ObjectInstance o : objects.values()) {
                                        if(o.hasPhysicalPart(cur)) {
                                                o.removePhysicalPart(cur);
                                        }
                                }

                                if(cur instanceof JointInstance)
                                        ((JointInstance) cur).child = objects.get(identifier);
                                
                                this.t_child.setText(identifier);
                                
                                selectChildObj=false;
                                cursor(ARROW);
                                mapVisApplet.cursor(ARROW);
                        

                                
                } else {
                        // normal mode: load information about the object the user clicked on into the form fields 
                        writeFormData(objects.get(OWLThing.getShortNameOfIRI(identifier)));
                }
        }


        public void setMapIdentifier(String mapID) {
                map_id = mapID;
        }

        public void setNamespace(String namespace) {
                map_namespace  = namespace;
        }
        
}