PlanVisAppletFsm.java

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package edu.tum.cs.ias.knowrob.vis.applets;

import java.awt.Color;
import java.awt.Container;
import java.awt.Cursor;
import java.awt.Frame;
import java.awt.event.KeyEvent;
import java.awt.event.KeyListener;
import java.awt.event.MouseEvent;
import java.awt.event.MouseListener;
import java.awt.event.MouseMotionListener;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import java.util.Vector;

import javax.vecmath.Vector2f;

import controlP5.ControlEvent;
import controlP5.ControlP5;
import controlP5.Textfield;

import edu.tum.cs.ias.knowrob.owl.OWLIndividual;
import edu.tum.cs.ias.knowrob.owl.OWLThing;
import edu.tum.cs.ias.knowrob.prolog.PrologInterface;
import edu.tum.cs.ias.knowrob.vis.actions.Action;
import edu.tum.cs.ias.knowrob.vis.actions.ActionDrawInformation;
import edu.tum.cs.ias.knowrob.vis.actions.ActionDrawInformation.HighlightType;
import edu.tum.cs.ias.knowrob.vis.actions.ActionSelectHistoryInfo;
import edu.tum.cs.ias.knowrob.vis.actions.ActionTransition;
import edu.tum.cs.ias.knowrob.vis.actions.ActionTransitions;
import edu.tum.cs.ias.knowrob.vis.themes.GreyTheme;

import processing.core.PApplet;
import processing.core.PFont;

public class PlanVisAppletFsm  extends PApplet implements MouseListener, MouseMotionListener, KeyListener, IAddActionCallback {

        private static final long serialVersionUID = 7695328948788620463L;

        private PFont dejavuFont;

        private Action selectedAction;
        
        private Action currTask = null;
        

        private Action draggedAction;

        private Action newTransitionFromAction;
        
        private Vector2f newTransitionToLocation = new Vector2f();
        

        
        private static final Cursor normalCursor = new Cursor(Cursor.DEFAULT_CURSOR);
        
        private static final Cursor handCursor = new Cursor(Cursor.HAND_CURSOR);
        
        private static final Cursor moveCursor = new Cursor(Cursor.MOVE_CURSOR);
        
        private long lastClickTime = 0;
        
        private ArrayList<ActionSelectHistoryInfo> clickHistory = new ArrayList<ActionSelectHistoryInfo>();
        
        private Vector2f globalPosOffset = new Vector2f(0,0);
        private Vector2f draggingStart = new Vector2f(0,0);

        private ActionTransition activeTransition;

        
        public ControlP5 controlP5;
        
        private Textfield base_iri = null;
        private Textfield new_recipe_shortname = null;
        private Textfield new_recipe_label = null;
        private Textfield start_action;
        private Textfield end_action;

        private boolean select_start = false;
        private boolean select_end = false;
        
        
        @Override
        public void setup()
        {
                size(1200, 600, P2D);
                
                addMouseMotionListener(this);
                addMouseListener(this);

            dejavuFont = createFont("DejaVu Sans",13);
            textFont(dejavuFont);
            hint(ENABLE_ACCURATE_TEXTURES);
            ellipseMode(RADIUS);
            frameRate(15);
            
            initControlP5();
                
                if (this.frame != null) {
                    this.frame.setTitle("Action plans visualisation");
                    this.frame.setBackground(new Color(10, 10, 10));
                }
        }
        
        @Override
        public void draw() {

                if(this.frame==null)
                        return;
                
                background(40);
                
                textFont(dejavuFont);
            textMode(SCREEN);
            
            if(currTask != null) {
                drawActions();

                drawTransitions(this);

                drawActions();

                drawHistory();

                if(this.newTransitionFromAction!=null) {
                        arrowFromTo(this, newTransitionFromAction.getDrawInfo().getOutboundConnectorPos(), newTransitionToLocation, 5, -1);
                }
            }
            controlP5.draw();
        }
        
        
        public void loadPrologPlan(String identifier) {
                                
                Action a = Action.getAction(identifier);
                a.readFromProlog();
                a.getDrawInfo().recalculateDimensions(this);
                
                if (a!= null)
                        setTask(a);
                
                // set base URL text field
                base_iri.setText(a.getIRIPrefix()+"#");
                
                Vector<String> start = a.getHasValue().get("http://ias.cs.tum.edu/kb/knowrob.owl#taskStartState");
                if(start!=null && !start.isEmpty()) {
                        start_action.setText(OWLThing.getShortNameOfIRI(start.firstElement()));
                }
                
                Vector<String> end = a.getHasValue().get("http://ias.cs.tum.edu/kb/knowrob.owl#taskEndState");
                if(end!=null && !end.isEmpty()) {
                        end_action.setText(OWLThing.getShortNameOfIRI(end.firstElement()));
                }
        }
        
        
        public void setTask(Action action)
        {
                currTask = action;
                selectedAction = null;
                clickHistory.clear();
                clickHistory.add(new ActionSelectHistoryInfo(currTask));
                updateHistoryPosition();

        }
        
        public static void arrowFromTo(PApplet applet, Vector2f from, Vector2f to, float lineWidth, float blockLength)
        {
                
                Vector<Vector2f> vertices = getArrowVertices(applet, from, to, lineWidth, blockLength);
                
                applet.beginShape();

                for(Vector2f p : vertices)
                        applet.vertex(p.x,p.y);
                
                applet.endShape(CLOSE);
                
        }
        
        public static Vector<Vector2f> getArrowVertices(PApplet applet, Vector2f from, Vector2f to, float lineWidth, float blockLength) {
                
                Vector<Vector2f> vertices = new Vector<Vector2f>();
                
                Vector2f norm = new Vector2f(to.x - from.x, to.y-from.y);
                float len = norm.length();
                norm.normalize();
                Vector2f rot90 = new Vector2f(norm.x*(float)Math.cos(Math.PI/2f)-norm.y*(float)Math.sin(Math.PI/2f),norm.x*(float)Math.sin(Math.PI/2f)+norm.y*(float)Math.cos(Math.PI/2f));
                Vector2f distLeft = new Vector2f(rot90);
                distLeft.scale(-lineWidth);
                Vector2f distRight = new Vector2f(rot90);
                distRight.scale(lineWidth);
                
                //following points are described as if the arrow is pointing from left to right horizontally
                
                //upper left
                Vector2f p1 = new Vector2f(distLeft);
                p1.add(from);
                //bottom left
                Vector2f p7 = new Vector2f(distRight);
                p7.add(from);
                
                if (blockLength < 0)
                {
                        blockLength = Math.max(len*0.5f, len - 3*lineWidth);
                }
                Vector2f transl = new Vector2f(norm);
                transl.scale(blockLength);
                
                //middle up on line
                Vector2f p2 = new Vector2f(distLeft);
                //upper tip
                Vector2f p3 = new Vector2f(distLeft);
                p3.scale(2);
                p2.add(transl);
                p2.add(from);
                p3.add(transl);
                p3.add(from);
                
                //middle bottom on line
                Vector2f p6 = new Vector2f(distRight);
                //bottom tip
                Vector2f p5 = new Vector2f(distRight);
                p5.scale(2);
                p6.add(transl);
                p6.add(from);
                p5.add(transl);
                p5.add(from);
                
                vertices.add(p1);       vertices.add(p2);       vertices.add(p3);       vertices.add(to);
                vertices.add(p5);       vertices.add(p6);       vertices.add(p7);
                
                return vertices;
        }
        
        
        public static void arrow(PApplet applet, float x, float y, float width, float height)
        {
                applet.beginShape();
                
                float indentY = 2f/7f*height;
                float indentX = 4f/9f*width;
                
                applet.vertex(x,y+indentY);
                applet.vertex(x+indentX,y+indentY);
                applet.vertex(x+indentX,y);
                applet.vertex(x+width,y+height/2f);
                applet.vertex(x+indentX,y+height);
                applet.vertex(x+indentX,y+height-indentY);
                applet.vertex(x,y+height-indentY);
                                
                applet.endShape(CLOSE);
        }
        
        private void updateHistoryPosition()
        {
                float fullWidth = 0;
                for (int i= clickHistory.size()-1; i>=0; i--)
                {
                        fullWidth += clickHistory.get(i).getDimension().x;
                }
                if (fullWidth+50 > this.getSize().width)
                {
                        //There is not enough space for all history, so begin from right to left
                        float prevX = this.getSize().width-50;
                        for (int i= clickHistory.size()-1; i>=0; i--)
                        {
                                float newX = prevX - clickHistory.get(i).getDimension().x;
                                prevX = newX;
                                clickHistory.get(i).setPosition(newX, 0, i==clickHistory.size()-1);
                        }
                } else {
                        //Enough space, begin from left
                        float currX = 0;
                        for (int i= 0; i<clickHistory.size(); i++)
                        {
                                clickHistory.get(i).setPosition(currX, 0, i==clickHistory.size()-1);
                                currX += clickHistory.get(i).getDimension().x;  
                        }
                }
        }
        
        private void drawHistory()
        {
                if(clickHistory.size()>=1) {
                        for (int i= clickHistory.size()-1; i>=0; i--)
                        {
                                clickHistory.get(i).Draw(this);
                        }
                }
        }
        
        public void drawActionsTreeLayout() {

                Vector2f currentPosition = new Vector2f(50+globalPosOffset.x,80+globalPosOffset.y);
                Map<Integer, Vector<Action>> levels = currTask.getTransitionsRecursive().getTreeLevels();
                Map<Integer, Float> levelWidths = currTask.getTransitionsRecursive().getLevelWidths();
                
                if(levels.size()>0) {
                        
                        // compute horizontal center as half of the maximum level width
                        float center_x = currentPosition.x + Collections.max(levelWidths.values())/2;

                        for(int level : levels.keySet()) {

                                // left corner of the first action is maxWidth - curWidth
                                currentPosition.x = center_x - levelWidths.get(level)/2;


                                float maxHeight = 0.0f;
                                for(Action a : levels.get(level)) {

                                        if(a.isExpanded()) {
                                                a.getDrawInfo().drawSimpleBox(this, currentPosition, globalPosOffset, 10, true);
                                        } else {
                                                a.getDrawInfo().drawSimpleBox(this, currentPosition, globalPosOffset, 10, false);
                                        }

                                        // increase x-position after each action on this level
                                        currentPosition.x += a.getDrawInfo().getSimpleBoxDimension().x + ActionDrawInformation.SEQUENCE_BOX_PADDING;

                                        // remember max. action height per level to know where to start the next one
                                        maxHeight = Math.max(maxHeight, a.getDrawInfo().getSimpleBoxDimension().y);
                                }

                                // increase y-coordinate for the next level
                                currentPosition.y += maxHeight + 2*ActionDrawInformation.MAIN_BOX_PADDING;
                        }
                }
                
                
                // draw all actions that are currently not connected in the upper left corner
                currentPosition = new Vector2f(50+globalPosOffset.x,80+globalPosOffset.y);
                        for(Action a : currTask.getSubActions()) {

                                if( currTask.getTransitionsRecursive().getTransitionsFrom(a).isEmpty() &&
                                                currTask.getTransitionsRecursive().getTransitionsTo(a).isEmpty()) {

                                        if(a.isExpanded()) {
                                                a.getDrawInfo().drawSimpleBox(this, currentPosition, globalPosOffset, 10, true);
                                        } else {
                                                a.getDrawInfo().drawSimpleBox(this, currentPosition, globalPosOffset, 10, false);
                                        }

                                }
                        }
        }
        
        
        // draw  actions wherever they have been drawn before (don't re-arrange layout)
        private void drawActions() {

                List<Action> subactions = currTask.getSubActions();
                if(subactions!=null) {
                        synchronized(subactions) {
                                for(Action a : subactions) {

                                        if(a.isExpanded()) {
                                                a.getDrawInfo().drawSimpleBox(this, a.getDrawInfo().position, globalPosOffset, 10, true);
                                        } else {
                                                a.getDrawInfo().drawSimpleBox(this, a.getDrawInfo().position, globalPosOffset, 10, false);
                                        }
                                }
                        }
                }
        }

        
        public synchronized void drawTransitions(PApplet app) {

                ActionTransitions trans = currTask.getTransitionsRecursive();
                if(trans!=null) {
                        //synchronized(trans) {
                                // draw transition arrows
                                for(ActionTransition t : trans) {
                                        t.drawConnection(app);
                                }
                        //}
                }
        }
        

        private void initControlP5() {
                
                // 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.addGroup("recipe properties", 900, 20, 230).setBackgroundHeight(200));

                base_iri = GreyTheme.applyStyle(controlP5.addTextfield("base iri", 10, 10, 210, 20).setGroup("recipe properties"));
                base_iri.setText("http://www.roboearth.org/kb/roboearth.owl#");

                start_action = GreyTheme.applyStyle(controlP5.addTextfield("start action", 10, 55, 160, 20).setGroup("recipe properties"));
                GreyTheme.applyStyle(controlP5.addButton("select start", 1f, 180, 55, 40, 20).setGroup("recipe properties")).getCaptionLabel().set("select");
                
                end_action = GreyTheme.applyStyle(controlP5.addTextfield("end action", 10, 100, 160, 20).setGroup("recipe properties"));
                GreyTheme.applyStyle(controlP5.addButton("select end", 2f, 180, 100, 40, 20).setGroup("recipe properties")).getCaptionLabel().set("select");
                
                GreyTheme.applyStyle(controlP5.addButton("add new action to recipe", 3f, 10, 160, 125, 20).setGroup("recipe properties"));


                
                
                GreyTheme.applyStyle(controlP5.addGroup("create new recipe", 900, 250, 230).setBackgroundHeight(120));
                
                new_recipe_shortname = GreyTheme.applyStyle(controlP5.addTextfield("shortname", 10, 10, 210, 20).setGroup("create new recipe"));
                new_recipe_shortname.setText("UniqueIdentifierForRecipe");
                
                new_recipe_label = GreyTheme.applyStyle(controlP5.addTextfield("label", 10, 55, 210, 20).setGroup("create new recipe"));
                new_recipe_label.setText("natural-language label");
                
                GreyTheme.applyStyle(controlP5.addButton("create", 46f, 185, 90, 35, 20).setGroup("create new recipe"));
                
                
        }
        
        
        
        @Override
        public void mouseMoved(MouseEvent e) {

                if(newTransitionFromAction!=null) {
                        newTransitionToLocation.x = e.getX();
                        newTransitionToLocation.y = e.getY();
                        redraw();
                }

                if (getHistoryHover(e.getX(), e.getY())>=0) {
                        setCursor(handCursor);
                        return;
                }
                
                if(currTask!=null) {
                        for(Action a : currTask.getSubActions()) {

                                if (a.getDrawInfo().updateHover(e.getX(), e.getY()))
                                        setCursor(handCursor);
                                else
                                        setCursor(normalCursor);
                        }
                }

                if(controlP5!=null)
                        controlP5.controlWindow.mouseEvent(e);

                if (selectedAction==null) {
                        setCursor(normalCursor);
                        return;
                }
    }

        @Override
    public void mouseDragged(MouseEvent e) {

                
                if (draggingStart != null) {
                        
                        // check if we clicked on an action -> move only that action box
                        if(draggedAction!=null) {

                                draggedAction.getDrawInfo().localPosOffset.x += e.getX() - draggingStart.x;
                                draggedAction.getDrawInfo().localPosOffset.y += e.getY() - draggingStart.y;

                                draggingStart.x = e.getX();
                                draggingStart.y = e.getY();
                                return;
                        }

                        // no action wanted the drag event, so let's move the whole canvas:
                        globalPosOffset.x += e.getX() - draggingStart.x;
                        globalPosOffset.y += e.getY() - draggingStart.y;

                        draggingStart.x = e.getX();
                        draggingStart.y = e.getY();
                }
                

                // only send left-button events to contolP5
                if(controlP5!=null && e.getButton() == MouseEvent.BUTTON1)
                        controlP5.controlWindow.mouseEvent(e);
    }
        
        @Override
        public void mousePressed(MouseEvent e) {
                
                if(currTask!=null) {

                        if (e.getButton() == MouseEvent.BUTTON1) {

                                // check if we clicked on an action -> move only that action box
                                        for(Action a : currTask.getSubActions()) {
                                                if(a.getDrawInfo().checkClick(e.getX(), e.getY())!=null) {
                                                        draggedAction = a;

                                                        draggingStart = new Vector2f(e.getX(),e.getY());
                                                        setCursor(moveCursor);
                                                }
                                        }
                                
                                // only send left-button events to contolP5
                                if(controlP5!=null && e.getButton() == MouseEvent.BUTTON1)
                                        controlP5.controlWindow.mouseEvent(e);
                                
                        } else if (e.getButton() == MouseEvent.BUTTON3) {
                                
                                draggingStart = new Vector2f(e.getX(),e.getY());
                                setCursor(moveCursor);
                                
                        } else {
                                setCursor(normalCursor);
                        }
                }

                // only send left-button events to contolP5
                if(controlP5!=null && e.getButton() == MouseEvent.BUTTON1)
                        controlP5.controlWindow.mouseEvent(e);
    }

        @Override
    public void mouseReleased(MouseEvent e) {
                setCursor(normalCursor);
                draggingStart = null;
                draggedAction = null;


                // only send left-button events to contolP5
                if(controlP5!=null && e.getButton() == MouseEvent.BUTTON1)
                        controlP5.controlWindow.mouseEvent(e);
    }
        
        
        
        @Override
    public void mouseClicked(MouseEvent e) {
                
                
                long diff = System.currentTimeMillis()-lastClickTime;
                lastClickTime = System.currentTimeMillis();
                
                if (diff < 150) { // double-fired event 
                        return;
                }

                
                // only send left-button events to contolP5
                if(controlP5!=null && e.getButton() == MouseEvent.BUTTON1)
                        controlP5.controlWindow.mouseEvent(e);
                
                if(currTask==null) {return;}
                
                if (e.getButton() == MouseEvent.BUTTON1) {

                        
                        // Check if clicked on outbound connector
                        for(Action a : currTask.getSubActions()) {

                                Action clicked_on = a.getDrawInfo().checkPosOverOutboundConnector(e.getX(), e.getY());
                                if (clicked_on!= null) {

                                        // clicked nowhere special, reset highlight
                                        clearHighlight();
                                        selectedAction=null;
                                        if(activeTransition!=null)
                                                activeTransition.setActive(false);
                                        activeTransition = null;

                                        newTransitionFromAction = clicked_on;
                                        newTransitionToLocation.x = e.getX();
                                        newTransitionToLocation.y = e.getY();
                                        return;
                                }
                        }



                        // Check if clicked on action in different modes
                        for(Action a : currTask.getSubActions()) {
                                if (a.getDrawInfo().checkHover(e.getX(), e.getY(), null)!= null) {
                                        
                                        // Check if in connection mode
                                        if(newTransitionFromAction!=null) {

                                                OWLIndividual t_ind = OWLIndividual.getOWLIndividualOfClass("http://ias.cs.tum.edu/kb/knowrob.owl#Transition");
                                                newTransitionFromAction.addTransition(ActionTransition.getActionTransition(t_ind.getIRI(), newTransitionFromAction, a, "OK"));
                                                redraw();

                                                // clicked nowhere special, reset highlight
                                                clearHighlight();
                                                selectedAction=null;
                                                if(activeTransition!=null)
                                                        activeTransition.setActive(false);
                                                activeTransition = null;

                                                newTransitionFromAction = null;
                                                newTransitionToLocation = new Vector2f();
                                                return;
                                                
                                        } else if(select_start) {
                                                
                                                start_action.setText(a.getShortName());
                                                
                                                if(currTask.getHasValue().containsKey("http://ias.cs.tum.edu/kb/knowrob.owl#taskStartState"))
                                                        currTask.getHasValue().get("http://ias.cs.tum.edu/kb/knowrob.owl#taskStartState").clear();
                                                
                                                currTask.addHasValue("http://ias.cs.tum.edu/kb/knowrob.owl#taskStartState", a.getIRI());
                                                select_start = false;
                                                
                                        } else if(select_end) {
                                                
                                                end_action.setText(a.getShortName());
                                                
                                                if(currTask.getHasValue().containsKey("http://ias.cs.tum.edu/kb/knowrob.owl#taskEndState"))
                                                        currTask.getHasValue().get("http://ias.cs.tum.edu/kb/knowrob.owl#taskEndState").clear();
                                                
                                                currTask.addHasValue("http://ias.cs.tum.edu/kb/knowrob.owl#taskEndState", a.getIRI());
                                                select_end = false;                                             
                                        }
                                }
                        }
                        

                        // reset connection mode if clicked elsewhere
                        newTransitionFromAction = null;
                        newTransitionToLocation = new Vector2f();


                        // check if (double)clicked on action
                        for(Action a : currTask.getSubActions()) {

                                Action clicked_on  = a.getDrawInfo().checkClick(e.getX(), e.getY());

                                if (clicked_on!= null) {

                                        clearHighlight();
                                        if(activeTransition!=null)
                                                activeTransition.setActive(false);
                                        activeTransition = null;

                                        // edit action if double-clicked
                                        if(e.getClickCount()==2) {

                                                // open action editor
                                                ActionEditorWindow f = new ActionEditorWindow();
                                                f.setAddActionCallback(this);
                                                f.setBaseIRI(base_iri.getText());

                                                while(!f.applet.isInitialized()) {
                                                        try {Thread.sleep(10);
                                                        } catch (InterruptedException e1) {e1.printStackTrace(); }
                                                }

                                                // init action editor
                                                f.applet.setIdentifier(a.getIRI());
                                                f.applet.setEditing(true);
                                                f.applet.setActionClass(a.getSuperClasses().firstElement().getIRI());
                                                f.applet.setActionProperties(a.getProperties());
                                                
                                                // update click time if init took longer
                                                lastClickTime = System.currentTimeMillis();
                                        
                                                return;

                                        } else {

                                                // activate action after single click
                                                selectedAction = clicked_on;
                                                highlightAction(selectedAction, false);

                                                return;
                                        }
                                }
                        }
                        
                        // activate transition arrow after click
                        ActionTransitions trans = currTask.getTransitionsRecursive();
                        synchronized(trans) {
                                for(ActionTransition t : trans) {

                                        boolean inside = t.checkPosInArrow(new Vector2f(e.getX(), e.getY()), this);

                                        if (inside) {

                                                if(e.getClickCount()==2) {
                                                        

                                                        //debug
                                                        System.out.println("double click on transition");
                                                        new TransitionPropertiesEditor(this, t);
                                                        
                                                } else {

                                                        // deactivate transition with second click
                                                        if(t.isActive()) {
                                                                t.setActive(false);
                                                                activeTransition = null;
                                                        }

                                                        // reset action selection
                                                        clearHighlight();
                                                        selectedAction=null;

                                                        // reset previously active transition, set to t 
                                                        t.setActive(true);

                                                        if(activeTransition!=null)
                                                                activeTransition.setActive(false);

                                                        activeTransition = t;
                                                        return;
                                                }
                                        }
                                }
                        }
                        
                        // clicked nowhere special, reset highlight
                        clearHighlight();
                        selectedAction=null;
                        
                        if(activeTransition!=null)
                                activeTransition.setActive(false);
                        
                        activeTransition = null;
                }
                
                
                
                // TODO: adapt to multi-action case and reactivate                      
//                                      //Check if clicked on history element
//                                      int idx = getHistoryHover(e.getX(), e.getY());
//                                      if (idx >= 0) {
//                                              selectedAction = clickHistory.get(idx).getAction();
//                                              for (int i=clickHistory.size()-1; i>idx; i--)
//                                              {
//                                                      clickHistory.remove(i);
//                                              }
//                                              updateHistoryPosition();
//                                              return;
//                                      }
//                                      
                                        
                // TODO: adapt to multi-action case and reactivate                      
//                                      //Check if clicked on an expand button
//                                      for(Action a : actions) {
//                                              
//                                              Action clicked_on = a.getDrawInfo().checkClickExpand(e.getX(), e.getY());
//                                              if (clicked_on!= null) {
//                                                      
//                                                      clicked_on.toggleExpand();
//                                                      selectedAction.getDrawInfo().notifyModified();
//                                                      return;
//                                              }
//                                      }
    }
        

        @Override
    public void mouseEntered(MouseEvent e) {
                
                if(controlP5!=null)
                        controlP5.controlWindow.mouseEvent(e);
    }

        @Override
    public void mouseExited(MouseEvent e) {

                if(controlP5!=null)
                        controlP5.controlWindow.mouseEvent(e);
    }

        
        public void keyPressed(KeyEvent e) {
                
                
                if(e.getKeyCode() == KeyEvent.VK_DELETE) {

                        if(currTask!=null) {
                                ActionTransitions trans = currTask.getTransitionsRecursive();
                                synchronized(trans) {

                                        if(activeTransition!=null) {
                                                activeTransition.getFrom().removeTransition(activeTransition);
                                                this.activeTransition = null;
                                                currTask.setSaveToProlog(true);
                                        }

                                        if(selectedAction!=null) {

                                                currTask.removeSubAction(selectedAction);

                                                for(ActionTransition t : trans) {
                                                        if(t.getFrom().equals(selectedAction) || 
                                                                        t.getTo().equals(selectedAction)) {

                                                                t.getFrom().removeTransition(t);
                                                        } 
                                                }

                                                this.selectedAction = null;
                                                currTask.setSaveToProlog(true);
                                        }
                                }
                        }
                }

                if(controlP5!=null)
                        controlP5.keyHandler.keyEvent(e, controlP5.controlWindow, true);
                
        }
        
        
        public void controlEvent(ControlEvent ev) {

                if(ev.isController()) {

                        // open action creation dialog  
                        if(ev.getController().getName().equals("add new action to recipe")) {
                                                                
                                ActionEditorWindow f = new ActionEditorWindow();
                                f.setAddActionCallback(this); 
                                f.setBaseIRI(base_iri.getText());
                                
                                
                        } else if(ev.getController().getName().equals("create")) {

                                // create new recipe
                                Action new_action = Action.getAction(base_iri.getText() + new_recipe_shortname.getText(), 
                                                                                                         new_recipe_label.getText());
                                new_action.addSuperClass(Action.getOWLClass("http://ias.cs.tum.edu/kb/knowrob.owl#PurposefulAction"));
                                new_action.getDrawInfo().recalculateDimensions(this);
                                this.setTask(new_action);
                                
                                
                        } else if(ev.getController().getName().equals("select start")) {
                                select_start = true;
                        } else if(ev.getController().getName().equals("select end")) {
                                select_end  = true;
                        }
                }
        }
        
        
        public void syncWithProlog() {
                currTask.setSaveToProlog(true);
                this.currTask.writeToProlog();
        }
        
        
        
        private int getHistoryHover(float x, float y)
        {
                int idx = -1;
                for (int i= 0; i<clickHistory.size()-1; i++)
                {
                        if (idx >= 0)
                        {
                                clickHistory.get(i).setHover(false);
                        } else {
                                if (clickHistory.get(i).checkHover(x, y))
                                {
                                        idx = i;
                                }
                        }
                }
                return idx;
        }
        
        public boolean highlightAction(Action a, boolean expand) {
                
                if (currTask == null)
                        return false;
                
                return highlightAction(a.getIRI(), expand);
        }
        
        public boolean highlightAction(String identifier, boolean expand) {
                
                if (currTask == null)
                        return false;
                
                // find action with this identifier
                for(Action a : currTask.getSubActionsRecursive()) {
                        a.getDrawInfo().clearHightlight();
                        if(a.getIRI().equals(identifier)) {
                                clearHighlight();
                                a.getDrawInfo().setHightlight(HighlightType.THIS_HIGHLIGHTED);
                                selectedAction=a;
                                return true;
                        }
                }
                return false;
//              selectedAction.getDrawInfo().clearHightlight();
//              return selectedAction.getDrawInfo().highlightSubsequence(identifier,expand);
        }
        
        public void clearHighlight()
        {
                if (currTask == null)
                        return;

                for(Action a : currTask.getSubActionsRecursive()) {
                        a.getDrawInfo().clearHightlight();
                }
        }

        
        public void addAction(Action a) {

                a.getDrawInfo().position = new Vector2f(50+globalPosOffset.x,80+globalPosOffset.y);
                currTask.addSubAction(a);

        }
        

        public Frame findFrame() {      
                
                Container f = this.getParent();
                while (!(f instanceof Frame) && f!=null)
                        f = f.getParent();
                return (Frame) f;
        }
        
        public Action getCurrTask() {
                return currTask;
        }



        public class ActionEditorWindow extends Frame {

                private static final long serialVersionUID = 543157068719461737L;
                public ActionPropertiesEditor applet;
                
                public ActionEditorWindow() {
                                PrologInterface.initJPLProlog("ias_knowledge_base");
                        
                setBounds(100,100,500,500);
                applet = new ActionPropertiesEditor();
                applet.frame = this;
                add(applet);
                applet.init();
                        this.setVisible(true);
            }

                public void setAddActionCallback(IAddActionCallback cb) {
                        applet.setAddActionCallback(cb); 
                }
                
                public void setBaseIRI(String base_iri) {
                        applet.setBaseIRI(base_iri); 
                }
        }
        
}