GrxExtraJointItem.java

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

package com.generalrobotix.ui.item;

import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.Vector;

import org.eclipse.jface.action.Action;
import org.eclipse.jface.dialogs.InputDialog;
import org.eclipse.jface.dialogs.MessageDialog;
import org.eclipse.osgi.util.NLS;

import jp.go.aist.hrp.simulator.ExtraJointInfo;
import jp.go.aist.hrp.simulator.ExtraJointType;

import com.generalrobotix.ui.GrxBaseItem;
import com.generalrobotix.ui.GrxPluginManager;
import com.generalrobotix.ui.GrxBasePlugin.ValueEditCombo;
import com.generalrobotix.ui.GrxBasePlugin.ValueEditType;
import com.generalrobotix.ui.util.MessageBundle;


@SuppressWarnings("serial")

public class GrxExtraJointItem extends GrxBaseItem {
        public static final String TITLE = "ExtraJoint";
        boolean isModel = true;
        private GrxModelItem model_;
        private GrxModelItem model1_, model2_;
        static final String[] extrajointTypeComboItem_ = new String[] { "xyz", "xy", "z" };
        
        public  GrxExtraJointItem(String name, GrxPluginManager manager) {
                super(name, manager);
                setIcon("extraJoint.png");
                isModel = false;
                model_ = null;
        }
        
        public GrxExtraJointItem(String name, GrxPluginManager manager, GrxModelItem model, ExtraJointInfo extraJointInfo) {
                super(name, manager);
                model_ = model;
                
                if(extraJointInfo != null){
                        setProperty("link1Name", extraJointInfo.link[0]);
                        setProperty("link2Name", extraJointInfo.link[1]);
                        setDblAry("link1LocalPos", extraJointInfo.point[0], 4);
                        setDblAry("link2LocalPos", extraJointInfo.point[1], 4);
                        if(extraJointInfo.jointType == ExtraJointType.EJ_XYZ){
                                setProperty("jointType", "xyz");
                        }else if(extraJointInfo.jointType == ExtraJointType.EJ_XY){
                                setProperty("jointType", "xy");
                        }else if(extraJointInfo.jointType == ExtraJointType.EJ_Z){
                                setProperty("jointType", "z");
                        }
                        setDblAry("jointAxis", extraJointInfo.axis, 4);
                }else{
                        setProperty("link1Name", "");
                        setProperty("link2Name", "");
                        setProperty("link1LocalPos", "0.0 0.0 0.0");
                        setProperty("link2LocalPos", "0.0 0.0 0.0");
                        setProperty("jointType", "xyz");
                        setProperty("jointAxis", "0 0 1");
                }
        
                setIcon("extraJoint.png");
        initMenu();
        }
        
        public void jointAxis(String axis){
        double[] newAxis = getDblAry(axis);
        if (newAxis != null && newAxis.length == 3){
                setDblAry("jointAxis", newAxis, 4); 
                if (model_ != null) model_.notifyModified();
        }  
    }
        
        public void link1LocalPos(String pos){
                double[] newPos = getDblAry(pos);
        if (newPos != null && newPos.length == 3){
                setDblAry("link1LocalPos", newPos, 4); 
                if (model_ != null) model_.notifyModified();
        }  
        }
        
        public void link2LocalPos(String pos){
                double[] newPos = getDblAry(pos);
        if (newPos != null && newPos.length == 3){
                setDblAry("link2LocalPos", newPos, 4); 
                if (model_ != null) model_.notifyModified();
        }  
        }
        
        public ValueEditType GetValueEditType(String key) {
                if(key.equals("jointType"))
                {
                        return new ValueEditCombo(extrajointTypeComboItem_);
                }else if( key.equals("link1Name") || key.equals("link2Name") ){
                        String[] linkComboItem_ = null;
                        if(isModel){
                                if(model_!=null){
                                        linkComboItem_ = model_.nameToLink_.keySet().toArray(new String[0]);
                                }
                        }else{
                                if( key.equals("link1Name") ){
                                        if(model1_!=null){
                                                linkComboItem_ = model1_.nameToLink_.keySet().toArray(new String[0]);
                                        }
                                }
                                if( key.equals("link2Name") ){
                                        if(model2_!=null){
                                                linkComboItem_ = model2_.nameToLink_.keySet().toArray(new String[0]);
                                        }
                                }
                        }
                        if(linkComboItem_!=null)
                                return new ValueEditCombo(linkComboItem_);
                        else
                                return super.GetValueEditType(key);
                }else if( key.equals("object1Name") || key.equals("object2Name") ){
                        if(!isModel){
                                Map<?, ?> m = manager_.pluginMap_.get((GrxModelItem.class));
                            String[] modelComboItem_ = m.keySet().toArray(new String[0]);
                                return new ValueEditCombo(modelComboItem_);
                        }
                }
                return super.GetValueEditType(key);
        }
        
        private void initMenu(){
                getMenu().clear();

                Action item;

                // rename
                item = new Action(){
                        public String getText(){
                                return MessageBundle.get("GrxLinkItem.menu.rename"); //$NON-NLS-1$
                        }
                        public void run(){
                                InputDialog dialog = new InputDialog( null, getText(),
                                                MessageBundle.get("GrxLinkItem.dialog.message.rename"), getName(),null); //$NON-NLS-1$
                                if ( dialog.open() == InputDialog.OK && dialog.getValue() != null)
                                        rename( dialog.getValue() );
                        }
                };
                setMenuItem(item);

                // delete
                item = new Action(){
                        public String getText(){
                                return MessageBundle.get("GrxBaseItem.menu.delete"); //$NON-NLS-1$
                        }
                        public void run(){
                String mes = MessageBundle.get("GrxBaseItem.dialog.message.delete"); //$NON-NLS-1$
                mes = NLS.bind(mes, new String[]{getName()});
                                if( MessageDialog.openQuestion( null, MessageBundle.get("GrxBaseItem.dialog.title.delete"), //$NON-NLS-1$
                                                mes) )
                                        delete();
                        }
                };
                setMenuItem(item);
        }
        
        public boolean propertyChanged(String property, String value) {
                if (property.equals("name")){ //$NON-NLS-1$
                        rename(value);
                }else if(property.equals("link1Name")){
                        setProperty("link1Name", value);
                        if (model_ != null) model_.notifyModified();
                }else if(property.equals("link2Name")){
                        setProperty("link2Name", value);
                        if (model_ != null) model_.notifyModified();
                }else if(property.equals("link1LocalPos")){
                        link1LocalPos(value);
                }else if(property.equals("link2LocalPos")){
                        link2LocalPos(value);
                }else if(property.equals("jointType")){
                        setProperty("jointType", value);
                        if (model_ != null) model_.notifyModified();
                }else if(property.equals("jointAxis")){
                        jointAxis(value);
                }else if(property.equals("object1Name")){
                        setProperty("object1Name", value);
                        model1_ = (GrxModelItem)(manager_.getItem( GrxModelItem.class, value ));
                }else if(property.equals("object2Name")){
                        setProperty("object2Name", value);
                        model2_ = (GrxModelItem)(manager_.getItem( GrxModelItem.class, value ));
                }else
                        return false;
                return true;
        }
        
        public void delete(){
                if(isModel && model_!=null)
                        model_.removeExtraJoint(this);
                super.delete();
        }
        
        public boolean create() {
                setProperty("object1Name", "");
                setProperty("object2Name", "");
                setProperty("link1Name", "");
                setProperty("link2Name", "");
                setProperty("link1LocalPos", "0.0 0.0 0.0");
                setProperty("link2LocalPos", "0.0 0.0 0.0");
                setProperty("jointType", "xyz");
                setProperty("jointAxis", "0 0 1");
                return true;
        }
}