SeriesDialog.java

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

//import java.awt.*;
import java.net.URL;
import java.util.*;


import org.eclipse.jface.dialogs.Dialog;
import org.eclipse.jface.dialogs.IDialogConstants;
import org.eclipse.jface.viewers.ArrayContentProvider;
import org.eclipse.jface.viewers.CellEditor;
import org.eclipse.jface.viewers.ColorCellEditor;
import org.eclipse.jface.viewers.ICellModifier;
import org.eclipse.jface.viewers.ITableColorProvider;
import org.eclipse.jface.viewers.ITableLabelProvider;
import org.eclipse.jface.viewers.LabelProvider;
import org.eclipse.jface.viewers.TableViewer;
import org.eclipse.jface.viewers.TextCellEditor;
import org.eclipse.swt.SWT;
import org.eclipse.swt.events.SelectionEvent;
import org.eclipse.swt.events.SelectionListener;
import org.eclipse.swt.graphics.Color;
import org.eclipse.swt.graphics.Image;
import org.eclipse.swt.graphics.RGB;
import org.eclipse.swt.layout.FillLayout;
import org.eclipse.swt.layout.RowData;
import org.eclipse.swt.layout.RowLayout;
import org.eclipse.swt.widgets.Button;
import org.eclipse.swt.widgets.Combo;
import org.eclipse.swt.widgets.Composite;
import org.eclipse.swt.widgets.Control;
import org.eclipse.swt.widgets.Group;
import org.eclipse.swt.widgets.Item;
import org.eclipse.swt.widgets.Label;
import org.eclipse.swt.widgets.Shell;
import org.eclipse.swt.widgets.Table;
import org.eclipse.swt.widgets.TableColumn;

import com.generalrobotix.ui.grxui.Activator;
import com.generalrobotix.ui.item.GrxLinkItem;
import com.generalrobotix.ui.item.GrxModelItem;
import com.generalrobotix.ui.util.MessageBundle;


@SuppressWarnings("serial") //$NON-NLS-1$
public class SeriesDialog extends Dialog {
        private boolean updated_;
    private ArrayList<DataItemInfo> dataItemInfoList_; 
    private ArrayList<DataItemInfo> removedList_;
    private DataItemInfo[] dataItemInfoArray_;
    private DataItemInfo[] removedArray_;
    
    private ArrayList<DataItemInfo> addedList_;
    private DataItemInfo[] addedArray_;
    
   // private JTable seriesTable_ = new JTable();
    private TableViewer tableviewer_;
    private static final String ROBOT_MODEL = "ROBOT MODEL"; //$NON-NLS-1$
    private static final String DATA_TYPE   = "DATA TYPE"; //$NON-NLS-1$
    private static final String LINK_NAME   = "LINK NAME"; //$NON-NLS-1$
    private static final String ATTRIBUTE   = "ATTRIBUTE"; //$NON-NLS-1$
    private static final String colNode = MessageBundle.get("dialog.graph.series.table.node"); //$NON-NLS-1$
    private static final String colAttribute = MessageBundle.get("dialog.graph.series.table.attribute"); //$NON-NLS-1$
    private static final String colIndex = MessageBundle.get("dialog.graph.series.table.index"); //$NON-NLS-1$
    private static final String colColor = MessageBundle.get("dialog.graph.series.table.color"); //$NON-NLS-1$
    private static final String colLegend = MessageBundle.get("dialog.graph.series.table.legend"); //$NON-NLS-1$
    private Combo comboModel_ ;
    private Combo comboType_ ;
    private Combo comboLink_ ;
    private Combo comboAttr_ ;
    private Button setButton_;
        private Button removeButton_;
                
    private static final String GRAPH_PROPERTIES = "/resources/graph.properties"; //$NON-NLS-1$
    private URL url = this.getClass().getResource(GRAPH_PROPERTIES);
    private Properties prop = new Properties();
    private GraphElement currentGraph_;
    
    private MyTable tableModel_;
        private final Map<String, ArrayList<String>> nodeMap =  new HashMap<String, ArrayList<String>>();
        private int graphIndex = 0;
    private List<GrxModelItem> currentModels_ = null;
    // -----------------------------------------------------------------
    public SeriesDialog(GraphElement initialGraph, Shell shell) {
        super(shell);
        currentGraph_ = initialGraph;
        
        tableModel_ = new MyTable();
        
        try {
                prop.load(url.openStream());
        } catch (java.io.IOException e) {
                e.printStackTrace();
        }
        
//       this is temporary limit for data type
        List<String> typeList = new ArrayList<String>();
        typeList.add("Joint"); //$NON-NLS-1$
        typeList.add("ForceSensor"); //$NON-NLS-1$
        typeList.add("Gyro"); //$NON-NLS-1$
        typeList.add("AccelerationSensor"); //$NON-NLS-1$
        
        Iterator<Object> it = prop.keySet().iterator();
        while (it.hasNext()) {
                String key = (String) it.next();
                String[] property = key.split("[.]"); //$NON-NLS-1$
                if (property.length > 2 && property[2].equals("dataKind") && typeList.contains(property[0])) { //$NON-NLS-1$
                        if (!nodeMap.containsKey(property[0]))
                                nodeMap.put(property[0], new ArrayList<String>());
                        nodeMap.get(property[0]).add(property[1]);
                }
        }      
    }
    
    protected void configureShell(Shell newShell) {   
        super.configureShell(newShell);
        newShell.setText(MessageBundle.get("dialog.graph.series.title")); //$NON-NLS-1$
    }
    
    protected Control createDialogArea(Composite parent) {
        Composite composite = (Composite)super.createDialogArea(parent);
        composite.setLayout(new RowLayout(SWT.VERTICAL));
        RowData rowdata = new RowData();
        rowdata.height = 100;
        rowdata.width = 600;
        
        Label label = new Label(composite, SWT.LEFT);
        label.setText(MessageBundle.get("dialog.graph.series.dataseries")); //$NON-NLS-1$
        tableviewer_ = new TableViewer(composite, SWT.FULL_SELECTION | SWT.BORDER);
        tableviewer_.getControl().setLayoutData(rowdata);
        Table table = tableviewer_.getTable();
        table.setFont(Activator.getDefault().getFont("preference_table"));
        table.setLinesVisible(true);
        table.setHeaderVisible(true);
        TableColumn column = new TableColumn(table,SWT.NONE);
        column.setText(colNode);
        column.setWidth(100);
        column = new TableColumn(table,SWT.NONE);
        column.setText(colAttribute);
        column.setWidth(100);
        column = new TableColumn(table,SWT.NONE);
        column.setText(colIndex);
        column.setWidth(60);
        column = new TableColumn(table,SWT.NONE);
        column.setText(colColor);
        column.setWidth(60);
        column = new TableColumn(table,SWT.NONE);
        column.setText(colLegend);
        column.setWidth(280);
        
        String[] properties = new String[]{ null, null, null, "color", "legend"}; //$NON-NLS-1$ //$NON-NLS-2$
        tableviewer_.setColumnProperties(properties); 
        CellEditor[] editors = new CellEditor[]{ null, null, null, 
                new ColorCellEditor(table),
                new TextCellEditor(table)  };
        tableviewer_.setCellEditors(editors);
        tableviewer_.setContentProvider(new ArrayContentProvider());
        tableviewer_.setLabelProvider(new MyLabelProvider());
        tableviewer_.setCellModifier(new MyCellModifier(tableviewer_));
        
        tableviewer_.setInput(tableModel_.getList());
       
        Composite line3 = new Composite(composite, SWT.NONE);
        line3.setLayout(new RowLayout());
        Group group0 = new Group(line3, SWT.NONE);
        group0.setText(ROBOT_MODEL);
        group0.setLayout(new FillLayout());
        comboModel_ = new Combo(group0,SWT.READ_ONLY);
        comboModel_.addSelectionListener(new SelectionListener() {
                        public void widgetDefaultSelected(SelectionEvent e) {                           
                        }
                        public void widgetSelected(SelectionEvent e) {
                                comboType_.removeAll();
                                comboLink_.removeAll();
                                comboAttr_.removeAll();
                                
                                Iterator<String> it = nodeMap.keySet().iterator();
                                if (tableModel_.getRowCount() > 0) {
                                        String curAttr = currentGraph_.getTrendGraph().getDataItemInfoList()[0].dataItem.attribute;
                                        while (it.hasNext()) {
                                                String key = it.next();
                                                if (nodeMap.get(key).contains(curAttr))
                                                        comboType_.add(key);
                                        }
                                } else {
                                        while (it.hasNext()) {
                                                comboType_.add(it.next());
                        }
                                }
                                comboType_.setEnabled(true);
                                comboLink_.setEnabled(false);
                                comboAttr_.setEnabled(false);
                                setButton_.setEnabled(false);
                                
                                
                                
                                if(comboType_.getItemCount()>0){
                                        comboType_.select(0);
                                        comboType_.notifyListeners(SWT.Selection, null);
                                }
                                
                        }
                });     
        Group group1 = new Group(line3, SWT.NONE);
        group1.setText(DATA_TYPE);
        group1.setLayout(new FillLayout());
        comboType_ = new Combo(group1,SWT.READ_ONLY);
        comboType_.addSelectionListener(new SelectionListener() {
                        public void widgetDefaultSelected(SelectionEvent e) {                   
                        }
                        public void widgetSelected(SelectionEvent e) {
                                
                                comboLink_.removeAll();
                                comboAttr_.removeAll();
                                
                                String type = comboType_.getItem(comboType_.getSelectionIndex());
                                String modelName = comboModel_.getItem(comboModel_.getSelectionIndex());
                                Iterator<GrxModelItem> it = currentModels_.iterator();
                                GrxModelItem model=null;
                                while (it.hasNext()) {
                                        model = it.next();
                                        if(model.getName().equals(modelName))
                                                break;
                                }
                                if (type.equals("Joint")) { //$NON-NLS-1$
                                        Vector<GrxLinkItem> li = model.links_;
                                        for (int i = 0; i < li.size(); i++) 
                                                comboLink_.add(li.get(i).getName());
                                } else {
                                        String t = null;
                                        if (type.equals("ForceSensor")) //$NON-NLS-1$
                                                t = "Force"; //$NON-NLS-1$
                                        else if (type.equals("Gyro")) //$NON-NLS-1$
                                                t = "RateGyro"; //$NON-NLS-1$
                                        else if (type.equals("AccelerationSensor")) //$NON-NLS-1$
                                                t = "Acceleration"; //$NON-NLS-1$
                                        String[] snames = model.getSensorNames(t);

                                        if (snames != null) {
                                                for (int i=0; i<snames.length; i++) {
                                                        comboLink_.add(snames[i]);
                                                }
                                        }
                                }
                                comboLink_.setEnabled(true);
                                comboAttr_.setEnabled(false);
                                setButton_.setEnabled(false);
                                
                                                        
                                if(comboLink_.getItemCount()>0){
                                        comboLink_.select(0);
                                        comboLink_.notifyListeners(SWT.Selection, null);
                                }
                        }
                });
        Group group2 = new Group(line3, SWT.NONE);
        group2.setText(LINK_NAME);
        group2.setLayout(new FillLayout());
        comboLink_ = new Combo(group2,SWT.READ_ONLY);
        comboLink_.addSelectionListener(new SelectionListener() {

                        public void widgetDefaultSelected(SelectionEvent e) {                   
                        }

                        public void widgetSelected(SelectionEvent e) {
                                
                                comboAttr_.removeAll();
                                
                                String type = comboType_.getItem(comboType_.getSelectionIndex());
                                List<String> l = nodeMap.get(type);
                                if(type.equals("Joint")){
                                        String modelName = comboModel_.getItem(comboModel_.getSelectionIndex());
                                        Iterator<GrxModelItem> it = currentModels_.iterator();
                                        GrxModelItem model=null;
                                        while (it.hasNext()) {
                                                model = it.next();
                                                if(model.getName().equals(modelName))
                                                        break;
                                        }
                                        String linkName = comboLink_.getItem(comboLink_.getSelectionIndex());
                                        boolean isControlJoint = false;
                                        if(model!=null){
                                                GrxLinkItem link = model.getLink(linkName);
                                                if(link!=null)
                                                        if(link.jointType_.equals("rotate") || link.jointType_.equals("slide") )
                                                        isControlJoint = true;
                                        }
                                        if (tableModel_.getRowCount() > 0) {
                                                String curAttr = (String)tableModel_.getValueAt(0, 1);
                                                if(!isControlJoint)
                                                        if(curAttr.equals("translation") || curAttr.equals("attitude"))
                                                                comboAttr_.add(curAttr);
                                                        else
                                                                ;
                                                else
                                                        if (l.contains(curAttr))
                                                                comboAttr_.add(curAttr);
                                                        else
                                                                ;
                                        } else {
                                                if(!isControlJoint){
                                                        comboAttr_.add("translation");
                                                        comboAttr_.add("attitude");
                                                }else {
                                                        Iterator<String> it0 = l.iterator();
                                                        while (it0.hasNext()) {
                                                                comboAttr_.add(it0.next());
                                        }
                                                }
                                        }
                                }else{
                                        if (tableModel_.getRowCount() > 0) {
                                                String curAttr = (String)tableModel_.getValueAt(0, 1);
                                                if (l.contains(curAttr))
                                                        comboAttr_.add(curAttr);
                                        }else {
                                                Iterator<String> it0 = l.iterator();
                                                while (it0.hasNext()) 
                                                        comboAttr_.add(it0.next());
                                        }
                                }
                                comboAttr_.setEnabled(true);
                                
                                setButton_.setEnabled(comboAttr_.getItemCount() > 0);
                                
                                                        
                                if(comboAttr_.getItemCount()>0)
                                        comboAttr_.select(0);
                        } 
                });
        Group group3 = new Group(line3, SWT.NONE);
        group3.setText(ATTRIBUTE);
        group3.setLayout(new FillLayout());
        comboAttr_ = new Combo(group3,SWT.READ_ONLY);
        removeButton_ = new Button(line3,SWT.PUSH);
        removeButton_.setText(MessageBundle.get("dialog.graph.series.remove")); //$NON-NLS-1$
        removeButton_.addSelectionListener(new SelectionListener(){
                public void widgetDefaultSelected(SelectionEvent e) {
                }
                
                public void widgetSelected(SelectionEvent e) {
                        int ind = tableviewer_.getTable().getSelectionIndex();
                        if (ind < 0) 
                                return;
                        
                        tableModel_.removeRow(ind);
                        tableviewer_.refresh();
                        int cnt = tableModel_.getRowCount();
                        if (cnt < 1) {
                                _resetSelection();
                                return;
                        }
                        if (ind >= cnt) {
                                ind -= 1;
                        }
                        tableviewer_.getTable().select(ind);
                }
        });
        removeButton_.setEnabled(true); 
        setButton_ = new Button(line3,SWT.PUSH);
        setButton_.setText(MessageBundle.get("dialog.graph.series.set")); //$NON-NLS-1$
        setButton_.addSelectionListener(new SelectionListener(){

                        public void widgetDefaultSelected(SelectionEvent e) {
                        }

                        public void widgetSelected(SelectionEvent e) {
                                int length = 1;
                                String combo1 = (String)comboType_.getItem(comboType_.getSelectionIndex());
                                if (combo1.equals("ForceSensor") || //$NON-NLS-1$
                                        combo1.equals("AccelerationSensor") || //$NON-NLS-1$
                                        combo1.equals("Gyro"))  //$NON-NLS-1$
                                        length = 3;
                                String model = comboModel_.getItem(comboModel_.getSelectionIndex());
                                String link = comboLink_.getItem(comboLink_.getSelectionIndex());
                                String attr = comboAttr_.getItem(comboAttr_.getSelectionIndex());
                                if(combo1.equals("Joint") && (attr.equals("translation") || attr.equals("attitude")))
                                        length = 3;
                                for (int i=0; i<length; i++) {  
                                        String legend = model + "." + link + "." + attr + (length > 1 ? "." + i : ""); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ //$NON-NLS-4$
                                        if(!tableModel_.contains(legend)){
                                                DataItemInfo newDataItemInfo = new DataItemInfo(new DataItem(model,link,attr,
                                                        length > 1 ? i : -1,
                                                comboType_.getItem(comboType_.getSelectionIndex())),
                                                currentGraph_.getTrendGraph().getGraphColor(graphIndex),
                                                legend);
                                                tableModel_.addRow(newDataItemInfo, legend);
                                                tableviewer_.refresh();
                                                graphIndex++;
                                        }
                                }
                                removeButton_.setEnabled(true);
                        comboLink_.notifyListeners(SWT.Selection, null);
                        }
        });
        _resetSelection();
        return composite;
    }

    protected void buttonPressed(int buttonId) {
        if (buttonId == IDialogConstants.OK_ID) {
            ArrayList<DataItemInfo> newDataItemInfoList = new ArrayList<DataItemInfo>();
            for(int i=0; i<tableModel_.getRowCount(); i++){
                String fullName = tableModel_.getString(i);
                Iterator<DataItemInfo> it = dataItemInfoList_.iterator();
                boolean contain = false;
                while(it.hasNext()){
                        DataItemInfo info = it.next();
                        if(fullName.equals(info.dataItem.toString())){
                                info.color = (RGB)tableModel_.getValueAt(i, 3);
                                info.legend = (String)tableModel_.getValueAt(i, 4);
                                newDataItemInfoList.add(info);
                                dataItemInfoList_.remove(info);
                                contain = true;
                                break;
                        }
                }
                if(!contain){
                        addedList_.add(tableModel_.getItem(i));
                }
            }
            Iterator<DataItemInfo> it = dataItemInfoList_.iterator();
            while(it.hasNext()){
                removedList_.add(it.next());
            }
            dataItemInfoArray_ =
                newDataItemInfoList.toArray(new DataItemInfo[0]);
                removedArray_ = removedList_.toArray(new DataItemInfo[0]);
                removeAllRows();
            addedArray_ = addedList_.toArray(new DataItemInfo[0]);
                updated_ = true;
        }else if(buttonId == IDialogConstants.CANCEL_ID){
            removeAllRows();
        }
        setReturnCode(buttonId);
        close();
        super.buttonPressed(buttonId);
    }
    
    private void _resetSelection() {
                graphIndex = 0;
        
                
                comboModel_.removeAll();
                Iterator<GrxModelItem> it = currentModels_.iterator();
                while (it.hasNext()) {
                        GrxModelItem model = it.next();
                        if (model.isRobot())
                                comboModel_.add(model.getName());
                }
                comboType_.removeAll();
                comboLink_.removeAll();
                comboAttr_.removeAll();
                
                comboModel_.setEnabled(true);
                comboType_.setEnabled(false);
                comboLink_.setEnabled(false);
                comboAttr_.setEnabled(false);
                setButton_.setEnabled(false);
                
                
                if(comboModel_.getItemCount()>0){
                        comboModel_.select(0);
                        comboModel_.notifyListeners(SWT.Selection, null);
                }
    }

    public void setCurrentGraph(GraphElement currentGraph) {
        currentGraph_ = currentGraph;
    }

    
        public int open( ) {
                removedList_ = new ArrayList<DataItemInfo>(); 
                addedList_ = new ArrayList<DataItemInfo>();
                updated_ = false;     
            return super.open(); 
        }


    public void setDataItemInfoList( DataItemInfo[] dii) {
        dataItemInfoList_ = new ArrayList<DataItemInfo>();
        for (int i = 0; i < dii.length; i++) {
            dataItemInfoList_.add(dii[i]);
            tableModel_.addRow(dii[i],dii[i].dataItem.toString());
        }
    }

    public DataItemInfo[] getDataItemInfoList() {
        return dataItemInfoArray_;
    }

    public DataItemInfo[] getRemovedList() {
        return removedArray_;
    }
    public DataItemInfo[] getAddedList() {
        return addedArray_;
    }
    public boolean isUpdated() {
        return updated_;
    }

    private void removeAllRows() {
        int cnt = tableModel_.getRowCount();
        for (int i = 0; i < cnt; i++) {
            tableModel_.removeRow(0);
        }
    }

    private class MyTable {
        private ArrayList<String> nameList = new ArrayList<String>();
        private ArrayList<DataItemInfo> itemList = new ArrayList<DataItemInfo>(); 
        
        public void addRow(DataItemInfo item, String name){
                itemList.add(item);
                nameList.add(name);
        }
        
        public void removeRow(int i){
                itemList.remove(i);
                nameList.remove(i);
        }
        
        public DataItemInfo getItem(int i){
                return itemList.get(i);
        }
        
        public int getRowCount(){
                return itemList.size();
        }
        
        public String getString(int i){
                return nameList.get(i);
        }
        
        public ArrayList getList(){
                return itemList;
        }
    
        public boolean contains(String name){
            return nameList.contains(name);
        }
        
        public Object getValueAt(int i, int j){
                DataItemInfo dii = itemList.get(i);
                DataItem di = dii.dataItem;
                switch (j) {
                    case 0:
                         if (di.object == null) {
                                 return di.node;
                         }else{
                                 return di.object + "." + di.node; //$NON-NLS-1$
                         }
                    case 1:
                        return di.attribute;
                    case 2:
                        return new Integer(di.index);
                    case 3:
                        return dii.color;
                    case 4:
                        return dii.legend;
                    default:
                        break;
                }
                return null;
        }
    }
    
    public void setModelList(List<GrxModelItem> list){
        currentModels_ = list;
    }
    
    public class MyLabelProvider extends LabelProvider 
    implements ITableLabelProvider, ITableColorProvider { 

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

        public String getColumnText(Object element, int columnIndex) {
                DataItemInfo item = (DataItemInfo) element;
                String result = ""; //$NON-NLS-1$
                DataItem di = item.dataItem;
                switch (columnIndex) {
                    case 0:
                         if (di.object == null) {
                                 result = di.node;
                         }else{
                                 result = di.object + "." + di.node; //$NON-NLS-1$
                         }
                         break;
                    case 1:
                        result = di.attribute;
                        break;
                    case 2:
                        if(di.index < 0)
                                result = ""; //$NON-NLS-1$
                        else
                                result = (new Integer(di.index)).toString();
                        break;
                    case 3:
                        result = ""; //$NON-NLS-1$
                        break;
                    case 4:
                        result = item.legend;
                        break;
                    default:
                        break;
                }
                return result;
        }

                public Color getBackground(Object element, int columnIndex) {
                        DataItemInfo item = (DataItemInfo) element;
                if(columnIndex == 3)
                        return Activator.getDefault().getColor(item.color);
                else
                        return null;
                }

                public Color getForeground(Object element, int columnIndex) {
                        return null;
                }
    }
    
    public class MyCellModifier implements ICellModifier {
          private TableViewer viewer_;

          public MyCellModifier(TableViewer viewer) {
            this.viewer_ = viewer;
          }

                public boolean canModify(Object element, String property) {
                        if(property == "color" || property == "legend") //$NON-NLS-1$ //$NON-NLS-2$
                                return true;
                        else
                                return false;
                }

                public Object getValue(Object element, String property) {
                        DataItemInfo item = (DataItemInfo) element;
                        if(property == "color") //$NON-NLS-1$
                                return item.color;
                        else if(property == "legend") //$NON-NLS-1$
                                return item.legend;
                        return null;
                }

                public void modify(Object element, String property, Object value) {
                        if (element instanceof Item) {
                              element = ((Item) element).getData();
                        }
                        DataItemInfo item = (DataItemInfo) element;
                        if(property == "color"){ //$NON-NLS-1$
                                item.color =(RGB)value;
                        }else if(property == "legend") //$NON-NLS-1$
                                item.legend = (String)value;
                                
                         viewer_.update(element, null);
                }
    }
}