joystickView.java

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package jp.go.aist.hrp.joystick.views;

import jp.go.aist.hrp.joystick.Activator;
import jp.go.aist.hrp.joystick.rtc.JoystickComp;
import jp.go.aist.rtm.RTC.*;

import org.eclipse.swt.widgets.*;
import org.eclipse.ui.part.*;
import org.eclipse.swt.events.*;
import org.eclipse.swt.graphics.*;
import org.eclipse.swt.SWT;



public class joystickView extends ViewPart {
        private Canvas canvas;
        private static Point pj = new Point(0,0);
        private static Point PC = pj;
        private boolean mouseDrag = false;
        private Region region;
        
        public joystickView() {
        super();        
    }
    

        public void execJoystick() {
        System.out.println("[Joystick] COMPONENT START");
        
        String confPath = Activator.getConfigFilePath();
        
        if(confPath=="") {
                System.out.println("Failed to locate the path to configuration file : rtc.conf");
                System.out.println("Joystick Aborted");
        } else {
                String[] args = {"-f", confPath};        
                
        //      String pluginPath = Activator.getPath();
        //        
        //      // Initialize manager
        //      String[] args = {"-f", pluginPath+"/rtc.conf"};
                final Manager manager = Manager.init(args);
                
                // Set module initialization procedure
                // This procedure will be invoked in activateManager() function.
                JoystickComp joystickComp = new JoystickComp();
                manager.setModuleInitProc(joystickComp); 
        
                if(manager.getPOAManager().get_state().value()!=1) {
                                // Activate manager and register to naming service
                                manager.activateManager();
                                
                                // If you want to run the manager in non-blocking mode, do like this
                                manager.runManager(true);
                }
        }
    }    
    
    public static Point getJoystickPosition() {
        Point pos = new Point(pj.x-PC.x,pj.y-PC.y);
        pos.y = -pos.y;
        return pos;
    }

    public void createPartControl(Composite parent) {
        canvas = new Canvas(parent, SWT.BORDER | SWT.NO_BACKGROUND);
        final int pitch=50;
        execJoystick();
        
       // Create a paint handler for the canvas
        canvas.addPaintListener(new PaintListener() {
          public void paintControl(PaintEvent e) {
            Point p0 = canvas.getLocation();
                Point p1 = canvas.getSize();
                Point P0 = new Point(p0.x,p0.y);
                Point P1 = new Point(p0.x+p1.x,p0.y+p1.y);
                Point pc = new Point((P0.x+P1.x)/2,(P0.y+P1.y)/2);
                PC = pc;
                
                Color col1 = new Color(e.display,221,221,221);
                Color col2 = new Color(e.display,238,238,238);
                Color white= new Color(e.display,255,255,255);
                Color color; 
                
                Image image = new Image(canvas.getDisplay(), canvas.getBounds());
                GC gcImage = new GC(image);
                
            gcImage.setBackground(e.gc.getBackground());
            gcImage.fillRectangle(image.getBounds());
            
            gcImage.setForeground(white);
            
            for(int i=10;i>0;i--) {
                p0.x = pc.x - pitch * i;
                p0.y = pc.y - pitch * i;
                p1.x = pc.x + pitch * i;
                p1.y = pc.y + pitch * i;
                
                if(i%2 == 0) {
                        color = col1;
                } else {
                        color = col2;
                }
                gcImage.setBackground(color);
                gcImage.fillOval(p0.x,p0.y,p1.x-p0.x,p1.y-p0.y);                
                gcImage.drawOval(p0.x,p0.y,p1.x-p0.x,p1.y-p0.y);
            }
            gcImage.setForeground(e.display.getSystemColor(SWT.COLOR_BLACK));
            gcImage.drawLine(pc.x, P0.y, pc.x, P1.y);
            gcImage.drawLine(P0.x, pc.y, P1.x, pc.y);
              
            gcImage.drawString("x", P1.x-20, pc.y+10);
            gcImage.drawString("y", pc.x+10, P0.y);
            
            if(!mouseDrag) {
                pj = new Point(pc.x,pc.y);
            }
            
            Point pos = getJoystickPosition();
            double _r = Math.round(Math.hypot(pos.x, pos.y)*100)/100.0;
            double _th =  Math.round(Math.toDegrees(Math.atan2(pos.y,pos.x))*100)/100.0;
            gcImage.drawString("x: "+pos.x, (pc.x+P1.x)/2-20, P1.y-40);
            gcImage.drawString("y: "+pos.y, (pc.x+P1.x)/2+55, P1.y-40);
            gcImage.drawString("r: "+_r, (pc.x+P1.x)/2-20, P1.y-20);
            gcImage.drawString("th: "+_th, (pc.x+P1.x)/2+50, P1.y-20);
            
            gcImage.setBackground(col1);
            gcImage.drawLine(pc.x, pc.y, pj.x, pj.y);
            gcImage.fillOval(pj.x-10, pj.y-10, 20, 20);                
            gcImage.drawOval(pj.x-10, pj.y-10, 20, 20);
            
            e.gc.drawImage(image, 0, 0);

            image.dispose();
            gcImage.dispose();
            
            region = new Region();
            region.add(new Rectangle(pj.x-10, pj.y-10, 20, 20));
          }
        });
        
        canvas.addMouseListener(new MouseAdapter() {
                public void mouseDown(MouseEvent e) {
                        Point ep = new Point(e.x, e.y);
                        if(region.contains(ep)) {
                                mouseDrag = true;
                        }
                }
                
                public void mouseUp(MouseEvent e) {
                        mouseDrag = false;
                        canvas.redraw();
                }
        });
        
        canvas.addMouseMoveListener(new MouseMoveListener() {
                        public void mouseMove(MouseEvent e) {
                                if(mouseDrag) {
                                        pj.x = e.x;
                                        pj.y = e.y;
                                        canvas.redraw();
                                }
                        } 
        });
    }

    public void setFocus() { 
        
    }

}