brbrain
Class PoseGUI

java.lang.Object
  java.awt.Component
      java.awt.Container
          javax.swing.JComponent
              javax.swing.Box
                  brbrain.GUI
                      brbrain.PoseGUI

All Implemented Interfaces:

java.awt.image.ImageObserver, java.awt.MenuContainer, java.io.Serializable, javax.accessibility.Accessible

Direct Known Subclasses:

PoseSequenceGUI

public class PoseGUI
extends GUI

Dynamixel GUI component for a Pose.

Displays a table of all of the registers of all of the dynamixels in Pose. The registers are either in columns or rows depending on whether registerAxis is BoxLayout.Y_AXIS or BoxLayout.X_AXIS, respectively.

Dynamixels names are displayed (passing null for any or all dynamixel names uses default names generated from the dynamixel IDs), and register names and units are optionally displayed. The data for each register can be configured to display in either raw or natural units.

Each register may be editable and if so accepts and validates typing from the user.

The GUI further supports synchronization of the data with an BRBrain, either read-only (data in GUI updated to reflect current state of hardware) or read/write, using the write span of the pose.

Copyright (C) 2007 Marsette A. Vona, III

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

Author:

Marsette (Marty) A. Vona, III

See Also:

Serialized Form

Nested Class Summary

protected class	PoseGUI.DynamixelBox displays a dynamixel name and PoseGUI.ValueBoxes
protected class	PoseGUI.RegisterNameBox shows register names and units
protected class	PoseGUI.ValueBox A box containing the numeric value of a dynamixel register, either in raw or natural units according to useNaturalUnits.

Nested classes/interfaces inherited from class brbrain.GUI

GUI.RemoveTask

Nested classes/interfaces inherited from class javax.swing.Box

javax.swing.Box.AccessibleBox, javax.swing.Box.Filler

Nested classes/interfaces inherited from class javax.swing.JComponent

javax.swing.JComponent.AccessibleJComponent

Nested classes/interfaces inherited from class java.awt.Container

java.awt.Container.AccessibleAWTContainer

Nested classes/interfaces inherited from class java.awt.Component

java.awt.Component.AccessibleAWTComponent, java.awt.Component.BaselineResizeBehavior, java.awt.Component.BltBufferStrategy, java.awt.Component.FlipBufferStrategy

Field Summary

protected int[]	adcValue most recently read CM-5 raw ADC values
static int	AUTO_SYNC_THREAD_GRANULARITY_MS update granularity of autoSyncThread
protected static java.util.List<PoseGUI>	autoSyncAddList global auto sync add list
protected BRBrain	autoSyncBRBrain the BRBrain to auto sync, if any
protected javax.swing.JCheckBox	autoSyncCheckBox auto sync box
protected boolean	autoSyncEnableWrite whether to enable write in auto sync
protected javax.swing.JCheckBox	autoSyncEnableWriteCheckBox auto sync enable write box
protected static java.util.List<PoseGUI>	autoSyncList global auto sync list
protected java.lang.Object	autoSyncLock lock for changing auto sync params
protected int	autoSyncMinUpdatePeriodMS min period of auto sync
protected javax.swing.JTextField	autoSyncMinUpdatePeriodMSField auto min update period field box
protected boolean	autoSyncSaveAndRestoreFormat whether to save and restore format in auto sync
protected javax.swing.JCheckBox	autoSyncSaveAndRestoreFormatsCheckBox auto sync save/restore formats box
protected boolean	autoSyncSetFormats whether to set format in auto sync
protected javax.swing.JCheckBox	autoSyncSetFormatsCheckBox auto sync set formats box
protected static java.lang.Thread	autoSyncThread the auto sync daemon thread, if any
int[]	axIDs the set of dynamixelIDs; do not mutate
private static java.lang.String	cvsid
static boolean	DEF_SYNC_ENABLE_WRITE default for sync
static int	DEF_SYNC_MIN_UPDATE_PERIOD_MS default for sync
static boolean	DEF_SYNC_SAVE_AND_RESTORE_FORMAT default for sync
static boolean	DEF_SYNC_SET_FORMAT default for sync
protected BRBrain	defSyncBRBrain default sync BRBrain
protected boolean	defSyncEnableWrite default sync enable write
protected int	defSyncMinUpdatePeriodMS default sync min update period
protected boolean	defSyncSaveAndRestoreFormats default sync save and restore formats
protected boolean	defSyncSetFormats default sync set formats
protected PoseGUI.DynamixelBox[]	dynamixelBoxes the PoseGUI.DynamixelBoxes
protected java.lang.String[]	dynamixelNames the names to display for each dynamixel
protected javax.swing.JCheckBox	enableWriteCheckBox manual sync enable write box
protected javax.swing.JButton	estopButton the estop button, if any
protected java.text.DecimalFormat	floatFormat format a float with two decimal digits
protected int	lastSyncStartTimeMS start time of latest sync
protected int	lastSyncTimeMS latest sync transaction duration
protected int	lastUpdatePeriodMS latest time between syncs
protected javax.swing.JLabel	negVoltageLabel negative battery voltage label
int	numDynamixels the number of dynamixels in pose
int	numRegisters the number of registers in pose
protected int	numSyncs total number of syncs so far
protected Pose	pose the Pose reference, synchronized by poseLock
protected java.lang.Object	poseLock lock for changing the pose reference
protected javax.swing.JLabel	posVoltageLabel positive battery voltage label
protected int[]	readAXIDSave saved read format dynamixel IDs
protected int[]	readLengthSave saved read format lengths
int	readNum the number of regs in the BRBrain read format
AXRegister	readStart the first reg in the BRBrain read format
protected AXRegister[]	readStartSave saved read format starts
static int	REFRESH_PERIOD_MS gui refresh period
protected static java.util.List<PoseGUI>	refreshList global gui refresh list
protected java.lang.Object	refreshLock lock for GUI update from pose
protected boolean	refreshPending whether a refresh is still waiting to happen
protected static java.lang.Thread	refreshThread global gui refresh thread
protected int	registerAxis the axis along which registers are arrayed
protected PoseGUI.RegisterNameBox	registerNameBox the PoseGUI.RegisterNameBox, if any
AXRegister[]	registers the set of registers; do not mutate
protected javax.swing.JCheckBox	saveAndRestoreFormatsCheckBox manual sync save/restore formats box
protected javax.swing.JCheckBox	setFormatsCheckBox manual sync set formats box
static int	STRUT component spacing
protected javax.swing.JButton	syncButton manual sync button
protected int[]	syncReadData BRBrain read block
protected java.lang.String	syncText text to display in sync label
protected int[]	syncWriteData BRBrain write block
protected boolean	syncWritePending whether a write should be done if enabled on the next sync
protected javax.swing.JLabel	thermLabel thermistor label
protected java.util.Map<AXRegister,java.lang.Boolean>	useNaturalUnits whether to use natural units for each register
static int	VALUE_FIELD_HEIGHT height of PoseGUI.ValueBox fields
static int	VALUE_FIELD_WIDTH width of PoseGUI.ValueBox fields
protected java.util.Map<AXRegister,PoseGUI.ValueBox[]>	valueBoxes PoseGUI.ValueBoxes indexed first by register then by dynamixel index
protected int[]	writeAXIDSave saved write format dynamixel IDs
protected int[]	writeLengthSave saved write format lengths
int	writeNum the number of regs in the BRBrain write format, or 0 if none
AXRegister	writeStart the first reg in the BRBrain write format, or null if none
protected AXRegister[]	writeStartSave saved write format starts

Fields inherited from class brbrain.GUI

lastFrame, MAX_SPLIT_LABEL_CHARS

Fields inherited from class javax.swing.JComponent

accessibleContext, listenerList, TOOL_TIP_TEXT_KEY, ui, UNDEFINED_CONDITION, WHEN_ANCESTOR_OF_FOCUSED_COMPONENT, WHEN_FOCUSED, WHEN_IN_FOCUSED_WINDOW

Fields inherited from class java.awt.Component

BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, LEFT_ALIGNMENT, RIGHT_ALIGNMENT, TOP_ALIGNMENT

Fields inherited from interface java.awt.image.ImageObserver

ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH

Constructor Summary

PoseGUI(int[] axIDs, AXRegister[] registers, AXRegister writeStart, int writeNum, int registerAxis, java.lang.String[] dynamixelNames, boolean showRegisterNames, boolean[] registerEditable, boolean enableShowEstop, boolean showADCs, boolean showManualSync, boolean showAutoSync)
make a gui with a new Pose

PoseGUI(int[] axIDs, AXRegister[] registers, AXRegister writeStart, int writeNum, int registerAxis, java.lang.String[] dynamixelNames, boolean showRegisterNames, boolean editable, boolean enableShowEstop, boolean showADCs, boolean showManualSync, boolean showAutoSync)
make a gui where everything is either editable or not

PoseGUI(int axID, AXRegister[] registers, AXRegister writeStart, int writeNum, int registerAxis, java.lang.String dynamixelName, boolean showRegisterNames, boolean editable, boolean enableShowEstop, boolean showADCs, boolean showManualSync, boolean showAutoSync)
make a GUI for one dynamixel

PoseGUI(Pose pose, int registerAxis, java.lang.String[] dynamixelNames, boolean showRegisterNames, boolean[] registerEditable, boolean enableShowEstop, boolean showADCs, boolean showManualSync, boolean showAutoSync)
make a gui for an existing Pose

Method Summary

protected void	addGUI(GUI gui) hook for adding the main gui
protected static void	addToRefreshList(PoseGUI gui) add a gui to the global refresh list
void	autoSync() Covers autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.
void	autoSync(BRBrain brBrain) Covers autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.
void	autoSync(BRBrain brBrain, int minUpdatePeriodMS, boolean enableWrite, boolean setFormats, boolean saveAndRestoreFormat) Initiate or change automatic periodic synchronization of this GUI with the hardware via an BRBrain.
void	autoSync(int minUpdatePeriodMS) Covers autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.
protected static boolean[]	consEditable(AXRegister[] registers, boolean editable) make up an editable array
protected void	didSync(Pose pose, BRBrain brBrain, boolean didWrite, boolean didRead, boolean setFormats, boolean savedAndRestoredFormat, int syncNum, long startTime, long duration) Hook called after each sync, while synchronized on refreshLock and pose.
void	doEstop() Attempt to estop all dynamixels that we know about.
Pose	getPose() Get a reference to the current pose, internally synchronized with setPose(brbrain.Pose).
java.lang.String	getSyncStats() Get a stats report on all sync(BRBrain, boolean, boolean, boolean) till now.
protected void	handleEditAutoSync() handle edits to the auto sync GUI
protected void	refresh() do actual gui refresh from within the AWT event thread
void	refreshFromPose() Schedule a refresh of the GUI from the curent data in pose.
protected static void	removeFromRefreshList(PoseGUI gui) remove a gui from the global refresh list
Pose	setPose(Pose pose) Set pose.
void	setSyncDefaults(BRBrain defSyncBRBrain, int defSyncMinUpdatePeriodMS, boolean defSyncEnableWrite, boolean defSyncSetFormats, boolean defSyncSaveAndRestoreFormats) set default sync params
void	setSyncFormats(BRBrain brBrain) covers setSyncFormats(BRBrain, boolean), sets write format
void	setSyncFormats(BRBrain brBrain, boolean setWriteFormat) Set the read and optionally the write formats of brBrain to those of pose.
void	setUseNaturalUnits(AXRegister register, boolean enable) use natural units for the specified register
void	setUseNaturalUnits(boolean enable) use natural units for all registers
void	sync() Covers sync(BRBrain, boolean, boolean, boolean), uses sync defaults.
void	sync(BRBrain brBrain) Covers sync(BRBrain, boolean, boolean, boolean), uses sync defaults.
void	sync(BRBrain brBrain, boolean enableWrite, boolean setFormats, boolean saveAndRestoreFormat) Synchronize this GUI to the hardware via an BRBrain.
void	useAllLabelledNaturalUnits() Use natural units for all regs which specify an AXRegister.naturalUnitsLabel.

Methods inherited from class brbrain.GUI

addRemoveTask, addTitledBorder, addTitledBorder, dbgLayout, dbgLayout, makeSplitLabel, otherAxis, wrapInFrame, wrapInFrame

Methods inherited from class javax.swing.Box

createGlue, createHorizontalBox, createHorizontalGlue, createHorizontalStrut, createRigidArea, createVerticalBox, createVerticalGlue, createVerticalStrut, getAccessibleContext, paintComponent, setLayout

Methods inherited from class javax.swing.JComponent

addAncestorListener, addNotify, addVetoableChangeListener, computeVisibleRect, contains, createToolTip, disable, enable, firePropertyChange, firePropertyChange, firePropertyChange, fireVetoableChange, getActionForKeyStroke, getActionMap, getAlignmentX, getAlignmentY, getAncestorListeners, getAutoscrolls, getBaseline, getBaselineResizeBehavior, getBorder, getBounds, getClientProperty, getComponentGraphics, getComponentPopupMenu, getConditionForKeyStroke, getDebugGraphicsOptions, getDefaultLocale, getFontMetrics, getGraphics, getHeight, getInheritsPopupMenu, getInputMap, getInputMap, getInputVerifier, getInsets, getInsets, getListeners, getLocation, getMaximumSize, getMinimumSize, getNextFocusableComponent, getPopupLocation, getPreferredSize, getRegisteredKeyStrokes, getRootPane, getSize, getToolTipLocation, getToolTipText, getToolTipText, getTopLevelAncestor, getTransferHandler, getUIClassID, getVerifyInputWhenFocusTarget, getVetoableChangeListeners, getVisibleRect, getWidth, getX, getY, grabFocus, isDoubleBuffered, isLightweightComponent, isManagingFocus, isOpaque, isOptimizedDrawingEnabled, isPaintingForPrint, isPaintingTile, isRequestFocusEnabled, isValidateRoot, paint, paintBorder, paintChildren, paintImmediately, paintImmediately, paramString, print, printAll, printBorder, printChildren, printComponent, processComponentKeyEvent, processKeyBinding, processKeyEvent, processMouseEvent, processMouseMotionEvent, putClientProperty, registerKeyboardAction, registerKeyboardAction, removeAncestorListener, removeNotify, removeVetoableChangeListener, repaint, repaint, requestDefaultFocus, requestFocus, requestFocus, requestFocusInWindow, requestFocusInWindow, resetKeyboardActions, reshape, revalidate, scrollRectToVisible, setActionMap, setAlignmentX, setAlignmentY, setAutoscrolls, setBackground, setBorder, setComponentPopupMenu, setDebugGraphicsOptions, setDefaultLocale, setDoubleBuffered, setEnabled, setFocusTraversalKeys, setFont, setForeground, setInheritsPopupMenu, setInputMap, setInputVerifier, setMaximumSize, setMinimumSize, setNextFocusableComponent, setOpaque, setPreferredSize, setRequestFocusEnabled, setToolTipText, setTransferHandler, setUI, setVerifyInputWhenFocusTarget, setVisible, unregisterKeyboardAction, update, updateUI

Methods inherited from class java.awt.Container

add, add, add, add, add, addContainerListener, addImpl, addPropertyChangeListener, addPropertyChangeListener, applyComponentOrientation, areFocusTraversalKeysSet, countComponents, deliverEvent, doLayout, findComponentAt, findComponentAt, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents, getComponentZOrder, getContainerListeners, getFocusTraversalKeys, getFocusTraversalPolicy, getLayout, getMousePosition, insets, invalidate, isAncestorOf, isFocusCycleRoot, isFocusCycleRoot, isFocusTraversalPolicyProvider, isFocusTraversalPolicySet, layout, list, list, locate, minimumSize, paintComponents, preferredSize, printComponents, processContainerEvent, processEvent, remove, remove, removeAll, removeContainerListener, setComponentZOrder, setFocusCycleRoot, setFocusTraversalPolicy, setFocusTraversalPolicyProvider, transferFocusBackward, transferFocusDownCycle, validate, validateTree

Methods inherited from class java.awt.Component

action, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, checkImage, checkImage, coalesceEvents, contains, createImage, createImage, createVolatileImage, createVolatileImage, disableEvents, dispatchEvent, enable, enableEvents, enableInputMethods, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getBackground, getBounds, getColorModel, getComponentListeners, getComponentOrientation, getCursor, getDropTarget, getFocusCycleRootAncestor, getFocusListeners, getFocusTraversalKeysEnabled, getFont, getForeground, getGraphicsConfiguration, getHierarchyBoundsListeners, getHierarchyListeners, getIgnoreRepaint, getInputContext, getInputMethodListeners, getInputMethodRequests, getKeyListeners, getLocale, getLocation, getLocationOnScreen, getMouseListeners, getMouseMotionListeners, getMousePosition, getMouseWheelListeners, getName, getParent, getPeer, getPropertyChangeListeners, getPropertyChangeListeners, getSize, getToolkit, getTreeLock, gotFocus, handleEvent, hasFocus, hide, imageUpdate, inside, isBackgroundSet, isCursorSet, isDisplayable, isEnabled, isFocusable, isFocusOwner, isFocusTraversable, isFontSet, isForegroundSet, isLightweight, isMaximumSizeSet, isMinimumSizeSet, isPreferredSizeSet, isShowing, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseDown, mouseDrag, mouseEnter, mouseExit, mouseMove, mouseUp, move, nextFocus, paintAll, postEvent, prepareImage, prepareImage, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processMouseWheelEvent, remove, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removeMouseWheelListener, removePropertyChangeListener, removePropertyChangeListener, repaint, repaint, repaint, resize, resize, setBounds, setBounds, setComponentOrientation, setCursor, setDropTarget, setFocusable, setFocusTraversalKeysEnabled, setIgnoreRepaint, setLocale, setLocation, setLocation, setName, setSize, setSize, show, show, size, toString, transferFocus, transferFocusUpCycle

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

cvsid

private static final java.lang.String cvsid

See Also:

Constant Field Values

DEF_SYNC_ENABLE_WRITE

public static final boolean DEF_SYNC_ENABLE_WRITE

default for sync

See Also:

Constant Field Values

DEF_SYNC_MIN_UPDATE_PERIOD_MS

public static final int DEF_SYNC_MIN_UPDATE_PERIOD_MS

default for sync

See Also:

Constant Field Values

DEF_SYNC_SET_FORMAT

public static final boolean DEF_SYNC_SET_FORMAT

default for sync

See Also:

Constant Field Values

DEF_SYNC_SAVE_AND_RESTORE_FORMAT

public static final boolean DEF_SYNC_SAVE_AND_RESTORE_FORMAT

default for sync

See Also:

Constant Field Values

VALUE_FIELD_WIDTH

public static final int VALUE_FIELD_WIDTH

width of PoseGUI.ValueBox fields

See Also:

Constant Field Values

VALUE_FIELD_HEIGHT

public static final int VALUE_FIELD_HEIGHT

height of PoseGUI.ValueBox fields

See Also:

Constant Field Values

STRUT

public static final int STRUT

component spacing

See Also:

Constant Field Values

REFRESH_PERIOD_MS

public static final int REFRESH_PERIOD_MS

gui refresh period

See Also:

Constant Field Values

refreshList

protected static final java.util.List<PoseGUI> refreshList

global gui refresh list

refreshLock

protected final java.lang.Object refreshLock

lock for GUI update from pose

poseLock

protected final java.lang.Object poseLock

lock for changing the pose reference

autoSyncLock

protected final java.lang.Object autoSyncLock

lock for changing auto sync params

pose

protected Pose pose

the Pose reference, synchronized by poseLock

axIDs

public final int[] axIDs

the set of dynamixelIDs; do not mutate

registers

public final AXRegister[] registers

the set of registers; do not mutate

readStart

public final AXRegister readStart

the first reg in the BRBrain read format

writeStart

public final AXRegister writeStart

the first reg in the BRBrain write format, or null if none

readNum

public final int readNum

the number of regs in the BRBrain read format

writeNum

public final int writeNum

the number of regs in the BRBrain write format, or 0 if none

numDynamixels

public final int numDynamixels

the number of dynamixels in pose

numRegisters

public final int numRegisters

the number of registers in pose

dynamixelNames

protected final java.lang.String[] dynamixelNames

the names to display for each dynamixel

useNaturalUnits

protected final java.util.Map<AXRegister,java.lang.Boolean> useNaturalUnits

whether to use natural units for each register

registerAxis

protected final int registerAxis

the axis along which registers are arrayed

refreshPending

protected boolean refreshPending

whether a refresh is still waiting to happen

syncWritePending

protected boolean syncWritePending

whether a write should be done if enabled on the next sync

valueBoxes

protected final java.util.Map<AXRegister,PoseGUI.ValueBox[]> valueBoxes

PoseGUI.ValueBoxes indexed first by register then by dynamixel index

dynamixelBoxes

protected final PoseGUI.DynamixelBox[] dynamixelBoxes

the PoseGUI.DynamixelBoxes

registerNameBox

protected final PoseGUI.RegisterNameBox registerNameBox

the PoseGUI.RegisterNameBox, if any

lastSyncStartTimeMS

protected int lastSyncStartTimeMS

start time of latest sync

lastSyncTimeMS

protected int lastSyncTimeMS

latest sync transaction duration

lastUpdatePeriodMS

protected int lastUpdatePeriodMS

latest time between syncs

numSyncs

protected int numSyncs

total number of syncs so far

syncWriteData

protected final int[] syncWriteData

BRBrain write block

syncReadData

protected final int[] syncReadData

BRBrain read block

writeAXIDSave

protected int[] writeAXIDSave

saved write format dynamixel IDs

readAXIDSave

protected int[] readAXIDSave

saved read format dynamixel IDs

writeStartSave

protected AXRegister[] writeStartSave

saved write format starts

readStartSave

protected AXRegister[] readStartSave

saved read format starts

writeLengthSave

protected int[] writeLengthSave

saved write format lengths

readLengthSave

protected int[] readLengthSave

saved read format lengths

AUTO_SYNC_THREAD_GRANULARITY_MS

public static final int AUTO_SYNC_THREAD_GRANULARITY_MS

update granularity of autoSyncThread

See Also:

Constant Field Values

autoSyncList

protected static final java.util.List<PoseGUI> autoSyncList

global auto sync list

autoSyncAddList

protected static final java.util.List<PoseGUI> autoSyncAddList

global auto sync add list

autoSyncBRBrain

protected BRBrain autoSyncBRBrain

the BRBrain to auto sync, if any

autoSyncMinUpdatePeriodMS

protected int autoSyncMinUpdatePeriodMS

min period of auto sync

autoSyncEnableWrite

protected boolean autoSyncEnableWrite

whether to enable write in auto sync

autoSyncSetFormats

protected boolean autoSyncSetFormats

whether to set format in auto sync

autoSyncSaveAndRestoreFormat

protected boolean autoSyncSaveAndRestoreFormat

whether to save and restore format in auto sync

estopButton

protected javax.swing.JButton estopButton

the estop button, if any

posVoltageLabel

protected javax.swing.JLabel posVoltageLabel

positive battery voltage label

negVoltageLabel

protected javax.swing.JLabel negVoltageLabel

negative battery voltage label

thermLabel

protected javax.swing.JLabel thermLabel

thermistor label

syncButton

protected javax.swing.JButton syncButton

manual sync button

enableWriteCheckBox

protected javax.swing.JCheckBox enableWriteCheckBox

manual sync enable write box

setFormatsCheckBox

protected javax.swing.JCheckBox setFormatsCheckBox

manual sync set formats box

saveAndRestoreFormatsCheckBox

protected javax.swing.JCheckBox saveAndRestoreFormatsCheckBox

manual sync save/restore formats box

autoSyncCheckBox

protected javax.swing.JCheckBox autoSyncCheckBox

auto sync box

autoSyncMinUpdatePeriodMSField

protected javax.swing.JTextField autoSyncMinUpdatePeriodMSField

auto min update period field box

autoSyncEnableWriteCheckBox

protected javax.swing.JCheckBox autoSyncEnableWriteCheckBox

auto sync enable write box

autoSyncSaveAndRestoreFormatsCheckBox

protected javax.swing.JCheckBox autoSyncSaveAndRestoreFormatsCheckBox

auto sync save/restore formats box

autoSyncSetFormatsCheckBox

protected javax.swing.JCheckBox autoSyncSetFormatsCheckBox

auto sync set formats box

defSyncBRBrain

protected BRBrain defSyncBRBrain

default sync BRBrain

defSyncMinUpdatePeriodMS

protected int defSyncMinUpdatePeriodMS

default sync min update period

defSyncEnableWrite

protected boolean defSyncEnableWrite

default sync enable write

defSyncSetFormats

protected boolean defSyncSetFormats

default sync set formats

defSyncSaveAndRestoreFormats

protected boolean defSyncSaveAndRestoreFormats

default sync save and restore formats

syncText

protected java.lang.String syncText

text to display in sync label

floatFormat

protected java.text.DecimalFormat floatFormat

format a float with two decimal digits

adcValue

protected int[] adcValue

most recently read CM-5 raw ADC values

autoSyncThread

protected static final java.lang.Thread autoSyncThread

the auto sync daemon thread, if any

refreshThread

protected static final java.lang.Thread refreshThread

global gui refresh thread

Constructor Detail

PoseGUI

public PoseGUI(Pose pose,
               int registerAxis,
               java.lang.String[] dynamixelNames,
               boolean showRegisterNames,
               boolean[] registerEditable,
               boolean enableShowEstop,
               boolean showADCs,
               boolean showManualSync,
               boolean showAutoSync)

make a gui for an existing Pose

PoseGUI

public PoseGUI(int[] axIDs,
               AXRegister[] registers,
               AXRegister writeStart,
               int writeNum,
               int registerAxis,
               java.lang.String[] dynamixelNames,
               boolean showRegisterNames,
               boolean[] registerEditable,
               boolean enableShowEstop,
               boolean showADCs,
               boolean showManualSync,
               boolean showAutoSync)

make a gui with a new Pose

PoseGUI

public PoseGUI(int[] axIDs,
               AXRegister[] registers,
               AXRegister writeStart,
               int writeNum,
               int registerAxis,
               java.lang.String[] dynamixelNames,
               boolean showRegisterNames,
               boolean editable,
               boolean enableShowEstop,
               boolean showADCs,
               boolean showManualSync,
               boolean showAutoSync)

make a gui where everything is either editable or not

PoseGUI

public PoseGUI(int axID,
               AXRegister[] registers,
               AXRegister writeStart,
               int writeNum,
               int registerAxis,
               java.lang.String dynamixelName,
               boolean showRegisterNames,
               boolean editable,
               boolean enableShowEstop,
               boolean showADCs,
               boolean showManualSync,
               boolean showAutoSync)

make a GUI for one dynamixel

Method Detail

handleEditAutoSync

protected void handleEditAutoSync()

handle edits to the auto sync GUI

addGUI

protected void addGUI(GUI gui)

hook for adding the main gui

consEditable

protected static boolean[] consEditable(AXRegister[] registers,
                                        boolean editable)

make up an editable array

setUseNaturalUnits

public void setUseNaturalUnits(AXRegister register,
                               boolean enable)

use natural units for the specified register

setUseNaturalUnits

public void setUseNaturalUnits(boolean enable)

use natural units for all registers

useAllLabelledNaturalUnits

public void useAllLabelledNaturalUnits()

Use natural units for all regs which specify an AXRegister.naturalUnitsLabel.

getSyncStats

public java.lang.String getSyncStats()

Get a stats report on all sync(BRBrain, boolean, boolean, boolean) till now.

setSyncFormats

public void setSyncFormats(BRBrain brBrain,
                           boolean setWriteFormat)
                    throws java.io.IOException,
                           java.lang.InterruptedException

Set the read and optionally the write formats of brBrain to those of pose.

Throws:

java.io.IOException

java.lang.InterruptedException

setSyncFormats

public void setSyncFormats(BRBrain brBrain)
                    throws java.io.IOException,
                           java.lang.InterruptedException

covers setSyncFormats(BRBrain, boolean), sets write format

Throws:

java.io.IOException

java.lang.InterruptedException

sync

public void sync(BRBrain brBrain,
                 boolean enableWrite,
                 boolean setFormats,
                 boolean saveAndRestoreFormat)
          throws java.io.IOException,
                 java.lang.InterruptedException

Synchronize this GUI to the hardware via an BRBrain.

The synchronization always includes a read of all the registers in this GUI from the hardware, and may optionally include a write of the registers in the pose write span to the hardware. If a write is incurred, it is done before the readback.

Internally synchronized with respect to pose, the GUI, and brBrain.

Parameters:

enableWrite - whether to even consider doing the write. Write will only actually be incurred if this is true and syncWritePending, which is set only when pose is changed by setPose(brbrain.Pose) or when the user has validly edited a value which is both writeable and editable.

setFormats - whether to setSyncFormats(BRBrain, boolean) before doing the transaction

saveAndRestoreFormat - whether to save and restore the current read write (if necessary) formats on the brBrain before and after doing the transaction

Throws:

java.io.IOException

java.lang.InterruptedException

didSync

protected void didSync(Pose pose,
                       BRBrain brBrain,
                       boolean didWrite,
                       boolean didRead,
                       boolean setFormats,
                       boolean savedAndRestoredFormat,
                       int syncNum,
                       long startTime,
                       long duration)

Hook called after each sync, while synchronized on refreshLock and pose.

sync

public void sync(BRBrain brBrain)
          throws java.io.IOException,
                 java.lang.InterruptedException

Covers sync(BRBrain, boolean, boolean, boolean), uses sync defaults.

Throws:

java.io.IOException

java.lang.InterruptedException

sync

public void sync()
          throws java.io.IOException,
                 java.lang.InterruptedException

Covers sync(BRBrain, boolean, boolean, boolean), uses sync defaults.

Throws:

java.io.IOException

java.lang.InterruptedException

setSyncDefaults

public void setSyncDefaults(BRBrain defSyncBRBrain,
                            int defSyncMinUpdatePeriodMS,
                            boolean defSyncEnableWrite,
                            boolean defSyncSetFormats,
                            boolean defSyncSaveAndRestoreFormats)

set default sync params

autoSync

public void autoSync(BRBrain brBrain,
                     int minUpdatePeriodMS,
                     boolean enableWrite,
                     boolean setFormats,
                     boolean saveAndRestoreFormat)

Initiate or change automatic periodic synchronization of this GUI with the hardware via an BRBrain.

sync(BRBrain, boolean, boolean, boolean) will be called by a daemon thread at the specified rate with the specified arguments.

Parameters:

brBrain - the BRBrain to sync, or null to disable auto sync

minUpdatePeriodMS - the minimum time in milliseconds between syncs, negative to disable auto sync

autoSync

public void autoSync(BRBrain brBrain)

Covers autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.

autoSync

public void autoSync(int minUpdatePeriodMS)

Covers autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.

autoSync

public void autoSync()

Covers autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.

getPose

public Pose getPose()

Get a reference to the current pose, internally synchronized with setPose(brbrain.Pose).

setPose

public Pose setPose(Pose pose)

Set pose.

Iff the new pose differs from the current one syncWritePending is set and refreshFromPose() is called after setting the new pose.

Internally synchronized with getPose(), sync(brbrain.BRBrain, boolean, boolean, boolean), and refreshFromPose().

Parameters:

pose - the new pose, not null, and must be same format as the current pose

Returns:

the old pose

addToRefreshList

protected static void addToRefreshList(PoseGUI gui)

add a gui to the global refresh list

removeFromRefreshList

protected static void removeFromRefreshList(PoseGUI gui)

remove a gui from the global refresh list

refreshFromPose

public void refreshFromPose()

Schedule a refresh of the GUI from the curent data in pose.

The refresh will occur at some later time from within the AWT event thread. Multiple scheduled refreshes will be coalesced.

refresh

protected void refresh()

do actual gui refresh from within the AWT event thread

doEstop

public void doEstop()

Attempt to estop all dynamixels that we know about.

This can succeed only if a default syncable BRBrain has been established by calling sync(brbrain.BRBrain, boolean, boolean, boolean), autoSync(brbrain.BRBrain, int, boolean, boolean, boolean), or setSyncDefaults(brbrain.BRBrain, int, boolean, boolean, boolean) prior to this call. That BRBrain is taken as the one on which to estop the dynamixels.

Our pose must contain either AX12Register.AX12_TORQUE_ENABLE or both AX12Register.AX12_GOAL_POSITION and AX12Register.AX12_PRESENT_POSITION.