brbrain
Class PoseSequenceGUI

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

All Implemented Interfaces:

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

public class PoseSequenceGUI
extends PoseGUI

GUI for PoseSequences.

The GUI displays the current actual pose, which may be different from any pose in the sequence.

A current sequence pose is also always maintained (getCurrentSequencePose(), getCurrentSequenceIndex()), which is one of the poses in the sequence, if any.

It is legal to create a new PoseSequenceGUI with an empty sequence, but all of the mutators will fail until one of the insertPose*() methods is called at least once.

It is not legal to remove the last remaining pose in a sequence.

insertPose*(), removePose(), previousPose(), and nextPose() all synchronize the current actual pose values with the current sequence pose values, and set a flag indicating that the hardware will be updated with the new current actual pose on the next sync.

User edits to the current actual pose, as well as syncs thereof from the hardware, will be discarded on the next removePose(), previousPose(), or nextPose(), but will be saved as the new current sequence pose by insertPose*().

A morph time in milliseconds is maintained (setMSMorphTime(int)/getMSMorphTime()) which, if positive, is used to compute the AX12Register.AX12_MOVING_SPEED of newly inserted poses to achive the specified morph time from the previous pose in the sequence, if any. If there is no previous pose, or if msMorphTime is non-positive, the moving speed of all dynamixels in newly added poses is set to defaultMovingSpeed.

A speed factor (setSpeedFactor(float)/getSpeedFactor()) is also maintained which, if not 1.0, multiplies the AX12Register.AX12_MOVING_SPEED of the current actual pose whenever it is updated from the current sequence pose, and inversely for updates in the opposite direction.

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

Nested classes/interfaces inherited from class brbrain.PoseGUI

PoseGUI.DynamixelBox, PoseGUI.RegisterNameBox, PoseGUI.ValueBox

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 javax.swing.JCheckBox	autoSetSpeedCheckBox
protected javax.swing.JTextField	currentIndexField
protected int	currentSequenceIndex the current sequence pose index, zero based, or -1 if none
protected Pose	currentSequencePose the current sequence pose or null if none
protected javax.swing.JLabel	currentSizeLabel
private static java.lang.String	cvsid
static int	DEF_MOVING_SPEED default defaultMovingSpeed
static int	DEF_MS_MORPH_TIME default msMorphTime
protected int	defaultMovingSpeed default moving speed for inserted poses
protected javax.swing.JTextField	defaultMovingSpeedField
protected javax.swing.JButton	insAfterButton
protected javax.swing.JButton	insBeforeButton
protected javax.swing.JTextField	morphTimeField
protected int	msMorphTime current morph time in milliseconds for inserted poses
protected javax.swing.JButton	nextButton
protected javax.swing.JButton	pauseButton
protected SequencePlaybackController	playbackController our sequence playback controller
protected javax.swing.JButton	playButton
protected boolean	playing whether we're currently in play mode
PoseSequence	poseSequence the sequence
protected javax.swing.JButton	prevButton
protected javax.swing.JButton	removeButton
protected javax.swing.JButton	rewindButton
protected java.util.ListIterator<Pose>	sequenceIterator iterator we always use for all mutations
protected javax.swing.JCheckBox	setGoalFromPresentCheckBox
protected float	speedFactor the current speed factor, initially 1.0
protected javax.swing.JTextField	speedFactorField
protected javax.swing.JCheckBox	speedOverrideCheckBox
protected javax.swing.JButton	updateButton

Fields inherited from class brbrain.PoseGUI

adcValue, AUTO_SYNC_THREAD_GRANULARITY_MS, autoSyncAddList, autoSyncBRBrain, autoSyncCheckBox, autoSyncEnableWrite, autoSyncEnableWriteCheckBox, autoSyncList, autoSyncLock, autoSyncMinUpdatePeriodMS, autoSyncMinUpdatePeriodMSField, autoSyncSaveAndRestoreFormat, autoSyncSaveAndRestoreFormatsCheckBox, autoSyncSetFormats, autoSyncSetFormatsCheckBox, autoSyncThread, axIDs, DEF_SYNC_ENABLE_WRITE, DEF_SYNC_MIN_UPDATE_PERIOD_MS, DEF_SYNC_SAVE_AND_RESTORE_FORMAT, DEF_SYNC_SET_FORMAT, defSyncBRBrain, defSyncEnableWrite, defSyncMinUpdatePeriodMS, defSyncSaveAndRestoreFormats, defSyncSetFormats, dynamixelBoxes, dynamixelNames, enableWriteCheckBox, estopButton, floatFormat, lastSyncStartTimeMS, lastSyncTimeMS, lastUpdatePeriodMS, negVoltageLabel, numDynamixels, numRegisters, numSyncs, pose, poseLock, posVoltageLabel, readAXIDSave, readLengthSave, readNum, readStart, readStartSave, REFRESH_PERIOD_MS, refreshList, refreshLock, refreshPending, refreshThread, registerAxis, registerNameBox, registers, saveAndRestoreFormatsCheckBox, setFormatsCheckBox, STRUT, syncButton, syncReadData, syncText, syncWriteData, syncWritePending, thermLabel, useNaturalUnits, VALUE_FIELD_HEIGHT, VALUE_FIELD_WIDTH, valueBoxes, writeAXIDSave, writeLengthSave, writeNum, writeStart, writeStartSave

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

PoseSequenceGUI(PoseSequence poseSequence, int registerAxis, java.lang.String[] dynamixelNames, boolean showRegisterNames, boolean[] registerEditable, boolean enableShowEstop, boolean showADCs, boolean showManualSync, boolean showAutoSync)
Make a new GUI for an existing sequence.

PoseSequenceGUI(PoseSequence poseSequence, 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

Method Summary

protected void	addGUI(GUI gui) adds the current actual pose gui with a titled border
protected void	applySpeedFactor() Update the speed of the current actual pose from that of the current sequence pose, if any, according to speedFactor.
protected void	didSync(Pose pose, BRBrain brBrain, boolean didWrite, boolean didRead, boolean setFormats, boolean savedAndRestoredFormat, int syncNum, long startTime, long duration) Calls SequencePlaybackController.controlPlayback(brbrain.PoseSequenceGUI, brbrain.Pose, brbrain.Pose, int) as necessary.
int	getCurrentSequenceIndex() get current sequence index or -1 if none
Pose	getCurrentSequencePose() get current sequence pose or null if none
int	getDefaultMovingSpeed() get the default moving speed for inserted poses
int	getMSMorphTime() get the morph time in milliseconds for inserted poses
float	getSpeedFactor() get the current speed factor
protected void	handleEditCurrentIndex(java.lang.String s) handle edits to current index field
protected void	handleEditDefaultMovingSpeed(java.lang.String s) handle edits to default moving speed field
protected void	handleEditMorphTime(java.lang.String s) handle edits to morph time field
protected void	handleEditSpeedFactor(java.lang.String s) handle edits to speed factor field
boolean	hasNextPose() check if there are more poses after the current one in the sequence
boolean	hasPreviousPose() check if there are more poses before the current one in the sequence
protected Pose	insertPose(Pose prevSequencePose) common insert impl
Pose	insertPoseAfter() Inserts the current actual pose as a new pose in the sequence after the current sequence pose (or as the first in the sequence).
Pose	insertPoseBefore() similar to insertPoseAfter()
boolean	isPlaying() check if in play mode
Pose	nextPose() Move to the next pose in the sequence.
Pose	peekNextPose() return the next pose, null if none, but don't change to it
Pose	peekPreviousPose() return the previous pose, null if none, but don't change to it
Pose	previousPose() Move to the previous pose in the sequence.
protected void	refresh() refresh the gui components
Pose	removePose() Removes the current sequence pose.
Pose	rewindToFirstPose() rewind to the first pose in sequence, if any
int	setCurrentSequenceIndex(int currentSequenceIndex) Covers setCurrentSequenceIndex(int, boolean), always writes to hardware.
int	setCurrentSequenceIndex(int currentSequenceIndex, boolean writeToHardware) Move to the specified pose in the sequence.
int	setDefaultMovingSpeed(int defaultMovingSpeed) set the default moving speed for inserted poses
int	setMSMorphTime(int msMorphTime) set the morph time in milliseconds for inserted poses
SequencePlaybackController	setSequencePlaybackController(SequencePlaybackController playbackController) set the sequence playback controller
protected void	setSpeed(Pose prevSequencePose, Pose currentSequencePose) set speed of currentSequencePose
float	setSpeedFactor(float speedFactor) set the current speed factor.
protected void	updateCurrentActualPose() Update the current actual pose from the current sequence pose and speedFactor.
void	updateCurrentSequencePose() Update the current sequence pose from the current actual pose.

Methods inherited from class brbrain.PoseGUI

addToRefreshList, autoSync, autoSync, autoSync, autoSync, consEditable, doEstop, getPose, getSyncStats, handleEditAutoSync, refreshFromPose, removeFromRefreshList, setPose, setSyncDefaults, setSyncFormats, setSyncFormats, setUseNaturalUnits, setUseNaturalUnits, sync, sync, sync, useAllLabelledNaturalUnits

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_MS_MORPH_TIME

public static final int DEF_MS_MORPH_TIME

default msMorphTime

See Also:

Constant Field Values

DEF_MOVING_SPEED

public static final int DEF_MOVING_SPEED

default defaultMovingSpeed

See Also:

Constant Field Values

poseSequence

public final PoseSequence poseSequence

the sequence

sequenceIterator

protected java.util.ListIterator<Pose> sequenceIterator

iterator we always use for all mutations

currentSequencePose

protected Pose currentSequencePose

the current sequence pose or null if none

currentSequenceIndex

protected int currentSequenceIndex

the current sequence pose index, zero based, or -1 if none

msMorphTime

protected int msMorphTime

current morph time in milliseconds for inserted poses

defaultMovingSpeed

protected int defaultMovingSpeed

default moving speed for inserted poses

speedFactor

protected float speedFactor

the current speed factor, initially 1.0

playing

protected boolean playing

whether we're currently in play mode

playbackController

protected SequencePlaybackController playbackController

our sequence playback controller

prevButton

protected javax.swing.JButton prevButton

rewindButton

protected javax.swing.JButton rewindButton

pauseButton

protected javax.swing.JButton pauseButton

playButton

protected javax.swing.JButton playButton

nextButton

protected javax.swing.JButton nextButton

currentIndexField

protected javax.swing.JTextField currentIndexField

currentSizeLabel

protected javax.swing.JLabel currentSizeLabel

insBeforeButton

protected javax.swing.JButton insBeforeButton

updateButton

protected javax.swing.JButton updateButton

removeButton

protected javax.swing.JButton removeButton

insAfterButton

protected javax.swing.JButton insAfterButton

autoSetSpeedCheckBox

protected javax.swing.JCheckBox autoSetSpeedCheckBox

setGoalFromPresentCheckBox

protected javax.swing.JCheckBox setGoalFromPresentCheckBox

speedFactorField

protected javax.swing.JTextField speedFactorField

defaultMovingSpeedField

protected javax.swing.JTextField defaultMovingSpeedField

speedOverrideCheckBox

protected javax.swing.JCheckBox speedOverrideCheckBox

morphTimeField

protected javax.swing.JTextField morphTimeField

Constructor Detail

PoseSequenceGUI

public PoseSequenceGUI(PoseSequence poseSequence,
                       int registerAxis,
                       java.lang.String[] dynamixelNames,
                       boolean showRegisterNames,
                       boolean[] registerEditable,
                       boolean enableShowEstop,
                       boolean showADCs,
                       boolean showManualSync,
                       boolean showAutoSync)

Make a new GUI for an existing sequence.

If the sequence is not empty then its first pose becomes the current sequence pose and is written to the hardware on the next sync.

See class header doc for additional details.

PoseSequenceGUI

public PoseSequenceGUI(PoseSequence poseSequence,
                       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

Method Detail

handleEditCurrentIndex

protected void handleEditCurrentIndex(java.lang.String s)

handle edits to current index field

handleEditSpeedFactor

protected void handleEditSpeedFactor(java.lang.String s)

handle edits to speed factor field

handleEditMorphTime

protected void handleEditMorphTime(java.lang.String s)

handle edits to morph time field

handleEditDefaultMovingSpeed

protected void handleEditDefaultMovingSpeed(java.lang.String s)

handle edits to default moving speed field

addGUI

protected void addGUI(GUI gui)

adds the current actual pose gui with a titled border

Overrides:

addGUI in class PoseGUI

getCurrentSequenceIndex

public int getCurrentSequenceIndex()

get current sequence index or -1 if none

getCurrentSequencePose

public Pose getCurrentSequencePose()

get current sequence pose or null if none

setMSMorphTime

public int setMSMorphTime(int msMorphTime)

set the morph time in milliseconds for inserted poses

getMSMorphTime

public int getMSMorphTime()

get the morph time in milliseconds for inserted poses

setDefaultMovingSpeed

public int setDefaultMovingSpeed(int defaultMovingSpeed)

set the default moving speed for inserted poses

getDefaultMovingSpeed

public int getDefaultMovingSpeed()

get the default moving speed for inserted poses

insertPoseAfter

public Pose insertPoseAfter()

Inserts the current actual pose as a new pose in the sequence after the current sequence pose (or as the first in the sequence).

The goal position of the inserted pose will be set from the present position of the current actual pose iff the corresponding GUI checkbox is selected.

If there is a pose before the newly inserted pose, the newly inserted pose AX12Register.AX12_MOVING_SPEED will be set to achieve the current msMorphTime, if positive.

The newly inserted pose is written to the hardware on the next sync, and becomes the new current sequence pose.

insertPoseBefore

public Pose insertPoseBefore()

similar to insertPoseAfter()

insertPose

protected Pose insertPose(Pose prevSequencePose)

common insert impl

setSpeed

protected void setSpeed(Pose prevSequencePose,
                        Pose currentSequencePose)

set speed of currentSequencePose

removePose

public Pose removePose()

Removes the current sequence pose.

The new current sequence pose becomes the pose after the one which was removed, if any, else the last pose in the sequence, and is written to the hardware on the next sync.

Throws:

java.lang.IllegalStateException - if the sequence currently has fewer than two poses

updateCurrentActualPose

protected void updateCurrentActualPose()

Update the current actual pose from the current sequence pose and speedFactor.

updateCurrentSequencePose

public void updateCurrentSequencePose()

Update the current sequence pose from the current actual pose.

nextPose

public Pose nextPose()

Move to the next pose in the sequence.

The current sequence pose is incremented, and is written to the hardware on the next sync.

Throws:

java.lang.IllegalStateException - if the current sequence pose is the last in the sequence or if the sequence is empty

previousPose

public Pose previousPose()

Move to the previous pose in the sequence.

The current sequence pose is decremented, and is written to the hardware on the next sync.

Throws:

java.lang.IllegalStateException - if the current sequence pose is the first in the sequence or if the sequence is empty

rewindToFirstPose

public Pose rewindToFirstPose()

rewind to the first pose in sequence, if any

setCurrentSequenceIndex

public int setCurrentSequenceIndex(int currentSequenceIndex,
                                   boolean writeToHardware)

Move to the specified pose in the sequence.

The current sequence pose is set to the one with the specified zero-based index, and is written to the hardware on the next sync unless otherwise specified.

Throws:

java.lang.IllegalStateException - if the specified index is negative or greater than or equal to the size of the sequence

setCurrentSequenceIndex

public int setCurrentSequenceIndex(int currentSequenceIndex)

Covers setCurrentSequenceIndex(int, boolean), always writes to hardware.

hasNextPose

public boolean hasNextPose()

check if there are more poses after the current one in the sequence

peekNextPose

public Pose peekNextPose()

return the next pose, null if none, but don't change to it

hasPreviousPose

public boolean hasPreviousPose()

check if there are more poses before the current one in the sequence

peekPreviousPose

public Pose peekPreviousPose()

return the previous pose, null if none, but don't change to it

getSpeedFactor

public float getSpeedFactor()

get the current speed factor

isPlaying

public boolean isPlaying()

check if in play mode

setSequencePlaybackController

public SequencePlaybackController setSequencePlaybackController(SequencePlaybackController playbackController)

set the sequence playback controller

setSpeedFactor

public float setSpeedFactor(float speedFactor)

set the current speed factor.

Updates all the AX12Register.AX12_MOVING_SPEED values of the current actual pose appropriately.

Returns:

the old speed factor

Throws:

java.lang.IllegalArgumentException - if speedFactor is not positive

applySpeedFactor

protected void applySpeedFactor()

Update the speed of the current actual pose from that of the current sequence pose, if any, according to speedFactor.

refresh

protected void refresh()

refresh the gui components

Overrides:

refresh in class PoseGUI

didSync

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

Calls SequencePlaybackController.controlPlayback(brbrain.PoseSequenceGUI, brbrain.Pose, brbrain.Pose, int) as necessary.

Overrides:

didSync in class PoseGUI