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/* @author Ed Sells 27 July 2007
*
* Dialogue for fast head positioning (maintenance/research scenarios)
*
* Status: Working on it. Appologies for bosnian code -
* one of my first ever coding attempts. Advice welcome!
* en0es@bath.ac.uk
*
* Code borrowed from org.reprap.gui.steppertest.Main v818
*
*/
package org.reprap.gui.steppertest;
import java.awt.BorderLayout;
import java.awt.GridLayout;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import javax.swing.JButton;
import javax.swing.JFrame;
import javax.swing.JLabel;
import javax.swing.JOptionPane;
import javax.swing.JPanel;
import javax.swing.WindowConstants;
import org.reprap.Preferences;
import org.reprap.comms.Communicator;
import org.reprap.comms.snap.SNAPAddress;
import org.reprap.comms.snap.SNAPCommunicator;
import org.reprap.devices.GenericExtruder;
import org.reprap.devices.GenericStepperMotor;
import org.reprap.gui.Utility;
import java.awt.Color;
public class MaintenancePositionsFrame extends JFrame {
// Panel globals
private JLabel warning;
private JLabel area;
private JLabel status;
private final int fastSpeed = 245;
// 'Talk to bot' globals
private final int localNodeNumber = 0;
Communicator communicator;
// Operation globals
GenericStepperMotor motorX, motorY;
boolean homePositionAlreadyFound = false;
public MaintenancePositionsFrame()
{
/*
* TODO: Trying to recognise null/cartesian status: Won't work?
*
* //Establish connection type
String connection = "nullcartesian";
try {
connection = Preferences.loadGlobalString("Geometry");
}
catch (Exception e){
JOptionPane.showMessageDialog(null, "Can't establish 'Geometry parameter'" + e);
return;
}
//Initialise comms with bot
if (connection == "cartesian"){*/
try {
talkToBot();
}
catch (Exception e){
JOptionPane.showMessageDialog(null, "Can't talk to bot: " + e);
return;
}
//}
//Establish motors
try {
motorX = new GenericStepperMotor(communicator, new SNAPAddress(Preferences.loadGlobalInt("XAxisAddress")), Preferences.getGlobalPreferences(), 1);
motorY = new GenericStepperMotor(communicator, new SNAPAddress(Preferences.loadGlobalInt("YAxisAddress")), Preferences.getGlobalPreferences(), 2);
}
catch (Exception e){
JOptionPane.showMessageDialog(null, "Couldn't initialise motors" + e);
return;
}
//Build frame
setTitle("Maintenance positions");
warning = new JLabel("WARNING: Use Working Volume Probe to establish WorkingAxis(mm) preferences first.");
area = new JLabel("Finding working area...");
status = new JLabel("To activate the sector buttons, click home...");
status.setForeground(Color.red);
JPanel text = new JPanel();
text.setLayout(new GridLayout(3,1));
text.add(warning);
text.add(area);
text.add(status);
getContentPane().add(text, BorderLayout.NORTH);
//Add grid of buttons for sector positioning of head
try {
addSectorGrid();
}
catch (Exception e){
JOptionPane.showMessageDialog(null, "Couldn't add controls" + e);
return;
}
pack();
setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE);
show();
}
public void talkToBot() throws Exception {
SNAPAddress myAddress = new SNAPAddress(localNodeNumber);
String port = Preferences.loadGlobalString("Port(name)");
String err = "";
try {
communicator = new SNAPCommunicator(port, myAddress);
}
catch (gnu.io.NoSuchPortException e)
{
err = "There was an error opening " + port + ".\n\n";
err += "Check to make sure that is the right path.\n";
err += "Check that you have your serial connector plugged in.";
throw new Exception(err);
}
catch (gnu.io.PortInUseException e)
{
err = "The " + port + " port is already in use by another program.";
throw new Exception(err);
}
}
private void addSectorGrid() throws Exception {
double stepsPerMMX = Preferences.loadGlobalDouble("XAxisScale(steps/mm)");
double axisLengthX = Preferences.loadGlobalDouble("WorkingX(mm)");
int maxStepsX = (int)Math.round(stepsPerMMX*axisLengthX);
double stepsPerMMY = Preferences.loadGlobalDouble("YAxisScale(steps/mm)");
double axisLengthY = Preferences.loadGlobalDouble("WorkingY(mm)");
int maxStepsY = (int)Math.round(stepsPerMMY*axisLengthY);
area.setText("Current working area = " + axisLengthX + " mm x " + axisLengthY + " mm ("
+ maxStepsX + " steps x " + maxStepsY + " steps)");
area.repaint();
JPanel sectorXY = new JPanel();
sectorXY.setLayout(new GridLayout(3,3));
JButton topLeft = makeSectorXYButton(0, maxStepsY, 0, axisLengthY, "", false);
JButton topMiddle = makeSectorXYButton(maxStepsX/2, maxStepsY, axisLengthX/2, axisLengthY, "^", false);
JButton topRight = makeSectorXYButton(maxStepsX, maxStepsY, axisLengthX, axisLengthY, "", false);
JButton middleLeft = makeSectorXYButton(0, maxStepsY/2, 0, axisLengthY/2, "<", true);
JButton middle = makeSectorXYButton(maxStepsX/2, maxStepsY/2, axisLengthX/2, axisLengthY/2, "X", true);
JButton middleRight = makeSectorXYButton(maxStepsX, maxStepsY/2, axisLengthX, axisLengthY/2, ">", false);
JButton home = homeButton();
JButton bottomMiddle= makeSectorXYButton(maxStepsX/2, 0, axisLengthX/2, 0, "V", true);
JButton bottomRight = makeSectorXYButton(maxStepsX, 0, axisLengthX, 0, "", false);
sectorXY.add(topLeft);
sectorXY.add(topMiddle);
sectorXY.add(topRight);
sectorXY.add(middleLeft);
sectorXY.add(middle);
sectorXY.add(middleRight);
sectorXY.add(home);
sectorXY.add(bottomMiddle);
sectorXY.add(bottomRight);
getContentPane().add(sectorXY, BorderLayout.SOUTH);
}
private JButton makeSectorXYButton(int xSteps, int ySteps, double xmm, double ymm, String pointer, boolean activate)
{
final int xCoord = xSteps;
final int yCoord = ySteps;
final double xMM = xmm;
final double yMM = ymm;
final boolean active = activate;
final JButton sector = new JButton(pointer);
sector.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent evt) {
if (active)
{
if (homePositionAlreadyFound)
{
status.setText("Travelling...");
status.repaint();
try {
motorX.seek(fastSpeed, xCoord);
motorY.seek(fastSpeed, yCoord);
} catch (Exception ex) {
JOptionPane.showMessageDialog(null, "Could not position motor: " + ex);
}
status.setText("Head position: " + xMM
+ ", " + yMM);
status.repaint();
}
else {
status.setText("Find the home position before sectors can activate.");
status.repaint();
}
}
else
{
status.setText("Button has already been DEACTIVATED for safety. Reactivate in source if happy with working volume.");
status.repaint();
}
}
});
return sector;
}
private JButton homeButton()
{
JButton home = new JButton("Home");
home.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent evt) {
status.setText("Homing... ");
status.repaint();
try {
motorX.homeReset(fastSpeed);
motorY.homeReset(fastSpeed);
homePositionAlreadyFound = true;
}
catch (Exception ex) {
homePositionAlreadyFound = false;
JOptionPane.showMessageDialog(null, "Could not home motor: " + ex);
}
if (homePositionAlreadyFound = true)
{
status.setText("Axes homed. You may now click any sector button...");
status.repaint();
}
}
});
return home;
}
}
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