package Grasping;

/*
 * ArmPoseGUI.java
 *
 * @author edsinger
 * @author prentice
 */

import java.awt.FlowLayout;
import java.awt.event.*;
import javax.swing.*;
import javax.swing.border.*;
import javax.swing.event.*;
import java.awt.BorderLayout;
import java.awt.Color;
import java.awt.Container;
import java.awt.Dimension;
import java.awt.Graphics;
import java.awt.Polygon;
import java.awt.Rectangle;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.awt.event.KeyListener;
import java.awt.event.KeyEvent;
import javax.swing.JFrame;
import javax.swing.JPanel;
import javax.swing.Timer;
import java.text.*;
import Carmen.*;

/**
 *
 */
public class ArmPoseGUI extends JFrame{

  /**
   *
   */
  private Container cp;

  /**
   *
   */
  ChannelPanel channel0;

  /**
   *
   */
  ChannelPanel channel1;

  /**
   *
   */
  ChannelPanel channel2;

  /**
   *
   */
  ChannelPanel channel3;

  /**
   *
   */
  JFrame frame;

  /**
   *
   */
  double[] armTheta=new double[]{0,0,0,0};
  
  /**
   * 
   */
  ArmVisualizerPanel avPanel;
  
  
  /**
   * Constructor for ArmPoseGUI
   */
  public ArmPoseGUI() {
    channel0 = new ChannelPanel("Shoulder",0);
    channel1 = new ChannelPanel("Gripper",1);
    channel2 = new ChannelPanel("Wrist",2);
    channel3 = new ChannelPanel("N/A",3);
    avPanel = new ArmVisualizerPanel();
    
    /** Adding components to container */
    cp = getContentPane();
    BoxLayout bLayout = new BoxLayout(cp, BoxLayout.Y_AXIS);
    cp.setLayout(new BorderLayout());
    Box top = Box.createHorizontalBox();
    top.add(channel0);
    top.add(Box.createHorizontalStrut(5));
    top.add(channel1);
    top.add(Box.createHorizontalStrut(5));
    top.add(channel2);
    top.add(Box.createHorizontalStrut(5));
    top.add(channel3);
    top.add(Box.createVerticalStrut(10));
    top.add(avPanel);
    cp.add(top, BorderLayout.CENTER);
    setDefaultCloseOperation(EXIT_ON_CLOSE);
    pack();
    setTitle( "ArmPose" );
    setSize(1200,700);
    setVisible( true );
  }

  /**
   * Main method
   */
  public static void main(String argv[]) {
    // TBD - necessary?
    System.setProperty("java.library.path","/home/rss-staff/rss/rss_dev/carmen/lib/libipcjava.so");

    javax.swing.SwingUtilities.invokeLater(new Runnable() {
        public void run() {
          Robot.initialize("ArmPoseGUI", "localhost");
          ArmPoseGUI gui = new ArmPoseGUI();
        }
      });
  }


  /**
   * ChannelPanel
   */
  class ChannelPanel extends JPanel{
    private JLabel desiredLabel;
    private JSlider desiredSlider;
    private JTextField desiredValue;
    private Box displayBox;
    private int channel;
    private ChannelPanelListener cpListener;

    /**
     *
     */
    public ChannelPanel(String title, int channel){
      super(new BorderLayout());
      this.channel = channel;
      cpListener = new ChannelPanelListener(this);
      displayBox = Box.createVerticalBox();
      displayBox.setPreferredSize(new java.awt.Dimension(500,20));
      displayBox.add(Box.createVerticalStrut(10));
      addSliderPanel();
      setBorder(new TitledBorder(new EtchedBorder(),title));
      add(displayBox, BorderLayout.CENTER );
    }

    /**
     *
     */
    private void addSliderPanel(){
      JPanel sliderPanel = new JPanel(new FlowLayout(FlowLayout.LEADING));

      desiredSlider = new JSlider(0,65535,0);
      desiredSlider.setMajorTickSpacing(1000);
      desiredSlider.setMinorTickSpacing(100);

      desiredSlider.setPaintTicks(false);//display tick marks
      desiredSlider.setPaintLabels(false);//display numbers
      desiredValue = new JTextField("0", 5);////<<---add a listener
      desiredValue.addActionListener(new ChannelPanelListener(this));
      desiredSlider.addChangeListener( new DesiredSliderListener(channel,desiredValue) );
      desiredValue.addActionListener(cpListener);
      desiredLabel = new JLabel("RawPwm");
      sliderPanel.add(desiredLabel);
      sliderPanel.add(desiredSlider);
      sliderPanel.add(desiredValue);
      displayBox.add(sliderPanel);
      displayBox.add(Box.createVerticalStrut(5));
    }
    
    /**
     *
     */
    class ChannelPanelListener implements ActionListener{
      private ChannelPanel cp;
      public ChannelPanelListener(ChannelPanel cp){
        this.cp=cp;
      }
      public void actionPerformed(ActionEvent e){
        desiredSlider.setValue(Integer.parseInt(desiredValue.getText()));
      }
    }

    /**
     *
     */
    class DesiredSliderListener implements ChangeListener{
      private int channel;
      private JTextField label;
      public DesiredSliderListener(int c, JTextField j){
        channel=c;
        label =j;
      }
      public void stateChanged(ChangeEvent e) {
        JSlider source = (JSlider)e.getSource();
        label.setText(Integer.toString(source.getValue()));
        double val = (double)source.getValue();

        System.out.println("Channel: " + channel + " PWM: " + val);

        armTheta[channel]=val;

        // send pose to Orc
        Arm.move(armTheta);
      }
    }
  }
  //end ChannelPanel

  private void addArmVisualizerPanel(){
  	avPanel = new ArmVisualizerPanel();
  	
  }

  
} //end ArmPoseGui