package com.neuronrobotics.bowlerstudio;
import com.neuronrobotics.addons.driving.HokuyoURGDevice;
import com.neuronrobotics.bowlerstudio.assets.AssetFactory;
import com.neuronrobotics.bowlerstudio.threed.VirtualCameraDevice;
import com.neuronrobotics.bowlerstudio.utils.BowlerConnectionMenu;
import com.neuronrobotics.imageprovider.AbstractImageProvider;
//import com.neuronrobotics.imageprovider.OpenCVImageProvider;
import com.neuronrobotics.imageprovider.StaticFileProvider;
import com.neuronrobotics.imageprovider.URLImageProvider;
import com.neuronrobotics.sdk.addons.gamepad.BowlerJInputDevice;
import com.neuronrobotics.sdk.addons.gamepad.IJInputEventListener;
import com.neuronrobotics.sdk.addons.kinematics.FirmataBowler;
import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice;
import com.neuronrobotics.sdk.common.*;
import com.neuronrobotics.sdk.javaxusb.UsbCDCSerialConnection;
import com.neuronrobotics.sdk.network.BowlerTCPClient;
import com.neuronrobotics.sdk.network.UDPBowlerConnection;
import com.neuronrobotics.sdk.serial.SerialConnection;
import com.neuronrobotics.sdk.ui.AbstractConnectionPanel;
import com.neuronrobotics.sdk.util.ThreadUtil;
import com.neuronrobotics.sdk.wireless.bluetooth.BluetoothSerialConnection;
import gnu.io.NRSerialPort;
import javafx.application.Platform;
import javafx.event.ActionEvent;
import javafx.event.EventHandler;
import javafx.scene.Node;
import javafx.scene.control.*;
import javafx.scene.control.Alert.AlertType;
import javafx.scene.image.Image;
import javafx.scene.image.ImageView;
import javafx.scene.layout.HBox;
import javafx.scene.layout.VBox;
import javafx.scene.text.Text;
import javafx.stage.FileChooser;
import javafx.stage.Modality;
import javafx.stage.Stage;
import net.java.games.input.Component;
import net.java.games.input.Controller;
import net.java.games.input.ControllerEnvironment;
import net.java.games.input.Event;
import org.reactfx.util.FxTimer;
import java.io.File;
import java.net.MalformedURLException;
import java.net.URL;
import java.time.Duration;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import java.util.Set;
//import org.bytedeco.javacv.OpenCVFrameGrabber;
public class ConnectionManager extends Tab implements IDeviceAddedListener ,EventHandler<ActionEvent> {
private static VBox rootItem;
private static final ArrayList<PluginManagerWidget> plugins = new ArrayList<PluginManagerWidget>();
//private BowlerStudioController bowlerStudioController;
String formatStr="%1$-40s %2$-60s %3$-40s";
private static final ConnectionManager connectionManager;
private static Button disconnectAll;
private static HBox topLine;
final static Accordion accordion = new Accordion ();
static{
connectionManager = new ConnectionManager();
}
private Node getIcon(String s) {
return new ImageView(new Image(
AbstractConnectionPanel.class.getResourceAsStream(s)));
}
public ConnectionManager() {
if(connectionManager!=null){
throw new RuntimeException("Connection manager is a static singleton, access it using ConnectionManager.getConnectionmanager()");
}
setText("My Devices");
setGraphic(AssetFactory.loadIcon("My-Devices.png"));
rootItem = new VBox(10);
// rootItem.getColumnConstraints().add(new ColumnConstraints(30)); // column 1 is 75 wide
// rootItem. getColumnConstraints().add(new ColumnConstraints(80)); // column 2 is 300 wide
// rootItem.getColumnConstraints().add(new ColumnConstraints(100)); // column 2 is 100 wide
// rootItem.getColumnConstraints().add(new ColumnConstraints(50)); // column 2 is 100 wide
//
topLine = new HBox(20);
disconnectAll = new Button("Disconnect All",AssetFactory.loadIcon("Disconnect-All.png"));
disconnectAll.setOnAction(new EventHandler<ActionEvent>() {
@Override public void handle(ActionEvent e) {
disconnectAll();
}
});
disconnectAll.setDisable(true);
topLine.getChildren().addAll(AssetFactory.loadIcon("Connected-Devices.png"),new Text("Connected Devices"),disconnectAll);
rootItem.getChildren().add(topLine);
rootItem.getChildren().add(accordion);
// rootItem = new CheckBoxTreeItem<String>( String.format(" "+formatStr, "SCRIPTING NAME","DEVICE TYPE","MAC ADDRESS"),
// getIcon("images/connection-icon.png"
// // "images/usb-icon.png"
// ));
// rootItem.setExpanded(true);
// rootItem.setSelected(true);
// rootItem.selectedProperty().addListener(b -> {
// if (!rootItem.isSelected()) {
// disconnectAll();
// }
// });
setContent(rootItem);
DeviceManager.addDeviceAddedListener(this);
}
public static void addConnection(BowlerAbstractDevice newDevice, String name) {
if(!VirtualCameraDevice.class.isInstance(newDevice))
DeviceManager.addConnection(newDevice, name);
}
@Override
public void handle(ActionEvent event) {
// TODO Auto-generated method stub
}
public static ArrayList<PluginManagerWidget> getPlugins() {
return plugins;
}
//
// public BowlerStudioController getBowlerStudioController() {
// return bowlerStudioController;
// }
//
// public void setBowlerStudioController(
// BowlerStudioController bowlerStudioController) {
// this.bowlerStudioController = bowlerStudioController;
// }
public static BowlerAbstractDevice pickConnectedDevice(@SuppressWarnings("rawtypes") Class class1) {
List<String> choices = DeviceManager.listConnectedDevice(class1);
if(!choices.isEmpty()){
ChoiceDialog<String> dialog = new ChoiceDialog<>(choices.get(0),
choices);
dialog.setTitle("Bowler Device Chooser");
dialog.setHeaderText("Choose connected bowler device");
dialog.setContentText("Device Name:");
// Traditional way to get the response value.
Optional<String> result = dialog.showAndWait();
if (result.isPresent()) {
for (int i = 0; i < plugins.size(); i++) {
if (plugins.get(i).getManager().getName().contains(result.get())) {
return plugins.get(i).getManager().getDevice();
}
}
}
}else{
Alert alert = new Alert(AlertType.INFORMATION);
alert.setTitle("Device not availible");
alert.setHeaderText("Connect a "+class1.getSimpleName());
alert.setContentText("A device of type "+class1.getSimpleName()+" is needed");
alert .initModality(Modality.APPLICATION_MODAL);
alert.show();
}
return null;
}
// public BowlerAbstractDevice pickConnectedDevice() {
//
// return pickConnectedDevice(null);
// }
public static void disconnectAll() {
//extract list int thread safe object
Object [] pms= plugins.toArray();
for (int i=0;i<pms.length;i++) {
disconectAndRemoveDevice(((PluginManagerWidget)pms[i]).getManager());
//ThreadUtil.wait(50);
}
}
// public static OpenCVImageProvider onConnectCVCamera() {
// List<String> choices = new ArrayList<>();
// choices.add("0");
// choices.add("1");
// choices.add("2");
// choices.add("3");
// choices.add("4");
//
// ChoiceDialog<String> dialog = new ChoiceDialog<>("0", choices);
// dialog.setTitle("OpenCV Camera Index Chooser");
// dialog.setHeaderText("Choose an OpenCV camera");
// dialog.setContentText("Camera Index:");
//
// // Traditional way to get the response value.
// Optional<String> result = dialog.showAndWait();
//
// // The Java 8 way to get the response value (with lambda expression).
// if (result !=null) {
// String letter = result.get();
// OpenCVImageProvider p = new OpenCVImageProvider(Integer.parseInt(letter));
// String name = "camera"+letter;
// addConnection(p,name);
// return p;
// }
// return null;
//// OpenCVImageProvider p = new OpenCVImageProvider(0);
//// String name = "camera0";
//// application.addConnection(p,name);
//
// }
//
public static void onConnectJavaCVCamera() {
// onConnectCVCamera();
// List<String> choices = new ArrayList<>();
// try {
// String[] des = OpenCVFrameGrabber.getDeviceDescriptions();
// if(des.length==0)
// return;
// for (String s: des){
// choices.add(s);
// }
// } catch (org.bytedeco.javacv.FrameGrabber.Exception |UnsupportedOperationException e1) {
// choices.add("0");
// choices.add("1");
// choices.add("2");
// choices.add("3");
// choices.add("4");
// }
//
// ChoiceDialog<String> dialog = new ChoiceDialog<>(choices.get(0), choices);
// dialog.setTitle("JavaCV Camera Index Chooser");
// dialog.setHeaderText("Choose an JavaCV camera");
// dialog.setContentText("Camera Index:");
//
// // Traditional way to get the response value.
// Optional<String> result = dialog.showAndWait();
//
// // The Java 8 way to get the response value (with lambda expression).
// result.ifPresent(letter -> {
// JavaCVImageProvider p;
// try {
// p = new JavaCVImageProvider(Integer.parseInt(letter));
// String name = "camera"+letter;
// addConnection(p,name);
// } catch (Exception e) {
// // TODO Auto-generated catch block
// e.printStackTrace();
// }
//
// });
//
}
public static void onConnectFileSourceCamera() {
Platform.runLater(()->{});
FileChooser fileChooser = new FileChooser();
fileChooser.setTitle("Open Image File");
File f = fileChooser.showOpenDialog(BowlerStudioModularFrame.getPrimaryStage());
if(f!=null){
AbstractImageProvider p = new StaticFileProvider(f);
String name = "image";
addConnection(p,name);
}
}
public static void onConnectURLSourceCamera() {
TextInputDialog dialog = new TextInputDialog("http://neuronrobotics.com/img/AndrewHarrington/2014-09-15-86.jpg");
dialog.setTitle("URL Image Source");
dialog.setHeaderText("This url will be loaded each capture.");
dialog.setContentText("URL ");
// Traditional way to get the response value.
Optional<String> result = dialog.showAndWait();
if (result.isPresent()){
URLImageProvider p;
try {
p = new URLImageProvider(new URL(result.get()));
String name = "url";
addConnection(p,name);
} catch (MalformedURLException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
public static void onMarlinGCODE() {
Set<String> ports = NRSerialPort.getAvailableSerialPorts();
List<String> choices = new ArrayList<>();
if(ports.isEmpty())
return;
for (String s: ports){
choices.add(s);
}
ChoiceDialog<String> dialog = new ChoiceDialog<>(choices.get(0), choices);
dialog.setTitle("GCODE Device Serial Port Chooser");
dialog.setHeaderText("Supports Marlin");
dialog.setContentText("GCODE Device Port:");
// Traditional way to get the response value.
Optional<String> result = dialog.showAndWait();
// The Java 8 way to get the response value (with lambda expression).
result.ifPresent(letter -> {
GcodeDevice p = new GcodeDevice(new NRSerialPort(letter, 115200));
p.connect();
String name = "GCODE";
addConnection(p,name);
});
}
public static void onConnectHokuyoURG() {
Set<String> ports = NRSerialPort.getAvailableSerialPorts();
List<String> choices = new ArrayList<>();
if(ports.isEmpty())
return;
for (String s: ports){
choices.add(s);
}
ChoiceDialog<String> dialog = new ChoiceDialog<>(choices.get(0), choices);
dialog.setTitle("LIDAR Serial Port Chooser");
dialog.setHeaderText("Supports URG-04LX-UG01");
dialog.setContentText("Lidar Port:");
// Traditional way to get the response value.
Optional<String> result = dialog.showAndWait();
// The Java 8 way to get the response value (with lambda expression).
result.ifPresent(letter -> {
HokuyoURGDevice p = new HokuyoURGDevice(new NRSerialPort(letter, 115200));
p.connect();
String name = "lidar";
addConnection(p,name);
});
}
public static void onConnectGamePad(String name ) {
Controller[] ca = ControllerEnvironment.getDefaultEnvironment().getControllers();
List<String> choices = new ArrayList<>();
if(ca.length==0)
return;
for (Controller s: ca){
choices.add(s.getName());
}
ChoiceDialog<String> dialog = new ChoiceDialog<>(choices.get(0), choices);
dialog.setTitle("JInput Game Controller Select");
dialog.setHeaderText("Connect a game controller");
dialog.setContentText("Controller:");
// Traditional way to get the response value.
Optional<String> result = dialog.showAndWait();
// The Java 8 way to get the response value (with lambda expression).
result.ifPresent(letter -> {
for(Controller s: ca){
if(letter.contains(s.getName())){
BowlerJInputDevice p =new BowlerJInputDevice(s);
p.connect();
IJInputEventListener l=new IJInputEventListener() {
@Override
public void onEvent(Component comp, Event event1,
float value, String eventString) {
//System.out.println(comp.getName()+" is value= "+value);
}
};
p.addListeners(l);
addConnection(p,name);
return;
}
}
});
}
@Override
public void onNewDeviceAdded(BowlerAbstractDevice newDevice) {
if(VirtualCameraDevice.class.isInstance(newDevice))
return;
PluginManager mp;
Log.debug("Adding a "+newDevice.getClass().getName()+" with name "+newDevice.getScriptingName() );
mp = new PluginManager(newDevice);
BowlerAbstractConnection con = newDevice.getConnection();
Node icon = getIcon("images/connection-icon.png"
// "images/usb-icon.png"
);
if (SerialConnection.class.isInstance(con)) {
icon = getIcon(
// "images/ethernet-icon.png"
"images/usb-icon.png");
} else if (UsbCDCSerialConnection.class.isInstance(con)) {
icon = getIcon(
// "images/ethernet-icon.png"
"images/usb-icon.png");
} else if (BluetoothSerialConnection.class.isInstance(con)) {
icon = getIcon(
// "images/ethernet-icon.png"
"images/bluetooth-icon.png");
} else if (UDPBowlerConnection.class.isInstance(con)
|| BowlerTCPClient.class.isInstance(con)) {
icon = getIcon(
// "images/ethernet-icon.png"
"images/ethernet-icon.png");
}
String line = String.format(formatStr,
newDevice.getScriptingName(),
newDevice.getClass().getSimpleName(),
newDevice.getAddress());
PluginManagerWidget e = new PluginManagerWidget(mp,icon);
plugins.add(e);
Platform.runLater(() -> accordion.getPanes().add(e));
Platform.runLater(() -> disconnectAll.setDisable(false));
mp.setName(newDevice.getScriptingName());
newDevice.addConnectionEventListener(
new IDeviceConnectionEventListener() {
@Override
public void onDisconnect(BowlerAbstractDevice source) {
// clean up after yourself...
//disconectAndRemoveDevice(mp);
for(int i=0;i<plugins.size();i++){
PluginManager p=plugins.get(i).getManager();
if(p.getDevice()==source){
DeviceManager.remove(p.getDevice());
return;
}
}
}
// ignore
@Override
public void onConnect(BowlerAbstractDevice source) {
}
});
if( getBowlerStudioController()!=null)
BowlerStudioModularFrame.getBowlerStudioModularFrame().setSelectedTab(this);
}
private BowlerStudioController getBowlerStudioController() {
// TODO Auto-generated method stub
return BowlerStudioController.getBowlerStudio();
}
private static void disconectAndRemoveDevice(PluginManager mp){
System.out.println("CM Disconnecting " + mp.getName());
Log.warning("Disconnecting " + mp.getName());
if(mp.getDevice().isAvailable() || NonBowlerDevice.class.isInstance(mp))
mp.getDevice().disconnect();
DeviceManager.remove(mp.getDevice());
}
@Override
public void onDeviceRemoved(BowlerAbstractDevice bad) {
Log.warning("Removing Device " + bad.getScriptingName());
//new RuntimeException().printStackTrace();
for(int i=0;i<plugins.size();i++){
PluginManager p=plugins.get(i).getManager();
if(p.getDevice()==bad){
Log.warning("Found Device " + bad.getScriptingName());
//new RuntimeException().printStackTrace();
PluginManagerWidget torem = plugins.remove(i);
Platform.runLater(() ->accordion.getPanes().remove(torem));
if (plugins.isEmpty()){
Platform.runLater(() ->disconnectAll.setDisable(true));
}
return;
}
}
}
public static void addConnection() {
Stage s = new Stage();
new Thread() {
public void run() {
BowlerDatagram.setUseBowlerV4(true);
BowlerConnectionMenu controller = new BowlerConnectionMenu();
try {
controller.start(s);
} catch (Exception e) {
e.printStackTrace();
}
}
}.start();
//DeviceManager.addConnection();
}
public static ConnectionManager getConnectionManager() {
return connectionManager;
}
public static void onFirmata() {
Set<String> ports = NRSerialPort.getAvailableSerialPorts();
List<String> choices = new ArrayList<>();
if(ports.isEmpty())
return;
for (String s: ports){
choices.add(s);
}
ChoiceDialog<String> dialog = new ChoiceDialog<>(choices.get(0), choices);
dialog.setTitle("Firmata Device Serial Port Chooser");
dialog.setHeaderText("Supports Firmata");
dialog.setContentText("Firmata Device Port:");
// Traditional way to get the response value.
Optional<String> result = dialog.showAndWait();
// The Java 8 way to get the response value (with lambda expression).
result.ifPresent(letter -> {
new Thread(()->{
System.out.print("\nConnecting Firmata...");
FirmataBowler p = new FirmataBowler(letter);
p.connect();
String name = "firmata";
addConnection(p,name);
System.out.print("Done!\n");
}).start();
});
}
}
