/*
 * RoombaCommPanel - 
 * 
 *  Copyright (c) 2006 Tod E. Kurt, tod@todbot.com, ThingM
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library 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
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General
 *  Public License along with this library; if not, write to the
 *  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
 *  Boston, MA  02111-1307  USA
 *
 */

package roombacomm;

import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
import javax.swing.event.*;
import javax.swing.text.*;

/**
 * A Panel containing controls for testing RoombaComm. 
 * Normally put inside of a frame, for example see RoombaCommTest
 *
 */
public class RoombaCommPanel extends JPanel implements ActionListener,ChangeListener {

    JPanel ctrlPanel, selectPanel, buttonPanel, displayPanel;
    JComboBox portChoices;
    JComboBox protocolChoices;
    JCheckBox handshakeButton;
    JTextArea displayText;
    JButton  connectButton;
    JSlider speedSlider;

    RoombaCommSerial roombacomm;

    public RoombaCommPanel() {
        super(new BorderLayout());
        
        roombacomm = new RoombaCommSerial();
        
        makePanels();
    }
    
    public RoombaCommPanel(boolean debug) {
        super(new BorderLayout());
        
        roombacomm = new RoombaCommSerial();
        
        makePanels();    	
        roombacomm.debug = debug;
    }
    /**
     * Set to 'false' to hide the "h/w handshake" button, which seems to be
     * only needed on Windows
     */
    public void setShowHardwareHandhake( boolean b ) {
        handshakeButton.setVisible( b );
    }

    /** */
    public boolean connect() {
        String portname = (String) portChoices.getSelectedItem();
        //roombacomm.debug=true;
        roombacomm.setWaitForDSR(handshakeButton.isSelected());
        int i = protocolChoices.getSelectedIndex();
        roombacomm.setProtocol((i==0)?"SCI":"OI");
        
        connectButton.setText("connecting");
        if( ! roombacomm.connect( portname ) ) {
            updateDisplay("Couldn't connect to "+portname+"\n");
            connectButton.setText("  connect  ");
            //roombacomm.debug=false;
            return false;
        }
        updateDisplay("Roomba startup\n");

        roombacomm.startup();
        roombacomm.control();
        roombacomm.playNote( 72, 10 );  // C , test note
        roombacomm.pause( 200 );

        connectButton.setText("disconnect");
        connectButton.setActionCommand("disconnect");
        //roombacomm.debug=true;
        updateDisplay("Checking for Roomba... ");
        if( roombacomm.updateSensors() )
            updateDisplay("Roomba found!\n");
        else
            updateDisplay("No Roomba. :(  Is it turned on?\n");

        return true;
    }

    /** */
    public void disconnect() {
        roombacomm.disconnect();
        connectButton.setText("  connect  ");
        connectButton.setActionCommand("connect");
    }
    
    /**
     * Play a (MIDI) note, that is, make the Roomba a musical instrument
     * notenums 32-127:
     *   notenum  == corresponding note played thru beeper
     *   velocity == duration in number of 1/64s of a second (e.g. 64==1second)
     * notenum 24:
     *    notenum  == main vacuum
     *    velocity == non-zero turns on, zero turns off 
     * notenum 25: 
     *    blink LEDs, velcoity is color of Power LED
     * notenum 28 & 29:
     *    spin left & spin right, velocity is speed
     *
     */
    public void playMidiNote( int notenum, int velocity ) {
        updateDisplay("play note: "+notenum+","+velocity+"\n");
        if( !roombacomm.connected() ) return;
        
        if( notenum >= 31 ) {                // G and above
            if( velocity == 0 ) return;
            if( velocity < 4 ) velocity = 4; // has problems at lower durations
            else velocity = velocity/2;
            roombacomm.playNote( notenum, velocity );
        } 
        else if( notenum == 24 ) {           // C
            roombacomm.vacuum( !(velocity==0) );
        }
        else if( notenum == 25 ) {           // C#
            boolean lon = (velocity!=0);
            int inten = (lon) ? 255:128; // either full bright or half bright
            roombacomm.setLEDs( lon,lon,lon,lon,lon,lon, velocity*2, inten );
        }
        else if( notenum == 28 ) {           // E
            if( velocity!=0 ) roombacomm.spinLeftAt( velocity*2 );
            else roombacomm.stop();
        }
        else if( notenum == 29 ) {           // F
            if( velocity!=0 ) roombacomm.spinRightAt( velocity*2 );
            else roombacomm.stop();
        }
    }

    /** implement actionlistener */
    public void actionPerformed(ActionEvent event) {
        String action = event.getActionCommand();
        if( "comboBoxChanged".equals(action) ) {
            String portname = (String) portChoices.getSelectedItem();
            roombacomm.setPortname(portname);
            int i = protocolChoices.getSelectedIndex();
            roombacomm.setProtocol((i==0)?"SCI":"OI");
            return;
        }
        updateDisplay(action+"\n");
        if( "connect".equals(action) ) {
            connect();
            return;
        }
        else if( "disconnect".equals(action) ) {
            disconnect();
            return;
        }

        // stop right here if we're not connected
        if( !roombacomm.connected() ) {
            updateDisplay("not connected!\n");
            return;
        }

        if( "stop".equals(action) ) {
            roombacomm.stop();
        }
        else if( "forward".equals(action) ) {
            roombacomm.goForward();
        }
        else if( "backward".equals(action) ) {
            roombacomm.goBackward();
        }
        else if( "spinleft".equals(action) ) {
            roombacomm.spinLeft();
        }
        else if( "spinright".equals(action) ) {
            roombacomm.spinRight();
        }
        else if( "turnleft".equals(action) ) {
            roombacomm.turnLeft();
        }
        else if( "turnright".equals(action) ) {
            roombacomm.turnRight();
        }
        else if( "test".equals(action) ) {
            updateDisplay("Playing some notes\n");
            roombacomm.playNote( 72, 10 );  // C
            roombacomm.pause( 200 );
            roombacomm.playNote( 79, 10 );  // G
            roombacomm.pause( 200 );
            roombacomm.playNote( 76, 10 );  // E
            roombacomm.pause( 200 );

            updateDisplay("Spinning left, then right\n");
            roombacomm.spinLeft();
            roombacomm.pause(1000);
            roombacomm.spinRight();
            roombacomm.pause(1000);
            roombacomm.stop();

            updateDisplay("Going forward, then backward\n");
            roombacomm.goForward();
            roombacomm.pause(1000);
            roombacomm.goBackward();
            roombacomm.pause(1000);
            roombacomm.stop();
        }
        else if( "reset".equals(action) ) {
            roombacomm.stop();
            roombacomm.startup();
            roombacomm.control();
        }
        else if( "power-off".equals(action) ) {
            roombacomm.powerOff();
        }
        else if( "wakeup".equals(action) ) {
            roombacomm.wakeup();
        }
        else if( "beep-lo".equals(action) ) {
            roombacomm.playNote( 50, 32 );  // C1
            roombacomm.pause( 200 );
        }
        else if( "beep-hi".equals(action) ) {
            roombacomm.playNote( 90, 32 );  // C7
            roombacomm.pause( 200 );
        }
        else if( "clean".equals(action) ) {
            roombacomm.clean();
        }
        else if( "spot".equals(action) ) {
            roombacomm.spot();
        }
        else if( "vacuum-on".equals(action) ) {
            roombacomm.vacuum(true);
        }
        else if( "vacuum-off".equals(action) ) {
            roombacomm.vacuum(false);
        }
        else if( "blink-leds".equals(action) ) {
            roombacomm.setLEDs( true,true,true, true,true,true, 255, 255 );
            roombacomm.pause(300);
            roombacomm.setLEDs( false,false,false, false,false,false, 0, 128);
        }        
        else if( "sensors".equals(action) ) {
            if( roombacomm.updateSensors() )
                updateDisplay( roombacomm.sensorsAsString()+"\n");
            else 
                updateDisplay("couldn't read Roomba. Is it connected?\n");
        }
    }

    /** implement ChangeListener, for the slider */
    public void stateChanged(ChangeEvent e) {
        //System.err.println("stateChanged:"+e);
        JSlider src = (JSlider)e.getSource();
        if (!src.getValueIsAdjusting()) {
            int speed = (int)src.getValue();
            speed = (speed<1) ? 1 : speed; // don't allow zero speed
            updateDisplay("setting speed = "+speed+"\n");
            roombacomm.setSpeed(speed);
        }
    }

    /**
     *
     */
    void makePanels() {
        makeSelectPanel();
        add( selectPanel, BorderLayout.NORTH );

        makeCtrlPanel();
        add( ctrlPanel, BorderLayout.EAST );        

        makeButtonPanel();
        add( buttonPanel, BorderLayout.CENTER );

        makeDisplayPanel();
        add( displayPanel, BorderLayout.SOUTH );

        //pack(); //setVisible(true);
        updateDisplay("RoombaComm, version "+RoombaComm.VERSION+"\n");
    }
    
    void makeSelectPanel() {
        selectPanel  = new JPanel();
        
        // Create a combo box with protocols
        String[] protocols = {"Roomba 1xx-4xx (SCI)", "Roomba 5xx (OI)"};
        protocolChoices = new JComboBox(protocols);
        String p = roombacomm.getProtocol();
        protocolChoices.setSelectedIndex(p.equals("SCI")?0:1);
        
        //Create a combo box with choices.
        String[] ports = roombacomm.listPorts();
        portChoices = new JComboBox(ports);
        portChoices.setSelectedIndex(0);
        for( int i=0; i<ports.length; i++ ) { 
            String s = ports[i];
        	if (s.equals(roombacomm.getPortname())) {
            	portChoices.setSelectedItem(s);        		
        	}
        }
        connectButton = new JButton();
        connectButton.setText("  connect  ");
        connectButton.setActionCommand("connect");
        handshakeButton = new JCheckBox("<html>h/w<br>handshake</html>");
        
        //Add a border around the select panel.
        selectPanel.setBorder(BorderFactory.createCompoundBorder( BorderFactory.createTitledBorder("Select Roomba Type & Port"), BorderFactory.createEmptyBorder(1,1,1,1)));
        
        selectPanel.add(protocolChoices);
        selectPanel.add(portChoices);
        selectPanel.add(connectButton);
        selectPanel.add(handshakeButton);

        //Listen to events from the combo box.
        portChoices.addActionListener(this);
        connectButton.addActionListener(this);
        protocolChoices.addActionListener(this);
    }
    

    /** 
     * 
     */
    void makeCtrlPanel() {
        JPanel ctrlPanel1 = new JPanel(new GridLayout(3,3));

        JButton but_turnleft =
            new JButton(createImageIcon("images/but_turnleft.png","turnleft"));
        ctrlPanel1.add( but_turnleft );
        JButton but_forward =
            new JButton(createImageIcon("images/but_forward.png","forward"));
        ctrlPanel1.add( but_forward );
        JButton but_turnright =
            new JButton(createImageIcon("images/but_turnright.png","turnright"));
        ctrlPanel1.add( but_turnright );

        JButton but_spinleft =
            new JButton(createImageIcon("images/but_spinleft.png","spinleft"));
        ctrlPanel1.add( but_spinleft );
        JButton but_stop =
            new JButton(createImageIcon("images/but_stop.png", "stop"));
        ctrlPanel1.add( but_stop );
        JButton but_spinright =
            new JButton(createImageIcon("images/but_spinright.png","spinright"));
        ctrlPanel1.add( but_spinright );

        ctrlPanel1.add(new JLabel());
        JButton but_backward =
            new JButton(createImageIcon("images/but_backward.png","backward"));
        ctrlPanel1.add( but_backward );
        ctrlPanel1.add(new JLabel());

        JLabel sliderLabel = new JLabel("speed (mm/s)", JLabel.CENTER);
        speedSlider = new JSlider(JSlider.HORIZONTAL, 0, 500, 200 );
        speedSlider.setPaintTicks(true);
        speedSlider.setMajorTickSpacing(100);
        speedSlider.setMinorTickSpacing(25);
        speedSlider.setPaintLabels(true);
        speedSlider.addChangeListener(this);

        ctrlPanel = new JPanel();
        ctrlPanel.setLayout( new BoxLayout(ctrlPanel, BoxLayout.Y_AXIS ) );

        ctrlPanel.setBorder(BorderFactory.createCompoundBorder( BorderFactory.createTitledBorder("Movement"), BorderFactory.createEmptyBorder(5,5,5,5)));
        ctrlPanel.add( ctrlPanel1 );
        ctrlPanel.add( speedSlider );
        ctrlPanel.add( sliderLabel );

        but_turnleft.setActionCommand("turnleft");
        but_turnright.setActionCommand("turnright");
        but_spinleft.setActionCommand("spinleft");
        but_spinright.setActionCommand("spinright");
        but_forward.setActionCommand("forward");
        but_backward.setActionCommand("backward");
        but_stop.setActionCommand("stop");
        but_turnleft.addActionListener(this);
        but_turnright.addActionListener(this);
        but_spinleft.addActionListener(this);
        but_spinright.addActionListener(this);
        but_forward.addActionListener(this);
        but_backward.addActionListener(this);
        but_stop.addActionListener(this);
    }

    /**
     *
     */
    void makeButtonPanel() {
        buttonPanel = new JPanel( new GridLayout( 8,2 ) );
        buttonPanel.setBorder(BorderFactory.createCompoundBorder( BorderFactory.createTitledBorder("Commands"), BorderFactory.createEmptyBorder(5,5,5,5)));

        JButton but_reset = new JButton("reset");
        buttonPanel.add( but_reset );
        but_reset.addActionListener(this);

        JButton but_test = new JButton("test");
        buttonPanel.add( but_test );
        but_test.addActionListener(this);

        JButton but_power = new JButton("power-off");
        buttonPanel.add( but_power );
        but_power.addActionListener(this);

        JButton but_wakeup = new JButton("wakeup");
        buttonPanel.add( but_wakeup );
        but_wakeup.addActionListener(this);

        JButton but_beeplo = new JButton("beep-lo");
        buttonPanel.add( but_beeplo );
        but_beeplo.addActionListener(this);
        
        JButton but_beephi = new JButton("beep-hi");
        buttonPanel.add( but_beephi );
        but_beephi.addActionListener(this);

        JButton but_clean = new JButton("clean");
        buttonPanel.add( but_clean );
        but_clean.addActionListener(this);

        JButton but_spot = new JButton("spot");
        buttonPanel.add( but_spot );
        but_spot.addActionListener(this);

        JButton but_vacon = new JButton("vacuum-on");
        buttonPanel.add( but_vacon );
        but_vacon.addActionListener(this);

        JButton but_vacoff = new JButton("vacuum-off");
        buttonPanel.add( but_vacoff );
        but_vacoff.addActionListener(this);

        JButton but_blinkleds = new JButton("blink-leds");
        buttonPanel.add( but_blinkleds );
        but_blinkleds.addActionListener(this);

        JButton but_sensors = new JButton("sensors");
        buttonPanel.add( but_sensors );
        but_sensors.addActionListener(this);
    }

    /**
     *
     */
    void makeDisplayPanel() {
        displayPanel = new JPanel();
        displayPanel.setBorder(BorderFactory.createCompoundBorder( BorderFactory.createTitledBorder("Display"), BorderFactory.createEmptyBorder(1,1,1,1)));

        displayText = new JTextArea(5,30);
        displayText.setLineWrap(true);
        DefaultCaret dc = new DefaultCaret();
        // only works on Java 1.5+
        //dc.setUpdatePolicy( DefaultCaret.ALWAYS_UPDATE );
        displayText.setCaret(dc);
        JScrollPane scrollPane = 
            new JScrollPane(displayText, 
                            JScrollPane.VERTICAL_SCROLLBAR_ALWAYS,
                            JScrollPane.HORIZONTAL_SCROLLBAR_NEVER );
        displayPanel.add( scrollPane );
    }
    
    public void updateDisplay(String s) {
        displayText.append( s );
        displayText.setCaretPosition(displayText.getDocument().getLength());
    }

    /** Returns an ImageIcon, or null if the path was invalid. */
    protected static ImageIcon createImageIcon(String path,
                                               String description) {
        // yes, this is supposed to say "RoombaCommTest"
        java.net.URL imgURL = RoombaCommPanel.class.getResource(path);
        if (imgURL != null) {
            return new ImageIcon(imgURL, description);
        } else {
            System.err.println("Couldn't find file: " + path);
            return null;
        }
    }


}