Live recordings

pom.xml

@@ -6,7 +6,7 @@
 
 	<groupId>com.marginallyclever</groupId>
 	<artifactId>RobotOverlord</artifactId>
-	<version>2.99.0</version>
+	<version>2.100.0</version>
 	<name>Robot Overlord</name>
 	<description>A friendly 3D user interface for controlling robots.</description>
 	<url>https://www.marginallyclever.com/</url>

src/main/java/com/marginallyclever/convenience/swing/NumberFormatHelper.java

@@ -0,0 +1,15 @@
+package com.marginallyclever.convenience.swing;
+
+import javax.swing.text.NumberFormatter;
+import java.text.NumberFormat;
+
+public class NumberFormatHelper {
+    static public NumberFormatter getNumberFormatter() {
+        NumberFormat format = NumberFormat.getNumberInstance();
+        NumberFormatter formatter = new NumberFormatter(format);
+        formatter.setValueClass(Double.class);
+        formatter.setAllowsInvalid(true);
+        formatter.setCommitsOnValidEdit(true);
+        return formatter;
+    }
+}

src/main/java/com/marginallyclever/ro3/apps/editorpanel/EditorPanel.java

@@ -93,6 +93,17 @@ public void actionPerformed(ActionEvent e) {
                 String message = getLineAtCaret();
                 if(!message.trim().isEmpty()) {
                     arm.sendGCode(message);
+                    // move down one line in the file.
+                    int caretPosition = text.getCaretPosition();
+                    Element root = text.getDocument().getDefaultRootElement();
+                    int lineNumber = root.getElementIndex(caretPosition);
+                    Element lineElement = root.getElement(lineNumber);
+                    int end = lineElement.getEndOffset();
+                    try {
+                        text.setCaretPosition(Math.min(end, text.getDocument().getLength()));
+                    } catch (Exception exception) {
+                        logger.error("Failed to move caret.",exception);
+                    }
                 }
             }
         }

src/main/java/com/marginallyclever/ro3/node/nodes/Camera.java

@@ -1,6 +1,7 @@
 package com.marginallyclever.ro3.node.nodes;
 
 import com.marginallyclever.convenience.helpers.MatrixHelper;
+import com.marginallyclever.convenience.swing.NumberFormatHelper;
 import com.marginallyclever.ro3.Registry;
 import com.marginallyclever.ro3.apps.render.Viewport;
 
@@ -95,11 +96,7 @@ public void getComponents(List<JPanel> list) {
     }
 
     private void addLookAtComponents(JPanel pane) {
-        NumberFormat format = NumberFormat.getNumberInstance();
-        NumberFormatter formatter = new NumberFormatter(format);
-        formatter.setValueClass(Double.class);
-        formatter.setAllowsInvalid(true);
-        formatter.setCommitsOnValidEdit(true);
+        var formatter = NumberFormatHelper.getNumberFormatter();
 
         JFormattedTextField tx = new JFormattedTextField(formatter);        tx.setValue(0);
         JFormattedTextField ty = new JFormattedTextField(formatter);        ty.setValue(0);

src/main/java/com/marginallyclever/ro3/node/nodes/DHParameter.java

@@ -1,5 +1,6 @@
 package com.marginallyclever.ro3.node.nodes;
 
+import com.marginallyclever.convenience.swing.NumberFormatHelper;
 import com.marginallyclever.ro3.node.Node;
 import org.json.JSONObject;
 import org.slf4j.Logger;
@@ -119,11 +120,7 @@ public void getComponents(List<JPanel> list) {
         JButton toPose = new JButton("To Pose");
         toPose.addActionListener(e -> toPoseAndAdjustMeshes());
 
-        NumberFormat format = NumberFormat.getNumberInstance();
-        NumberFormatter formatter = new NumberFormatter(format);
-        formatter.setValueClass(Double.class);
-        formatter.setAllowsInvalid(true);
-        formatter.setCommitsOnValidEdit(true);
+        var formatter = NumberFormatHelper.getNumberFormatter();
 
         JFormattedTextField dh_d = new JFormattedTextField(formatter);        dh_d.setValue(d);
         JFormattedTextField dh_r = new JFormattedTextField(formatter);        dh_r.setValue(r);

src/main/java/com/marginallyclever/ro3/node/nodes/HingeJoint.java

@@ -1,6 +1,7 @@
 package com.marginallyclever.ro3.node.nodes;
 
 import com.marginallyclever.convenience.PathCalculator;
+import com.marginallyclever.convenience.swing.NumberFormatHelper;
 import com.marginallyclever.ro3.node.Node;
 import com.marginallyclever.ro3.apps.nodeselector.NodeSelector;
 import com.marginallyclever.ro3.node.NodePath;
@@ -39,11 +40,7 @@ public void getComponents(List<JPanel> list) {
         list.add(pane);
         pane.setName(HingeJoint.class.getSimpleName());
 
-        NumberFormat format = NumberFormat.getNumberInstance();
-        NumberFormatter formatter = new NumberFormatter(format);
-        formatter.setValueClass(Double.class);
-        formatter.setAllowsInvalid(true);
-        formatter.setCommitsOnValidEdit(true);
+        NumberFormatter formatter = NumberFormatHelper.getNumberFormatter();
 
         JFormattedTextField angleField = new JFormattedTextField(formatter);
         angleField.setValue(angle);

src/main/java/com/marginallyclever/ro3/node/nodes/Pose.java

@@ -1,6 +1,7 @@
 package com.marginallyclever.ro3.node.nodes;
 
 import com.marginallyclever.convenience.helpers.MatrixHelper;
+import com.marginallyclever.convenience.swing.NumberFormatHelper;
 import com.marginallyclever.ro3.node.Node;
 import org.json.JSONArray;
 import org.json.JSONObject;
@@ -68,12 +69,7 @@ public void getComponents(List<JPanel> list) {
         list.add(pane);
         pane.setName(Pose.class.getSimpleName());
 
-        NumberFormat format = NumberFormat.getNumberInstance();
-        NumberFormatter formatter = new NumberFormatter(format);
-        formatter.setValueClass(Double.class);
-        formatter.setAllowsInvalid(true);
-        formatter.setCommitsOnValidEdit(true);
-
+        var formatter = NumberFormatHelper.getNumberFormatter();
         addTranslationComponents(pane,formatter);
         addRotationComponents(pane,formatter);
 

src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java

@@ -3,6 +3,7 @@
 import com.marginallyclever.convenience.helpers.MatrixHelper;
 import com.marginallyclever.convenience.helpers.StringHelper;
 import com.marginallyclever.convenience.swing.Dial;
+import com.marginallyclever.convenience.swing.NumberFormatHelper;
 import com.marginallyclever.ro3.apps.nodedetailview.CollapsiblePanel;
 import com.marginallyclever.ro3.node.Node;
 import com.marginallyclever.ro3.node.NodePath;
@@ -20,6 +21,8 @@
 import javax.vecmath.Vector3d;
 import java.awt.*;
 import java.awt.event.ActionEvent;
+import java.awt.event.ActionListener;
+import java.awt.event.HierarchyEvent;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
@@ -136,41 +139,152 @@ public void getComponents(List<JPanel> list) {
         GridBagConstraints gbc = new GridBagConstraints();
         gbc.weightx = 1.0;
         gbc.weighty = 1.0;
-        gbc.gridx=0;
-        gbc.gridy=0;
         gbc.fill = GridBagConstraints.BOTH;
 
+        gbc.gridx=0;
+        gbc.gridy=0;
         gbc.gridwidth=2;
-        pane.add(addMotorPanel(),gbc);
+        pane.add(createVelocitySlider(),gbc);
+
+        gbc.gridy++;
+        gbc.gridwidth=1;
+
+        addMoveTargetToEndEffector(pane,gbc);
+
+        JButton M114 = new JButton("M114");
+        M114.addActionListener(e-> sendGCode("M114"));
+        addLabelAndComponent(pane, "Get state", M114,gbc);
+
         gbc.gridwidth=1;
         gbc.gridy++;
 
-        // add a selector for the end effector
-        NodeSelector<Pose> endEffectorSelector = new NodeSelector<>(Pose.class, endEffector.getSubject());
-        endEffectorSelector.addPropertyChangeListener("subject",(e)-> {
-            endEffector.setRelativePath(this, (Pose)e.getNewValue());
-        });
-        addLabelAndComponent(pane, "End Effector", endEffectorSelector,gbc);
+        addNodeSelector(pane, "End Effector", endEffector, Pose.class, gbc);
+        addNodeSelector(pane, "Target", target, Pose.class, gbc);
+        addNodeSelector(pane, "Gripper motor", gripperMotor, Motor.class, gbc);
 
-        // add a selector for the target
-        NodeSelector<Pose> targetSelector = new NodeSelector<>(Pose.class, target.getSubject());
-        targetSelector.addPropertyChangeListener("subject",(e)-> {
-            target.setRelativePath(this, (Pose)e.getNewValue());
-        });
-        addLabelAndComponent(pane, "Target", targetSelector,gbc);
+        gbc.gridx=0;
+        gbc.gridwidth=2;
+        pane.add(getReceiver(),gbc);
+        gbc.gridy++;
+        pane.add(getSender(),gbc);
+        gbc.gridy++;
+        pane.add(createReportInterval(),gbc);
+        gbc.gridy++;
+        pane.add(createEasyFK(),gbc);
+        gbc.gridy++;
 
-        // add a selector for the gripper
-        NodeSelector<Motor> gripperMotorSelector = new NodeSelector<>(Motor.class, gripperMotor.getSubject());
-        gripperMotorSelector.addPropertyChangeListener("subject",(e)-> {
-            gripperMotor.setRelativePath(this, (Motor)e.getNewValue());
-        });
-        addLabelAndComponent(pane, "Gripper motor", gripperMotorSelector,gbc);
+        gbc.gridwidth=2;
+        pane.add(addMotorPanel(),gbc);
 
+        super.getComponents(list);
+    }
+
+    private JComponent createVelocitySlider() {
+        JPanel container = new JPanel(new BorderLayout());
         // add a slider to control linear velocity
         JSlider slider = new JSlider(0,20,(int)linearVelocity);
         slider.addChangeListener(e-> linearVelocity = slider.getValue());
-        addLabelAndComponent(pane, "Linear Vel", slider,gbc);
 
+        // Make the slider fill the available horizontal space
+        slider.setMaximumSize(new Dimension(Integer.MAX_VALUE, slider.getPreferredSize().height));
+
+        container.add(new JLabel("Linear Vel"), BorderLayout.LINE_START);
+        container.add(slider, BorderLayout.CENTER); // Add slider to the center of the container
+
+
+        return container;
+    }
+
+    private double reportInterval=1.0;
+
+    private JComponent createReportInterval() {
+        var containerPanel = new CollapsiblePanel("Report");
+        var outerPanel = containerPanel.getContentPane();
+        outerPanel.setLayout(new GridBagLayout());
+
+        var label = new JLabel("interval (s)");
+        // here i need an input - time interval (positive float, seconds)
+        var formatter = NumberFormatHelper.getNumberFormatter();
+        var secondsField = new JFormattedTextField(formatter);
+        secondsField.setValue(getReportInterval());
+
+        // then a toggle to turn it on and off.
+        JToggleButton toggle = new JToggleButton("Start");
+        toggle.setIcon(new ImageIcon(Objects.requireNonNull(getClass().getResource("/com/marginallyclever/ro3/apps/icons8-stopwatch-16.png"))));
+        JProgressBar progressBar = new JProgressBar();
+        progressBar.setMaximum((int) (getReportInterval() * 1000)); // Assuming interval is in seconds
+
+        Timer timer = new Timer(100, null);
+        ActionListener timerAction = new ActionListener() {
+            @Override
+            public void actionPerformed(ActionEvent e) {
+                int value = progressBar.getValue() + 100;
+                if (value >= progressBar.getMaximum()) {
+                    value = 0;
+                    sendGCode("G0"); // Send G0 command when progress bar is full
+                }
+                progressBar.setValue(value);
+            }
+        };
+
+        toggle.addActionListener(e -> {
+            if (toggle.isSelected()) {
+                toggle.setText("Stop");
+                timer.addActionListener(timerAction);
+                timer.start();
+            } else {
+                toggle.setText("Start");
+                progressBar.setValue(0); // Reset progress bar when toggle is off
+                timer.stop();
+                timer.removeActionListener(timerAction);
+            }
+        });
+
+        toggle.addHierarchyListener(e -> {
+            if ((HierarchyEvent.SHOWING_CHANGED & e.getChangeFlags()) !=0
+                    && !toggle.isShowing()) {
+                timer.stop();
+                timer.removeActionListener(timerAction);
+            }
+        });
+
+        // Add components to the panel
+        GridBagConstraints gbc = new GridBagConstraints();
+        gbc.weightx = 1.0;
+        gbc.weighty = 1.0;
+        gbc.gridx=0;
+        gbc.gridy=0;
+        gbc.fill = GridBagConstraints.BOTH;
+
+        outerPanel.add(label, gbc);
+        gbc.gridx++;
+        outerPanel.add(secondsField, gbc);
+        gbc.gridy++;
+        gbc.gridx=0;
+        outerPanel.add(toggle, gbc);
+        gbc.gridx++;
+        outerPanel.add(progressBar, gbc);
+        gbc.gridy++;
+
+        return containerPanel;
+    }
+
+    private double getReportInterval() {
+        return reportInterval;
+    }
+
+    private void setReportInterval(double seconds) {
+        reportInterval = Math.max(0.1,seconds);
+    }
+
+
+    private <T extends Node> void addNodeSelector(JPanel pane, String label, NodePath<T> nodePath, Class<T> clazz, GridBagConstraints gbc) {
+        NodeSelector<T> selector = new NodeSelector<>(clazz, nodePath.getSubject());
+        selector.addPropertyChangeListener("subject", (e) -> nodePath.setRelativePath(this, (T) e.getNewValue()));
+        addLabelAndComponent(pane, label, selector, gbc);
+    }
+
+    private void addMoveTargetToEndEffector(JPanel pane,GridBagConstraints gbc) {
         // move target to end effector
         JButton targetToEE = new JButton(new AbstractAction() {
             {
@@ -185,22 +299,6 @@ public void actionPerformed(ActionEvent e) {
             }
         });
         addLabelAndComponent(pane, "Target to EE", targetToEE,gbc);
-
-        JButton M114 = new JButton("M114");
-        M114.addActionListener(e-> sendGCode("M114"));
-        addLabelAndComponent(pane, "Get state", M114,gbc);
-
-        gbc.gridx=0;
-        gbc.gridwidth=2;
-        pane.add(getReceiver(),gbc);
-        gbc.gridy++;
-        pane.add(getSender(),gbc);
-        gbc.gridy++;
-        pane.add(new JSeparator(),gbc);
-        gbc.gridy++;
-        pane.add(createEasyFK(),gbc);
-
-        super.getComponents(list);
     }
 
     private void setTargetToEndEffector() {