Merge branch 'master' into javadoc

MarginallyClever · Jan 12, 2024 · 199dc37 · 199dc37
2 parents f710c12 + 4ea6781
commit 199dc37
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Showing 36 changed files with 925 additions and 76 deletions.
diff --git a/pom.xml b/pom.xml
@@ -6,7 +6,7 @@
 
 	<groupId>com.marginallyclever</groupId>
 	<artifactId>RobotOverlord</artifactId>
-	<version>2.105.1</version>
+	<version>2.105.8</version>
 	<name>Robot Overlord</name>
 	<description>A friendly 3D user interface for controlling robots.</description>
 	<url>https://www.marginallyclever.com/</url>
@@ -302,6 +302,31 @@
 				<artifactId>maven-project-info-reports-plugin</artifactId>
 				<version>2.8</version>
 			</plugin>
+			<!-- Code Coverage report generation -->
+			<plugin>
+				<groupId>org.jacoco</groupId>
+				<artifactId>jacoco-maven-plugin</artifactId>
+				<version>0.8.11</version>
+				<configuration>
+					<excludes>
+						<exclude>com/marginallyclever/robotoverlord/**</exclude>
+					</excludes>
+				</configuration>
+				<executions>
+					<execution>
+						<goals>
+							<goal>prepare-agent</goal>
+						</goals>
+					</execution>
+					<execution>
+						<id>generate-code-coverage-report</id>
+						<phase>test</phase>
+						<goals>
+							<goal>report</goal>
+						</goals>
+					</execution>
+				</executions>
+			</plugin>
 		</plugins>
 
 		<pluginManagement>
@@ -388,6 +413,14 @@
 			<scope>test</scope>
 		</dependency>
 
+		<!-- https://mvnrepository.com/artifact/org.mockito/mockito-core -->
+		<dependency>
+			<groupId>org.mockito</groupId>
+			<artifactId>mockito-core</artifactId>
+			<version>5.8.0</version>
+			<scope>test</scope>
+		</dependency>
+
 		<!-- used for some src/main/util/PreferencesHelper logging -->
 		<!-- https://mvnrepository.com/artifact/org.json/json -->
 		<dependency>

diff --git a/src/main/java/com/marginallyclever/ro3/Registry.java b/src/main/java/com/marginallyclever/ro3/Registry.java
@@ -4,6 +4,7 @@
 import com.marginallyclever.ro3.mesh.MeshFactory;
 import com.marginallyclever.ro3.node.nodes.*;
 import com.marginallyclever.ro3.node.Node;
+import com.marginallyclever.ro3.node.nodes.limbplanner.LimbPlanner;
 import com.marginallyclever.ro3.node.nodes.limbsolver.LimbSolver;
 import com.marginallyclever.ro3.node.nodes.marlinrobotarm.MarlinRobotArm;
 import com.marginallyclever.ro3.node.nodes.pose.AttachmentPoint;
@@ -32,7 +33,6 @@ public class Registry {
     public static final ListWithEvents<Camera> cameras = new ListWithEvents<>();
     private static Camera activeCamera = null;
     public static final ListWithEvents<Node> selection = new ListWithEvents<>();
-    public static final Clipboard clipboard = Toolkit.getDefaultToolkit().getSystemClipboard();
 
     public static void start() {
         nodeFactory.clear();
@@ -44,7 +44,7 @@ public static void start() {
         nodule.add("Material", Material::new);
         nodule.add("MeshInstance", MeshInstance::new);
         nodule.add("Motor", Motor::new);
-        nodule.add("TargetPlanner", TargetPlanner::new);
+        nodule.add("LimbPlanner", LimbPlanner::new);
         Factory.Category<Node> pose = nodule.add("Pose", Pose::new);
             pose.add("Camera", Camera::new);
             pose.add("LookAt", LookAt::new);

diff --git a/src/main/java/com/marginallyclever/ro3/apps/actions/ExportScene.java b/src/main/java/com/marginallyclever/ro3/apps/actions/ExportScene.java
@@ -9,6 +9,7 @@
 
 
 import java.io.*;
+import java.security.InvalidParameterException;
 import java.util.*;
 import javax.swing.*;
 import javax.swing.filechooser.FileNameExtensionFilter;
@@ -42,6 +43,7 @@ public ExportScene(JFileChooser chooser) {
      */
     @Override
     public void actionPerformed(ActionEvent e) {
+        if( chooser == null ) throw new InvalidParameterException("file chooser cannot be null");
         chooser.setFileFilter(ZIP_FILTER);
         Component source = (Component) e.getSource();
         JFrame parentFrame = (JFrame)SwingUtilities.getWindowAncestor(source);

diff --git a/src/main/java/com/marginallyclever/ro3/apps/actions/ImportScene.java b/src/main/java/com/marginallyclever/ro3/apps/actions/ImportScene.java
@@ -8,6 +8,7 @@
 import javax.swing.*;
 import java.awt.*;
 import java.awt.event.ActionEvent;
+import java.security.InvalidParameterException;
 import java.util.Objects;
 
 /**
@@ -36,6 +37,7 @@ public ImportScene(JFileChooser chooser) {
      */
     @Override
     public void actionPerformed(ActionEvent e) {
+        if( chooser == null ) throw new InvalidParameterException("file chooser cannot be null");
         chooser.setFileFilter(RO3Frame.FILE_FILTER);
 
         Component source = (Component) e.getSource();

diff --git a/src/main/java/com/marginallyclever/ro3/apps/actions/LoadScene.java b/src/main/java/com/marginallyclever/ro3/apps/actions/LoadScene.java
@@ -1,5 +1,6 @@
 package com.marginallyclever.ro3.apps.actions;
 
+import com.marginallyclever.ro3.apps.RO3Frame;
 import com.marginallyclever.ro3.apps.UndoSystem;
 import com.marginallyclever.ro3.apps.RecentFilesMenu;
 import com.marginallyclever.ro3.Registry;
@@ -76,6 +77,7 @@ public void actionPerformed(ActionEvent e) {
 
     private File runFileDialog(Component source) {
         if( chooser == null ) throw new InvalidParameterException("file chooser cannot be null");
+        chooser.setFileFilter(RO3Frame.FILE_FILTER);
         JFrame parentFrame = (JFrame)SwingUtilities.getWindowAncestor(source);
         if (chooser.showOpenDialog(parentFrame) == JFileChooser.APPROVE_OPTION) {
             return chooser.getSelectedFile();

diff --git a/src/main/java/com/marginallyclever/ro3/apps/actions/PasteNode.java b/src/main/java/com/marginallyclever/ro3/apps/actions/PasteNode.java
@@ -8,6 +8,7 @@
 
 import javax.swing.*;
 import java.awt.*;
+import java.awt.datatransfer.Clipboard;
 import java.awt.datatransfer.FlavorEvent;
 import java.awt.event.ActionEvent;
 import java.util.ArrayList;
@@ -18,26 +19,27 @@
  */
 public class PasteNode extends AbstractAction {
     private final Logger logger = LoggerFactory.getLogger(PasteNode.class);
+    private final Clipboard clipboard = Toolkit.getDefaultToolkit().getSystemClipboard();
 
     public PasteNode() {
         super();
         putValue(Action.NAME,"Paste");
         putValue(Action.SMALL_ICON,new ImageIcon(Objects.requireNonNull(getClass().getResource("icons8-paste-16.png"))));
         putValue(SHORT_DESCRIPTION,"Paste the selected node(s).");
 
-        Registry.clipboard.addFlavorListener(this::clipboardChanged);
+        clipboard.addFlavorListener(this::clipboardChanged);
         setEnabled(false);
     }
 
     private void clipboardChanged(FlavorEvent flavorEvent) {
         // if the clipboard has changed, update the menu item
-        if(flavorEvent.getSource()==Registry.clipboard) {
+        if(flavorEvent.getSource()==clipboard) {
             if(KeyboardFocusManager.getCurrentKeyboardFocusManager().getActiveWindow() == null) {
                 setEnabled(false);
                 return;
             }
             try {
-                setEnabled(Registry.clipboard.isDataFlavorAvailable(JSONHelper.JSON_FLAVOR));
+                setEnabled(clipboard.isDataFlavorAvailable(JSONHelper.JSON_FLAVOR));
             } catch (IllegalStateException ignored) {
                 // if this clipboard is currently unavailable
             }

diff --git a/src/main/java/com/marginallyclever/ro3/apps/actions/SaveAsScene.java b/src/main/java/com/marginallyclever/ro3/apps/actions/SaveAsScene.java
@@ -1,6 +1,7 @@
 package com.marginallyclever.ro3.apps.actions;
 
 import com.marginallyclever.ro3.Registry;
+import com.marginallyclever.ro3.apps.RO3Frame;
 import com.marginallyclever.ro3.apps.RecentFilesMenu;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -12,6 +13,7 @@
 import java.io.File;
 import java.io.FileWriter;
 import java.io.IOException;
+import java.security.InvalidParameterException;
 import java.util.Objects;
 
 /**
@@ -54,6 +56,9 @@ public void actionPerformed(ActionEvent e) {
     }
 
     private String askUserForDestinationPath(Component source) {
+        if( chooser == null ) throw new InvalidParameterException("file chooser cannot be null");
+        chooser.setFileFilter(RO3Frame.FILE_FILTER);
+
         JFrame parentFrame = (JFrame)SwingUtilities.getWindowAncestor(source);
 
         int response;

diff --git a/src/main/java/com/marginallyclever/ro3/apps/commands/CopyNode.java b/src/main/java/com/marginallyclever/ro3/apps/commands/CopyNode.java
@@ -9,6 +9,8 @@
 
 import javax.swing.undo.AbstractUndoableEdit;
 import javax.swing.undo.CannotUndoException;
+import java.awt.*;
+import java.awt.datatransfer.Clipboard;
 import java.awt.datatransfer.StringSelection;
 import java.awt.datatransfer.Transferable;
 import java.util.List;
@@ -20,10 +22,12 @@ public class CopyNode extends AbstractUndoableEdit {
     private final Logger logger = LoggerFactory.getLogger(com.marginallyclever.ro3.apps.actions.CopyNode.class);
     private final List<Node> selection;
     private final Transferable before;
+    private final Clipboard clipboard = Toolkit.getDefaultToolkit().getSystemClipboard();
+
     public CopyNode(List<Node> selection) {
         super();
         this.selection = selection;
-        this.before = Registry.clipboard.getContents(null);
+        this.before = clipboard.getContents(null);
         execute();
     }
 
@@ -48,7 +52,7 @@ public void execute() {
         jsonWrapper.put("copied",list);
         // store the json in the clipboard.
         StringSelection stringSelection = new StringSelection(jsonWrapper.toString());
-        Registry.clipboard.setContents(stringSelection, null);
+        clipboard.setContents(stringSelection, null);
     }
 
     @Override
@@ -58,6 +62,6 @@ public void undo() throws CannotUndoException {
     }
 
     public void reverse() {
-        Registry.clipboard.setContents(before, null);
+        clipboard.setContents(before, null);
     }
 }
diff --git a/src/main/java/com/marginallyclever/ro3/apps/commands/PasteNode.java b/src/main/java/com/marginallyclever/ro3/apps/commands/PasteNode.java
@@ -9,6 +9,8 @@
 
 import javax.swing.undo.AbstractUndoableEdit;
 import javax.swing.undo.CannotUndoException;
+import java.awt.*;
+import java.awt.datatransfer.Clipboard;
 import java.awt.datatransfer.Transferable;
 import java.util.ArrayList;
 import java.util.List;
@@ -18,9 +20,10 @@
  */
 public class PasteNode extends AbstractUndoableEdit {
     private final Logger logger = LoggerFactory.getLogger(PasteNode.class);
-    Transferable transfer;
     private final List<Node> children = new ArrayList<>();
     private final List<Node> parents;
+    private final Clipboard clipboard = Toolkit.getDefaultToolkit().getSystemClipboard();
+    private final Transferable transfer;
 
     /**
      * Paste the copied nodes as children of the parent nodes.
@@ -29,7 +32,7 @@ public class PasteNode extends AbstractUndoableEdit {
     public PasteNode(List<Node> parents) {
         super();
         this.parents = parents;
-        transfer = Registry.clipboard.getContents(null);
+        transfer = clipboard.getContents(null);
         execute();
     }
 

diff --git a/...ain/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/RotateToolOneAxis.java b/...ain/java/com/marginallyclever/ro3/apps/viewport/viewporttools/move/RotateToolOneAxis.java
@@ -106,6 +106,7 @@ public RotateToolOneAxis(ColorRGB color) {
         this.color = color;
         buildMarkerMesh();
         buildAngleMesh();
+        ringMesh.setRenderStyle(GL3.GL_LINE_LOOP);
     }
 
     private void buildAngleMesh() {
@@ -389,8 +390,11 @@ private void drawWhileDragging(GL3 gl,ShaderProgram shaderProgram) {
 
     private void drawMainRingAndHandles(GL3 gl,ShaderProgram shaderProgram) {
         Matrix4d m = new Matrix4d(pivotMatrix);
-        m.transpose();
-        shaderProgram.setMatrix4d(gl,"modelMatrix",m);
+
+        Matrix4d scale = MatrixHelper.createScaleMatrix4(getRingRadiusScaled());
+        scale.mul(m,scale);
+        scale.transpose();
+        shaderProgram.setMatrix4d(gl,"modelMatrix",scale);
 
         float colorScale = cursorOverHandle ? 1:0.5f;
         float red   = color.red   * colorScale / 255f;
@@ -399,6 +403,9 @@ private void drawMainRingAndHandles(GL3 gl,ShaderProgram shaderProgram) {
         shaderProgram.set4f(gl, "objectColor", red, green, blue, 1.0f);
         ringMesh.render(gl,1,360);
 
+        m.transpose();
+        shaderProgram.setMatrix4d(gl,"modelMatrix",m);
+
         Matrix4d m2 = MatrixHelper.createScaleMatrix4(getGripRadiusScaled());
         m2.m03 = getHandleLengthScaled();
         m2.m13 = getHandleOffsetYScaled();

diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/DHParameter.java b/src/main/java/com/marginallyclever/ro3/node/nodes/DHParameter.java
@@ -178,18 +178,34 @@ public void fromJSON(JSONObject from) {
         if(from.has("alpha")) alpha = from.getDouble("alpha");
     }
 
+    public void setD(double d) {
+        this.d = d;
+    }
+
     public double getD() {
         return d;
     }
 
+    public void setR(double r) {
+        this.r = r;
+    }
+
     public double getR() {
         return r;
     }
 
+    public void setAlpha(double alpha) {
+        this.alpha = alpha;
+    }
+
     public double getAlpha() {
         return alpha;
     }
 
+    public void setTheta(double theta) {
+        this.theta = theta;
+    }
+
     public double getTheta() {
         return theta;
     }

diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/Material.java b/src/main/java/com/marginallyclever/ro3/node/nodes/Material.java
@@ -63,7 +63,7 @@ public void getComponents(List<JPanel> list) {
             textureChooserDialog.setSelectedItem(texture);
             int result = textureChooserDialog.run(pane);
             if(result == JFileChooser.APPROVE_OPTION) {
-                texture = textureChooserDialog.getSelectedItem();
+                setTexture(textureChooserDialog.getSelectedItem());
                 setTextureButtonLabel(button);
             }
         });
@@ -120,6 +120,10 @@ public void getComponents(List<JPanel> list) {
 
     }
 
+    public void setTexture(TextureWithMetadata selectedItem) {
+        texture = selectedItem;
+    }
+
     private JComponent createShininessSlider() {
         JPanel container = new JPanel(new BorderLayout());
 

diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/Motor.java b/src/main/java/com/marginallyclever/ro3/node/nodes/Motor.java
@@ -35,13 +35,6 @@ public void update(double dt) {
         }
     }
 
-    private HingeJoint addHinge() {
-        HingeJoint hinge = new HingeJoint("Motor Hinge");
-        Node parent = getParent();
-        if(parent!=null) parent.addChild(hinge);
-        return hinge;
-    }
-
     @Override
     public void getComponents(List<JPanel> list) {
         JPanel pane = new JPanel(new GridLayout(0,2));
@@ -83,6 +76,10 @@ public HingeJoint getHinge() {
         return hinge.getSubject();
     }
 
+    /**
+     * Set the hinge this motor will drive.  the hinge must be in the same node tree as this motor.
+     * @param hinge the hinge this motor will drive.
+     */
     public void setHinge(HingeJoint hinge) {
         this.hinge.setRelativePath(this, hinge);
     }