Moved main() to separate test files

src/main/java/com/marginallyclever/robotoverlord/components/RobotComponent.java

@@ -100,6 +100,23 @@ public Object get(int property) {
         }
     }
 
+    @Override
+    public void set(int property, Object value) {
+        switch (property) {
+            case ACTIVE_JOINT -> activeJoint = Math.max(0, Math.min(getNumBones(), (int) value));
+            case JOINT_VALUE -> setActiveJointValue((double) value);
+            case END_EFFECTOR_TARGET -> setEndEffectorTargetPose((Matrix4d) value);
+            case END_EFFECTOR_TARGET_POSITION -> setEndEffectorTargetPosition((Point3d) value);
+            case TOOL_CENTER_POINT -> setToolCenterPointOffset((Matrix4d) value);
+            case POSE -> setPoseWorld((Matrix4d) value);
+            case JOINT_HOME -> getBone(activeJoint).setJointHome((double) value);
+            case ALL_JOINT_VALUES -> setAllJointValues((double[]) value);
+            case DESIRED_LINEAR_VELOCITY -> desiredLinearVelocity.set((double) value);
+            case TOOL_ACTIVE -> fireRobotEvent(new RobotEvent(RobotEvent.TOOL_ACTIVATE, this, value));
+            default -> logger.warn("invalid set() property {}", property);
+        }
+    }
+
     private Object getActiveJointValue() {
         DHComponent b = getBone(activeJoint);
         return b.getJointValue();
@@ -122,19 +139,9 @@ public double[] getAllJointValues() {
         return result;
     }
 
-    @Override
-    public void set(int property, Object value) {
-        switch (property) {
-            case ACTIVE_JOINT -> activeJoint = Math.max(0, Math.min(getNumBones(), (int) value));
-            case JOINT_VALUE -> setActiveJointValue((double) value);
-            case END_EFFECTOR_TARGET -> setEndEffectorTargetPose((Matrix4d) value);
-            case END_EFFECTOR_TARGET_POSITION -> setEndEffectorTargetPosition((Point3d) value);
-            case TOOL_CENTER_POINT -> setToolCenterPointOffset((Matrix4d) value);
-            case POSE -> setPoseWorld((Matrix4d) value);
-            case JOINT_HOME -> getBone(activeJoint).setJointHome((double) value);
-            case ALL_JOINT_VALUES -> setAllJointValues((double[]) value);
-            case DESIRED_LINEAR_VELOCITY -> desiredLinearVelocity.set((double) value);
-            default -> logger.warn("invalid set() property {}", property);
+    private void fireRobotEvent(RobotEvent robotEvent) {
+        for(RobotEventListener p : listeners) {
+            p.onRobotEvent(robotEvent);
         }
     }
 

src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/AngleDrivePanel.java

@@ -93,21 +93,4 @@ private JRadioButton makeRadioButton(ButtonGroup group, String label) {
 		group.add(rb);
 		return rb;
 	}
-
-	// TEST
-
-	public static void main(String[] args) {
-		Log.start();
-		Translator.start();
-
-		try {
-			UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-		} catch (Exception ignored) {}
-
-		JFrame frame = new JFrame(AngleDrivePanel.class.getSimpleName());
-		frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-		frame.add(new AngleDrivePanel(new RobotComponent()));
-		frame.pack();
-		frame.setVisible(true);
-	}
 }

src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/AngleReportPanel.java

@@ -84,20 +84,4 @@ private JSlider makeSliderFromBone(Robot robot,int i) {
 		slider.setEnabled(false);
 		return slider;
 	}
-
-	// TEST
-
-	public static void main(String[] args) {
-		Log.start();
-
-		try {
-			UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-		} catch (Exception ignored) {}
-
-		JFrame frame = new JFrame(AngleReportPanel.class.getSimpleName());
-		frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-		frame.add(new AngleReportPanel(new RobotComponent()));
-		frame.pack();
-		frame.setVisible(true);
-	}
 }

src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/CartesianDrivePanel.java

@@ -187,20 +187,4 @@ private void translateMatrix(Matrix4d m4, Vector3d v, double v_mm) {
 		m4.m13 += v.y;
 		m4.m23 += v.z;
 	}
-
-	// TEST
-
-	public static void main(String[] args) {
-		Log.start();
-
-		try {
-			UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-		} catch (Exception ignored) {}
-
-		JFrame frame = new JFrame(CartesianDrivePanel.class.getSimpleName());
-		frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-		frame.add(new CartesianDrivePanel(new RobotComponent()));
-		frame.pack();
-		frame.setVisible(true);
-	}
 }

src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/CartesianReportPanel.java

@@ -93,23 +93,4 @@ public void updateReport(Matrix4d m) {
 		table.setValueAt(String.format("%.3f", m.m32), 3, 2);
 		table.setValueAt(String.format("%.3f", m.m33), 3, 3);
 	}
-
-	// TEST
-
-	public static void main(String[] args) {
-		Log.start();
-
-		try {
-			UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-		} catch (Exception ignored) {}
-
-		Matrix4d m = new Matrix4d();
-		m.setIdentity();
-
-		JFrame frame = new JFrame(CartesianReportPanel.class.getSimpleName());
-		frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-		frame.add(new CartesianReportPanel(m));
-		frame.pack();
-		frame.setVisible(true);
-	}
 }

src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/JacobianReportPanel.java

@@ -74,20 +74,4 @@ private void updateReport(RobotComponent arm) {
 			}
 		}
 	}
-
-	// TEST
-
-	public static void main(String[] args) {
-		Log.start();
-
-		try {
-			UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-		} catch (Exception ignored) {}
-
-		JFrame frame = new JFrame(JacobianReportPanel.class.getSimpleName());
-		frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-		frame.add(new JacobianReportPanel(new RobotComponent()));
-		frame.pack();
-		frame.setVisible(true);
-	}
 }

src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/presentationlayer/GRBLPresentation.java

@@ -373,21 +373,4 @@ public boolean isIdleCommand(ActionEvent e) {
     public JPanel getPanel() {
         return panel;
     }
-
-    // TEST
-
-    public static void main(String[] args) {
-        Log.start();
-
-        try {
-            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-        } catch (Exception ignored) {}
-
-        JFrame frame = new JFrame(GRBLPresentation.class.getName());
-        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-        GRBLPresentation presentation = new GRBLPresentation(new RobotComponent());
-        frame.add(presentation.getPanel());
-        frame.pack();
-        frame.setVisible(true);
-    }
 }

src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/presentationlayer/MarlinPresentation.java

@@ -357,21 +357,4 @@ public boolean isIdleCommand(ActionEvent e) {
 	public JPanel getPanel() {
 		return panel;
 	}
-
-	// TEST
-
-	public static void main(String[] args) {
-		Log.start();
-
-		try {
-			UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
-		} catch (Exception ignored) {}
-
-		JFrame frame = new JFrame(MarlinPresentation.class.getName());
-		frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-		MarlinPresentation presentation = new MarlinPresentation(new RobotComponent());
-		frame.add(presentation.getPanel());
-		frame.pack();
-		frame.setVisible(true);
-	}
 }

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/AngleDrivePanelTest.java

@@ -0,0 +1,24 @@
+package com.marginallyclever.robotoverlord.systems.robot.robotarm.controlarmpanel.jogpanel;
+
+import com.marginallyclever.convenience.log.Log;
+import com.marginallyclever.robotoverlord.components.RobotComponent;
+import com.marginallyclever.robotoverlord.swing.translator.Translator;
+
+import javax.swing.*;
+
+public class AngleDrivePanelTest {
+    public static void main(String[] args) {
+        Log.start();
+        Translator.start();
+        try {
+            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+        } catch (Exception ignored) {}
+
+        JFrame frame = new JFrame(AngleDrivePanel.class.getSimpleName());
+        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        frame.add(new AngleDrivePanel(new RobotComponent()));
+        frame.pack();
+        frame.setLocationRelativeTo(null);
+        frame.setVisible(true);
+    }
+}

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/AngleReportPanelTest.java

@@ -0,0 +1,24 @@
+package com.marginallyclever.robotoverlord.systems.robot.robotarm.controlarmpanel.jogpanel;
+
+import com.marginallyclever.convenience.log.Log;
+import com.marginallyclever.robotoverlord.components.RobotComponent;
+import com.marginallyclever.robotoverlord.swing.translator.Translator;
+
+import javax.swing.*;
+
+public class AngleReportPanelTest {
+    public static void main(String[] args) {
+        Log.start();
+        Translator.start();
+        try {
+            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+        } catch (Exception ignored) {}
+
+        JFrame frame = new JFrame(AngleReportPanel.class.getSimpleName());
+        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        frame.add(new AngleReportPanel(new RobotComponent()));
+        frame.pack();
+        frame.setLocationRelativeTo(null);
+        frame.setVisible(true);
+    }
+}

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/CartesianDrivePanelTest.java

@@ -0,0 +1,23 @@
+package com.marginallyclever.robotoverlord.systems.robot.robotarm.controlarmpanel.jogpanel;
+
+import com.marginallyclever.convenience.log.Log;
+import com.marginallyclever.robotoverlord.components.RobotComponent;
+
+import javax.swing.*;
+
+public class CartesianDrivePanelTest {
+    public static void main(String[] args) {
+        Log.start();
+
+        try {
+            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+        } catch (Exception ignored) {}
+
+        JFrame frame = new JFrame(CartesianDrivePanel.class.getSimpleName());
+        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        frame.add(new CartesianDrivePanel(new RobotComponent()));
+        frame.pack();
+        frame.setLocationRelativeTo(null);
+        frame.setVisible(true);
+    }
+}

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/CartesianReportPanelTest.java

@@ -0,0 +1,26 @@
+package com.marginallyclever.robotoverlord.systems.robot.robotarm.controlarmpanel.jogpanel;
+
+import com.marginallyclever.convenience.log.Log;
+
+import javax.swing.*;
+import javax.vecmath.Matrix4d;
+
+public class CartesianReportPanelTest {
+    public static void main(String[] args) {
+        Log.start();
+
+        try {
+            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+        } catch (Exception ignored) {}
+
+        Matrix4d m = new Matrix4d();
+        m.setIdentity();
+
+        JFrame frame = new JFrame(CartesianReportPanel.class.getSimpleName());
+        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        frame.add(new CartesianReportPanel(m));
+        frame.pack();
+        frame.setLocationRelativeTo(null);
+        frame.setVisible(true);
+    }
+}

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/JacobianReportPanelTest.java

@@ -0,0 +1,23 @@
+package com.marginallyclever.robotoverlord.systems.robot.robotarm.controlarmpanel.jogpanel;
+
+import com.marginallyclever.convenience.log.Log;
+import com.marginallyclever.robotoverlord.components.RobotComponent;
+
+import javax.swing.*;
+
+public class JacobianReportPanelTest {
+    public static void main(String[] args) {
+        Log.start();
+
+        try {
+            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+        } catch (Exception ignored) {}
+
+        JFrame frame = new JFrame(JacobianReportPanelTest.class.getSimpleName());
+        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        frame.add(new JacobianReportPanel(new RobotComponent()));
+        frame.pack();
+        frame.setLocationRelativeTo(null);
+        frame.setVisible(true);
+    }
+}

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/JogPanelTest.java

@@ -28,6 +28,7 @@ public static void main(String[] args) {
         frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
         frame.add(new JogPanel(robot));
         frame.pack();
+        frame.setLocationRelativeTo(null);
         frame.setVisible(true);
     }
 }

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/jogpanel/JointHistoryPanelTest.java

@@ -29,6 +29,7 @@ public static void main(String[] args) {
         frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
         frame.add(new JointHistoryPanel(robot));
         frame.pack();
+        frame.setLocationRelativeTo(null);
         frame.setVisible(true);
     }
 }

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/presentationlayer/GRBLPresentationTest.java

@@ -0,0 +1,26 @@
+package com.marginallyclever.robotoverlord.systems.robot.robotarm.controlarmpanel.presentationlayer;
+
+import com.marginallyclever.convenience.log.Log;
+import com.marginallyclever.robotoverlord.components.RobotComponent;
+import com.marginallyclever.robotoverlord.swing.translator.Translator;
+
+import javax.swing.*;
+
+public class GRBLPresentationTest {
+    public static void main(String[] args) {
+        Log.start();
+        Translator.start();
+        try {
+            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+        } catch (Exception ignored) {}
+
+        JFrame frame = new JFrame(GRBLPresentation.class.getName());
+        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        GRBLPresentation presentation = new GRBLPresentation(new RobotComponent());
+        frame.add(presentation.getPanel());
+        frame.pack();
+        frame.setLocationRelativeTo(null);
+        frame.setVisible(true);
+    }
+
+}

src/test/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/controlarmpanel/presentationlayer/MarlinPresentationTest.java

@@ -0,0 +1,25 @@
+package com.marginallyclever.robotoverlord.systems.robot.robotarm.controlarmpanel.presentationlayer;
+
+import com.marginallyclever.convenience.log.Log;
+import com.marginallyclever.robotoverlord.components.RobotComponent;
+import com.marginallyclever.robotoverlord.swing.translator.Translator;
+
+import javax.swing.*;
+
+public class MarlinPresentationTest {
+    public static void main(String[] args) {
+        Log.start();
+        Translator.start();
+        try {
+            UIManager.setLookAndFeel(UIManager.getSystemLookAndFeelClassName());
+        } catch (Exception ignored) {}
+
+        JFrame frame = new JFrame(MarlinPresentation.class.getName());
+        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        MarlinPresentation presentation = new MarlinPresentation(new RobotComponent());
+        frame.add(presentation.getPanel());
+        frame.pack();
+        frame.setLocationRelativeTo(null);
+        frame.setVisible(true);
+    }
+}