MarlinRobotArm can now receive GCode commands

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

@@ -124,7 +124,9 @@ public JSONObject toJSON() {
     @Override
     public void fromJSON(JSONObject from) {
         super.fromJSON(from);
-        if(from.has("axle")) axle = Registry.findNodeByID(from.getString("axle"),Pose.class);
+        if(from.has("axle")) {
+            axle = Registry.findNodeByID(from.getString("axle"),Pose.class);
+        }
         if(from.has("angle")) angle = from.getDouble("angle");
         if(from.has("minAngle")) minAngle = from.getDouble("minAngle");
         if(from.has("maxAngle")) maxAngle = from.getDouble("maxAngle");
@@ -136,6 +138,10 @@ public double getAngle() {
         return angle;
     }
 
+    public void setAngle(double degrees) {
+        angle = degrees;
+    }
+
     public double getMinAngle() {
         return minAngle;
     }
@@ -159,4 +165,4 @@ public double getAcceleration() {
     public void setAcceleration(double acceleration) {
         this.acceleration = acceleration;
     }
-}
+}

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

@@ -76,19 +76,29 @@ public void getComponents(List<JComponent> list) {
         // Add a text field to send a position to the robot arm.
         JTextField output = new JTextField();
         output.setEditable(false);
-        addLabelAndComponent(pane, "Output", output);
+        pane.add(output);
 
         // Add a button that displays gcode to the output.
-        JButton gcodeButton = new JButton("Get");
-        addLabelAndComponent(pane, "FK as GCode", gcodeButton);
-        gcodeButton.addActionListener(e-> output.setText(getFKAsGCode()) );
+        JButton getFKButton = new JButton("Get");
+        getFKButton.addActionListener(e-> output.setText(getFKAsGCode()) );
+        pane.add(getFKButton);
 
-        // TODO add a text field that will be sent to the robot arm.
+        // Add a text field that will be sent to the robot arm.
+        JTextField input = new JTextField();
+        pane.add(input);
+        // Add a button to send the text field to the robot arm.
+        JButton sendButton = new JButton("Send");
+        sendButton.addActionListener(e-> output.setText(sendGCode(input.getText())) );
+        pane.add(sendButton);
 
         super.getComponents(list);
     }
 
-    // take the current angle of each motor hinge and writes as a GCode command.
+    /**
+     * Build a string from the current angle of each motor hinge, aka the
+     * <a href="https://en.wikipedia.org/wiki/Forward_kinematics">Forward Kinematics</a> of the robot arm.
+     * @return GCode command
+     */
     public String getFKAsGCode() {
         StringBuilder sb = new StringBuilder("G0");
         for(Motor motor : motors) {
@@ -100,4 +110,27 @@ public String getFKAsGCode() {
         }
         return sb.toString();
     }
+
+    /**
+     * Send gcode to robot arm.
+     * @param gcode GCode command
+     * @return response from robot arm
+     */
+    public String sendGCode(String gcode) {
+        if(gcode.startsWith("G0")) {
+            // parse gcode and set motor angles
+            String [] parts = gcode.split("\\s+");
+            for(Motor motor : motors) {
+                if(motor!=null) {
+                    for(String p : parts) {
+                        if(p.startsWith(motor.getName())) {
+                            motor.getAxle().setAngle(Double.parseDouble(p.substring(motor.getName().length())));
+                        }
+                    }
+                }
+            }
+            return "Ok";
+        }
+        return "Error: unknown command";
+    }
 }

src/main/java/com/marginallyclever/ro3/node/nodetreeview/NodeTreeView.java

@@ -90,6 +90,12 @@ private void stopListeningTo(Node node) {
         node.removeAttachListener(this);
         node.removeDetachListener(this);
         node.removeRenameListener(this);
+
+        // stop listening to all the children of this node, a reverse of scanTree()
+        List<Node> toRemove = new ArrayList<>(node.getChildren());
+        for(Node progeny : toRemove) {
+            stopListeningTo(progeny);
+        }
     }
 
     /**
@@ -167,10 +173,7 @@ public void nodeAttached(Node child) {
         int index = parent.getChildren().indexOf(child);
         branchParent.insert(branchChild,index);
 
-        child.addAttachListener(this);
-        child.addDetachListener(this);
-        child.addRenameListener(this);
-
+        listenTo(child);
         scanTree(child);
 
         ((DefaultTreeModel) tree.getModel()).nodeStructureChanged(branchParent);
@@ -179,9 +182,8 @@ public void nodeAttached(Node child) {
     @Override
     public void nodeDetached(Node child) {
         logger.debug("Detached "+child.getAbsolutePath());
-        child.removeAttachListener(this);
-        child.removeDetachListener(this);
-        child.removeRenameListener(this);
+
+        stopListeningTo(child);
 
         Node parent = child.getParent();
         if(parent==null) throw new RuntimeException("Source node has no parent");