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use MultiLineGraph to display joint history over time.
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93 changes: 93 additions & 0 deletions
93
...toverlord/systems/robot/robotarm/controlarmpanel/jointhistorypanel/JointHistoryPanel.java
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| @@ -0,0 +1,93 @@ | ||
| package com.marginallyclever.robotoverlord.systems.robot.robotarm.controlarmpanel.jointhistorypanel; | ||
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| import com.marginallyclever.convenience.swing.graph.MultiLineGraph; | ||
| import com.marginallyclever.convenience.swing.graph.GraphLine; | ||
| import com.marginallyclever.convenience.swing.graph.GraphModel; | ||
| import com.marginallyclever.robotoverlord.components.DHComponent; | ||
| import com.marginallyclever.robotoverlord.components.RobotComponent; | ||
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| import javax.swing.*; | ||
| import javax.swing.border.BevelBorder; | ||
| import java.awt.*; | ||
| import java.awt.geom.Rectangle2D; | ||
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| /** | ||
| * Displays a history of joint positions in a graph. | ||
| * @author Dan Royer | ||
| * @since 2.10.0 | ||
| */ | ||
| public class JointHistoryPanel extends JPanel { | ||
| private final MultiLineGraph graph = new MultiLineGraph(); | ||
| private double timeSpan = 60; | ||
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| public JointHistoryPanel(RobotComponent robot) { | ||
| super(new BorderLayout()); | ||
| JPanel graphPanel = createGraphComponent(robot); | ||
| JPanel scaleButtons = createScaleButtons(); | ||
| this.add(scaleButtons,BorderLayout.NORTH); | ||
| this.add(graphPanel,BorderLayout.CENTER); | ||
| } | ||
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| private JPanel createScaleButtons() { | ||
| JPanel scaleButtons = new JPanel(new FlowLayout(FlowLayout.LEFT)); | ||
| JButton button10s = new JButton("10s"); | ||
| button10s.addActionListener(e->setTimeSpan(10)); | ||
| scaleButtons.add(button10s); | ||
| JButton button1m = new JButton("1m"); | ||
| button1m.addActionListener(e->setTimeSpan(60)); | ||
| scaleButtons.add(button1m); | ||
| JButton button10m = new JButton("10m"); | ||
| button10m.addActionListener(e->setTimeSpan(60*10)); | ||
| scaleButtons.add(button10m); | ||
| JButton button1h = new JButton("1h"); | ||
| button1h.addActionListener(e->setTimeSpan(60*60)); | ||
| scaleButtons.add(button1h); | ||
| return scaleButtons; | ||
| } | ||
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| public void setTimeSpan(double timeSpan) { | ||
| this.timeSpan = timeSpan; | ||
| updateRange(); | ||
| graph.repaint(); | ||
| } | ||
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| private JPanel createGraphComponent(RobotComponent robot) { | ||
| GraphModel graphModel = graph.getModel(); | ||
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| int bones = robot.getNumBones(); | ||
| for(int i=0;i<bones;++i) { | ||
| DHComponent bone = robot.getBone(i); | ||
| GraphLine line = new GraphLine(); | ||
| graphModel.addLine(bone.getEntity().getName(),line); | ||
| int finalI = i; | ||
| bone.theta.addPropertyChangeListener(evt -> { | ||
| double t = System.currentTimeMillis()*0.001; | ||
| double max = bone.getJointMax(); | ||
| double min = bone.getJointMin(); | ||
| double v = (double)evt.getNewValue(); | ||
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| line.addPoint(t, (v-min)/(max-min)); | ||
| System.out.println("add "+ finalI +"="+evt.getNewValue()); | ||
| // TODO remove oldest value if too many? | ||
| updateRange(); | ||
| graph.repaint(); | ||
| }); | ||
| line.addPoint(System.currentTimeMillis()*0.001, bone.theta.get()); | ||
| } | ||
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| double t = System.currentTimeMillis()*0.001; | ||
| graph.setRange(new Rectangle2D.Double(t,t,0,1)); | ||
| graph.assignQualitativeColors(); | ||
| graph.setBorder(new BevelBorder(BevelBorder.LOWERED)); | ||
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| return graph; | ||
| } | ||
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| private void updateRange() { | ||
| double t = System.currentTimeMillis()*0.001; | ||
| Rectangle2D.Double range = graph.getRange(); | ||
| double min = Math.max( range.getMinX(), t-timeSpan); | ||
| range.setRect(min,0,timeSpan,1); | ||
| graph.setRange(range); | ||
| } | ||
| } |
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