path: root/smartdashboard/src/edu/wpi/first/smartdashboard/livewindow/elements/CANSpeedController.java

package edu.wpi.first.smartdashboard.livewindow.elements;

import edu.wpi.first.smartdashboard.gui.elements.PIDEditor;
import edu.wpi.first.smartdashboard.gui.elements.bindings.AbstractTableWidget;
import edu.wpi.first.smartdashboard.properties.Property;
import edu.wpi.first.smartdashboard.types.DataType;
import edu.wpi.first.smartdashboard.types.named.CANSpeedControllerType;
import edu.wpi.first.wpilibj.tables.ITable;

import java.awt.CardLayout;
import java.awt.GridBagConstraints;
import java.awt.GridBagLayout;
import java.awt.event.ActionListener;
import javax.swing.JComboBox;

import javax.swing.JPanel;

/**
 *
 * @author Sam Carlberg
 */
public class CANSpeedController extends AbstractTableWidget implements Controller {

    public static final DataType[] TYPES = {CANSpeedControllerType.get()};

    private static final String TYPE_TALON = "CANTalon";
    private static final String TYPE_JAGUAR = "CANJaguar";

    /**
     * The type of the CAN controller.
     */
    private String type = "";
    /**
     * The mode the CAN controller is operating in.
     */
    private int mode = 0;

    private static final int TALON_DISABLED_MODE = 15;

    /**
     * The modes that the CAN Talon can run in.
     */
    private static final String[] talonModes = {"PercentVbus", "Position", "Speed", "Current", "Voltage", "Follower", "Disabled"};

    /**
     * The modes that the CAN Jaguar can run in.
     */
    private static final String[] jaguarModes = {"PercentVbus", "Current", "Speed", "Position", "Voltage"};

    private JComboBox<String> talonModeBox = new JComboBox<>(talonModes);
    private JComboBox<String> jaguarModeBox = new JComboBox<>(jaguarModes);
    private JComboBox<String> modeBox = talonModeBox;

    /**
     * Header panel containing the name tag and the mode combobox.
     */
    private JPanel headerPanel;

    /**
     * Control panel containing the PID editor / speed controller editor.
     */
    private JPanel controlPanel;
    private JPanel disabledControlPanel;
    private PIDEditor pidControlPanel;
    private SpeedController normalControlPanel;
    private static final String DISABLED_PANEL = "Disabled";
    private static final String PID_PANEL = "PID";
    private static final String NORMAL_PANEL = "Normal";

    private ActionListener modeSelection = e -> {
        int m = modeBox.getSelectedIndex();
        if (m == 6) {
            // CAN Talon mode #6 has a value of 15
            m = TALON_DISABLED_MODE;
        }
        normalControlPanel.reset();
        mode = m;
        table.putBoolean("Enabled", mode == 0 || mode == 4); // enable on %VBus and voltage, disable on all others
        table.putNumber("Mode", mode);
    };

    @Override
    public void init() {
        nameTag = new NameTag(getFieldName());
        headerPanel = new JPanel();
        controlPanel = new JPanel(new CardLayout());
        disabledControlPanel = new JPanel();
        createPIDControlPanel();
        createNormalControlPanel();
        controlPanel.add(disabledControlPanel, DISABLED_PANEL);
        controlPanel.add(normalControlPanel, NORMAL_PANEL);
        controlPanel.add(pidControlPanel, PID_PANEL);

        headerPanel.setLayout(new GridBagLayout());
        GridBagConstraints headerConstraints = new GridBagConstraints();
        headerConstraints.fill = GridBagConstraints.BOTH;
        headerConstraints.gridx = 0;
        headerConstraints.gridy = 0;
        headerPanel.add(nameTag, headerConstraints);
        headerConstraints.gridx++;
        headerPanel.add(modeBox, headerConstraints);

        setLayout(new GridBagLayout());
        GridBagConstraints controlConstraints = new GridBagConstraints();
        controlConstraints.gridx = 0;
        controlConstraints.gridy = 0;
        controlConstraints.fill = GridBagConstraints.BOTH;
        add(headerPanel, controlConstraints);
        controlConstraints.gridy++;
        add(controlPanel, controlConstraints);

        talonModeBox.addActionListener(modeSelection);
        jaguarModeBox.addActionListener(modeSelection);
    }

    private void createPIDControlPanel() {
        pidControlPanel = new PIDEditor(false);
        pidControlPanel.setValue(this.table);
        pidControlPanel.init();
    }

    private void createNormalControlPanel() {
        normalControlPanel = new SpeedController();
        normalControlPanel.setValue(this.table);
        normalControlPanel.init();
    }

    @Override
    public void setValue(Object value) {
        super.setValue(value);
        pidControlPanel.setValue(value);
        normalControlPanel.setValue(value);
        this.type = table.getString("Type", "[unknown]");
        this.mode = (int) table.getNumber("Mode", 0);

        headerPanel.remove(modeBox);
        switch (type) {
            case TYPE_TALON:
                modeBox = talonModeBox;
                break;
            case TYPE_JAGUAR:
                modeBox = jaguarModeBox;
                break;
        }
        headerPanel.add(modeBox);
        modeBox.setSelectedIndex(mode == TALON_DISABLED_MODE ? 6 : mode);
        setControlPanel();
    }

    @Override
    public void booleanChanged(ITable source, String key, boolean value, boolean isNew) {
        pidControlPanel.booleanChanged(source, key, value, isNew);
        normalControlPanel.booleanChanged(source, key, value, isNew);
    }

    @Override
    public void doubleChanged(ITable source, String key, double value, boolean isNew) {
        if ("Mode".equals(key)) {
            this.mode = (int) value;
            modeBox.setSelectedIndex(mode == TALON_DISABLED_MODE ? 6 : mode);
            setControlPanel();
            normalControlPanel.reset();
        }
        pidControlPanel.doubleChanged(source, key, value, isNew);
        normalControlPanel.doubleChanged(source, key, value, isNew);
    }

    @Override
    public void stringChanged(ITable source, String key, String value, boolean isNew) {
        if ("Type".equals(key)) {
            this.type = value;
        }
        pidControlPanel.stringChanged(source, key, value, isNew);
        normalControlPanel.stringChanged(source, key, value, isNew);
    }

    @Override
    public void valueChanged(ITable source, String key, Object value, boolean isNew) {
        super.valueChanged(source, key, value, isNew);
        pidControlPanel.valueChanged(source, key, value, isNew);
        normalControlPanel.valueChanged(source, key, value, isNew);
    }

    @Override
    public void propertyChanged(Property property) {
        pidControlPanel.propertyChanged(property);
        normalControlPanel.propertyChanged(property);
    }

    @Override
    public void reset() {
        normalControlPanel.reset();
        pidControlPanel.reset();
    }

    private void setControlPanel() {
        if (mode == TALON_DISABLED_MODE || mode == 5) {
            // empty (follower or disabled)
            normalControlPanel.reset();
            pidControlPanel.reset();
            ((CardLayout)controlPanel.getLayout()).show(controlPanel, DISABLED_PANEL);
        } else if (isPID()) {
            if (!pidControlPanel.isVisible()) {
                // set control to PID
                normalControlPanel.reset();
                ((CardLayout)controlPanel.getLayout()).show(controlPanel, PID_PANEL);
            }
        } else {
            if (!normalControlPanel.isVisible()) {
                // set control to normal
                pidControlPanel.reset();
                ((CardLayout)controlPanel.getLayout()).show(controlPanel, NORMAL_PANEL);
            }
            // set the range on the slider depending on the mode
            switch(mode) {
                case 0: // Percent vbus
                    normalControlPanel.setRange(-1, 1);
                    break;
                case 4: // voltage
                    normalControlPanel.setRange(-12, 12);
                    break;
                default:
                    normalControlPanel.setRange(-0.0, 0);
                    break;
            }
        }
    }

    /**
     * Checks if the current type and mode are PID-compatible.
     */
    private boolean isPID() {
        switch (type) {
            case TYPE_TALON:
                return mode == 1 || mode == 2 || mode == 3; // position, speed, current
            case TYPE_JAGUAR:
                return mode == 1 || mode == 2 || mode == 3; // current, speed, position
            default:
                return false;
        }
    }

}