ControlPanelController.m

//
//  ControlPanelController.m
//  DynamixelMonitor
//
//  Created by Slavik on 11/11/13.
//  Copyright (c) 2013 LUCS. All rights reserved.
//

#import "ControlPanelController.h"
#import "JSWrapper.h"
#import "Dynamixel.h"

@interface ControlPanelController()

@property(nonatomic,strong) Dynamixel* dynamixel;

@end

@implementation ControlPanelController {
    
    
    NSArray * controlTable;
    NSTimer * timer;
    
    BOOL newID;
    
}

- (void)windowDidLoad
{
    [super windowDidLoad];
    
    [self.torqueToolbarItem setEnabled:NO];
    
    // Implement this method to handle any initialization after your window controller's window has been loaded from its nib file.
    
    NSBundle *bundle = [NSBundle mainBundle];
    NSString *path = [bundle pathForResource: @"AX12" ofType: @"plist"];   // The AX12 file is currently used for all servo types (they all seem to be the same)
    
    controlTable = [NSArray arrayWithContentsOfFile: path];
    
    timer = [NSTimer scheduledTimerWithTimeInterval:0.1
                                             target:self
                                           selector:@selector(timerFire:)
                                           userInfo:nil
                                            repeats:YES];
    
    Dynamixel* d = [Dynamixel sharedInstance];
    self.dynamixel = d;

    [d addObserver:self forKeyPath:@"connected" options:0 context:nil];
    
}


-(void)timerFire:(NSTimer*)theTimer
{
    [self forceUpdate];
}

- (void) dealloc {
    
//    [self releaseJSContext];
    [self.dynamixel removeObserver:self forKeyPath:@"connected"];
    
}

- (NSString *)displayName
{
    return @"Dynamixel Monitor";
}

/*
 
 - (NSData *)dataOfType:(NSString *)typeName error:(NSError **)outError
 {
 // Insert code here to write your document to data of the specified type. If the given outError != NULL, ensure that you set *outError when returning nil.
 
 // You can also choose to override -fileWrapperOfType:error:, -writeToURL:ofType:error:, or -writeToURL:ofType:forSaveOperation:originalContentsURL:error: instead.
 
 // For applications targeted for Panther or earlier systems, you should use the deprecated API -dataRepresentationOfType:. In this case you can also choose to override -fileWrapperRepresentationOfType: or -writeToFile:ofType: instead.
 
 if ( outError != NULL ) {
 *outError = [NSError errorWithDomain:NSOSStatusErrorDomain code:unimpErr userInfo:NULL];
 }
 return nil;
 }
 
 
 
 - (BOOL)readFromData:(NSData *)data ofType:(NSString *)typeName error:(NSError **)outError
 {
 // Insert code here to read your document from the given data of the specified type.  If the given outError != NULL, ensure that you set *outError when returning NO.
 
 // You can also choose to override -readFromFileWrapper:ofType:error: or -readFromURL:ofType:error: instead.
 
 // For applications targeted for Panther or earlier systems, you should use the deprecated API -loadDataRepresentation:ofType. In this case you can also choose to override -readFromFile:ofType: or -loadFileWrapperRepresentation:ofType: instead.
 
 if ( outError != NULL ) {
 *outError = [NSError errorWithDomain:NSOSStatusErrorDomain code:unimpErr userInfo:NULL];
 }
 return YES;
 }
 
 */

- (NSInteger)numberOfRowsInTableView:(NSTableView *)tableView
{
    return self.dynamixel.allDynamixelServos.count;
}



// Function that translates the values in the control table to a more readable form
//
// This could probably be done more elegantly by adding conversion information and units to the
// property list file for each servo type

-(NSString *)translateValue:(unsigned int)value atAddress: (unsigned int)address
{
    switch(address)
    {
        case 0: // Model Number
            switch(value)
        {
            case 10:   return @"RX-19";
            case 64:   return @"RX-64";
            case 12:   return @"AX-12"; // no difference between AX-12 and AX-12+ ???
            case 113:  return @"DX-113";
            case 116:  return @"DX-116";
            case 117:  return @"DX-117";
            case 106:  return @"EX-106"; // this is just a guess
            default:   return @"Unkown dynamixel";
        }
            
            return (value == 12 ? @"AX-12" : @"Unkown dynamixel");
            
        case 4: // Buad Rate
            if(value == 1)
                return @"1 Mbps";
            else if(value <10)
                return [[NSString alloc] initWithFormat:@"%d kbps", 2000/(1+value)];
            else
                return [[NSString alloc] initWithFormat:@"%d bps", 2000000/(1+value)];
            
        case 5: // Return Delay Time
            return [[NSString alloc] initWithFormat:@"%d μs", 2*value];
            
        case 16: // Status Return Level
            switch(value)
        {
            case 0:  return @"Never";
            case 1:  return @"READ_DATA only";
            case 2:  return @"Always";
            default: return @"Illegal value";
        }
            
        case 24: // ON/OFF
        case 25:
            return (value == 0 ? @"Off" : @"On");
            
        case 17: // Status Return Level
        case 18: // Alarm Shutdown
            return [[NSString alloc] initWithFormat:@"%d", value]; // Check the bits here => IOCRHAV
            
        case 11: // Temperatures
        case 43:
            return [[NSString alloc] initWithFormat:@"%d °C", value];
            
        case 12: // Voltages
        case 13:
        case 42:
            return [[NSString alloc] initWithFormat:@"%.1f V", (int)value/10.0f];
            
        case 38: // Speed/Load
        case 40:
            if(value == 0)
                return @"0";
            else if(value < 1024)
                return [[NSString alloc] initWithFormat:@"+%d", value];
            else
                return [[NSString alloc] initWithFormat:@"-%d", value-1024];
            
        case 6: // Angles
        case 8:
        case 30:
        case 36:
        case 26: // We assume that the correct unit for the compliance parameters is in degrees
        case 27:
        case 28:
        case 29:
            return [[NSString alloc] initWithFormat:@"%.1f°", 300.0f*((int)value)/0x3ff];
            
        case 32: //Speed
            if(value > 0)
                return [[NSString alloc] initWithFormat:@"%.1f RPM", 114.0f*((int)value)/0x3ff];
            else
                return @"Max RPM";
            
        case 48: // Punch
            return [[NSString alloc] initWithFormat:@"%.1f%%", 100.0f*((int)value)/0x3ff];
            
        default:
            return [[NSString alloc] initWithFormat:@"%d", value];
    }
}




- (id)tableView:(NSTableView *)tableView
objectValueForTableColumn:(NSTableColumn *)tableColumn
            row:(int)row
{
    ServoInfo* servo = self.dynamixel.allDynamixelServos[row];
    
//    unsigned char* servoData = servo.servoData;
    NSString* identifier = [tableColumn identifier];
    
    NSString* text = @"";
    
    if( [identifier isEqualToString:@"ID"] ) {
        text = [NSString stringWithFormat:@"%ld", servo.sid];
    } else if([identifier isEqualToString: @"Position"]) {
//        return [[controlTable objectAtIndex: row] objectForKey: [tableColumn identifier]];
        text = [NSString stringWithFormat:@"%ld", servo.position];
    } else if([identifier isEqualToString: @"Speed"] ) {
        text = [NSString stringWithFormat:@"%ld", servo.speed];
    } else if( [identifier isEqualToString:@"Temperature"] ) {
        text = [NSString stringWithFormat:@"%ld", servo.temperature];
    }
        
//    else if([identifier isEqualToString: @"Item"])
//    {
//        return [[controlTable objectAtIndex: row] objectForKey: [tableColumn identifier]];
//        
//    }
//    else if([identifier isEqualToString: @"Value"])
//    {
//        int address = [[[controlTable objectAtIndex: row] objectForKey: @"Address"] intValue];
//        int size = [[[controlTable objectAtIndex: row] objectForKey: @"Size"] intValue];
//        
//        if(size == 1)
//            return [self translateValue: servoData[address] atAddress: address];
//        else
//            return [self translateValue: servoData[address]+256*servoData[address+1] atAddress: address];
//    }
//    else // Raw
//    {
//        int address = [[[controlTable objectAtIndex: row] objectForKey: @"Address"] intValue];
//        int size = [[[controlTable objectAtIndex: row] objectForKey: @"Size"] intValue];
//        if(size == 1)
//            return [[NSString alloc] initWithFormat:@"%d", servoData[address]];
//        else
//            return [[NSString alloc] initWithFormat:@"%d", servoData[address]+256*servoData[address+1]];
//    }
    
    return text;
}



- (IBAction)connect:(id)sender
{
    Dynamixel* d = self.dynamixel;
    if( nil == d ) {
        d = [[Dynamixel alloc] init];
        self.dynamixel = d;
    }
    
    if( ![d isConnected] ) {
        [d connect];
    }
    else
    {
        [d disconnect];
    }
}

- (void)refreshConnectionStatus {
    
    Dynamixel* d = self.dynamixel;
    
    if( ![d isConnected] ) {

        [self.connectToolbarItem setLabel:@"Connect"];
        [self.torqueToolbarItem setEnabled:NO];
        
    } else {

        [self.connectToolbarItem setLabel:@"Disconnect"];
        [self.torqueToolbarItem setEnabled:YES];
        
    }
}


- (void)observeValueForKeyPath:(NSString *)keyPath ofObject:(id)object change:(NSDictionary *)change context:(void *)context {
    
    [self refreshConnectionStatus];
    
}


- (void)forceUpdate
{
    if( [self.dynamixel isConnected] ) {
        [self.dynamixel update];
        [self update: self];
    }
    
}



-(void)enableControls:(BOOL)enable
{
    [self.positionIndicator setEnabled: enable];
    [self.speedIndicator setEnabled: enable];
    [self.loadIndicator setEnabled: enable];
    [self.voltageIndicator setEnabled: enable];
    [self.temperatureIndicator setEnabled: enable];
    
    [self.goalPositionSlider setEnabled: enable];
    [self.movingSpeedSlider setEnabled: enable];
    
    [self.torqueToolbarItem setEnabled:enable];
    
    if(!enable)
    {
        [self.positionIndicator setIntValue: 0];
        [self.speedIndicator setIntValue: 0];
        [self.loadIndicator  setIntValue: 0];
        [self.voltageIndicator setIntValue: 0];
        [self.temperatureIndicator setIntValue: 0];
        
        [self.goalPositionSlider setIntValue: 0];
        
        [self.torqueEnable setIntValue: 0];
    }
}



- (IBAction)update:(id)sender
{
    [self.servoValues reloadData];
    NSInteger index = [self.servoValues selectedRow];
    
    if( index == -1)
    {
        [self enableControls: NO];
        return;
    }
    
    ServoInfo* servo = self.dynamixel.allDynamixelServos[index];
    
    [self enableControls: YES];
    
    [self.positionIndicator setIntegerValue: servo.position];
    [self.speedIndicator setIntegerValue: servo.speed];
    [self.loadIndicator setIntegerValue:servo.load];
    
    [self.voltageIndicator setIntegerValue:servo.voltage];
    [self.temperatureIndicator setIntegerValue:servo.temperature];
    
    // Move the goal position with the servo if torque is disabled
    // or new ID is selected
    
    if( (0 == servo.torque || newID ) && self.dynamixel )
        [self.goalPositionSlider setIntegerValue:servo.position];
    
    [self.torqueEnable setIntegerValue:servo.torque];
    
    newID = NO;
}



- (IBAction)setGoalPosition:(id)sender
{
    int p = [self.goalPositionSlider intValue];
    //    int s = [self.movingSpeedSlider intValue];
    //    if(s == 1024) s = 0; // set maximum speed (no speed control) for maximal value
    
    NSInteger index = [self.servoValues selectedRow];
    ServoInfo* servo = self.dynamixel.allDynamixelServos[index];
    [self.dynamixel setPosition:p ofServo:servo.sid];
    
    //    dc->Move([[idNumber objectAtIndex: [self.idList selectedRow]] intValue], p, s);
}



- (IBAction)setSpeed:(id)sender
{
    
    NSInteger index = [self.servoValues selectedRow];
    ServoInfo* servo = self.dynamixel.allDynamixelServos[index];
    
    int s = [self.movingSpeedSlider intValue];
    if(s == 1024) s = 0; // set maximum speed (no speed control) for maximum value
    
    [self.dynamixel setSpeed:s ofServo:servo.sid];
    
    [self forceUpdate];
}



- (IBAction)toggleTorque:(id)sender
{
    //    dc->SetTorque([[idNumber objectAtIndex: [self.idList selectedRow]] intValue], [sender intValue]);
}


- (IBAction)torqueAllEnable:(id)sender
{
    [self.dynamixel torqueAllEnable];
}



- (IBAction)torqueAllDisable:(id)sender
{
    [self.dynamixel torqueAllDisable];
}



- (void) tableViewSelectionDidChange: (NSNotification *) notification
{
    NSInteger row = [self.servoValues selectedRow];
    if (row == -1) {
        //
    }
    else
    {
        newID = YES;
    }
}

//- (IBAction)runScript:(id)sender {
//    
//    NSString* js = [NSString stringWithString:[[self.scriptEditor textStorage] string]];
//    [self.jsWrapper evalScript:js];
//    
//}
//
//- (IBAction)stopScript:(id)sender {
//    [self.jsWrapper stopScript];
//}
//
//- (void)loadJSContext {
//    
//    JSWrapper* wrapper = [[JSWrapper alloc] init];
//    wrapper.logView = (LogTextView*)(self.logView);
//    wrapper.dynamixel = self.dynamixel;
//    self.jsWrapper = wrapper;
//    
//    
//}
//
//- (void)releaseJSContext {
//    self.jsWrapper = nil;
//}

@end