Merge pull request openpnp#1074 from markmaker/feature/advanced-motio…

…n-control--6 Feature / Advanced Motion Control - Update 6
markmaker · Nov 8, 2020 · e5b521c · e5b521c
2 parents 56eae4d + cfdc8f2
commit e5b521c
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Showing 46 changed files with 1,313 additions and 309 deletions.
diff --git a/src/main/java/org/openpnp/Main.java b/src/main/java/org/openpnp/Main.java
@@ -151,7 +151,7 @@ public void run() {
                 try {
                     MainFrame frame = new MainFrame(configuration);
                     frame.setVisible(true);
-                    Logger.debug(String.format("Bienvenue, Bienvenido, Willkommen, Hello, Namaskar, Welkom, Bonjour to OpenPnP version %s.", Main.getVersion()));
+                    Logger.info(String.format("Bienvenue, Bienvenido, Willkommen, Hello, Namaskar, Welkom, Bonjour to OpenPnP version %s.", Main.getVersion()));
                     configuration.getScripting().on("Startup", null);
                 }
                 catch (Exception e) {

diff --git a/src/main/java/org/openpnp/gui/JogControlsPanel.java b/src/main/java/org/openpnp/gui/JogControlsPanel.java
@@ -568,7 +568,14 @@ public void actionPerformed(ActionEvent arg0) {
         public void actionPerformed(ActionEvent arg0) {
             UiUtils.submitUiMachineTask(() -> {
                 HeadMountable hm = machineControlsPanel.getSelectedTool();
-                hm.moveToSafeZ();
+                // Note, we don't just moveToSafeZ(), because this will just sit still, if we're anywhere in the Safe Z Zone.
+                // instead we explicitly move to the Safe Z coordinate i.e. the lower bound of the Safe Z Zone, applicable
+                // for this hm.
+                Location location = hm.getLocation();
+                Length safeZLength = hm.getSafeZ();
+                double safeZ = (safeZLength != null ? safeZLength.convertToUnits(location.getUnits()).getValue() : Double.NaN);
+                location = location.derive(null, null, safeZ, null);
+                hm.moveTo(location);
             });
         }
     };

diff --git a/src/main/java/org/openpnp/gui/LogPanel.java b/src/main/java/org/openpnp/gui/LogPanel.java
@@ -12,11 +12,16 @@
 
 import java.util.ArrayList;
 import java.util.Objects;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import java.util.prefs.Preferences;
 
 import javax.swing.*;
 import javax.swing.border.EtchedBorder;
 import javax.swing.border.TitledBorder;
+import javax.swing.event.ChangeEvent;
+import javax.swing.event.ChangeListener;
 import javax.swing.event.DocumentEvent;
 import javax.swing.event.DocumentListener;
 
@@ -42,6 +47,8 @@ public class LogPanel extends JPanel {
     private LogEntryListModel.LogEntryFilter searchBarFilter = new LogEntryListModel.LogEntryFilter();
     private LogEntryListModel.LogEntryFilter systemOutFilter = new LogEntryListModel.LogEntryFilter();
 
+    private ScheduledExecutorService scheduledExecutor;
+
     public LogPanel() {
 
         loadLoggingPreferences();
@@ -134,6 +141,21 @@ public void actionPerformed(ActionEvent e) {
                 copyStringToClipboard(sb.toString());
             }
         });
+
+        scheduledExecutor = Executors.newSingleThreadScheduledExecutor();
+        scheduledExecutor.scheduleAtFixedRate(new Runnable() {
+            public void run() {
+                refreshLogIfOnTop();
+            }
+        }, 0, 500, TimeUnit.MILLISECONDS);
+
+        MainFrame.get().getTabs().addChangeListener(new ChangeListener() {
+
+            @Override
+            public void stateChanged(ChangeEvent e) {
+                refreshLogIfOnTop();
+            }
+        });
     }
 
     private JCheckBox createSystemOutputCheckbox() {
@@ -186,9 +208,11 @@ private JPanel createSearchFieldPanel() {
         searchTextField.getDocument().addDocumentListener(new DocumentListener() {
 
             private void updateSearchBarFilter() {
+                LogEntry entry = getSelectedEntry();
                 String searchText = searchTextField.getText();
                 searchBarFilter.setFilter((logEntry -> logEntry.getRenderedLogEntry().toLowerCase().contains(searchText.toLowerCase())));
                 logEntries.filter();
+                setSelectedEntry(entry);
             }
 
             @Override
@@ -218,9 +242,11 @@ private JPanel createFilterLogLevelPanel() {
         JComboBox<Level> logLevelFilterComboBox = new JComboBox<>(Level.values());
         logLevelFilterComboBox.setSelectedItem(filterLogLevel);
         logLevelFilterComboBox.addActionListener(e -> {
+            LogEntry entry = getSelectedEntry();
             Level logLevel = (Level) logLevelFilterComboBox.getSelectedItem();
             logLevelFilter.setFilter(logEntry -> logEntry.getLevel().compareTo(logLevel) >= 0);
             logEntries.filter();
+            setSelectedEntry(entry);
         });
         filterLogLevelPanel.add(logLevelFilterComboBox);
         return filterLogLevelPanel;
@@ -249,4 +275,29 @@ private void copyStringToClipboard(String s) {
         clipboard.setContents(selection, selection);
     }
 
+    protected void refreshLogIfOnTop() {
+        if (MainFrame.get().getTabs().getSelectedComponent() == LogPanel.this) {
+            if (logEntries.isRefreshNeeded()) {
+                logEntries.refresh();
+            }
+        }
+    }
+
+    protected LogEntry getSelectedEntry() {
+        int index = logEntryJList.getSelectedIndex();
+        if (index >= 0) {
+            return logEntries.getElementAt(index);
+        }
+        return null;
+    }
+
+    protected void setSelectedEntry(LogEntry entry) {
+        if (entry != null) {
+            int index = logEntries.getFilteredLogEntries().indexOf(entry);
+            if (index >= 0) {
+                logEntryJList.setSelectedIndex(index);
+            }
+        }
+    }
+
 }
diff --git a/src/main/java/org/openpnp/gui/components/SimpleGraphView.java b/src/main/java/org/openpnp/gui/components/SimpleGraphView.java
@@ -67,7 +67,7 @@ public SimpleGraphView(SimpleGraph graph) {
     public SimpleGraph getGraph() {
         return graph;
     }
-    public void setGraph(SimpleGraph graph) {
+    public synchronized void setGraph(SimpleGraph graph) {
         this.graph = graph;
         displayCycleMask = 0;
         if (graph != null) {
@@ -111,7 +111,7 @@ protected String formatNumber(double y, double unit) {
     }
 
     @Override
-    public void paintComponent(Graphics g) {
+    public synchronized void paintComponent(Graphics g) {
         super.paintComponent(g);
         Graphics2D g2d = (Graphics2D) g;
         g2d.setRenderingHint(RenderingHints.KEY_RENDERING, RenderingHints.VALUE_RENDER_QUALITY);

diff --git a/src/main/java/org/openpnp/gui/support/LogEntryListCellRenderer.java b/src/main/java/org/openpnp/gui/support/LogEntryListCellRenderer.java
@@ -6,7 +6,13 @@
 import java.awt.*;
 
 public class LogEntryListCellRenderer extends JTextField implements ListCellRenderer<LogEntry> {
-
+    final Color colorTrace = new Color(64, 128, 64);
+    final Color colorDebug = new Color(0, 0, 0);
+    final Color colorInfo = new Color(00, 0x5B, 0xD9); // the OpenPNP blue
+    final Color colorWarning = new Color(255, 0, 0);
+    final Color colorError = new Color(255, 0, 0);
+    final Color colorErrorBg = new Color(255, 255, 220);
+
     @Override
     public Component getListCellRendererComponent(JList<? extends LogEntry> list, LogEntry logEntry, int index, boolean isSelected, boolean cellHasFocus) {
 
@@ -22,8 +28,33 @@ public Component getListCellRendererComponent(JList<? extends LogEntry> list, Lo
             setBackground(list.getSelectionBackground());
             setForeground(list.getSelectionForeground());
         } else {
-            setBackground(list.getBackground());
-            setForeground(list.getForeground());
+            switch(logEntry.getLevel()) {
+                case ERROR:
+                    setBackground(colorErrorBg);
+                    break;
+                default:
+                    setBackground(list.getBackground());
+            }
+            switch(logEntry.getLevel()) {
+                case TRACE:
+                    setForeground(colorTrace);
+                    break;
+                case DEBUG:
+                    setForeground(colorDebug);
+                    break;
+                case INFO:
+                    setForeground(colorInfo);
+                    break;
+                case WARNING:
+                    setForeground(colorWarning);
+                    break;
+                case ERROR:
+                    setForeground(colorError);
+                    break;
+                default:
+                    setForeground(list.getForeground());
+                    break;
+            }
         }
 
         return this;

diff --git a/src/main/java/org/openpnp/gui/support/LogEntryListModel.java b/src/main/java/org/openpnp/gui/support/LogEntryListModel.java
@@ -17,6 +17,7 @@ public class LogEntryListModel extends AbstractListModel<LogEntry> implements Wr
 
     private List<LogEntry> originalLogEntries = new ArrayList<>();
     private List<LogEntry> filteredLogEntries = new ArrayList<>(originalLogEntries);
+    private List<LogEntry> newLogEntries = new ArrayList<>();
     private HashSet<LogEntryFilter> filters = new HashSet<>();
 
     public static class LogEntryFilter {
@@ -64,7 +65,12 @@ public synchronized int getSize() {
 
     @Override
     public synchronized LogEntry getElementAt(int index) {
-        return filteredLogEntries.get(index);
+        // This check is needed to exclude race conditions in heavily threaded logging, i.e. calls to getSize()
+        // followed by getElementAt() are not atomic. 
+        if (index < filteredLogEntries.size()) {
+            return filteredLogEntries.get(index);
+        }
+        return null;
     }
 
     public synchronized void addFilter(LogEntryFilter filter) {
@@ -89,8 +95,7 @@ public void init(Configuration configuration) throws Exception {
 
     @Override
     public synchronized void write(LogEntry logEntry) throws Exception {
-        originalLogEntries.add(logEntry);
-        trim();
+        newLogEntries.add(logEntry);
     }
 
     public synchronized void clear() {
@@ -107,10 +112,22 @@ public synchronized void filter() {
         SwingUtilities.invokeLater(() -> fireContentsChanged(this, 0, filteredLogEntries.size() - 1));
     }
 
-    private synchronized void trim() {
-        if (originalLogEntries.size() > LINE_LIMIT) {
-            originalLogEntries.subList(0, originalLogEntries.size() - LINE_LIMIT).clear();
+    public synchronized boolean isRefreshNeeded() {
+        return !newLogEntries.isEmpty();
+    }
+
+    public synchronized void refresh() {
+        if (newLogEntries.size() > LINE_LIMIT) {
+            // New Log entries alone already surpass the limit. 
+            newLogEntries.subList(0, newLogEntries.size() - LINE_LIMIT).clear();
+            originalLogEntries.clear();
+        }
+        else if (originalLogEntries.size() + newLogEntries.size() > LINE_LIMIT) {
+            // Make space for the new log entries.
+            originalLogEntries.subList(0, Math.max(0, originalLogEntries.size() - newLogEntries.size() - LINE_LIMIT)).clear();
         }
+        originalLogEntries.addAll(newLogEntries);
+        newLogEntries.clear();
         filter();
     }
 

diff --git a/src/main/java/org/openpnp/machine/marek/MarekNozzle.java b/src/main/java/org/openpnp/machine/marek/MarekNozzle.java
diff --git a/src/main/java/org/openpnp/machine/neoden4/NeoDen4Driver.java b/src/main/java/org/openpnp/machine/neoden4/NeoDen4Driver.java
@@ -373,8 +373,6 @@ public void home(ReferenceMachine machine) throws Exception {
 
         this.x = homeLocation.getCoordinate(homeLocation.getAxis(this, Axis.Type.X), units);
         this.y = homeLocation.getCoordinate(homeLocation.getAxis(this, Axis.Type.Y), units);
-
-        machine.fireMachineHeadActivity(machine.getDefaultHead());
     }
 
     @Override