Reworked Drivers to flat list.

src/main/java/org/openpnp/gui/support/Icons.java

@@ -87,6 +87,9 @@ public class Icons {
     public static Icon processActivity1Icon = getIcon("/icons/process-activity-1.svg");
     public static Icon processActivity2Icon = getIcon("/icons/process-activity-2.svg");
 
+    public static Icon axisAll = getIcon("/icons/axis-all.svg");
+    public static Icon driver = getIcon("/icons/driver.svg");
+
     public static Icon getIcon(String resourceName, int width, int height) {
         if (resourceName.endsWith(".svg")) {
             return new SvgIcon(Icons.class.getResource(resourceName), width, height);

src/main/java/org/openpnp/machine/neoden4/NeoDen4Driver.java

@@ -95,10 +95,7 @@ public class NeoDen4Driver extends AbstractReferenceDriver implements Named {
 
     @Attribute(required = false)
     protected int connectWaitTimeMilliseconds = 3000;
-
-    @Attribute(required = false)
-    protected String name = "NeoDen4Driver";
-
+
     @Attribute(required = false)
     protected double homeCoordinateX = -437.;
 
@@ -866,16 +863,7 @@ public PropertySheet[] getPropertySheets() {
             new PropertySheetWizardAdapter(new Neoden4DriverConfigurationWizard(this), "Machine")
         };
     }
-
-    public String getName() {
-        return name;
-    }
 
-    public void setName(String name) {
-        this.name = name;
-        firePropertyChange("name", null, getName());
-    }
-
     public LengthUnit getUnits() {
         return units;
     }

src/main/java/org/openpnp/machine/reference/ReferenceDriver.java

@@ -22,6 +22,7 @@
 import java.io.Closeable;
 
 import org.openpnp.model.Location;
+import org.openpnp.spi.Driver;
 import org.openpnp.spi.PropertySheetHolder;
 import org.openpnp.spi.WizardConfigurable;
 
@@ -37,7 +38,7 @@
  * movements by one of these objects. This allows the driver to make decisions as to what axes
  * should be moved to accomplish a specific task.
  */
-public interface ReferenceDriver extends WizardConfigurable, PropertySheetHolder, Closeable {
+public interface ReferenceDriver extends Driver, WizardConfigurable, PropertySheetHolder, Closeable {
     /**
      * Performing the hardware homing operation for the given Head. When this call completes the
      * Head should be at it's 0,0,0,0 position.

src/main/java/org/openpnp/machine/reference/ReferenceMachine.java

@@ -31,6 +31,7 @@
 import org.openpnp.gui.support.PropertySheetWizardAdapter;
 import org.openpnp.gui.support.Wizard;
 import org.openpnp.machine.marek.MarekNozzle;
+import org.openpnp.machine.neoden4.NeoDen4Driver;
 import org.openpnp.machine.neoden4.Neoden4Camera;
 import org.openpnp.machine.reference.camera.ImageCamera;
 import org.openpnp.machine.reference.camera.OnvifIPCamera;
@@ -39,6 +40,7 @@
 import org.openpnp.machine.reference.camera.SimulatedUpCamera;
 import org.openpnp.machine.reference.camera.SwitcherCamera;
 import org.openpnp.machine.reference.camera.Webcams;
+import org.openpnp.machine.reference.driver.GcodeDriver;
 import org.openpnp.machine.reference.driver.NullDriver;
 import org.openpnp.machine.reference.feeder.AdvancedLoosePartFeeder;
 import org.openpnp.machine.reference.feeder.BlindsFeeder;
@@ -57,6 +59,7 @@
 import org.openpnp.machine.reference.psh.ActuatorsPropertySheetHolder;
 import org.openpnp.machine.reference.psh.AxesPropertySheetHolder;
 import org.openpnp.machine.reference.psh.CamerasPropertySheetHolder;
+import org.openpnp.machine.reference.psh.DriversPropertySheetHolder;
 import org.openpnp.machine.reference.psh.NozzleTipsPropertySheetHolder;
 import org.openpnp.machine.reference.psh.SignalersPropertySheetHolder;
 import org.openpnp.machine.reference.signaler.ActuatorSignaler;
@@ -68,6 +71,7 @@
 import org.openpnp.spi.Actuator;
 import org.openpnp.spi.Axis;
 import org.openpnp.spi.Camera;
+import org.openpnp.spi.Driver;
 import org.openpnp.spi.Feeder;
 import org.openpnp.spi.FiducialLocator;
 import org.openpnp.spi.Head;
@@ -83,8 +87,9 @@
 import org.simpleframework.xml.core.Commit;
 
 public class ReferenceMachine extends AbstractMachine {
+    @Deprecated
     @Element(required = false)
-    private ReferenceDriver driver = new NullDriver();
+    private ReferenceDriver driver = null;
 
     @Element(required = false)
     protected PnpJobProcessor pnpJobProcessor = new ReferencePnpJobProcessor();
@@ -103,21 +108,18 @@ public class ReferenceMachine extends AbstractMachine {
 
     private List<Class<? extends Feeder>> registeredFeederClasses = new ArrayList<>();
 
+    private List<Class<? extends Driver>> registeredDriverClasses = new ArrayList<>();
+
     @Commit
     protected void commit() {
         super.commit();
     }
 
+    @Deprecated
     public ReferenceDriver getDriver() {
-        return driver;
-    }
-
-    public void setDriver(ReferenceDriver driver) throws Exception {
-        if (driver != this.driver) {
-            setEnabled(false);
-            close();
-        }
-        this.driver = driver;
+        // TODO: all callers must do axis mapping.
+        // For now, just return the first Driver
+        return (ReferenceDriver) drivers.get(0);
     }
 
     public ReferenceMachine() {
@@ -130,6 +132,20 @@ public void configurationLoaded(Configuration configuration)
                              if (partAlignments.isEmpty()) {
                                  partAlignments.add(new ReferenceBottomVision());
                              }
+                             // Migrate the one-driver property to the list of drivers.
+                             // Also migrate the GcodeDriver specific sub-drivers.
+                             if (driver != null) {
+                                 addDriver(driver);
+                                 if (driver instanceof GcodeDriver) {
+                                     GcodeDriver gcodeDriver= (GcodeDriver)driver;
+                                     drivers.addAll(gcodeDriver.getSubDrivers());
+                                 }
+                                 driver = null;
+                             }
+                             // But if this is a brand new Machine, create a NullDriver.
+                             if (drivers.isEmpty()) {
+                                 drivers.add(new NullDriver());
+                             }
                          }
                      });
     }
@@ -144,7 +160,9 @@ public void setEnabled(boolean enabled) throws Exception {
         Logger.debug("setEnabled({})", enabled);
         if (enabled) {
             try {
-                driver.setEnabled(true);
+                for (Driver driver : getDrivers()) {
+                    ((ReferenceDriver)driver).setEnabled(true);
+                }
                 this.enabled = true;
             }
             catch (Exception e) {
@@ -155,7 +173,9 @@ public void setEnabled(boolean enabled) throws Exception {
         }
         else {
             try {
-                driver.setEnabled(false);
+                for (Driver driver : getDrivers()) {
+                    ((ReferenceDriver)driver).setEnabled(false);
+                }
                 this.enabled = false;
             }
             catch (Exception e) {
@@ -189,8 +209,7 @@ public PropertySheetHolder[] getChildPropertySheetHolders() {
         children.add(new NozzleTipsPropertySheetHolder("Nozzle Tips", getNozzleTips(), null));
         children.add(new CamerasPropertySheetHolder(null, "Cameras", getCameras(), null));
         children.add(new ActuatorsPropertySheetHolder(null, "Actuators", getActuators(), null));
-        children.add(
-                new SimplePropertySheetHolder("Driver", Collections.singletonList(getDriver())));
+        children.add(new DriversPropertySheetHolder(this, "Drivers", getDrivers(), null));
         children.add(new SimplePropertySheetHolder("Job Processors",
                 Arrays.asList(getPnpJobProcessor())));
 
@@ -286,6 +305,15 @@ public List<Class<? extends Signaler>> getCompatibleSignalerClasses() {
         return l;
     }
 
+    @Override
+    public List<Class<? extends Driver>> getCompatibleDriverClasses() {
+        List<Class<? extends Driver>> l = new ArrayList<>();
+        l.add(NullDriver.class);
+        l.add(GcodeDriver.class);
+        l.add(NeoDen4Driver.class);
+        return l;
+    }
+
     private List<Class<? extends PartAlignment>> registeredAlignmentClasses = new ArrayList<>();
 
     @Override
@@ -310,11 +338,13 @@ public void home() throws Exception {
 
     @Override
     public void close() throws IOException {
-        try {
-            driver.close();
-        }
-        catch (Exception e) {
-            e.printStackTrace();
+        for (Driver driver : getDrivers()) {
+            try {
+                driver.close();
+            }
+            catch (Exception e) {
+                e.printStackTrace();
+            }
         }
         for (Camera camera : getCameras()) {
             try {

src/main/java/org/openpnp/machine/reference/ReferenceNegatedAxis.java

@@ -23,12 +23,23 @@ public Wizard getConfigurationWizard() {
 
     @Override
     public Location transformToRaw(Location location) {
-        return null;
+        switch(type) {
+            case X:
+                return location.derive(-location.getX(), null, null, null);
+            case Y:
+                return location.derive(null, -location.getY(), null, null);
+            case Z:
+                return location.derive(null, null, -location.getZ(),  null);
+            case Rotation:
+                return location.derive(null, null, null, -location.getRotation());
+            default:
+                return location;
+        }
     }
 
     @Override
     public Location transformFromRaw(Location location) {
-        return null;
+        // it's reversible
+        return transformToRaw(location);
     }
-
 }

src/main/java/org/openpnp/machine/reference/driver/AbstractReferenceDriver.java

@@ -16,12 +16,13 @@
 import org.openpnp.machine.reference.driver.wizards.AbstractReferenceDriverConfigurationWizard;
 import org.openpnp.model.AbstractModelObject;
 import org.openpnp.spi.PropertySheetHolder;
+import org.openpnp.spi.base.AbstractDriver;
 import org.pmw.tinylog.Logger;
 import org.simpleframework.xml.Attribute;
 import org.simpleframework.xml.Element;
 import org.simpleframework.xml.core.Commit;
 
-public abstract class AbstractReferenceDriver extends AbstractModelObject implements ReferenceDriver, Closeable {
+public abstract class AbstractReferenceDriver extends AbstractDriver implements ReferenceDriver {
     @Element(required = false)
     protected SerialPortCommunications serial = new SerialPortCommunications();
 
@@ -221,27 +222,6 @@ public void setPort(int port) {
         tcp.setPort(port);
     }
 
-
-    @Override
-    public Icon getPropertySheetHolderIcon() {
-        return null;
-    }
-
-    @Override
-    public String getPropertySheetHolderTitle() {
-        return getClass().getSimpleName();
-    }
-
-    @Override
-    public PropertySheetHolder[] getChildPropertySheetHolders() {
-        return null;
-    }
-
-    @Override
-    public Action[] getPropertySheetHolderActions() {
-        return null;
-    }
-
     @Override
     public PropertySheet[] getPropertySheets() {
         return new PropertySheet[]{new PropertySheetWizardAdapter(getConfigurationWizard())};

src/main/java/org/openpnp/machine/reference/driver/GcodeDriver.java

@@ -181,15 +181,13 @@ private Command() {
     @ElementList(required = false, inline = true)
     public ArrayList<Command> commands = new ArrayList<>();
 
+    @Deprecated
     @ElementList(required = false)
     protected List<GcodeDriver> subDrivers = new ArrayList<>();
 
     @ElementList(required = false)
     protected List<Axis> axes = new ArrayList<>();
 
-    @Attribute(required = false)
-    protected String name = "GcodeDriver";
-
     private Thread readerThread;
     private boolean disconnectRequested;
     private boolean connected;
@@ -1120,6 +1118,20 @@ static protected boolean hasVariable(String command, String name) {
     }
 
 
+
+    @Override
+    public PropertySheet[] getPropertySheets() {
+        return new PropertySheet[] {
+                new PropertySheetWizardAdapter(new GcodeDriverSettings(this), "Driver Settings"),
+                new PropertySheetWizardAdapter(new GcodeDriverGcodes(this), "Gcode"),
+                new PropertySheetWizardAdapter(new GcodeDriverConsole(this), "Console"),
+                new PropertySheetWizardAdapter(super.getConfigurationWizard(), "Communications")
+        };
+    }
+
+/*
+ *
+ *    
     @Override
     public String getPropertySheetHolderTitle() {
         return getName() == null ? "GcodeDriver" : getName();
@@ -1133,16 +1145,6 @@ public PropertySheetHolder[] getChildPropertySheetHolders() {
         }
         return children.toArray(new PropertySheetHolder[] {});
     }
-
-    @Override
-    public PropertySheet[] getPropertySheets() {
-        return new PropertySheet[] {
-                new PropertySheetWizardAdapter(new GcodeDriverGcodes(this), "Gcode"),
-                new PropertySheetWizardAdapter(new GcodeDriverSettings(this), "General Settings"),
-                new PropertySheetWizardAdapter(new GcodeDriverConsole(this), "Console"),
-                new PropertySheetWizardAdapter(super.getConfigurationWizard(), "Communications")
-        };
-    }
     
     @Override
     public Action[] getPropertySheetHolderActions() {
@@ -1189,7 +1191,7 @@ public void actionPerformed(ActionEvent arg0) {
             }
         }
     };
-
+*/
     public LengthUnit getUnits() {
         return units;
     }
@@ -1270,15 +1272,6 @@ public void setConnectWaitTimeMilliseconds(int connectWaitTimeMilliseconds) {
         this.connectWaitTimeMilliseconds = connectWaitTimeMilliseconds;
     }
 
-    public String getName() {
-        return name;
-    }
-
-    public void setName(String name) {
-        this.name = name;
-        firePropertyChange("name", null, getName());
-    }
-
     public boolean isVisualHomingEnabled() {
         return visualHomingEnabled;
     }
@@ -1295,6 +1288,11 @@ public void setBackslashEscapedCharactersEnabled(boolean backslashEscapedCharact
         this.backslashEscapedCharactersEnabled = backslashEscapedCharactersEnabled;
     }
 
+    @Deprecated
+    public List<GcodeDriver> getSubDrivers() {
+        return subDrivers;
+    }
+
     public static class Axis {
         public enum Type {
             X,