| package ca.gc.asc_csa.apogy.addons.impl; |
| /* |
| * Copyright (c) 2016 Canadian Space Agency (CSA) / Agence spatiale canadienne (ASC). |
| * All rights reserved. This program and the accompanying materials |
| * are made available under the terms of the Eclipse Public License v1.0 |
| * which accompanies this distribution, and is available at |
| * http://www.eclipse.org/legal/epl-v10.html |
| * |
| * Contributors: |
| * Pierre Allard (Pierre.Allard@canada.ca), |
| * Regent L'Archeveque (Regent.Larcheveque@canada.ca), |
| * Sebastien Gemme (Sebastien.Gemme@canada.ca), |
| * Canadian Space Agency (CSA) - Initial API and implementation |
| */ |
| |
| import java.lang.reflect.InvocationTargetException; |
| import java.util.Collection; |
| import java.util.List; |
| |
| import javax.vecmath.Matrix4d; |
| import javax.vecmath.Point3d; |
| import javax.vecmath.Vector3d; |
| |
| import org.eclipse.emf.common.notify.Adapter; |
| import org.eclipse.emf.common.notify.Notification; |
| import org.eclipse.emf.common.notify.NotificationChain; |
| import org.eclipse.emf.common.notify.impl.AdapterImpl; |
| import org.eclipse.emf.common.util.EList; |
| import org.eclipse.emf.ecore.EClass; |
| import org.eclipse.emf.ecore.InternalEObject; |
| import org.eclipse.emf.ecore.impl.ENotificationImpl; |
| import org.eclipse.emf.ecore.util.EObjectContainmentEList; |
| import org.eclipse.emf.ecore.util.InternalEList; |
| |
| import ca.gc.asc_csa.apogy.addons.Activator; |
| import ca.gc.asc_csa.apogy.addons.ApogyAddonsFactory; |
| import ca.gc.asc_csa.apogy.addons.ApogyAddonsPackage; |
| import ca.gc.asc_csa.apogy.addons.Trajectory3DTool; |
| import ca.gc.asc_csa.apogy.addons.Trajectory3DToolNode; |
| import ca.gc.asc_csa.apogy.addons.geometry.paths.ApogyAddonsGeometryPathsFactory; |
| import ca.gc.asc_csa.apogy.addons.geometry.paths.WayPointPath; |
| import ca.gc.asc_csa.apogy.common.geometry.data.ApogyCommonGeometryDataPackage; |
| import ca.gc.asc_csa.apogy.common.geometry.data3d.ApogyCommonGeometryData3DFacade; |
| import ca.gc.asc_csa.apogy.common.geometry.data3d.CartesianPositionCoordinates; |
| import ca.gc.asc_csa.apogy.common.log.EventSeverity; |
| import ca.gc.asc_csa.apogy.common.log.Logger; |
| import ca.gc.asc_csa.apogy.common.math.Matrix4x4; |
| import ca.gc.asc_csa.apogy.common.topology.GroupNode; |
| import ca.gc.asc_csa.apogy.common.topology.Node; |
| import ca.gc.asc_csa.apogy.common.topology.ui.NodePresentation; |
| import ca.gc.asc_csa.apogy.common.topology.ui.NodeSelection; |
| import ca.gc.asc_csa.apogy.common.transaction.ApogyCommonTransactionFacade; |
| import ca.gc.asc_csa.apogy.core.ApogyCorePackage; |
| import ca.gc.asc_csa.apogy.core.ApogySystem; |
| import ca.gc.asc_csa.apogy.core.ApogySystemApiAdapter; |
| import ca.gc.asc_csa.apogy.core.PoseProvider; |
| import ca.gc.asc_csa.apogy.core.invocator.AbstractTypeImplementation; |
| import ca.gc.asc_csa.apogy.core.invocator.ApogyCoreInvocatorFacade; |
| import ca.gc.asc_csa.apogy.core.invocator.ApogyCoreInvocatorPackage; |
| import ca.gc.asc_csa.apogy.core.invocator.Context; |
| import ca.gc.asc_csa.apogy.core.invocator.Environment; |
| import ca.gc.asc_csa.apogy.core.invocator.InvocatorSession; |
| import ca.gc.asc_csa.apogy.core.invocator.Variable; |
| |
| /** |
| * <!-- begin-user-doc --> |
| * An implementation of the model object '<em><b>Trajectory3 DTool</b></em>'. |
| * <!-- end-user-doc --> |
| * <p> |
| * The following features are implemented: |
| * </p> |
| * <ul> |
| * <li>{@link ca.gc.asc_csa.apogy.addons.impl.Trajectory3DToolImpl#isPenDown <em>Pen Down</em>}</li> |
| * <li>{@link ca.gc.asc_csa.apogy.addons.impl.Trajectory3DToolImpl#getVariable <em>Variable</em>}</li> |
| * <li>{@link ca.gc.asc_csa.apogy.addons.impl.Trajectory3DToolImpl#getDistanceThreshold <em>Distance Threshold</em>}</li> |
| * <li>{@link ca.gc.asc_csa.apogy.addons.impl.Trajectory3DToolImpl#getTotalDistance <em>Total Distance</em>}</li> |
| * <li>{@link ca.gc.asc_csa.apogy.addons.impl.Trajectory3DToolImpl#getPaths <em>Paths</em>}</li> |
| * <li>{@link ca.gc.asc_csa.apogy.addons.impl.Trajectory3DToolImpl#getTrajectory3DToolNode <em>Trajectory3 DTool Node</em>}</li> |
| * </ul> |
| * |
| * @generated |
| */ |
| public class Trajectory3DToolImpl extends Simple3DToolImpl implements Trajectory3DTool |
| { |
| private PoseProvider poseProvider = null; |
| private VariableAdapter variableAdapter = null; |
| private Adapter poseProviderAdapter = null; |
| private Point3d lastPoseAdded = null; |
| private WayPointPath currentWayPointPath = null; |
| |
| /** |
| * The default value of the '{@link #isPenDown() <em>Pen Down</em>}' attribute. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #isPenDown() |
| * @generated |
| * @ordered |
| */ |
| protected static final boolean PEN_DOWN_EDEFAULT = true; |
| |
| /** |
| * The cached value of the '{@link #isPenDown() <em>Pen Down</em>}' attribute. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #isPenDown() |
| * @generated |
| * @ordered |
| */ |
| protected boolean penDown = PEN_DOWN_EDEFAULT; |
| |
| /** |
| * The cached value of the '{@link #getVariable() <em>Variable</em>}' reference. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #getVariable() |
| * @generated |
| * @ordered |
| */ |
| protected Variable variable; |
| |
| /** |
| * The default value of the '{@link #getDistanceThreshold() <em>Distance Threshold</em>}' attribute. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #getDistanceThreshold() |
| * @generated |
| * @ordered |
| */ |
| protected static final double DISTANCE_THRESHOLD_EDEFAULT = 0.01; |
| |
| /** |
| * The cached value of the '{@link #getDistanceThreshold() <em>Distance Threshold</em>}' attribute. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #getDistanceThreshold() |
| * @generated |
| * @ordered |
| */ |
| protected double distanceThreshold = DISTANCE_THRESHOLD_EDEFAULT; |
| |
| /** |
| * The default value of the '{@link #getTotalDistance() <em>Total Distance</em>}' attribute. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #getTotalDistance() |
| * @generated |
| * @ordered |
| */ |
| protected static final double TOTAL_DISTANCE_EDEFAULT = 0.0; |
| /** |
| * The cached value of the '{@link #getTotalDistance() <em>Total Distance</em>}' attribute. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #getTotalDistance() |
| * @generated |
| * @ordered |
| */ |
| protected double totalDistance = TOTAL_DISTANCE_EDEFAULT; |
| /** |
| * The cached value of the '{@link #getPaths() <em>Paths</em>}' containment reference list. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #getPaths() |
| * @generated |
| * @ordered |
| */ |
| protected EList<WayPointPath> paths; |
| |
| /** |
| * The cached value of the '{@link #getTrajectory3DToolNode() <em>Trajectory3 DTool Node</em>}' reference. |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @see #getTrajectory3DToolNode() |
| * @generated |
| * @ordered |
| */ |
| protected Trajectory3DToolNode trajectory3DToolNode; |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| protected Trajectory3DToolImpl() { |
| super(); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @Override |
| protected EClass eStaticClass() { |
| return ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public boolean isPenDown() { |
| return penDown; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated_NOT |
| */ |
| public void setPenDown(boolean newPenDown) |
| { |
| setPenDownGen(newPenDown); |
| |
| if(newPenDown) |
| { |
| penDown(); |
| } |
| else |
| { |
| penUp(); |
| } |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public void setPenDownGen(boolean newPenDown) { |
| boolean oldPenDown = penDown; |
| penDown = newPenDown; |
| if (eNotificationRequired()) |
| eNotify(new ENotificationImpl(this, Notification.SET, ApogyAddonsPackage.TRAJECTORY3_DTOOL__PEN_DOWN, oldPenDown, penDown)); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public Variable getVariable() { |
| if (variable != null && variable.eIsProxy()) { |
| InternalEObject oldVariable = (InternalEObject)variable; |
| variable = (Variable)eResolveProxy(oldVariable); |
| if (variable != oldVariable) { |
| if (eNotificationRequired()) |
| eNotify(new ENotificationImpl(this, Notification.RESOLVE, ApogyAddonsPackage.TRAJECTORY3_DTOOL__VARIABLE, oldVariable, variable)); |
| } |
| } |
| return variable; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public Variable basicGetVariable() { |
| return variable; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public void setVariable(Variable newVariable) { |
| Variable oldVariable = variable; |
| variable = newVariable; |
| if (eNotificationRequired()) |
| eNotify(new ENotificationImpl(this, Notification.SET, ApogyAddonsPackage.TRAJECTORY3_DTOOL__VARIABLE, oldVariable, variable)); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public double getDistanceThreshold() { |
| return distanceThreshold; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public void setDistanceThreshold(double newDistanceThreshold) { |
| double oldDistanceThreshold = distanceThreshold; |
| distanceThreshold = newDistanceThreshold; |
| if (eNotificationRequired()) |
| eNotify(new ENotificationImpl(this, Notification.SET, ApogyAddonsPackage.TRAJECTORY3_DTOOL__DISTANCE_THRESHOLD, oldDistanceThreshold, distanceThreshold)); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated_NOT |
| */ |
| public double getTotalDistance() |
| { |
| // Force update if distance is zero. |
| if(totalDistance == 0) |
| { |
| double newDistance = computeTotalDistance(); |
| |
| // If the distance is not zero. |
| if(newDistance != 0) |
| { |
| // Updates the TotalDistance in a Transaction friendly way. |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__TOTAL_DISTANCE, newDistance) ; |
| } |
| } |
| |
| return getTotalDistanceGen(); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public double getTotalDistanceGen() { |
| return totalDistance; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public void setTotalDistance(double newTotalDistance) { |
| double oldTotalDistance = totalDistance; |
| totalDistance = newTotalDistance; |
| if (eNotificationRequired()) |
| eNotify(new ENotificationImpl(this, Notification.SET, ApogyAddonsPackage.TRAJECTORY3_DTOOL__TOTAL_DISTANCE, oldTotalDistance, totalDistance)); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public EList<WayPointPath> getPaths() { |
| if (paths == null) { |
| paths = new EObjectContainmentEList<WayPointPath>(WayPointPath.class, this, ApogyAddonsPackage.TRAJECTORY3_DTOOL__PATHS); |
| } |
| return paths; |
| } |
| |
| protected void setPoseProvider(PoseProvider newPoseProvider) |
| { |
| if(poseProvider != null) |
| { |
| // Remove Adapter from previous poseProvider. |
| poseProvider.eAdapters().remove(getPoseProviderAdapter()); |
| } |
| |
| poseProvider = newPoseProvider; |
| |
| // If the new Pose Provider is not null. |
| if(newPoseProvider != null) |
| { |
| // Updates the Pose. |
| if(newPoseProvider.getPoseTransform() != null) |
| { |
| updatePose(newPoseProvider.getPoseTransform()); |
| } |
| |
| // Register to the new Pose provider. |
| newPoseProvider.eAdapters().add(getPoseProviderAdapter()); |
| } |
| } |
| |
| protected PoseProvider getPoseProvider() |
| { |
| return poseProvider; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public Trajectory3DToolNode getTrajectory3DToolNode() { |
| if (trajectory3DToolNode != null && trajectory3DToolNode.eIsProxy()) { |
| InternalEObject oldTrajectory3DToolNode = (InternalEObject)trajectory3DToolNode; |
| trajectory3DToolNode = (Trajectory3DToolNode)eResolveProxy(oldTrajectory3DToolNode); |
| if (trajectory3DToolNode != oldTrajectory3DToolNode) { |
| if (eNotificationRequired()) |
| eNotify(new ENotificationImpl(this, Notification.RESOLVE, ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE, oldTrajectory3DToolNode, trajectory3DToolNode)); |
| } |
| } |
| return trajectory3DToolNode; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public Trajectory3DToolNode basicGetTrajectory3DToolNode() { |
| return trajectory3DToolNode; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public NotificationChain basicSetTrajectory3DToolNode(Trajectory3DToolNode newTrajectory3DToolNode, NotificationChain msgs) { |
| Trajectory3DToolNode oldTrajectory3DToolNode = trajectory3DToolNode; |
| trajectory3DToolNode = newTrajectory3DToolNode; |
| if (eNotificationRequired()) { |
| ENotificationImpl notification = new ENotificationImpl(this, Notification.SET, ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE, oldTrajectory3DToolNode, newTrajectory3DToolNode); |
| if (msgs == null) msgs = notification; else msgs.add(notification); |
| } |
| return msgs; |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| public void setTrajectory3DToolNode(Trajectory3DToolNode newTrajectory3DToolNode) { |
| if (newTrajectory3DToolNode != trajectory3DToolNode) { |
| NotificationChain msgs = null; |
| if (trajectory3DToolNode != null) |
| msgs = ((InternalEObject)trajectory3DToolNode).eInverseRemove(this, ApogyAddonsPackage.TRAJECTORY3_DTOOL_NODE__TRAJECTORY3_DTOOL, Trajectory3DToolNode.class, msgs); |
| if (newTrajectory3DToolNode != null) |
| msgs = ((InternalEObject)newTrajectory3DToolNode).eInverseAdd(this, ApogyAddonsPackage.TRAJECTORY3_DTOOL_NODE__TRAJECTORY3_DTOOL, Trajectory3DToolNode.class, msgs); |
| msgs = basicSetTrajectory3DToolNode(newTrajectory3DToolNode, msgs); |
| if (msgs != null) msgs.dispatch(); |
| } |
| else if (eNotificationRequired()) |
| eNotify(new ENotificationImpl(this, Notification.SET, ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE, newTrajectory3DToolNode, newTrajectory3DToolNode)); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated_NOT |
| */ |
| public void clearLastPathSegment() |
| { |
| if(isPenDown()) |
| { |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PEN_DOWN, false); |
| |
| if(getPaths().size() > 0) |
| { |
| WayPointPath path = getPaths().get(getPaths().size() - 1); |
| ApogyCommonTransactionFacade.INSTANCE.basicRemove(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PATHS, path, true); |
| |
| // If we remove an empty or newly created path, remove the next one to. |
| if(path.getPoints().size() == 0 || path.getPoints().size() == 1) |
| { |
| if(getPaths().size() > 0) |
| { |
| path = getPaths().get(getPaths().size() - 1); |
| ApogyCommonTransactionFacade.INSTANCE.basicRemove(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PATHS, path, true); |
| } |
| } |
| } |
| else |
| { |
| Logger.INSTANCE.log(Activator.ID, this, "Not path segment to remove !.", EventSeverity.WARNING); |
| } |
| |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PEN_DOWN, true); |
| } |
| else |
| { |
| if(getPaths().size() > 0) |
| { |
| WayPointPath path = getPaths().get(getPaths().size() -1); |
| ApogyCommonTransactionFacade.INSTANCE.basicRemove(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PATHS, path, true); |
| Logger.INSTANCE.log(Activator.ID, this, "Last path segment cleared.", EventSeverity.OK); |
| } |
| else |
| { |
| Logger.INSTANCE.log(Activator.ID, this, "Not path segment to remove !.", EventSeverity.WARNING); |
| } |
| } |
| |
| // Update the total distance. |
| getTotalDistance(); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated_NOT |
| */ |
| public void clearPaths() |
| { |
| if(isPenDown()) |
| { |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PEN_DOWN, false); |
| |
| if(getPaths() != null) |
| { |
| List<WayPointPath> paths = getPaths(); |
| ApogyCommonTransactionFacade.INSTANCE.basicRemove(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PATHS, paths, true); |
| |
| Logger.INSTANCE.log(Activator.ID, this, "Paths cleared.", EventSeverity.OK); |
| |
| // Update the total distance. |
| getTotalDistance(); |
| } |
| else |
| { |
| Logger.INSTANCE.log(Activator.ID, this, "Failed to clear paths : No paths list defined !", EventSeverity.ERROR); |
| } |
| |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PEN_DOWN, true); |
| } |
| else |
| { |
| if(getPaths() != null) |
| { |
| List<WayPointPath> paths = getPaths(); |
| ApogyCommonTransactionFacade.INSTANCE.basicRemove(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PATHS, paths, true); |
| |
| Logger.INSTANCE.log(Activator.ID, this, "Paths cleared.", EventSeverity.OK); |
| |
| // Update the total distance. |
| getTotalDistance(); |
| } |
| else |
| { |
| Logger.INSTANCE.log(Activator.ID, this, "Failed to clear paths : No paths list defined !", EventSeverity.ERROR); |
| } |
| } |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @Override |
| public NotificationChain eInverseAdd(InternalEObject otherEnd, int featureID, NotificationChain msgs) { |
| switch (featureID) { |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE: |
| if (trajectory3DToolNode != null) |
| msgs = ((InternalEObject)trajectory3DToolNode).eInverseRemove(this, ApogyAddonsPackage.TRAJECTORY3_DTOOL_NODE__TRAJECTORY3_DTOOL, Trajectory3DToolNode.class, msgs); |
| return basicSetTrajectory3DToolNode((Trajectory3DToolNode)otherEnd, msgs); |
| } |
| return super.eInverseAdd(otherEnd, featureID, msgs); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @Override |
| public NotificationChain eInverseRemove(InternalEObject otherEnd, int featureID, NotificationChain msgs) { |
| switch (featureID) { |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PATHS: |
| return ((InternalEList<?>)getPaths()).basicRemove(otherEnd, msgs); |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE: |
| return basicSetTrajectory3DToolNode(null, msgs); |
| } |
| return super.eInverseRemove(otherEnd, featureID, msgs); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @Override |
| public Object eGet(int featureID, boolean resolve, boolean coreType) { |
| switch (featureID) { |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PEN_DOWN: |
| return isPenDown(); |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__VARIABLE: |
| if (resolve) return getVariable(); |
| return basicGetVariable(); |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__DISTANCE_THRESHOLD: |
| return getDistanceThreshold(); |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TOTAL_DISTANCE: |
| return getTotalDistance(); |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PATHS: |
| return getPaths(); |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE: |
| if (resolve) return getTrajectory3DToolNode(); |
| return basicGetTrajectory3DToolNode(); |
| } |
| return super.eGet(featureID, resolve, coreType); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @SuppressWarnings("unchecked") |
| @Override |
| public void eSet(int featureID, Object newValue) { |
| switch (featureID) { |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PEN_DOWN: |
| setPenDown((Boolean)newValue); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__VARIABLE: |
| setVariable((Variable)newValue); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__DISTANCE_THRESHOLD: |
| setDistanceThreshold((Double)newValue); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TOTAL_DISTANCE: |
| setTotalDistance((Double)newValue); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PATHS: |
| getPaths().clear(); |
| getPaths().addAll((Collection<? extends WayPointPath>)newValue); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE: |
| setTrajectory3DToolNode((Trajectory3DToolNode)newValue); |
| return; |
| } |
| super.eSet(featureID, newValue); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @Override |
| public void eUnset(int featureID) { |
| switch (featureID) { |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PEN_DOWN: |
| setPenDown(PEN_DOWN_EDEFAULT); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__VARIABLE: |
| setVariable((Variable)null); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__DISTANCE_THRESHOLD: |
| setDistanceThreshold(DISTANCE_THRESHOLD_EDEFAULT); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TOTAL_DISTANCE: |
| setTotalDistance(TOTAL_DISTANCE_EDEFAULT); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PATHS: |
| getPaths().clear(); |
| return; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE: |
| setTrajectory3DToolNode((Trajectory3DToolNode)null); |
| return; |
| } |
| super.eUnset(featureID); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @Override |
| public boolean eIsSet(int featureID) { |
| switch (featureID) { |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PEN_DOWN: |
| return penDown != PEN_DOWN_EDEFAULT; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__VARIABLE: |
| return variable != null; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__DISTANCE_THRESHOLD: |
| return distanceThreshold != DISTANCE_THRESHOLD_EDEFAULT; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TOTAL_DISTANCE: |
| return totalDistance != TOTAL_DISTANCE_EDEFAULT; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__PATHS: |
| return paths != null && !paths.isEmpty(); |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE: |
| return trajectory3DToolNode != null; |
| } |
| return super.eIsSet(featureID); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @Override |
| public Object eInvoke(int operationID, EList<?> arguments) throws InvocationTargetException { |
| switch (operationID) { |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL___CLEAR_LAST_PATH_SEGMENT: |
| clearLastPathSegment(); |
| return null; |
| case ApogyAddonsPackage.TRAJECTORY3_DTOOL___CLEAR_PATHS: |
| clearPaths(); |
| return null; |
| } |
| return super.eInvoke(operationID, arguments); |
| } |
| |
| /** |
| * <!-- begin-user-doc --> |
| * <!-- end-user-doc --> |
| * @generated |
| */ |
| @Override |
| public String toString() { |
| if (eIsProxy()) return super.toString(); |
| |
| StringBuffer result = new StringBuffer(super.toString()); |
| result.append(" (penDown: "); |
| result.append(penDown); |
| result.append(", distanceThreshold: "); |
| result.append(distanceThreshold); |
| result.append(", totalDistance: "); |
| result.append(totalDistance); |
| result.append(')'); |
| return result.toString(); |
| } |
| |
| @Override |
| public void setActive(boolean newActive) |
| { |
| super.setActive(newActive); |
| |
| if(newActive && isPenDown()) |
| { |
| // Treat as a new pen down event. |
| penDown(); |
| } |
| } |
| |
| @Override |
| public void setVisible(boolean newVisible) |
| { |
| super.setVisible(newVisible); |
| setTrajectory3DToolNodeVisibility(newVisible); |
| } |
| |
| @Override |
| public void selectionChanged(NodeSelection nodeSelection) |
| { |
| // Nothing to do. |
| } |
| |
| @Override |
| public void initialise() |
| { |
| // First, initialize the Trajectory3DToolNode if required. |
| if(getTrajectory3DToolNode() == null) |
| { |
| Trajectory3DToolNode toolNode = ApogyAddonsFactory.eINSTANCE.createTrajectory3DToolNode(); |
| if(getName() != null) |
| { |
| toolNode.setDescription("Node associated with the TrajectoryTool named <" + getName() + ">"); |
| toolNode.setNodeId("TRAJECTORY_TOOL_" + getName().replaceAll(" ", "_")); |
| } |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE, toolNode); |
| } |
| |
| // Then, initialize the rest. |
| super.initialise(); |
| |
| try |
| { |
| // Attempts to initialize the Pose Provider. |
| updatePoseProvider(); |
| } |
| catch(Throwable t) |
| { |
| } |
| |
| // Registers to the active session. |
| ApogyCoreInvocatorFacade.INSTANCE.eAdapters().add(getVariableAdapter()); |
| getVariableAdapter().setInvocatorSession(ApogyCoreInvocatorFacade.INSTANCE.getActiveInvocatorSession()); |
| } |
| |
| @Override |
| public void setRootNode(Node newRootNode) |
| { |
| super.setRootNode(newRootNode); |
| Trajectory3DToolNode toolNode = getTrajectory3DToolNode(); |
| |
| if(toolNode != null) |
| { |
| if(newRootNode instanceof GroupNode) |
| { |
| ((GroupNode) newRootNode).getChildren().add(toolNode); |
| } |
| else |
| { |
| if(toolNode.getParent() instanceof GroupNode) |
| { |
| ((GroupNode) toolNode.getParent()).getChildren().remove(toolNode); |
| } |
| } |
| } |
| |
| // Update tool node visibility. |
| setTrajectory3DToolNodeVisibility(isVisible()); |
| } |
| |
| @Override |
| public void dispose() |
| { |
| super.dispose(); |
| |
| // Unregister Listener on the PoseProvider. |
| if(poseProvider != null) poseProvider.eAdapters().remove(getPoseProviderAdapter()); |
| |
| // Unregister listeners. |
| ApogyCoreInvocatorFacade.INSTANCE.eAdapters().remove(getVariableAdapter()); |
| getVariableAdapter().setInvocatorSession(null); |
| |
| // Remove 3DTool Node. |
| if(getTrajectory3DToolNode() != null) |
| { |
| if(getTrajectory3DToolNode().getParent() instanceof GroupNode) |
| { |
| GroupNode parent = (GroupNode) getTrajectory3DToolNode().getParent(); |
| parent.getChildren().remove(getTrajectory3DToolNode()); |
| } |
| |
| // Clears the Trajectory3DToolNode |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__TRAJECTORY3_DTOOL_NODE, null); |
| } |
| } |
| |
| private void setTrajectory3DToolNodeVisibility(boolean visible) |
| { |
| if(getTrajectory3DToolNode() != null) |
| { |
| NodePresentation nodePresentation = ca.gc.asc_csa.apogy.common.topology.ui.Activator.getTopologyPresentationRegistry().getPresentationNode(getTrajectory3DToolNode()); |
| if(nodePresentation != null) |
| { |
| // Toggle visibility flag. |
| |
| nodePresentation.setVisible(visible); |
| } |
| } |
| } |
| |
| private void penUp() |
| { |
| // Sets the current path to null. |
| currentWayPointPath = null; |
| } |
| |
| private void penDown() |
| { |
| // Adds a new path to the list |
| WayPointPath newWayPointPath = ApogyAddonsGeometryPathsFactory.eINSTANCE.createWayPointPath(); |
| String name = getName() + " - " + Integer.toString(getPaths().size() + 1); |
| newWayPointPath.setNodeId(name); |
| |
| String description = "Trajectory segment # " + Integer.toString(getPaths().size() + 1); |
| newWayPointPath.setDescription(description); |
| |
| getPaths().add(newWayPointPath); |
| currentWayPointPath = newWayPointPath; |
| |
| lastPoseAdded = null; |
| } |
| |
| private void updatePose(Matrix4x4 newPose) |
| { |
| try |
| { |
| Matrix4d m = newPose.asMatrix4d(); |
| Vector3d v = new Vector3d(); |
| m.get(v); |
| Point3d position = new Point3d(v); |
| |
| if(lastPoseAdded == null) |
| { |
| // Adds the new point. |
| addPoint(position); |
| } |
| else if(getDistanceThreshold() > 0) |
| { |
| // Check to see if the distance threshold has been exceeded. |
| if(lastPoseAdded.distance(position) >= getDistanceThreshold()) |
| { |
| addPoint(position); |
| } |
| } |
| else |
| { |
| // Adds the new point. |
| addPoint(position); |
| } |
| } |
| catch(Throwable t) |
| { |
| t.printStackTrace(); |
| } |
| } |
| |
| /** |
| * Adds a point to the current path. |
| * @param newPose The new position. |
| */ |
| private void addPoint(Point3d point) |
| { |
| // Adds the point to the current WayPointPath |
| CartesianPositionCoordinates coordinates = ApogyCommonGeometryData3DFacade.INSTANCE.createCartesianPositionCoordinates(point.x, point.y, point.z); |
| ApogyCommonTransactionFacade.INSTANCE.basicAdd(getCurrentWayPointPath(), ApogyCommonGeometryDataPackage.Literals.COORDINATES_SET__POINTS, coordinates); |
| |
| // Update last pose. |
| lastPoseAdded = new Point3d(point); |
| |
| // Updates total distance. |
| double distance = computeTotalDistance(); |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__TOTAL_DISTANCE, distance); |
| } |
| |
| /** |
| * Returns the current WayPointPath into which new point should be added. |
| * @return The WayPointPath. |
| */ |
| private WayPointPath getCurrentWayPointPath() |
| { |
| if(currentWayPointPath == null) |
| { |
| if(getPaths().isEmpty()) |
| { |
| currentWayPointPath = ApogyAddonsGeometryPathsFactory.eINSTANCE.createWayPointPath(); |
| ApogyCommonTransactionFacade.INSTANCE.basicAdd(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__PATHS, currentWayPointPath); |
| |
| //getPaths().add(currentWayPointPath); |
| } |
| else |
| { |
| currentWayPointPath = getPaths().get(getPaths().size() - 1); |
| } |
| } |
| |
| return currentWayPointPath; |
| } |
| |
| private double computeTotalDistance() |
| { |
| double distance = 0.0; |
| |
| List<WayPointPath> paths = getPaths(); |
| for(WayPointPath wayPointPath : paths) |
| { |
| distance += wayPointPath.getLength(); |
| } |
| |
| return distance; |
| } |
| |
| private void updatePoseProvider() |
| { |
| // Attempts to initialize the Pose Provider. |
| ApogySystemApiAdapter apogySystemApiAdapter = resolveApogySystemApiAdapter(getVariable()); |
| |
| PoseProvider newPoseProvider = null; |
| |
| // If the ApogySystem refers to an external pose provider. |
| if(apogySystemApiAdapter != null) |
| { |
| ApogySystem apogySystem = apogySystemApiAdapter.getApogySystem(); |
| if(apogySystem.getPoseProviderInstance() != null) |
| { |
| newPoseProvider = (PoseProvider) apogySystem.getPoseProviderInstance(); |
| } |
| } |
| else |
| { |
| newPoseProvider = apogySystemApiAdapter; |
| } |
| |
| setPoseProvider(newPoseProvider); |
| |
| if(getPoseProvider() != null) |
| { |
| // Resets pose. |
| lastPoseAdded = null; |
| currentWayPointPath = null; |
| |
| if(getPoseProvider().getPoseTransform() != null) |
| { |
| updatePose(getPoseProvider().getPoseTransform()); |
| } |
| } |
| |
| // Updates total distance. |
| ApogyCommonTransactionFacade.INSTANCE.basicSet(this, ApogyAddonsPackage.Literals.TRAJECTORY3_DTOOL__TOTAL_DISTANCE, computeTotalDistance()); |
| } |
| |
| protected ApogySystemApiAdapter resolveApogySystemApiAdapter(Variable variable) |
| { |
| ApogySystemApiAdapter apogySystemApiAdapter = null; |
| |
| if(ApogyCoreInvocatorFacade.INSTANCE.getActiveInvocatorSession() != null) |
| { |
| if(variable != null) |
| { |
| AbstractTypeImplementation abstractTypeImplementation = ApogyCoreInvocatorFacade.INSTANCE.getTypeImplementation(variable); |
| if(abstractTypeImplementation != null) |
| { |
| if(abstractTypeImplementation.getAdapterInstance() instanceof ApogySystemApiAdapter) |
| { |
| apogySystemApiAdapter = (ApogySystemApiAdapter) abstractTypeImplementation.getAdapterInstance(); |
| |
| } |
| } |
| } |
| } |
| |
| return apogySystemApiAdapter; |
| } |
| |
| protected Adapter getPoseProviderAdapter() |
| { |
| if(poseProviderAdapter == null) |
| { |
| poseProviderAdapter = new AdapterImpl() |
| { |
| @Override |
| public void notifyChanged(Notification msg) |
| { |
| if(isActive() && !isDisposed()) |
| { |
| if(msg.getFeatureID(PoseProvider.class) == ApogyCorePackage.POSE_PROVIDER__POSE_TRANSFORM) |
| { |
| if(isPenDown()) |
| { |
| if(msg.getNewValue() instanceof Matrix4x4) |
| { |
| Matrix4x4 newPose = (Matrix4x4) msg.getNewValue(); |
| |
| updatePose(newPose); |
| } |
| } |
| } |
| } |
| } |
| }; |
| } |
| |
| return poseProviderAdapter; |
| } |
| |
| private VariableAdapter getVariableAdapter() |
| { |
| if(variableAdapter == null) |
| { |
| variableAdapter = new VariableAdapter(); |
| } |
| |
| return variableAdapter; |
| } |
| |
| private class VariableAdapter extends AdapterImpl |
| { |
| private InvocatorSession currentInvocatorSession = null; |
| private Environment currentEnvironment = null; |
| private Context currentContext = null; |
| |
| public void notifyChanged(Notification msg) |
| { |
| // Monitor changes to the active InvocatorSession. |
| if(msg.getNotifier() instanceof ApogyCoreInvocatorFacade) |
| { |
| int featureId = msg.getFeatureID(ApogyCoreInvocatorFacade.class); |
| switch (featureId) |
| { |
| case ApogyCoreInvocatorPackage.APOGY_CORE_INVOCATOR_FACADE__ACTIVE_INVOCATOR_SESSION: |
| { |
| setInvocatorSession((InvocatorSession) msg.getNewValue()); |
| } |
| break; |
| |
| case ApogyCoreInvocatorPackage.APOGY_CORE_INVOCATOR_FACADE__INIT_VARIABLE_INSTANCES_DATE: |
| { |
| // Updates the Pose Provider in a Transaction friendly way. |
| updatePoseProvider(); |
| } |
| break; |
| |
| default: |
| break; |
| } |
| } |
| else if(msg.getNotifier() instanceof InvocatorSession) |
| { |
| int featureId = msg.getFeatureID(InvocatorSession.class); |
| switch (featureId) |
| { |
| case ApogyCoreInvocatorPackage.INVOCATOR_SESSION__ENVIRONMENT: |
| { |
| setEnvironment((Environment) msg.getNewValue()); |
| } |
| break; |
| |
| default: |
| break; |
| } |
| } |
| else if(msg.getNotifier() instanceof Environment) |
| { |
| int featureId = msg.getFeatureID(Environment.class); |
| switch (featureId) |
| { |
| case ApogyCoreInvocatorPackage.ENVIRONMENT__ACTIVE_CONTEXT: |
| { |
| setContext((Context) msg.getNewValue()); |
| } |
| break; |
| } |
| } |
| else if(msg.getNotifier() instanceof Context) |
| { |
| int featureId = msg.getFeatureID(Context.class); |
| switch (featureId) |
| { |
| case ApogyCoreInvocatorPackage.CONTEXT__INSTANCES_CREATION_DATE: |
| { |
| // Updates the Pose Provider in a Transaction friendly way. |
| updatePoseProvider(); |
| } |
| break; |
| } |
| |
| } |
| } |
| |
| public void setInvocatorSession(InvocatorSession newInvocatorSession) |
| { |
| if(currentInvocatorSession != null) |
| { |
| currentInvocatorSession.eAdapters().remove(this); |
| } |
| |
| currentInvocatorSession = newInvocatorSession; |
| |
| if(currentInvocatorSession != null) |
| { |
| currentInvocatorSession.eAdapters().add(this); |
| setEnvironment(currentInvocatorSession.getEnvironment()); |
| } |
| } |
| |
| public void setEnvironment(Environment newEnvironment) |
| { |
| if(currentEnvironment != null) |
| { |
| currentEnvironment.eAdapters().remove(this); |
| } |
| |
| setContext(null); |
| |
| currentEnvironment = newEnvironment; |
| |
| if(currentEnvironment != null) |
| { |
| currentEnvironment.eAdapters().add(this); |
| setContext(currentEnvironment.getActiveContext()); |
| } |
| } |
| |
| public void setContext(Context newContext) |
| { |
| if(currentContext != null) |
| { |
| currentContext.eAdapters().remove(this); |
| } |
| |
| currentContext = newContext; |
| |
| if(newContext != null) |
| { |
| newContext.eAdapters().add(this); |
| |
| // Updates the Pose Provider in a Transaction friendly way. |
| updatePoseProvider(); |
| } |
| } |
| } |
| |
| } //Trajectory3DToolImpl |
