bundles/examples/org.eclipse.apogy.examples.robotic_arm.ui/src/org/eclipse/apogy/examples/robotic_arm/ui/composites/RoboticArmControlComposite.java - gerrit/apogy/apogy - Git at Google

 /*******************************************************************************
  * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency
  * 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
  *
 <<<<<<< HEAD
  * Contributors:
  *     Pierre Allard - initial API and implementation
  *     Regent L'Archeveque
  *
 =======
  * Contributors:
  *     Pierre Allard,
  *     Regent L'Archeveque  - initial API and implementation
  *
 >>>>>>> refs/heads/eclipse_pa
  * SPDX-License-Identifier: EPL-1.0
  *******************************************************************************/
 package org.eclipse.apogy.examples.robotic_arm.ui.composites;

 import org.eclipse.apogy.common.emf.ui.composites.TypedElementSimpleUnitsComposite;
 import org.eclipse.apogy.examples.robotic_arm.ApogyExamplesRoboticArmPackage;
 import org.eclipse.apogy.examples.robotic_arm.MoveSpeedLevel;
 import org.eclipse.apogy.examples.robotic_arm.RoboticArm;
 import org.eclipse.core.databinding.DataBindingContext;
 import org.eclipse.core.databinding.UpdateValueStrategy;
 import org.eclipse.core.databinding.conversion.Converter;
 import org.eclipse.core.databinding.observable.value.IObservableValue;
 import org.eclipse.core.runtime.IProgressMonitor;
 import org.eclipse.core.runtime.IStatus;
 import org.eclipse.core.runtime.Status;
 import org.eclipse.core.runtime.jobs.Job;
 import org.eclipse.emf.databinding.EMFProperties;
 import org.eclipse.jface.databinding.swt.WidgetProperties;
 import org.eclipse.swt.SWT;
 import org.eclipse.swt.events.DisposeEvent;
 import org.eclipse.swt.events.DisposeListener;
 import org.eclipse.swt.events.ModifyEvent;
 import org.eclipse.swt.events.ModifyListener;
 import org.eclipse.swt.events.SelectionAdapter;
 import org.eclipse.swt.events.SelectionEvent;
 import org.eclipse.swt.events.VerifyEvent;
 import org.eclipse.swt.events.VerifyListener;
 import org.eclipse.swt.layout.GridData;
 import org.eclipse.swt.layout.GridLayout;
 import org.eclipse.swt.widgets.Button;
 import org.eclipse.swt.widgets.Combo;
 import org.eclipse.swt.widgets.Composite;
 import org.eclipse.swt.widgets.Display;
 import org.eclipse.swt.widgets.Group;
 import org.eclipse.swt.widgets.Label;
 import org.eclipse.swt.widgets.Text;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

 public class RoboticArmControlComposite extends Composite {
 	private static final Logger Logger = LoggerFactory.getLogger(RoboticArmControlComposite.class);

 	private static final String DEGREE_SYM = "\u00b0";
 	private static final String MOVING_STR = "Moving";
 	private static final String STOPPED_STR = "Stopped";
 	private static final String READY_STR = "Ready";
 	private static final String NOT_READY_STR = "Not Ready";

 	private DataBindingContext m_bindingContext;
 	private RoboticArm roboticArm;

 	private final Text txtInitialized;
 	private final Text txtMoving;
 	private final Text txtWristEditValue;
 	private final Text txtTurretEditValue;
 	private final Text txtShoulderEditValue;
 	private final Text txtElbowEditValue;

 	private final TypedElementSimpleUnitsComposite lblTurretValue;
 	private final TypedElementSimpleUnitsComposite lblElbowValue;
 	private final TypedElementSimpleUnitsComposite lblShoulderValue;
 	private final TypedElementSimpleUnitsComposite lblWristValue;
 	private final Button btnInitialized;
 	private final Button btnStow;
 	private final Button btnMoveTo;
 	private final Combo cmbSpeedMode;

 	/**
 	 * Create the parentComposite.
 	 *
 	 * @param parent
 	 * @param style
 	 */
 	public RoboticArmControlComposite(Composite parent, int style) {
 		super(parent, style);
 		setLayout(new GridLayout(2, false));

 		this.addDisposeListener(new DisposeListener() {
 			@Override
 			public void widgetDisposed(DisposeEvent e) {
 				RoboticArmControlComposite.this.m_bindingContext.dispose();
 			}
 		});

 		Group compositeStatus = new Group(this, SWT.BORDER);
 		compositeStatus.setText("Status");
 		compositeStatus.setLayout(new GridLayout(2, true));

 		this.txtInitialized = new Text(compositeStatus, SWT.CENTER | SWT.NO_FOCUS);
 		this.txtInitialized.setEditable(false);
 		this.txtInitialized.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, true, 1, 1));

 		this.txtMoving = new Text(compositeStatus, SWT.CENTER | SWT.NO_FOCUS);
 		this.txtMoving.setEditable(false);
 		this.txtMoving.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, true, 1, 1));
 		this.txtMoving.addModifyListener(new ModifyListener() {
 			@Override
 			public void modifyText(ModifyEvent e) {
 				if (RoboticArmControlComposite.this.txtMoving.getText().equals(MOVING_STR) == true) {
 					RoboticArmControlComposite.this.txtMoving
 							.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));
 				} else if (RoboticArmControlComposite.this.txtMoving.getText().equals(STOPPED_STR) == true) {
 					RoboticArmControlComposite.this.txtMoving
 							.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_RED));
 				}
 			}
 		});
 		this.txtMoving.setText(STOPPED_STR);

 		Group composite = new Group(this, SWT.BORDER);
 		composite.setText("High Level Commands");
 		composite.setLayout(new GridLayout(3, false));

 		this.btnInitialized = new Button(composite, SWT.NONE);
 		this.btnInitialized.setText("Initialize");
 		this.btnInitialized.addSelectionListener(new SelectionAdapter() {
 			@Override
 			public void widgetSelected(SelectionEvent e) {
 				if (RoboticArmControlComposite.this.roboticArm != null) {
 					Job initJob = new InitJob();

 					initJob.schedule();
 				}
 			}
 		});
 		this.btnInitialized.setLayoutData(new GridData(SWT.LEFT, SWT.CENTER, false, true, 1, 1));

 		this.btnStow = new Button(composite, SWT.NONE);
 		this.btnStow.setText("Stow");
 		this.btnStow.addSelectionListener(new SelectionAdapter() {
 			@Override
 			public void widgetSelected(SelectionEvent e) {
 				if (RoboticArmControlComposite.this.roboticArm != null) {
 					Job stowJob = new StowJob();

 					stowJob.schedule();
 				}
 			}
 		});

 		this.cmbSpeedMode = new Combo(composite, SWT.READ_ONLY);
 		this.cmbSpeedMode.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 1, 1));
 		this.cmbSpeedMode.add(MoveSpeedLevel.SLOW.getLiteral());
 		this.cmbSpeedMode.add(MoveSpeedLevel.MEDIUM.getLiteral());
 		this.cmbSpeedMode.add(MoveSpeedLevel.FAST.getLiteral());

 		this.cmbSpeedMode.addSelectionListener(new SelectionAdapter() {
 			@Override
 			public void widgetSelected(SelectionEvent e) {
 				if (RoboticArmControlComposite.this.roboticArm != null) {
 					String newSpeedMode = RoboticArmControlComposite.this.cmbSpeedMode.getText();
 					MoveSpeedLevel newSpeedLevel = MoveSpeedLevel.get(newSpeedMode);

 					Job speedJob = new SpeedModeJob(newSpeedLevel);

 					speedJob.schedule();
 				}
 			}
 		});

 		Group compositeJoints = new Group(this, SWT.NONE);
 		compositeJoints.setText("Joints");
 		compositeJoints.setLayoutData(new GridData(SWT.FILL, SWT.TOP, false, false, 2, 1));
 		compositeJoints.setLayout(new GridLayout(6, true));
 		new Label(compositeJoints, SWT.NONE);

 		Label lblTurret = new Label(compositeJoints, SWT.NONE);
 		lblTurret.setText("Turret (" + DEGREE_SYM + ")");
 		lblTurret.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, true, false, 1, 1));

 		Label lblShoulder = new Label(compositeJoints, SWT.NONE);
 		lblShoulder.setText("Shoulder (" + DEGREE_SYM + ")");
 		lblShoulder.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, true, false, 1, 1));

 		Label lblElbow = new Label(compositeJoints, SWT.NONE);
 		lblElbow.setText("Elbow (" + DEGREE_SYM + ")");
 		lblElbow.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, true, false, 1, 1));

 		Label lblWrist = new Label(compositeJoints, SWT.NONE);
 		lblWrist.setText("Wrist (" + DEGREE_SYM + ")");
 		lblWrist.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, true, false, 1, 1));

 		Label lblNewLabel = new Label(compositeJoints, SWT.NONE);
 		lblNewLabel.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 1, 1));

 		Label lblActuals = new Label(compositeJoints, SWT.NONE);
 		lblActuals.setText("Actuals");
 		lblActuals.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));

 		// lblTurretValue = formToolkit.createLabel(compositeJoints, "0.0", SWT.CENTER);
 		this.lblTurretValue = new TypedElementSimpleUnitsComposite(compositeJoints, SWT.BORDER, false, true, "N/A");
 		this.lblTurretValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
 		this.lblTurretValue.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));

 		this.lblShoulderValue = new TypedElementSimpleUnitsComposite(compositeJoints, SWT.BORDER, false, true, "N/A");
 		this.lblShoulderValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
 		this.lblShoulderValue.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));

 		this.lblElbowValue = new TypedElementSimpleUnitsComposite(compositeJoints, SWT.BORDER, false, true, "N/A");
 		this.lblElbowValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
 		this.lblElbowValue.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));

 		this.lblWristValue = new TypedElementSimpleUnitsComposite(compositeJoints, SWT.BORDER, false, true, "N/A");
 		this.lblWristValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
 		this.lblWristValue.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));

 		Button btnLoad = new Button(compositeJoints, SWT.NONE);
 		btnLoad.setText("Load");
 		btnLoad.addSelectionListener(new SelectionAdapter() {
 			@Override
 			public void widgetSelected(SelectionEvent e) {
 				if (getRoboticArm() != null) {
 					RoboticArmControlComposite.this.txtTurretEditValue
 							.setText(Double.toString(getRoboticArm().getTurretAngle()));
 					RoboticArmControlComposite.this.txtShoulderEditValue
 							.setText(Double.toString(getRoboticArm().getShoulderAngle()));
 					RoboticArmControlComposite.this.txtElbowEditValue
 							.setText(Double.toString(getRoboticArm().getElbowAngle()));
 					RoboticArmControlComposite.this.txtWristEditValue
 							.setText(Double.toString(getRoboticArm().getWristAngle()));
 				}
 			}
 		});
 		btnLoad.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, false, true, 1, 1));

 		Label lblCommanded = new Label(compositeJoints, SWT.NONE);
 		lblCommanded.setText("Commanded");
 		lblCommanded.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));

 		this.txtTurretEditValue = new Text(compositeJoints, SWT.CENTER);
 		this.txtTurretEditValue.setText("0.0");
 		this.txtTurretEditValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
 		this.txtTurretEditValue.addVerifyListener(new AngleValueVerifyListener());

 		this.txtShoulderEditValue = new Text(compositeJoints, SWT.CENTER);
 		this.txtShoulderEditValue.setText("0.0");
 		this.txtShoulderEditValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
 		this.txtShoulderEditValue.addVerifyListener(new AngleValueVerifyListener());

 		this.txtElbowEditValue = new Text(compositeJoints, SWT.CENTER);
 		this.txtElbowEditValue.setText("0.0");
 		this.txtElbowEditValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, false, false, 1, 1));
 		this.txtElbowEditValue.addVerifyListener(new AngleValueVerifyListener());

 		this.txtWristEditValue = new Text(compositeJoints, SWT.CENTER);
 		this.txtWristEditValue.setText("0.0");
 		this.txtWristEditValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
 		this.txtWristEditValue.addVerifyListener(new AngleValueVerifyListener());

 		this.btnMoveTo = new Button(compositeJoints, SWT.NONE);
 		this.btnMoveTo.setText("MoveTo");
 		this.btnMoveTo.addSelectionListener(new SelectionAdapter() {
 			@Override
 			public void widgetSelected(SelectionEvent e) {
 				if (RoboticArmControlComposite.this.roboticArm != null) {
 					double turret = Math.toRadians(
 							Double.parseDouble(RoboticArmControlComposite.this.txtTurretEditValue.getText()));
 					double shoulder = Math.toRadians(
 							Double.parseDouble(RoboticArmControlComposite.this.txtShoulderEditValue.getText()));
 					double elbow = Math
 							.toRadians(Double.parseDouble(RoboticArmControlComposite.this.txtElbowEditValue.getText()));
 					double wrist = Math
 							.toRadians(Double.parseDouble(RoboticArmControlComposite.this.txtWristEditValue.getText()));

 					Job moveToJob = new MoveToJob(turret, shoulder, elbow, wrist);

 					moveToJob.schedule();
 				}
 			}
 		});
 		this.btnMoveTo.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, true, 1, 1));

 		this.txtInitialized.addModifyListener(new ModifyListener() {
 			@Override
 			public void modifyText(ModifyEvent e) {
 				if (RoboticArmControlComposite.this.txtInitialized.getText().equals(READY_STR) == true) {
 					RoboticArmControlComposite.this.txtInitialized
 							.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));
 					RoboticArmControlComposite.this.btnInitialized.setEnabled(false);
 					RoboticArmControlComposite.this.btnStow.setEnabled(true);
 					RoboticArmControlComposite.this.btnMoveTo.setEnabled(true);
 					RoboticArmControlComposite.this.cmbSpeedMode.setEnabled(true);
 				} else if (RoboticArmControlComposite.this.txtInitialized.getText().equals(NOT_READY_STR) == true) {
 					RoboticArmControlComposite.this.txtInitialized
 							.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_RED));
 					RoboticArmControlComposite.this.btnInitialized.setEnabled(true);
 					RoboticArmControlComposite.this.btnStow.setEnabled(false);
 					RoboticArmControlComposite.this.btnMoveTo.setEnabled(false);
 					RoboticArmControlComposite.this.cmbSpeedMode.setEnabled(false);
 				}
 			}
 		});
 		this.txtInitialized.setText(NOT_READY_STR);

 		// Dispose
 		addDisposeListener(new DisposeListener() {
 			@Override
 			public void widgetDisposed(DisposeEvent e) {
 				if (RoboticArmControlComposite.this.m_bindingContext != null)
 					RoboticArmControlComposite.this.m_bindingContext.dispose();

 			}
 		});
 	}

 	public void setRoboticArm(RoboticArm newRoboticArm) {
 		this.roboticArm = newRoboticArm;

 		if (this.m_bindingContext != null) {
 			this.m_bindingContext.dispose();
 			this.m_bindingContext = null;
 		}

 		if (newRoboticArm != null && !isDisposed()) {
 			this.m_bindingContext = initDataBindings();
 		}
 	}

 	public RoboticArm getRoboticArm() {
 		return this.roboticArm;
 	}

 	private class AngleValueVerifyListener implements VerifyListener {
 		@Override
 		public void verifyText(VerifyEvent e) {
 			String oldText = ((Text) e.widget).getText();
 			String newText = oldText.substring(0, e.start) + e.text + oldText.substring(e.end);

 			try {
 				Double.parseDouble(newText);
 			} catch (NumberFormatException ex) {
 				e.text = "";
 				e.doit = false;
 			}
 		}
 	}

 	public class InitJob extends Job {
 		public InitJob() {
 			super("Robotic Arm - Initialize");

 			setSystem(true);
 		}

 		@Override
 		public IStatus run(IProgressMonitor arg0) {
 			try {
 				RoboticArmControlComposite.this.roboticArm.init();
 			} catch (Exception ex) {
 				ex.printStackTrace();
 			}

 			return Status.OK_STATUS;
 		}
 	}

 	public class StowJob extends Job {
 		public StowJob() {
 			super("Robotic Arm - Stow");

 			setSystem(true);
 		}

 		@Override
 		protected IStatus run(IProgressMonitor arg0) {
 			try {
 				RoboticArmControlComposite.this.roboticArm.stow();
 			} catch (Exception ex) {
 				ex.printStackTrace();
 			}

 			return Status.OK_STATUS;
 		}
 	};

 	private class SpeedModeJob extends Job {
 		private final MoveSpeedLevel speedModeLevel;

 		public SpeedModeJob(MoveSpeedLevel level) {
 			super("Robotic Arm - Speed Mode Change");

 			this.speedModeLevel = level;

 			setSystem(true);
 		}

 		@Override
 		protected IStatus run(IProgressMonitor arg0) {
 			try {
 				RoboticArmControlComposite.this.roboticArm.cmdMoveSpeedLevel(this.speedModeLevel);
 			} catch (Exception ex) {
 				ex.printStackTrace();
 			}

 			return Status.OK_STATUS;
 		}
 	}

 	@SuppressWarnings({ "rawtypes", "unchecked" })
 	protected DataBindingContext initDataBindings() {
 		DataBindingContext bindingContext = new DataBindingContext();

 		// Start binding

 		this.m_bindingContext = new DataBindingContext();

 		// Turret Angle.
 		try {
 			this.lblTurretValue.setTypedElement(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__TURRET_ANGLE,
 					getRoboticArm());
 		} catch (Throwable t) {
 			Logger.error(t.getMessage(), t);
 		}

 		// Shoulder Angle.
 		try {
 			this.lblShoulderValue.setTypedElement(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__SHOULDER_ANGLE,
 					getRoboticArm());
 		} catch (Throwable t) {
 			Logger.error(t.getMessage(), t);
 		}

 		// ELbow Angle.
 		try {
 			this.lblElbowValue.setTypedElement(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__ELBOW_ANGLE,
 					getRoboticArm());
 		} catch (Throwable t) {
 			Logger.error(t.getMessage(), t);
 		}

 		// Wrist Angle.
 		try {
 			this.lblWristValue.setTypedElement(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__WRIST_ANGLE,
 					getRoboticArm());
 		} catch (Throwable t) {
 			Logger.error(t.getMessage(), t);
 		}

 		// Enablement.
 		IObservableValue<?> observeInitializedValue = EMFProperties
 				.value(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__INITIALIZED).observe(getRoboticArm());

 		// Stow Enablement
 		IObservableValue<?> observeBtnStowEnable = WidgetProperties.enabled().observe(this.btnStow);
 		bindingContext.bindValue(observeBtnStowEnable, observeInitializedValue,
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER), new UpdateValueStrategy());

 		// Cmd Speed Enablement
 		IObservableValue<?> observeCmbSpeedModeEnable = WidgetProperties.enabled().observe(this.cmbSpeedMode);
 		bindingContext.bindValue(observeCmbSpeedModeEnable, observeInitializedValue,
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER), new UpdateValueStrategy());

 		// Move to
 		IObservableValue<?> observeBtnMoveToEnable = WidgetProperties.enabled().observe(this.btnMoveTo);
 		bindingContext.bindValue(observeBtnMoveToEnable, observeInitializedValue,
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER), new UpdateValueStrategy());

 		// Moving
 		IObservableValue<?> observeTextTxtMovingObserveWidget = WidgetProperties.text().observe(this.txtMoving);
 		IObservableValue roboticArmArmMovingObserveValue = EMFProperties
 				.value(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__ARM_MOVING).observe(getRoboticArm());

 		this.m_bindingContext.bindValue(observeTextTxtMovingObserveWidget, roboticArmArmMovingObserveValue,
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER),
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_UPDATE)
 						.setConverter(new Converter(boolean.class, String.class) {
 							@Override
 							public Object convert(Object arg0) {
 								return ((Boolean) arg0).booleanValue() ? MOVING_STR : STOPPED_STR;
 							}
 						}));

 		// Ready Enablement
 		IObservableValue<?> observeTxtInitializedEnabled = WidgetProperties.enabled().observe(this.txtInitialized);
 		bindingContext.bindValue(observeTxtInitializedEnabled, observeInitializedValue,
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER), new UpdateValueStrategy());

 		// Ready
 		IObservableValue<?> observeTxtInitializedObserveWidget = WidgetProperties.text().observe(this.txtInitialized);
 		this.m_bindingContext.bindValue(observeTxtInitializedObserveWidget, observeInitializedValue,
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER),
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_UPDATE)
 						.setConverter(new Converter(boolean.class, String.class) {
 							@Override
 							public Object convert(Object arg0) {
 								return ((Boolean) arg0).booleanValue() ? READY_STR : NOT_READY_STR;
 							}
 						}));

 		IObservableValue observeTextCmdMoveSpeedObserveWidget = WidgetProperties.singleSelectionIndex()
 				.observe(this.cmbSpeedMode);
 		IObservableValue roboticArmMoveSpeedObserveValue = EMFProperties
 				.value(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__SPEED).observe(getRoboticArm());
 		this.m_bindingContext.bindValue(observeTextCmdMoveSpeedObserveWidget, roboticArmMoveSpeedObserveValue,
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER),
 				new UpdateValueStrategy(UpdateValueStrategy.POLICY_UPDATE)
 						.setConverter(new Converter(MoveSpeedLevel.class, Integer.class) {
 							@Override
 							public Object convert(Object obj) {
 								String literal = ((MoveSpeedLevel) obj).getLiteral();

 								for (int index = 0; index < RoboticArmControlComposite.this.cmbSpeedMode
 										.getItemCount(); index++) {
 									if (literal.equals(
 											RoboticArmControlComposite.this.cmbSpeedMode.getItems()[index]) == true) {
 										return new Integer(index);
 									}
 								}
 								return new Integer(-1);
 							}
 						}));

 		return bindingContext;
 	}

 	private class MoveToJob extends Job {
 		private final double turretValue;
 		private final double shoulderValue;
 		private final double elbowValue;
 		private final double wristValue;

 		public MoveToJob(double turret, double shoulder, double elbow, double wrist) {
 			super("Robotic Arm - Move To");

 			this.turretValue = turret;
 			this.shoulderValue = shoulder;
 			this.elbowValue = elbow;
 			this.wristValue = wrist;

 			setSystem(true);
 		}

 		@Override
 		public IStatus run(IProgressMonitor monitor) {
 			try {
 				RoboticArmControlComposite.this.roboticArm.moveTo(this.turretValue, this.shoulderValue, this.elbowValue,
 						this.wristValue);
 			} catch (Exception ex) {
 				ex.printStackTrace();
 			}

 			return Status.OK_STATUS;
 		}
 	}
 }
	/*******************************************************************************
	* Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency
	* 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
	*
	<<<<<<< HEAD
	* Contributors:
	* Pierre Allard - initial API and implementation
	* Regent L'Archeveque
	*
	=======
	* Contributors:
	* Pierre Allard,
	* Regent L'Archeveque - initial API and implementation
	*
	>>>>>>> refs/heads/eclipse_pa
	* SPDX-License-Identifier: EPL-1.0
	*******************************************************************************/
	package org.eclipse.apogy.examples.robotic_arm.ui.composites;

	import org.eclipse.apogy.common.emf.ui.composites.TypedElementSimpleUnitsComposite;
	import org.eclipse.apogy.examples.robotic_arm.ApogyExamplesRoboticArmPackage;
	import org.eclipse.apogy.examples.robotic_arm.MoveSpeedLevel;
	import org.eclipse.apogy.examples.robotic_arm.RoboticArm;
	import org.eclipse.core.databinding.DataBindingContext;
	import org.eclipse.core.databinding.UpdateValueStrategy;
	import org.eclipse.core.databinding.conversion.Converter;
	import org.eclipse.core.databinding.observable.value.IObservableValue;
	import org.eclipse.core.runtime.IProgressMonitor;
	import org.eclipse.core.runtime.IStatus;
	import org.eclipse.core.runtime.Status;
	import org.eclipse.core.runtime.jobs.Job;
	import org.eclipse.emf.databinding.EMFProperties;
	import org.eclipse.jface.databinding.swt.WidgetProperties;
	import org.eclipse.swt.SWT;
	import org.eclipse.swt.events.DisposeEvent;
	import org.eclipse.swt.events.DisposeListener;
	import org.eclipse.swt.events.ModifyEvent;
	import org.eclipse.swt.events.ModifyListener;
	import org.eclipse.swt.events.SelectionAdapter;
	import org.eclipse.swt.events.SelectionEvent;
	import org.eclipse.swt.events.VerifyEvent;
	import org.eclipse.swt.events.VerifyListener;
	import org.eclipse.swt.layout.GridData;
	import org.eclipse.swt.layout.GridLayout;
	import org.eclipse.swt.widgets.Button;
	import org.eclipse.swt.widgets.Combo;
	import org.eclipse.swt.widgets.Composite;
	import org.eclipse.swt.widgets.Display;
	import org.eclipse.swt.widgets.Group;
	import org.eclipse.swt.widgets.Label;
	import org.eclipse.swt.widgets.Text;
	import org.slf4j.Logger;
	import org.slf4j.LoggerFactory;

	public class RoboticArmControlComposite extends Composite {
	private static final Logger Logger = LoggerFactory.getLogger(RoboticArmControlComposite.class);

	private static final String DEGREE_SYM = "\u00b0";
	private static final String MOVING_STR = "Moving";
	private static final String STOPPED_STR = "Stopped";
	private static final String READY_STR = "Ready";
	private static final String NOT_READY_STR = "Not Ready";

	private DataBindingContext m_bindingContext;
	private RoboticArm roboticArm;

	private final Text txtInitialized;
	private final Text txtMoving;
	private final Text txtWristEditValue;
	private final Text txtTurretEditValue;
	private final Text txtShoulderEditValue;
	private final Text txtElbowEditValue;

	private final TypedElementSimpleUnitsComposite lblTurretValue;
	private final TypedElementSimpleUnitsComposite lblElbowValue;
	private final TypedElementSimpleUnitsComposite lblShoulderValue;
	private final TypedElementSimpleUnitsComposite lblWristValue;
	private final Button btnInitialized;
	private final Button btnStow;
	private final Button btnMoveTo;
	private final Combo cmbSpeedMode;

	/**
	* Create the parentComposite.
	*
	* @param parent
	* @param style
	*/
	public RoboticArmControlComposite(Composite parent, int style) {
	super(parent, style);
	setLayout(new GridLayout(2, false));

	this.addDisposeListener(new DisposeListener() {
	@Override
	public void widgetDisposed(DisposeEvent e) {
	RoboticArmControlComposite.this.m_bindingContext.dispose();
	}
	});

	Group compositeStatus = new Group(this, SWT.BORDER);
	compositeStatus.setText("Status");
	compositeStatus.setLayout(new GridLayout(2, true));

	this.txtInitialized = new Text(compositeStatus, SWT.CENTER \| SWT.NO_FOCUS);
	this.txtInitialized.setEditable(false);
	this.txtInitialized.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, true, 1, 1));

	this.txtMoving = new Text(compositeStatus, SWT.CENTER \| SWT.NO_FOCUS);
	this.txtMoving.setEditable(false);
	this.txtMoving.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, true, 1, 1));
	this.txtMoving.addModifyListener(new ModifyListener() {
	@Override
	public void modifyText(ModifyEvent e) {
	if (RoboticArmControlComposite.this.txtMoving.getText().equals(MOVING_STR) == true) {
	RoboticArmControlComposite.this.txtMoving
	.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));
	} else if (RoboticArmControlComposite.this.txtMoving.getText().equals(STOPPED_STR) == true) {
	RoboticArmControlComposite.this.txtMoving
	.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_RED));
	}
	}
	});
	this.txtMoving.setText(STOPPED_STR);

	Group composite = new Group(this, SWT.BORDER);
	composite.setText("High Level Commands");
	composite.setLayout(new GridLayout(3, false));

	this.btnInitialized = new Button(composite, SWT.NONE);
	this.btnInitialized.setText("Initialize");
	this.btnInitialized.addSelectionListener(new SelectionAdapter() {
	@Override
	public void widgetSelected(SelectionEvent e) {
	if (RoboticArmControlComposite.this.roboticArm != null) {
	Job initJob = new InitJob();

	initJob.schedule();
	}
	}
	});
	this.btnInitialized.setLayoutData(new GridData(SWT.LEFT, SWT.CENTER, false, true, 1, 1));

	this.btnStow = new Button(composite, SWT.NONE);
	this.btnStow.setText("Stow");
	this.btnStow.addSelectionListener(new SelectionAdapter() {
	@Override
	public void widgetSelected(SelectionEvent e) {
	if (RoboticArmControlComposite.this.roboticArm != null) {
	Job stowJob = new StowJob();

	stowJob.schedule();
	}
	}
	});

	this.cmbSpeedMode = new Combo(composite, SWT.READ_ONLY);
	this.cmbSpeedMode.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 1, 1));
	this.cmbSpeedMode.add(MoveSpeedLevel.SLOW.getLiteral());
	this.cmbSpeedMode.add(MoveSpeedLevel.MEDIUM.getLiteral());
	this.cmbSpeedMode.add(MoveSpeedLevel.FAST.getLiteral());

	this.cmbSpeedMode.addSelectionListener(new SelectionAdapter() {
	@Override
	public void widgetSelected(SelectionEvent e) {
	if (RoboticArmControlComposite.this.roboticArm != null) {
	String newSpeedMode = RoboticArmControlComposite.this.cmbSpeedMode.getText();
	MoveSpeedLevel newSpeedLevel = MoveSpeedLevel.get(newSpeedMode);

	Job speedJob = new SpeedModeJob(newSpeedLevel);

	speedJob.schedule();
	}
	}
	});

	Group compositeJoints = new Group(this, SWT.NONE);
	compositeJoints.setText("Joints");
	compositeJoints.setLayoutData(new GridData(SWT.FILL, SWT.TOP, false, false, 2, 1));
	compositeJoints.setLayout(new GridLayout(6, true));
	new Label(compositeJoints, SWT.NONE);

	Label lblTurret = new Label(compositeJoints, SWT.NONE);
	lblTurret.setText("Turret (" + DEGREE_SYM + ")");
	lblTurret.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, true, false, 1, 1));

	Label lblShoulder = new Label(compositeJoints, SWT.NONE);
	lblShoulder.setText("Shoulder (" + DEGREE_SYM + ")");
	lblShoulder.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, true, false, 1, 1));

	Label lblElbow = new Label(compositeJoints, SWT.NONE);
	lblElbow.setText("Elbow (" + DEGREE_SYM + ")");
	lblElbow.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, true, false, 1, 1));

	Label lblWrist = new Label(compositeJoints, SWT.NONE);
	lblWrist.setText("Wrist (" + DEGREE_SYM + ")");
	lblWrist.setLayoutData(new GridData(SWT.CENTER, SWT.CENTER, true, false, 1, 1));

	Label lblNewLabel = new Label(compositeJoints, SWT.NONE);
	lblNewLabel.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, false, 1, 1));

	Label lblActuals = new Label(compositeJoints, SWT.NONE);
	lblActuals.setText("Actuals");
	lblActuals.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));

	// lblTurretValue = formToolkit.createLabel(compositeJoints, "0.0", SWT.CENTER);
	this.lblTurretValue = new TypedElementSimpleUnitsComposite(compositeJoints, SWT.BORDER, false, true, "N/A");
	this.lblTurretValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
	this.lblTurretValue.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));

	this.lblShoulderValue = new TypedElementSimpleUnitsComposite(compositeJoints, SWT.BORDER, false, true, "N/A");
	this.lblShoulderValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
	this.lblShoulderValue.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));

	this.lblElbowValue = new TypedElementSimpleUnitsComposite(compositeJoints, SWT.BORDER, false, true, "N/A");
	this.lblElbowValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
	this.lblElbowValue.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));

	this.lblWristValue = new TypedElementSimpleUnitsComposite(compositeJoints, SWT.BORDER, false, true, "N/A");
	this.lblWristValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
	this.lblWristValue.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));

	Button btnLoad = new Button(compositeJoints, SWT.NONE);
	btnLoad.setText("Load");
	btnLoad.addSelectionListener(new SelectionAdapter() {
	@Override
	public void widgetSelected(SelectionEvent e) {
	if (getRoboticArm() != null) {
	RoboticArmControlComposite.this.txtTurretEditValue
	.setText(Double.toString(getRoboticArm().getTurretAngle()));
	RoboticArmControlComposite.this.txtShoulderEditValue
	.setText(Double.toString(getRoboticArm().getShoulderAngle()));
	RoboticArmControlComposite.this.txtElbowEditValue
	.setText(Double.toString(getRoboticArm().getElbowAngle()));
	RoboticArmControlComposite.this.txtWristEditValue
	.setText(Double.toString(getRoboticArm().getWristAngle()));
	}
	}
	});
	btnLoad.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, false, true, 1, 1));

	Label lblCommanded = new Label(compositeJoints, SWT.NONE);
	lblCommanded.setText("Commanded");
	lblCommanded.setLayoutData(new GridData(SWT.RIGHT, SWT.CENTER, false, false, 1, 1));

	this.txtTurretEditValue = new Text(compositeJoints, SWT.CENTER);
	this.txtTurretEditValue.setText("0.0");
	this.txtTurretEditValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
	this.txtTurretEditValue.addVerifyListener(new AngleValueVerifyListener());

	this.txtShoulderEditValue = new Text(compositeJoints, SWT.CENTER);
	this.txtShoulderEditValue.setText("0.0");
	this.txtShoulderEditValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
	this.txtShoulderEditValue.addVerifyListener(new AngleValueVerifyListener());

	this.txtElbowEditValue = new Text(compositeJoints, SWT.CENTER);
	this.txtElbowEditValue.setText("0.0");
	this.txtElbowEditValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, false, false, 1, 1));
	this.txtElbowEditValue.addVerifyListener(new AngleValueVerifyListener());

	this.txtWristEditValue = new Text(compositeJoints, SWT.CENTER);
	this.txtWristEditValue.setText("0.0");
	this.txtWristEditValue.setLayoutData(new GridData(SWT.FILL, SWT.FILL, true, false, 1, 1));
	this.txtWristEditValue.addVerifyListener(new AngleValueVerifyListener());

	this.btnMoveTo = new Button(compositeJoints, SWT.NONE);
	this.btnMoveTo.setText("MoveTo");
	this.btnMoveTo.addSelectionListener(new SelectionAdapter() {
	@Override
	public void widgetSelected(SelectionEvent e) {
	if (RoboticArmControlComposite.this.roboticArm != null) {
	double turret = Math.toRadians(
	Double.parseDouble(RoboticArmControlComposite.this.txtTurretEditValue.getText()));
	double shoulder = Math.toRadians(
	Double.parseDouble(RoboticArmControlComposite.this.txtShoulderEditValue.getText()));
	double elbow = Math
	.toRadians(Double.parseDouble(RoboticArmControlComposite.this.txtElbowEditValue.getText()));
	double wrist = Math
	.toRadians(Double.parseDouble(RoboticArmControlComposite.this.txtWristEditValue.getText()));

	Job moveToJob = new MoveToJob(turret, shoulder, elbow, wrist);

	moveToJob.schedule();
	}
	}
	});
	this.btnMoveTo.setLayoutData(new GridData(SWT.FILL, SWT.CENTER, true, true, 1, 1));

	this.txtInitialized.addModifyListener(new ModifyListener() {
	@Override
	public void modifyText(ModifyEvent e) {
	if (RoboticArmControlComposite.this.txtInitialized.getText().equals(READY_STR) == true) {
	RoboticArmControlComposite.this.txtInitialized
	.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_GREEN));
	RoboticArmControlComposite.this.btnInitialized.setEnabled(false);
	RoboticArmControlComposite.this.btnStow.setEnabled(true);
	RoboticArmControlComposite.this.btnMoveTo.setEnabled(true);
	RoboticArmControlComposite.this.cmbSpeedMode.setEnabled(true);
	} else if (RoboticArmControlComposite.this.txtInitialized.getText().equals(NOT_READY_STR) == true) {
	RoboticArmControlComposite.this.txtInitialized
	.setBackground(Display.getCurrent().getSystemColor(SWT.COLOR_RED));
	RoboticArmControlComposite.this.btnInitialized.setEnabled(true);
	RoboticArmControlComposite.this.btnStow.setEnabled(false);
	RoboticArmControlComposite.this.btnMoveTo.setEnabled(false);
	RoboticArmControlComposite.this.cmbSpeedMode.setEnabled(false);
	}
	}
	});
	this.txtInitialized.setText(NOT_READY_STR);

	// Dispose
	addDisposeListener(new DisposeListener() {
	@Override
	public void widgetDisposed(DisposeEvent e) {
	if (RoboticArmControlComposite.this.m_bindingContext != null)
	RoboticArmControlComposite.this.m_bindingContext.dispose();

	}
	});
	}

	public void setRoboticArm(RoboticArm newRoboticArm) {
	this.roboticArm = newRoboticArm;

	if (this.m_bindingContext != null) {
	this.m_bindingContext.dispose();
	this.m_bindingContext = null;
	}

	if (newRoboticArm != null && !isDisposed()) {
	this.m_bindingContext = initDataBindings();
	}
	}

	public RoboticArm getRoboticArm() {
	return this.roboticArm;
	}

	private class AngleValueVerifyListener implements VerifyListener {
	@Override
	public void verifyText(VerifyEvent e) {
	String oldText = ((Text) e.widget).getText();
	String newText = oldText.substring(0, e.start) + e.text + oldText.substring(e.end);

	try {
	Double.parseDouble(newText);
	} catch (NumberFormatException ex) {
	e.text = "";
	e.doit = false;
	}
	}
	}

	public class InitJob extends Job {
	public InitJob() {
	super("Robotic Arm - Initialize");

	setSystem(true);
	}

	@Override
	public IStatus run(IProgressMonitor arg0) {
	try {
	RoboticArmControlComposite.this.roboticArm.init();
	} catch (Exception ex) {
	ex.printStackTrace();
	}

	return Status.OK_STATUS;
	}
	}

	public class StowJob extends Job {
	public StowJob() {
	super("Robotic Arm - Stow");

	setSystem(true);
	}

	@Override
	protected IStatus run(IProgressMonitor arg0) {
	try {
	RoboticArmControlComposite.this.roboticArm.stow();
	} catch (Exception ex) {
	ex.printStackTrace();
	}

	return Status.OK_STATUS;
	}
	};

	private class SpeedModeJob extends Job {
	private final MoveSpeedLevel speedModeLevel;

	public SpeedModeJob(MoveSpeedLevel level) {
	super("Robotic Arm - Speed Mode Change");

	this.speedModeLevel = level;

	setSystem(true);
	}

	@Override
	protected IStatus run(IProgressMonitor arg0) {
	try {
	RoboticArmControlComposite.this.roboticArm.cmdMoveSpeedLevel(this.speedModeLevel);
	} catch (Exception ex) {
	ex.printStackTrace();
	}

	return Status.OK_STATUS;
	}
	}

	@SuppressWarnings({ "rawtypes", "unchecked" })
	protected DataBindingContext initDataBindings() {
	DataBindingContext bindingContext = new DataBindingContext();

	// Start binding

	this.m_bindingContext = new DataBindingContext();

	// Turret Angle.
	try {
	this.lblTurretValue.setTypedElement(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__TURRET_ANGLE,
	getRoboticArm());
	} catch (Throwable t) {
	Logger.error(t.getMessage(), t);
	}

	// Shoulder Angle.
	try {
	this.lblShoulderValue.setTypedElement(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__SHOULDER_ANGLE,
	getRoboticArm());
	} catch (Throwable t) {
	Logger.error(t.getMessage(), t);
	}

	// ELbow Angle.
	try {
	this.lblElbowValue.setTypedElement(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__ELBOW_ANGLE,
	getRoboticArm());
	} catch (Throwable t) {
	Logger.error(t.getMessage(), t);
	}

	// Wrist Angle.
	try {
	this.lblWristValue.setTypedElement(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__WRIST_ANGLE,
	getRoboticArm());
	} catch (Throwable t) {
	Logger.error(t.getMessage(), t);
	}

	// Enablement.
	IObservableValue<?> observeInitializedValue = EMFProperties
	.value(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__INITIALIZED).observe(getRoboticArm());

	// Stow Enablement
	IObservableValue<?> observeBtnStowEnable = WidgetProperties.enabled().observe(this.btnStow);
	bindingContext.bindValue(observeBtnStowEnable, observeInitializedValue,
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER), new UpdateValueStrategy());

	// Cmd Speed Enablement
	IObservableValue<?> observeCmbSpeedModeEnable = WidgetProperties.enabled().observe(this.cmbSpeedMode);
	bindingContext.bindValue(observeCmbSpeedModeEnable, observeInitializedValue,
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER), new UpdateValueStrategy());

	// Move to
	IObservableValue<?> observeBtnMoveToEnable = WidgetProperties.enabled().observe(this.btnMoveTo);
	bindingContext.bindValue(observeBtnMoveToEnable, observeInitializedValue,
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER), new UpdateValueStrategy());

	// Moving
	IObservableValue<?> observeTextTxtMovingObserveWidget = WidgetProperties.text().observe(this.txtMoving);
	IObservableValue roboticArmArmMovingObserveValue = EMFProperties
	.value(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__ARM_MOVING).observe(getRoboticArm());

	this.m_bindingContext.bindValue(observeTextTxtMovingObserveWidget, roboticArmArmMovingObserveValue,
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER),
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_UPDATE)
	.setConverter(new Converter(boolean.class, String.class) {
	@Override
	public Object convert(Object arg0) {
	return ((Boolean) arg0).booleanValue() ? MOVING_STR : STOPPED_STR;
	}
	}));

	// Ready Enablement
	IObservableValue<?> observeTxtInitializedEnabled = WidgetProperties.enabled().observe(this.txtInitialized);
	bindingContext.bindValue(observeTxtInitializedEnabled, observeInitializedValue,
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER), new UpdateValueStrategy());

	// Ready
	IObservableValue<?> observeTxtInitializedObserveWidget = WidgetProperties.text().observe(this.txtInitialized);
	this.m_bindingContext.bindValue(observeTxtInitializedObserveWidget, observeInitializedValue,
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER),
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_UPDATE)
	.setConverter(new Converter(boolean.class, String.class) {
	@Override
	public Object convert(Object arg0) {
	return ((Boolean) arg0).booleanValue() ? READY_STR : NOT_READY_STR;
	}
	}));

	IObservableValue observeTextCmdMoveSpeedObserveWidget = WidgetProperties.singleSelectionIndex()
	.observe(this.cmbSpeedMode);
	IObservableValue roboticArmMoveSpeedObserveValue = EMFProperties
	.value(ApogyExamplesRoboticArmPackage.Literals.ROBOTIC_ARM__SPEED).observe(getRoboticArm());
	this.m_bindingContext.bindValue(observeTextCmdMoveSpeedObserveWidget, roboticArmMoveSpeedObserveValue,
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_NEVER),
	new UpdateValueStrategy(UpdateValueStrategy.POLICY_UPDATE)
	.setConverter(new Converter(MoveSpeedLevel.class, Integer.class) {
	@Override
	public Object convert(Object obj) {
	String literal = ((MoveSpeedLevel) obj).getLiteral();

	for (int index = 0; index < RoboticArmControlComposite.this.cmbSpeedMode
	.getItemCount(); index++) {
	if (literal.equals(
	RoboticArmControlComposite.this.cmbSpeedMode.getItems()[index]) == true) {
	return new Integer(index);
	}
	}
	return new Integer(-1);
	}
	}));

	return bindingContext;
	}

	private class MoveToJob extends Job {
	private final double turretValue;
	private final double shoulderValue;
	private final double elbowValue;
	private final double wristValue;

	public MoveToJob(double turret, double shoulder, double elbow, double wrist) {
	super("Robotic Arm - Move To");

	this.turretValue = turret;
	this.shoulderValue = shoulder;
	this.elbowValue = elbow;
	this.wristValue = wrist;

	setSystem(true);
	}

	@Override
	public IStatus run(IProgressMonitor monitor) {
	try {
	RoboticArmControlComposite.this.roboticArm.moveTo(this.turretValue, this.shoulderValue, this.elbowValue,
	this.wristValue);
	} catch (Exception ex) {
	ex.printStackTrace();
	}

	return Status.OK_STATUS;
	}
	}
	}