/*
* This file is part of the Remote Sensor Actuator Interface (ReSAI).
*
* Copyright(c) Andreas Kipp, Frederic Siepmann
* http://opensource.cit-ec.de/projects/resai
*
* This file may be licensed under the terms of of the
* GNU Lesser General Public License Version 3 (the ``LGPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the LGPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the LGPL along with this
* program. If not, go to http://www.gnu.org/licenses/lgpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by the
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
* The Excellence Cluster EXC 277 is a grant of the Deutsche
* Forschungsgemeinschaft (DFG) in the context of the German
* Excellence Initiative.
*
*/

/**
 * Panel for the navigation actuator.
 *
 * @author akipp
 */

package de.unibi.airobots.resaijavaclient.gui.panels.components;

import java.awt.GridBagConstraints;
import java.awt.GridBagLayout;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.util.HashMap;
import java.util.Observable;

import javax.swing.JButton;

import de.unibi.airobots.resaijavaclient.gui.panels.components.template.PanelTemplate;

public class NavigationPanel extends PanelTemplate implements ActionListener {

	private static final long serialVersionUID = 1L;

	private JButton btnForward = new JButton("Forward");
	private JButton btnLeft = new JButton("Left");
	private JButton btnRight = new JButton("Right");
	private JButton btnStop = new JButton("Stop");
	private JButton btnBackward = new JButton("Backward");
	
	public NavigationPanel() {
		setLayout(new GridBagLayout());
		GridBagConstraints c = new GridBagConstraints();

		c.fill = GridBagConstraints.HORIZONTAL;
		c.gridx = 1;
		c.gridy = 0;
		add(btnForward, c);
		btnForward.addActionListener(this);

		c.gridx = 0;
		c.gridy = 1;
		add(btnLeft, c);
		btnLeft.addActionListener(this);
		
		c.gridx = 1;
		c.gridy = 1;
		add(btnStop, c);
		btnStop.addActionListener(this);
		
		c.gridx = 2;
		c.gridy = 1;
		add(btnRight, c);
		btnRight.addActionListener(this);
		
		c.gridx = 1;
		c.gridy = 2;
		add(btnBackward, c);
		btnBackward.addActionListener(this);
		
	}

	@Override
	public void update(Observable arg0, Object arg1) {

	}

	@Override
	public void actionPerformed(ActionEvent e) {
		if(e.getSource().equals(btnLeft)) {
			sendCommand("LEFT");
		}
		
		if(e.getSource().equals(btnRight)) {
			sendCommand("RIGHT");
		}
		
		if(e.getSource().equals(btnForward)) {
			sendCommand("FORWARD");
		}
		
		if(e.getSource().equals(btnStop)) {
			sendCommand("MANUALSTOP");
		}
		
		if(e.getSource().equals(btnBackward)) {
			sendCommand("BACKWARD");
		}
	}
	
	private void sendCommand(String command) {
		HashMap<String, String> propertiesToSend = new HashMap<String, String>();
		propertiesToSend.put("TAG", "NavigationActuatorThread");
		propertiesToSend.put(command, "true");
		overviewController.sendMessage(propertiesToSend);
	}		
}