Source Code of Makelangelo.Makelangelo

package Makelangelo;
/**@(#)drawbotGUI.java
 *
 * drawbot application with GUI
 *
 * @author Dan Royer (dan@marginallyclever.com)
 * @version 1.00 2012/2/28
 */




// io functions
import jssc.*;


import java.awt.BorderLayout;
import java.awt.Color;
import java.awt.Container;
import java.awt.Dimension;
import java.awt.Font;
import java.awt.GridBagConstraints;
import java.awt.GridBagLayout;
import java.awt.Insets;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.awt.event.KeyEvent;
import java.awt.event.KeyListener;
import java.awt.image.BufferedImage;
import java.beans.PropertyChangeEvent;
import java.beans.PropertyChangeListener;
import java.io.BufferedInputStream;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileInputStream;
import java.io.FileOutputStream;
import java.io.FileWriter;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.io.PrintWriter;
import java.net.URL;
import java.text.NumberFormat;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Calendar;
import java.util.Iterator;
import java.util.List;
import java.util.prefs.Preferences;


import javax.imageio.ImageIO;
import javax.sound.sampled.*;
import javax.swing.*;
import javax.swing.filechooser.FileFilter;
import javax.swing.filechooser.FileNameExtensionFilter;
import javax.swing.text.BadLocationException;
import javax.swing.text.DefaultCaret;
import javax.swing.text.html.HTMLDocument;
import javax.swing.text.html.HTMLEditorKit;


import org.kabeja.dxf.*;
import org.kabeja.dxf.helpers.*;
import org.kabeja.parser.*;


import DrawingTools.DrawingTool;
import Filters.*;




// TODO while not drawing, in-app gcode editing with immediate visual feedback 
// TODO image processing options - cutoff, exposure, resolution, voronoi stippling
// TODO vector output


public class Makelangelo
    extends JPanel
    implements ActionListener, KeyListener, SerialPortEventListener
{
  // Java required?
  static final long serialVersionUID=1L;


  // software version
  static final String version="3";
  
  private static Makelangelo singletonObject;
  
  // Image processing
    // TODO use a ServiceLoader for plugins
    Filter [] image_converters;
    String [] filter_names = null;
    boolean startConvertingNow;
  
  
  // TODO put all serial stuff in a SerialConnection (Connection) class, hide it inside Robot class?
  // Serial connection
    private static final int BAUD_RATE = 57600;
    //private CommPortIdentifier portIdentifier;
    //private CommPort commPort;
    private SerialPort serialPort;
    private String[] portsDetected;
    private boolean portOpened=false;
    private boolean portConfirmed=false;
    // Serial communication
    static private final String cue = "> ";
    static private final String hello = "HELLO WORLD! I AM DRAWBOT #";
    static private final String nochecksum = "NOCHECKSUM";
    static private final String badchecksum = "BADCHECKSUM ";
    static private final String badlinenum = "BADLINENUM ";
  
  // parsing input from Makelangelo
  private String serial_recv_buffer="";
  
  private Preferences prefs = Preferences.userRoot().node("DrawBot");
  private String[] recentFiles;
  private String recentPort;
  //private boolean allowMetrics=true;
  
  // Metrics?
  PublishImage reportImage = new PublishImage();
  DistanceMetric reportDistance = new DistanceMetric();
  
  // machine settings while running
  private double feed_rate;
  private boolean penIsUp,penIsUpBeforePause;
  
  // GUI elements
  private static JFrame mainframe;
  private JMenuBar menuBar;
    private JMenuItem buttonOpenFile, buttonHilbertCurve, buttonText2GCODE, buttonSaveFile, buttonExit;
    private JMenuItem buttonAdjustSounds, buttonAdjustGraphics, buttonAdjustMachineSize, buttonAdjustPulleySize, buttonChangeTool, buttonAdjustTool, buttonRescan, buttonDisconnect, buttonJogMotors;
    private JMenuItem buttonStart, buttonStartAt, buttonPause, buttonHalt;
    private JMenuItem buttonZoomIn,buttonZoomOut,buttonZoomToFit;
    private JMenuItem buttonAbout,buttonCheckForUpdate;
    
    private JMenuItem [] buttonRecent = new JMenuItem[10];
    private JMenuItem [] buttonPorts;


    public boolean dialog_result=false;
    
    // logging
    private JTextPane log;
    private JScrollPane logPane;
    HTMLEditorKit kit;
    HTMLDocument doc;
    PrintWriter logToFile;
    
    // panels
    private DrawPanel previewPane;
  private StatusBar statusBar;
  private JPanel drivePane;
  
  // command line
  private JPanel textInputArea;
  private JTextField commandLineText;
  private JButton commandLineSend;


  // reading file
  private boolean running=false;
  private boolean paused=true;
  
  GCodeFile gcode = new GCodeFile();
  
  


  private void RaisePen() {
    SendLineToRobot("G00 Z"+MachineConfiguration.getSingleton().getPenUpString());
    penIsUp=true;
  }
  
  private void LowerPen() {
    SendLineToRobot("G00 Z"+MachineConfiguration.getSingleton().getPenDownString());
    penIsUp=false;
  }
  
  private Makelangelo() {
    StartLog();
    MachineConfiguration.getSingleton().LoadConfig();
        GetRecentFiles();
        GetRecentPort();
        LoadImageConverters();
  }
  
  // TODO use a serviceLoader instead
  protected void LoadImageConverters() {
    image_converters = new Filter[7];  // this number must match the actual number of filters.
    int i=0;
    image_converters[i++] = new Filter_GeneratorTSP();
    image_converters[i++] = new Filter_GeneratorSpiral();
    image_converters[i++] = new Filter_GeneratorCrosshatch();
    image_converters[i++] = new Filter_GeneratorScanline();
    image_converters[i++] = new Filter_GeneratorPulse();
    image_converters[i++] = new Filter_GeneratorBoxes();
    image_converters[i++] = new Filter_GeneratorRGB();
    
    filter_names = new String[image_converters.length];
    for(i=0;i<image_converters.length;++i) {
      filter_names[i] = image_converters[i].GetName();
    }
  }
  
  protected void finalize() throws Throwable {
    //do finalization here
    EndLog();
    super.finalize(); //not necessary if extending Object.
  } 




  @Override
  public void keyTyped(KeyEvent e) {}


    /** Handle the key-pressed event from the text field. */
    public void keyPressed(KeyEvent e) {}


    /** Handle the key-released event from the text field. */
    public void keyReleased(KeyEvent e) {
    if(e.getKeyCode() == KeyEvent.VK_ENTER) {
      if(portConfirmed && !running) {
        ProcessLine(commandLineText.getText());
        commandLineText.setText("");
      }
    }
  }
  
  private void StartLog() {
    try {
      logToFile = new PrintWriter(new FileWriter("log.html"));
      Calendar cal = Calendar.getInstance();
      SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
      logToFile.write("<h3>"+sdf.format(cal.getTime())+"</h3>\n");
    } catch (IOException e) {
      // TODO Auto-generated catch block
      e.printStackTrace();
    }
  }


  private void EndLog() {
    logToFile.close();
  }
  
  public static Makelangelo getSingleton() {
    if(singletonObject==null) {
      singletonObject = new Makelangelo();
    }
    return singletonObject;
  }
  
  //  data access
  public ArrayList<String> getGcode() {
    return gcode.lines;
  }


  private void PlaySound(String url) {
    if(url.isEmpty()) return;
    
    try {
      Clip clip = AudioSystem.getClip();
      BufferedInputStream x = new BufferedInputStream(new FileInputStream(url));
      AudioInputStream inputStream = AudioSystem.getAudioInputStream(x);
      clip.open(inputStream);
      clip.start(); 
    } catch (Exception e) {
      e.printStackTrace();
      System.err.println(e.getMessage());
    }
  }
  
  private void PlayConnectSound() {
    PlaySound(prefs.get("sound_connect", ""));
  }
  
  private void PlayDisconnectSound() {
    PlaySound(prefs.get("sound_disconnect", ""));
  }
  
  public void PlayConversionFinishedSound() {
    PlaySound(prefs.get("sound_conversion_finished", ""));
  }
  
  private void PlayDawingFinishedSound() {
    PlaySound(prefs.get("sound_drawing_finished", ""));
  }
    
  private void SetDrawStyle(int style) {
    prefs.putInt("Draw Style", style);
  }
  private int GetDrawStyle() {
    return prefs.getInt("Draw Style", 0);
  }
  
  
  private void HilbertCurve() {
    Filter_GeneratorHilbertCurve msg = new Filter_GeneratorHilbertCurve();
    msg.Generate( GetTempDestinationFile() );
    previewPane.ZoomToFitPaper();
  }
  
  
  private void TextToGCODE() {
    Filter_GeneratorYourMessageHere msg = new Filter_GeneratorYourMessageHere();


    msg.Generate( GetTempDestinationFile() );


      previewPane.ZoomToFitPaper();
  }
  


  // appends a message to the log tab and system out.
  public void Log(String msg) {
    // remove the 
    if(msg.indexOf(';') != -1 ) msg = msg.substring(0,msg.indexOf(';'));
    
    msg=msg.replace("\n", "<br>\n")+"\n";
    msg=msg.replace("\n\n","\n");
    logToFile.write(msg);
    logToFile.flush();


    try {
      kit.insertHTML(doc, doc.getLength(), msg, 0, 0, null);
      int over_length = doc.getLength() - msg.length() - 5000;
      doc.remove(0, over_length);
      //logPane.getVerticalScrollBar().setValue(logPane.getVerticalScrollBar().getMaximum());
    } catch (BadLocationException e) {
      // Do we care if it fails?
    } catch (IOException e) {
      // Do we care if it fails?
    }
  }
  
  public void ClearLog() {
    try {
      doc.replace(0, doc.getLength(), "", null);
      kit.insertHTML(doc, 0, "", 0,0,null);
      //logPane.getVerticalScrollBar().setValue(logPane.getVerticalScrollBar().getMaximum());
    } catch (BadLocationException e) {
      // Do we care if it fails?
    } catch (IOException e) {
      // Do we care if it fails?
    }
  }
  
  public void ClosePort() {
    if(portOpened) {
        if (serialPort != null) {
            try {
              serialPort.removeEventListener();
              serialPort.closePort();
            } catch (SerialPortException e) {}
        }


        ClearLog();
      portOpened=false;
      portConfirmed=false;
      previewPane.setConnected(false);
      UpdateMenuBar();
      PlayDisconnectSound();
    }
  }
  
  // open a serial connection to a device.  We won't know it's the robot until  
  public int OpenPort(String portName) {
    if(portOpened && portName.equals(recentPort)) return 0;
    
    ClosePort();
    
    Log("<font color='green'>"+MultilingualSupport.getSingleton().get("ConnectingTo") + portName+"...</font>\n");
    
    // open the port
    serialPort = new SerialPort(portName);
    try {
            serialPort.openPort();// Open serial port
            serialPort.setParams(BAUD_RATE,SerialPort.DATABITS_8,SerialPort.STOPBITS_1,SerialPort.PARITY_NONE);
            serialPort.addEventListener(this);
        } catch (SerialPortException e) {
      Log("<span style='color:red'>"+MultilingualSupport.getSingleton().get("PortNotConfigured")+e.getMessage()+"</span>\n");
      return 3;
    }


    Log("<span style='color:green'>"+MultilingualSupport.getSingleton().get("PortOpened")+"</span>\n");
    SetRecentPort(portName);
    portOpened=true;
    UpdateMenuBar();
    PlayConnectSound();
    
    return 0;
  }


  /**
   * Check if the robot reports an error and if so what line number 
   * @return
   */
  protected int ErrorReported() {
    if(portConfirmed==false) return -1;


    if( serial_recv_buffer.lastIndexOf(nochecksum) != -1 ) {
      String after_error = serial_recv_buffer.substring(serial_recv_buffer.lastIndexOf(nochecksum) + nochecksum.length());
      String x=GetNumberPortion(after_error);
      return Integer.decode(x);
    }
    if( serial_recv_buffer.lastIndexOf(badchecksum) != -1 ) {
      String after_error = serial_recv_buffer.substring(serial_recv_buffer.lastIndexOf(badchecksum) + badchecksum.length());
      String x=GetNumberPortion(after_error);
      return Integer.decode(x);
    }
    if( serial_recv_buffer.lastIndexOf(badlinenum) != -1 ) {
      String after_error = serial_recv_buffer.substring(serial_recv_buffer.lastIndexOf(badlinenum) + badlinenum.length());
      String x=GetNumberPortion(after_error);
      return Integer.decode(x);
    }
    
    return -1;
  }
  
  protected String GetNumberPortion(String src) {
      int length = src.length();
      String result = "";
      for (int i = 0; i < length; i++) {
          Character character = src.charAt(i);
          if (Character.isDigit(character)) {
              result += character;
          }
      }
      return result;
  }
  
  /**
   * Complete the handshake, load robot-specific configuration, update the menu, repaint the preview with the limits.
   * @return true if handshake succeeds.
   */
  public boolean ConfirmPort() {
    if(portConfirmed==true) return true;
    if(serial_recv_buffer.lastIndexOf(hello) >= 0) {
      portConfirmed=true;
      
      String after_hello = serial_recv_buffer.substring(serial_recv_buffer.lastIndexOf(hello) + hello.length());
      MachineConfiguration.getSingleton().ParseRobotUID(after_hello);
      
      mainframe.setTitle(MultilingualSupport.getSingleton().get("TitlePrefix") 
          + Long.toString(MachineConfiguration.getSingleton().robot_uid) 
          + MultilingualSupport.getSingleton().get("TitlePostfix"));


      // did read go ok?
      if(MachineConfiguration.getSingleton().robot_uid!=0) {
        reportDistance.SetUID(MachineConfiguration.getSingleton().robot_uid);
      }


      SendConfig();
      previewPane.updateMachineConfig();


      UpdateMenuBar();
      previewPane.setConnected(true);
    }
    return portConfirmed;
  }
  
  // find all available serial ports for the settings->ports menu.
  public String[] ListSerialPorts() {
        if(System.getProperty("os.name").equals("Mac OS X")){
          portsDetected = SerialPortList.getPortNames("/dev/");
            //System.out.println("OS X");
        } else {
          portsDetected = SerialPortList.getPortNames("COM");
            //System.out.println("Windows");
        }
        
      return portsDetected;
  }
  
  // pull the last connected port from prefs
  public void GetRecentPort() {
    recentPort = prefs.get("recent-port", "");
  }
  
  // update the prefs with the last port connected and refreshes the menus.
  // @TODO: only update when the port is confirmed?
  public void SetRecentPort(String portName) {
    prefs.put("recent-port", portName);
    recentPort=portName;
    UpdateMenuBar();
  }
  
  /**
   * Opens a file.  If the file can be opened, get a drawing time estimate, update recent files list, and repaint the preview tab.
   * @param filename what file to open
   */
  public void LoadGCode(String filename) {
    try {
      gcode.Load(filename);
         Log("<font color='green'>"+gcode.estimate_count + MultilingualSupport.getSingleton().get("LineSegments")
             + "\n" + gcode.estimated_length + MultilingualSupport.getSingleton().get("Centimeters") + "\n"
             + MultilingualSupport.getSingleton().get("EstimatedTime") + statusBar.formatTime((long)(gcode.estimated_time)) + "s.</font>\n");
      }
      catch(IOException e) {
        Log("<span style='color:red'>"+MultilingualSupport.getSingleton().get("FileNotOpened") + e.getLocalizedMessage()+"</span>\n");
        RemoveRecentFile(filename);
        return;
      }
      
      previewPane.setGCode(gcode.lines);
      Halt();
  }
  
  public String GetTempDestinationFile() {
    return System.getProperty("user.dir")+"/temp.ngc";
  }




  protected boolean ChooseDXFConversionOptions() {
    final JDialog driver = new JDialog(mainframe,MultilingualSupport.getSingleton().get("ConversionOptions"),true);
    driver.setLayout(new GridBagLayout());
    
    final JSlider input_paper_margin = new JSlider(JSlider.HORIZONTAL, 0, 50, 100-(int)(MachineConfiguration.getSingleton().paper_margin*100));
    input_paper_margin.setMajorTickSpacing(10);
    input_paper_margin.setMinorTickSpacing(5);
    input_paper_margin.setPaintTicks(false);
    input_paper_margin.setPaintLabels(true);
    
    //final JCheckBox allow_metrics = new JCheckBox(String.valueOf("I want to add the distance drawn to the // total"));
    //allow_metrics.setSelected(allowMetrics);
    
    final JCheckBox reverse_h = new JCheckBox(MultilingualSupport.getSingleton().get("FlipForGlass"));
    reverse_h.setSelected(MachineConfiguration.getSingleton().reverseForGlass);


    final JButton cancel = new JButton(MultilingualSupport.getSingleton().get("Cancel"));
    final JButton save = new JButton(MultilingualSupport.getSingleton().get("Start"));
    
    GridBagConstraints c = new GridBagConstraints();
    //c.gridwidth=4;   c.gridx=0;  c.gridy=0;  driver.add(allow_metrics,c);


    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=0;  c.gridy=8;  driver.add(new JLabel(MultilingualSupport.getSingleton().get("PaperMargin")),c);
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=3;  c.gridx=1;  c.gridy=8;  driver.add(input_paper_margin,c);
    
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=1;  c.gridy=11; driver.add(reverse_h,c);
    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=2;  c.gridy=12;  driver.add(save,c);
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=3;  c.gridy=12;  driver.add(cancel,c);


    startConvertingNow = false;
    
    ActionListener driveButtons = new ActionListener() {
        public void actionPerformed(ActionEvent e) {
          Object subject = e.getSource();
          if(subject == save) {
            MachineConfiguration.getSingleton().paper_margin=(100-input_paper_margin.getValue())*0.01;
            MachineConfiguration.getSingleton().reverseForGlass=reverse_h.isSelected();
            MachineConfiguration.getSingleton().SaveConfig();
            startConvertingNow=true;
            driver.dispose();
          }
          if(subject == cancel) {
            driver.dispose();
          }
        }
    };
      
    save.addActionListener(driveButtons);
    cancel.addActionListener(driveButtons);
      driver.getRootPane().setDefaultButton(save);
    driver.pack();
    driver.setVisible(true);
    
    return startConvertingNow;
  }
  
  protected boolean LoadDXF(String filename) {
    if( ChooseDXFConversionOptions() == false ) return false;


        // where to save temp output file?
    final String destinationFile = GetTempDestinationFile();
    final String srcFile = filename;
    
    final ProgressMonitor pm = new ProgressMonitor(null, MultilingualSupport.getSingleton().get("Converting"), "", 0, 100);
    pm.setProgress(0);
    pm.setMillisToPopup(0);
    
    final SwingWorker<Void,Void> s = new SwingWorker<Void,Void>() {
      public boolean ok=false;
      
      @Override
      public Void doInBackground() {
        Log("<font color='green'>"+MultilingualSupport.getSingleton().get("Converting")+" "+destinationFile+"</font>\n");


        Parser parser = ParserBuilder.createDefaultParser();


        double dxf_x2=0;
        double dxf_y2=0;
        OutputStreamWriter out=null;


        try {
          out = new OutputStreamWriter(new FileOutputStream(destinationFile),"UTF-8");
          MachineConfiguration mc = MachineConfiguration.getSingleton();
          DrawingTool tool = mc.GetCurrentTool();
          out.write(mc.GetConfigLine()+";\n");
          out.write(mc.GetBobbinLine()+";\n");
          out.write("G00 G90;\n");
          tool.WriteChangeTo(out);
          tool.WriteOff(out);
          
          parser.parse(srcFile, DXFParser.DEFAULT_ENCODING);
          DXFDocument doc = parser.getDocument();
          Bounds b = doc.getBounds();
          double width = b.getMaximumX() - b.getMinimumX();
          double height = b.getMaximumY() - b.getMinimumY();
          double cx = ( b.getMaximumX() + b.getMinimumX() ) / 2.0f;
          double cy = ( b.getMaximumY() + b.getMinimumY() ) / 2.0f;
          double sy = mc.GetPaperHeight()*10/height;
          double sx = mc.GetPaperWidth()*10/width;
          double scale = (sx<sy? sx:sy ) * mc.paper_margin;
          sx = scale * (MachineConfiguration.getSingleton().reverseForGlass? -1 : 1);
          sy = scale;
          
          // count all entities in all layers
          Iterator<DXFLayer> layer_iter = (Iterator<DXFLayer>)doc.getDXFLayerIterator();
          int entity_total=0;
          int entity_count=0;
          while(layer_iter.hasNext()) {
            DXFLayer layer = (DXFLayer)layer_iter.next();
            Log("<font color='yellow'>Found layer "+layer.getName()+"</font>\n");
            Iterator<String> entity_iter = (Iterator<String>)layer.getDXFEntityTypeIterator();
            while(entity_iter.hasNext()) {
              String entity_type = (String)entity_iter.next();
              List<DXFEntity> entity_list = (List<DXFEntity>)layer.getDXFEntities(entity_type);
              Log("<font color='yellow'>+ Found "+entity_list.size()+" of type "+entity_type+"</font>\n");
              entity_total+=entity_list.size();
            }
          }
          // set the progress meter
          pm.setMinimum(0);
          pm.setMaximum(entity_total);
              
          // convert each entity
          layer_iter = doc.getDXFLayerIterator();
          while(layer_iter.hasNext()) {
            DXFLayer layer = (DXFLayer)layer_iter.next();


            Iterator<String> entity_type_iter = (Iterator<String>)layer.getDXFEntityTypeIterator();
            while(entity_type_iter.hasNext()) {
              String entity_type = (String)entity_type_iter.next();
              List<DXFEntity> entity_list = layer.getDXFEntities(entity_type);
              
              if(entity_type.equals(DXFConstants.ENTITY_TYPE_LINE)) {
                for(int i=0;i<entity_list.size();++i) {
                  pm.setProgress(entity_count++);
                  DXFLine entity = (DXFLine)entity_list.get(i);
                  Point start = entity.getStartPoint();
                  Point end = entity.getEndPoint();


                  double x=(start.getX()-cx)*sx;
                  double y=(start.getY()-cy)*sy;
                  double x2=(end.getX()-cx)*sx;
                  double y2=(end.getY()-cy)*sy;
                  
                  // is it worth drawing this line?
                  double dx = x2-x;
                  double dy = y2-y;
                  if(dx*dx+dy*dy < tool.GetDiameter()/2.0) {
                    continue;
                  }
                  
                  dx = dxf_x2 - x;
                  dy = dxf_y2 - y;


                  if(dx*dx+dy*dy > tool.GetDiameter()/2.0) {
                    if(tool.DrawIsOn()) {
                      tool.WriteOff(out);
                    }
                    tool.WriteMoveTo(out, (float)x,(float)y);
                  }
                  if(tool.DrawIsOff()) {
                    tool.WriteOn(out);
                  }
                  tool.WriteMoveTo(out, (float)x2,(float)y2);
                  dxf_x2=x2;
                  dxf_y2=y2;
                }
              } else if(entity_type.equals(DXFConstants.ENTITY_TYPE_SPLINE)) {
                for(int i=0;i<entity_list.size();++i) {
                  pm.setProgress(entity_count++);
                  DXFSpline entity = (DXFSpline)entity_list.get(i);
                  DXFPolyline polyLine = DXFSplineConverter.toDXFPolyline(entity,30);
                  boolean first=true;
                  for(int j=0;j<polyLine.getVertexCount();++j) {
                    DXFVertex v = polyLine.getVertex(j);
                    double x = (v.getX()-cx)*sx;
                    double y = (v.getY()-cy)*sy;
                    double dx = dxf_x2 - x;
                    double dy = dxf_y2 - y;
                    
                    if(first==true) {
                      first=false;
                      if(dx*dx+dy*dy > tool.GetDiameter()/2.0) {
                        // line does not start at last tool location, lift and move.
                        if(tool.DrawIsOn()) {
                          tool.WriteOff(out);
                        }
                        tool.WriteMoveTo(out, (float)x,(float)y);
                      }
                      // else line starts right here, do nothing.
                    } else {
                      // not the first point, draw.
                      if(tool.DrawIsOff()) tool.WriteOn(out);
                      if(j<polyLine.getVertexCount()-1 && dx*dx+dy*dy<tool.GetDiameter()/2.0) continue;  // less than 1mm movement?  Skip it. 
                      tool.WriteMoveTo(out, (float)x,(float)y);
                    }
                    dxf_x2=x;
                    dxf_y2=y;
                  }
                }
              } else if(entity_type.equals(DXFConstants.ENTITY_TYPE_POLYLINE)) {
                for(int i=0;i<entity_list.size();++i) {
                  pm.setProgress(entity_count++);
                  DXFPolyline entity = (DXFPolyline)entity_list.get(i);
                  boolean first=true;
                  for(int j=0;j<entity.getVertexCount();++j) {
                    DXFVertex v = entity.getVertex(j);
                    double x = (v.getX()-cx)*sx;
                    double y = (v.getY()-cy)*sy;
                    double dx = dxf_x2 - x;
                    double dy = dxf_y2 - y;
                    
                    if(first==true) {
                      first=false;
                      if(dx*dx+dy*dy > tool.GetDiameter()/2.0) {
                        // line does not start at last tool location, lift and move.
                        if(tool.DrawIsOn()) {
                          tool.WriteOff(out);
                        }
                        tool.WriteMoveTo(out, (float)x,(float)y);
                      }
                      // else line starts right here, do nothing.
                    } else {
                      // not the first point, draw.
                      if(tool.DrawIsOff()) tool.WriteOn(out);
                      if(j<entity.getVertexCount()-1 && dx*dx+dy*dy<tool.GetDiameter()/2.0) continue;  // less than 1mm movement?  Skip it. 
                      tool.WriteMoveTo(out, (float)x,(float)y);
                    }
                    dxf_x2=x;
                    dxf_y2=y;
                  }
                }
              }
            }
          }


          // entities finished.  Close up file.
          tool.WriteOff(out);
          tool.WriteMoveTo(out, 0, 0);
          
          ok=true;
        } catch(IOException e) {
          e.printStackTrace();
        } catch (org.kabeja.parser.ParseException e) {
          // TODO Auto-generated catch block
          e.printStackTrace();
        } finally {
          try {
            if(out!=null) out.close();
          } catch(IOException e) {
            e.printStackTrace();
          }
            
        }
        
        pm.setProgress(100);
          return null;
      }
      
      @Override
      public void done() {
        pm.close();
        Log("<font color='green'>"+MultilingualSupport.getSingleton().get("Finished")+"</font>\n");
        PlayConversionFinishedSound();
        if(ok) LoadGCode(destinationFile);
          Halt();
      }
    };
    
    s.addPropertyChangeListener(new PropertyChangeListener() {
        // Invoked when task's progress property changes.
        public void propertyChange(PropertyChangeEvent evt) {
            if ("progress" == evt.getPropertyName() ) {
                int progress = (Integer) evt.getNewValue();
                pm.setProgress(progress);
                String message = String.format("%d%%\n", progress);
                pm.setNote(message);
                if(s.isDone()) {
                    Makelangelo.getSingleton().Log("<font color='green'>"+MultilingualSupport.getSingleton().get("Finished")+"</font>\n");
                } else if (s.isCancelled() || pm.isCanceled()) {
                    if (pm.isCanceled()) {
                        s.cancel(true);
                    }
                      Makelangelo.getSingleton().Log("<font color='green'>"+MultilingualSupport.getSingleton().get("Cancelled")+"</font>\n");
                }
            }
        }
    });
    
    s.execute();
    
    return true;
  }


  protected boolean ChooseImageConversionOptions() {
    final JDialog driver = new JDialog(mainframe,MultilingualSupport.getSingleton().get("ConversionOptions"),true);
    driver.setLayout(new GridBagLayout());
    
    final JSlider input_paper_margin = new JSlider(JSlider.HORIZONTAL, 0, 50, 100-(int)(MachineConfiguration.getSingleton().paper_margin*100));
    input_paper_margin.setMajorTickSpacing(10);
    input_paper_margin.setMinorTickSpacing(5);
    input_paper_margin.setPaintTicks(false);
    input_paper_margin.setPaintLabels(true);
    
    //final JCheckBox allow_metrics = new JCheckBox(String.valueOf("I want to add the distance drawn to the // total"));
    //allow_metrics.setSelected(allowMetrics);
    
    final JCheckBox reverse_h = new JCheckBox(MultilingualSupport.getSingleton().get("FlipForGlass"));
    reverse_h.setSelected(MachineConfiguration.getSingleton().reverseForGlass);


    final JComboBox<String> input_draw_style = new JComboBox<String>(filter_names);
    input_draw_style.setSelectedIndex(GetDrawStyle());
    
    final JButton cancel = new JButton("Cancel");
    final JButton save = new JButton("Start");
    
    GridBagConstraints c = new GridBagConstraints();
    //c.gridwidth=4;   c.gridx=0;  c.gridy=0;  driver.add(allow_metrics,c);


    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=0;  c.gridy=8;  driver.add(new JLabel(MultilingualSupport.getSingleton().get("PaperMargin")),c);
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=3;  c.gridx=1;  c.gridy=8;  driver.add(input_paper_margin,c);
    
    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=0;  c.gridy=9;  driver.add(new JLabel(MultilingualSupport.getSingleton().get("ConversionStyle")),c);
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=3;  c.gridx=1;  c.gridy=9;  driver.add(input_draw_style,c);
    
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=1;  c.gridy=11; driver.add(reverse_h,c);
    
    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=2;  c.gridy=12;  driver.add(save,c);
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=3;  c.gridy=12;  driver.add(cancel,c);


    startConvertingNow = false;
    
    ActionListener driveButtons = new ActionListener() {
        public void actionPerformed(ActionEvent e) {
          Object subject = e.getSource();
          if(subject == save) {
            MachineConfiguration.getSingleton().paper_margin=(100-input_paper_margin.getValue())*0.01;
            MachineConfiguration.getSingleton().reverseForGlass=reverse_h.isSelected();
            SetDrawStyle(input_draw_style.getSelectedIndex());
            MachineConfiguration.getSingleton().SaveConfig();
            startConvertingNow=true;
            driver.dispose();
          }
          if(subject == cancel) {
            driver.dispose();
          }
        }
    };
      
    save.addActionListener(driveButtons);
    cancel.addActionListener(driveButtons);
      driver.getRootPane().setDefaultButton(save);
    driver.pack();
    driver.setVisible(true);
    
    return startConvertingNow;
  }
  
  
  public boolean LoadImage(String filename) {
        // where to save temp output file?
    final String sourceFile = filename;
    final String destinationFile = GetTempDestinationFile();
    
    if( ChooseImageConversionOptions() == false ) return false;


    final ProgressMonitor pm = new ProgressMonitor(null, MultilingualSupport.getSingleton().get("Converting"), "", 0, 100);
    pm.setProgress(0);
    pm.setMillisToPopup(0);
    
    final SwingWorker<Void,Void> s = new SwingWorker<Void,Void>() {
      @Override
      public Void doInBackground() {
        // read in image
        BufferedImage img;
        try {
          Log("<font color='green'>"+MultilingualSupport.getSingleton().get("Converting")+" "+destinationFile+"</font>\n");
          // convert with style
          img = ImageIO.read(new File(sourceFile));
          
          int style = GetDrawStyle();
          image_converters[style].SetParent(this);
          image_converters[style].SetProgressMonitor(pm);
          image_converters[style].SetDestinationFile(destinationFile);
          image_converters[style].Convert(img);
        }
        catch(IOException e) {
          Log("<font color='red'>"+MultilingualSupport.getSingleton().get("Failed")+e.getLocalizedMessage()+"</font>\n");
          RemoveRecentFile(sourceFile);
        }


        pm.setProgress(100);
          return null;
      }
      
      @Override
      public void done() {
        pm.close();
        Log("<font color='green'>"+MultilingualSupport.getSingleton().get("Finished")+"</font>\n");
        PlayConversionFinishedSound();
        LoadGCode(destinationFile);
      }
    };
    
    s.addPropertyChangeListener(new PropertyChangeListener() {
        // Invoked when task's progress property changes.
        public void propertyChange(PropertyChangeEvent evt) {
            if ("progress" == evt.getPropertyName() ) {
                int progress = (Integer) evt.getNewValue();
                pm.setProgress(progress);
                String message = String.format("%d%%.\n", progress);
                pm.setNote(message);
                if(s.isDone()) {
                    Makelangelo.getSingleton().Log("<font color='green'>"+MultilingualSupport.getSingleton().get("Finished")+"</font>\n");
                } else if (s.isCancelled() || pm.isCanceled()) {
                    if (pm.isCanceled()) {
                        s.cancel(true);
                    }
                      Makelangelo.getSingleton().Log("<font color='green'>"+MultilingualSupport.getSingleton().get("Cancelled")+"</font>\n");
                }
            }
        }
    });
    
    s.execute();
    
    return true;
  }
  
  
  public boolean IsFileLoaded() {
    return ( gcode.fileOpened && gcode.lines != null && gcode.lines.size() > 0 );
  }
  
  /**
   * changes the order of the recent files list in the File submenu, saves the updated prefs, and refreshes the menus.
   * @param filename the file to push to the top of the list.
   */
  public void UpdateRecentFiles(String filename) {
    int cnt = recentFiles.length;
    String [] newFiles = new String[cnt];
    
    newFiles[0]=filename;
    
    int i,j=1;
    for(i=0;i<cnt;++i) {
      if(!filename.equals(recentFiles[i]) && recentFiles[i] != "") {
        newFiles[j++] = recentFiles[i];
        if(j == cnt ) break;
      }
    }


    recentFiles=newFiles;


    // update prefs
    for(i=0;i<cnt;++i) {
      if( recentFiles[i]!=null && !recentFiles[i].isEmpty()) {
        prefs.put("recent-files-"+i, recentFiles[i]);
      }
    }
    
    UpdateMenuBar();
  }
  
  // A file failed to load.  Remove it from recent files, refresh the menu bar.
  public void RemoveRecentFile(String filename) {
    int i;
    for(i=0;i<recentFiles.length-1;++i) {
      if(recentFiles[i]==filename) {
        break;
      }
    }
    for(;i<recentFiles.length-1;++i) {
      recentFiles[i]=recentFiles[i+1];
    }
    recentFiles[recentFiles.length-1]="";


    // update prefs
    for(i=0;i<recentFiles.length;++i) {
      if(recentFiles[i]!=null && !recentFiles[i].isEmpty()) {
        prefs.put("recent-files-"+i, recentFiles[i]);
      }
    }
    prefs.remove("recent-files-"+(i-1));
    
    UpdateMenuBar();
  }
  
  // Load recent files from prefs
  public void GetRecentFiles() {
    recentFiles = new String[10];
    
    int i;
    for(i=0;i<recentFiles.length;++i) {
      recentFiles[i] = prefs.get("recent-files-"+i, "");
    }
  }  
  
  public boolean IsFileGcode(String filename) {
    String ext=filename.substring(filename.lastIndexOf('.'));
      return (ext.equalsIgnoreCase(".ngc") || ext.equalsIgnoreCase(".gc"));
  }
  
  public boolean IsFileDXF(String filename) {
    String ext=filename.substring(filename.lastIndexOf('.'));
      return (ext.equalsIgnoreCase(".dxf"));
  }
  
  public boolean IsFileImage(String filename) {
    String ext=filename.substring(filename.lastIndexOf('.'));
      return ext.equalsIgnoreCase(".jpg")
          || ext.equalsIgnoreCase(".png")
          || ext.equalsIgnoreCase(".bmp")
          || ext.equalsIgnoreCase(".gif");
  }
  
  // User has asked that a file be opened.
  public void OpenFileOnDemand(String filename) {
    Log("<font color='green'>" + MultilingualSupport.getSingleton().get("OpeningFile") + filename + "...</font>\n");


       UpdateRecentFiles(filename);
       
       if(IsFileGcode(filename)) {
      LoadGCode(filename);
      } else if(IsFileDXF(filename)) {
        LoadDXF(filename);
      } else if(IsFileImage(filename)) {
        LoadImage(filename);
      } else {
        Log("<font color='red'>"+MultilingualSupport.getSingleton().get("UnknownFileType")+"</font>\n");
      }


      previewPane.ZoomToFitPaper();
      statusBar.Clear();
  }


  // creates a file open dialog. If you don't cancel it opens that file.
  public void OpenFileDialog() {
      // Note: source for ExampleFileFilter can be found in FileChooserDemo,
      // under the demo/jfc directory in the Java 2 SDK, Standard Edition.
    String filename = (recentFiles[0].length()>0) ? filename=recentFiles[0] : "";


    FileFilter filterGCODE = new FileNameExtensionFilter(MultilingualSupport.getSingleton().get("FileTypeGCode"), "ngc");
    FileFilter filterImage = new FileNameExtensionFilter(MultilingualSupport.getSingleton().get("FileTypeImage"), "jpg", "jpeg", "png", "wbmp", "bmp", "gif");
    FileFilter filterDXF   = new FileNameExtensionFilter(MultilingualSupport.getSingleton().get("FileTypeDXF"), "dxf");
     
    JFileChooser fc = new JFileChooser(new File(filename));
    fc.addChoosableFileFilter(filterImage);
    fc.addChoosableFileFilter(filterDXF);
    fc.addChoosableFileFilter(filterGCODE);
      if(fc.showOpenDialog(this) == JFileChooser.APPROVE_OPTION) {
        String selectedFile=fc.getSelectedFile().getAbsolutePath();


        // if machine is not yet calibrated
        if(MachineConfiguration.getSingleton().IsPaperConfigured() == false) {
          JOptionPane.showMessageDialog(null,MultilingualSupport.getSingleton().get("SetPaperSize"));
          return;
        }
        OpenFileOnDemand(selectedFile);
      }
  }
  
  private void SaveFileDialog() {
      // Note: source for ExampleFileFilter can be found in FileChooserDemo,
      // under the demo/jfc directory in the Java 2 SDK, Standard Edition.
    String filename = (recentFiles[0].length()>0) ? filename=recentFiles[0] : "";


    FileFilter filterGCODE = new FileNameExtensionFilter(MultilingualSupport.getSingleton().get("FileTypeGCode"), "ngc");
    
    JFileChooser fc = new JFileChooser(new File(filename));
    fc.addChoosableFileFilter(filterGCODE);
      if(fc.showSaveDialog(this) == JFileChooser.APPROVE_OPTION) {
        String selectedFile=fc.getSelectedFile().getAbsolutePath();


      if(!selectedFile.toLowerCase().endsWith(".ngc")) {
        selectedFile+=".ngc";
      }


        try {
          gcode.Save(selectedFile);
        }
        catch(IOException e) {
          Log("<span style='color:red'>"+MultilingualSupport.getSingleton().get("Failed")+e.getMessage()+"</span>\n");
          return;
        }
      }
  }
  
  public void GoHome() {
    SendLineToRobot("G00 F"+feed_rate+" X0 Y0");
  }
  
  private String SelectFile() {
    JFileChooser choose = new JFileChooser();
      int returnVal = choose.showOpenDialog(this);
      if (returnVal == JFileChooser.APPROVE_OPTION) {
          File file = choose.getSelectedFile();
          return file.getAbsolutePath();
      } else {
          //System.out.println("File access cancelled by user.");
        return "";
      }
  }
  
  // Adjust sound preferences
  protected void AdjustSounds() {
    final JDialog driver = new JDialog(mainframe,MultilingualSupport.getSingleton().get("MenuSoundsTitle"),true);
    driver.setLayout(new GridBagLayout());
    
    final JTextField sound_connect = new JTextField(prefs.get("sound_connect",""),32);
    final JTextField sound_disconnect = new JTextField(prefs.get("sound_disconnect", ""),32);
    final JTextField sound_conversion_finished = new JTextField(prefs.get("sound_conversion_finished", ""),32);
    final JTextField sound_drawing_finished = new JTextField(prefs.get("sound_drawing_finished", ""),32);


    final JButton change_sound_connect = new JButton(MultilingualSupport.getSingleton().get("MenuSoundsConnect"));
    final JButton change_sound_disconnect = new JButton(MultilingualSupport.getSingleton().get("MenuSoundsDisconnect"));
    final JButton change_sound_conversion_finished = new JButton(MultilingualSupport.getSingleton().get("MenuSoundsFinishConvert"));
    final JButton change_sound_drawing_finished = new JButton(MultilingualSupport.getSingleton().get("MenuSoundsFinishDraw"));
    
    //final JCheckBox allow_metrics = new JCheckBox(String.valueOf("I want to add the distance drawn to the // total"));
    //allow_metrics.setSelected(allowMetrics);
    
    final JButton cancel = new JButton(MultilingualSupport.getSingleton().get("Cancel"));
    final JButton save = new JButton(MultilingualSupport.getSingleton().get("Save"));
    
    GridBagConstraints c = new GridBagConstraints();
    //c.gridwidth=4;   c.gridx=0;  c.gridy=0;  driver.add(allow_metrics,c);


    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=0;  c.gridy=3;  driver.add(change_sound_connect,c);                c.anchor=GridBagConstraints.WEST;  c.gridwidth=3;  c.gridx=1;  c.gridy=3;  driver.add(sound_connect,c);
    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=0;  c.gridy=4;  driver.add(change_sound_disconnect,c);              c.anchor=GridBagConstraints.WEST;  c.gridwidth=3;  c.gridx=1;  c.gridy=4;  driver.add(sound_disconnect,c);
    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=0;  c.gridy=5;  driver.add(change_sound_conversion_finished,c);          c.anchor=GridBagConstraints.WEST;  c.gridwidth=3;  c.gridx=1;  c.gridy=5;  driver.add(sound_conversion_finished,c);
    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=0;  c.gridy=6;  driver.add(change_sound_drawing_finished,c);          c.anchor=GridBagConstraints.WEST;  c.gridwidth=3;  c.gridx=1;  c.gridy=6;  driver.add(sound_drawing_finished,c);
    
    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=2;  c.gridy=12;  driver.add(save,c);
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=3;  c.gridy=12;  driver.add(cancel,c);
    
    ActionListener driveButtons = new ActionListener() {
        public void actionPerformed(ActionEvent e) {
          Object subject = e.getSource();
          if(subject == change_sound_connect) sound_connect.setText(SelectFile());
          if(subject == change_sound_disconnect) sound_disconnect.setText(SelectFile());
          if(subject == change_sound_conversion_finished) sound_conversion_finished.setText(SelectFile());
          if(subject == change_sound_drawing_finished) sound_drawing_finished.setText(SelectFile());


          if(subject == save) {
            //allowMetrics = allow_metrics.isSelected();
            prefs.put("sound_connect",sound_connect.getText());
            prefs.put("sound_disconnect",sound_disconnect.getText());
            prefs.put("sound_conversion_finished",sound_conversion_finished.getText());
            prefs.put("sound_drawing_finished",sound_drawing_finished.getText());
            MachineConfiguration.getSingleton().SaveConfig();
            driver.dispose();
          }
          if(subject == cancel) {
            driver.dispose();
          }
        }
    };


    change_sound_connect.addActionListener(driveButtons);
    change_sound_disconnect.addActionListener(driveButtons);
    change_sound_conversion_finished.addActionListener(driveButtons);
    change_sound_drawing_finished.addActionListener(driveButtons);
      
    save.addActionListener(driveButtons);
    cancel.addActionListener(driveButtons);
      driver.getRootPane().setDefaultButton(save);
    driver.pack();
    driver.setVisible(true);
  }


    // Adjust graphics preferences  
  protected void AdjustGraphics() {
    final Preferences graphics_prefs = Preferences.userRoot().node("DrawBot").node("Graphics");
    
    final JDialog driver = new JDialog(mainframe,MultilingualSupport.getSingleton().get("MenuGraphicsTitle"),true);
    driver.setLayout(new GridBagLayout());
    
    //final JCheckBox allow_metrics = new JCheckBox(String.valueOf("I want to add the distance drawn to the // total"));
    //allow_metrics.setSelected(allowMetrics);
    
    final JCheckBox show_pen_up = new JCheckBox(MultilingualSupport.getSingleton().get("MenuGraphicsPenUp"));
    final JCheckBox antialias_on = new JCheckBox(MultilingualSupport.getSingleton().get("MenuGraphicsAntialias"));
    final JCheckBox speed_over_quality = new JCheckBox(MultilingualSupport.getSingleton().get("MenuGraphicsSpeedVSQuality"));
    final JCheckBox draw_all_while_running = new JCheckBox(MultilingualSupport.getSingleton().get("MenuGraphicsDrawWhileRunning"));


    show_pen_up.setSelected(graphics_prefs.getBoolean("show pen up", false));
    antialias_on.setSelected(graphics_prefs.getBoolean("antialias", true));
    speed_over_quality.setSelected(graphics_prefs.getBoolean("speed over quality", true));
    draw_all_while_running.setSelected(graphics_prefs.getBoolean("Draw all while running", true));
    
    final JButton cancel = new JButton(MultilingualSupport.getSingleton().get("Cancel"));
    final JButton save = new JButton(MultilingualSupport.getSingleton().get("Save"));
    
    GridBagConstraints c = new GridBagConstraints();
    //c.gridwidth=4;   c.gridx=0;  c.gridy=0;  driver.add(allow_metrics,c);


    int y=0;
    
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=1;  c.gridy=y;  driver.add(show_pen_up,c);  y++;
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=1;  c.gridy=y;  driver.add(draw_all_while_running,c);  y++;
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=1;  c.gridy=y;  driver.add(antialias_on,c);  y++;
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=1;  c.gridy=y;  driver.add(speed_over_quality,c);  y++;
    
    c.anchor=GridBagConstraints.EAST;  c.gridwidth=1;  c.gridx=2;  c.gridy=y;  driver.add(save,c);
    c.anchor=GridBagConstraints.WEST;  c.gridwidth=1;  c.gridx=3;  c.gridy=y;  driver.add(cancel,c);
    
    ActionListener driveButtons = new ActionListener() {
        public void actionPerformed(ActionEvent e) {
          Object subject = e.getSource();
          if(subject == save) {
            //allowMetrics = allow_metrics.isSelected();
            graphics_prefs.putBoolean("show pen up", show_pen_up.isSelected());
            graphics_prefs.putBoolean("antialias", antialias_on.isSelected());
            graphics_prefs.putBoolean("speed over quality", speed_over_quality.isSelected());
            graphics_prefs.putBoolean("Draw all while running", draw_all_while_running.isSelected());


            previewPane.setShowPenUp(show_pen_up.isSelected());
            driver.dispose();
          }
          if(subject == cancel) {
            driver.dispose();
          }
        }
    };


    save.addActionListener(driveButtons);
    cancel.addActionListener(driveButtons);
      driver.getRootPane().setDefaultButton(save);
    driver.pack();
    driver.setVisible(true);
  }
  
  // Send the machine configuration to the robot
  protected void SendConfig() {
    if(!portConfirmed) return;
    
    // Send a command to the robot with new configuration values
    SendLineToRobot(MachineConfiguration.getSingleton().GetConfigLine());
    SendLineToRobot(MachineConfiguration.getSingleton().GetBobbinLine());
    SendLineToRobot("G92 X0 Y0");
  }
  
  
  // Take the next line from the file and send it to the robot, if permitted. 
  public void SendFileCommand() {
    if(running==false || paused==true || gcode.fileOpened==false || portConfirmed==false || gcode.linesProcessed>=gcode.linesTotal) return;
    
    String line;
    do {      
      // are there any more commands?
      // @TODO: find out how far the pen moved each line and add it to the distance total.
      int line_number = gcode.linesProcessed;
      gcode.linesProcessed++;
      line=gcode.lines.get(line_number).trim();
      if(line.length()>3) {
        line="N"+line_number+" "+line;
      }
      line += GenerateChecksum(line);
      
      previewPane.setLinesProcessed(gcode.linesProcessed);
      statusBar.SetProgress(gcode.linesProcessed, gcode.linesTotal);
      // loop until we find a line that gets sent to the robot, at which point we'll
      // pause for the robot to respond.  Also stop at end of file.
    } while(ProcessLine(line) && gcode.linesProcessed<gcode.linesTotal);
    
    if(gcode.linesProcessed==gcode.linesTotal) {
      // end of file
      PlayDawingFinishedSound();
      Halt();
    }
  }
  
  
  private void ChangeToTool(String changeToolString) {
    int i=Integer.decode(changeToolString);
    
    MachineConfiguration mc = MachineConfiguration.getSingleton();
    String [] toolNames = mc.getToolNames();
    
    if(i<0 || i>toolNames.length) {
      Log("<span style='color:red'>"+MultilingualSupport.getSingleton().get("InvalidTool")+i+"</span>");
      i=0;
    }
    JOptionPane.showMessageDialog(null,MultilingualSupport.getSingleton().get("ChangeToolPrefix") + toolNames[i] + MultilingualSupport.getSingleton().get("ChangeToolPostfix"));
  }
  
  
  /**
   * removes comments, processes commands drawbot shouldn't have to handle.
   * @param line command to send
   * @return true if the robot is ready for another command to be sent.
   */
  public boolean ProcessLine(String line) {
    // tool change request?
    String [] tokens = line.split("(\\s|;)");


    // tool change?
    if(Arrays.asList(tokens).contains("M06") || Arrays.asList(tokens).contains("M6")) {
      for(int i=0;i<tokens.length;++i) {
        if(tokens[i].startsWith("T")) {
          ChangeToTool(tokens[i].substring(1));
        }
      }
    }
    
    // end of program?
    if(tokens[0]=="M02" || tokens[0]=="M2" || tokens[0]=="M30") {
      PlayDawingFinishedSound();
      Halt();
      return false;
    }
    
    
    // send relevant part of line to the robot
    SendLineToRobot(line);
    
    return false;
  }
  
  
  protected String GenerateChecksum(String line) {
    byte checksum=0;
    
    for( int i=0; i<line.length(); ++i ) {
      checksum ^= line.charAt(i);
    }
    
    return "*"+((int)checksum);
  }
  


  /**
   * Sends a single command the robot.  Could be anything.
   * @param line command to send.
   * @return true means the command is sent.  false means it was not.
   */
  public void SendLineToRobot(String line) {
    if(!portConfirmed) return;
    if(line.trim().equals("")) return;
    String reportedline = line;
    if(line.contains(";")) {
      String [] lines = line.split(";");
      reportedline = lines[0];
    }
    Log("<font color='white'>"+reportedline+"</font>");
    line += "\n";
    
    try {
      serialPort.writeBytes(line.getBytes());
    }
    catch(SerialPortException e) {}
  }
  
  /**
   * stop sending file commands to the robot.
   * @todo add an e-stop command?
   */
  public void Halt() {
    running=false;
    paused=false;
      previewPane.setLinesProcessed(0);
    previewPane.setRunning(running);
    UpdateMenuBar();
  }


  /**
   * open a dialog to ask for the line number.
   * @return true if "ok" is pressed, false if the window is closed any other way.
   */
  private boolean getStartingLineNumber() {
    dialog_result=false;
    
    final JDialog driver = new JDialog(mainframe,MultilingualSupport.getSingleton().get("StartAt"),true);
    driver.setLayout(new GridBagLayout());    
    final JTextField starting_line = new JTextField("0",8);
    final JButton cancel = new JButton(MultilingualSupport.getSingleton().get("Cancel"));
    final JButton start = new JButton(MultilingualSupport.getSingleton().get("Start"));
    GridBagConstraints c = new GridBagConstraints();
    c.gridwidth=2;  c.gridx=0;  c.gridy=0;  driver.add(new JLabel(MultilingualSupport.getSingleton().get("StartAtLine")),c);
    c.gridwidth=2;  c.gridx=2;  c.gridy=0;  driver.add(starting_line,c);
    c.gridwidth=1;  c.gridx=0;  c.gridy=1;  driver.add(cancel,c);
    c.gridwidth=1;  c.gridx=2;  c.gridy=1;  driver.add(start,c);
    
    ActionListener driveButtons = new ActionListener() {
        public void actionPerformed(ActionEvent e) {
          Object subject = e.getSource();
          
          if(subject == start) {
            gcode.linesProcessed=Integer.decode(starting_line.getText());
            SendLineToRobot("M110 N"+gcode.linesProcessed);
            dialog_result=true;
            driver.dispose();
          }
          if(subject == cancel) {
            dialog_result=false;
            driver.dispose();
          }
        }
    };


    start.addActionListener(driveButtons);
    cancel.addActionListener(driveButtons);
      driver.getRootPane().setDefaultButton(start);
    driver.pack();
    driver.setVisible(true);  // modal
    
    return dialog_result;
  }


  private void StartDrawing() {
    paused=false;
    running=true;
    previewPane.setRunning(running);
    UpdateMenuBar();
    statusBar.Start();
    SendFileCommand();
  }
  
  // The user has done something.  respond to it.
  public void actionPerformed(ActionEvent e) {
    Object subject = e.getSource();
    
    if( subject == buttonZoomIn ) {
      previewPane.ZoomIn();
      return;
    }
    if( subject == buttonZoomOut ) {
      previewPane.ZoomOut();
      return;
    }
    if( subject == buttonZoomToFit ) {
      previewPane.ZoomToFitPaper();
      return;
    }
    if( subject == buttonOpenFile ) {
      OpenFileDialog();
      return;
    }
    if( subject == buttonHilbertCurve ) {
      HilbertCurve();
      return;
    }
    if( subject == buttonText2GCODE ) {
      TextToGCODE();
      return;
    }


    if( subject == buttonStart ) {
      if(gcode.fileOpened && !running) {
        gcode.linesProcessed=0;
        SendLineToRobot("M110 N"+gcode.linesProcessed);
        previewPane.setLinesProcessed(gcode.linesProcessed);
        StartDrawing();
      }
      return;
    }
    if( subject == buttonStartAt ) {
      if(gcode.fileOpened && !running) {
        gcode.linesProcessed=0;
        if(getStartingLineNumber()) {
          SendLineToRobot("M110 N"+gcode.linesProcessed);
          previewPane.setLinesProcessed(gcode.linesProcessed);
          StartDrawing();
        }
      }
      return;
      
    }
    if( subject == buttonPause ) {
      if(running) {
        if(paused==true) {
          penIsUpBeforePause=penIsUp;
          RaisePen();
          buttonPause.setText(MultilingualSupport.getSingleton().get("Pause"));
          paused=false;
          // @TODO: if the robot is not ready to unpause, this might fail and the program would appear to hang.
          SendFileCommand();
        } else {
          if(!penIsUpBeforePause) LowerPen();
          buttonPause.setText(MultilingualSupport.getSingleton().get("Unpause"));
          paused=true;
        }
      }
      return;
    }
    if( subject == buttonHalt ) {
      Halt();
      return;
    }
    if( subject == buttonRescan ) {
      ListSerialPorts();
      UpdateMenuBar();
      return;
    }
    if( subject == buttonDisconnect ) {
      ClosePort();
      return;
    }
    if( subject == buttonAdjustSounds ) {
      AdjustSounds();
      return;
    }
    if( subject == buttonAdjustGraphics ) {
      AdjustGraphics();
      return;
    }
    if( subject == buttonAdjustMachineSize ) {
      MachineConfiguration.getSingleton().AdjustMachineSize();
      previewPane.updateMachineConfig();
      return;
    }
    if( subject == buttonAdjustPulleySize ) {
      MachineConfiguration.getSingleton().AdjustPulleySize();
      previewPane.updateMachineConfig();
      return;
    }
    if( subject == buttonChangeTool ) {
      MachineConfiguration.getSingleton().ChangeTool();
      previewPane.updateMachineConfig();
      return;
    }
    if( subject == buttonAdjustTool ) {
      MachineConfiguration.getSingleton().AdjustTool();
      previewPane.updateMachineConfig();
      return;
    }
    if( subject == buttonJogMotors ) {
      JogMotors();
      return;
    }
    if( subject == buttonAbout ) {
      JOptionPane.showMessageDialog(null,"<html><body>"
          +"<h1>Makelangelo v"+version+"</h1>"
          +"<h3><a href='http://www.marginallyclever.com/'>http://www.marginallyclever.com/</a></h3>"
          +"<p>Created by Dan Royer (dan@marginallyclever.com).<br>Additional contributions by Joseph Cottam.</p><br>"
          +"<p>To get the latest version please visit<br>"
          +"<a href='https://github.com/MarginallyClever/Makelangelo'>https://github.com/MarginallyClever/Makelangelo</a></p><br>"
          +"<p>This program is open source and free.  As it should be!</p>"
          +"</body></html>");
      return;
    }
    if( subject == buttonCheckForUpdate ) {
      CheckForUpdate();
      return;
    }
    
    if( subject == buttonSaveFile ) {
      SaveFileDialog();
      return;
    }
    
    if( subject == buttonExit ) {
      System.exit(0);  // @TODO: be more graceful?
      return;
    }
    
    int i;
    for(i=0;i<10;++i) {
      if(subject == buttonRecent[i]) {
        OpenFileOnDemand(recentFiles[i]);
        return;
      }
    }


    for(i=0;i<portsDetected.length;++i) {
      if(subject == buttonPorts[i]) {
        OpenPort(portsDetected[i]);
        return;
      }
    }
    
    if( subject == commandLineSend ) {
      SendLineToRobot(commandLineText.getText());
      commandLineText.setText("");
    }
  }
  
  // Deal with something robot has sent.
  public void serialEvent(SerialPortEvent events) {
        if(events.isRXCHAR()) {
            try {
              int len = events.getEventValue();
              byte[] buffer = serialPort.readBytes(len);
        String line2 = new String(buffer,0,len);
        
        serial_recv_buffer+=line2;
        // wait for the cue ("> ") to send another command
        if(serial_recv_buffer.lastIndexOf(cue)!=-1) {
          String line2_mod = serial_recv_buffer.replace("\n", "");
          //line2_mod = line2_mod.replace(">", "");
          line2_mod = line2_mod.trim();
          if(!line2_mod.equals("")) {
            Log("<span style='color:#FFA500'>"+line2_mod+"</span>");
          }
          
          int error_line = ErrorReported();
          if(error_line != -1) {
            gcode.linesProcessed = error_line;
            serial_recv_buffer="";
            SendFileCommand();
          } else if(ConfirmPort()) {
            serial_recv_buffer="";
            SendFileCommand();
          }
        }
            } catch (SerialPortException e) {}
        }
    }


  /**
   * Open the config dialog, update the paper size, refresh the preview tab.
   */
  public JPanel DriveManually() {
    GridBagConstraints c;
    
    JPanel driver = new JPanel();
    driver.setLayout(new BoxLayout(driver, BoxLayout.PAGE_AXIS));


    JPanel axisControl = new JPanel();
      axisControl.setLayout(new GridBagLayout());
      final JLabel yAxis = new JLabel("Y");      yAxis.setPreferredSize(new Dimension(60,20));    yAxis.setHorizontalAlignment(SwingConstants.CENTER);
      final JButton down100 = new JButton("-100");  down100.setPreferredSize(new Dimension(60,20));
      final JButton down10 = new JButton("-10");    down10.setPreferredSize(new Dimension(60,20));
      final JButton down1 = new JButton("-1");    down1.setPreferredSize(new Dimension(60,20));
      final JButton up1 = new JButton("1");        up1.setPreferredSize(new Dimension(60,20));
      final JButton up10 = new JButton("10");      up10.setPreferredSize(new Dimension(60,20));
      final JButton up100 = new JButton("100");      up100.setPreferredSize(new Dimension(60,20));
      
      final JLabel xAxis = new JLabel("X");      xAxis.setPreferredSize(new Dimension(60,20));    xAxis.setHorizontalAlignment(SwingConstants.CENTER);
      final JButton left100 = new JButton("-100");  left100.setPreferredSize(new Dimension(60,20));
      final JButton left10 = new JButton("-10");    left10.setPreferredSize(new Dimension(60,20));
      final JButton left1 = new JButton("-1");    left1.setPreferredSize(new Dimension(60,20));  
      final JButton right1 = new JButton("1");    right1.setPreferredSize(new Dimension(60,20));
      final JButton right10 = new JButton("10");    right10.setPreferredSize(new Dimension(60,20));
      final JButton right100 = new JButton("100");  right100.setPreferredSize(new Dimension(60,20));


      //final JButton find = new JButton("FIND HOME");  find.setPreferredSize(new Dimension(100,20));
      final JButton center = new JButton(MultilingualSupport.getSingleton().get("SetHome"));  center.setPreferredSize(new Dimension(100,20));
      final JButton home = new JButton(MultilingualSupport.getSingleton().get("GoHome"));    home.setPreferredSize(new Dimension(100,20));
      
      c = new GridBagConstraints();
      //c.fill=GridBagConstraints.BOTH; 
      c.gridx=0;  c.gridy=0;  axisControl.add(yAxis,c);
      c.gridx=1;  c.gridy=0;  axisControl.add(down100,c);
      c.gridx=2;  c.gridy=0;  axisControl.add(down10,c);
      c.gridx=3;  c.gridy=0;  axisControl.add(down1,c);
      c.gridx=4;  c.gridy=0;  axisControl.add(up1,c);
      c.gridx=5;  c.gridy=0;  axisControl.add(up10,c);
      c.gridx=6;  c.gridy=0;  axisControl.add(up100,c);
      
      c.gridx=0;  c.gridy=1;  axisControl.add(xAxis,c);
      c.gridx=1;  c.gridy=1;  axisControl.add(left100,c);
      c.gridx=2;  c.gridy=1;  axisControl.add(left10,c);
      c.gridx=3;  c.gridy=1;  axisControl.add(left1,c);
      c.gridx=4;  c.gridy=1;  axisControl.add(right1,c);
      c.gridx=5;  c.gridy=1;  axisControl.add(right10,c);
      c.gridx=6;  c.gridy=1;  axisControl.add(right100,c);
    
    
    JPanel corners = new JPanel();
      corners.setLayout(new GridBagLayout());
      final JButton goTop = new JButton(MultilingualSupport.getSingleton().get("Top"));    goTop.setPreferredSize(new Dimension(80,20));
      final JButton goBottom = new JButton(MultilingualSupport.getSingleton().get("Bottom"));  goBottom.setPreferredSize(new Dimension(80,20));
      final JButton goLeft = new JButton(MultilingualSupport.getSingleton().get("Left"));    goLeft.setPreferredSize(new Dimension(80,20));
      final JButton goRight = new JButton(MultilingualSupport.getSingleton().get("Right"));  goRight.setPreferredSize(new Dimension(80,20));
      final JButton goUp = new JButton(MultilingualSupport.getSingleton().get("PenUp"));    goUp.setPreferredSize(new Dimension(100,20));
      final JButton goDown = new JButton(MultilingualSupport.getSingleton().get("PenDown"));  goDown.setPreferredSize(new Dimension(100,20));
      c = new GridBagConstraints();
      c.gridx=3;  c.gridy=0;  corners.add(goTop,c);
      c.gridx=3;  c.gridy=1;  corners.add(goBottom,c);
      c.gridx=4;  c.gridy=0;  corners.add(goLeft,c);
      c.gridx=4;  c.gridy=1;  corners.add(goRight,c);
      c.insets = new Insets(0,5,0,0);
      c.gridx=5;  c.gridy=0;  corners.add(goUp,c);
      c.gridx=5;  c.gridy=1;  corners.add(goDown,c);
      c.gridx=6;  c.gridy=0;  corners.add(home,c);
      c.gridx=6;  c.gridy=1;  corners.add(center,c);
      c.insets = new Insets(0,0,0,0);
    
  
    JPanel feedRateControl = new JPanel();
    feedRateControl.setLayout(new GridBagLayout());
      c = new GridBagConstraints();
      feed_rate = MachineConfiguration.getSingleton().GetFeedRate();
      final JFormattedTextField feedRate = new JFormattedTextField(NumberFormat.getInstance());  feedRate.setPreferredSize(new Dimension(100,20));
      feedRate.setText(Double.toString(feed_rate));
      final JButton setFeedRate = new JButton(MultilingualSupport.getSingleton().get("Set"));


      c.gridx=3;  c.gridy=0;  feedRateControl.add(new JLabel(MultilingualSupport.getSingleton().get("Speed")),c);
      c.gridx=4;  c.gridy=0;  feedRateControl.add(feedRate,c);
      c.gridx=5;  c.gridy=0;  feedRateControl.add(new JLabel(MultilingualSupport.getSingleton().get("Rate")),c);
      c.gridx=6;  c.gridy=0;  feedRateControl.add(setFeedRate,c);
    


    driver.add(axisControl);
    driver.add(corners);
    driver.add(feedRateControl);
    
      JPanel inputField=GetTextInputField();
      //inputField.setMinimumSize(new Dimension(100,50));
      //inputField.setMaximumSize(new Dimension(10000,50));


      driver.add(inputField);
      
    
    ActionListener driveButtons = new ActionListener() {
        public void actionPerformed(ActionEvent e) {
          Object subject = e.getSource();
          JButton b = (JButton)subject;
          if(running) return;
          if(b==home) SendLineToRobot("G00 F"+feed_rate+" X0 Y0");
          else if(b==center) SendLineToRobot("G92 X0 Y0");
          else if(b==goLeft) SendLineToRobot("G00 F"+feed_rate+" X"+(MachineConfiguration.getSingleton().paper_left *10));
          else if(b==goRight) SendLineToRobot("G00 F"+feed_rate+" X"+(MachineConfiguration.getSingleton().paper_right*10));
          else if(b==goTop) SendLineToRobot("G00 F"+feed_rate+" Y"+(MachineConfiguration.getSingleton().paper_top*10));
          else if(b==goBottom) SendLineToRobot("G00 F"+feed_rate+" Y"+(MachineConfiguration.getSingleton().paper_bottom*10));
          //} else if(b==find) {
          //  SendLineToRobot("G28");
          else if(b==goUp) RaisePen();
          else if(b==goDown) LowerPen();
          else if(b==setFeedRate) {
            String fr=feedRate.getText();
            fr=fr.replaceAll("[ ,]","");
            feed_rate = Double.parseDouble(fr);
            if(feed_rate<0.001) feed_rate=0.001;
            MachineConfiguration.getSingleton().SetFeedRate(feed_rate);
            feedRate.setText(Double.toString(feed_rate));
            SendLineToRobot("G00 G21 F"+feed_rate);
          } else {
            SendLineToRobot("G91");  // set relative mode


            if(b==down100) SendLineToRobot("G0 Y-100");
            if(b==down10) SendLineToRobot("G0 Y-10");
            if(b==down1) SendLineToRobot("G0 Y-1");
            if(b==up100) SendLineToRobot("G0 Y100");
            if(b==up10) SendLineToRobot("G0 Y10");
            if(b==up1) SendLineToRobot("G0 Y1");


            if(b==left100) SendLineToRobot("G0 X-100");
            if(b==left10) SendLineToRobot("G0 X-10");
            if(b==left1) SendLineToRobot("G0 X-1");
            if(b==right100) SendLineToRobot("G0 X100");
            if(b==right10) SendLineToRobot("G0 X10");
            if(b==right1) SendLineToRobot("G0 X1");
            
            SendLineToRobot("G90");  // return to absolute mode
          }
        }
    };
    
    up1.addActionListener(driveButtons);
    up10.addActionListener(driveButtons);
    up100.addActionListener(driveButtons);
    down1.addActionListener(driveButtons);
    down10.addActionListener(driveButtons);
    down100.addActionListener(driveButtons);
    left1.addActionListener(driveButtons);
    left10.addActionListener(driveButtons);
    left100.addActionListener(driveButtons);
    right1.addActionListener(driveButtons);
    right10.addActionListener(driveButtons);
    right100.addActionListener(driveButtons);
    goUp.addActionListener(driveButtons);
    goDown.addActionListener(driveButtons);
    center.addActionListener(driveButtons);
    home.addActionListener(driveButtons);
    //find.addActionListener(driveButtons);
    goTop.addActionListener(driveButtons);
    goBottom.addActionListener(driveButtons);
    goLeft.addActionListener(driveButtons);
    goRight.addActionListener(driveButtons);
    setFeedRate.addActionListener(driveButtons);
    
    driver.setPreferredSize(new Dimension(150,100));
    return driver;
  }
  
  protected void JogMotors() {
    JDialog driver = new JDialog(mainframe,MultilingualSupport.getSingleton().get("JogMotors"),true);
    driver.setLayout(new GridBagLayout());
    GridBagConstraints c = new GridBagConstraints();
    
    final JButton buttonAneg = new JButton(MultilingualSupport.getSingleton().get("JogIn"));
    final JButton buttonApos = new JButton(MultilingualSupport.getSingleton().get("JogOut"));
    final JCheckBox m1i = new JCheckBox(MultilingualSupport.getSingleton().get("Invert"),MachineConfiguration.getSingleton().m1invert);
    
    final JButton buttonBneg = new JButton(MultilingualSupport.getSingleton().get("JogIn"));
    final JButton buttonBpos = new JButton(MultilingualSupport.getSingleton().get("JogOut"));
    final JCheckBox m2i = new JCheckBox(MultilingualSupport.getSingleton().get("Invert"),MachineConfiguration.getSingleton().m2invert);


    c.gridx=0;  c.gridy=0;  driver.add(new JLabel(MultilingualSupport.getSingleton().get("Left")),c);
    c.gridx=0;  c.gridy=1;  driver.add(new JLabel(MultilingualSupport.getSingleton().get("Right")),c);
    
    c.gridx=1;  c.gridy=0;  driver.add(buttonAneg,c);
    c.gridx=1;  c.gridy=1;  driver.add(buttonBneg,c);
    
    c.gridx=2;  c.gridy=0;  driver.add(buttonApos,c);
    c.gridx=2;  c.gridy=1;  driver.add(buttonBpos,c);


    c.gridx=3;  c.gridy=0;  driver.add(m1i,c);
    c.gridx=3;  c.gridy=1;  driver.add(m2i,c);
    
    ActionListener driveButtons = new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        Object subject = e.getSource();
        if(subject == buttonApos) SendLineToRobot("D00 L100");
        if(subject == buttonAneg) SendLineToRobot("D00 L-100");
        if(subject == buttonBpos) SendLineToRobot("D00 R100");
        if(subject == buttonBneg) SendLineToRobot("D00 R-100");
        SendLineToRobot("M114");
      }
    };


    ActionListener invertButtons = new ActionListener() {
      public void actionPerformed(ActionEvent e) {
        MachineConfiguration.getSingleton().m1invert = m1i.isSelected();
        MachineConfiguration.getSingleton().m2invert = m2i.isSelected();
        
        MachineConfiguration.getSingleton().SaveConfig();
        SendConfig();
      }
    };
    
    buttonApos.addActionListener(driveButtons);
    buttonAneg.addActionListener(driveButtons);
    
    buttonBpos.addActionListener(driveButtons);
    buttonBneg.addActionListener(driveButtons);
    
    m1i.addActionListener(invertButtons);
    m2i.addActionListener(invertButtons);


    SendLineToRobot("M114");
    driver.pack();
    driver.setVisible(true);
  }
  
  public JMenuBar CreateMenuBar() {
        // If the menu bar exists, empty it.  If it doesn't exist, create it.
        menuBar = new JMenuBar();


        UpdateMenuBar();
        
        return menuBar;
  }
  
  public void CheckForUpdate() {
    try {
        // Get Github info
      URL github = new URL("https://www.marginallyclever.com/other/software-update-check.php?id=1");
          BufferedReader in = new BufferedReader(new InputStreamReader(github.openStream()));


          String inputLine;
          if((inputLine = in.readLine()) != null) {
            if( inputLine.compareTo(version) !=0 ) {
              JOptionPane.showMessageDialog(null,MultilingualSupport.getSingleton().get("UpdateNotice"));
            } else {
              JOptionPane.showMessageDialog(null,MultilingualSupport.getSingleton().get("UpToDate"));
            }
          } else {
            throw new Exception();
          }
          in.close();
    } catch (Exception e) {
      JOptionPane.showMessageDialog(null,MultilingualSupport.getSingleton().get("UpdateCheckFailed"));
    }
  }


  // Rebuild the contents of the menu based on current program state
  public void UpdateMenuBar() {
    JMenu menu, subMenu;
    ButtonGroup group;
        int i;
        
        menuBar.removeAll();
        
        
        // File menu
        menu = new JMenu(MultilingualSupport.getSingleton().get("MenuMakelangelo"));
        menu.setMnemonic(KeyEvent.VK_F);
        menuBar.add(menu);
        
        subMenu = new JMenu(MultilingualSupport.getSingleton().get("MenuPreferences"));
        
        buttonAdjustSounds = new JMenuItem(MultilingualSupport.getSingleton().get("MenuSoundsTitle"));
        buttonAdjustSounds.addActionListener(this);
        subMenu.add(buttonAdjustSounds);


        buttonAdjustGraphics = new JMenuItem(MultilingualSupport.getSingleton().get("MenuGraphicsTitle"));
        buttonAdjustGraphics.addActionListener(this);
        subMenu.add(buttonAdjustGraphics);


        menu.add(subMenu);
        
        buttonCheckForUpdate = new JMenuItem(MultilingualSupport.getSingleton().get("MenuUpdate"),KeyEvent.VK_U);
        buttonCheckForUpdate.addActionListener(this);
        buttonCheckForUpdate.setEnabled(true);
        menu.add(buttonCheckForUpdate);
        
        buttonAbout = new JMenuItem(MultilingualSupport.getSingleton().get("MenuAbout"),KeyEvent.VK_A);
        buttonAbout.addActionListener(this);
        menu.add(buttonAbout);


        menu.addSeparator();
        
        buttonExit = new JMenuItem(MultilingualSupport.getSingleton().get("MenuQuit"),KeyEvent.VK_Q);
        buttonExit.addActionListener(this);
        menu.add(buttonExit);
        
        
        // Connect menu
        subMenu = new JMenu(MultilingualSupport.getSingleton().get("MenuConnect"));
        subMenu.setEnabled(!running);
        group = new ButtonGroup();


        ListSerialPorts();
        buttonPorts = new JRadioButtonMenuItem[portsDetected.length];
        for(i=0;i<portsDetected.length;++i) {
          buttonPorts[i] = new JRadioButtonMenuItem(portsDetected[i]);
            if(recentPort.equals(portsDetected[i]) && portOpened) {
              buttonPorts[i].setSelected(true);
            }
            buttonPorts[i].addActionListener(this);
            group.add(buttonPorts[i]);
            subMenu.add(buttonPorts[i]);
        }
        
        subMenu.addSeparator();


        buttonRescan = new JMenuItem(MultilingualSupport.getSingleton().get("MenuRescan"),KeyEvent.VK_N);
        buttonRescan.addActionListener(this);
        subMenu.add(buttonRescan);


        buttonDisconnect = new JMenuItem(MultilingualSupport.getSingleton().get("MenuDisconnect"),KeyEvent.VK_D);
        buttonDisconnect.addActionListener(this);
        buttonDisconnect.setEnabled(portOpened);
        subMenu.add(buttonDisconnect);
        
        menuBar.add(subMenu);


        // settings menu
        menu = new JMenu(MultilingualSupport.getSingleton().get("MenuSettings"));
        menu.setMnemonic(KeyEvent.VK_T);
        menu.setEnabled(!running);


        buttonAdjustMachineSize = new JMenuItem(MultilingualSupport.getSingleton().get("MenuSettingsMachine"),KeyEvent.VK_L);
        buttonAdjustMachineSize.addActionListener(this);
        buttonAdjustMachineSize.setEnabled(!running);
        menu.add(buttonAdjustMachineSize);


        buttonAdjustPulleySize = new JMenuItem(MultilingualSupport.getSingleton().get("MenuAdjustPulleys"),KeyEvent.VK_B);
        buttonAdjustPulleySize.addActionListener(this);
        buttonAdjustPulleySize.setEnabled(!running);
        menu.add(buttonAdjustPulleySize);
        
        buttonJogMotors = new JMenuItem(MultilingualSupport.getSingleton().get("JogMotors"),KeyEvent.VK_J);
        buttonJogMotors.addActionListener(this);
        buttonJogMotors.setEnabled(portConfirmed && !running);
        menu.add(buttonJogMotors);


        menu.addSeparator();
        
        buttonChangeTool = new JMenuItem(MultilingualSupport.getSingleton().get("MenuSelectTool"),KeyEvent.VK_T);
        buttonChangeTool.addActionListener(this);
        buttonChangeTool.setEnabled(!running);
        menu.add(buttonChangeTool);


        buttonAdjustTool = new JMenuItem(MultilingualSupport.getSingleton().get("MenuAdjustTool"),KeyEvent.VK_B);
        buttonAdjustTool.addActionListener(this);
        buttonAdjustTool.setEnabled(!running);
        menu.add(buttonAdjustTool);
        
        menuBar.add(menu);


        


        // File conversion menu
        menu = new JMenu(MultilingualSupport.getSingleton().get("MenuGCODE"));
        menu.setMnemonic(KeyEvent.VK_H);
        
        subMenu = new JMenu(MultilingualSupport.getSingleton().get("MenuConvertImage"));
        subMenu.setEnabled(!running);
        group = new ButtonGroup();


          buttonOpenFile = new JMenuItem(MultilingualSupport.getSingleton().get("MenuOpenFile"),KeyEvent.VK_O);
          buttonOpenFile.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_O, ActionEvent.ALT_MASK));
          buttonOpenFile.addActionListener(this);
          subMenu.add(buttonOpenFile);


          // list recent files
          if(recentFiles != null && recentFiles.length>0) {
            // add a separator only if there are recent files
            if( recentFiles.length!=0 ) subMenu.addSeparator();
            
            for(i=0;i<recentFiles.length;++i) {
              if(recentFiles[i] == null || recentFiles[i].length()==0) break;
                buttonRecent[i] = new JMenuItem((1+i) + " "+recentFiles[i],KeyEvent.VK_1+i);
                if(buttonRecent[i]!=null) {
                  buttonRecent[i].addActionListener(this);
                  subMenu.add(buttonRecent[i]);
                }
            }
          }
        
        menu.add(subMenu);


        buttonHilbertCurve = new JMenuItem(MultilingualSupport.getSingleton().get("MenuHilbertCurve"));
        buttonHilbertCurve.setEnabled(!running);
        buttonHilbertCurve.addActionListener(this);
        menu.add(buttonHilbertCurve);
        
        buttonText2GCODE = new JMenuItem(MultilingualSupport.getSingleton().get("MenuTextToGCODE"));
        buttonText2GCODE.setEnabled(!running);
        buttonText2GCODE.addActionListener(this);
        menu.add(buttonText2GCODE);


        buttonSaveFile = new JMenuItem(MultilingualSupport.getSingleton().get("MenuSaveGCODEAs"));
        buttonSaveFile.addActionListener(this);
        menu.add(buttonSaveFile);


        menuBar.add(menu);
        
        
        
        // Draw menu
        menu = new JMenu(MultilingualSupport.getSingleton().get("MenuDraw"));


        buttonStart = new JMenuItem(MultilingualSupport.getSingleton().get("Start"),KeyEvent.VK_S);
        buttonStart.addActionListener(this);
      buttonStart.setEnabled(portConfirmed && !running);
        menu.add(buttonStart);


        buttonStartAt = new JMenuItem(MultilingualSupport.getSingleton().get("StartAtLine"));
        buttonStartAt.addActionListener(this);
        buttonStartAt.setEnabled(portConfirmed && !running);
        menu.add(buttonStartAt);


        buttonPause = new JMenuItem(MultilingualSupport.getSingleton().get("Pause"),KeyEvent.VK_P);
        buttonPause.addActionListener(this);
        buttonPause.setEnabled(portConfirmed && running);
        menu.add(buttonPause);


        buttonHalt = new JMenuItem(MultilingualSupport.getSingleton().get("Halt"),KeyEvent.VK_H);
        buttonHalt.addActionListener(this);
        buttonHalt.setEnabled(portConfirmed && running);
        menu.add(buttonHalt);


        menuBar.add(menu);
        
        // view menu
        menu = new JMenu(MultilingualSupport.getSingleton().get("MenuPreview"));
        buttonZoomOut = new JMenuItem(MultilingualSupport.getSingleton().get("ZoomOut"));
        buttonZoomOut.addActionListener(this);
        buttonZoomOut.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_MINUS,ActionEvent.ALT_MASK));
        menu.add(buttonZoomOut);
        
        buttonZoomIn = new JMenuItem(MultilingualSupport.getSingleton().get("ZoomIn"),KeyEvent.VK_EQUALS);
        buttonZoomIn.addActionListener(this);
        buttonZoomIn.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_EQUALS,ActionEvent.ALT_MASK));
        menu.add(buttonZoomIn);
        
        buttonZoomToFit = new JMenuItem(MultilingualSupport.getSingleton().get("ZoomFit"));
        buttonZoomToFit.addActionListener(this);
        menu.add(buttonZoomToFit);
        
        menuBar.add(menu);


        // finish
        menuBar.updateUI();
    }


  // manages the vertical split in the GUI
  public class Splitter extends JSplitPane {
    static final long serialVersionUID=1;
    
    public Splitter(int split_direction) {
      super(split_direction);
      setResizeWeight(0.9);
      setDividerLocation(0.9);
    }
  }
  
    public Container CreateContentPane() {
        //Create the content-pane-to-be.
        JPanel contentPane = new JPanel(new BorderLayout());
        contentPane.setOpaque(true);
        
        // the log panel
        log = new JTextPane();
        log.setEditable(false);
        log.setBackground(Color.BLACK);
        logPane = new JScrollPane(log);
        kit = new HTMLEditorKit();
        doc = new HTMLDocument();
        log.setEditorKit(kit);
        log.setDocument(doc);
        DefaultCaret c = (DefaultCaret)log.getCaret();
        c.setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE);
        ClearLog();
        
        // the preview panel
        previewPane = new DrawPanel();
        
        // the drive panel
        drivePane = DriveManually();
        
        // status bar
        statusBar = new StatusBar();
        Font f = statusBar.getFont();
        statusBar.setFont(f.deriveFont(Font.BOLD,15));
        Dimension d=statusBar.getMinimumSize();
        d.setSize(d.getWidth(), d.getHeight()+30);
        statusBar.setMinimumSize(d);


        // layout
        Splitter drive_and_preview = new Splitter(JSplitPane.VERTICAL_SPLIT);
        drive_and_preview.add(logPane);
        drive_and_preview.add(drivePane);
        //drive_and_preview.setDividerSize(8);
        //drive_and_preview.setDividerLocation(-100);
        
        Splitter split = new Splitter(JSplitPane.HORIZONTAL_SPLIT);
        split.add(previewPane);
        split.add(drive_and_preview);
        //split.setDividerSize(8);
        //split.setDividerLocation(-10);


        contentPane.add(statusBar,BorderLayout.SOUTH);
        contentPane.add(split,BorderLayout.CENTER);
    
        return contentPane;
    }




  // connect to the last port
    private void reconnectToLastPort() {
      ListSerialPorts();
    if(Arrays.asList(portsDetected).contains(recentPort)) {
      OpenPort(recentPort);
    }
  }
    
    // if the default file being opened in a g-code file, this is ok.  Otherwise it may take too long and look like a crash/hang.
    private void reopenLastFile() {
    if(recentFiles[0].length()>0) {
      OpenFileOnDemand(recentFiles[0]);
    }
    }


  private JPanel GetTextInputField() {
    textInputArea = new JPanel();
    textInputArea.setLayout(new BoxLayout(textInputArea,BoxLayout.LINE_AXIS));
    
    commandLineText = new JTextField(0);
    commandLineText.setPreferredSize(new Dimension(10,10));
    commandLineSend = new JButton(MultilingualSupport.getSingleton().get("Send"));
    
    textInputArea.add(commandLineText);
    textInputArea.add(commandLineSend);
    
    commandLineText.addKeyListener(this);
    commandLineSend.addActionListener(this);
    
    return textInputArea;
  }


    public JFrame getParentFrame() {
      return mainframe;
    }
    
    
    // Create the GUI and show it.  For thread safety, this method should be invoked from the event-dispatching thread.
    private static void CreateAndShowGUI() {
        // Create and set up the window.
      mainframe = new JFrame("Makelangelo");
        mainframe.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
        
        // Create and set up the content pane.
        Makelangelo m = Makelangelo.getSingleton();
        mainframe.setJMenuBar(m.CreateMenuBar());
        mainframe.setContentPane(m.CreateContentPane());
 
        // Display the window.
        int width =m.prefs.getInt("Default window width", 1200);
        int height=m.prefs.getInt("Default window height", 700);
        mainframe.setSize(width,height);
        mainframe.setVisible(true);
        
        m.previewPane.ZoomToFitPaper();
        
        if(m.prefs.getBoolean("Reconnect to last port on start", false)) m.reconnectToLastPort();
        if(m.prefs.getBoolean("Open last file on start", false)) m.reopenLastFile();
        if(m.prefs.getBoolean("Check for updates", false)) m.CheckForUpdate();
    }
    
    public static void main(String[] args) {
      //Schedule a job for the event-dispatching thread:
      //creating and showing this application's GUI.
      javax.swing.SwingUtilities.invokeLater(new Runnable() {
          public void run() {
            /*
            String OS = System.getProperty("os.name").toLowerCase();
              String workingDirectory=System.getProperty("user.dir");
              System.out.println(workingDirectory);
              
              System.out.println(OS);
              // is this Windows?
              if(OS.indexOf("win") >= 0) {
                // is 64 bit?
                if(System.getenv("ProgramFiles(x86)") != null) {
                  // 64 bit
                  System.load(workingDirectory+"/64/rxtxSerial.dll");
                } else {
                  // 32 bit
                  System.load(workingDirectory+"/32/rxtxSerial.dll");
                }
              } else {
                // is this OSX?
                if(OS.indexOf("mac") >= 0) {
                System.load(workingDirectory+"/librxtxSerial.jnilib");
                }
              }
          */
              CreateAndShowGUI();
          }
      });
    }
}




/**
 * This file is part of DrawbotGUI.
 *
 * DrawbotGUI is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * DrawbotGUI is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with Foobar.  If not, see <http://www.gnu.org/licenses/>.
 */
Source Code of Makelangelo.Makelangelo

Related Classes of Makelangelo.Makelangelo
