* <code>ImageBasedGPSTuner</code> permite configurar un <i>sistema

* de posicionamiento global basado en im�genes</i>.

*/

  private Composite          rightPannel;

  private Composite           messageArea;

  private Composite           progressIcons;

  private Composite           footerButons;

  private Composite          leftPannel;

  private Composite           step2Pannel;

  private Composite           step3Pannel;

  private Composite           step4Pannel;

  private Label            separatorHoriz;

  private Label            separator;

  private CLabel             cLabel1;

  private CLabel             cLabel2;

  private CLabel            title;

  private CLabel             robotLabel; 

  private CLabel             wallLabel;

  private CLabel             step1;

  private CLabel             step2;

  private CLabel             step3;

  private CLabel             step4;

  private Text             hintText;

  private Table            robotsTable;

  private Table             iconsTable;

  private Table             iconsTable3bis;

  private TableColumn          robotColorColumn;

  private TableColumn          robotNameColumn;

  private TableColumn         robotStateColumn;

 

  private TableColumn         iconColorColumn;

  private TableColumn         iconIdColumn;

  private TableColumn         iconCountColumn;

 

  private TableColumn         iconColorColumn3bis;

  private TableColumn         iconIdColumn3bis;

  private TableColumn         iconCountColumn3bis; 

 

 

  private Canvas            canvas;

  private Canvas             wallColor;

  private Button             okButton; 

  private Button             backButton;

  private Button            capturaButton;

 

  private Hashtable          robotsHash;

  private String[]          robotNames; 

  private GC              backgroundGC;

  private Image            background;

  private Image            image;

  private Dimension           resolution;

  private int              nextStep, currentStep;

  private boolean            grabbing;

  private boolean            tuned;

  private ImageCollector         ic;

  private RecognizedItems        sceneItems;

  private HashMap<Integer,Set<Integer>>  linkedIcons = new HashMap<Integer,Set<Integer>>(); 

 

  // For mouse-selection purposes

  private boolean            selecting;

  private int              x , y;

  private int              w , h;

  private ToolItem deleteButton;

  private ToolItem delete3bisButton;

  private ToolBar toolBar;

  private Composite step3bisPannel;

 

 

  public ImageBasedGPSTuner(Shell parent, int style, ImageCollector ic)

  {

    super(parent, style);

   

    // Dependiendo del tipo de simulaci�n, el asistente comenzar�

    // en el paso de captura de imagen (simulaci�n real), o en el

    // paso de posicionamiento del robot (simulaci�n virtual).

    if ( Simulation.getCurrent().getType() == Defines.REAL_SIMULATION )

      nextStep    = Defines.GPS_TUNER_CAPTURE_SCENE;

    else

      nextStep    = Defines.GPS_TUNER_SET_ROBOTS;

   

    currentStep    = -1;

    selecting     = false;

    resolution    = new Dimension(Defines.DEFAULT_IMAGE_RESOLUTION[0] ,

                    Defines.DEFAULT_IMAGE_RESOLUTION[1] );

    background    = new org.eclipse.swt.graphics.Image(Display.getDefault() ,

                    Defines.DEFAULT_IMAGE_RESOLUTION[0] ,

                    Defines.DEFAULT_IMAGE_RESOLUTION[1] );

    backgroundGC  = new GC(background);

    sceneItems    = Simulation.getCurrent().getGps().getMazeItems();

   

    ((ImageBasedGPS) Simulation.getCurrent().getGps()).setImageCollector(ic);

    this.ic = ic;

   

  }

 

  public synchronized void finalize()

  {

    background.dispose();

    backgroundGC.dispose();

    image.dispose();

  }

 

  public void open()

  {

    try

    {

      tuned = false;

     

      Shell parent = getParent();

      dialogShell = new Shell(parent, SWT.DIALOG_TRIM | SWT.APPLICATION_MODAL);

     

      dialogShell.addShellListener( new ShellAdapter()

          {

            public void shellClosed(ShellEvent evt)

            {

              close();

            }

          });

      {

        //Register as a resource user - SWTResourceManager will

        //handle the obtaining and disposing of resources

        SWTResourceManager.registerResourceUser(dialogShell);

      }

     

      GridLayout dialogShellLayout = new GridLayout();

      dialogShell.setLayout(dialogShellLayout);

      dialogShellLayout.numColumns = 3;

      dialogShellLayout.marginHeight = 0;

      dialogShellLayout.marginWidth = 0;

      dialogShellLayout.verticalSpacing = 0;

      dialogShellLayout.horizontalSpacing = 0;

      dialogShell.layout();

      dialogShell.pack();

      dialogShell.setSize(952, 656);

      dialogShell.addShellListener( new ShellAdapter()

          {

            public void shellClosed(ShellEvent evt)

            {

              grabbing = false;

              ((ImageBasedGPS) Simulation.getCurrent().getGps()).disposeImage();

            }

          });

      {

        title = new CLabel(dialogShell, SWT.NONE);

        title.setText("Configuraci�n GPS Basado en Im�genes");

        GridData titleLData = new GridData();

        titleLData.horizontalSpan = 3;

        title.setLayoutData(titleLData);

        title.setImage(SWTResourceManager.getImage("resources/icons/icon32x32/enable/Webcam Configuration.png"));

        title.setFont(SWTResourceManager.getFont("Tahoma", 9, 1, false, false));

      }

      {

        separatorHoriz = new Label(dialogShell, SWT.SEPARATOR

          | SWT.HORIZONTAL);

        GridData separatorHorizLData = new GridData();

        separatorHorizLData.horizontalSpan = 3;

        separatorHorizLData.horizontalAlignment = GridData.FILL;

        separatorHorizLData.grabExcessHorizontalSpace = true;

        separatorHoriz.setLayoutData(separatorHorizLData);

      }

      {

        leftPannel = new Composite(dialogShell, SWT.NONE);

        GridLayout leftPannelLayout = new GridLayout();

        leftPannelLayout.makeColumnsEqualWidth = true;

        leftPannelLayout.verticalSpacing = 0;

        leftPannelLayout.marginWidth = 0;

        leftPannelLayout.horizontalSpacing = 0;

        leftPannelLayout.marginHeight = 0;

        GridData leftPannelLData = new GridData();

        leftPannelLData.heightHint = 480;

        leftPannelLData.widthHint = 640;

        leftPannelLData.horizontalAlignment = GridData.CENTER;

        leftPannel.setLayoutData(leftPannelLData);

        leftPannel.setLayout(leftPannelLayout);

        leftPannel.setSize(640, 480);

        {

          GridData canvasLData = new GridData();

          canvasLData.horizontalAlignment = GridData.CENTER;

          canvasLData.heightHint = (int) resolution.getHeight();

          canvasLData.widthHint = (int) resolution.getWidth();

          canvas = new Canvas(leftPannel, SWT.NO_BACKGROUND);

          GridLayout canvasLayout = new GridLayout();

          canvasLayout.makeColumnsEqualWidth = true;

          canvas.setLayout(canvasLayout);

          canvas.setLayoutData(canvasLData);

         

          canvas.setSize(canvasLData.widthHint, canvasLData.heightHint);

          canvas.addPaintListener(new PaintListener() {

            public void paintControl(PaintEvent evt) {

              canvasPaintControl(evt);

            }

          });

          canvas.addMouseMoveListener(new MouseMoveListener() {

            public void mouseMove(MouseEvent evt) {

              canvasMouseMove(evt);

            }

          });

          canvas.addMouseListener(new MouseAdapter() {

            public void mouseUp(MouseEvent evt) {

              canvasMouseUp(evt);

            }

            public void mouseDown(MouseEvent evt) {

              canvasMouseDown(evt);

            }

          });

        }

      }

      {

        GridData separatorLData = new GridData();

        separatorLData.verticalAlignment = GridData.FILL;

        separatorLData.grabExcessVerticalSpace = true;

        separator = new Label(dialogShell, SWT.SEPARATOR);

        separator.setLayoutData(separatorLData);

      }

      {

        rightPannel = new Composite(dialogShell, SWT.NONE);

        GridLayout rigthPannelLayout = new GridLayout();

        rigthPannelLayout.horizontalSpacing = 0;

        rigthPannelLayout.marginWidth = 0;

        rigthPannelLayout.marginHeight = 0;

        rigthPannelLayout.numColumns = 2;

        GridData rigthPannelLData = new GridData();

        rigthPannelLData.horizontalAlignment = GridData.FILL;

        rigthPannelLData.grabExcessHorizontalSpace = true;

        rigthPannelLData.grabExcessVerticalSpace = true;

        rigthPannelLData.verticalAlignment = GridData.FILL;

        rightPannel.setLayoutData(rigthPannelLData);

        rightPannel.setLayout(rigthPannelLayout);

        {

          progressIcons = new Composite(rightPannel, SWT.NONE);

          GridLayout ProgressIconsLayout = new GridLayout();

          ProgressIconsLayout.numColumns = 4;

          GridData ProgressIconsLData = new GridData();

          ProgressIconsLData.horizontalAlignment = GridData.CENTER;

          ProgressIconsLData.horizontalSpan = 2;

          ProgressIconsLData.grabExcessHorizontalSpace = true;

          ProgressIconsLData.widthHint = 180;

          ProgressIconsLData.heightHint = 40;

          progressIcons.setLayoutData(ProgressIconsLData);

          progressIcons.setLayout(ProgressIconsLayout);

          {

            step1 = new CLabel(progressIcons, SWT.NONE);

            step1.setImage(SWTResourceManager.getImage("resources/icons/icon24x24/enable/1-enable.png"));

          }

          {

            step2 = new CLabel(progressIcons, SWT.NONE);

            step2.setImage(SWTResourceManager.getImage("resources/icons/icon24x24/disable/2-disable.png"));

            step2.setEnabled(false);

          }

          {

            step3 = new CLabel(progressIcons, SWT.NONE);

            step3.setImage(SWTResourceManager.getImage("resources/icons/icon24x24/disable/3-disable.png"));

            step3.setEnabled(false);

          }

          {

            step4 = new CLabel(progressIcons, SWT.NONE);

            step4.setImage(SWTResourceManager.getImage("resources/icons/icon24x24/disable/4-disable.png"));

            step4.setEnabled(false);

          }

        }

        {

          messageArea = new Composite(rightPannel, SWT.NONE);

          GridLayout messageAreaLayout = new GridLayout();

          messageAreaLayout.horizontalSpacing = 0;

          messageAreaLayout.marginHeight = 0;

          messageAreaLayout.marginWidth = 0;

          messageAreaLayout.verticalSpacing = 0;

          GridData messageAreaLData = new GridData();

          messageAreaLData.horizontalSpan = 2;

          messageAreaLData.horizontalAlignment = GridData.CENTER;

          messageAreaLData.grabExcessHorizontalSpace = true;

          messageAreaLData.widthHint = 280;

          messageAreaLData.heightHint = 33;

          messageArea.setLayoutData(messageAreaLData);

          messageArea.setLayout(messageAreaLayout);

          messageArea.setEnabled(false);

          {

            hintText = new Text(messageArea, SWT.MULTI

              | SWT.CENTER

              | SWT.READ_ONLY

              | SWT.WRAP);

            hintText.setText("Una vez que este armado el laberinto, \"Capturar\" una imagen para continuar con la configuraci�n");           

            GridData hintTestLData = new GridData();

            hintTestLData.widthHint = 272;

            hintTestLData.heightHint = 31;

            hintTestLData.grabExcessHorizontalSpace = true;

            hintTestLData.horizontalIndent = 2;

            hintTestLData.grabExcessVerticalSpace = true;

            hintText.setLayoutData(hintTestLData);

            hintText.setBackground(SWTResourceManager.getColor(177, 209, 183));

            hintText.setTopIndex(5);

            hintText.setTextLimit(120);

            hintText.setForeground(SWTResourceManager.getColor(85, 85, 85));

          }

        }

        {

          capturaButton = new Button(rightPannel, SWT.PUSH

            | SWT.CENTER);

          GridData capturaButtonLData = new GridData();

          capturaButtonLData.horizontalSpan = 2;

          capturaButtonLData.horizontalAlignment = GridData.CENTER;

          capturaButtonLData.grabExcessHorizontalSpace = true;

          capturaButtonLData.verticalIndent = 5;

          capturaButton.setLayoutData(capturaButtonLData);

          capturaButton.setText("Capturar");

          capturaButton.addSelectionListener(

              new SelectionAdapter()

              {

                public void widgetSelected(SelectionEvent evt)

                {

                  capturaButtonWidgetSelected(evt);

                }

              });

        }

        {

          step2Pannel = new Composite(rightPannel, SWT.NONE);

          GridLayout composite2Layout = new GridLayout();

          composite2Layout.makeColumnsEqualWidth = true;

          GridData composite2LData = new GridData();

          composite2LData.horizontalAlignment = GridData.FILL;

          composite2LData.verticalAlignment = GridData.FILL;

          composite2LData.grabExcessHorizontalSpace = true;

          composite2LData.horizontalSpan = 2;

          step2Pannel.setLayoutData(composite2LData);

          step2Pannel.setLayout(composite2Layout);

          {

            robotLabel = new CLabel(step2Pannel, SWT.NONE);

            robotLabel.setText("Robots de la Escena");

            robotLabel

              .setImage(SWTResourceManager

                .getImage("resources/icons/icon24x24/enable/AIBO210.png"));

          }

          {

            GridData table1LData = new GridData();

            table1LData.horizontalAlignment = GridData.FILL;

            table1LData.grabExcessHorizontalSpace = true;

            table1LData.heightHint = 69;

            robotsTable = new Table(step2Pannel, SWT.MULTI | SWT.CHECK);

            robotsTable.setLayoutData(table1LData);

            robotsTable.setHeaderVisible(true);

            robotsTable.setLayoutDeferred(true);

            robotsTable.addSelectionListener(new SelectionAdapter() {

              public void widgetSelected(SelectionEvent evt) {

                

              }

            });

            {

              robotColorColumn = new TableColumn(robotsTable, SWT.NONE);

              robotColorColumn.setText("Color");

              robotColorColumn.setWidth(60);

              robotColorColumn.setMoveable(true);

              robotColorColumn.setAlignment( SWT.CENTER );

            }

            {

              robotNameColumn = new TableColumn(robotsTable, SWT.NONE);

              robotNameColumn.setText("Nombre");

              robotNameColumn.setWidth(100);

              robotNameColumn.setMoveable(true);

              robotNameColumn.setAlignment( SWT.CENTER );

            }

            {

              robotStateColumn = new TableColumn(robotsTable, SWT.NONE);

              robotStateColumn.setText("Estado");

              robotStateColumn.setWidth(100);

              robotStateColumn.setMoveable(true);

              robotStateColumn.setAlignment( SWT.CENTER );

            }

          }

        }

        {

          step3Pannel = new Composite(rightPannel, SWT.NONE);

          GridLayout step3PannelLayout = new GridLayout();

          step3PannelLayout.makeColumnsEqualWidth = true;

          step3PannelLayout.numColumns=2;

          GridData step3PannelLData = new GridData();

          step3PannelLData.grabExcessHorizontalSpace = true;

          step3PannelLData.horizontalAlignment = GridData.FILL;

          step3PannelLData.horizontalSpan = 2;

          step3Pannel.setLayoutData(step3PannelLData);

          step3Pannel.setLayout(step3PannelLayout);

          step3Pannel.setVisible(false);

          {

            cLabel1 = new CLabel(step3Pannel, SWT.NONE);

            cLabel1.setText("Iconos Coloreados");

            cLabel1

              .setImage(SWTResourceManager

                .getImage("resources/icons/icon24x24/enable/System-ColorSync.png"));

     

            toolBar = new ToolBar(  step3Pannel,SWT.FLAT);

            deleteButton = new ToolItem(toolBar,SWT.NONE);

            deleteButton.setToolTipText("Eliminar Icono Coloreado");

            deleteButton.setImage(SWTResourceManager

                .getImage("resources/icons/icon24x24/enable/Trash Empty.png"));

            deleteButton.setDisabledImage(SWTResourceManager

                .getImage("resources/icons/icon24x24/disable/Trash Empty.png"));

            deleteButton.setEnabled(false);

            deleteButton.addSelectionListener(new SelectionAdapter() {

              public void widgetSelected(  SelectionEvent evt) {

                deleteButtonWdgetSelected(evt);

              }

            });

          }

          {

            iconsTable = new Table(step3Pannel, SWT.SINGLE | SWT.FULL_SELECTION);

            iconsTable.setHeaderVisible(true);

            GridData table2LData = new GridData();

            table2LData.horizontalAlignment = GridData.FILL;

            table2LData.grabExcessHorizontalSpace = true;

            table2LData.heightHint = 69;

            table2LData.horizontalSpan=2;

            iconsTable.setLayoutData(table2LData);

            iconsTable.setEnabled(true);

            iconsTable.addKeyListener(new KeyAdapter() {

              public void keyPressed(KeyEvent evt) {

                iconTableKeyPressed(evt);

              }

            });

            iconsTable.addSelectionListener(new SelectionAdapter() {

              public void widgetSelected(  SelectionEvent evt) {

                deleteButton.setEnabled(true);

              }

            });

            {

              iconColorColumn = new TableColumn(iconsTable, SWT.NONE);

              iconColorColumn.setMoveable(true);

              iconColorColumn.setAlignment( SWT.CENTER );

              iconColorColumn.setText("Color");

              iconColorColumn.setWidth(90);

            }

            {

              iconIdColumn = new TableColumn(iconsTable, SWT.NONE);

              iconIdColumn.setMoveable(true);

              iconIdColumn.setAlignment( SWT.CENTER );

              iconIdColumn.setText("ID �cono");

              iconIdColumn.setWidth(85);

            }

            {

              iconCountColumn = new TableColumn(iconsTable, SWT.NONE);

              iconCountColumn.setMoveable(true);

              iconCountColumn.setAlignment( SWT.CENTER );

              iconCountColumn.setText("Cantidad");

              iconCountColumn.setWidth(85);

            }

          }

        }

        {

          step3bisPannel = new Composite(rightPannel, SWT.NONE);

          GridLayout step3bisPannelLayout = new GridLayout();

          step3bisPannelLayout.makeColumnsEqualWidth = true;

          step3bisPannelLayout.numColumns=2;

          GridData step3bisPannelLData = new GridData();

          step3bisPannelLData.grabExcessHorizontalSpace = true;

          step3bisPannelLData.horizontalAlignment = GridData.FILL;

          step3bisPannelLData.horizontalSpan = 2;

          step3bisPannel.setLayoutData(step3bisPannelLData);

          step3bisPannel.setLayout(step3bisPannelLayout);

          step3bisPannel.setVisible(false);

          {

            cLabel2 = new CLabel(step3bisPannel, SWT.NONE);

            cLabel2.setText("Conexiones entre Iconos Coloreados");

            cLabel2

              .setImage(SWTResourceManager

                .getImage("resources/icons/icon24x24/enable/System-ColorSync.png"));

     

            toolBar = new ToolBar(  step3bisPannel,SWT.FLAT);

            delete3bisButton = new ToolItem(toolBar,SWT.NONE);

            delete3bisButton.setToolTipText("Eliminar Conexi�n");

            delete3bisButton.setImage(SWTResourceManager

                .getImage("resources/icons/icon24x24/enable/Trash Empty.png"));

            delete3bisButton.setDisabledImage(SWTResourceManager

                .getImage("resources/icons/icon24x24/disable/Trash Empty.png"));

            delete3bisButton.setEnabled(false);

            delete3bisButton.addSelectionListener(new SelectionAdapter() {

              public void widgetSelected(  SelectionEvent evt) {

                delete3bisButtonWdgetSelected(evt);

              }

            });

          }

          {

            iconsTable3bis = new Table(step3bisPannel, SWT.SINGLE | SWT.FULL_SELECTION);

            iconsTable3bis.setHeaderVisible(true);

            GridData table2LData3bis = new GridData();

            table2LData3bis.horizontalAlignment = GridData.FILL;

            table2LData3bis.grabExcessHorizontalSpace = true;

            table2LData3bis.heightHint = 69;

            table2LData3bis.horizontalSpan=2;

            iconsTable3bis.setLayoutData(table2LData3bis);

            iconsTable3bis.setEnabled(true);

            iconsTable3bis.addKeyListener(new KeyAdapter() {

              public void keyPressed(KeyEvent evt) {

                iconTableKeyPressed3bis(evt);

              }

            });

            iconsTable3bis.addSelectionListener(new SelectionAdapter() {

              public void widgetSelected(SelectionEvent evt) {

                delete3bisButton.setEnabled(true);

              }

            });

            {

              iconIdColumn3bis = new TableColumn(iconsTable3bis, SWT.NONE);

              iconIdColumn3bis.setMoveable(true);

              iconIdColumn3bis.setAlignment( SWT.CENTER );

              iconIdColumn3bis.setText("ID �cono Origen");

              iconIdColumn3bis.setWidth(85);

            }

            {

              iconCountColumn3bis = new TableColumn(iconsTable3bis, SWT.NONE);

              iconCountColumn3bis.setMoveable(true);

              iconCountColumn3bis.setAlignment( SWT.CENTER );

              iconCountColumn3bis.setText("ID �cono Destino");

              iconCountColumn3bis.setWidth(85);

            }

          }

        }

        {

          step4Pannel = new Composite(rightPannel, SWT.NONE);

          GridLayout step4PannelLayout = new GridLayout();

          step4PannelLayout.numColumns = 2;

          GridData step4PannelLData = new GridData();

          step4PannelLData.horizontalSpan = 2;

          step4PannelLData.horizontalAlignment = GridData.FILL;

          step4PannelLData.grabExcessHorizontalSpace = true;

          step4Pannel.setLayoutData(step4PannelLData);

          step4Pannel.setLayout(step4PannelLayout);

          step4Pannel.setVisible(false);

          {

            wallLabel = new CLabel(step4Pannel, SWT.NONE);

            if(Simulation.getCurrent().getType() == Defines.REAL_SIMULATION)

              wallLabel.setText("Color del Riel");

            else

              wallLabel.setText("Color de las Paredes");

          }

          {

            wallColor = new Canvas(step4Pannel, SWT.NONE);

            GridData wallColorLData = new GridData();

            wallColorLData.widthHint = 24;

            wallColorLData.heightHint = 24;

            wallColor.setLayoutData(wallColorLData);

            wallColor.setSize(24, 24);

            wallColor.setBackground(SWTResourceManager.getColor(255, 255, 255));

          }

        }

        {

          footerButons = new Composite(rightPannel, SWT.NONE);

          GridLayout composite1Layout = new GridLayout();

          composite1Layout.makeColumnsEqualWidth = true;

          composite1Layout.horizontalSpacing = 0;

          composite1Layout.marginHeight = 0;

          composite1Layout.marginBottom = 3;

          composite1Layout.marginWidth = 0;

          composite1Layout.numColumns = 2;

          composite1Layout.verticalSpacing = 6;

          GridData composite1LData = new GridData();

          composite1LData.horizontalSpan = 2;

          composite1LData.grabExcessHorizontalSpace = true;

          composite1LData.horizontalAlignment = GridData.FILL;

          footerButons.setLayoutData(composite1LData);

          footerButons.setLayout(composite1Layout);

          {

            backButton = new Button(footerButons, SWT.PUSH

              | SWT.CENTER);

            GridData backButtonLData = new GridData();

            backButtonLData.widthHint = 75;

            backButtonLData.heightHint = 23;

            backButtonLData.grabExcessHorizontalSpace = true;

            backButtonLData.horizontalAlignment = GridData.CENTER;

            backButton.setLayoutData(backButtonLData);

            backButton.setText("<< Atr�s");

            backButton.setVisible(false);

            backButton.addSelectionListener(

                new SelectionAdapter()

                {

                  public void widgetSelected(SelectionEvent evt)

                  {

                    backButtonWidgetSelected(evt);

                  }

                });

          }

        }

        {

          okButton = new Button(footerButons, SWT.PUSH

            | SWT.CENTER);

          GridData okButtonLData = new GridData();

          okButtonLData.horizontalAlignment = GridData.CENTER;

          okButtonLData.grabExcessHorizontalSpace = true;

          okButton.setLayoutData(okButtonLData);

          okButton.setText("Siguiente >>");

          okButton.addSelectionListener(

              new SelectionAdapter()

              {

                public void widgetSelected(SelectionEvent evt)

                {

                  okButtonWidgetSelected(evt);

                }

              });

        }

       

      }

      robotsHash  = new Hashtable(23, 0.75f);

      robotNames  = new String[Simulation.getCurrent().getRobotArray().size()];

      for (int i=0; i<Simulation.getCurrent().getRobotArray().size(); i++)

      {

        Robot robot = (Robot) Simulation.getCurrent().getRobotArray().get(i);

        robotsHash.put( robot.getName() , robot );

        robotNames[i] = new String( robot.getName() );

        robot.setVisible( false );

      }

     

      dialogShell.open();

      Display display = dialogShell.getDisplay();

     

      okButtonWidgetSelected( null );

   

      while (!dialogShell.isDisposed()) {

        if (!display.readAndDispatch())

          display.sleep();

      }

     

    }

    catch (Exception e)

    {

      ErrorMessage.customMessage( e.getMessage() , ErrorMessage.ERROR_MESSAGE, getParent() );

    }

  }

 

 

  private void iconTableKeyPressed3bis(KeyEvent evt) {

    int index;

    index = iconsTable3bis.getSelectionIndex();

   

    if ( evt.keyCode == SWT.DEL  &&  index != -1 )

      deleteLink(index);

    iconsTable3bis.deselectAll();

  }

  protected void delete3bisButtonWdgetSelected(SelectionEvent evt) {

    delete3bisButton.setEnabled(false);

    int index;

    index = iconsTable3bis.getSelectionIndex();

   

    if ( index != -1 )

      deleteLink(index);

    iconsTable3bis.deselectAll();   

  }

  private void beginGrabbing()

  {

    grabbing = true;

    Thread grabbingThread = new Thread( this );

    grabbingThread.start();

   

    okButton.setEnabled(false);

    capturaButton.setEnabled(true);

  }

 

 

  private void capturaButtonWidgetSelected(SelectionEvent evt)

  {

    grabbing = false;

   

    okButton.setEnabled(true);

    capturaButton.setEnabled(false);

    okButtonWidgetSelected(evt);

  }

 

  private boolean allRobotRecognized()

  {

    for (int i=0; i<robotsTable.getItemCount(); i++)

    {

      TableItem tempItem = robotsTable.getItem(i);

      if (tempItem.getChecked() == false)

        return false;

    }

   

    return true;

  }

  private void deleteButtonWdgetSelected(SelectionEvent evt) {

    deleteButton.setEnabled(false);

    int index;

    index = iconsTable.getSelectionIndex();

   

    if ( index != -1 )

      deleteColorIcon(index);

    iconsTable.deselectAll();

   

  }

 

  private void iconTableKeyPressed(KeyEvent evt)

  {

    int index;

    index = iconsTable.getSelectionIndex();

   

    if ( evt.keyCode == SWT.DEL  &&  index != -1 )

      deleteColorIcon(index);

    iconsTable.deselectAll();

  }

  private void deleteLink(int index)

  {

    TableItem tempItem;

   

    tempItem = iconsTable3bis.getItem(index);

    int originShapeId = Integer.parseInt(tempItem.getText(0));

    int destShapeId = Integer.parseInt(tempItem.getText(1));

   

    Set<Integer> destiny = linkedIcons.get(originShapeId);

    destiny.remove(destShapeId);   

    if(destiny.size() == 0) linkedIcons.remove(originShapeId);

       

    for (Integer currentKey: linkedIcons.keySet()) {

      Set<Integer> newSet = new HashSet<Integer>();         

      for (Integer value : newSet) {

        TableItem newItem = new TableItem(iconsTable3bis, SWT.NONE);

       

        org.eclipse.swt.graphics.Color currentKeyColor = getRecognizedIconColorById(currentKey);

        org.eclipse.swt.graphics.Color valueColor = getRecognizedIconColorById(value);

             

        newItem.setBackground(0,currentKeyColor);

        newItem.setBackground(1,valueColor);

        newItem.setText(0, String.valueOf(currentKey));

        newItem.setText(1, String.valueOf(value)); 

      }

    }

    iconsTable3bis.remove(index);

   

    // Se redibuja la imagen, para quitar el contorno obsoleto.

    canvas.redraw();

  }

 

  private org.eclipse.swt.graphics.Color getRecognizedIconColorById(Integer currentKey) {

    for (int i = 0; i < sceneItems.recognizedColoredIcons.length ; i++) {

      RecognizedShape r = sceneItems.recognizedColoredIcons[i];

      int compareValue = Integer.parseInt(r.shapeId);

      if(compareValue == currentKey) return new org.eclipse.swt.graphics.Color(Display.getDefault(), r.color.getRed(),r.color.getGreen(),r.color.getBlue());

    }

   

    return null;

  }

  private void deleteColorIcon(int index)

  {

    org.eclipse.swt.graphics.Color color;

    TableItem tempItem;

    tempItem  = iconsTable.getItem(index);

    color    = tempItem.getBackground(0);

    ((ImageBasedGPS) Simulation.getCurrent().getGps()).removeRecognizedColoredIcon(  color.getRed()  ,

                                  color.getGreen(),

                                  color.getBlue());

    iconsTable.remove(index);

   

    // Se renombran los dem�s �conos coloreados.

    for (index=0; index<iconsTable.getItemCount(); index++)

    {

      tempItem  = iconsTable.getItem(index);

      color    = tempItem.getBackground(0);

      ((ImageBasedGPS) Simulation.getCurrent().getGps()).renameRecongnizedColoredIcon(  color.getRed()      ,

                                    color.getGreen()    ,

                                    color.getBlue()      ,

                                    String.valueOf(index+1));

      tempItem.setText( 1 , String.valueOf(index+1) );

    }

   

    // Se redibuja la imagen, para quitar el contorno obsoleto.

    canvas.redraw();

  }

  /**

   * Este m�todo es invocado cuando se seleccion� un �rea

   * de la imagen.

   */

  protected synchronized void areaSelected()

  {

    if ( image != null  &&  w!=0  &&  h!=0 )

    {

      int auxX, auxY;

     

      if ( w > 0  &&  h > 0 )

      {

        auxX = x;

        auxY = y;

      }

      else if ( w < 0  &&  h > 0 )

      {

        auxX = x - Math.abs(w);

        auxY = y;

      }

      else if ( w < 0  &&  h < 0 )

      {

        auxX = x - Math.abs(w);

        auxY = y - Math.abs(h);

      }

      else

      {

        auxX = x;

        auxY = y - Math.abs(h);

      }

     

      int[] averageColor = ImageUtils.getAverageColor(image.getImageData(),

                              auxX , auxY ,

                              Math.abs(w) , Math.abs(h) );

      org.eclipse.swt.graphics.Color color =  new org.eclipse.swt.graphics.Color(

          Display.getDefault(), averageColor[0], averageColor[1], averageColor[2]);

     

      try

      {

        switch ( currentStep )

        {       

          case Defines.GPS_TUNER_SET_ROBOTS:

           

            // Para el caso de reconocimiento de robots

            // en simulaciones reales.

            robotPositioned(color);

           

            break;

           

          case Defines.GPS_TUNER_SET_ICONS:

            InputData data = null;

            boolean valid;

           

            boolean realSimulation = Simulation.getCurrent().getType() == Defines.REAL_SIMULATION;

           

            do

            {

              try

              {

                String[] iconsNames = new String[] { String.valueOf(iconsTable.getItemCount()+1) };

               

                valid  = true;

                // TODO SI LA SIMULACION ES REAL TIENE QUE LLEGAR LA INFO DEL VECTOR AL QUE CORRESPONDE LO QUE SE ELIGI�

               

                if(realSimulation) {

                  data = ((PlaceInputDialog)placeInputDialog).open("�cono coloreado", "El �cono coloreado tiene ID:", color, iconsNames);

                  ColorVectorMap.getInstance().add(data.colorData,data.vector);

                }

                else

                  data = ((InputDialog)dialog).open("�cono coloreado", "El �cono coloreado tiene ID:", color, iconsNames);

              }

              catch (NumberFormatException ex)

              {

                valid = false;

                ErrorMessage.errorMessage(Defines.ERROR_ICON_ID_INVALID, getParent());

              }

            }

            while ( !valid );

            if ( data != null  &&  data.textData != null  &&  data.colorData != null )

            {

              int x0 = Math.min(x, x+w);

              int y0 = Math.min(y, y+h);

              int x1 = Math.max(x, x+w);

              int y1 = Math.max(y, y+h);

             

              // TODO EL METODO RECOGNIZE.. SE GUARDA INTERNAMENTE EL NUEVO COLOR,

              // -> HAY QUE METER LA ASOCIACION ENTRE EL COLOR QUE SE RECONOCIO Y EL VECTOR

              // PARA QUE EL ROBOT REAL LO USE EN EL METODO currentlyViewedPlace

              int count = ((ImageBasedGPS) Simulation.getCurrent().getGps()).recognizeColoredIcons(color.getRed(),color.getGreen(),color.getBlue(),x0,y0,x1,y1,data.textData);

              if ( count == 0 )

              {

                ErrorMessage.errorMessage(Defines.ERROR_NO_ICON_RECOGNIZED, getParent());

                break;

              }

             

              TableItem tempItem = new TableItem(iconsTable, SWT.NONE);

              tempItem.setBackground(0, color);             

              tempItem.setText(1, data.textData);

              tempItem.setText(2, String.valueOf(count));

             

             

            }

           

            break;

           

             

          case Defines.GPS_TUNER_SET_WALLS:

            if(Simulation.getCurrent().getType() == Defines.REAL_SIMULATION) {

              int x0 = Math.min(x, x+w);

              int y0 = Math.min(y, y+h);

              int x1 = Math.max(x, x+w);

              int y1 = Math.max(y, y+h);             

              ((ImageBasedGPS) Simulation.getCurrent().getGps()).recognizeWalls( x0,y0,x1,y1,color.getRed(), color.getGreen(), color.getBlue() );

            }

            else

              ((ImageBasedGPS) Simulation.getCurrent().getGps()).recognizeWalls( color.getRed(), color.getGreen(), color.getBlue() );

           

            wallColor.setBackground( color );

           

            break; 

           

        }

      }

      catch (Exception e)

      {

        // TODO: handle exception

        Logger.error( e.getMessage() );

      }

     

    }

  }

  /**

   * Este m�todo es invocado cuando un robot fue posicionado

   * sobre la imagen.

   */

  protected synchronized void robotPositioned(org.eclipse.swt.graphics.Color c)

  {

    // Se posicion� un robot. Se abre un di�logo para que el usuario

    // elija a qu� robot corresponde dicha posici�n, y que le asigne

    // un color asociado.

   

    if ( image != null )

    {

      InputData data = ((InputDialog)dialog).open("Robot", "Seleccione el robot correspondiente...", c, robotNames); 

     

      if ( data != null  &&  data.textData != null  &&  data.colorData != null )

      {

        Robot robot = (Robot)robotsHash.get( data.textData );

        if ( robot == null )

        {

          Logger.error("Sucedi� lo imposible! No se encontr� el robot en el hash.");

          return;

        }

       

        robot.setStatus( Defines.STATE_ROBOT_NOT_CALIBRATED );

       

        // Se obtiene una referencia al color previo (en caso de una

        // situaci�n de error, se puede restaurar el color previo).

        Color prevColor = null;

        if ( robot.getColor() != null )

          prevColor = new Color(  robot.getColor().getRed()  ,

                      robot.getColor().getGreen()  ,

                      robot.getColor().getBlue()  );

       

        // Se establece el color del robot

        robot.setColor( data.colorData );

       

        Color color = new Color(  robot.getColor().getRed()  ,

                      robot.getColor().getGreen()  ,

                      robot.getColor().getBlue()  );

       

        if ( ic instanceof VirtualImageCollector )

          ((VirtualImageCollector)ic).drawRobot( color , new double[] {x,y} );

       

       

        // Se hace visible

        robot.setVisible( true );

        // Se cambia el estado a calibrado

        robot.setStatus( Defines.STATE_ROBOT_CALIBRATED );

       

        // Se fuerza la actualizaci�n de estado

        try

        {

          robot.updateState();

        }

        catch (RobotException e)

        {

          // Se restaura el color previo

          if ( prevColor != null )

            robot.setColor(

                new org.eclipse.swt.graphics.Color(  Display.getDefault(),

                                  prevColor.getRed()  ,

                                  prevColor.getGreen(),

                                  prevColor.getBlue()));

         

          ErrorMessage.customMessage( e.getMessage() , ErrorMessage.ERROR_MESSAGE , Display.getDefault().getActiveShell());

          return;

        }

        canvas.redraw();

       

        // Se actualizan los �tems en la tabla

        robotsTable.removeAll();

        for (int i=0; i<Simulation.getCurrent().getRobotArray().size(); i++)

        {

          robot = (Robot)Simulation.getCurrent().getRobotArray().get(i);

          TableItem tableItem = new TableItem(robotsTable, SWT.NONE);

          tableItem.setText(1, robot.getName());

         

          if ( robot.getStatus() == Defines.STATE_ROBOT_NOT_CALIBRATED )

          {

            tableItem.setText(2, robot.getStatusText() );

            tableItem.setChecked(false);

            tableItem.setImage(2,SWTResourceManager

                .getImage("resources/icons/icon16x16/enable/Symbol error.png"));

          }

          else

          {

            tableItem.setBackground(0,robot.getColor());

            tableItem.setText(2, robot.getStatusText() );

            tableItem.setChecked(true);

            tableItem.setImage(2,SWTResourceManager

                .getImage("resources/icons/icon16x16/enable/Symbol check 2.png"));

          }

        }

      }

     

    }

  }

 

  protected synchronized void canvasPaintControl(PaintEvent evt)

  {

   

    // Antes de comenzar a dibujar, se borra todo lo anterior.

    backgroundGC.setBackground( Display.getDefault().getSystemColor(SWT.COLOR_WHITE) );

    backgroundGC.fillRectangle(  0, 0, Defines.DEFAULT_IMAGE_RESOLUTION[0],

                  Defines.DEFAULT_IMAGE_RESOLUTION[1] );

   

    if ( image != null )

    {

      // Dibuja la imagen

      backgroundGC.drawImage(  image, 0, 0);

      evt.gc.setForeground( evt.display.getSystemColor(SWT.COLOR_WHITE) );     

    }

   

    // Dibuja la imagen 'background'

    evt.gc.drawImage( background, 0, 0);

   

    if (image != null)

    {

     

      // Se dibujan los robots

      for (int i=0; i<Simulation.getCurrent().getRobotArray().size(); i++)

      {

        Robot robot = (Robot) Simulation.getCurrent().getRobotArray().get(i);

        if ( robot.isVisible()  &&  robot.getStatus() == Defines.STATE_ROBOT_CALIBRATED )

          robot.draw( evt.gc );

      }     

      if ( currentStep == Defines.GPS_TUNER_SET_ICONS  ||  currentStep == Defines.GPS_TUNER_SET_WALLS  ||

          (currentStep == Defines.GPS_TUNER_SET_ROBOTS  &&  Simulation.getCurrent().getType() == Defines.REAL_SIMULATION) )

      {

        // Se est� seleccionando un �cono coloreado o una pared, o se est�

        // reconociendo un robot en el caso de una simulaci�n real.

        evt.gc.drawRectangle(x, y, w, h);

      }

     

      if ( currentStep == Defines.GPS_TUNER_SET_CONNECTIONS &&  Simulation.getCurrent().getType() == Defines.REAL_SIMULATION)

      {

        // Se est� seleccionando un �cono coloreado o una pared, o se est�

        // reconociendo un robot en el caso de una simulaci�n real.       

        int currentLineWidth = evt.gc.getLineWidth();

        evt.gc.setLineWidth(4);

        evt.gc.setForeground(dialogShell.getDisplay().getSystemColor(SWT.COLOR_RED));

        evt.gc.drawLine(x, y, x+w, y+h);