Merge branch 'master' of https://github.com/euphy/polargraphcontroller

Also mentioned against issue #14.

DisplayMachine.pde

@@ -316,6 +316,10 @@ class DisplayMachine extends Machine
     {
       drawExtractedPixelCentres();
     }
+    if (displayingGridSpots)
+    {
+      drawGridIntersections();
+    }
     if (displayingDensityPreview)
     {
       drawExtractedPixelDensities();
@@ -532,10 +536,13 @@ class DisplayMachine extends Machine
                 beginShape();
                 inShape = true;
               }
+//              PVector nativeCoords = asNativeCoords(inSteps(p));
+//              println(j + "!  Adding point " + nativeCoords);
+              
               p = scaleToScreen(p);
               stroke(strokeColour);
               vertex(p.x, p.y);
-              //ellipse(p.x, p.y, 3, 3);
+//              ellipse(p.x, p.y, 2, 2);
             }
             else
             {
@@ -660,10 +667,18 @@ class DisplayMachine extends Machine
    */
   public void drawRows()
   {
-    PVector mVect = getMouseVector();
+    float rowThickness = inMM(getGridSize()) * getScaling();
+    rowThickness = (rowThickness < 1.0) ? 1.0 : rowThickness;
+    strokeWeight(rowThickness);
+    stroke(150, 200, 255, 50);
+    strokeCap(SQUARE);
+    drawRow(getMouseVector(), true, true);
+    noStroke();
+  }
   
+  public void drawRow(PVector mouse, boolean left, boolean right) {
     // scale it to  find out the coordinates on the machine that the mouse is pointing at.
-    mVect = scaleToDisplayMachine(mVect);
+    PVector mVect = scaleToDisplayMachine(mouse);
     // convert it to the native coordinates system
     mVect = convertToNative(mVect);
     // snap it to the grid
@@ -674,17 +689,15 @@ class DisplayMachine extends Machine
     // and finally, because scaleToScreen also allows for the machine position (offset), subtract it.
     mVect.sub(getOffset());
 
-    float rowThickness = inMM(getGridSize()) * getScaling();
-    rowThickness = (rowThickness < 1.0) ? 1.0 : rowThickness;
-    strokeWeight(rowThickness);
-    stroke(150, 200, 255, 50);
-    strokeCap(SQUARE);
-
     float dia = mVect.x*2;
-    arc(getOutline().getLeft(), getOutline().getTop(), dia, dia, 0, 1.57079633);
+    if (left) {
+      arc(getOutline().getLeft(), getOutline().getTop(), dia, dia, 0, 1.57079633);
+    }
 
     dia = mVect.y*2;
-    arc(getOutline().getRight(), getOutline().getTop(), dia, dia, 1.57079633, 3.14159266);
+    if (right) {
+      arc(getOutline().getRight(), getOutline().getTop(), dia, dia, 1.57079633, 3.14159266);
+    }
     
   }
 
@@ -702,6 +715,28 @@ class DisplayMachine extends Machine
     }
   }
   
+  void drawGridIntersections()
+  {
+//    println("oh");
+  }
+  
+  int pixel_maxDensity(float penSize, float rowSizeInMM) 
+  {
+    float numberOfSegments = rowSizeInMM / penSize;
+
+    int maxDens = 1;
+    
+    if (numberOfSegments >= 2.0) {
+      maxDens = int(numberOfSegments);
+    }
+  
+    if (maxDens <= 1) {
+      maxDens = 1;
+    }  
+    
+    return maxDens;
+  }
+
   void drawExtractedPixelDensities()
   {
 
@@ -710,16 +745,37 @@ class DisplayMachine extends Machine
 
     pixelSize = pixelSize * getPixelScalingOverGridSize();
     
+    float rowSizeInMM = inMM(getGridSize()) * getPixelScalingOverGridSize();
+    
+    int posterizeLevels = 255;
+    
+    if (previewPixelDensityRange) {
+      posterizeLevels = pixel_maxDensity(currentPenWidth, rowSizeInMM);
+    }
+    else {
+      posterizeLevels = densityPreviewPosterize;
+    }
+
     if (getExtractedPixels() != null)
     {
       for (PVector cartesianPos : getExtractedPixels())
       {
-        if ((cartesianPos.z <= pixelExtractBrightThreshold) && (cartesianPos.z >= pixelExtractDarkThreshold))
+        if ((cartesianPos.z <= pixelExtractBrightThreshold) && 
+            (cartesianPos.z >= pixelExtractDarkThreshold))
         {
           // scale em, danno.
           PVector scaledPos = scaleToScreen(cartesianPos);
           noStroke();
-          fill(cartesianPos.z);
+          if ((scaledPos.x <= 0) || (scaledPos.x > windowWidth) ||
+              (scaledPos.y <= 0) || (scaledPos.y > windowHeight)) {
+              continue;
+            }  
+          
+          // Posterize the density value
+          int reduced = int(map(cartesianPos.z, 1, 255, 1, posterizeLevels)+0.5);
+          int brightness = int(map(reduced, 1, posterizeLevels, 1, 255));
+          
+          fill(brightness);
           switch (getDensityPreviewStyle())
           {
             case DENSITY_PREVIEW_ROUND: 
@@ -727,20 +783,20 @@ class DisplayMachine extends Machine
               break;
             case DENSITY_PREVIEW_ROUND_SIZE:
               fill(0);
-              previewRoundPixel(scaledPos, map(cartesianPos.z, 1, 255, pixelSize, 1));
+              previewRoundPixel(scaledPos, map(brightness, 1, posterizeLevels, pixelSize, 1));
               break;
             case DENSITY_PREVIEW_DIAMOND:
-              previewDiamondPixel(scaledPos, pixelSize, pixelSize, cartesianPos.z);
+              previewDiamondPixel(scaledPos, pixelSize, pixelSize, brightness);
               break;
             case DENSITY_PREVIEW_NATIVE:
-              previewNativePixel(scaledPos, pixelSize, cartesianPos.z);
+              previewNativePixel(scaledPos, pixelSize, brightness);
               break; 
             case DENSITY_PREVIEW_NATIVE_SIZE:
-              previewNativePixel(scaledPos, map(cartesianPos.z, 1, 255, pixelSize, 1), 50);
+              previewNativePixel(scaledPos, map(brightness, 1, posterizeLevels, pixelSize, 1), 50);
               break; 
             case DENSITY_PREVIEW_NATIVE_ARC:
               previewRoundPixel(scaledPos, pixelSize*0.8);
-              previewNativeArcPixel(scaledPos, pixelSize, cartesianPos.z);
+              previewNativeArcPixel(scaledPos, pixelSize, brightness);
               break; 
             default:
               previewRoundPixel(scaledPos, pixelSize);
@@ -805,25 +861,30 @@ class DisplayMachine extends Machine
     // plot out the vertexes    
     noFill();
     stroke(0,0,0, 255-brightness);
+    try {
     
-    float i1Angle1 = atan2(int1.get(0).y-getOutline().getTop(), int1.get(0).x-getOutline().getLeft());
-    float i1Angle2 = atan2(int1.get(1).y-getOutline().getTop(), int1.get(1).x-getOutline().getLeft());
-    arc(getOutline().getLeft(), getOutline().getTop(), (distFromPointA-half)*2, (distFromPointA-half)*2, i1Angle1, i1Angle2);
+      float i1Angle1 = atan2(int1.get(0).y-getOutline().getTop(), int1.get(0).x-getOutline().getLeft());
+      float i1Angle2 = atan2(int1.get(1).y-getOutline().getTop(), int1.get(1).x-getOutline().getLeft());
+      arc(getOutline().getLeft(), getOutline().getTop(), (distFromPointA-half)*2, (distFromPointA-half)*2, i1Angle1, i1Angle2);
   
-    i1Angle1 = atan2(int2.get(0).y-getOutline().getTop(), int2.get(0).x-getOutline().getLeft());
-    i1Angle2 = atan2(int2.get(1).y-getOutline().getTop(), int2.get(1).x-getOutline().getLeft());
-    arc(getOutline().getLeft(), getOutline().getTop(), (distFromPointA+half)*2, (distFromPointA+half)*2, i1Angle1, i1Angle2);
+      i1Angle1 = atan2(int2.get(0).y-getOutline().getTop(), int2.get(0).x-getOutline().getLeft());
+      i1Angle2 = atan2(int2.get(1).y-getOutline().getTop(), int2.get(1).x-getOutline().getLeft());
+      arc(getOutline().getLeft(), getOutline().getTop(), (distFromPointA+half)*2, (distFromPointA+half)*2, i1Angle1, i1Angle2);
   
-    i1Angle1 = atan2( int1.get(0).y-getOutline().getTop(), int1.get(0).x-getOutline().getRight());
-    i1Angle2 = atan2( int2.get(0).y-getOutline().getTop(), int2.get(0).x-getOutline().getRight());
-    arc(getOutline().getRight(), getOutline().getTop(), (distFromPointB-half)*2, (distFromPointB-half)*2, i1Angle2, i1Angle1);
+      i1Angle1 = atan2( int1.get(0).y-getOutline().getTop(), int1.get(0).x-getOutline().getRight());
+      i1Angle2 = atan2( int2.get(0).y-getOutline().getTop(), int2.get(0).x-getOutline().getRight());
+      arc(getOutline().getRight(), getOutline().getTop(), (distFromPointB-half)*2, (distFromPointB-half)*2, i1Angle2, i1Angle1);
   
-    i1Angle1 = atan2( int1.get(1).y-getOutline().getTop(), int1.get(1).x-getOutline().getRight());
-    i1Angle2 = atan2( int2.get(1).y-getOutline().getTop(), int2.get(1).x-getOutline().getRight());
-    arc(getOutline().getRight(), getOutline().getTop(), (distFromPointB+half)*2, (distFromPointB+half)*2, i1Angle2, i1Angle1);
-
-    
-    endShape();
+      i1Angle1 = atan2( int1.get(1).y-getOutline().getTop(), int1.get(1).x-getOutline().getRight());
+      i1Angle2 = atan2( int2.get(1).y-getOutline().getTop(), int2.get(1).x-getOutline().getRight());
+      arc(getOutline().getRight(), getOutline().getTop(), (distFromPointB+half)*2, (distFromPointB+half)*2, i1Angle2, i1Angle1);
+    }
+    catch (IndexOutOfBoundsException ioobe) {
+      println(ioobe);
+    }
+    finally {
+      endShape();
+    }
   }
   
   

FileLoading.pde

@@ -0,0 +1,439 @@
+/**
+  Polargraph controller
+  Copyright Sandy Noble 2018.
+
+  This file is part of Polargraph Controller.
+
+  Polargraph Controller 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.
+
+  Polargraph Controller 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 Polargraph Controller.  If not, see <http://www.gnu.org/licenses/>.
+    
+  Requires the excellent ControlP5 GUI library available from http://www.sojamo.de/libraries/controlP5/.
+  Requires the excellent Geomerative library available from http://www.ricardmarxer.com/geomerative/.
+  
+  This is an application for controlling a polargraph machine, communicating using ASCII command language over a serial link.
+
+  sandy.noble@gmail.com
+  http://www.polargraph.co.uk/
+  https://github.com/euphy/polargraphcontroller
+*/
+
+
+
+void loadImageWithFileChooser()
+{
+  SwingUtilities.invokeLater(new Runnable() 
+  {
+    public void run() {
+      JFileChooser fc = new JFileChooser();
+      if (lastImageDirectory != null) fc.setCurrentDirectory(lastImageDirectory);
+      fc.setFileFilter(new ImageFileFilter());
+      fc.setDialogTitle("Choose an image file...");
+
+      int returned = fc.showOpenDialog(frame);
+      
+      lastImageDirectory = fc.getCurrentDirectory();
+      
+      if (returned == JFileChooser.APPROVE_OPTION) 
+      {
+        File file = fc.getSelectedFile();
+        // see if it's an image
+        PImage img = loadImage(file.getPath());
+        if (img != null) 
+        {
+          img = null;
+          getDisplayMachine().loadNewImageFromFilename(file.getPath());
+          if (getDisplayMachine().pixelsCanBeExtracted() && isBoxSpecified())
+          {
+            getDisplayMachine().extractPixelsFromArea(getBoxVector1(), getBoxVectorSize(), getGridSize(), sampleArea);
+          }
+        }
+      }
+    }
+  });
+}
+
+class ImageFileFilter extends javax.swing.filechooser.FileFilter 
+{
+  public boolean accept(File file) {
+      String filename = file.getName();
+      filename.toLowerCase();
+      if (file.isDirectory() || filename.endsWith(".png") || filename.endsWith(".jpg") || filename.endsWith(".jpeg")) 
+        return true;
+      else
+        return false;
+  }
+  public String getDescription() {
+      return "Image files (PNG or JPG)";
+  }
+}
+
+void loadVectorWithFileChooser()
+{
+  SwingUtilities.invokeLater(new Runnable() 
+  {
+    public void run() {
+      JFileChooser fc = new JFileChooser();
+      if (lastImageDirectory != null) 
+      { 
+        fc.setCurrentDirectory(lastImageDirectory);
+      }
+      
+      fc.setFileFilter(new VectorFileFilter());
+      fc.setDialogTitle("Choose a vector file...");
+      int returned = fc.showOpenDialog(frame);
+      lastImageDirectory = fc.getCurrentDirectory();
+      
+      if (returned == JFileChooser.APPROVE_OPTION) 
+      {
+        File file = fc.getSelectedFile();
+        if (file.exists())
+        {
+          RShape shape = loadShapeFromFile(file.getPath());
+          if (shape != null) 
+          {
+            setVectorFilename(file.getPath());
+            setVectorShape(shape);
+          }
+          else 
+          {
+            println("File not found (" + file.getPath() + ")");
+          }
+        }
+      }
+    }
+  }
+  );
+}
+
+class VectorFileFilter extends javax.swing.filechooser.FileFilter 
+{
+  public boolean accept(File file) {
+    String filename = file.getName();
+    filename.toLowerCase();
+    if (file.isDirectory() || filename.endsWith(".svg") || isGCodeExtension(filename))
+      return true;
+    else
+      return false;
+  }
+  public String getDescription() {
+    return "Vector graphic files (SVG, GCode)";
+  }
+}
+
+void loadNewPropertiesFilenameWithFileChooser()
+{
+  SwingUtilities.invokeLater(new Runnable() 
+  {
+    public void run() 
+    {
+      JFileChooser fc = new JFileChooser();
+      if (lastPropertiesDirectory != null) fc.setCurrentDirectory(lastPropertiesDirectory);
+      fc.setFileFilter(new PropertiesFileFilter());
+      
+      fc.setDialogTitle("Choose a config file...");
+
+      int returned = fc.showOpenDialog(frame);
+      
+      lastPropertiesDirectory = fc.getCurrentDirectory();
+      
+      if (returned == JFileChooser.APPROVE_OPTION) 
+      {
+        File file = fc.getSelectedFile();
+        if (file.exists())
+        {
+          println("New properties file exists.");
+          newPropertiesFilename = file.toString();
+          println("new propertiesFilename: "+  newPropertiesFilename);
+          propertiesFilename = newPropertiesFilename;
+          // clear old properties.
+          props = null;
+          loadFromPropertiesFile();
+          
+          // set values of number spinners etc
+          updateNumberboxValues();
+        }   
+      }
+    }
+  });
+}
+
+class PropertiesFileFilter extends javax.swing.filechooser.FileFilter 
+{
+  public boolean accept(File file) {
+      String filename = file.getName();
+      filename.toLowerCase();
+      if (file.isDirectory() || filename.endsWith(".properties.txt")) 
+        return true;
+      else
+        return false;
+  }
+  public String getDescription() {
+      return "Properties files (*.properties.txt)";
+  }
+}
+
+void saveNewPropertiesFileWithFileChooser()
+{
+  SwingUtilities.invokeLater(new Runnable() 
+  {
+    public void run() 
+    {
+      JFileChooser fc = new JFileChooser();
+      if (lastPropertiesDirectory != null) fc.setCurrentDirectory(lastPropertiesDirectory);
+      fc.setFileFilter(new PropertiesFileFilter());
+      
+      fc.setDialogTitle("Enter a config file name...");
+
+      int returned = fc.showSaveDialog(frame);
+      if (returned == JFileChooser.APPROVE_OPTION) 
+      {
+        File file = fc.getSelectedFile();
+        newPropertiesFilename = file.toString();
+        newPropertiesFilename.toLowerCase();
+        if (!newPropertiesFilename.endsWith(".properties.txt"))
+          newPropertiesFilename+=".properties.txt";
+          
+        println("new propertiesFilename: "+  newPropertiesFilename);
+        propertiesFilename = newPropertiesFilename;
+        savePropertiesFile();
+        // clear old properties.
+        props = null;
+        loadFromPropertiesFile();
+      }
+    }
+  });
+}
+
+
+
+RShape loadShapeFromFile(String filename) {
+  RShape sh = null;
+  if (filename.toLowerCase().endsWith(".svg")) {
+    sh = RG.loadShape(filename);
+  }
+  else if (isGCodeExtension(filename)) {
+    sh = loadShapeFromGCodeFile(filename);
+  }
+  return sh;
+}
+
+
+boolean isGCodeExtension(String filename) {
+  return (filename.toLowerCase().endsWith(".gcode") || filename.toLowerCase().endsWith(".g") || filename.toLowerCase().endsWith(".ngc") || filename.toLowerCase().endsWith(".txt"));
+}
+
+
+int countLines(String filename) throws IOException {
+    InputStream is = new BufferedInputStream(new FileInputStream(filename));
+    try {
+        byte[] c = new byte[1024];
+        int count = 0;
+        int readChars = 0;
+        boolean empty = true;
+        while ((readChars = is.read(c)) != -1) {
+            empty = false;
+            for (int i = 0; i < readChars; ++i) {
+                if (c[i] == '\n') {
+                    ++count;
+                }
+            }
+        }
+        return (count == 0 && !empty) ? 1 : count+1;
+    } finally {
+        is.close();
+    }
+}
+
+RShape loadShapeFromGCodeFile(String filename) {
+  noLoop();
+  RShape parent = null;
+  BufferedReader reader = null;
+  long totalPoints = 0;
+  long time = millis();
+  long countLines = 0;
+
+  try {
+    countLines = countLines(filename);
+    println("" + countLines + " lines found.");
+    if (countLines < 1) {
+      throw new IOException("No lines found in GCode file.");
+    }
+    reader = createReader(filename);
+    parent = new RShape();
+    String line;
+    boolean drawLine = false;
+    int gCodeZAxisChanges = 0;
+    
+    long lineNo = 0;
+    float lastPercent = 0.0f;
+    boolean reportStatus = true;
+    while ((line = reader.readLine ()) != null) {
+      lineNo++;
+//      println("Line: " + line);
+      
+      if (reportStatus) {
+        float percent = ((float)lineNo / (float)countLines) * 100.0;
+        println("----" + percent + "% of the way through.");
+        lastPercent = percent;
+      }
+
+      if (line.toUpperCase().startsWith("G")) {
+        if (reportStatus) {
+          println(new StringBuilder().append(lineNo).append(" of ").append(countLines).append(": ").append(line).append(". Points: ").append(totalPoints).toString());
+          long free = Runtime.getRuntime().freeMemory();
+          long maximum = Runtime.getRuntime().maxMemory();
+          println(new StringBuilder().append("Free: ").append(free).append(", max: ").append(maximum).toString());
+        }
+        
+        Map<String, Float> ins = null;
+        try {
+          ins = unpackGCodeInstruction(line);
+        }
+        catch (Exception e) {
+          println(e.toString());
+          continue;
+        }
+//        println("Ins: " + ins);
+        Integer code = Math.round(ins.get("G"));
+        
+        Float z = ins.get("Z");
+        if (z != null) {
+          gCodeZAxisChanges++;
+          if (gCodeZAxisChanges == 2) {
+            println("Assume second z axis change is to drop the pen to start drawing " + z);
+            gcodeZAxisDrawingHeight = z;
+            drawLine = true;
+          }
+          else if (gCodeZAxisChanges > 2) {
+            drawLine = isGCodeZAxisForDrawing(z);
+          }
+          else {
+            println("Assume first z axis change is to RAISE the pen " + z);
+            drawLine = false;
+          }
+        }
+        else { //  if there is no Z axis, assume it's always on
+//          drawLine = true; // this isn't always safe!
+        }        
+        
+        Float x = ins.get("X");
+        Float y = ins.get("Y");
+        if (x != null && y == null) {
+          // move x axis only, use y of last
+          RPoint[][] points = parent.getPointsInPaths();
+          RPoint rp = points[points.length-1][points[points.length-1].length-1];
+          y = rp.y;
+        }
+        else if (x == null && y != null) {
+          // move y axis only, use x of last
+          RPoint[][] points = parent.getPointsInPaths();
+          RPoint rp = points[points.length-1][points[points.length-1].length-1];
+          x = rp.x;
+        }
+        
+        if (x != null && y != null) {
+          // move both x and y axis
+          if (drawLine) {
+            parent.addLineTo(x, y);
+          }
+          else {
+            parent.addMoveTo(x, y);
+          }
+        }
+      }
+      else {
+        
+      }
+      
+      if ((millis() - time) > 500) {
+        time = millis();
+        reportStatus = true;
+      }
+      else {
+        reportStatus = false;
+      }
+      
+      if (lineNo == (countLines-1)) {
+        reportStatus = true;
+      }
+      
+    }
+  }
+  catch (IOException e) {
+    println("IOExecption reading lines from the gcode file " + filename);
+    e.printStackTrace();
+  }
+  finally {
+    try {
+      reader.close();
+    } 
+    catch (IOException e) {
+      println("IOException closing the gcode file " + filename);
+      e.printStackTrace();
+    }
+  }
+  
+  RPoint[][] points = parent.getPointsInPaths();
+  totalPoints = 0;
+  if (points != null) {
+    for (int i = 0; i<points.length; i++) {
+      if (points[i] != null) {
+        for (int j = 0; j<points[i].length; j++) {
+          totalPoints++;
+        }
+      }
+    }
+  }
+
+  String conclusionMessage = "Imported " + totalPoints + " points from " + countLines + " lines of code in the file.";
+  println(conclusionMessage);
+  javax.swing.JOptionPane.showMessageDialog(null, conclusionMessage);
+
+  loop();
+  return parent;
+}
+
+Boolean isGCodeZAxisForDrawing(float z) {
+  return gcodeZAxisDrawingHeight.compareTo(z) == 0;
+}
+
+Map<String, Float> unpackGCodeInstruction(String line) throws Exception {
+  Map<String, Float> instruction = new HashMap<String, Float>(4);
+  try {
+    String[] splitted = line.trim().split(" ");
+    for (int i = 0; i < splitted.length; i++) {
+      // remove ; character
+      splitted[i] = splitted[i].replace(";", "");
+      String axis = splitted[i].substring(0, 1);
+      String sanitisedValue = splitted[i].substring(1);
+      sanitisedValue = sanitisedValue.replace(",", ".");
+      Float value = Float.parseFloat(sanitisedValue);
+      if ("X".equalsIgnoreCase(axis) || "Y".equalsIgnoreCase(axis) || "Z".equalsIgnoreCase(axis) || "G".equalsIgnoreCase(axis)) {
+        instruction.put(axis.toUpperCase(), value);
+      }
+    }
+//  println("instruction: " + instruction);
+    if (instruction.isEmpty()) {
+      throw new Exception("Empty instruction");
+    }
+  }
+  catch (NumberFormatException nfe) {
+    println("Number format exception: " + nfe.getMessage()); 
+  }
+  catch (Exception e) {
+    println("e: " + e);
+    throw new Exception("Exception while reading the lines from a gcode file: " + line + ", " + e.getMessage());
+  }
+  
+  return instruction;
+}

Machine.pde

@@ -39,7 +39,7 @@ class Machine
   protected Rectangle imageFrame = new Rectangle(1500,1500,1000,1000);
   protected Rectangle pictureFrame = new Rectangle(1600,1600,800,800);
 
-  protected Float stepsPerRev = 800.0;
+  protected Float stepsPerRev = 200.0;
   protected Float mmPerRev = 95.0;
   
   protected Float mmPerStep = null;
@@ -186,9 +186,15 @@ class Machine
     return mmInt;
   }
   
+  public float inMMFloat(float steps) 
+  {
+    double mm = steps / getStepsPerMM();
+    return (float) mm;
+  }
+  
   public PVector inMM (PVector steps)
   {
-    PVector mm = new PVector(inMM(steps.x), inMM(steps.y));
+    PVector mm = new PVector(inMMFloat(steps.x), inMMFloat(steps.y));
     return mm;
   }
   
@@ -286,6 +292,16 @@ class Machine
     }
   }
 
+  boolean isMasked(PVector pos, float scalingFactor)
+  {
+    switch (invertMaskMode) {
+      case MASK_IS_UNUSED:  return false;
+      case MASKED_COLOURS_ARE_HIDDEN:  return isChromaKey(pos, scalingFactor);
+      case MASKED_COLOURS_ARE_SHOWN:  return !isChromaKey(pos, scalingFactor);
+      default:  return false;
+    }
+  }
+
   boolean isChromaKey(PVector pos, float scalingFactor)
   {
     if (getImageFrame().surrounds(pos))
@@ -322,8 +338,8 @@ class Machine
   
   public PVector asCartesianCoords(PVector pgCoords)
   {
-    float calcX = int((pow(getWidth(), 2) - pow(pgCoords.y, 2) + pow(pgCoords.x, 2)) / (getWidth()*2));
-    float calcY = int(sqrt(pow(pgCoords.x,2)-pow(calcX,2)));
+    float calcX = (pow(getWidth(), 2.0) - pow(pgCoords.y, 2.0) + pow(pgCoords.x, 2.0)) / (getWidth()*2.0);
+    float calcY = sqrt(pow(pgCoords.x,2.0)-pow(calcX,2.0));
     PVector vect = new PVector(calcX, calcY);
     return vect;
   }
@@ -364,7 +380,7 @@ class Machine
   public void loadDefinitionFromProperties(Properties props)
   {
     // get these first because they are important to convert the rest of them
-    setStepsPerRev(getFloatProperty("machine.motors.stepsPerRev", 800.0));
+    setStepsPerRev(getFloatProperty("machine.motors.stepsPerRev", 200.0));
     setMMPerRev(getFloatProperty("machine.motors.mmPerRev", 95.0));
     
     // now stepsPerMM and mmPerStep should have been calculated. It's safe to get the rest.
@@ -383,12 +399,12 @@ class Machine
     String pos = getStringProperty("controller.page.position.x", "CENTRE");
     float px = 0.0;
     println("machine size: " + getSize().x + ", " + inSteps(pageSize.x));
-    if (pos.equalsIgnoreCase("CENTRE"))
-    {
+    if (pos.equalsIgnoreCase("CENTRE")) {
       px = inMM((getSize().x - pageSize.x) / 2.0);
     }
-    else
+    else {
       px = getFloatProperty("controller.page.position.x", (int) getDisplayMachine().getPageCentrePosition(pageSize.x));
+    }
       
     float py = getFloatProperty("controller.page.position.y", 120);
       
@@ -620,7 +636,7 @@ class Machine
         PVector cartesianCoord = asCartesianCoords(nativeCoord);
         if (selectedArea.surrounds(cartesianCoord))
         {
-          if (isChromaKey(cartesianCoord, scalingFactor))
+          if (isMasked(cartesianCoord, scalingFactor))
           {
             nativeCoord.z = MASKED_PIXEL_BRIGHTNESS; // magic number
             nativeCoords.add(nativeCoord);

Panel.pde

@@ -24,7 +24,7 @@
 
   sandy.noble@gmail.com
   http://www.polargraph.co.uk/
-  http://code.google.com/p/polargraph/
+  https://github.com/euphy/polargraphcontroller
 */
 class Panel
 {
@@ -120,9 +120,11 @@ class Panel
   
   public void draw()
   {
-    //stroke(outlineColour);
-    //strokeWeight(2);
-    //rect(getOutline().getLeft(), getOutline().getTop(), getOutline().getWidth(), getOutline().getHeight());
+    if (debugPanels) {
+      stroke(outlineColour);
+      strokeWeight(2);
+      rect(getOutline().getLeft(), getOutline().getTop(), getOutline().getWidth(), getOutline().getHeight());
+    }
 
     drawControls();
   }
@@ -131,7 +133,6 @@ class Panel
   {
     for (Controller c : this.getControls())
     {
-//      println("Control: " + c.getName());
       PVector pos = getControlPositions().get(c.getName());
       float x = pos.x+getOutline().getLeft();
       float y = pos.y+getOutline().getTop();
@@ -164,6 +165,13 @@ class Panel
         locked = true;        
       }
 
+      // if there's no vector loaded, then hide vector controls
+      if (getControlsToLockIfVectorNotLoaded().contains(c.getName()) && vectorFilename == null)
+      {
+        locked = true;        
+      }
+
+      
       if (c.getName().equals(MODE_LOAD_VECTOR_FILE))
       {
         if (getVectorShape() != null)
@@ -200,34 +208,28 @@ class Panel
     }
   }  
   
-  void setHeight(float h)
+  void setSizeByHeight(float h)
   {
+//    println("Setting size for " + this.getName());
     if (this.isResizable())
     {
       if (h <= getMinimumHeight())
         this.getOutline().setHeight(getMinimumHeight());
       else
         this.getOutline().setHeight(h);
+        
       setControlPositions(buildControlPositionsForPanel(this));
       
       float left = 0.0;
-      String controlName = "";
       for (String key : getControlPositions().keySet())
       {
         PVector pos = getControlPositions().get(key);
-        if (pos.x >= left)
+        if (pos.x > left)
         {
           left = pos.x;
-          controlName = key;
         }
       }
-      
-      Map<String, PVector> map = getControlSizes();
-      
-//      PVector size = getControlSizes().get(controlName);
-//      println("size: " + size);
       float right = left + DEFAULT_CONTROL_SIZE.x;
-      
       this.getOutline().setWidth(right);
     }
   }

README.md

@@ -2,7 +2,7 @@ polargraphcontroller
 ====================
 
 Polargraph controller
-Copyright Sandy Noble 2015.
+Copyright Sandy Noble 2018.
 
 - Requires the excellent ControlP5 GUI library available from https://github.com/sojamo/controlp5.
 - Requires the excellent Geomerative library available from http://www.ricardmarxer.com/geomerative/.
@@ -13,5 +13,7 @@ This is a desktop application for controlling a polargraph machine, communicatin
 The [latest releases bundle] (https://github.com/euphy/polargraphcontroller/releases/latest) contains 
 copies of all the libraries that I use, as well as all the source, and compiled versions of the code where sensible.
 
+How to [run it from source](https://github.com/euphy/polargraph/wiki/Running-the-controller-from-source-code).
+
 sandy.noble@gmail.com
 http://www.polargraph.co.uk/

SerialPortWindow.pde

@@ -29,35 +29,43 @@ ControlFrameSimple addSerialPortControlFrame(String theName, int theWidth, int t
   catch(Exception e) {
   }
 
-  // set up controls
-  RadioButton r = p.cp5().addRadioButton("radio_serialPort")
+  ScrollableList sl = p.cp5().addScrollableList("dropdown_serialPort")
     .setPosition(10, 10)
-    .setSize(15, 15)
-    .setSpacingRow(5)
-    .plugTo(this, "radio_serialPort");
+    .setSize(150, 450)
+    .setBarHeight(20)
+    .setItemHeight(16)
+    .plugTo(this, "dropdown_serialPort");  
 
-  r.addItem("No serial connection", -1);
+  sl.addItem("No serial connection", -1);
 
   String[] ports = Serial.list();
   
   for (int i = 0; i < ports.length; i++) {
     println("Adding " + ports[i]);
-    r.addItem(ports[i], i);
+    sl.addItem(ports[i], i);
   }
   
   int portNo = getSerialPortNumber();
-  if (portNo >= 0 && portNo < ports.length)
-    r.activate(ports[portNo]);
-  else
-    r.activate("No serial connection");
+  println("portNo: " + portNo);
+  if (portNo < 0 || portNo >= ports.length)
+    portNo = -1;
 
+  // set the value of the actual control
+  sl.setValue(portNo);
+
+  sl.setOpen(true);
   return p;
 }
 
 
-void radio_serialPort(int newSerialPort) 
+void dropdown_serialPort(int newSerialPort) 
 {
-  println("In radio_serialPort");
+  println("In dropdown_serialPort, newSerialPort: " + newSerialPort);
+
+  // No serial in list is slot 0 in code because of list index
+  // So shift port index by one 
+  newSerialPort -= 1;
+  
   if (newSerialPort == -2)
   {
   } 

controlsActions.pde

@@ -164,11 +164,16 @@ void button_mode_liveConfirmDraw()
     PVector position = new PVector(getDisplayMachine().inMM(getDisplayMachine().getImageFrame().getPosition().x), 
     getDisplayMachine().inMM(getDisplayMachine().getImageFrame().getPosition().y));
 
+    int oldPolygonizer = polygonizer;
+    polygonizer = RG.ADAPTATIVE;
+    setupPolygonizer();  
     sendVectorShapes(captureShape, scaling, position, PATH_SORT_CENTRE_FIRST);
     button_mode_penUp();
 
     //  save shape as SVG
     trace_saveShape(captureShape);
+    polygonizer = oldPolygonizer;
+    setupPolygonizer();
   }
 } 
 void toggle_mode_showWebcamRawVideo(boolean flag)
@@ -318,6 +323,7 @@ void button_mode_loadImage()
     getDisplayMachine().setImageFilename(null);
   }
 }
+
 void button_mode_loadVectorFile()
 {
   if (getVectorShape() == null)
@@ -331,6 +337,7 @@ void button_mode_loadVectorFile()
     vectorFilename = null;
   }
 }
+
 void numberbox_mode_pixelBrightThreshold(float value)
 {
   pixelExtractBrightThreshold = (int) value;
@@ -526,12 +533,14 @@ void numberbox_mode_changeMachineWidth(float value)
   clearBoxVectors();
   float steps = getDisplayMachine().inSteps((int) value);
   getDisplayMachine().getSize().x = steps;
+  getDisplayMachine().maxLength = null;
 }
 void numberbox_mode_changeMachineHeight(float value)
 {
   clearBoxVectors();
   float steps = getDisplayMachine().inSteps((int) value);
   getDisplayMachine().getSize().y = steps;
+  getDisplayMachine().maxLength = null;
 }
 void numberbox_mode_changeMMPerRev(float value)
 {
@@ -608,7 +617,7 @@ void button_mode_sendPenWidth()
   NumberFormat nf = NumberFormat.getNumberInstance(Locale.UK);
   DecimalFormat df = (DecimalFormat)nf;  
   df.applyPattern("###.##");
-  addToRealtimeCommandQueue(CMD_CHANGEPENWIDTH+df.format(currentPenWidth)+",END");
+  addToRealtimeCommandQueue(CMD_SETPENWIDTH+df.format(currentPenWidth)+",END");
 }  
 
 void numberbox_mode_changePenTestStartWidth(float value)
@@ -725,4 +734,46 @@ void numberbox_mode_previewCordOffsetValue(int value)
   previewQueue(true);
 }
 
+void dropdown_mode_cycleDensityPreviewStyle(int index) 
+{
+  println("In dropdown_mode_cycleDensityPreviewStyle");
+  densityPreviewStyle = index;
+  println("Style: " + densityPreviewStyle);
+}
+
+void numberbox_mode_changeDensityPreviewPosterize(int value) {
+  if (value < 1) value = 1;
+  else if (value > 255) value = 255;
+  
+  densityPreviewPosterize = value;
+}
+
+void minitoggle_mode_previewPixelDensityRange(boolean flag) {
+  previewPixelDensityRange = flag;
+  println("previewPixelDensityRange: " + previewPixelDensityRange);
+}
+
+void numberbox_mode_changePolygonizerLength(float value) {
+  polygonizerLength = value;
+  setupPolygonizer();
+}
+
+void numberbox_mode_changePolygonizerAdaptativeAngle(float value) {
+  println("numberbox_mode_changePolygonizerAdaptativeAngle");
+  polygonizerAdaptativeAngle = value;
+  setupPolygonizer();
+}
+
+void dropdown_mode_changePolygonizer(int value) 
+{
+  polygonizer = value;
+  setupPolygonizer();
+}
+
+void dropdown_mode_changeMaskInvert(int value)
+{
+  invertMaskMode = value;
+  rebuildPixels();
+}
+
 

controlsActionsWindows.pde

@@ -38,7 +38,7 @@ String DRAW_PIXELS_WINDOW_NAME = "drawPixelsWindow";
 String DRAW_WRITING_WINDOW_NAME = "drawWritingWindow";
 
 void button_mode_serialPortDialog() {
-  ControlFrameSimple cf = addSerialPortControlFrame("Serial Port", 200, 200, 20, 240, color( 100 ) );
+  ControlFrameSimple cf = addSerialPortControlFrame("Serial Port", 200, 500, 20, 240, color( 100 ) );
 }
 
 void button_mode_machineStoreDialog() {

controlsSetup.pde

@@ -83,6 +83,14 @@ Set<String> getControlsToLockIfImageNotLoaded() {
   return this.controlsToLockIfImageNotLoaded;
 }
 
+Set<String> getControlsToLockIfVectorNotLoaded() {
+  if (this.controlsToLockIfVectorNotLoaded == null)
+  {
+    this.controlsToLockIfVectorNotLoaded = buildControlsToLockIfVectorNotLoaded();
+  }
+  return this.controlsToLockIfVectorNotLoaded;
+}
+
 void hideAllControls() {
   for (String key : allControls.keySet())
   {
@@ -95,9 +103,9 @@ Map<String, Panel> buildPanels() {
   Map<String, Panel> panels = new HashMap<String, Panel>();
 
   float panelHeight = frame.getHeight() - getMainPanelPosition().y - (DEFAULT_CONTROL_SIZE.y*3);
-  Rectangle panelOutline = new Rectangle(getMainPanelPosition(), 
+  Rectangle panelOutlineInput = new Rectangle(getMainPanelPosition(), 
   new PVector((DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x)*2, panelHeight));
-  Panel inputPanel = new Panel(PANEL_NAME_INPUT, panelOutline);
+  Panel inputPanel = new Panel(PANEL_NAME_INPUT, panelOutlineInput);
   inputPanel.setResizable(true);
   inputPanel.setOutlineColour(color(200, 200, 200));
   // get controls
@@ -107,7 +115,9 @@ Map<String, Panel> buildPanels() {
   inputPanel.setControlSizes(buildControlSizesForPanel(inputPanel));
   panels.put(PANEL_NAME_INPUT, inputPanel);
 
-  Panel rovingPanel = new Panel(PANEL_NAME_ROVING, panelOutline);
+  Rectangle panelOutlineRoving = new Rectangle(getMainPanelPosition(), 
+  new PVector((DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x)*2, panelHeight));
+  Panel rovingPanel = new Panel(PANEL_NAME_ROVING, panelOutlineRoving);
   rovingPanel.setOutlineColour(color(100,200,200));
   // get controls
   rovingPanel.setResizable(true);
@@ -117,7 +127,9 @@ Map<String, Panel> buildPanels() {
   rovingPanel.setControlSizes(buildControlSizesForPanel(rovingPanel));
   panels.put(PANEL_NAME_ROVING, rovingPanel);
 
-  Panel tracePanel = new Panel(PANEL_NAME_TRACE, panelOutline);
+  Rectangle panelOutlineTrace = new Rectangle(getMainPanelPosition(), 
+  new PVector((DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x)*2, panelHeight));
+  Panel tracePanel = new Panel(PANEL_NAME_TRACE, panelOutlineTrace);
   tracePanel.setOutlineColour(color(200,255,200));
   // get controls
   tracePanel.setResizable(true);
@@ -127,7 +139,9 @@ Map<String, Panel> buildPanels() {
   tracePanel.setControlSizes(buildControlSizesForPanel(tracePanel));
   panels.put(PANEL_NAME_TRACE, tracePanel);
 
-  Panel detailsPanel = new Panel(PANEL_NAME_DETAILS, panelOutline);
+  Rectangle panelOutlineDetails = new Rectangle(getMainPanelPosition(), 
+  new PVector((DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x)*2, panelHeight));
+  Panel detailsPanel = new Panel(PANEL_NAME_DETAILS, panelOutlineDetails);
   detailsPanel.setOutlineColour(color(200, 200, 255));
   // get controls
   detailsPanel.setResizable(true);
@@ -137,7 +151,9 @@ Map<String, Panel> buildPanels() {
   detailsPanel.setControlSizes(buildControlSizesForPanel(detailsPanel));
   panels.put(PANEL_NAME_DETAILS, detailsPanel);
 
-  Panel queuePanel = new Panel(PANEL_NAME_QUEUE, panelOutline);
+  Rectangle panelOutlineQueue = new Rectangle(getMainPanelPosition(), 
+  new PVector((DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x)*2, panelHeight));
+  Panel queuePanel = new Panel(PANEL_NAME_QUEUE, panelOutlineQueue);
   queuePanel.setOutlineColour(color(200, 200, 50));
   // get controls
   queuePanel.setResizable(true);
@@ -147,10 +163,10 @@ Map<String, Panel> buildPanels() {
   queuePanel.setControlSizes(buildControlSizesForPanel(queuePanel));
   panels.put(PANEL_NAME_QUEUE, queuePanel);
 
-  panelOutline = new Rectangle(
+  Rectangle panelOutlineGeneral = new Rectangle(
     new PVector(getMainPanelPosition().x, getMainPanelPosition().y-((DEFAULT_CONTROL_SIZE.y+CONTROL_SPACING.y)*2)), 
     new PVector((DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x)*2, (DEFAULT_CONTROL_SIZE.y+CONTROL_SPACING.y)*2));
-  Panel generalPanel = new Panel(PANEL_NAME_GENERAL, panelOutline);
+  Panel generalPanel = new Panel(PANEL_NAME_GENERAL, panelOutlineGeneral);
   generalPanel.setResizable(false);
   generalPanel.setOutlineColour(color(200, 50, 200));
   // get controls
@@ -160,6 +176,8 @@ Map<String, Panel> buildPanels() {
   generalPanel.setControlSizes(buildControlSizesForPanel(generalPanel));
   panels.put(PANEL_NAME_GENERAL, generalPanel);
   
+  
+
   return panels;
 }
 
@@ -173,6 +191,18 @@ void updateNumberboxValues()
   initialiseNumberboxValues(getAllControls());
 }
 
+void initConsoleWindow() {
+  consoleArea = cp5.addTextarea("txt")
+                   .setPosition(300, 100)
+                   .setSize(400, 600)
+                   .setFont(createFont("", 12))
+                   .setLineHeight(14)
+                   .setColor(color(255))
+                   .setColorBackground(color(0, 200))
+                   .setColorForeground(color(255, 100))
+                   .setVisible(false);
+}
+
 Set<String> buildControlsToLockIfBoxNotSpecified()
 {
   Set<String> result = new HashSet<String>();
@@ -205,12 +235,42 @@ Set<String> buildControlsToLockIfImageNotLoaded()
   result.add(MODE_CHANGE_SAMPLE_AREA);
   result.add(MODE_SELECT_PICTUREFRAME);
 
+  result.add(MODE_CHANGE_PIXEL_SCALING);
+  result.add(MODE_CHOOSE_CHROMA_KEY_COLOUR);
+
   return result;
 }
 
+Set<String> buildControlsToLockIfVectorNotLoaded()
+{
+  Set<String> result = new HashSet<String>();
+  result.add(MODE_CHANGE_MIN_VECTOR_LINE_LENGTH);
+  result.add(MODE_RESIZE_VECTOR);
+  result.add(MODE_MOVE_VECTOR);
+  result.add(MODE_CHANGE_POLYGONIZER_LENGTH);
+  result.add(MODE_CHANGE_POLYGONIZER);
+
+  return result;
+}
+
+CallbackListener toFront = new CallbackListener() {
+  public void controlEvent(CallbackEvent theEvent) {
+      theEvent.getController().bringToFront();
+      ((ScrollableList)theEvent.getController()).open();
+  }
+};
+
+CallbackListener close = new CallbackListener() {
+  public void controlEvent(CallbackEvent theEvent) {
+      ((ScrollableList)theEvent.getController()).close();
+  }
+};
+
 Map<String, Controller> buildAllControls()
 {
   
+  initConsoleWindow();
+
   Map<String, Controller> map = new HashMap<String, Controller>();
 
   for (String controlName : getControlNames())
@@ -220,6 +280,8 @@ Map<String, Controller> buildAllControls()
       Button b = cp5.addButton(controlName, 0, 100, 100, 100, 100);
       b.setLabel(getControlLabels().get(controlName));
       b.hide();
+      controlP5.Label l = b.getCaptionLabel();
+      l.align(ControlP5.LEFT, CENTER);
       map.put(controlName, b);
       //      println("Added button " + controlName);
     }
@@ -229,8 +291,8 @@ Map<String, Controller> buildAllControls()
       t.setLabel(getControlLabels().get(controlName));
       t.hide();
       controlP5.Label l = t.getCaptionLabel();
-      l.getStyle().marginTop = -17; //move upwards (relative to button size)
-      l.getStyle().marginLeft = 4; //move to the right
+      l.align(ControlP5.LEFT, CENTER);
+      l.getStyle().setPaddingLeft(4);
       map.put(controlName, t);
       //      println("Added toggle " + controlName);
     }
@@ -240,8 +302,8 @@ Map<String, Controller> buildAllControls()
       t.setLabel(getControlLabels().get(controlName));
       t.hide();
       controlP5.Label l = t.getCaptionLabel();
-      l.getStyle().marginTop = -17; //move upwards (relative to button size)
-      l.getStyle().marginLeft = 4; //move to the right
+      l.align(ControlP5.LEFT, CENTER);
+      l.getStyle().setPaddingLeft(4);
       map.put(controlName, t);
       //      println("Added minitoggle " + controlName);
     }
@@ -252,17 +314,53 @@ Map<String, Controller> buildAllControls()
       n.hide();
       n.setDecimalPrecision(0);
       controlP5.Label l = n.getCaptionLabel();
-      l.getStyle().marginTop = -17; //move upwards (relative to button size)
-      l.getStyle().marginLeft = 40; //move to the right
+      l.align(ControlP5.LEFT, CENTER);
+      l.getStyle().setPaddingLeft(35);
       // change the control direction to left/right
       n.setDirection(Controller.VERTICAL);
       map.put(controlName, n);
       //      println("Added numberbox " + controlName);
     }
+    else if (controlName.startsWith("dropdown_"))
+    {
+      ScrollableList sl = cp5.addScrollableList(controlName, 100, 100, 100, 100);
+      sl.setBarHeight(20);
+      sl.setItemHeight(20);
+      sl.setLabel(getControlLabels().get(controlName));
+      sl.setType(ScrollableList.DROPDOWN);
+      sl.onEnter(toFront);
+      sl.onLeave(close);
+      sl.setHeight(100);
+      sl.hide();
+      
+      controlP5.Label l = sl.getCaptionLabel();
+      map.put(controlName, sl);
+      println("Added dropdown " + controlName);
+    }
   }
 
+  initialiseButtonValues(map);
   initialiseToggleValues(map);
   initialiseNumberboxValues(map);
+  initialiseDropdownContents(map);
+  initialiseDropdownValues(map);
+  return map;
+}
+
+Map<String, Controller> initialiseButtonValues(Map<String, Controller> map)
+{
+  for (String key : map.keySet())
+  {
+    if (key.startsWith("button_"))
+    {
+      Button n = (Button) map.get(key);
+      if (MODE_CHANGE_POLYGONIZER.equals(key)) {
+        n.setValue(polygonizer);
+        n.setLabel(this.controlLabels.get(MODE_CHANGE_POLYGONIZER) + ": " + polygonizer);              
+      }        
+    }
+  }
+  
   return map;
 }
         
@@ -430,7 +528,7 @@ Map<String, Controller> initialiseNumberboxValues(Map<String, Controller> map)
         n.setDecimalPrecision(2);
         n.setValue(pixelScalingOverGridSize);
         n.setMin(0.1);
-        n.setMax(4.0);
+//        n.setMax(4.0);
         n.setMultiplier(0.01);
       }
       else if (MODE_CHANGE_MIN_VECTOR_LINE_LENGTH.equals(key))
@@ -489,10 +587,31 @@ Map<String, Controller> initialiseNumberboxValues(Map<String, Controller> map)
       }
       else if (MODE_ADJUST_PREVIEW_CORD_OFFSET.equals(key))
       {
-        n.setDecimalPrecision(0);
-        n.setValue(0);
+        n.setDecimalPrecision(2);
+        n.setValue(0.0);
         n.setMultiplier(0.5);
       }
+      else if (MODE_CHANGE_DENSITY_PREVIEW_POSTERIZE.equals(key))
+      {
+        n.setValue(densityPreviewPosterize);
+        n.setMin(1);
+        n.setMax(255);
+        n.setDecimalPrecision(1);
+        n.setMultiplier(0.1);
+      }
+      else if (MODE_CHANGE_POLYGONIZER_LENGTH.equals(key)) {
+        n.setValue(polygonizerLength);
+        n.setMin(1.0);
+        n.setDecimalPrecision(1);
+        n.setMultiplier(0.1);
+      }
+      else if (MODE_CHANGE_POLYGONIZER_ADAPTATIVE_ANGLE.equals(key)) {
+        n.setValue(polygonizerAdaptativeAngle);
+        n.setMin(0.0);
+        n.setMax(1.57079632679);
+        n.setDecimalPrecision(2);
+        n.setMultiplier(0.01);
+      }
     }
   }
   return map;
@@ -543,11 +662,73 @@ Map<String, Controller> initialiseToggleValues(Map<String, Controller> map)
       Toggle t = (Toggle) map.get(key);
       t.setValue((rotateWebcamImage) ? 1 : 0);
     }
-    
+    else if (MODE_PREVIEW_PIXEL_DENSITY_RANGE.equals(key))
+    {
+      Toggle t = (Toggle) map.get(key);
+      t.setValue((previewPixelDensityRange) ? 1 : 0);
+    }
   }
   return map;
 }
 
+Map<String, Controller> initialiseDropdownContents(Map<String, Controller> map)
+{
+  println("Init dropdown contents");
+  for (String key : map.keySet())
+  {
+    if (MODE_CYCLE_DENSITY_PREVIEW_STYLE.equals(key))
+    {
+      println("Adding " + key);
+      ScrollableList sl = (ScrollableList) map.get(key);
+      sl.setItems(densityPreviewStyles);
+    }
+    if (MODE_CHANGE_POLYGONIZER.equals(key))
+    {
+      println("Adding " + key);
+      ScrollableList sl = (ScrollableList) map.get(key);
+      sl.setItems(polygonizerStyles);
+    }
+    if (MODE_CHANGE_INVERT_MASK.equals(key))
+    {
+      println("Adding " + key);
+      ScrollableList sl = (ScrollableList) map.get(key);
+      sl.setItems(invertMaskModes);
+    }
+  }
+  return map;
+}
+
+Map<String, Controller> initialiseDropdownValues(Map<String, Controller> map)
+{
+  println("Init dropdown values");
+  for (String key : map.keySet())
+  {
+    if (MODE_CYCLE_DENSITY_PREVIEW_STYLE.equals(key))
+    {
+      println("Adding " + key);
+      ScrollableList sl = (ScrollableList) map.get(key);
+      sl.setValue(densityPreviewStyle);
+      sl.close();
+    }
+    else if (MODE_CHANGE_POLYGONIZER.equals(key))
+    {
+      println("Adding " + key);
+      ScrollableList sl = (ScrollableList) map.get(key);
+      sl.setValue(polygonizer);
+      sl.close();
+    }
+    else if (MODE_CHANGE_INVERT_MASK.equals(key))
+    {
+      println("Adding " + key);
+      ScrollableList sl = (ScrollableList) map.get(key);
+      sl.setValue(polygonizer);
+      sl.close();
+    }
+  }
+  return map;
+}
+
+
 String getControlLabel(String butName)
 {
   if (controlLabels.containsKey(butName))
@@ -564,6 +745,7 @@ Map<String, PVector> buildControlPositionsForPanel(Panel panel)
   int row = 0;
   for (Controller controller : panel.getControls())
   {
+    
     if (controller.getName().startsWith("minitoggle_"))
     {
       PVector p = new PVector(col*(DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x), row*(DEFAULT_CONTROL_SIZE.y+CONTROL_SPACING.y));
@@ -575,6 +757,18 @@ Map<String, PVector> buildControlPositionsForPanel(Panel panel)
         col++;
       }
     }
+    else if (controller.getName().startsWith("dropdown_"))
+    {
+      PVector p = new PVector(col*(DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x), row*(DEFAULT_CONTROL_SIZE.y+CONTROL_SPACING.y));
+      println(controller);
+      map.put(controller.getName(), p);
+      row++;
+      if (p.y + (DEFAULT_CONTROL_SIZE.y*2) >= panel.getOutline().getHeight())
+      {
+        row = 0;
+        col++;
+      }
+    }
     else
     {
       PVector p = new PVector(col*(DEFAULT_CONTROL_SIZE.x+CONTROL_SPACING.x), row*(DEFAULT_CONTROL_SIZE.y+CONTROL_SPACING.y));
@@ -604,6 +798,11 @@ Map<String, PVector> buildControlSizesForPanel(Panel panel)
       PVector s = new PVector(DEFAULT_CONTROL_SIZE.y, DEFAULT_CONTROL_SIZE.y);
       map.put(controller.getName(), s);
     }
+    else if (controller.getName().startsWith("dropdown_"))
+    {
+      PVector s = new PVector(DEFAULT_CONTROL_SIZE.x, DEFAULT_CONTROL_SIZE.y * 4);
+      map.put(controller.getName(), s);
+    }
     else
     {
       PVector s = new PVector(DEFAULT_CONTROL_SIZE.x, DEFAULT_CONTROL_SIZE.y);
@@ -664,6 +863,7 @@ List<String> getControlNamesForInputPanel()
   controlNames.add(MODE_CHANGE_GRID_SIZE);
   controlNames.add(MODE_CHANGE_SAMPLE_AREA);
   controlNames.add(MODE_CHOOSE_CHROMA_KEY_COLOUR);
+  controlNames.add(MODE_CHANGE_INVERT_MASK);
   controlNames.add(MODE_CHANGE_PIXEL_SCALING);
 
   controlNames.add(MODE_RENDER_PIXEL_DIALOG);
@@ -675,18 +875,24 @@ List<String> getControlNamesForInputPanel()
   controlNames.add(MODE_LOAD_VECTOR_FILE);
   controlNames.add(MODE_RESIZE_VECTOR);
   controlNames.add(MODE_MOVE_VECTOR);
-  controlNames.add(MODE_CHANGE_MIN_VECTOR_LINE_LENGTH);
-  //controlNames.add(MODE_VECTOR_PATH_LENGTH_HIGHPASS_CUTOFF);
-  controlNames.add(MODE_RENDER_VECTORS);
-  
   controlNames.add(MODE_ADJUST_PREVIEW_CORD_OFFSET);
 
+  controlNames.add(MODE_RENDER_VECTORS);
+  controlNames.add(MODE_CHANGE_MIN_VECTOR_LINE_LENGTH);
+  controlNames.add(MODE_CHANGE_POLYGONIZER);
+  controlNames.add(MODE_CHANGE_POLYGONIZER_LENGTH);
+//  controlNames.add(MODE_CHANGE_POLYGONIZER_ADAPTATIVE_ANGLE);
+
   controlNames.add(MODE_SHOW_IMAGE);
   controlNames.add(MODE_SHOW_VECTOR);
   controlNames.add(MODE_SHOW_QUEUE_PREVIEW);
-  controlNames.add(MODE_SHOW_DENSITY_PREVIEW);
   controlNames.add(MODE_SHOW_GUIDES);
 
+  controlNames.add(MODE_SHOW_DENSITY_PREVIEW);
+  controlNames.add(MODE_PREVIEW_PIXEL_DENSITY_RANGE);
+  controlNames.add(MODE_CHANGE_DENSITY_PREVIEW_POSTERIZE);
+  controlNames.add(MODE_CYCLE_DENSITY_PREVIEW_STYLE);  
+
   
   return controlNames;
 }
@@ -913,6 +1119,7 @@ Map<String, String> buildControlLabels()
   result.put(MODE_MOVE_VECTOR, "Move vector");
   result.put(MODE_RENDER_PIXEL_DIALOG, "Render pixels...");
   result.put(MODE_CHOOSE_CHROMA_KEY_COLOUR, "Choose mask colour");
+  result.put(MODE_CHANGE_INVERT_MASK, "Mask mode");
   result.put(MODE_CHANGE_PIXEL_SCALING, "Pixel scaling");
   
   result.put(MODE_PEN_LIFT_UP, "Pen lift");
@@ -953,6 +1160,14 @@ Map<String, String> buildControlLabels()
   result.put(MODE_SEND_BUTTON_DEACTIVATE, "Deactivate button");
   
   result.put(MODE_ADJUST_PREVIEW_CORD_OFFSET, "Cord offset");
+  result.put(MODE_CYCLE_DENSITY_PREVIEW_STYLE, "Density preview style");
+  
+  result.put(MODE_CHANGE_DENSITY_PREVIEW_POSTERIZE, "Pixel posterize");
+  result.put(MODE_PREVIEW_PIXEL_DENSITY_RANGE, "Show density range");
+  
+  result.put(MODE_CHANGE_POLYGONIZER, "Polygonizer style");
+  result.put(MODE_CHANGE_POLYGONIZER_LENGTH, "Polygonizer length");
+  result.put(MODE_CHANGE_POLYGONIZER_ADAPTATIVE_ANGLE, "Polygonizer angle");
   
 
   return result;
@@ -1060,6 +1275,7 @@ Set<String> buildControlNames()
   result.add(MODE_CHANGE_MIN_VECTOR_LINE_LENGTH);
   
   result.add(MODE_CHOOSE_CHROMA_KEY_COLOUR);
+  result.add(MODE_CHANGE_INVERT_MASK);
   result.add(MODE_CHANGE_PIXEL_SCALING);
   result.add(MODE_PEN_LIFT_UP);
   result.add(MODE_PEN_LIFT_DOWN);
@@ -1098,6 +1314,14 @@ Set<String> buildControlNames()
   result.add(MODE_SEND_BUTTON_DEACTIVATE);
 
   result.add(MODE_ADJUST_PREVIEW_CORD_OFFSET);
+  result.add(MODE_CYCLE_DENSITY_PREVIEW_STYLE);
+  
+  result.add(MODE_CHANGE_DENSITY_PREVIEW_POSTERIZE);
+  result.add(MODE_PREVIEW_PIXEL_DENSITY_RANGE);
+  
+  result.add(MODE_CHANGE_POLYGONIZER_LENGTH);
+  result.add(MODE_CHANGE_POLYGONIZER);
+  result.add(MODE_CHANGE_POLYGONIZER_ADAPTATIVE_ANGLE);
   
   return result;
 }

drawing.pde

@@ -27,9 +27,9 @@
   https://github.com/euphy/polargraphcontroller
 */
 static final String CMD_CHANGELENGTH = "C01,";
-static final String CMD_CHANGEPENWIDTH = "C02,";
-static final String CMD_CHANGEMOTORSPEED = "C03,";
-static final String CMD_CHANGEMOTORACCEL = "C04,";
+static final String CMD_SETPENWIDTH = "C02,";
+//static final String CMD_CHANGEMOTORSPEED = "C03,";
+//static final String CMD_CHANGEMOTORACCEL = "C04,";
 static final String CMD_DRAWPIXEL = "C05,";
 static final String CMD_DRAWSCRIBBLEPIXEL = "C06,";
 static final String CMD_DRAWRECT = "C07,";
@@ -120,9 +120,7 @@ void sendRequestMachineSize()
 void sendMachineSpec()
 {
   // ask for input to get the new machine size
-  String command = CMD_CHANGEMACHINENAME+newMachineName+",END";
-  addToCommandQueue(command);
-  command = CMD_CHANGEMACHINESIZE+getDisplayMachine().inMM(getDisplayMachine().getWidth())+","+getDisplayMachine().inMM(getDisplayMachine().getHeight())+",END";
+  String command = CMD_CHANGEMACHINESIZE+getDisplayMachine().inMM(getDisplayMachine().getWidth())+","+getDisplayMachine().inMM(getDisplayMachine().getHeight())+",END";
   addToCommandQueue(command);
   command = CMD_CHANGEMACHINEMMPERREV+int(getDisplayMachine().getMMPerRev())+",END";
   addToCommandQueue(command);
@@ -199,13 +197,13 @@ void sendTestPenWidth()
   StringBuilder sb = new StringBuilder();
   sb.append(testPenWidthCommand)
     .append(int(gridSize))
-      .append(",")
-        .append(df.format(testPenWidthStartSize))
-          .append(",")
-            .append(df.format(testPenWidthEndSize))
-              .append(",")
-                .append(df.format(testPenWidthIncrementSize))
-                  .append(",END");
+    .append(",")
+    .append(df.format(testPenWidthStartSize))
+    .append(",")
+    .append(df.format(testPenWidthEndSize))
+    .append(",")
+    .append(df.format(testPenWidthIncrementSize))
+    .append(",END");
   addToCommandQueue(sb.toString());
 }
 
@@ -684,7 +682,6 @@ void sendVectorShapes(RShape vec, float scaling, PVector position, int pathSorti
     if (pointPaths[i] != null) 
     {
       boolean firstPointFound = false;
-
       if (pointPaths[i].length > pathLengthHighPassCutoff)
       {
         List<PVector> filteredPoints = filterPoints(pointPaths[i], VECTOR_FILTER_LOW_PASS, minimumVectorLineLength, scaling, position);
@@ -701,7 +698,7 @@ void sendVectorShapes(RShape vec, float scaling, PVector position, int pathSorti
           if (liftToGetToNewPoint)
             addToCommandQueue(CMD_PENUP+"END");
           // move to this point and put the pen down
-          command = CMD_CHANGELENGTHDIRECT+(int)p.x+","+(int)p.y+","+getMaxSegmentLength()+",END";
+          command = CMD_CHANGELENGTHDIRECT+Math.round(p.x)+","+Math.round(p.y)+","+getMaxSegmentLength()+",END";
           addToCommandQueue(command);
           if (liftToGetToNewPoint)
             addToCommandQueue(CMD_PENDOWN+"END");
@@ -712,7 +709,7 @@ void sendVectorShapes(RShape vec, float scaling, PVector position, int pathSorti
           for (int j=1; j<filteredPoints.size(); j++)
           {
             p = filteredPoints.get(j);
-            command = CMD_CHANGELENGTHDIRECT+(int)p.x+","+(int)p.y+","+getMaxSegmentLength()+",END";
+            command = CMD_CHANGELENGTHDIRECT+Math.round(p.x)+","+Math.round(p.y)+","+getMaxSegmentLength()+",END";
             addToCommandQueue(command);
           }
           lastPoint = new PVector(p.x, p.y);
@@ -890,6 +887,7 @@ List<PVector> filterPointsLowPass(RPoint[] points, long filterParam, float scali
 
   // scale and convert all the points first
   List<PVector> scaled = new ArrayList<PVector>(points.length);
+  println("a filterPointsLowPass: Scaled length: " + points.length);
   for (int j = 0; j<points.length; j++)
   {
     RPoint firstPoint = points[j];
@@ -904,7 +902,8 @@ List<PVector> filterPointsLowPass(RPoint[] points, long filterParam, float scali
     }
   }
 
-  if (scaled.size() > 1)
+  println("b filterPointsLowPass: Scaled length: " + scaled.size());
+  if (scaled.size() > 1.0)
   {
     PVector p = scaled.get(0);
     result.add(p);
@@ -913,17 +912,18 @@ List<PVector> filterPointsLowPass(RPoint[] points, long filterParam, float scali
     {
       p = scaled.get(j);
       // and even then, only bother drawing if it's a move of over "x" steps
-      int diffx = int(p.x) - int(result.get(result.size()-1).x);
-      int diffy = int(p.y) - int(result.get(result.size()-1).y);
+      int diffx = abs(int(p.x) - int(result.get(result.size()-1).x));
+      int diffy = abs(int(p.y) - int(result.get(result.size()-1).y));
 
-      if (abs(diffx) > filterParam || abs(diffy) > filterParam)
+      if (diffx > filterParam || diffy > filterParam)
       {
-        //println("Adding point " + p + ", last: " + result.get(result.size()-1));
+        println(j + ". Adding point " + p + " because diffx (" + diffx + ") or diffy (" + diffy + ") is > " + filterParam + ", last: " + result.get(result.size()-1));
         result.add(p);
       }
     }
   }
 
+  println("c filterPointsLowPass: Scaled length: " + result.size());
   if (result.size() < 2)
     result.clear();
 
@@ -968,5 +968,3 @@ void sendDrawRandomSprite(String spriteFilename)
 {
   addToCommandQueue(CMD_DRAW_RANDOM_SPRITE+","+spriteFilename+",100,500,END");
 }
-
-

polargraphcontroller.pde

@@ -1,42 +1,42 @@
 /**
-  Polargraph controller
-  Copyright Sandy Noble 2015.
+ Polargraph controller
+ Copyright Sandy Noble 2018.
   
-  This file is part of Polargraph Controller.
+ This file is part of Polargraph Controller.
  
-  Polargraph Controller 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.
+ Polargraph Controller 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.
  
-  Polargraph Controller 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 Polargraph Controller.  If not, see <http://www.gnu.org/licenses/>.
+ Polargraph Controller 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.
  
-  Requires the excellent ControlP5 GUI library available from http://www.sojamo.de/libraries/controlP5/.
-  Requires the excellent Geomerative library available from http://www.ricardmarxer.com/geomerative/.
+ You should have received a copy of the GNU General Public License
+ along with Polargraph Controller.  If not, see <http://www.gnu.org/licenses/>.
  
-  This is an application for controlling a polargraph machine, communicating using ASCII command language over a serial link.
+ Requires the excellent ControlP5 GUI library available from http://www.sojamo.de/libraries/controlP5/.
+ Requires the excellent Geomerative library available from http://www.ricardmarxer.com/geomerative/.
+ 
+ This is an application for controlling a polargraph machine, communicating using ASCII command language over a serial link.
+ 
+ sandy.noble@gmail.com
+ http://www.polargraph.co.uk
+ https://github.com/euphy/polargraphcontroller
+ 
+ */
 
-  sandy.noble@gmail.com
-  http://www.polargraph.co.uk/
-  https://github.com/euphy/polargraphcontroller
-*/
 //import processing.video.*;
 import diewald_CV_kit.libraryinfo.*;
 import diewald_CV_kit.utility.*;
 import diewald_CV_kit.blobdetection.*;
 
 import geomerative.*;
-//import org.apache.batik.svggen.font.table.*;
-//import org.apache.batik.svggen.font.*;
 import java.util.zip.CRC32;
 
-
 // for OSX
 import java.text.*;
 import java.util.*;
@@ -54,15 +54,13 @@ import java.awt.BorderLayout;
 import java.lang.reflect.Method;
 
 int majorVersionNo = 2;
-int minorVersionNo = 0;
-int buildNo = 3;
+int minorVersionNo = 6;
+int buildNo = 0;
 
 String programTitle = "Polargraph Controller v" + majorVersionNo + "." + minorVersionNo + " build " + buildNo;
 ControlP5 cp5;
 Map<String, ControlP5> cp5s = new HashMap<String, ControlP5>();
 
-
-
 boolean drawbotReady = false;
 boolean drawbotConnected = false;
 
@@ -148,6 +146,8 @@ List<String> machineMessageLog = new ArrayList<String>();
 List<PreviewVector> previewCommandList = new ArrayList<PreviewVector>();
 long lastCommandQueueHash = 0L;
 
+File lastImageDirectory = null;
+File lastPropertiesDirectory = null;
 
 String lastCommand = "";
 String lastDrawingCommand = "";
@@ -187,7 +187,7 @@ float testPenWidthStartSize = 0.5;
 float testPenWidthEndSize = 2.0;
 float testPenWidthIncrementSize = 0.5;
 
-int machineStepMultiplier = 1;
+int machineStepMultiplier = 8;
 
 int maxSegmentLength = 2;
 
@@ -249,6 +249,7 @@ static final String MODE_CHANGE_SAMPLE_AREA = "numberbox_mode_changeSampleArea";
 static final String MODE_CHANGE_GRID_SIZE = "numberbox_mode_changeGridSize";
 
 static final String MODE_SHOW_DENSITY_PREVIEW = "minitoggle_mode_showDensityPreview";
+
 static final String MODE_SHOW_IMAGE = "minitoggle_mode_showImage";
 static final String MODE_SHOW_QUEUE_PREVIEW = "minitoggle_mode_showQueuePreview";
 static final String MODE_SHOW_VECTOR = "minitoggle_mode_showVector";
@@ -337,6 +338,26 @@ static final String MODE_SEND_BUTTON_DEACTIVATE = "button_mode_sendButtonDeactiv
 
 static final String MODE_ADJUST_PREVIEW_CORD_OFFSET = "numberbox_mode_previewCordOffsetValue";
 
+static final String MODE_CYCLE_DENSITY_PREVIEW_STYLE = "dropdown_mode_cycleDensityPreviewStyle";
+
+static final String MODE_CHANGE_DENSITY_PREVIEW_POSTERIZE = "numberbox_mode_changeDensityPreviewPosterize";
+static final String MODE_PREVIEW_PIXEL_DENSITY_RANGE = "minitoggle_mode_previewPixelDensityRange";
+
+static final String MODE_CHANGE_POLYGONIZER = "dropdown_mode_changePolygonizer";
+static final String MODE_CHANGE_POLYGONIZER_LENGTH = "numberbox_mode_changePolygonizerLength";
+static final String MODE_CHANGE_POLYGONIZER_ADAPTATIVE_ANGLE = "numberbox_mode_changePolygonizerAdaptativeAngle";
+
+static final String MODE_CHANGE_INVERT_MASK = "dropdown_mode_changeMaskInvert";
+
+
+List<String> polygonizerStyles = Arrays.asList("ADAPTATIVE", "UNIFORMLENGTH");
+
+List<String> invertMaskModes = Arrays.asList("Mask off", "Mask hides", "Mask shows");
+static final int MASK_MODES_COUNT = 3;
+static final int MASK_IS_UNUSED = 0;
+static final int MASKED_COLOURS_ARE_HIDDEN = 1;
+static final int MASKED_COLOURS_ARE_SHOWN = 2;
+
 
 PVector statusTextPosition = new PVector(300.0, 12.0);
 
@@ -363,6 +384,7 @@ boolean pixelTimerRunning = false;
 boolean displayingSelectedCentres = false;
 boolean displayingRowGridlines = false;
 boolean displayingInfoTextOnInputPage = false;
+boolean displayingGridSpots = true;
 
 boolean displayingImage = true;
 boolean displayingVector = true;
@@ -371,6 +393,10 @@ boolean displayingDensityPreview = false;
 
 boolean displayingGuides = true;
 
+
+List<String> densityPreviewStyles = Arrays.asList("Round", "Diamond", "Native Simple", "Native Arc", "Round size", "Native size");
+static final int DENSITY_PREVIEW_STYLE_COUNT = 6;
+
 static final int DENSITY_PREVIEW_ROUND = 0;
 static final int DENSITY_PREVIEW_DIAMOND = 1;
 static final int DENSITY_PREVIEW_NATIVE = 2;
@@ -380,6 +406,8 @@ static final int DENSITY_PREVIEW_NATIVE_SIZE = 5;
 
 static final int DEFAULT_DENSITY_PREVIEW_STYLE = DENSITY_PREVIEW_NATIVE;
 int densityPreviewStyle = DEFAULT_DENSITY_PREVIEW_STYLE;
+int densityPreviewPosterize = 255;
+boolean previewPixelDensityRange = true;
 
 static final byte COORD_MODE_NATIVE_STEPS = 0;
 static final byte COORD_MODE_NATIVE_MM = 1;
@@ -394,6 +422,7 @@ static final char BITMAP_BACKGROUND_COLOUR = 0x0F;
 PVector homePointCartesian = null;
 
 public color chromaKeyColour = color(0,255,0);
+public int invertMaskMode = MASK_IS_UNUSED;
 
 // used in the preview page
 public color pageColour = color(220);
@@ -405,6 +434,7 @@ public color densityPreviewColour = color(0);
 
 public Integer previewCordOffset = 0;
 
+public boolean debugPanels = false;
 
 public boolean showingSummaryOverlay = true;
 public boolean showingDialogBox = false;
@@ -414,6 +444,9 @@ public Integer windowHeight = 400;
 
 public static Integer serialPortNumber = -1;
 
+public Textarea consoleArea = null;
+public Println console = null;
+public PrintStream savedOut = null;
 
 Properties props = null;
 public static String propertiesFilename = "default.properties.txt";
@@ -471,15 +504,13 @@ RShape vectorShape = null;
 String vectorFilename = null;
 float vectorScaling = 100;
 PVector vectorPosition = new PVector(0.0,0.0);
-int minimumVectorLineLength = 0;
+int minimumVectorLineLength = 2;
 public static final int VECTOR_FILTER_LOW_PASS = 0;
+public Set<String> controlsToLockIfVectorNotLoaded = null;
 
 
 String storeFilename = "comm.txt";
 boolean overwriteExistingStoreFile = true;
-//private static Logger logger;
-public static Console console;
-public boolean useWindowedConsole = false;
 
 static boolean drawingTraceShape = true;
 static boolean retraceShape = true;
@@ -513,10 +544,19 @@ String shapeSavePath = "../../savedcaptures/";
 String shapeSavePrefix = "shape-";
 String shapeSaveExtension = ".svg";
 
+static Float gcodeZAxisDrawingHeight = 1.0; //-0.125000;
+
 String filePath = null;
 
 static PApplet parentPapplet = null;
 
+boolean rescaleDisplayMachine = true;
+
+// Polygonization. It's a geomerative thing.
+int polygonizer = 0;
+float polygonizerLength = 0.0;
+float polygonizerAdaptativeAngle = 0.0F;
+
 void setup()
 {
   println("Running polargraph controller");
@@ -524,10 +564,6 @@ void setup()
   initLogging();
   parentPapplet = this;
   
-  initImages();
-  
-  RG.init(this);
-  RG.setPolygonizer(RG.ADAPTATIVE);
 
   try 
   { 
@@ -537,12 +573,12 @@ void setup()
   { 
     e.printStackTrace();   
   }
+
+  RG.init(this);
   loadFromPropertiesFile();
 
-//  size(400, 400, JAVA2D );
-//  surface.setResizable(true);
-//  surface.setSize(windowWidth, windowHeight);
-  size(windowWidth, windowHeight, JAVA2D);
+  size(200, 200);
+  size(windowWidth, windowHeight);
   this.cp5 = new ControlP5(this);
   initTabs();
   
@@ -550,7 +586,6 @@ void setup()
   println("Serial ports available on your machine:");
   println(serialPorts);
 
-//  println("getSerialPortNumber()"+getSerialPortNumber());
   if (getSerialPortNumber() >= 0)
   {
     println("About to connect to serial port in slot " + getSerialPortNumber());
@@ -593,13 +628,42 @@ void setup()
   addEventListeners();
 
   frameRate(8);
+  noLoop();
 }
+
+void fitDisplayMachineToWindow() {
+  
+  Rectangle gr = panels.get(PANEL_NAME_GENERAL).getOutline();
+  println(gr);
+  
+  Rectangle ir = panels.get(PANEL_NAME_INPUT).getOutline();
+  println(ir);
+  
+  float targetHeight = ir.getBottom() - gr.getTop() - CONTROL_SPACING.y;
+  println("Target height is " + targetHeight + " pixels");
+  
+  float machineHeight = getDisplayMachine().getOutline().getHeight();
+  println(machineHeight);
+  
+  machineScaling = (targetHeight / machineHeight);
+  println(machineScaling);
+  
+  if (machineScaling < 0) {
+    machineScaling = 1.0;
+  }
+  
+  getDisplayMachine().getOffset().x = ((gr.getRight() > ir.getRight()) ? gr.getRight() : ir.getRight()) + CONTROL_SPACING.x;
+  getDisplayMachine().getOffset().y = gr.getTop();
+  
+}
+
 void addEventListeners()
 {
   frame.addComponentListener(new ComponentAdapter() 
     {
       public void componentResized(ComponentEvent event) 
       {
+      windowResized();
         if (event.getSource()==frame) 
         {
   	  windowResized();
@@ -621,64 +685,72 @@ void addEventListeners()
 
 void preLoadCommandQueue()
 {
-  addToCommandQueue(CMD_CHANGEPENWIDTH+currentPenWidth+",END");
+  addToCommandQueue(CMD_SETPENWIDTH+currentPenWidth+",END");
   addToCommandQueue(CMD_SETMOTORSPEED+currentMachineMaxSpeed+",END");
   addToCommandQueue(CMD_SETMOTORACCEL+currentMachineAccel+",END");
 }
 
 void windowResized()
 {
+  noLoop();
   windowWidth = frame.getWidth();
   windowHeight = frame.getHeight();
+  println("New window size: " + windowWidth + " x " + windowHeight);
+  if (frame.getExtendedState() == Frame.MAXIMIZED_BOTH) {
+    println("Max");
+    frame.setExtendedState(0);
+    frame.setSize(windowWidth, windowHeight);
+  }
+  
   for (String key : getPanels().keySet())
   {
     Panel p = getPanels().get(key);
-    p.setHeight(frame.getHeight() - p.getOutline().getTop() - (DEFAULT_CONTROL_SIZE.y*2));
+    p.setSizeByHeight(windowHeight - p.getOutline().getTop() - (DEFAULT_CONTROL_SIZE.y*2));
+    if (debugPanels) {
+      println("Resize " + key + " to be " + p.getOutline().getWidth() + "px across, " + p.getOutline().getHeight() + "px tall");
+    }
   }
 
+  // Required to tell CP5 to be able to use the new sized window
+  // How does this work?
+  cp5.setGraphics(this,0,0);
+  
+  loop();
 }
+
 void draw()
 {
-  if (getCurrentTab() == TAB_NAME_INPUT)
-  {
+
+  if (getCurrentTab() == TAB_NAME_INPUT) {
     drawImagePage();
   }
-  else if (getCurrentTab() == TAB_NAME_QUEUE)
-  {
+  else if (getCurrentTab() == TAB_NAME_QUEUE) {
     drawCommandQueuePage();
   }
-  else if (getCurrentTab() == TAB_NAME_DETAILS)
-  {
+  else if (getCurrentTab() == TAB_NAME_DETAILS) {
     drawDetailsPage();
   }
-  else if (getCurrentTab() == TAB_NAME_ROVING)
-  {
+  else if (getCurrentTab() == TAB_NAME_ROVING) {
     drawRovingPage();
   }
-  else if (getCurrentTab() == TAB_NAME_TRACE)
-  {
+  else if (getCurrentTab() == TAB_NAME_TRACE) {
     drawTracePage();
   }
-  else
-  {
+  else {
     drawDetailsPage();
   }
 
-
-  if (isShowingSummaryOverlay())
-  {
+  if (isShowingSummaryOverlay()) {
     drawSummaryOverlay();
   }
-  if (isShowingDialogBox())
-  {
+  
+  if (isShowingDialogBox()) {
     drawDialogBox();
   }
 
-  if (drawbotReady)
-  {
+  if (drawbotReady) {
     dispatchCommandQueue();
   }
-  
 }
 
 String getCurrentTab()
@@ -747,6 +819,7 @@ Panel getPanel(String panelName)
 
 void drawImagePage()
 {
+  noLoop();
   strokeWeight(1);
   background(getBackgroundColour());
   noFill();
@@ -754,6 +827,10 @@ void drawImagePage()
   strokeWeight(3);
   stroke(150);
   noFill();
+  if (rescaleDisplayMachine) {
+    fitDisplayMachineToWindow();
+    rescaleDisplayMachine = false;
+  }
   getDisplayMachine().draw();
   drawMoveImageOutline();
   stroke(255, 0, 0);
@@ -767,13 +844,21 @@ void drawImagePage()
 
   showGroupBox();
   showCurrentMachinePosition();
-  if (displayingQueuePreview)
-    previewQueue();
+  try {
+    if (displayingQueuePreview)
+      previewQueue();
+  }
+  catch (ConcurrentModificationException cme)
+  {
+    // not doing anything with this exception - I don't mind if it's wrong on the screen for a second or two.
+    println("Caught the pesky ConcurrentModificationException: " + cme.getMessage());
+  }
   if (displayingInfoTextOnInputPage)
     showText(250,45);
   drawStatusText((int)statusTextPosition.x, (int)statusTextPosition.y);
 
   showCommandQueue((int) getDisplayMachine().getOutline().getRight()+6, 20);
+ 
 }
 
 void drawMachineOutline()
@@ -944,7 +1029,9 @@ void drawMoveImageOutline()
     PVector offsetMouseVector = PVector.sub(getDisplayMachine().scaleToDisplayMachine(getMouseVector()), centroid);
     if (pointPaths != null)
     {
-      for (int i = 0; i<pointPaths.length; i++)
+      int increment = round((pointPaths.length/10.0)+0.5);
+      println(increment);
+      for (int i = 0; i<pointPaths.length; i+=increment)
       {
         if (pointPaths[i] != null) 
         {
@@ -1015,176 +1102,6 @@ void showGroupBox()
   
 }
 
-void loadImageWithFileChooser()
-{
-  SwingUtilities.invokeLater(new Runnable() 
-  {
-    public void run() {
-      JFileChooser fc = new JFileChooser();
-      fc.setFileFilter(new ImageFileFilter());
-      
-      fc.setDialogTitle("Choose an image file...");
-
-      int returned = fc.showOpenDialog(frame);
-      if (returned == JFileChooser.APPROVE_OPTION) 
-      {
-        File file = fc.getSelectedFile();
-        // see if it's an image
-        PImage img = loadImage(file.getPath());
-        if (img != null) 
-        {
-          img = null;
-          getDisplayMachine().loadNewImageFromFilename(file.getPath());
-          if (getDisplayMachine().pixelsCanBeExtracted() && isBoxSpecified())
-          {
-            getDisplayMachine().extractPixelsFromArea(getBoxVector1(), getBoxVectorSize(), getGridSize(), sampleArea);
-          }
-        }
-      }
-    }
-  });
-}
-
-class ImageFileFilter extends javax.swing.filechooser.FileFilter 
-{
-  public boolean accept(File file) {
-      String filename = file.getName();
-      filename.toLowerCase();
-      if (file.isDirectory() || filename.endsWith(".png") || filename.endsWith(".jpg") || filename.endsWith(".jpeg")) 
-        return true;
-      else
-        return false;
-  }
-  public String getDescription() {
-      return "Image files (PNG or JPG)";
-  }
-}
-
-void loadVectorWithFileChooser()
-{
-  SwingUtilities.invokeLater(new Runnable() 
-  {
-    public void run() {
-      JFileChooser fc = new JFileChooser();
-      fc.setFileFilter(new VectorFileFilter());
-      
-      fc.setDialogTitle("Choose a vector file...");
-
-      int returned = fc.showOpenDialog(frame);
-      if (returned == JFileChooser.APPROVE_OPTION) 
-      {
-        File file = fc.getSelectedFile();
-        if (file.exists())
-        {
-          RShape shape = RG.loadShape(file.getPath());
-          if (shape != null) 
-          {
-            setVectorFilename(file.getPath());
-            setVectorShape(shape);
-          }
-          else 
-          {
-            println("File not found (" + file.getPath() + ")");
-          }
-        }
-      }
-    }
-  });
-}
-class VectorFileFilter extends javax.swing.filechooser.FileFilter 
-{
-  public boolean accept(File file) {
-      String filename = file.getName();
-      filename.toLowerCase();
-      if (file.isDirectory() || filename.endsWith(".svg")) 
-        return true;
-      else
-        return false;
-  }
-  public String getDescription() {
-      return "Vector graphic files (SVG)";
-  }
-}
-
-void loadNewPropertiesFilenameWithFileChooser()
-{
-  SwingUtilities.invokeLater(new Runnable() 
-  {
-    public void run() 
-    {
-      JFileChooser fc = new JFileChooser();
-      fc.setFileFilter(new PropertiesFileFilter());
-      
-      fc.setDialogTitle("Choose a config file...");
-
-      int returned = fc.showOpenDialog(frame);
-      if (returned == JFileChooser.APPROVE_OPTION) 
-      {
-        File file = fc.getSelectedFile();
-        if (file.exists())
-        {
-          println("New properties file exists.");
-          newPropertiesFilename = file.toString();
-          println("new propertiesFilename: "+  newPropertiesFilename);
-          propertiesFilename = newPropertiesFilename;
-          // clear old properties.
-          props = null;
-          loadFromPropertiesFile();
-          
-          // set values of number spinners etc
-          updateNumberboxValues();
-        }   
-      }
-    }
-  });
-}
-
-class PropertiesFileFilter extends javax.swing.filechooser.FileFilter 
-{
-  public boolean accept(File file) {
-      String filename = file.getName();
-      filename.toLowerCase();
-      if (file.isDirectory() || filename.endsWith(".properties.txt")) 
-        return true;
-      else
-        return false;
-  }
-  public String getDescription() {
-      return "Properties files (*.properties.txt)";
-  }
-}
-
-void saveNewPropertiesFileWithFileChooser()
-{
-  SwingUtilities.invokeLater(new Runnable() 
-  {
-    public void run() 
-    {
-      JFileChooser fc = new JFileChooser();
-      fc.setFileFilter(new PropertiesFileFilter());
-      
-      fc.setDialogTitle("Enter a config file name...");
-
-      int returned = fc.showSaveDialog(frame);
-      if (returned == JFileChooser.APPROVE_OPTION) 
-      {
-        File file = fc.getSelectedFile();
-        newPropertiesFilename = file.toString();
-        newPropertiesFilename.toLowerCase();
-        if (!newPropertiesFilename.endsWith(".properties.txt"))
-          newPropertiesFilename+=".properties.txt";
-          
-        println("new propertiesFilename: "+  newPropertiesFilename);
-        propertiesFilename = newPropertiesFilename;
-        savePropertiesFile();
-        // clear old properties.
-        props = null;
-        loadFromPropertiesFile();
-      }
-    }
-  });
-}
-
 
 
 void setPictureFrameDimensionsToBox()
@@ -1340,10 +1257,10 @@ boolean mouseOverPanel()
   for (Panel panel : getPanelsForTab(currentTab))
   {
     if (panel.getOutline().surrounds(getMouseVector())) {
-      println("Outline: " + panel.getOutline().toString());
-      println("OVER PANEL!" + panel.getName());
+//      println("Outline: " + panel.getOutline().toString());
+//      println("OVER PANEL!" + panel.getName());
       result = true;
-	  break;
+      break;
     }
   }
   return result;
@@ -1363,7 +1280,7 @@ boolean mouseOverQueue()
 void changeMachineScaling(int delta)
 {
   boolean scalingChanged = true;
-  machineScaling += (delta * 0.1);
+  machineScaling += (delta * (machineScaling * 0.1));
   if (machineScaling <  MIN_SCALING)
   {
     machineScaling = MIN_SCALING;
@@ -1411,10 +1328,6 @@ void keyPressed()
     getDisplayMachine().getOffset().x = getDisplayMachine().getOffset().x - 10;
   else if (checkKey(KeyEvent.VK_ESCAPE))
     key = 0;
-
-//  if (checkKey(CONTROL) && checkKey(KeyEvent.VK_G)) 
-//    println("CTRL+G");
-
   else if (checkKey(CONTROL) && checkKey(KeyEvent.VK_G))
   {
     Toggle t = (Toggle) getAllControls().get(MODE_SHOW_GUIDES);
@@ -1432,12 +1345,7 @@ void keyPressed()
   }
   else if (checkKey(CONTROL) && checkKey(KeyEvent.VK_C))
   {
-    if (isUseWindowedConsole())
-      setUseWindowedConsole(false);
-    else
-      setUseWindowedConsole(true);
-      
-    initLogging();
+    toggleShowConsole();
   }
   else if (checkKey(CONTROL) && checkKey(KeyEvent.VK_S))
   {
@@ -1448,60 +1356,6 @@ void keyPressed()
   {
     displayingInfoTextOnInputPage = (displayingInfoTextOnInputPage) ? false : true;
   }
-//  else if (key == '+')
-//  {
-//    currentMachineMaxSpeed = currentMachineMaxSpeed+MACHINE_MAXSPEED_INCREMENT;
-//    currentMachineMaxSpeed =  Math.round(currentMachineMaxSpeed*100.0)/100.0;
-//    NumberFormat nf = NumberFormat.getNumberInstance(Locale.UK);
-//    DecimalFormat df = (DecimalFormat)nf;  
-//    df.applyPattern("###.##");
-//    addToRealtimeCommandQueue(CMD_SETMOTORSPEED+df.format(currentMachineMaxSpeed)+",END");
-//  }
-//  else if (key == '-')
-//  {
-//    currentMachineMaxSpeed = currentMachineMaxSpeed+(0.0 - MACHINE_MAXSPEED_INCREMENT);
-//    currentMachineMaxSpeed =  Math.round(currentMachineMaxSpeed*100.0)/100.0;
-//    NumberFormat nf = NumberFormat.getNumberInstance(Locale.UK);
-//    DecimalFormat df = (DecimalFormat)nf;  
-//    df.applyPattern("###.##");
-//    addToRealtimeCommandQueue(CMD_SETMOTORSPEED+df.format(currentMachineMaxSpeed)+",END");
-//  }
-//  else if (key == '*')
-//  {
-//    currentMachineAccel = currentMachineAccel+MACHINE_ACCEL_INCREMENT;
-//    currentMachineAccel =  Math.round(currentMachineAccel*100.0)/100.0;
-//    NumberFormat nf = NumberFormat.getNumberInstance(Locale.UK);
-//    DecimalFormat df = (DecimalFormat)nf;  
-//    df.applyPattern("###.##");
-//    addToRealtimeCommandQueue(CMD_SETMOTORACCEL+df.format(currentMachineAccel)+",END");
-//  }
-//  else if (key == '/')
-//  {
-//    currentMachineAccel = currentMachineAccel+(0.0 - MACHINE_ACCEL_INCREMENT);
-//    currentMachineAccel =  Math.round(currentMachineAccel*100.0)/100.0;
-//    NumberFormat nf = NumberFormat.getNumberInstance(Locale.UK);
-//    DecimalFormat df = (DecimalFormat)nf;  
-//    df.applyPattern("###.##");
-//    addToRealtimeCommandQueue(CMD_SETMOTORACCEL+df.format(currentMachineAccel)+",END");
-//  }
-//  else if (key == ']')
-//  {
-//    currentPenWidth = currentPenWidth+penIncrement;
-//    currentPenWidth =  Math.round(currentPenWidth*100.0)/100.0;
-//    NumberFormat nf = NumberFormat.getNumberInstance(Locale.UK);
-//    DecimalFormat df = (DecimalFormat)nf;  
-//    df.applyPattern("###.##");
-//    addToRealtimeCommandQueue(CMD_CHANGEPENWIDTH+df.format(currentPenWidth)+",END");
-//  }
-//  else if (key == '[')
-//  {
-//    currentPenWidth = currentPenWidth-penIncrement;
-//    currentPenWidth =  Math.round(currentPenWidth*100.0)/100.0;
-//    NumberFormat nf = NumberFormat.getNumberInstance(Locale.UK);
-//    DecimalFormat df = (DecimalFormat)nf;  
-//    df.applyPattern("###.##");
-//    addToRealtimeCommandQueue(CMD_CHANGEPENWIDTH+df.format(currentPenWidth)+",END");
-//  }
   else if (key == '#' )
   {
     addToRealtimeCommandQueue(CMD_PENUP+"END");
@@ -1519,18 +1373,10 @@ void keyPressed()
   {
     this.maxSegmentLength++;
   }
-//  else if (key == ',')
-//  {
-//    if (this.minimumVectorLineLength > 0)
-//      this.minimumVectorLineLength--;
-//  }
-//  else if (key == '.')
-//  {
-//    this.minimumVectorLineLength++;
-//  }
 }
 void mouseDragged()
 {
+  loop();
   if (mouseOverControls().isEmpty())
   {
     if (mouseButton == CENTER)
@@ -1548,12 +1394,16 @@ void mouseDragged()
     }
   }
 }
+void mouseMoved()
+{
+  loop();
+}
   
 void mouseClicked()
 {
   if (mouseOverPanel())
   { // changing mode
-//    panelClicked();
+    
   }
   else
   {
@@ -1570,7 +1420,7 @@ void mouseClicked()
       if (getDisplayMachine().pixelsCanBeExtracted() && isBoxSpecified())
         getDisplayMachine().extractPixelsFromArea(getBoxVector1(), getBoxVectorSize(), getGridSize(), sampleArea);
     }
-    else if (currentMode.equals(MODE_MOVE_VECTOR))
+    else if (currentMode.equals(MODE_MOVE_VECTOR) && vectorShape != null)
     {
       // offset mouse vector so it grabs the centre of the shape
       PVector centroid = new PVector(getVectorShape().width/2, getVectorShape().height/2);
@@ -1601,6 +1451,7 @@ void machineDragged()
     lastMachineDragPosition = new PVector(currentPos.x, currentPos.y);
     PVector currentPosition = getDisplayMachine().getOutline().getPosition();
     getDisplayMachine().getOffset().add(change);
+    cursor(MOVE);
   }
 }
 
@@ -1703,13 +1554,36 @@ void leftButtonMachineClick()
 
 void mouseWheel(int delta) 
 {
-  changeMachineScaling(delta);
+  noLoop();
+  
+  if (mouseOverMachine()) {    
+    // get the mouse position on the machine, before changing the machine scaling
+    PVector pos = getDisplayMachine().scaleToDisplayMachine(getMouseVector());
+    changeMachineScaling(delta);
+    
+    // now work out what the machine position needs to be to line the pos up with mousevector again
+    PVector scaledPos = getDisplayMachine().scaleToDisplayMachine(getMouseVector());
+    PVector change = PVector.sub(scaledPos, pos);
+  
+    // and adjust for the new scaling factor
+    change.mult(machineScaling);
+    
+    // finally update the machine offset (position)
+    getDisplayMachine().getOffset().add(change);
+  }
+  
+  loop();
 } 
 
 void setChromaKey(PVector p)
 {
   color col = getDisplayMachine().getPixelAtScreenCoords(p); 
   chromaKeyColour = col;
+  rebuildPixels();
+}
+
+void rebuildPixels()
+{
   if (getDisplayMachine().pixelsCanBeExtracted() && isBoxSpecified())
   {
     getDisplayMachine().extractPixelsFromArea(getBoxVector1(), getBoxVectorSize(), getGridSize(), sampleArea);
@@ -1730,6 +1604,26 @@ boolean isPreviewable(String command)
   }
 }
 
+boolean toggleShowConsole() {
+  if (console == null) {
+    savedOut = System.out;
+    console = cp5.addConsole(consoleArea);
+    consoleArea.setVisible(true);
+    console.play();
+  }
+  else {
+    console.pause();
+    consoleArea.setVisible(false);
+    cp5.remove(console);
+    console = null;
+    System.setOut(savedOut);
+  }
+  
+//  println("Ow");
+  
+  return console == null;
+}
+
 /**
   This will comb the command queue and attempt to draw a picture of what it contains.
   Coordinates here are in pixels.
@@ -1745,6 +1639,8 @@ void previewQueue(boolean forceRebuild)
   {
     println("regenerating preview queue.");
     previewCommandList.clear();
+    
+    
     for (String command : commandQueue)
     {
       if (command.startsWith(CMD_CHANGELENGTHDIRECT) || command.startsWith(CMD_CHANGELENGTH) || command.startsWith(CMD_DRAWPIXEL))
@@ -1805,6 +1701,7 @@ void previewQueue(boolean forceRebuild)
       ellipse(p.x, p.y, 5,5);
       noFill();
     }
+//    ellipse(p.x, p.y, 5,5); // Circle at each node
 
   }
 
@@ -2352,7 +2249,7 @@ public PVector getHomePoint()
 public DisplayMachine getDisplayMachine()
 {
   if (displayMachine == null)
-    displayMachine = new DisplayMachine(new Machine(5000, 5000, 800.0, 95.0), machinePosition, machineScaling);
+    displayMachine = new DisplayMachine(new Machine(5000, 5000, 200.0, 95.0), machinePosition, machineScaling);
     
   displayMachine.setOffset(machinePosition);
   displayMachine.setScale(machineScaling);
@@ -2506,10 +2403,34 @@ void readMachineMessage(String msg)
 void readMachinePosition(String sync)
 {
   String[] splitted = split(sync, ",");
+  int aPosIndex = 0;
+  int bPosIndex = 0;
+  
   if (splitted.length == 4)
   {
-    String currentAPos = splitted[1];
-    String currentBPos = splitted[2];
+    aPosIndex = 1;
+    bPosIndex = 2;
+  } 
+  else if (splitted.length == 5)
+  {
+    aPosIndex = 2;
+    bPosIndex = 3;
+  }
+  
+  if (aPosIndex != 0)
+  {
+    String currentAPos = splitted[aPosIndex];
+    String currentBPos = splitted[bPosIndex];
+    Float a = Float.valueOf(currentAPos).floatValue();
+    Float b = Float.valueOf(currentBPos).floatValue();
+    currentMachinePos.x = a;
+    currentMachinePos.y = b;  
+    currentMachinePos = getDisplayMachine().inMM(getDisplayMachine().asCartesianCoords(currentMachinePos));
+  }
+  else if (splitted.length == 5)
+  {
+    String currentAPos = splitted[2];
+    String currentBPos = splitted[3];
     Float a = Float.valueOf(currentAPos).floatValue();
     Float b = Float.valueOf(currentBPos).floatValue();
     currentMachinePos.x = a;
@@ -2768,9 +2689,9 @@ void loadFromPropertiesFile()
   this.currentPenWidth = getFloatProperty("machine.pen.size", 0.8);
 
   // motor settings
-  this.currentMachineMaxSpeed = getFloatProperty("machine.motors.maxSpeed", 600.0);
-  this.currentMachineAccel = getFloatProperty("machine.motors.accel", 400.0);
-  this.machineStepMultiplier = getIntProperty("machine.step.multiplier", 1);
+  this.currentMachineMaxSpeed = getFloatProperty("machine.motors.maxSpeed", 2000.0);
+  this.currentMachineAccel = getFloatProperty("machine.motors.accel", 2000.0);
+  this.machineStepMultiplier = getIntProperty("machine.step.multiplier", 8);
   
   // serial port
   this.serialPortNumber = getIntProperty("controller.machine.serialport", 0);
@@ -2810,25 +2731,31 @@ void loadFromPropertiesFile()
   this.homePointCartesian = new PVector(getDisplayMachine().inSteps(homePointX), getDisplayMachine().inSteps(homePointY));
 //  println("home point loaded: " + homePointCartesian + ", " + getHomePoint());
 
+  // Geomerative stuff  
+  println("RG.ADAPTATIVE is " + RG.ADAPTATIVE);
+  println("RG.UNIFORMLENGTH is " + RG.UNIFORMLENGTH);
+  println("RG.UNIFORMSTEP is " + RG.UNIFORMSTEP);
+  polygonizer = getIntProperty("controller.geomerative.polygonizer", RG.ADAPTATIVE);
+  polygonizerLength = getFloatProperty("controller.geomerative.polygonizerLength", 1.0);
+  setupPolygonizer();
+  
   setVectorFilename(getStringProperty("controller.vector.filename", null));
   if (getVectorFilename() != null)
   {
     RShape shape = null;
-    try
-    {
+    // test if file exists
+    File f =  new File(getVectorFilename());
+    if (f.isFile()) {
       shape = RG.loadShape(getVectorFilename());
     }
-    catch (Exception e)
-    {
-      shape = null;
+    else {
+      println("Tried to load vector file (" + getVectorFilename() + ") but I couldn't find it.");
     }
     
-    if (shape != null) 
-    {
+    if (shape != null) {
       setVectorShape(shape);
     }
-    else 
-    {
+    else {
       println("File not found (" + getVectorFilename() + ")");
     }
   }
@@ -2838,7 +2765,6 @@ void loadFromPropertiesFile()
   this.minimumVectorLineLength = getIntProperty("controller.vector.minLineLength", 0);
   
   
-  
   println("Finished loading configuration from properties file.");
 }
 
@@ -2875,8 +2801,8 @@ void savePropertiesFile()
   props.setProperty("controller.density.preview.style", new Integer(getDensityPreviewStyle()).toString());
 
   // initial screen size
-  props.setProperty("controller.window.width", new Integer((windowWidth < 50) ? 50 : windowWidth-16).toString());
-  props.setProperty("controller.window.height", new Integer((windowWidth < 50) ? 50 : windowHeight-38).toString());
+  props.setProperty("controller.window.width", new Integer((windowWidth < 100) ? 100 : windowWidth-16).toString());
+  props.setProperty("controller.window.height", new Integer((windowWidth < 100) ? 100 : windowHeight-38).toString());
 
   props.setProperty("controller.testPenWidth.startSize", df.format(testPenWidthStartSize));
   props.setProperty("controller.testPenWidth.endSize", df.format(testPenWidthEndSize));
@@ -2911,6 +2837,9 @@ void savePropertiesFile()
   props.setProperty("controller.vector.position.y", df.format(getVectorPosition().y));
   props.setProperty("controller.vector.minLineLength", new Integer(this.minimumVectorLineLength).toString());
   
+  props.setProperty("controller.geomerative.polygonizer", new Integer(polygonizer).toString());
+  props.setProperty("controller.geomerative.polygonizerLength", df.format(polygonizerLength));
+
  
   FileOutputStream propertiesOutput = null;
 
@@ -3063,14 +2992,16 @@ Integer getBaudRate()
   return baudRate;
 }
 
-boolean isUseWindowedConsole()
-{
-  return this.useWindowedConsole;
-}
-
-void setUseWindowedConsole(boolean use)
-{
-  this.useWindowedConsole = use;
+void setupPolygonizer() {
+  RG.setPolygonizer(polygonizer); // http://www.polargraph.co.uk/forum/polargraphs-group2/troubleshooting-forum5/svg-differences-between-polargraphcontroller-2-1-1-2-3-0-thread523.0
+  switch(polygonizer) {
+//    case 0:
+//      RG.setPolygonizerAngle(polygonizerAdaptativeAngle);
+//      break;
+    case 1: 
+      RG.setPolygonizerLength(polygonizerLength);
+      break;
+  } 
 }
 
 void initLogging()

queue.pde

@@ -0,0 +1,7 @@
+/**
+Tools for dealing with a full command queue.
+
+Optimise queue.
+*/
+
+

tabSetup.pde

@@ -83,25 +83,35 @@ List<String> buildTabNames()
 
 void initTabs()
 {
-  cp5.getTab(TAB_NAME_INPUT).setLabel(TAB_LABEL_INPUT);
-  cp5.getTab(TAB_NAME_INPUT).activateEvent(true);
-  cp5.getTab(TAB_NAME_INPUT).setId(1);
+  int tabWidth = (int)DEFAULT_CONTROL_SIZE.x;
+  int tabHeight = (int)DEFAULT_CONTROL_SIZE.y;
   
-  cp5.getTab(TAB_NAME_DETAILS).setLabel(TAB_LABEL_DETAILS);
-  cp5.getTab(TAB_NAME_DETAILS).activateEvent(true);
-  cp5.getTab(TAB_NAME_DETAILS).setId(2);
+  Tab.padding = 13; // that's a weird thing to do
   
-  cp5.getTab(TAB_NAME_ROVING).setLabel(TAB_LABEL_ROVING);
-  cp5.getTab(TAB_NAME_ROVING).activateEvent(true);
-  cp5.getTab(TAB_NAME_ROVING).setId(3);
+  Tab input = cp5.getTab(TAB_NAME_INPUT); 
+  input.setLabel(TAB_LABEL_INPUT);
+  input.activateEvent(true);
+  input.setId(1);
 
-  cp5.getTab(TAB_NAME_TRACE).setLabel(TAB_LABEL_TRACE);
-  cp5.getTab(TAB_NAME_TRACE).activateEvent(true);
-  cp5.getTab(TAB_NAME_TRACE).setId(4);
+  Tab details = cp5.getTab(TAB_NAME_DETAILS); 
+  details.setLabel(TAB_LABEL_DETAILS);
+  details.activateEvent(true);
+  details.setId(2);
   
-  cp5.getTab(TAB_NAME_QUEUE).setLabel(TAB_LABEL_QUEUE);
-  cp5.getTab(TAB_NAME_QUEUE).activateEvent(true);
-  cp5.getTab(TAB_NAME_QUEUE).setId(5);
+  Tab roving = cp5.getTab(TAB_NAME_ROVING);
+  roving.setLabel(TAB_LABEL_ROVING);
+  roving.activateEvent(true);
+  roving.setId(3);
+
+  Tab trace = cp5.getTab(TAB_NAME_TRACE);
+  trace.setLabel(TAB_LABEL_TRACE);
+  trace.activateEvent(true);
+  trace.setId(4);
+
+  Tab queue = cp5.getTab(TAB_NAME_QUEUE);
+  queue.setLabel(TAB_LABEL_QUEUE);
+  queue.activateEvent(true);
+  queue.setId(5);
 }
 
 public Set<String> buildPanelNames()