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 +715,10 @@ class DisplayMachine extends Machine
     }
   }
   
+  void drawGridIntersections()
+  {
+//    println("oh");
+  }
   
   int pixel_maxDensity(float penSize, float rowSizeInMM) 
   {

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

@@ -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 calcX = (pow(getWidth(), 2.0) - pow(pgCoords.y, 2.0) + pow(pgCoords.x, 2.0)) / (getWidth()*2.0);
-    float calcY = int(sqrt(pow(pgCoords.x,2)-pow(calcX,2)));
+    float calcY = sqrt(pow(pgCoords.x,2.0)-pow(calcX,2.0));
     PVector vect = new PVector(calcX, calcY);
     return vect;
   }
@@ -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

@@ -133,7 +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();
@@ -166,6 +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)
@@ -211,6 +217,7 @@ class Panel
         this.getOutline().setHeight(getMinimumHeight());
       else
         this.getOutline().setHeight(h);
+        
       setControlPositions(buildControlPositionsForPanel(this));
       
       float left = 0.0;

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
+  ScrollableList sl = p.cp5().addScrollableList("dropdown_serialPort")
-  RadioButton r = p.cp5().addRadioButton("radio_serialPort")
     .setPosition(10, 10)
-    .setSize(15, 15)
+    .setSize(150, 450)
-    .setSpacingRow(5)
+    .setBarHeight(20)
-    .plugTo(this, "radio_serialPort");
+    .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)
+  println("portNo: " + portNo);
-    r.activate(ports[portNo]);
+  if (portNo < 0 || portNo >= ports.length)
-  else
+    portNo = -1;
-    r.activate("No serial connection");
 
+  // 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)
@@ -725,17 +734,11 @@ void numberbox_mode_previewCordOffsetValue(int value)
   previewQueue(true);
 }
 
-void button_mode_cycleDensityPreviewStyle() 
+void dropdown_mode_cycleDensityPreviewStyle(int index) 
 {
-  Controller c = cp5.getController(MODE_CYCLE_DENSITY_PREVIEW_STYLE);
+  println("In dropdown_mode_cycleDensityPreviewStyle");
-  c.setLabel(this.controlLabels.get(MODE_CYCLE_DENSITY_PREVIEW_STYLE) + ": " + densityPreviewStyle);
+  densityPreviewStyle = index;
-  
+  println("Style: " + densityPreviewStyle);
-  if (densityPreviewStyle == DENSITY_PREVIEW_STYLE_COUNT) {
-    densityPreviewStyle = 0;
-  }
-  else {
-    densityPreviewStyle++;
-  }
 }
 
 void numberbox_mode_changeDensityPreviewPosterize(int value) {
@@ -750,4 +753,27 @@ void minitoggle_mode_previewPixelDensityRange(boolean 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())
   {
@@ -227,9 +235,37 @@ 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()
 {
   
@@ -244,6 +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);
     }
@@ -253,8 +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.align(ControlP5.LEFT, CENTER);
-      l.getStyle().marginLeft = 4; //move to the right
+      l.getStyle().setPaddingLeft(4);
       map.put(controlName, t);
       //      println("Added toggle " + controlName);
     }
@@ -264,8 +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.align(ControlP5.LEFT, CENTER);
-      l.getStyle().marginLeft = 4; //move to the right
+      l.getStyle().setPaddingLeft(4);
       map.put(controlName, t);
       //      println("Added minitoggle " + controlName);
     }
@@ -276,17 +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.align(ControlP5.LEFT, CENTER);
-      l.getStyle().marginLeft = 40; //move to the right
+      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;
 }
         
@@ -513,14 +587,10 @@ Map<String, Controller> initialiseNumberboxValues(Map<String, Controller> map)
       }
       else if (MODE_ADJUST_PREVIEW_CORD_OFFSET.equals(key))
       {
-        n.setDecimalPrecision(0);
+        n.setDecimalPrecision(2);
-        n.setValue(0);
+        n.setValue(0.0);
         n.setMultiplier(0.5);
       }
-      else if (MODE_CYCLE_DENSITY_PREVIEW_STYLE.equals(key))
-      {
-        n.setValue(densityPreviewStyle);
-      }
       else if (MODE_CHANGE_DENSITY_PREVIEW_POSTERIZE.equals(key))
       {
         n.setValue(densityPreviewPosterize);
@@ -529,6 +599,19 @@ Map<String, Controller> initialiseNumberboxValues(Map<String, Controller> map)
         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;
@@ -588,6 +671,64 @@ Map<String, Controller> initialiseToggleValues(Map<String, Controller> map)
   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))
@@ -616,6 +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));
@@ -645,6 +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);
@@ -705,9 +863,8 @@ 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_CHANGE_DENSITY_PREVIEW_POSTERIZE);
-  controlNames.add(MODE_CYCLE_DENSITY_PREVIEW_STYLE);  
 
   controlNames.add(MODE_RENDER_PIXEL_DIALOG);
 //  controlNames.add(MODE_DRAW_GRID);
@@ -718,18 +875,23 @@ 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;
@@ -957,6 +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");
@@ -997,11 +1160,15 @@ 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, "Cycle preview style");
+  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;
 }
@@ -1108,6 +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);
@@ -1151,6 +1319,10 @@ Set<String> buildControlNames()
   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_SETPENWIDTH = "C02,";
-static final String CMD_CHANGEMOTORSPEED = "C03,";
+//static final String CMD_CHANGEMOTORSPEED = "C03,";
-static final String CMD_CHANGEMOTORACCEL = "C04,";
+//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";
+  String command = CMD_CHANGEMACHINESIZE+getDisplayMachine().inMM(getDisplayMachine().getWidth())+","+getDisplayMachine().inMM(getDisplayMachine().getHeight())+",END";
-  addToCommandQueue(command);
-  command = CMD_CHANGEMACHINESIZE+getDisplayMachine().inMM(getDisplayMachine().getWidth())+","+getDisplayMachine().inMM(getDisplayMachine().getHeight())+",END";
   addToCommandQueue(command);
   command = CMD_CHANGEMACHINEMMPERREV+int(getDisplayMachine().getMMPerRev())+",END";
   addToCommandQueue(command);
@@ -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 diffx = abs(int(p.x) - int(result.get(result.size()-1).x));
-      int diffy = int(p.y) - int(result.get(result.size()-1).y);
+      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

@@ -1,6 +1,6 @@
 /**
  Polargraph controller
- Copyright Sandy Noble 2015.
+ Copyright Sandy Noble 2018.
   
  This file is part of Polargraph Controller.
  
@@ -35,11 +35,8 @@ 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.*;
@@ -57,7 +54,7 @@ import java.awt.BorderLayout;
 import java.lang.reflect.Method;
 
 int majorVersionNo = 2;
-int minorVersionNo = 3;
+int minorVersionNo = 6;
 int buildNo = 0;
 
 String programTitle = "Polargraph Controller v" + majorVersionNo + "." + minorVersionNo + " build " + buildNo;
@@ -149,6 +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 = "";
@@ -250,6 +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";
@@ -338,11 +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 = "button_mode_cycleDensityPreviewStyle";
+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);
 
@@ -369,6 +384,7 @@ boolean pixelTimerRunning = false;
 boolean displayingSelectedCentres = false;
 boolean displayingRowGridlines = false;
 boolean displayingInfoTextOnInputPage = false;
+boolean displayingGridSpots = true;
 
 boolean displayingImage = true;
 boolean displayingVector = true;
@@ -377,6 +393,8 @@ 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;
@@ -404,6 +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);
@@ -487,6 +506,7 @@ float vectorScaling = 100;
 PVector vectorPosition = new PVector(0.0,0.0);
 int minimumVectorLineLength = 2;
 public static final int VECTOR_FILTER_LOW_PASS = 0;
+public Set<String> controlsToLockIfVectorNotLoaded = null;
 
 
 String storeFilename = "comm.txt";
@@ -532,6 +552,11 @@ 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");
@@ -539,9 +564,6 @@ void setup()
   initLogging();
   parentPapplet = this;
   
-  RG.init(this);
-  RG.setPolygonizer(RG.UNIFORMLENGTH);
-//  RG.setPolygonizer(RG.ADAPTATIVE);
 
   try 
   { 
@@ -551,8 +573,11 @@ void setup()
   { 
     e.printStackTrace();   
   }
+
+  RG.init(this);
   loadFromPropertiesFile();
 
+  size(200, 200);
   size(windowWidth, windowHeight);
   this.cp5 = new ControlP5(this);
   initTabs();
@@ -561,7 +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());
@@ -639,6 +663,7 @@ void addEventListeners()
     {
       public void componentResized(ComponentEvent event) 
       {
+      windowResized();
         if (event.getSource()==frame) 
         {
   	  windowResized();
@@ -660,7 +685,7 @@ void addEventListeners()
 
 void preLoadCommandQueue()
 {
-  addToCommandQueue(CMD_CHANGEPENWIDTH+currentPenWidth+",END");
+  addToCommandQueue(CMD_SETPENWIDTH+currentPenWidth+",END");
   addToCommandQueue(CMD_SETMOTORSPEED+currentMachineMaxSpeed+",END");
   addToCommandQueue(CMD_SETMOTORACCEL+currentMachineAccel+",END");
 }
@@ -671,17 +696,28 @@ void windowResized()
   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.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()
 {
 
@@ -783,6 +819,7 @@ Panel getPanel(String panelName)
 
 void drawImagePage()
 {
+  noLoop();
   strokeWeight(1);
   background(getBackgroundColour());
   noFill();
@@ -807,13 +844,21 @@ void drawImagePage()
 
   showGroupBox();
   showCurrentMachinePosition();
-  if (displayingQueuePreview)
+  try {
-    previewQueue();
+    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()
@@ -984,7 +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) 
         {
@@ -1055,398 +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 = 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") || filename.endsWith(".gco") || filename.endsWith(".g") || filename.endsWith(".txt"))
-      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();
-      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();
-      }
-    }
-  });
-}
-
-
-
-RShape loadShapeFromFile(String filename) {
-  RShape sh = null;
-  if (filename.toLowerCase().endsWith(".svg")) {
-    sh = RG.loadShape(filename);
-  }
-  else if (filename.toLowerCase().endsWith(".gco") || filename.toLowerCase().endsWith(".g") || filename.toLowerCase().endsWith(".txt")) {
-    sh = loadShapeFromGCodeFile(filename);
-  }
-  return sh;
-}
-
-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++;
-      
-      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;
-        }
-        Integer code = Math.round(ins.get("G"));
-        if (code >= 2) {
-          continue;
-        }
-        
-        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;
-          }
-        }
-        
-        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);
-          }
-        }
-//        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++;
-//              }
-//            }
-//          }
-//        }
-//        points = null;
-//        println("" + totalPoints + " points.");
-      }
-      else {
-        
-      }
-      
-      if ((millis() - time) > 500) {
-        time = millis();
-        reportStatus = true;
-      }
-      else {
-        reportStatus = false;
-      }
-      
-      if (lineNo == (countLines-1)) {
-        reportStatus = true;
-      }
-      
-    }
-  }
-  catch (IOException e) {
-    println("Execption reading lines from the gcode file " + filename);
-    e.printStackTrace();
-  }
-  finally {
-    try {
-      reader.close();
-    } 
-    catch (IOException e) {
-      println("Exception 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++) {
-      String axis = splitted[i].substring(0, 1);
-      Float value = Float.parseFloat(splitted[i].substring(1));
-      if ("X".equalsIgnoreCase(axis) || "Y".equalsIgnoreCase(axis) || "Z".equalsIgnoreCase(axis) || "G".equalsIgnoreCase(axis)) {
-        instruction.put(axis, value);
-      }
-    }
-//    println("instruction: " + instruction);
-    if (instruction.isEmpty()) {
-      throw new Exception();
-    }
-  }
-  catch (Exception e) {
-    throw new Exception("Exception while reading the lines from a gcode file: " + line + ", " + e.getMessage());
-  }
-  
-  return instruction;
-}
 
 
 void setPictureFrameDimensionsToBox()
@@ -1625,7 +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;
@@ -1721,6 +1376,7 @@ void keyPressed()
 }
 void mouseDragged()
 {
+  loop();
   if (mouseOverControls().isEmpty())
   {
     if (mouseButton == CENTER)
@@ -1738,6 +1394,10 @@ void mouseDragged()
     }
   }
 }
+void mouseMoved()
+{
+  loop();
+}
   
 void mouseClicked()
 {
@@ -1760,7 +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);
@@ -1791,6 +1451,7 @@ void machineDragged()
     lastMachineDragPosition = new PVector(currentPos.x, currentPos.y);
     PVector currentPosition = getDisplayMachine().getOutline().getPosition();
     getDisplayMachine().getOffset().add(change);
+    cursor(MOVE);
   }
 }
 
@@ -1893,13 +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);
@@ -1935,7 +1619,7 @@ boolean toggleShowConsole() {
     System.setOut(savedOut);
   }
   
-  println("Ow");
+//  println("Ow");
   
   return console == null;
 }
@@ -2017,6 +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
 
   }
 
@@ -2718,10 +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];
+    aPosIndex = 1;
-    String currentBPos = splitted[2];
+    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;
@@ -3022,25 +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)
+    else {
-    {
+      println("Tried to load vector file (" + getVectorFilename() + ") but I couldn't find it.");
-      shape = null;
     }
     
-    if (shape != null) 
+    if (shape != null) {
-    {
       setVectorShape(shape);
     }
-    else 
+    else {
-    {
       println("File not found (" + getVectorFilename() + ")");
     }
   }
@@ -3050,7 +2765,6 @@ void loadFromPropertiesFile()
   this.minimumVectorLineLength = getIntProperty("controller.vector.minLineLength", 0);
   
   
-  
   println("Finished loading configuration from properties file.");
 }
 
@@ -3123,6 +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;
 
@@ -3275,6 +2992,18 @@ Integer getBaudRate()
   return baudRate;
 }
 
+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()
 {
   try

queue.pde

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