/*-----------------------------------------------------------------------------*/
void DefineButtons()
{
 // Define and create image button for RUN panel
  PImage b = loadImage("BtnConfigN.gif");
  PImage r = loadImage("BtnConfigO.gif");
  PImage d = loadImage("BtnConfigP.gif");
  int x = 845;
  int y = 765; 
  int w = b.width;
  int h = b.height;
  BtnConfig = new ImageButtons(x, y, w, h, b, r, d);
  
  PImage b2 = loadImage("BtnQuitN.gif");
  PImage r2 = loadImage("BtnQuitO.gif");
  PImage d2 = loadImage("BtnQuitP.gif");
  int x2 = 945;
  int y2 = 765; 
  int w2 = b.width;
  int h2 = b.height;
  BtnQuit = new ImageButtons(x2, y2, w2, h2, b2, r2, d2);
  
  PImage b4 = loadImage("BtnRunN.gif");
  PImage r4 = loadImage("BtnRunO.gif");
  PImage d4 = loadImage("BtnRunP.gif");
  int x4 = 845;
  int y4 = 765; 
  int w4 = b.width;
  int h4 = b.height;
  BtnRun = new ImageButtons(x4, y4, w4, h4, b4, r4, d4);

  PImage b3 = loadImage("BtnSendN.gif");
  PImage r3 = loadImage("BtnSendO.gif");
  PImage d3 = loadImage("BtnSendP.gif");
  int x3 = 1170;
  int y3 = 500; 
  int w3 = b.width;
  int h3 = b.height;
  BtnSendSpeed = new ImageButtons(x3, y3, w3, h3, b3, r3, d3);
  
  PImage b6 = loadImage("BtnSendN.gif");
  PImage r6 = loadImage("BtnSendO.gif");
  PImage d6 = loadImage("BtnSendP.gif");
  int x6 = 1170;
  int y6 = 550; 
  int w6 = b.width;
  int h6 = b.height;
  BtnSendDist = new ImageButtons(x6, y6, w6, h6, b6, r6, d6);

  PImage b5 = loadImage("BtnSendN.gif");
  PImage r5 = loadImage("BtnSendO.gif");
  PImage d5 = loadImage("BtnSendP.gif");
  int x5 = 1170;
  int y5 = 600; 
  int w5 = b.width;
  int h5 = b.height;
  BtnSendXY = new ImageButtons(x5, y5, w5, h5, b5, r5, d5);
 
  PImage b7 = loadImage("BtnVersionN.gif");
  PImage r7 = loadImage("BtnVersionO.gif");
  PImage d7 = loadImage("BtnVersionP.gif");
  int x7 = 1170;
  int y7 = 650; 
  int w7 = b.width;
  int h7 = b.height;
  BtnSendVersion = new ImageButtons(x7, y7, w7, h7, b7, r7, d7);

  PImage b8 = loadImage("BtnHaltN.gif");
  PImage r8 = loadImage("BtnHaltO.gif");
  PImage d8 = loadImage("BtnHaltP.gif");
  int x8 = 845;
  int y8 = 715; 
  int w8 = b.width;
  int h8 = b.height;
  BtnSendHalt = new ImageButtons(x8, y8, w8, h8, b8, r8, d8);

  PImage b9 = loadImage("BtnResetN.gif");
  PImage r9 = loadImage("BtnResetO.gif");
  PImage d9 = loadImage("BtnResetP.gif");
  int x9 = 945;
  int y9 = 715; 
  int w9 = b.width;
  int h9 = b.height;
  BtnSendReset = new ImageButtons(x9, y9, w9, h9, b9, r9, d9);
  
  
  
  // Define and create image button for Config panel 
  PImage b10 = loadImage("BtnSendN.gif");
  PImage r10 = loadImage("BtnSendO.gif");
  PImage d10 = loadImage("BtnSendP.gif");
  int x10 = 1190;
  int y10 = 48; 
  int w10 = b.width;
  int h10 = b.height;
  BtnSendCfgKSpeed1 = new ImageButtons(x10, y10, w10, h10, b10, r10, d10);
  
  PImage b11 = loadImage("BtnSendN.gif");
  PImage r11 = loadImage("BtnSendO.gif");
  PImage d11 = loadImage("BtnSendP.gif");
  int x11 = 1190;
  int y11 = 98; 
  int w11 = b.width;
  int h11 = b.height;
  BtnSendCfgKSpeed2 = new ImageButtons(x11, y11, w11, h11, b11, r11, d11);
  
  PImage b12 = loadImage("BtnSendN.gif");
  PImage r12 = loadImage("BtnSendO.gif");
  PImage d12 = loadImage("BtnSendP.gif");
  int x12 = 1190;
  int y12 = 148; 
  int w12 = b.width;
  int h12 = b.height;
  BtnSendCfgKAngle = new ImageButtons(x12, y12, w12, h12, b12, r12, d12);
  
  PImage b13 = loadImage("BtnSendN.gif");
  PImage r13 = loadImage("BtnSendO.gif");
  PImage d13 = loadImage("BtnSendP.gif");
  int x13 = 1190;
  int y13 = 198; 
  int w13 = b.width;
  int h13 = b.height;
  BtnSendCfgKDist = new ImageButtons(x13, y13, w13, h13, b13, r13, d13);
  
  PImage b14 = loadImage("BtnSendN.gif");
  PImage r14 = loadImage("BtnSendO.gif");
  PImage d14 = loadImage("BtnSendP.gif");
  int x14 = 1190;
  int y14 = 258; 
  int w14 = b.width;
  int h14 = b.height;
  BtnSendCfgWheels = new ImageButtons(x14, y14, w14, h14, b14, r14, d14);
  
  PImage b18 = loadImage("BtnSendN.gif");
  PImage r18 = loadImage("BtnSendO.gif");
  PImage d18 = loadImage("BtnSendP.gif");
  int x18 = 1190;
  int y18 = 313; 
  int w18 = b.width;
  int h18 = b.height;
  BtnSendCfgKvel = new ImageButtons(x18, y18, w18, h18, b18, r18, d18);
  
  PImage b15 = loadImage("BtnSendN.gif");
  PImage r15 = loadImage("BtnSendO.gif");
  PImage d15 = loadImage("BtnSendP.gif");
  int x15 = 1190;
  int y15 = 368; 
  int w15 = b.width;
  int h15 = b.height;
  BtnSendCfgRS232 = new ImageButtons(x15, y15, w15, h15, b15, r15, d15);
  
  PImage b16 = loadImage("BtnLoadN.gif");
  PImage r16 = loadImage("BtnLoadO.gif");
  PImage d16 = loadImage("BtnLoadP.gif");
  int x16 = 845;
  int y16 = 715; 
  int w16 = b.width;
  int h16 = b.height;
  BtnSendCfgLoad = new ImageButtons(x16, y16, w16, h16, b16, r16, d16);

  PImage b17 = loadImage("BtnSaveN.gif");
  PImage r17 = loadImage("BtnSaveO.gif");
  PImage d17 = loadImage("BtnSaveP.gif");
  int x17 = 945;
  int y17 = 715; 
  int w17 = b.width;
  int h17 = b.height;
  BtnSendCfgSave = new ImageButtons(x17, y17, w17, h17, b17, r17, d17);
}

/*-----------------------------------------------------------------------------*/
void InputFieldsDefinition()
{
  // Define and create input fields for Main panel 
  GuiRun = new GUIController(this);
  InputSpeed = new IFTextField("", 1043, 503, 67);
  InputSpeed.addActionListener(this);
  GuiRun.add(InputSpeed);
  
  InputDist = new IFTextField("", 1043, 553, 67);
  InputDist.addActionListener(this);
  GuiRun.add(InputDist);
  
  InputCoordY = new IFTextField("", 1043, 603, 67);
  InputCoordY.addActionListener(this);
  GuiRun.add(InputCoordY);

  InputCoordX = new IFTextField("", 923, 603, 67);
  InputCoordX.addActionListener(this);
  GuiRun.add(InputCoordX);
  
  int YbaseInputFields = 53;
  int XbaseInputFields = 893;
  
  // Define and create input fields for Config panel 
  GuiConfig = new GUIController(this);
  InputSpeed1Kp = new IFTextField("", XbaseInputFields, YbaseInputFields, 73);
  InputSpeed1Kp.addActionListener(this);
  
  InputSpeed1Ki = new IFTextField("", XbaseInputFields+100, YbaseInputFields, 73);
  InputSpeed1Ki.addActionListener(this);

  InputSpeed1Kd = new IFTextField("", XbaseInputFields+200, YbaseInputFields, 73);
  InputSpeed1Kd.addActionListener(this);

  InputSpeed2Kp = new IFTextField("", XbaseInputFields, YbaseInputFields+50, 73);
  InputSpeed2Kp.addActionListener(this);
  
  InputSpeed2Ki = new IFTextField("", XbaseInputFields+100, YbaseInputFields+50, 73);
  InputSpeed2Ki.addActionListener(this);

  InputSpeed2Kd = new IFTextField("", XbaseInputFields+200, YbaseInputFields+50, 73);
  InputSpeed2Kd.addActionListener(this);

  InputAngleKp = new IFTextField("", XbaseInputFields, YbaseInputFields+100, 73);
  InputAngleKp.addActionListener(this);
  
  InputAngleKi = new IFTextField("", XbaseInputFields+100, YbaseInputFields+100, 73);
  InputAngleKi.addActionListener(this);

  InputAngleKd = new IFTextField("", XbaseInputFields+200, YbaseInputFields+100, 73);
  InputAngleKd.addActionListener(this);

  InputDistKp = new IFTextField("", XbaseInputFields, YbaseInputFields+150, 73);
  InputDistKp.addActionListener(this);
  
  InputDistKi = new IFTextField("", XbaseInputFields+100, YbaseInputFields+150, 73);
  InputDistKi.addActionListener(this);

  InputDistKd = new IFTextField("", XbaseInputFields+200, YbaseInputFields+150, 73);
  InputDistKd.addActionListener(this);

  InputAxle = new IFTextField("", XbaseInputFields, YbaseInputFields+210, 73);
  InputAxle.addActionListener(this);

  InputKsp1 = new IFTextField("", XbaseInputFields+100, YbaseInputFields+210, 73);
  InputKsp1.addActionListener(this);

  InputKsp2 = new IFTextField("", XbaseInputFields+200, YbaseInputFields+210, 73);
  InputKsp2.addActionListener(this);

  InputKvel1 = new IFTextField("", XbaseInputFields+100, YbaseInputFields+265, 73);
  InputKvel1.addActionListener(this);

  InputKvel2 = new IFTextField("", XbaseInputFields+200, YbaseInputFields+265, 73);
  InputKvel2.addActionListener(this);
  
  InputRS232bps = new IFTextField("", XbaseInputFields+100, YbaseInputFields+320, 73);
  InputRS232bps.addActionListener(this);

  InputRS232Com = new IFTextField("", XbaseInputFields+200, YbaseInputFields+320, 73);
  InputRS232Com.addActionListener(this);
}

/*-----------------------------------------------------------------------------*/
void InputFieldsRun()   // input fields for Main panel 
{
  GuiConfig.remove(InputSpeed1Kp);
  GuiConfig.remove(InputSpeed1Ki);
  GuiConfig.remove(InputSpeed1Kd);
  
  GuiConfig.remove(InputSpeed2Kp);
  GuiConfig.remove(InputSpeed2Ki);
  GuiConfig.remove(InputSpeed2Kd);
 
  GuiConfig.remove(InputAngleKp);
  GuiConfig.remove(InputAngleKi);
  GuiConfig.remove(InputAngleKd);
  
  GuiConfig.remove(InputDistKp);
  GuiConfig.remove(InputDistKi);
  GuiConfig.remove(InputDistKd);

  GuiConfig.remove(InputAxle);
  GuiConfig.remove(InputKsp1);
  GuiConfig.remove(InputKsp2);
  
  GuiConfig.remove(InputKvel1);
  GuiConfig.remove(InputKvel2);

  
  GuiConfig.remove(InputRS232bps);
  GuiConfig.remove(InputRS232Com);
  
  
  GuiRun.add(InputSpeed);
  GuiRun.add(InputDist);
  GuiRun.add(InputCoordX);
  GuiRun.add(InputCoordY);
}

/*-----------------------------------------------------------------------------*/
void InputFieldsConfig()    // input fields for Config panel 
{
  GuiRun.remove(InputSpeed);
  GuiRun.remove(InputDist);
  GuiRun.remove(InputCoordX);
  GuiRun.remove(InputCoordY);
 
 
  GuiConfig.add(InputSpeed1Kp);
  GuiConfig.add(InputSpeed1Ki);
  GuiConfig.add(InputSpeed1Kd);
  
  GuiConfig.add(InputSpeed2Kp);
  GuiConfig.add(InputSpeed2Ki);
  GuiConfig.add(InputSpeed2Kd);
  
  GuiConfig.add(InputAngleKp);
  GuiConfig.add(InputAngleKi);
  GuiConfig.add(InputAngleKd);
  
  GuiConfig.add(InputDistKp);
  GuiConfig.add(InputDistKi);
  GuiConfig.add(InputDistKd);

  GuiConfig.add(InputAxle);
  GuiConfig.add(InputKsp1);
  GuiConfig.add(InputKsp2);
  
  GuiConfig.add(InputKvel1);
  GuiConfig.add(InputKvel2);
  
  GuiConfig.add(InputRS232bps);
  GuiConfig.add(InputRS232Com);
}

/*-----------------------------------------------------------------------------*/  
void actionPerformed(GUIEvent e)   // an event on input fields
{
  if (e.getMessage().equals("Completed"))
  {
    //SendSpeed();
  }
}

/*-----------------------------------------------------------------------------*/
void mouseReleased()
{      
  ReleasedFlag = true;
}

/*-----------------------------------------------------------------------------*/
class Button 
{
  int x, y;
  int w, h;
  color basecolor, highlightcolor;
  color currentcolor;
  boolean over = false;
  boolean pressed = false;   
  boolean released = false;   
    
  void pressed() {
    if(over && mousePressed) {
      pressed = true;
    } else {
      pressed = false;
    }    
  }
    
  void released() {
    if(over && ReleasedFlag) {
      released = true;
      ReleasedFlag = false;
    } else {
      released = false;
    }    
  }

  boolean overRect(int x, int y, int width, int height) {
  if (mouseX >= x && mouseX <= x+width && 
      mouseY >= y && mouseY <= y+height) {
    return true;
  } else {
    return false;
  }
}
}

class ImageButtons extends Button 
{
  PImage base;
  PImage roll;
  PImage down;
  PImage currentimage;

  ImageButtons(int ix, int iy, int iw, int ih, PImage ibase, PImage iroll, PImage idown) 
  {
    x = ix;
    y = iy;
    w = iw;
    h = ih;
    base = ibase;
    roll = iroll;
    down = idown;
    currentimage = base;
  }
  
  void update() 
  {
    over();
    pressed();
    released();
    if(pressed) {
      currentimage = down;
    } else if (over){
      currentimage = roll;
    } else {
      currentimage = base;
    }
  }
  
  void over() 
  {
    if( overRect(x, y, w, h) ) {
      over = true;
    } else {
      over = false;
    }
  }
  
  void display() 
  {
    image(currentimage, x, y);
  }
}