!7

set flag Reparse.

import javax.swing.filechooser.*;

!include #1031138 // Smarty AI Include

sbool showHelpOnStart;

static int spacing = 20;

static JFrame mainFrame;

static LL<JCell> gridComponents;

static JComponent mainGrid;

static JCheckBoxMenuItem miShowLocations;

static SingleComponentPanel scpMainGrid, scpVisionConfig, scpWheelsConfig, scpCurrentSmarty;

static JFrame historyFrame, memoryFrame;

static JSpinner worldSizeSpinner;

static new Smarty smarty; // AI instance

sS wallSymbol = unicode_blackSquare(), noWallSymbol = unicode_dottedSquare();

static Color lightBlue = colorFromHex("4169e1");

sS locationLetters = charRange('A', 'Z') + "[\\]^_`" + charRange('a', 'z') + charRange(123, 128);

sS smartyUnicode = basicUnicodeSmiley();

static int smartyFontSize = 40;

sS windowsFontID = #1400468;

sS frameIconID = #1102983;

sS worldFileExtension = "WLD";

sS bodyFileExtension = "BDY";

sS historyHelp = unindent_mls([[

  A percept is the stimulus or simultaneous combination of stimuli observed.

  An action is the response or simultaneous combination of responses produced.

  Binon # numbers refer to the binons in memory that represent the percepts, actions, expectations, and perceptual or action sequences.

  P = Percept, E = Expectation, PP = Perceptual sequence A = Action, AA = Action sequence

  Read the paper: "The Perception-Action Hierarchy and its Implementation Using Binons (Binary Neurons)"  on the www.adaptroninc.com website for more information.

]]);

sbool showTabs = true;

static int defaultWorldSize = 7, maxWorldSize = 8;

svoid rearrangeLetters {

  int iLetter = 0;

  for (int y = 0; y < state.gridRows; y++)

    for (int x = 0; x < state.gridCols; x++) {

      JCell cell = getCell(x, y);

      if (cell.obstacle())

        cell.letter = ' ';

      else

        cell.letter = locationLetters.charAt(iLetter++);

    }

}

sclass VisionMode {

  sS nextSquare = "next square";

  sS distanceToWall = "distance to wall";

  sS wallOrNot = "wall or not";

}

sclass CameraDirection {

  sS down = "down";

  sS left = "left";

  sS right = "right";

  sS inFront = "in front";

  sS behind = "behind";

  static LS all = ll(down, left, right, inFront, behind);

}

concept SmartyBody {

  S name = "Smarty0";

  new Set<S> cameraDirections;

  S visionMode = VisionMode.nextSquare; // see VisionMode

  new Set<S> wheels;

  // for saving

  S wheelsFlag(S flag) { ret wheels.contains(flag) ? "1" : "0"; }

}

concept State {

  float fontScale = 1.25f;

  S worldName = "empty";

  int gridRows = defaultWorldSize, gridCols = defaultWorldSize; // actually these are always identical, could merge into one

  bool showLocations = true;

  int smartyX, smartyY;

  Rect selection = rect(1, 1, 1, 1);

  Pt cursorDirection = pt(1, 0);

  new BitSet obstacles;

  new Ref<SmartyBody> body;

  void setSelection(Rect r) {

    if (!cset_trueIfChanged(this, selection := r)) ret;

    if (selection.h == 1 && selection.w > 1) _setField(cursorDirection := pt(1, 0));

    else if (selection.w == 1 && selection.h > 1) _setField(cursorDirection := pt(0, 1));

    repaint(mainGrid);

  }

  void clearSelectedArea {

    fillSelection(false);

  }

  void invertSelection {

    JCell cell1 = getCell(selection.x, selection.y);

    fillSelection(!cell1.obstacle());

  }

  void fillSelection(bool b) {

    for (Pt p : pointsInRect(selection))

      getCell(p.x, p.y).setObstacle(b);

    rearrangeLetters();

    moveCursor();

  }

  void moveCursor {

    setCursor(selection.x+cursorDirection.x, selection.y+cursorDirection.y);

  }

  void setCursor(int x, int y) {

    setSelection(rect(mod(x, gridCols), mod(y, gridRows), 1, 1));

  }

  void moveCursor(int dx, int dy) {

    _setField(cursorDirection := pt(dx, dy));

    setCursor(selection.x+cursorDirection.x, selection.y+cursorDirection.y);

  }

  void placeSmarty {

    getCell(selection.x, selection.y).setObstacle(false);

    cset(this, smartyX := selection.x, smartyY := selection.y);

    moveCursor();

  }

} // end of State

static State state;

sclass JCell > JComponent {

  int x, y;

  char letter;

  *(int *x, int *y) {}

  public void paint(Graphics _g) {

    Graphics2D g = cast _g;

    int w = getWidth(), h = getHeight();

    Color color = Color.white;

    if (state.selection.contains(x, y)) color = lightBlue;

    else if (obstacle()) color = Color.black;

    fillRect(g, 0, 0, w, h, color);

    if (state.showLocations && !obstacle()) {

      temp tempSetFont(g, loadFont_cached(windowsFontID));

      drawTextWithTopLeftCornerAt(g, str(letter), Pt(2, 0), Color.black);

    }

    if (state.smartyX == x && state.smartyY == y) {

      temp tempSetFontSize(g, smartyFontSize);

      drawCenteredText(g, smartyUnicode, 0, 0, w, h, Color.black);

    }

  }

  int index() { ret y*state.gridCols+x; }

  bool obstacle() { ret main contains(state.obstacles, index()); }

  void setObstacle(bool b) {

    setBit(state.obstacles, index(), b);

    state.change();

  }

  {

    addMouseListener(new MouseAdapter {

      public void mousePressed(MouseEvent e) {

        main requestFocus(mainGrid);

        if (!isLeftButton(e)) ret;

        state.setSelection(new Rect(x, y, 1, 1));

      }

    });

    addMouseMotionListener(new MouseMotionAdapter {

      public void mouseDragged(MouseEvent e) {

        _print("Drag in " + x + "/" + y + ": " + e.getPoint());

        Component dest = componentAtScreenLocationInWindow(mainFrame, e);

        if (dest cast JCell) {

          _print("Target: " + dest);

          state.setSelection(rectFromPointsInclusiveSorted(x, y, dest.x, dest.y));

        }

      }

    });

  }

  toString { ret x + "/" + y; }

}

static JCell getCell(int x, int y) {

  ret gridComponents.get(y).get(x);

}

svoid makeMainGrid {

  gridComponents = map(iotaZeroList(state.gridRows), y

    -> map(iotaZeroList(state.gridCols), x

    -> new JCell(x, y)));

  mainGrid = setFocusable(setBackground(Color.black, hvgrid(gridComponents, 1)));

  scpMainGrid.setComponent(mainGrid);

  rearrangeLetters();

}

svoid setWorldSize(int size) {

  state.obstacles.clear();

  state.gridCols = state.gridRows = size;

  setSpinnerValue(worldSizeSpinner, size);

  state.selection = rect(1, 1);

  state.smartyX = state.smartyY = 0;

  state.change();

  makeMainGrid();

}

p {

  autoRestart(2.0);

  setProgramDir(print("Using directory: ", mainDir()));

  db();

  uniq(SmartyBody); // make at least one instance

  state = uniq(State);

  if (!state.body.has()) cset(state, body := conceptWhere(SmartyBody)); // default body

  jtattoo_mcWin();

  state.fontScale = 1.5f; // XXX

  //set swingFontScale_debug;

  swingFontScale(state.fontScale);

  loadLibrary(windowsFontID);

  defaultFrameIcon(frameIconID);

  mainFrame = showFrame("Smarty");

  addMenu(mainFrame, "Worlds",

    "New... (Ctrl+N)", r newWorld,

    "Retrieve... (Ctrl+R)", r loadWorldDialog,

    "Save... (Ctrl+S)", r saveWorldDialog,

    "---",

    "Exit", rThread killVM);

  registerCtrlKey(mainFrame, KeyEvent.VK_N, "New world", r { print("new") });

  registerCtrlKey(mainFrame, KeyEvent.VK_R, "Retrieve world", r {});

  registerCtrlKey(mainFrame, KeyEvent.VK_S, "Save world", r {});

  addMenu(mainFrame, "Bodies",

    "New... (Ctrl+N)", r newBody,

    "Retrieve... (Ctrl+R)", r loadBodyDialog,

    "Save... (Ctrl+S)", r saveBodyDialog,

    "---",

    "Exit", rThread killVM);

  addMenu(mainFrame, "View",

    miShowLocations = jCheckBoxMenuItem("Locations (Ctrl+L)", state.showLocations, b -> {

       cset(state, showLocations := b);

       repaint(mainGrid);

     }));

  registerCtrlKey(mainFrame, KeyEvent.VK_L, "Locations", r {

      cset(state, showLocations := !state.showLocations);

      setChecked(miShowLocations, state.showLocations);

      repaint(mainGrid);

    });

  JMenuBar menuBar = getMenuBar(mainFrame);

  JMenuItem helpItem = jMenuItem("Help F1", rThread showHelp);

  /*print(minSize := getMinimumSize(helpItem));

  print(preferredSize := getPreferredSize(helpItem));*/

  addMenuItem(menuBar, jPreferredWidthToMaxWidth(helpItem));

  addAndRevalidate(menuBar, jHorizontalGlue()); // spacer

  registerFunctionKey(mainFrame, 1, rThread showHelp);

  registerKeyCode(mainFrame, KeyEvent.VK_SPACE, r { state.invertSelection() });

  registerKeyCode(mainFrame, KeyEvent.VK_UP, r { state.moveCursor(0, -1) });

  registerKeyCode(mainFrame, KeyEvent.VK_LEFT, r { state.moveCursor(-1, 0) });

  registerKeyCode(mainFrame, KeyEvent.VK_DOWN, r { state.moveCursor(0, 1) });

  registerKeyCode(mainFrame, KeyEvent.VK_RIGHT, r { state.moveCursor(1, 0) });

  for (int key = KeyEvent.VK_A; key <= KeyEvent.VK_Z; key++)

    registerKeyCode(mainFrame, key, r { state.placeSmarty() });

  worldSizeSpinner = jSpinner(state.gridCols, 1, maxWorldSize);

  onChange(worldSizeSpinner, r {

    int size = intFromSpinner(worldSizeSpinner);

    if (state.gridCols != size)

      setWorldSize(size);

  });

  scpCurrentSmarty = singleComponentPanel();

  JComponent middleArea = westAndCenterWithMargin(spacing,

     jvstackWithSpacing(spacing,

        withTitle("World size (max=\*maxWorldSize*/)", worldSizeSpinner),

        jbutton("Clear Selected Area", rThread { state.clearSelectedArea() }),

        withTitle("Current world", disableTextField(jLiveValueTextField(conceptFieldLiveValue worldName(state)))),

        showTabs ? null : fontSizePlus(2, setForeground(Color.ORANGE, jCenteredLabel("Design or Select a body for Smarty"))),

        showTabs ? null : jbutton("Design or Select Smarty's Body", r showSmartyConfig),

        withTitle("Current Smarty", scpCurrentSmarty),

     ),

     jvgridWithSpacing(spacing,

       withTitle("Sensors Values are", jTextArea()),

       withTitle("Devices Values are", jTextArea())

     )

   );

  JComponent controlArea = northCenterAndSouthWithMargin(spacing,

    fontSizePlus(2, setForeground(Color.blue, jlabel("Design the World - Read the Help F1"))),

    middleArea,

    jCenteredSection("Run Smarty",

      jflow(

        jbutton("Go / Continue"),

        jButton("See History", r showHistory),

        jbutton("Reset"),

        jbutton("See Memory", r showMemory),

        jbutton("EXIT", rThread killVM),

        ))

  );

  scpMainGrid = singleComponentPanel();

  makeMainGrid();

  var mainPanel = westAndCenterWithMargins(spacing,

    jvstackWithSpacing(spacing, jFixedSize(500, scpMainGrid),

      jhgridWithSpacing(spacing, jlabel("VisionD:"), jlabel("Wheels:"))

    ),

    controlArea);

  if (showTabs) {

    scpVisionConfig = singleComponentPanel();

    scpWheelsConfig = singleComponentPanel();

    updateTabs();

    setFrameContents(mainFrame, jtabs(

      "Smarty", mainPanel,

      "Vision", scpVisionConfig,

      "Wheels", scpWheelsConfig));

  } else

    setFrameContents(mainFrame, mainPanel);

  centerPackFrame(mainFrame);

  if (showHelpOnStart) showHelp();

  //hideConsole();

}

svoid updateTabs {

  scpVisionConfig.setComponent(visionConfigPanel(state.body!));

  scpWheelsConfig.setComponent(wheelsConfigPanel(state.body!));

  scpCurrentSmarty.setComponent(disableTextField(jLiveValueTextField(conceptFieldLiveValue name(state.body!))));

}

svoid showHelp() {

  S text = loadSnippet(#1031105);

  S heading = firstLine(text);

  trim(dropFirstLine(text));

  showCenterFrame(swingScale(650), swingScale(500), heading, makeUneditableWithTextColor(Color.black, wordWrapTextArea(text)));

}

// run in Swing thread

svoid showHistory {

  Font ttFont = typeWriterFont(12), helpFont = sansSerifFont(13);

  if (historyFrame == null)

    historyFrame = getFrame(showCenterFrame(scalePt(600, 350, swingFontScale()),

      "Stimulus/Response, Percept/Action History",

      withMargin(centerAndSouthWithMargin(spacing,

        jvsplit(0.5, 100,

          jTextArea(),

          westAndCenterWithMargin(spacing, setFont(ttFont, topAlignLabel(jMultiLineLabel(

            linesLL("Step #", "Percept", "Binon #", "", "Expect", "Binon #",

              "", "Action", "Binon #", "", "Action", "Binon #", "")))),

            setFont(ttFont, jTextArea()))

        ),

        centerAndEastWithMargin(

          setFont(helpFont, jMultiLineLabel(historyHelp)),

          jvstackWithSpacing(

            jButton("See World", r showWorld),

            jButton("See Memory", r showMemory))

        )))));

   else

    frameToFront(historyFrame);

}

// run in Swing thread

svoid showMemory {

  Font ttFont = typeWriterFont(12), helpFont = sansSerifFont(13);

  if (memoryFrame == null)

    memoryFrame = getFrame(showCenterFrame(scalePt(600, 350, swingFontScale()),

      "Smarty's Memory",

        jvsplit(0.5, 100,

          centerAndEastWithMargins(

            northAndCenterWithMargin(

              setFont(ttFont, jLabel("bla bla bla")),

              setFont(ttFont, jTextArea())),

            jvstackWithSpacing(

              jButton("See World", r showWorld),

              jButton("See History", r showHistory))

          ),

          jTextArea(),

        )

        ));

   else

    frameToFront(memoryFrame);

}

svoid showWorld {

  frameToFront(mainFrame);

}

static JRadioButton visionModeRadioButton(SmartyBody body, ButtonGroup buttonGroup, S visionMode, S text) {

  var rb = jradiobutton(buttonGroup, text, eq(body.visionMode, visionMode));

  onChange(rb, r { if (isChecked(rb)) cset(body, +visionMode); });

  ret rb;

}

static JComponent bodyNamePanel(SmartyBody body) {

  ret westAndCenter(

    jMinWidth(swingScale(250), withLabel("Body name:", jLiveValueTextField_bothWays(conceptFieldLiveValue name(body)))),

    jpanel());

}

static JComponent visionConfigPanel(SmartyBody body) {

  var buttonGroup = buttonGroup();

  ret northAndCenterWithMargins(spacing,

    bodyNamePanel(body),

    westAndCenterWithMargin(spacing,

      jCenteredSection("Camera",

        withLeftMargin(spacing, jvstackWithSpacing(spacing,

          itemPlus(jlabel("Select the camera directions"),

            map(CameraDirection.all, direction -> {

              var cb = jCheckBox(direction, body.cameraDirections.contains(direction));

              onChange(cb, r { addOrRemove(body.cameraDirections, direction, isChecked(cb)); body.change(); });

              ret cb;

            }))))),

      jCenteredSection("Vision mode",

        jvstackWithSpacing(spacing,

          visionModeRadioButton(body, buttonGroup, VisionMode.nextSquare,

            "Looking at the next square (symbolic values = letter in square)"),

          withLeftMargin(spacing*2, jMultiLineLabel(unindentMLS(replaceSymbols([[

            Square locations are identified with a letter.

            Looking down provides the letter of the current square.

            Looking in other directions provides the letter in the next square

            depending on the direction Smarty is facing.

            If it is a wall then the symbolic stimulus is a $wallSymbol

          ]])))),

          visionModeRadioButton(body, buttonGroup, VisionMode.distanceToWall,

          "Distance to wall (magnitude values = number of squares)"),

          withLeftMargin(spacing*2, jMultiLineLabel(unindentMLS([[

            Looking at the distance to the nearest wall will provide the

            number of squares from the current position to the wall in

            the direction the camera is facing. A wall next to the robot

            is one square away. Looking down will always return 1.

          ]]))),

          visionModeRadioButton(body, buttonGroup, VisionMode.wallOrNot,

            replaceSymbols("Wall or not (symbolic values = $wallSymbol for a wall and $noWallSymbol for no wall)")),

          withLeftMargin(spacing*2, jMultiLineLabel(unindentMLS([[

            Looking at the next square will either see a wall or an empty square

          ]]))),

        ))));

}

svoid showVisionConfig(SmartyBody body) {

  showPackedFrame("Configure Smarty's Vision",

    visionConfigPanel(body));

}

static JCheckBox wheelsConfigCheckBox(SmartyBody body, S symbol, S text) {

  var cb = jCheckBox(text, body.wheels.contains(symbol));

  onChange(cb, r { addOrRemove(body.wheels, symbol, isChecked(cb)); body.change(); });

  ret cb;

}

static JComponent wheelsConfigPanel(SmartyBody body) {

  ret northAndCenterWithMargins(spacing,

    bodyNamePanel(body),

    vstackWithSpacing(spacing,

      westAndCenterWithMargin(spacing,

        jCenteredSection("Movement",

          withLeftMargin(spacing, jvstackWithSpacing(

            jlabel("Select the wheel motions:"),

            wheelsConfigCheckBox(body, "MoveForward", "Forward = f"),

            wheelsConfigCheckBox(body, "MoveLeft", "Left = l"),

            wheelsConfigCheckBox(body, "MoveRight", "Right = r"),

            wheelsConfigCheckBox(body, "MoveBackward", "Backward = b"),

          ))),

        jCenteredSection("Help", withLeftMargin(jMultiLineLabel(unindentMLS([[

          Motion in any direction will move one square.

          If there is a wall in the way it will not move. A "-" indicates no motion.

          The direction moved depends on the direction Smarty is facing.

          Smarty will appear as a        if it cannot turn.  It will then always be

          facing North (up) so moving right will move to the East (right).

        ]]))))),

      westAndCenterWithMargin(spacing,

        jCenteredSection("Turning",

          withLeftMargin(spacing, vstackWithSpacing(

            wheelsConfigCheckBox(body, "TurnRight", "Turn to the right = Rotate clockwise 90 degrees = X"),

            wheelsConfigCheckBox(body, "TurnLeft", "Turn to the left = Rotate anti-clockwise 90 degrees = X"),

            wheelsConfigCheckBox(body, "TurnAround", "Turn around = Rotate 180 degrees = X"),

          ))),

        jCenteredSection("Help", withLeftMargin(jMultiLineLabel(unindentMLS([[

          Turning will stay on the same square. If Smarty is able to turn then it will appear as  < ,  > ,  ^  or  v  to indicate the direction it is facing.

        ]]))))),

      jCenteredSection("Sensing", 

        withLeftMargin(spacing, wheelsConfigCheckBox(body, "AddAWheelSensor", "Add a wheel sensor to detect if it moved or failed because it was up against a wall"))

      )

    ));

}

svoid showWheelsConfig(SmartyBody body) {

  var buttonGroup = buttonGroup();

  showPackedFrame("Configure Smarty's Wheels",

    wheelsConfigPanel(body));

}

svoid showSmartyConfig {

  showPackedFrameMinWidth(400, "Design or Select a body for Smarty",

    withMargin(centeredButtons(

      "Vision", r { showVisionConfig(state.body!) },

      "Wheels", r { showWheelsConfig(state.body!) },

    ))

  );

}

// e.g. $wallSymbol and $noWallSymbol

sS replaceSymbols(S s) {

  ret replaceDollarVars(s, +wallSymbol, +noWallSymbol);

}

svoid saveWorld(File f) {

  new LS lines;

  lines.add(" " + state.gridRows);

  for (int y = 0; y < state.gridRows; y++)

    for (int x = 0; x < state.gridCols; x++) {

      JCell cell = getCell(x, y);

      lines.add(state.smartyX == x && state.smartyY == y ? "A" : cell.obstacle() ? "#" : " ");

    }

  saveTextFile(f, lines(lines));

  infoBox("World saved: " + fileName(f));

  cset(state, worldName := fileNameWithoutExtension(f));

}

svoid loadWorld(File f) {

  pcall-messagebox {

    LS lines = linesFromFile_list(f);

    int i = 0;

    int gridRows = parseInt(trim(lines.get(i++)));

    if (gridRows < 1 || gridRows > maxWorldSize) fail("Bad world size: " + gridRows);

    setWorldSize(gridRows);

    for y to gridRows:

      for x to gridRows: {

        S line = lines.get(i++);

        JCell cell = getCell(x, y);

        if (eq(line, "#"))

          cell.setObstacle(true);

        else if (eq(line, "A"))

          cset(state, smartyX := x, smartyY := y);

      }

    rearrangeLetters();

    repaint(mainGrid);

    cset(state, worldName := fileNameWithoutExtension(f));

    infoBox("World loaded: " + fileName(f));

  }

}

svoid saveWorldDialog swing {

  JFileChooser fileChooser = new(mainDir());

  fileChooser.setFileFilter(new FileNameExtensionFilter("Smarty World files (*.\*worldFileExtension*/)", worldFileExtension));

  if (fileChooser.showSaveDialog(mainFrame) == JFileChooser.APPROVE_OPTION) {

    File f = defaultExtension(worldFileExtension, fileChooser.getSelectedFile());

    saveWorld(f);

    infoBox("World saved as " + f.getName());

  }

}

svoid loadWorldDialog swing {

  JFileChooser fileChooser = new(mainDir());

  fileChooser.setFileFilter(new FileNameExtensionFilter("Smarty World files (*.\*worldFileExtension*/)", worldFileExtension));

  if (fileChooser.showOpenDialog(mainFrame) == JFileChooser.APPROVE_OPTION)

    loadWorld(fileChooser.getSelectedFile());

}

svoid newWorld {

  setWorldSize(defaultWorldSize);

  cset(state, worldName := "empty");

}

static File mainDir() {

  ret mkdirs(userDir("Adaptron/Smarty"));

}

svoid saveBody(File f) {

  S[] Body = new[22];

  SmartyBody b = state.body!;

  Body[1] = escapeNewLines(b.name);

  // TODO: remaining values from AI?

  Body[2] = "1"; //Vision.Value = 1 - checked

  Body[3] = "0"; //Touch.Value

  Body[4] = b.wheelsFlag("AddAWheelSensor");

  Body[5] = "1"; //Wheels.Value

  Body[6] = "0"; //Arms.Value

  Body[7] = b.cameraDirections.contains(CameraDirection.down) ? "1" : "0"; //VisionConfig.VisionDown

  Body[8] = b.cameraDirections.contains(CameraDirection.left) ? "1" : "0"; //VisionConfig.VisionLeft

  Body[9] = b.cameraDirections.contains(CameraDirection.right) ? "1" : "0"; //VisionConfig.VisionRight

  Body[10] = b.cameraDirections.contains(CameraDirection.inFront) ? "1" : "0"; //VisionConfig.VisionInFront

  Body[11] = b.cameraDirections.contains(CameraDirection.behind) ? "1" : "0"; //VisionConfig.VisionBehind

  Body[12] = eq(b.visionMode, VisionMode.nextSquare) ? "True" : "False"; //VisionConfig.VisionSymbolicOrMagnitude(0)

  Body[13] = eq(b.visionMode, VisionMode.distanceToWall) ? "True" : "False"; //VisionConfig.VisionSymbolicOrMagnitude(1)

  Body[14] = b.wheelsFlag("MoveForward");

  Body[15] = b.wheelsFlag("MoveLeft");

  Body[16] = b.wheelsFlag("MoveRight");

  Body[17] = b.wheelsFlag("MoveBackward");

  Body[18] = b.wheelsFlag("TurnRight");

  Body[19] = b.wheelsFlag("TurnLeft");

  Body[20] = b.wheelsFlag("TurnAround");

  Body[21] = eq(b.visionMode, VisionMode.wallOrNot) ? "True" : "False"; //VisionConfig.VisionSymbolicOrMagnitude(2)

  saveTextFile(f, lines(dropFirst(Body)));

}

svoid newBody {

  cdelete(state.body!);

  cset(state, body := cnew(SmartyBody));

  updateTabs();

}

svoid loadBody(File f) {

  pcall-messagebox {

    LS lines = linesFromFile_list(f);

    S[] Body = asStringArray(itemPlusList("", lines));

    newBody();

    var b = state.body!;

    // TODO: remaining values

    cset(state.body, name := Body[1]);

    if (eq(Body[4], "1")) b.wheels.add("AddAWheelSensor");

    if (eq(Body[7], "1")) b.cameraDirections.add(CameraDirection.down);

    if (eq(Body[8], "1")) b.cameraDirections.add(CameraDirection.left);

    if (eq(Body[9], "1")) b.cameraDirections.add(CameraDirection.right);

    if (eq(Body[10], "1")) b.cameraDirections.add(CameraDirection.inFront);

    if (eq(Body[11], "1")) b.cameraDirections.add(CameraDirection.behind);

    if (eq(Body[12], "True")) b.visionMode = VisionMode.nextSquare;

    if (eq(Body[13], "True")) b.visionMode = VisionMode.distanceToWall;

    if (eq(Body[14], "1")) b.wheels.add("MoveForward");

    if (eq(Body[15], "1")) b.wheels.add("MoveLeft");

    if (eq(Body[16], "1")) b.wheels.add("MoveRight");

    if (eq(Body[17], "1")) b.wheels.add("MoveBackward");

    if (eq(Body[18], "1")) b.wheels.add("TurnRight");

    if (eq(Body[19], "1")) b.wheels.add("TurnLeft");

    if (eq(Body[20], "1")) b.wheels.add("TurnAround");

    if (eq(Body[21], "True")) b.visionMode = VisionMode.wallOrNot;

    b.change();

    updateTabs();

    infoBox("Body loaded: " + fileName(f));

  }

}

svoid saveBodyDialog swing {

  new JFileChooser fileChooser;

  fileChooser.setSelectedFile(newFile(mainDir(), sanitizeFileName(state.body->name)));

  fileChooser.setFileFilter(new FileNameExtensionFilter("Smarty Body files (*.\*bodyFileExtension*/)", bodyFileExtension));

  if (fileChooser.showSaveDialog(mainFrame) == JFileChooser.APPROVE_OPTION) {

    File f = defaultExtension(bodyFileExtension, fileChooser.getSelectedFile());

    saveBody(f);

    infoBox("Body saved as " + f.getName());

  }

}

svoid loadBodyDialog swing {

  JFileChooser fileChooser = new(mainDir());

  fileChooser.setFileFilter(new FileNameExtensionFilter("Smarty Body files (*.\*bodyFileExtension*/)", bodyFileExtension));

  if (fileChooser.showOpenDialog(mainFrame) == JFileChooser.APPROVE_OPTION)

    loadBody(fileChooser.getSelectedFile());

}