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PIDtoolbox.m
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PIDtoolbox.m
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%% PIDtoolbox - main
% script for main control panel and log viewer
%
% ----------------------------------------------------------------------------------
% "THE BEER-WARE LICENSE" (Revision 42):
% <brian.white@queensu.ca> wrote this file. As long as you retain this notice you
% can do whatever you want with this stuff. If we meet some day, and you think
% this stuff is worth it, you can buy me a beer in return. -Brian White
% ----------------------------------------------------------------------------------
PtbVersion='v0.391';
% FirmwareCodes
BF=1;
INAV=2;
FirmwareCode_A=[];
FirmwareCode_B=[];
executableDir = pwd;
addpath(executableDir)
try
fid = fopen('logfileDir.txt');
logfileDir = fscanf(fid,'%s');
fclose(fid);
catch
logfileDir=[];
end
%%%% assign main figure handle and define some UI variables
PTfig = figure(1);
PTfig.InvertHardcopy='off';
bgcolor=[.95 .95 .95];
set(PTfig,'color',bgcolor);
wikipage='https://github.com/bw1129/PIDtoolbox/wiki/PIDtoolbox-user-guide';
if ~exist('filenameA','var'), filenameA=[]; end
if ~exist('filenameB','var'), filenameB=[]; end
expandON=0;
use_randsamp=0;
smp_sze=100;
choose_epoch=0;
epoch1_A=[];
epoch2_A=[];
epoch1_B=[];
epoch2_B=[];
updateSpec=0;
A_debugmode=0;%default to gyro_scaled
B_debugmode=0;
filepathA=[];
filepathB=[];
filenameA=[];
filenameB=[];
hexpand1=[];
hexpand2=[];
hexpand3=[];
hexpand4=[];
hexpand5=[];
hexpand6=[];
errmsg=[];
plotall_flag=-1;
% for step resp defaults
minDegMove=40;
maxDegMove=500;
colorA=[.93 .5 .3];
colorB=[.3 .65 .95];
%use_phsCorrErr=0;
flightSpec=0;
screensz = get(0,'ScreenSize');
%set(PTfig, 'Position', [10, 10, screensz(3)*.5, screensz(4)*.5]);
set(PTfig, 'units','normalized','outerposition',[.1 .1 .75 .8])
PTfig.NumberTitle='off';
PTfig.Name= ['PIDtoolbox (' PtbVersion ') - Log Viewer'];
pause(.2)% need to wait for figure to open before extracting screen values
screensz_multiplier = sqrt(screensz(3)^2+screensz(4)^2) * .0064;
prop_max_screen=(max([PTfig.Position(3) PTfig.Position(4)]));
fontsz=(screensz_multiplier*prop_max_screen);
controlpanel = uipanel('Title','Control Panel','FontSize',fontsz,...
'BackgroundColor',[.95 .95 .95],...
'Position',[.89 .265 .105 .655]);
posInfo.fnameAText = [.89 .955 .11 .04];
posInfo.fnameBText = [.89 .92 .11 .04];
posInfo.fileA=[.9 .85 .085 .04];
posInfo.fileB=[.9 .805 .085 .04];
posInfo.runAll=[.9 .76 .085 .04];
posInfo.Epoch1_A_text = [.895 .72 .05 .03];
posInfo.Epoch1_A_Input = [.901 .68 .04 .04];
posInfo.Epoch2_A_text = [.94 .72 .05 .03];
posInfo.Epoch2_A_Input = [.945 .68 .04 .04];
posInfo.Epoch1_B_text = [.895 .65 .05 .03];
posInfo.Epoch1_B_Input =[.901 .61 .04 .04];
posInfo.Epoch2_B_text = [.94 .65 .05 .03];
posInfo.Epoch2_B_Input = [.945 .61 .04 .04];
posInfo.spectrogramButton=[.9 .555 .085 .04];
posInfo.TuningButton=[.9 .51 .085 .04];
posInfo.PIDerrButton=[.9 .465 .085 .04];
posInfo.flightStats=[.9 .420 .085 .04];
posInfo.DispInfoButton=[.9 .375 .085 .04];
posInfo.saveFig=[.9 .330 .085 .04];
posInfo.wiki=[.9 .285 .085 .04];
posInfo.feelingLucky=[.9 .225 .085 .04];
% posInfo.AlooptimeText = [.8 .43 .18 .04];
% posInfo.BlooptimeText = [.8 .4 .18 .04];
% ColorSet=colormap(jet);%hsv jet gray lines colorcube
% j=[1 8 17 20 23 27 45 50 58 64];
ColorSet=[.6 .6 .6;..., % gray - Gyro raw
0 0 0;..., % black - Gyro filt
0 .7 0;..., % green - Pterm
.8 .65 .1;..., % yellow - I term
.3 .7 .9;..., % light blue - Dterm raw
.1 .2 .8;..., % dark blue -Dterm Filt
.6 .3 .3;..., % brown - Fterm
.8 0 .2;..., % dark red
.9 .2 .9;..., % light purple
.6 0 1;..., % dark purple
.9 0 0;..., %M1
1 .6 0;..., %M2
0 0 .9;..., %M3
.1 1 .8;..., %M4
.5 .5 .5;..., % throttle
0 0 0]; % all
j=[1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16];
k=1;
for i=1:length(j)
eval(['linec.col' int2str(k-1) '=ColorSet(j(i),:);']);
k=k+1;
end
%%% tooltips
TooltipString_files=['Select the .BBL or .BFL file you wish to analyze. ' , newline,...
'Warning: blackbox_decode must be in the same folder as the selected log file!' , newline,...
'It usually does not matter where the PIDtoolbox program file is located.' newline,...
'If problem persists, it usually means the log file is missing header info,' newline,...
'because of a corrupted file and/or SD card issue.'];
TooltipString_loadRun=['Load and run selected files. '];
TooltipString_feelingLucky=['Load and run selected files, then plot and save the important stuff! '];
TooltipString_Epochs=['Input the desired start and end points (in seconds) of the log file' , newline, 'Note: the selected time window denotes the data used for all other analyses.' , newline, 'The shaded regions indicate ignored data.'];
TooltipString_spec=['Opens spectral analysis tool in new window'];
TooltipString_err=['Opens PID error tool in new window'];
TooltipString_step=['Opens step response tool in new window'];
TooltipString_setup=['Displays detailed setup information in new window'];
TooltipString_saveFig=['Saves current figure', newline,'Note: Clicking the ''Save fig'' button for the first time creates a folder using the log file names'];
TooltipString_flightStats=['Plots flight statistics in new window' ];
TooltipString_wiki=['Link to the PIDtoolbox wiki in Github'];
TooltipString_refresh=['Refreshes fonts and button sizes after change in window size'];
%%%
guiHandles.fileA = uicontrol(PTfig,'string','Select File [A]','fontsize',fontsz,'TooltipString', [TooltipString_files], 'units','normalized','outerposition',[posInfo.fileA],...
'callback','try, if ~isempty(logfileDir), cd(logfileDir), end, catch, end; [filenameA, filepathA] = uigetfile({''*.BBL;*.BFL;*.TXT'' }); if filepathA==0, filepathA=[]; filenameA=[]; end, filenameAtmp=[];');
guiHandles.fileA.BackgroundColor=colorA;
guiHandles.fileB = uicontrol(PTfig,'string','Select File [B]','fontsize',fontsz,'TooltipString', [TooltipString_files],'units','normalized','outerposition',[posInfo.fileB],...
'callback','try, if ~isempty(logfileDir), cd(logfileDir), end, catch, end;[filenameB, filepathB] = uigetfile({''*.BBL;*.BFL;*.TXT'' }); if filepathB==0, filepathB=[]; filenameB=[]; end, filenameBtmp=[];');
guiHandles.fileB.BackgroundColor=colorB;
guiHandles.runAll = uicontrol(PTfig,'string','Load+Run','fontsize',fontsz,'TooltipString', [TooltipString_loadRun],'units','normalized','outerposition',[posInfo.runAll],...
'callback','guiHandles.runAll.FontWeight=''bold'';PTload;PTprocess;PTviewerUIcontrol; PTplotLogViewer; guiHandles.runAll.FontWeight=''normal'';');
guiHandles.runAll.BackgroundColor=[.3 .9 .3];
% guiHandles.feelingLucky = uicontrol(PTfig,'string','Feeling Lucky','fontsize',fontsz,'TooltipString', [TooltipString_feelingLucky],'units','normalized','outerposition',[posInfo.feelingLucky],...
% 'callback',['guiHandles.feelingLucky.FontWeight=''bold'';PTspecUIcontrol;',...
% 'guiHandlesSpec.SpecSelect{1}.Value=3; guiHandlesSpec.SpecSelect{2}.Value=2; guiHandlesSpec.SpecSelect{3}.Value=6; guiHandlesSpec.SpecSelect{4}.Value=7; PTplotSpec; PTtuneUIcontrol; PTtuningParams; ',...
% 'guiHandles.feelingLucky.FontWeight=''normal'';']);
% guiHandles.feelingLucky.BackgroundColor=[.7 .9 .7];
guiHandles.Epoch1_A_text = uicontrol(PTfig,'style','text','string','[A] st(s)','fontsize',fontsz,'TooltipString', [TooltipString_Epochs],'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.Epoch1_A_text]);
guiHandles.Epoch1_A_Input = uicontrol(PTfig,'style','edit','string',int2str(epoch1_A),'fontsize',fontsz,'TooltipString', [TooltipString_Epochs],'units','normalized','outerposition',[posInfo.Epoch1_A_Input],...
'callback','@textinput_call; epoch1_A=str2num(guiHandles.Epoch1_A_Input.String);PTprocess;PTplotLogViewer; ');
guiHandles.Epoch2_A_text = uicontrol(PTfig,'style','text','string','[A] end(s)','fontsize',fontsz,'TooltipString', [TooltipString_Epochs],'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.Epoch2_A_text]);
guiHandles.Epoch2_A_Input = uicontrol(PTfig,'style','edit','string',int2str(epoch2_A),'fontsize',fontsz,'TooltipString', [TooltipString_Epochs],'units','normalized','outerposition',[posInfo.Epoch2_A_Input],...
'callback','@textinput_call;epoch2_A=str2num(guiHandles.Epoch2_A_Input.String);PTprocess;PTplotLogViewer; ');
guiHandles.Epoch1_B_text = uicontrol(PTfig,'style','text','string','[B] st(s)','fontsize',fontsz,'TooltipString', [TooltipString_Epochs],'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.Epoch1_B_text]);
guiHandles.Epoch1_B_Input = uicontrol(PTfig,'style','edit','string',int2str(epoch1_B),'fontsize',fontsz,'TooltipString', [TooltipString_Epochs],'units','normalized','outerposition',[posInfo.Epoch1_B_Input],...
'callback','@textinput_call; epoch1_B=str2num(guiHandles.Epoch1_B_Input.String);PTprocess;PTplotLogViewer; ');
guiHandles.Epoch2_B_text = uicontrol(PTfig,'style','text','string','[B] end(s)','fontsize',fontsz,'TooltipString', [TooltipString_Epochs],'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.Epoch2_B_text]);
guiHandles.Epoch2_B_Input = uicontrol(PTfig,'style','edit','string',int2str(epoch2_B),'fontsize',fontsz,'TooltipString', [TooltipString_Epochs],'units','normalized','outerposition',[posInfo.Epoch2_B_Input],...
'callback','@textinput_call; epoch2_B=str2num(guiHandles.Epoch2_B_Input.String);PTprocess;PTplotLogViewer; ');
guiHandles.spectrogramButton = uicontrol(PTfig,'string','Spectral Analyzer','fontsize',fontsz,'TooltipString', [TooltipString_spec],'units','normalized','outerposition',[posInfo.spectrogramButton],...
'callback','PTspecUIcontrol;');
guiHandles.spectrogramButton.BackgroundColor=[ .8 .8 .8];
guiHandles.PIDerrButton = uicontrol(PTfig,'string','PID Error Tool','fontsize',fontsz,'TooltipString', [TooltipString_err],'units','normalized','outerposition',[posInfo.PIDerrButton],...
'callback','PTerrUIcontrol;PTplotPIDerror');
guiHandles.PIDerrButton.BackgroundColor=[ .8 .8 .8];
guiHandles.TuningButton = uicontrol(PTfig,'string','Step Resp Tool','fontsize',fontsz,'TooltipString', [TooltipString_step],'units','normalized','outerposition',[posInfo.TuningButton],...
'callback','PTtuneUIcontrol');
guiHandles.TuningButton.BackgroundColor=[ .8 .8 .8];
guiHandles.flightStats = uicontrol(PTfig,'string','Flight Stats','fontsize',fontsz, 'TooltipString',[TooltipString_flightStats], 'units','normalized','outerposition',[posInfo.flightStats],...
'callback','guiHandles.flightStats.FontWeight=''bold'';PTstatsUIcontrol; PTplotStats; guiHandles.flightStats.FontWeight=''normal'';');
guiHandles.flightStats.BackgroundColor=[ .8 .8 .8];
guiHandles.DispInfoButton = uicontrol(PTfig,'string','Setup Info','fontsize',fontsz,'TooltipString', [TooltipString_setup],'units','normalized','outerposition',[posInfo.DispInfoButton],...
'callback','PTdispSetupInfo;');
guiHandles.DispInfoButton.BackgroundColor=[ .8 .8 .8];
guiHandles.saveFig = uicontrol(PTfig,'string','Save Fig','fontsize',fontsz, 'TooltipString',[TooltipString_saveFig], 'units','normalized','outerposition',[posInfo.saveFig],...
'callback','guiHandles.saveFig.FontWeight=''bold'';PTsaveFig; guiHandles.saveFig.FontWeight=''normal'';');
guiHandles.saveFig.BackgroundColor=[ .8 .8 .8];
guiHandles.wiki = uicontrol(PTfig,'string','Wiki','fontsize',fontsz,'TooltipString', [TooltipString_wiki],'units','normalized','outerposition',[posInfo.wiki],...
'callback','try, system([''start chrome '' wikipage]), catch, web(wikipage), end');
guiHandles.wiki.BackgroundColor=[1 1 .2];
%% functions
% functions
function selection(src,event)
val = c.Value;
str = c.String;
str{val};
% disp(['Selection: ' str{val}]);
end
function textinput_call(src)
str=get(src,'String');
if isempty(str2num(str))
set(src,'string','0');
warndlg('Input must be numerical');
end
end