% #########################################################################
% File :  GUI.m
% Auteurs : Laurent Jenni, Philipp Hörler
% Laboratoire de Systèmes Robotiques, EPFL
% 
% #########################################################################

function varargout = GUI(varargin)
% GUI MATLAB code for GUI.fig-+
%      GUI, by itself, creates a new GUI or raises the existing
%      singleton*.
%
%      H = GUI returns the handle to a new GUI or the handle to
%      the existing singleton*.
%
%      GUI('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in GUI.M with the given input arguments.
%
%      GUI('Property','Value',...) creates a new GUI or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before GUI_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to GUI_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help GUI

% Last Modified by GUIDE v2.5 05-Apr-2015 11:46:50

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @GUI_OpeningFcn, ...
                   'gui_OutputFcn',  @GUI_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin && ischar(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
end
% End initialization code - DO NOT EDIT

% --- Executes just before GUI is made visible.
function GUI_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to GUI (see VARARGIN)

% Choose default command line output for GUI
handles.output = hObject;

%% Options
clc;
delete(timerfind);
addpath(strcat(pwd,'\Functions'));
addpath(strcat(pwd,'\ParamFiles'));
run('ComProtocolOpt.m');
run('HostRequestList.m');
run('StatusRegBitsList.m');
run('UserVars.m');

handles.COMOPT = COMOPT;
handles.USER_VARS = USER_VARS;

%% Initialize USART
if exist('handles.s')
    fclose(handles.s);
    delete(handles.s);
    clear handles.s;
end
delete(instrfind);
handles.s = serial(handles.COMOPT.USART_PORT);
set(handles.s,'BaudRate', handles.COMOPT.USART_BAUDRATE, ...
      'Timeout',  handles.COMOPT.USART_TIMEOUT , ...
      'InputBufferSize',handles.COMOPT.USART_INPUT_BUFFER_SIZE);
fopen(handles.s);
if(~strcmp(handles.s.Status,'open'))
    disp(strcat('Unable to open :',handles.COMOPT.USART_PORT));
    disp(strcat('Execution stopped'));
    return;
end

% Stop Streaming and verify Status
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
pause(0.1);

[StatReg,ERR] = getStatusReg(handles.COMOPT,handles.s);
if(ERR)
    disp(strcat('Timeout while : "statusRegRequest" '));
    disp(strcat('Verify power supply of the board'));
    disp(strcat('Execution stopped'));
    set(handles.ErrorMessageText,'string','Error: The Card doesn''t answer. It probably crashed. You can try to reset it');
    return
end

%Set Timestamp to 0
setVar(0,0,handles.COMOPT,handles.s);

% Initialize data reception
handles.streaming_vars     = bin2dec('00000000000000000000000000000001');
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
handles.streaming_enable   = 0;    
handles.index              = 1;    %index
handles.DisplayBufferSize  = 20000;
handles.dataBuffer         = nan(handles.DisplayBufferSize, handles.USER_VARS.VAR_NUM);
period = 0.5;
handles.UsartTimer = timer('BusyMode','drop',...
    'ExecutionMode','fixedrate',...
    'Period',round(period*1000)/1000,...
    'TimerFcn',{@Receive_usart, hObject},...
    'ErrorFcn',@(mTimer,event)disp(event.Data.message));

%% Initialize Axes
handles.PlotLines = plot(handles.axes1,0,zeros(1,handles.USER_VARS.VAR_NUM),'visible','off'); %26 plotlines
%set(handles.axes1,'XLim',[0,20108],'YLim',[0,13824]);
%set(handles.PlotLines(4:6),'marker','o','color','r');
xlabel(handles.axes1,'Time [s]');
ylabel(handles.axes1,'Data');
%legend(handles.axes1);

set(handles.SaveCheckbox,'Value',false);
% Update handles structure
guidata(hObject, handles);

end

% --- Outputs from this function are returned to the command line.
function varargout = GUI_OutputFcn(hObject, eventdata, handles)
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles;
end

% --- USART Timer function ---
function Receive_usart(~, ~, hObject)

if ~exist('handles')
    handles = guidata(hObject);
end

if(handles.streaming_enable == 1)

    [Data,ERR] = grabStreamPackets(handles.streaming_vars,handles.COMOPT,handles.s);
    if(~ERR)
           

            handles.dataBuffer(mod(handles.index-1:handles.index+size(Data,1)-1,handles.DisplayBufferSize)+1,:) = [Data; nan(1,handles.USER_VARS.VAR_NUM)];
            handles.index = handles.index + size(Data,1);
            handles.index = mod(handles.index,handles.DisplayBufferSize);
            if get(handles.SaveCheckbox,'Value')
                fwrite(handles.savefile,Data','double');
            end
            
            %Update data for the streamed plotlines
            Vars_index = 33-find(dec2bin(handles.streaming_vars,32)-'0');
            for i = Vars_index(1:end-1)
            set(handles.PlotLines(i),...
                'xdata',handles.dataBuffer(:,1) / 1e6,...
                'ydata',handles.dataBuffer(:,i));          
            end            
        
    else
        disp(['Error while grabStreamPackets: ' num2str(ERR)])
    end
    
end
% Update handles structure
guidata(hObject, handles);
end


% --- Executes on button press in StartStreamingbutton.
function StartStreamingbutton_Callback(hObject, eventdata, handles)
% hObject    handle to StartStreamingbutton (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
if handles.streaming_enable == 0
    usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
    handles.streaming_enable = 1;
    start(handles.UsartTimer);
end
% Update handles structure
guidata(hObject, handles);
end

% --- Executes on button press in StopStreamingbutton.
function StopStreamingbutton_Callback(hObject, eventdata, handles)
% hObject    handle to StopStreamingbutton (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if handles.streaming_enable == 1
    stop(handles.UsartTimer);
    usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
    pause(0.1);  % to be sure that the card stopped streaming
    flushinput(handles.s);
    handles.streaming_enable = 0;
    
    handles.index = 1;
    handles.dataBuffer = handles.dataBuffer*0;
    
end
% Update handles structure
guidata(hObject, handles);
end


% --- Executes on button press in ClearScreenButton.
function ClearScreenButton_Callback(hObject, eventdata, handles)
% hObject    handle to ClearScreenButton (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
handles.index = 1;
handles.dataBuffer(:) = nan;

% Update handles structure
guidata(hObject, handles);
end


% --------------------------------------------------------------------
function FileMenu_Callback(hObject, eventdata, handles)
% hObject    handle to FileMenu (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
end

% --------------------------------------------------------------------
function OpenMenuItem_Callback(hObject, eventdata, handles)
% hObject    handle to OpenMenuItem (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
file = uigetfile('*.fig');
if ~isequal(file, 0)
    open(file);
end
end

% --------------------------------------------------------------------
function PrintMenuItem_Callback(hObject, eventdata, handles)
% hObject    handle to PrintMenuItem (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
printdlg(handles.figure1)
end

% --------------------------------------------------------------------
function CloseMenuItem_Callback(hObject, eventdata, handles)
% hObject    handle to CloseMenuItem (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

delete(handles.figure1)
end


% --- Executes during object deletion, before destroying properties.
function figure1_DeleteFcn(hObject, eventdata, handles)
% hObject    handle to figure1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

close_function(hObject,eventdata,handles);
end


function close_function(hObject,eventdata,handles)
% Close function to be executed when the GUI is closed
    stop(handles.UsartTimer);
    usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
    pause(0.1);  % to be sure that the card stopped streaming
    flushinput(handles.s);
    delete(handles.figure1);
    delete(handles.UsartTimer);
    fclose('all');
end


% --- Executes on button press in SaveCheckbox.
function SaveCheckbox_Callback(hObject, eventdata, handles)
% hObject    handle to SaveCheckbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of SaveCheckbox
if get(handles.SaveCheckbox,'Value')
    handles.savefile = fopen(['Data\Data_' datestr(now,'yyyy.mm.dd_HH.MM.SS') '.bin'],'a');
else
    fclose(handles.savefile);
end
% Update handles structure
guidata(hObject, handles);
end


% --- Executes on button press in KpChkbox.
function KpChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to KpChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_P+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_P+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_P+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_P+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

% --- Executes during object creation, after setting all properties.
function KpEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to KpEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in KpSet.
function KpSet_Callback(hObject, eventdata, handles)
% hObject    handle to KpSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.KpEdit,'String'));
setVar(handles.USER_VARS.VAR_POS_REG_PID_P,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in KpGet.
function KpGet_Callback(hObject, eventdata, handles)
% hObject    handle to KpGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_P,handles);
set(handles.KpText,'String',Value);
end

% --- Executes on button press in KiChkbox.
function KiChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to KiChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_I+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_I+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_I+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_I+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

% --- Executes during object creation, after setting all properties.
function KiEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to KiEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in KiSet.
function KiSet_Callback(hObject, eventdata, handles)
% hObject    handle to KiSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.KiEdit,'String'));
setVar(handles.USER_VARS.VAR_POS_REG_PID_I,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in KiGet.
function KiGet_Callback(hObject, eventdata, handles)
% hObject    handle to KiGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_I,handles);
set(handles.KiText,'String',Value);
end


% --- Executes on button press in KdChkbox.
function KdChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to KdChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_D+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_D+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_D+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_D+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function KdEdit_Callback(hObject, eventdata, handles)
% hObject    handle to KdEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of KdEdit as text
%        str2double(get(hObject,'String')) returns contents of KdEdit as a double
end

% --- Executes during object creation, after setting all properties.
function KdEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to KdEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in KdSet.
function KdSet_Callback(hObject, eventdata, handles)
% hObject    handle to KdSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.KdEdit,'String'));
setVar(handles.USER_VARS.VAR_POS_REG_PID_D,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in KdGet.
function KdGet_Callback(hObject, eventdata, handles)
% hObject    handle to KdGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_D,handles);
set(handles.KdText,'String',Value);
end


% --- Executes on button press in ARWChkbox.
function ARWChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to ARWChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_ARW+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_ARW+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_ARW+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_ARW+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function ARWEdit_Callback(hObject, eventdata, handles)
% hObject    handle to ARWEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of ARWEdit as text
%        str2double(get(hObject,'String')) returns contents of ARWEdit as a double
end

% --- Executes during object creation, after setting all properties.
function ARWEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to ARWEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in ARWSet.
function ARWSet_Callback(hObject, eventdata, handles)
% hObject    handle to ARWSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.ARWEdit,'String'));
setVar(handles.USER_VARS.VAR_POS_REG_PID_ARW,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in ARWGet.
function ARWGet_Callback(hObject, eventdata, handles)
% hObject    handle to ARWGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_ARW,handles);
set(handles.ARWText,'String',Value);
end

% --- Executes on button press in IntegratorChkbox.
function IntegratorChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to IntegratorChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function IntegratorEdit_Callback(hObject, eventdata, handles)
% hObject    handle to IntegratorEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of IntegratorEdit as text
%        str2double(get(hObject,'String')) returns contents of IntegratorEdit as a double
end

% --- Executes during object creation, after setting all properties.
function IntegratorEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to IntegratorEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in IntegratorSet.
function IntegratorSet_Callback(hObject, eventdata, handles)
% hObject    handle to IntegratorSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.IntegratorEdit,'String'));
setVar(handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in IntegratorGet.
function IntegratorGet_Callback(hObject, eventdata, handles)
% hObject    handle to IntegratorGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR,handles);
set(handles.IntegratorText,'String',Value);
end

% --- Executes on button press in RegOutChkbox.
function RegOutChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to RegOutChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_OUTPUT+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_OUTPUT+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_OUTPUT+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_OUTPUT+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

% --- Executes on button press in RegOutGet.
function RegOutGet_Callback(hObject, eventdata, handles)
% hObject    handle to RegOutGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_OUTPUT,handles);
set(handles.RegOutText,'String',Value);
end

% --- Executes on button press in RegPeriodChckbox.
function RegPeriodChckbox_Callback(hObject, eventdata, handles)
% hObject    handle to RegPeriodChckbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function RegPeriodEdit_Callback(hObject, eventdata, handles)
% hObject    handle to RegPeriodEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of RegPeriodEdit as text
%        str2double(get(hObject,'String')) returns contents of RegPeriodEdit as a double
end

% --- Executes during object creation, after setting all properties.
function RegPeriodEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to RegPeriodEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in RegPeriodSet.
function RegPeriodSet_Callback(hObject, eventdata, handles)
% hObject    handle to RegPeriodSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.RegPeriodEdit,'String'));
setVar(handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in RegPeriodGet.
function RegPeriodGet_Callback(hObject, eventdata, handles)
% hObject    handle to RegPeriodGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD,handles);
set(handles.RegPeriodText,'String',Value);
end

% --- Executes on button press in WallPosChkbox.
function WallPosChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to WallPosChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_WALL_POSITION+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_WALL_POSITION+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_WALL_POSITION+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_WALL_POSITION+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function WallPosEdit_Callback(hObject, eventdata, handles)
% hObject    handle to WallPosEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of WallPosEdit as text
%        str2double(get(hObject,'String')) returns contents of WallPosEdit as a double
end

% --- Executes during object creation, after setting all properties.
function WallPosEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to WallPosEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in WallPosSet.
function WallPosSet_Callback(hObject, eventdata, handles)
% hObject    handle to WallPosSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
Value = str2num(get(handles.WallPosEdit,'String'));
setVar(handles.USER_VARS.VAR_WALL_POSITION,int32(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in WallPosGet.
function WallPosGet_Callback(hObject, eventdata, handles)
% hObject    handle to WallPosGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_WALL_POSITION,handles);
set(handles.WallPosText,'String',Value);
end

% --- Executes on button press in MeasuredAngleRawChkbox.
function MeasuredAngleRawChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to MeasuredAngleRawChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_MEASURED_ANGLE_RAW+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_MEASURED_ANGLE_RAW+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_MEASURED_ANGLE_RAW+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_MEASURED_ANGLE_RAW+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

% --- Executes on button press in MeasuredAngleRawGet.
function MeasuredAngleRawGet_Callback(hObject, eventdata, handles)
% hObject    handle to MeasuredAngleRawGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_MEASURED_ANGLE_RAW,handles);
set(handles.MeasuredAngleRawText,'String',Value);
end


% --- Executes on button press in MeasuredAngleFilteredChkbox.
function MeasuredAngleFilteredChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to MeasuredAngleFilteredChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

% --- Executes on button press in MeasuredAngleFilteredGet.
function MeasuredAngleFilteredGet_Callback(hObject, eventdata, handles)
% hObject    handle to MeasuredAngleFilteredGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED,handles);
set(handles.MeasuredAngleFilteredText,'String',Value);
end

% --- Executes on button press in CommunicationPeriodChkbox.
function CommunicationPeriodChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to CommunicationPeriodChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_COMM_TX_PERIOD+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_COMM_TX_PERIOD+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_COMM_TX_PERIOD+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_COMM_TX_PERIOD+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function CommunicationPeriodEdit_Callback(hObject, eventdata, handles)
% hObject    handle to CommunicationPeriodEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of CommunicationPeriodEdit as text
%        str2double(get(hObject,'String')) returns contents of CommunicationPeriodEdit as a double
end

% --- Executes during object creation, after setting all properties.
function CommunicationPeriodEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to CommunicationPeriodEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in CommunicationPeriodSet.
function CommunicationPeriodSet_Callback(hObject, eventdata, handles)
% hObject    handle to CommunicationPeriodSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.CommunicationPeriodEdit,'String'));
setVar(handles.USER_VARS.VAR_COMM_TX_PERIOD,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in CommunicationPeriodGet.
function CommunicationPeriodGet_Callback(hObject, eventdata, handles)
% hObject    handle to CommunicationPeriodGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_COMM_TX_PERIOD,handles);
set(handles.CommunicationPeriodText,'String',Value);
end

% --- Executes on button press in ActiveFilterChkbox.
function ActiveFilterChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to ActiveFilterChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ACTIVE_FILTER+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_ACTIVE_FILTER+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ACTIVE_FILTER+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_ACTIVE_FILTER+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function ActiveFilterEdit_Callback(hObject, eventdata, handles)
% hObject    handle to ActiveFilterEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of ActiveFilterEdit as text
%        str2double(get(hObject,'String')) returns contents of ActiveFilterEdit as a double
end

% --- Executes during object creation, after setting all properties.
function ActiveFilterEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to ActiveFilterEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in ActiveFilterSet.
function ActiveFilterSet_Callback(hObject, eventdata, handles)
% hObject    handle to ActiveFilterSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.ActiveFilterEdit,'String'));
setVar(handles.USER_VARS.VAR_ACTIVE_FILTER,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in ActiveFilterGet.
function ActiveFilterGet_Callback(hObject, eventdata, handles)
% hObject    handle to ActiveFilterGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_ACTIVE_FILTER,handles);
set(handles.ActiveFilterText,'String',Value);
end

% --- Executes on button press in FirstOrderFilterTauChkbox.
function FirstOrderFilterTauChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to FirstOrderFilterTauChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_1ST_FILT_TAU+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_1ST_FILT_TAU+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_1ST_FILT_TAU+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_1ST_FILT_TAU+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

function FirstOrderFilterTauEdit_Callback(hObject, eventdata, handles)
% hObject    handle to FirstOrderFilterTauEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of FirstOrderFilterTauEdit as text
%        str2double(get(hObject,'String')) returns contents of FirstOrderFilterTauEdit as a double
end

% --- Executes during object creation, after setting all properties.
function FirstOrderFilterTauEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to FirstOrderFilterTauEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in FirstOrderFilterTauSet.
function FirstOrderFilterTauSet_Callback(hObject, eventdata, handles)
% hObject    handle to FirstOrderFilterTauSet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.FirstOrderFilterTauEdit,'String'));
setVar(handles.USER_VARS.VAR_1ST_FILT_TAU,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in FirstOrderFilterTauGet.
function FirstOrderFilterTauGet_Callback(hObject, eventdata, handles)
% hObject    handle to FirstOrderFilterTauGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_1ST_FILT_TAU,handles);
set(handles.FirstOrderFilterTauText,'String',Value);
end


function KpEdit_Callback(hObject, eventdata, handles)
% hObject    handle to KpEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of KpEdit as text
%        str2double(get(hObject,'String')) returns contents of KpEdit as a double
end
function KiEdit_Callback(hObject, eventdata, handles)
% hObject    handle to KiEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of KiEdit as text
%        str2double(get(hObject,'String')) returns contents of KiEdit as a double
end


% --- Executes on button press in Dac1Chkbox.
function Dac1Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to Dac1Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_DAC1_VOLTAGE+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_DAC1_VOLTAGE+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_DAC1_VOLTAGE+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_DAC1_VOLTAGE+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function Dac1Edit_Callback(hObject, eventdata, handles)
% hObject    handle to Dac1Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Dac1Edit as text
%        str2double(get(hObject,'String')) returns contents of Dac1Edit as a double
end

% --- Executes during object creation, after setting all properties.
function Dac1Edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Dac1Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in Dac1Set.
function Dac1Set_Callback(hObject, eventdata, handles)
% hObject    handle to Dac1Set (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.Dac1Edit,'String'));
setVar(handles.USER_VARS.VAR_DAC1_VOLTAGE,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in Dac1Get.
function Dac1Get_Callback(hObject, eventdata, handles)
% hObject    handle to Dac1Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_DAC1_VOLTAGE,handles);
set(handles.Dac1Text,'String',Value);
end

% --- Executes on button press in Dac2Chkbox.
function Dac2Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to Dac2Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_DAC2_VOLTAGE+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_DAC2_VOLTAGE+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_DAC2_VOLTAGE+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_DAC2_VOLTAGE+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function Dac2Edit_Callback(hObject, eventdata, handles)
% hObject    handle to Dac2Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Dac2Edit as text
%        str2double(get(hObject,'String')) returns contents of Dac2Edit as a double
end

% --- Executes during object creation, after setting all properties.
function Dac2Edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Dac2Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end


% --- Executes on button press in Dac2Set.
function Dac2Set_Callback(hObject, eventdata, handles)
% hObject    handle to Dac2Set (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.Dac2Edit,'String'));
setVar(handles.USER_VARS.VAR_DAC2_VOLTAGE,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in Dac2Get.
function Dac2Get_Callback(hObject, eventdata, handles)
% hObject    handle to Dac2Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_DAC2_VOLTAGE,handles);
set(handles.Dac2Text,'String',Value);
end

% --- Executes on button press in Adc1Chkbox.
function Adc1Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to Adc1Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ADC1_VOLTAGE+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_ADC1_VOLTAGE+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ADC1_VOLTAGE+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_ADC1_VOLTAGE+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

% --- Executes on button press in Adc1Get.
function Adc1Get_Callback(hObject, eventdata, handles)
% hObject    handle to Adc1Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_ADC1_VOLTAGE,handles);
set(handles.Adc1Text,'String',Value);
end

% --- Executes on button press in Adc2Chkbox.
function Adc2Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to Adc2Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ADC2_VOLTAGE+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_ADC2_VOLTAGE+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ADC2_VOLTAGE+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_ADC2_VOLTAGE+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

% --- Executes on button press in Adc2Get.
function Adc2Get_Callback(hObject, eventdata, handles)
% hObject    handle to Adc2Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_ADC2_VOLTAGE,handles);
set(handles.Adc2Text,'String',Value);
end


% --- Executes on button press in HallSensorChkbox.
function HallSensorChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to HallSensorChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_HALL_ANGLE+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_HALL_ANGLE+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_HALL_ANGLE+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_HALL_ANGLE+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end

% --- Executes on button press in HallSensorGet.
function HallSensorGet_Callback(hObject, eventdata, handles)
% hObject    handle to HallSensorGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_HALL_ANGLE,handles);
set(handles.HallSensorText,'String',Value);
end


% --- Executes on button press in TachoSpeedChkbox.
function TachoSpeedChkbox_Callback(hObject, eventdata, handles)
% hObject    handle to TachoSpeedChkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_TACHO_SPEED+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_TACHO_SPEED+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_TACHO_SPEED+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_TACHO_SPEED+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


% --- Executes on button press in TachoSpeedGet.
function TachoSpeedGet_Callback(hObject, eventdata, handles)
% hObject    handle to TachoSpeedGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_TACHO_SPEED,handles);
set(handles.TachoSpeedText,'String',Value);
end


% --- Executes on button press in StrainGauge.
function StrainGauge_Callback(hObject, eventdata, handles)
% hObject    handle to StrainGauge (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


% --- Executes on button press in StrainGaugeGet.
function StrainGaugeGet_Callback(hObject, eventdata, handles)
% hObject    handle to StrainGaugeGet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE,handles);
set(handles.StrainGaugeText,'String',Value);
end


% --- Executes on button press in UserVar1Chkbox.
function UserVar1Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar1Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_1+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_1+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_1+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_1+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function UserVar1Edit_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar1Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of UserVar1Edit as text
%        str2double(get(hObject,'String')) returns contents of UserVar1Edit as a double
end

% --- Executes during object creation, after setting all properties.
function UserVar1Edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to UserVar1Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in UserVar1Set.
function UserVar1Set_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar1Set (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.UserVar1Edit,'String'));
setVar(handles.USER_VARS.VAR_USER_VAR_1,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in UserVar1Get.
function UserVar1Get_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar1Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_USER_VAR_1,handles);
set(handles.UserVar1Text,'String',Value);
end

% --- Executes on button press in UserVar2Chkbox.
function UserVar2Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar2Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_2+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_2+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_2+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_2+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function UserVar2Edit_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar2Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of UserVar2Edit as text
%        str2double(get(hObject,'String')) returns contents of UserVar2Edit as a double
end

% --- Executes during object creation, after setting all properties.
function UserVar2Edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to UserVar2Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in UserVar2Set.
function UserVar2Set_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar2Set (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.UserVar2Edit,'String'));
setVar(handles.USER_VARS.VAR_USER_VAR_2,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in UserVar2Get.
function UserVar2Get_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar2Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_USER_VAR_2,handles);
set(handles.UserVar2Text,'String',Value);
end

% --- Executes on button press in UserVar3Chkbox.
function UserVar3Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar3Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_3+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_3+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_3+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_3+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function UserVar3Edit_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar3Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of UserVar3Edit as text
%        str2double(get(hObject,'String')) returns contents of UserVar3Edit as a double
end

% --- Executes during object creation, after setting all properties.
function UserVar3Edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to UserVar3Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in UserVar3Set.
function UserVar3Set_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar3Set (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.UserVar3Edit,'String'));
setVar(handles.USER_VARS.VAR_USER_VAR_3,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in UserVar3Get.
function UserVar3Get_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar3Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_USER_VAR_3,handles);
set(handles.UserVar3Text,'String',Value);
end

% --- Executes on button press in UserVar4Chkbox.
function UserVar4Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar4Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_4+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_4+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_4+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_4+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function UserVar4Edit_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar4Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of UserVar4Edit as text
%        str2double(get(hObject,'String')) returns contents of UserVar4Edit as a double
end

% --- Executes during object creation, after setting all properties.
function UserVar4Edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to UserVar4Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in UserVar4Set.
function UserVar4Set_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar4Set (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.UserVar4Edit,'String'));
setVar(handles.USER_VARS.VAR_USER_VAR_4,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in UserVar4Get.
function UserVar4Get_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar4Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_USER_VAR_4,handles);
set(handles.UserVar4Text,'String',Value);
end


% --- Executes on button press in UserVar5Chkbox.
function UserVar5Chkbox_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar5Chkbox (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
if get(hObject,'Value')
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_5+1,1);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_5+1),'visible','on');
else
    handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_5+1,0);
    set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_5+1),'visible','off');
end
setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
flushinput(handles.s);
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
% Update handles structure
guidata(hObject, handles);
end


function UserVar5Edit_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar5Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of UserVar5Edit as text
%        str2double(get(hObject,'String')) returns contents of UserVar5Edit as a double
end

% --- Executes during object creation, after setting all properties.
function UserVar5Edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to UserVar5Edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
end

% --- Executes on button press in UserVar5Set.
function UserVar5Set_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar5Set (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = str2num(get(handles.UserVar5Edit,'String'));
setVar(handles.USER_VARS.VAR_USER_VAR_5,single(Value),handles.COMOPT,handles.s);
end

% --- Executes on button press in UserVar5Get.
function UserVar5Get_Callback(hObject, eventdata, handles)
% hObject    handle to UserVar5Get (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
if ~exist('handles')
        handles = guidata(hObject);
end
Value = getVar(handles.USER_VARS.VAR_USER_VAR_5,handles);
set(handles.UserVar5Text,'String',Value);
end