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hri_gui.m
0f02b70374cbsimple-adc-acquire

hri_gui.m
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			function varargout = hri_gui(varargin)
			% HRI_GUI MATLAB code for hri_gui.fig
			% HRI_GUI, by itself, creates a new HRI_GUI or raises the existing
			% singleton*.
			%
			% H = HRI_GUI returns the handle to a new HRI_GUI or the handle to
			% the existing singleton*.
			%
			% HRI_GUI('CALLBACK',hObject,eventData,handles,...) calls the local
			% function named CALLBACK in HRI_GUI.M with the given input arguments.
			%
			% HRI_GUI('Property','Value',...) creates a new HRI_GUI or raises the
			% existing singleton*. Starting from the left, property value pairs are
			% applied to the GUI before hri_gui_OpeningFcn gets called. An
			% unrecognized property name or invalid value makes property application
			% stop. All inputs are passed to hri_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 hri_gui

			% Last Modified by GUIDE v2.5 26-Dec-2015 20:20:49

			% Begin initialization code - DO NOT EDIT
			gui_Singleton = 1;
			gui_State = struct('gui_Name', mfilename, ...
			'gui_Singleton', gui_Singleton, ...
			'gui_OpeningFcn', @hri_gui_OpeningFcn, ...
			'gui_OutputFcn', @hri_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 initialization code - DO NOT EDIT


			% --- Executes just before hri_gui is made visible.
			function hri_gui_OpeningFcn(hObject, eventdata, handles, varargin) %#ok<INUSL>
			% 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 hri_gui (see VARARGIN)

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

			% UIWAIT makes hri_gui wait for user response (see UIRESUME)
			% uiwait(handles.main_window);

			hri_constants;

			handles.streamedVars = [];
			handles.varsWidgets = [];
			handles.plotDataCurrentIndex = 1;
			handles.plotData = [];

			handles.plotFig = findobj('Tag', 'plot_figure');
			handles.dataStreamingCheckbox = findobj('Tag', 'data_streaming_checkbox');

			% Create the variables widgets.
			lineHeight = 1 / N_VARS_MAX;
			y = 1 - lineHeight;

			for i=1:N_VARS_MAX
			% Create the UI controls at the right location.
			handles.varsWidgets(i).checkbox = uicontrol('Parent', handles.vars_panel, ...
			'Style', 'checkbox', ...
			'Units', 'normalized', ...
			'HandleVisibility', 'callback', ...
			'Position', [0 y 3/6 lineHeight], ...
			'Visible', 'off');

			handles.varsWidgets(i).get = uicontrol('Parent', handles.vars_panel, ...
			'Units', 'normalized', ...
			'HandleVisibility', 'callback', ...
			'Position', [3/6 y 1/6 lineHeight], ...
			'String', 'Get', ...
			'Visible', 'off');

			handles.varsWidgets(i).edit = uicontrol('Parent', handles.vars_panel, ...
			'Style', 'edit', ...
			'Units', 'normalized', ...
			'HandleVisibility', 'callback', ...
			'Position', [4/6 y 1/6 lineHeight], ...
			'String', '', ...
			'Visible', 'off');

			handles.varsWidgets(i).set = uicontrol('Parent', handles.vars_panel, ...
			'Units', 'normalized', ...
			'HandleVisibility', 'callback', ...
			'Position', [5/6 y 1/6 lineHeight], ...
			'String', 'Set', ...
			'Visible', 'off');

			y = y - lineHeight;
			end

			if isempty(varargin)
			% Find which serial port corresponds to the board.
			comPort = hri_comm.getHriComPort();

			if isempty(comPort)
			warning('The board is not detected.');
			handles.hbh = [];
			guidata(hObject, handles);
			return;
			else
			fprintf('The board was detected on %s.\n', comPort);
			end
			else
			comPort = varargin{1};
			end

			% Open the serial link with the board.
			handles.hbh = hri_comm(comPort, @(varsList) hri_gui_UpdateVarsList(hObject, varsList));
			open(handles.hbh);

			% Set the plot figure update timer.
			handles.plotFreqPopup = findobj('Tag', 'plot_freq_popup');
			plotFreq = PLOT_SAMPLING_FREQS(handles.plotFreqPopup.Value);

			handles.plotTimer = timer('Period', 1.0 / plotFreq, ...
			'TimerFcn', @(~,~)updatePlot(hObject), ...
			'ExecutionMode', 'fixedRate', ...
			'BusyMode', 'drop');
			start(handles.plotTimer);

			%
			guidata(hObject, handles);

			function hri_gui_UpdateVarsList(hObject, varsList)

			hri_constants;
			handles = guidata(hObject);
			handles.varsList = varsList;

			% Stop data streaming and logging, if running.
			handles.streamedVars = [];
			set(handles.data_streaming_checkbox, 'Value', 0);
			set(handles.log_to_file_checkbox, 'Value', 0);

			%
			for i=1:length(handles.varsList)
			% Modify the widgets to they match the associated variable.
			set(handles.varsWidgets(i).checkbox, 'String', handles.varsList(i).name);
			set(handles.varsWidgets(i).checkbox, 'Value', 0);
			set(handles.varsWidgets(i).checkbox, 'Visible', 'on');
			set(handles.varsWidgets(i).checkbox, 'ForegroundColor', 'black');

			if ~strcmp(varsList(i).access, 'writeonly')
			set(handles.varsWidgets(i).get, 'Visible', 'on');
			end

			set(handles.varsWidgets(i).edit, 'Visible', 'on');
			set(handles.varsWidgets(i).edit, 'String', '');

			if ~strcmp(varsList(i).access, 'readonly')
			set(handles.varsWidgets(i).set, 'Visible', 'on');
			end

			% Set the callbacks.
			handles.varsWidgets(i).checkbox.Callback = @(h,~)onToggleVarCheckbox(h,i);

			if handles.varsWidgets(i).get ~= 0
			handles.varsWidgets(i).get.Callback = @(h,~)onGetVar(h,i);
			end

			if handles.varsWidgets(i).set ~= 0
			handles.varsWidgets(i).set.Callback = @(h,~)onSetVar(h,i);
			end
			end

			% Hide the other widgets.
			for i=length(handles.varsList)+1:N_VARS_MAX
			set(handles.varsWidgets(i).checkbox, 'Visible', 'off');
			set(handles.varsWidgets(i).get, 'Visible', 'off');
			set(handles.varsWidgets(i).edit, 'Visible', 'off');
			set(handles.varsWidgets(i).set, 'Visible', 'off');
			end

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


			function onToggleVarCheckbox(hObject, varID, ~)
			% Get handles structure.
			handles = guidata(hObject);

			% Add or remove the variable ID associated to the checkbox.
			if handles.varsWidgets(varID).checkbox.Value == 0
			handles.streamedVars(handles.streamedVars == varID) = [];
			else
			handles.streamedVars = sort([handles.streamedVars varID]);
			end

			% Change the streaming of the board, if it currently running.
			guidata(hObject, handles);

			if handles.dataStreamingCheckbox.Value ~= 0
			setupStreaming(hObject, handles.streamedVars);
			end


			function setupStreaming(hObject, streamedVars)
			hri_constants;
			handles = guidata(hObject);

			% Stop the streaming, if running.
			handles.log_to_file_checkbox.Value = 0;

			% Request the board to change the streamed vars.
			setStreamedVars(handles.hbh, streamedVars);

			% Pre-allocate the plot points buffer.
			% TODO: keep data for the variable that remain the same.
			if ~isempty(streamedVars)
			handles.plotData = nan(PLOT_N_SAMPLES, length(handles.streamedVars));
			if ~isempty(handles.plotData)
			handles.plotFig = plot(1:PLOT_N_SAMPLES, handles.plotData);
			end
			end

			% Color the variables labels to match the lines colors.
			% The standard MATLAB legend is too slow for live plots.
			colors = get(handles.plot_figure, 'ColorOrder');

			for i = 1:N_VARS_MAX
			streamVarIndex = find(i == streamedVars, 1);

			if ~isempty(streamVarIndex)
			set(handles.varsWidgets(i).checkbox, ...
			'ForegroundColor', colors(rem(streamVarIndex-1,7)+1, :));
			else
			set(handles.varsWidgets(i).checkbox, ...
			'ForegroundColor', 'black');
			end
			end

			guidata(hObject, handles);


			function onGetVar(hObject, varID)
			% Get handles structure.
			handles = guidata(hObject);

			% Get the variable value from the board.
			varValue = getVar(handles.hbh, varID);

			% Display the value on the associated edit box widget.
			set(handles.varsWidgets(varID).edit, 'String', varValue);


			function onSetVar(hObject, varID)
			% Get handles structure.
			handles = guidata(hObject);

			% Get the desired variable value from the associated edit box widget.
			varValue = str2double(handles.varsWidgets(varID).edit.String);

			% Set the variable value on the board.
			setVar(handles.hbh, varID, varValue);


			function updatePlot(hObject)
			hri_constants;

			try
			handles = guidata(hObject);
			catch
			return;
			end

			if ~isfield(handles, 'plotData') \|\| isempty(handles.plotData)
			return;
			end

			vars = getStreaming(handles.hbh);

			if isempty(vars) \|\| (size(vars, 2) ~= size(handles.plotData, 2))
			return;
			end

			% If the plot buffer is full, restart.
			if handles.plotDataCurrentIndex + size(vars,1) > PLOT_N_SAMPLES - 1
			handles.plotDataCurrentIndex = 1;
			end

			range = handles.plotDataCurrentIndex:handles.plotDataCurrentIndex+size(vars,1)-1;
			handles.plotData(range, :) = vars;
			handles.plotData(handles.plotDataCurrentIndex+size(vars,1), :) = nan;
			handles.plotDataCurrentIndex = handles.plotDataCurrentIndex + size(vars,1);

			for i=1:size(handles.plotData, 2)
			set(handles.plotFig(i), 'ydata', handles.plotData(:,i));
			end

			guidata(hObject, handles);


			% --- Outputs from this function are returned to the command line.
			function varargout = hri_gui_OutputFcn(hObject, eventdata, handles) %#ok<INUSL>
			% 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.output;


			% --- Executes on button press in data_streaming_checkbox.
			function data_streaming_checkbox_Callback(hObject, ~, handles) %#ok<DEFNU>
			% hObject handle to data_streaming_checkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			if get(hObject, 'Value') == 0
			setupStreaming(hObject, []);
			else
			setupStreaming(hObject, handles.streamedVars);
			end


			% --- Executes on button press in clear_plot_button.
			function clear_plot_button_Callback(hObject, ~, handles) %#ok<DEFNU>
			% hObject handle to clear_plot_button (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			handles.plotData = nan(size(handles.plotData));
			handles.plotDataCurrentIndex = 1;

			for i=1:size(handles.plotData, 2)
			set(handles.plotFig(i), 'ydata', handles.plotData(:,i));
			end

			guidata(hObject, handles);


			% --- Executes on button press in log_to_file_checkbox.
			function log_to_file_checkbox_Callback(hObject, ~, handles) %#ok<DEFNU>
			% hObject handle to log_to_file_checkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if get(hObject,'Value') == 0
			stopLogging(handles.hbh);
			else
			startLogging(handles.hbh);
			end


			function main_window_CloseRequestFcn(hObject, ~, ~) %#ok<DEFNU>

			handles = guidata(hObject);

			if isfield(handles, 'plotTimer')
			stop(handles.plotTimer);
			delete(handles.plotTimer);
			handles = rmfield(handles, 'plotTimer');
			end

			if isfield(handles, 'hbh')
			delete(handles.hbh);
			handles = rmfield(handles, 'hbh');
			end

			guidata(hObject, handles);

			delete(hObject);
			close(gcf);


			% --- Executes on selection change in plot_freq_popup.
			function plot_freq_popup_Callback(hObject, ~, handles) %#ok<DEFNU>
			% hObject handle to plot_freq_popup (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			hri_constants; % Get the constants.

			currentIndex = hObject.Value;
			plotFreq = PLOT_SAMPLING_FREQS(currentIndex);

			stop(handles.plotTimer);
			set(handles.plotTimer, 'Period', 1.0 / plotFreq);
			start(handles.plotTimer);

R2671/MATLAB/hri_gui.m0f02b70374cbsimple-adc-acquire

hri_gui.mView Options

R2671/MATLAB/hri_gui.m
0f02b70374cbsimple-adc-acquire

hri_gui.m
View Options