function varargout = GUI_IO_ASSERV_4(varargin)
% GUI_IO_ASSERV_4 MATLAB code for GUI_IO_ASSERV_4.fig
%      GUI_IO_ASSERV_4, by itself, creates a new GUI_IO_ASSERV_4 or raises the existing
%      singleton*.
%
%      H = GUI_IO_ASSERV_4 returns the handle to a new GUI_IO_ASSERV_4 or the handle to
%      the existing singleton*.
%
%      GUI_IO_ASSERV_4('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in GUI_IO_ASSERV_4.M with the given input arguments.
%
%      GUI_IO_ASSERV_4('Property','Value',...) creates a new GUI_IO_ASSERV_4 or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before GUI_IO_ASSERV_4_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to GUI_IO_ASSERV_4_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_IO_ASSERV_4

% Last Modified by GUIDE v2.5 06-Apr-2022 17:21:44

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @GUI_IO_ASSERV_4_OpeningFcn, ...
                   'gui_OutputFcn',  @GUI_IO_ASSERV_4_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 GUI_IO_ASSERV_4 is made visible.
function GUI_IO_ASSERV_4_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_IO_ASSERV_4 (see VARARGIN)

% Choose default command line output for GUI_IO_ASSERV_4
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes GUI_IO_ASSERV_4 wait for user response (see UIRESUME)
% uiwait(handles.figure1);

% /!\ A ETE AJOUTE /!\ 

global nucleo % prend la variable "nucleo" comme "global" à utiliser le long du code 
nucleo = serialport('COM8', 115200); % il faudra choisir le bon port. Le deuxième paramètre correspond au BaudRate usuel




% --- Outputs from this function are returned to the command line.
function varargout = GUI_IO_ASSERV_4_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.output;



function choix_Kp_Callback(hObject, eventdata, handles)
% hObject    handle to choix_Kp (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 choix_Kp as text
%        str2double(get(hObject,'String')) returns contents of choix_Kp as a double



% /!\ A ETE AJOUTE /!\ 

handles.dataKp = get(hObject,'String'); % récupère au format String la donnée utilisateur 
handles.KpSamples = str2double(handles.dataKp); % convertit la donnée utilisateur au format Double à renvoyer sur la carte Nucleo
guidata(hObject, handles); 

% même chose pour les autres handles.data de la suite du code 


% --- Executes during object creation, after setting all properties.
function choix_Kp_CreateFcn(hObject, eventdata, handles)
% hObject    handle to choix_Kp (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



function choix_Ki_Callback(hObject, eventdata, handles)
% hObject    handle to choix_Ki (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 choix_Ki as text
%        str2double(get(hObject,'String')) returns contents of choix_Ki as a double

% % /!\ A ETE AJOUTE /!\ 

handles.dataKi = get(hObject,'String'); 
handles.KiSamples = str2double(handles.dataKi); 
guidata(hObject, handles); 

% --- Executes during object creation, after setting all properties.
function choix_Ki_CreateFcn(hObject, eventdata, handles)
% hObject    handle to choix_Ki (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



function choix_Kd_Callback(hObject, eventdata, handles)
% hObject    handle to choix_Kd (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 choix_Kd as text
%        str2double(get(hObject,'String')) returns contents of choix_Kd as a double

% % /!\ A ETE AJOUTE /!\ 

handles.dataKd = get(hObject,'String'); 
handles.KdSamples = str2double(handles.dataKd); 
guidata(hObject, handles); 


% --- Executes during object creation, after setting all properties.
function choix_Kd_CreateFcn(hObject, eventdata, handles)
% hObject    handle to choix_Kd (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


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

% /!\ A ETE AJOUTE /!\ 

% Pour renvoyer sur la carte Nucléo 

str = sprintf("%f,%f,%f,%f,%f,0",handles.KpSamples,handles.KiSamples,handles.KdSamples,handles.cxSamples,handles.cySamples); 
% renvoie les donnes utilisateurs sur la carte Nucleo. Le 0 constitue un
% booléen qui différencie entre les deux types de simulation
global nucleo % il faut remettre "nucleo" en variable globale dans la fonction du bouton 
writeline(nucleo,str) % écrit sur la carte Nucleo les valeurs utilisateur, ensuite séparées par la carte. 

% Pour la position du laser 

cla(handles.axes1) % permet de mettre le tracé sur le graphe dont le tag est (changeable sur la figure) axes1
viscircles(handles.axes1,[0 0],0.005) % trace le cercle sur lequel on représente la position du laser
ph = animatedline(handles.axes1,'Marker','o','Color','b'); % permet d'animer la position du laser en temps réel
hold on
xlim([-0.005 0.005])
ylim([-0.005 0.005])
k = 0;
while true % boucle infinie 
    data = readline(nucleo); % lit la tension, donc la position du laser sur la photodiode 
    if mod(k,50) == 0
        clearpoints(ph) % pour éviter d'avoir un grand nombre de lignes qui décrivaient la position du laser
    end
    try
        data = double(split(data,","))'; % permet de séparer les valeurs de positions en x et y fournit par la carte Nucleo 
        clearpoints(ph) 
        addpoints(ph,data(1),data(2));
        drawnow limitrate;
        k = k+1;
    end
end


function consx_Callback(hObject, eventdata, handles)
% hObject    handle to consx (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 consx as text
%        str2double(get(hObject,'String')) returns contents of consx as a double

% % /!\ A ETE AJOUTE /!\  

handles.datacx = get(hObject,'String'); 
handles.cxSamples = str2double(handles.datacx);
guidata(hObject, handles); 


% --- Executes during object creation, after setting all properties.
function consx_CreateFcn(hObject, eventdata, handles)
% hObject    handle to consx (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



function consy_Callback(hObject, eventdata, handles)
% hObject    handle to consy (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 consy as text
%        str2double(get(hObject,'String')) returns contents of consy as a double

% /!\ A ETE AJOUTE /!\  

handles.datacy = get(hObject,'String');  
handles.cySamples = str2double(handles.datacy); 
guidata(hObject, handles); 


% --- Executes during object creation, after setting all properties.
function consy_CreateFcn(hObject, eventdata, handles)
% hObject    handle to consy (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



function Te_Callback(hObject, eventdata, handles)
% hObject    handle to Te (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 Te as text
%        str2double(get(hObject,'String')) returns contents of Te as a double

% /!\ A ETE AJOUTE /!\ 

handles.dataTe = get(hObject,'String'); 
handles.TeSamples = str2double(handles.dataTe); 
guidata(hObject, handles); 


% --- Executes during object creation, after setting all properties.
function Te_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Te (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


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

% Pour renvoyer sur la carte Nucléo 

str = sprintf("%f,%f,%f,%f,%f,1",handles.KpSamples,handles.KiSamples,handles.KdSamples,handles.cxSamples,handles.cySamples);
global nucleo 
writeline(nucleo,str)
% renvoie les donnes utilisateurs sur la carte Nucleo. Le 1 constitue un
% booléen qui différencie entre les deux types de simulation

% Pour les graphes des tensions 


cla(handles.axesA) % permet de mettre le tracé sur le graphe dont le tag est (changeable sur la figure) axesA
cla(handles.axesB)
cla(handles.axesC)
cla(handles.axesD)
A = animatedline(handles.axesA,'Color','r'); % pour l'animation des tensions, les avoir en temps réel
ylim(handles.axesA,[0 1]) % le premier paramètre est pour mettre tracé sur le graphe dont le tag est (changeable sur la figure) axesA, le second correspond au fait qu'on prend les tensions normalisées
B = animatedline(handles.axesB,'Color','r');
ylim(handles.axesB,[0 1])
D = animatedline(handles.axesC,'Color','r');
ylim(handles.axesC,[0 1])
C = animatedline(handles.axesD,'Color','r');
ylim(handles.axesD,[0 1])

k = 0;
while true
    data = readline(nucleo);
    try
        data = double(split(data,","))';
        addpoints(A,k*handles.TeSamples,data(1));
        addpoints(B,k*handles.TeSamples,data(2));
        addpoints(C,k*handles.TeSamples,data(3));
        addpoints(D,k*handles.TeSamples,data(4));
        drawnow limitrate;
    end
    k = k+1;
end