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

% Last Modified by GUIDE v2.5 28-Apr-2015 14:51:33

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

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

% Update handles structure
guidata(hObject, handles);

update_Labels(hObject, eventdata, handles);
eventdata; % unused

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


function varargout = gui_motion_OutputFcn(~, ~, handles) 
varargout{1} = handles.output;

function update_Labels(~, ~, handles)   
    set(handles.label_delta,     'String', [sprintf('%.4G',get(handles.slider_delta,'Value')),' °']);

    set(handles.label_x_start,   'String', [sprintf('%.4G',get(handles.slider_x_start,'Value')),' °']);
    set(handles.label_x_end,     'String', [sprintf('%.4G',get(handles.slider_x_end,'Value')),' °']);
    set(handles.label_y_start,   'String', [sprintf('%.4G',get(handles.slider_y_start,'Value')),' °']);
    set(handles.label_y_end,     'String', [sprintf('%.4G',get(handles.slider_y_end,'Value')),' °']);
    set(handles.label_z_start,   'String', [sprintf('%.4G',get(handles.slider_z_start,'Value')),' °']);
    set(handles.label_z_end,     'String', [sprintf('%.4G',get(handles.slider_z_end,'Value')),' °']);

    set(handles.label_tx_start,  'String', [sprintf('%.4G',get(handles.slider_tx_start,'Value')),' mm']);
    set(handles.label_tx_end,    'String', [sprintf('%.4G',get(handles.slider_tx_end,'Value')),' mm']);
    set(handles.label_ty_start,  'String', [sprintf('%.4G',get(handles.slider_ty_start,'Value')),' mm']);
    set(handles.label_ty_end,    'String', [sprintf('%.4G',get(handles.slider_ty_end,'Value')),' mm']);
    set(handles.label_tz_start,  'String', [sprintf('%.4G',get(handles.slider_tz_start,'Value')),' mm']);
    set(handles.label_tz_end,    'String', [sprintf('%.4G',get(handles.slider_tz_end,'Value')),' mm']);
    set(handles.label_time,      'String', [sprintf('%.4G',get(handles.slider_time,'Value')),' s']);
    set(handles.label_resolution,'String', [sprintf('%.4G',get(handles.slider_resolution,'Value')),' ms']);

    
    m = get(handles.start_simulation,'UserData');
    % set label of start/stop
    if (isempty(m) || m.run == false)
        set(handles.start_simulation,'String','Start simulation');
    else
        set(handles.start_simulation,'String','Stop simulation');
        %apply new values
        m.rx        = [ get(handles.slider_x_start,'Value')  get(handles.slider_x_end,'Value')  ]/180*pi;
        m.ry        = [ get(handles.slider_z_start,'Value')  get(handles.slider_y_end,'Value')  ]/180*pi;
        m.rz        = [ get(handles.slider_y_start,'Value')  get(handles.slider_z_end,'Value')  ]/180*pi;
        m.tx        = [ get(handles.slider_tx_start,'Value') get(handles.slider_tx_end,'Value') ];
        m.ty        = [ get(handles.slider_tz_start,'Value') get(handles.slider_ty_end,'Value') ];
        m.tz        = [ get(handles.slider_ty_start,'Value') get(handles.slider_tz_end,'Value') ];
        m.delta     = [ get(handles.slider_delta,'Value') get(handles.slider_delta,'Value') ]/180*pi;
        m.arm       = get(handles.arm,'Value');
        m.elbow     = get(handles.arm,'Value');
        m.flip      = get(handles.arm,'Value');
        m.time      = get(handles.slider_time,'Value');

        c = get(handles.core,'Value');
        s = get(handles.core,'String');
        m.core      = s{c};

        c = get(handles.type,'Value');
        s = get(handles.type,'String');
        m.type      = s{c};
    end
    
    

function start_simulation_Callback(~, ~, handles)
% generate motion_config

m = get(handles.start_simulation,'UserData');
if (isempty(m))
    m = motion_config();
    set(handles.start_simulation,'UserData',m);
    m.run = false;
end
if (m.run == true) 
    m.run = false;
    update_Labels([], [], handles) 
else
    m.run       = true;
    update_Labels([], [], handles) 
    
    m.joinsfig    = handles.joins;
    m.joinsdfig   = handles.joinsd;
    m.joinsddfig  = handles.joinsdd;
    m.robofig     = handles.robofig;
    
    c = get(handles.core,'Value')
    s = get(handles.core,'String')
    m.core      = s{c};
    
    c = get(handles.type,'Value')
    s = get(handles.type,'String')
    m.type      = s{c};
    
    m
    control_motion(m);
end

function Exit_Callback(~, ~, ~)
try
    close 1;
end
set(0, 'DefaultFigurePosition', 'factory')
close(gui_motion)