PIDtoolbox.m

 %% PIDtoolbox - main  
%  script for main control panel and log viewer
%
% ----------------------------------------------------------------------------------
% "THE BEER-WARE LICENSE" (Revision 42):
% <brian.white@queensu.ca> wrote this file. As long as you retain this notice you
% can do whatever you want with this stuff. If we meet some day, and you think
% this stuff is worth it, you can buy me a beer in return. -Brian White
% ----------------------------------------------------------------------------------
  

PtbVersion='v0.58';

executableDir = cd('/');

setupStr = {'SET UP WORKING DIRECTORY!', ' ', 'Before running PIDtoolbox, we have to determine the location of your ''main'' directory. After you click ''OK'', a navigator window will pop up.' , ['Simply Navigate to the location of your downloaded ''PIDtoolbox_' PtbVersion '_osx\main\'' folder'], 'NOTE: Ideally, that folder and all of its contents should be placed on your desktop to avoid any issues!'}
resetupStr = {'RE-SET WORKING DIRECTORY!', ' ','Once you click ''OK'', a navigator window will pop up.' , ['Simply Navigate to the location of your downloaded ''PIDtoolbox_' PtbVersion '_osx\main\'' folder'], 'NOTE: Ideally, that folder and all of its contents should be placed on your desktop to avoid any issues!'}

if exist('/Users/Shared', 'dir')
    cd('/Users/Shared')
    if isempty(dir(['mainDir-PTB' PtbVersion '.txt']))
        uiwait(helpdlg(setupStr))
        main_directory = uigetdir('Navigate to Main folder');
        fid = fopen(['mainDir-PTB' PtbVersion '.txt'],'w');
        fprintf(fid,'%s\n',main_directory);
        fclose(fid);
    end
end


%%%%%%%%%% used debug modes %%%%%%% - must consider emu and INAV
GYRO_SCALED = 6;
RC_INTERPOLATION = 7;
FEEDFORWARD = 59;
FFT_FREQ = 17;

t = now;
currentDate = char(datetime(t,'ConvertFrom','datenum')); 
currentDate = currentDate(1:strfind(currentDate,' ')-1);

set(0,'defaultUicontrolFontName', 'Helvetica')
set(0,'defaultUicontrolFontSize', 10)
% set(0,'defaultUicontrolFontName', 'Arial')
% set(0,'defaultUicontrolFontSize', 9)
% set(0,'defaultUicontrolFontWeight', 'bold')

%%%% assign main figure handle and define some UI variables 
PTfig = figure(1);
PTfig.InvertHardcopy='off';
bgcolor=[.95 .95 .95];
set(PTfig,'color',bgcolor);

wikipage = 'https://github.com/bw1129/PIDtoolbox/wiki/PIDtoolbox-user-guide';

if ~exist('filenameA','var'), filenameA={}; end

expandON=0;
use_randsamp=0;
smp_sze=100;
choose_epoch=0;
epoch1_A=[];
epoch2_A=[];
tIND = [];
maxY =  500;
nLineCols = 8; multiLineCols=PTlinecmap(nLineCols);
updateSpec=0;
debugmode=0;%default to none
filepathA=[];
filenameA={};

hexpand1=[];
hexpand2=[];
hexpand3=[];

errmsg=[];

plotall_flag=-1;

colorA=[.8 .1 .2];
colorA2=[.4 .0 .6];
colorB=[.1 .4 .8];
colorC=[1 .2 .2];
colorD=[.1 .7 .2];

colRun = [0 .5 0];
saveCol = [.1 .1 .1];
setUpCol = [.1 .1 .1];
cautionCol = [0.6    0.3    0];
%use_phsCorrErr=0;
flightSpec=0;
screensz = get(0,'ScreenSize');
screensz(3) = round(1.78 * screensz(4)); % force 16:9


%set(PTfig, 'Position', [10, 10, screensz(3)*.5, screensz(4)*.5]);
set(PTfig, 'units','normalized','outerposition',[.1 .1 .75 .8])
PTfig.NumberTitle='off';
PTfig.Name= ['PIDtoolbox (' PtbVersion ') - Log Viewer'];

pause(.1)% need to wait for figure to open before extracting screen values

screensz_multiplier = sqrt(screensz(4)^2) * .011; % based on vertical dimension only, to deal with for ultrawide monitors
prop_max_screen = PTfig.Position(4);
fontsz = (screensz_multiplier*prop_max_screen);
markerSz = round(screensz_multiplier * 0.75);

vPos = 0.92; 
controlpanel = uipanel('Title','Control Panel','FontSize',fontsz,...
             'BackgroundColor',[.95 .95 .95],...
             'Position',[.89 vPos-.28 .105 .3]); 
         
posInfo.firmware =[.8935 vPos-0.04 .098 .04];        
posInfo.fileA=[.896 vPos-0.05 .0455 .026];
posInfo.clr=[.942 vPos-0.05 .0455 .026];
posInfo.fnameAText = [.8935 vPos-0.09 .098 .04];

posInfo.startEndButton=[.9 vPos-0.1 .04 .026];
LogStDefault = 2;% default ignore first 2 seconds of logfile
LogNdDefault = 1;% default ignore last 1 second of logfile

posInfo.RPYcomboLV = [.93 vPos-0.1 .06 .026];

posInfo.plotR_LV =  [.90 vPos-0.125 .03 .025];
posInfo.plotP_LV =  [.93 vPos-0.125 .03 .025];
posInfo.plotY_LV =  [.96 vPos-0.125 .03 .025];

posInfo.lineSmooth = [.895 vPos-0.15 .046 .026];
posInfo.linewidth = [.943 vPos-0.15 .046 .026];

posInfo.spectrogramButton = [.895 vPos-0.175 .094 .026];
posInfo.TuningButton = [.895 vPos-0.2 .094 .026];
posInfo.period2Hz = [.895 vPos-0.225 .046 .026]; 
posInfo.DispInfoButton = [.943 vPos-0.225 .046 .026]; 

posInfo.saveFig = [.895 vPos-0.25 .046 .026];
posInfo.saveSettings = [.943 vPos-0.25 .046 .026];
%posInfo.wiki = [.895 vPos-0.275 .046 .026];
posInfo.PIDtuningService = [.895 vPos-0.275 .094 .026];
posInfo.resetMain = [.895 vPos-0.85 .094 .026];


fnameMaster = {}; 
fcnt = 0;

% ColorSet=colormap(jet);%hsv jet gray lines colorcube
% j=[1     8    17    20    23    27   45    50    58    64];
ColorSet=[.6 .6 .6;..., % gray - Gyro raw
  0   0  0;..., % black - Gyro filt
  0  .7  0;..., % green - Pterm
 .8  .65 .1;..., % yellow - I term
 .3  .7  .9;..., % light blue - Dterm raw
 .1  .2  .8;..., % dark blue -Dterm Filt
 .6  .3  .3;..., % brown - Fterm 
 .8  0  .2;..., % dark red
 1  .2  .9;..., % light purple
 .4 0 .9;...,    % dark purple
 .9 0 0;..., %M1 
 1  .6 0;..., %M2
0  0 .9;..., %M3
.1  1  .8;..., %M4
 0 0 0;..., % throttle
 0 0 0]; % all
j=[1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16];

k=1;
for i=1:length(j)
    eval(['linec.col' int2str(k-1) '=ColorSet(j(i),:);']);
    k=k+1;
end

%%% tooltips
TooltipString_files=['Select the .BBL or .BFL file you wish to analyze. '];

TooltipString_loadRun=['Select one or more files to analyze. '];
TooltipString_Epochs=['Input the desired start and end points (in seconds) of the selected log file' , newline, 'Note: the selected time window denotes the data used for all other analyses.' , newline, 'The shaded regions indicate ignored data.'];
TooltipString_spec=['Opens spectral analysis tool in new window'];
TooltipString_step=['Opens step response tool in new window'];
TooltipString_setup=['Displays detailed setup information in new window'];
TooltipString_saveFig=['Saves current figure', newline,'Note: Clicking the ''Save fig'' button for the first time creates a folder using the log file names'];
TooltipString_wiki=['Link to the PIDtoolbox wiki in Github'];
TooltipString_selectButton = ['With box checked, position mouse over desired start position,' , newline, 'then mouse click, then desired end position, then mouse click again;' , newline, 'to escape, deselect then click anywhere'];


%%%

guiHandles.Firmware = uicontrol(PTfig,'Style','popupmenu','string',[{'Betaflight logfiles'; 'Emuflight logfiles'; 'INAV logfiles'}], 'fontsize',fontsz, 'units','normalized','outerposition', [posInfo.firmware]);

guiHandles.fileA = uicontrol(PTfig,'string','Select ','fontsize',fontsz,'TooltipString', [TooltipString_loadRun], 'units','normalized','outerposition',[posInfo.fileA],...
     'callback','guiHandles.fileA.FontWeight=''Bold''; [filenameA, filepathA] = uigetfile({[logfile_directory ''*.BBL;*.BFL;*.TXT'']}, ''MultiSelect'',''on''); if isstr(filenameA), filenameA={filenameA}; end; if iscell(filenameA), PTload; PTviewerUIcontrol; PTplotLogViewer; end'); 
guiHandles.fileA.ForegroundColor=[colRun];

guiHandles.clr = uicontrol(PTfig,'string','Reset','fontsize',fontsz,'TooltipString', ['clear all data'], 'units','normalized','outerposition',[posInfo.clr],...
     'callback','delete *.bbl, delete *.bfl, delete *.csv, clear T dataA tta A_lograte epoch1_A epoch2_A SetupInfo rollPIDF pitchPIDF yawPIDF filenameA fnameMaster; fcnt = 0; filenameA={};fnameMaster = {}; try, delete(subplot(''position'',posInfo.linepos1)); delete(subplot(''position'',posInfo.linepos2)); delete(subplot(''position'',posInfo.linepos3)); delete(subplot(''position'',posInfo.linepos4)); catch, end; guiHandles.FileNum.String='' ''; guiHandles.Epoch1_A_Input.String='' ''; guiHandles.Epoch2_A_Input.String='' '';'); 
guiHandles.clr.ForegroundColor=[cautionCol];

guiHandles.startEndButton = uicontrol(PTfig,'style','checkbox', 'string','Trim ','fontsize',fontsz,'TooltipString', [TooltipString_selectButton], 'units','normalized','outerposition',[posInfo.startEndButton],...
    'callback','if ~isempty(filenameA) && guiHandles.startEndButton.Value, [x y] = ginput(1); epoch1_A(guiHandles.FileNum.Value) = round(x(1)*10)/10; PTplotLogViewer; [x y] = ginput(1); epoch2_A(guiHandles.FileNum.Value) = round(x(1)*10)/10; PTplotLogViewer, end'); 

guiHandles.plotR =uicontrol(PTfig,'Style','checkbox','String','R','fontsize',fontsz,'TooltipString', ['Plot Roll '],...
    'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.plotR_LV], 'callback','if ~isempty(fnameMaster), PTplotLogViewer; end');

guiHandles.plotP =uicontrol(PTfig,'Style','checkbox','String','P','fontsize',fontsz,'TooltipString', ['Plot Pitch '],...
    'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.plotP_LV], 'callback','if ~isempty(fnameMaster), PTplotLogViewer; end');

guiHandles.plotY =uicontrol(PTfig,'Style','checkbox','String','Y','fontsize',fontsz,'TooltipString', ['Plot Yaw '],...
    'units','normalized','BackgroundColor',bgcolor,'outerposition',[posInfo.plotY_LV], 'callback','if ~isempty(fnameMaster), PTplotLogViewer; end');

guiHandles.RPYcomboLV=uicontrol(PTfig,'Style','checkbox','String','Single Panel','fontsize',fontsz,'BackgroundColor',bgcolor,...
    'units','normalized','outerposition',[posInfo.RPYcomboLV],'callback','if ~isempty(fnameMaster), PTplotLogViewer; end');

guiHandles.FileNum = uicontrol(PTfig,'Style','popupmenu','string',[fnameMaster], 'fontsize',fontsz, 'units','normalized','outerposition', [posInfo.fnameAText]);
guiHandles.FileNum.String=' ';

guiHandles.lineSmooth = uicontrol(PTfig,'Style','popupmenu','string',{'line smooth off','line smooth low','line smooth med','line smooth med-high','line smooth high'},...
    'fontsize',fontsz,'TooltipString', ['zero-phase filter lines'], 'units','normalized','outerposition', [posInfo.lineSmooth],'callback','if ~isempty(filenameA), expandON=0; PTplotLogViewer; end');

guiHandles.linewidth = uicontrol(PTfig,'Style','popupmenu','string',{'line width 1','line width 2','line width 3','line width 4','line width 5'},...
    'fontsize',fontsz, 'TooltipString', ['line thickness'], 'units','normalized','outerposition', [posInfo.linewidth],'callback','if ~isempty(filenameA), expandON=0; PTplotLogViewer; end');

guiHandles.spectrogramButton = uicontrol(PTfig,'Style', 'pushbutton','string','Spectral Analyzer','fontsize',fontsz,'TooltipString', [TooltipString_spec],'units','normalized','outerposition',[posInfo.spectrogramButton],...
    'callback','PTspec2DUIcontrol;');
guiHandles.spectrogramButton.ForegroundColor=[colorA];

guiHandles.TuningButton = uicontrol(PTfig,'string','Step Resp Tool','fontsize',fontsz,'TooltipString', [TooltipString_step],'units','normalized','outerposition',[posInfo.TuningButton],...
    'callback','PTtuneUIcontrol');
guiHandles.TuningButton.ForegroundColor=[colorB];

guiHandles.period2Hz = uicontrol(PTfig,'string','Period','fontsize',fontsz,'TooltipString', ['Calculates peak to peak in Hz similar to the BBE ''Mark'' tool' , newline, 'press button, position mouse over 1st peak, mouse click,' , newline, 'then position over 2nd peak, then mouse click again'], 'units','normalized','outerposition',[posInfo.period2Hz],...
     'callback','if ~isempty(filenameA) && guiHandles.period2Hz.Value, [x1 y1] = ginput(1); figure(PTfig); h=plot([x1 x1],[-(maxY*2) maxY],''-r'');set(h,''linewidth'' , guiHandles.linewidth.Value/2);  [x2 y2] = ginput(1); h=plot([x2 x2],[-(maxY*2) maxY],''-r''); set(h,''linewidth'' , guiHandles.linewidth.Value/2); plot([x1 x2],[y1 y2],'':k''); x3=[round(x1*1000) round(x2*1000)]; f = 1000/(x3(2)-x3(1)); text(x2, y2, [num2str(x3(2)-x3(1)) ''ms, '' num2str(f) ''Hz''],''FontSize'',fontsz, ''FontWeight'', ''Bold''), end');      

guiHandles.DispInfoButton = uicontrol(PTfig,'string','Setup Info','fontsize',fontsz,'TooltipString', [TooltipString_setup],'units','normalized','outerposition',[posInfo.DispInfoButton],...
    'callback','PTdispSetupInfoUIcontrol;PTdispSetupInfo;');
guiHandles.DispInfoButton.ForegroundColor=[setUpCol];

guiHandles.saveFig = uicontrol(PTfig,'string','Save Fig','fontsize',fontsz, 'TooltipString',[TooltipString_saveFig], 'units','normalized','outerposition',[posInfo.saveFig],...
    'callback','guiHandles.saveFig.FontWeight=''bold'';PTsaveFig; guiHandles.saveFig.FontWeight=''normal'';'); 
guiHandles.saveFig.ForegroundColor=[saveCol];

guiHandles.saveSettings = uicontrol(PTfig,'string','Save Settings','fontsize',fontsz, 'TooltipString',['Save current settings to PTB defaults' ], 'units','normalized','outerposition',[posInfo.saveSettings],...
    'callback','guiHandles.saveSettings.FontWeight=''bold'';PTsaveSettings; guiHandles.saveSettings.FontWeight=''normal'';'); 
guiHandles.saveSettings.ForegroundColor=[saveCol];

% guiHandles.wiki = uicontrol(PTfig,'string','User Guide','fontsize',fontsz,'FontName','arial','FontAngle','normal','TooltipString', [TooltipString_wiki],'units','normalized','outerposition',[posInfo.wiki],...
%     'callback','web(wikipage);'); 
% guiHandles.wiki.ForegroundColor=[cautionCol];

guiHandles.PIDtuningService = uicontrol(PTfig,'string','www.pidtoolbox.com','fontsize',fontsz ,'FontName','arial','FontAngle','normal','TooltipString', ['www.pidtoolbox.com'],'units','normalized','outerposition',[posInfo.PIDtuningService],...
    'callback','web(''www.pidtoolbox.com'');'); 
guiHandles.PIDtuningService.ForegroundColor=[cautionCol];


guiHandles.resetMain = uicontrol(PTfig,'string','Reset main directory','fontsize',fontsz ,'FontName','arial','FontAngle','normal','TooltipString', ['Donate to the PIDtoolbox project'],'units','normalized','outerposition',[posInfo.resetMain],...
    'callback','uiwait(helpdlg(resetupStr)), cd(''/Users/Shared''),  main_directory = uigetdir(''Navigate to Main folder''); fid = fopen([''mainDir-PTB'' PtbVersion ''.txt''],''w''); fprintf(fid,''%s\n'',main_directory); fclose(fid);  PIDtoolbox');
guiHandles.resetMain.ForegroundColor=[cautionCol];
 
 

rdr = ['rootDirectory: ' executableDir];
try
    fid = fopen(['mainDir-PTB' PtbVersion '.txt'],'r');
    main_directory = fscanf(fid, '%s');
    fclose(fid);
catch
    main_directory = [pwd '/'];
end 
cd(main_directory)

try    
    fid = fopen('logfileDir.txt','r');
    logfile_directory = fscanf(fid, '%c');
    fclose(fid);
    delete('*.bbl');
    delete('*.bfl');
    delete('*.csv');
catch
    logfile_directory = [executableDir];
end
    
mdr = ['mainDirectory: ' main_directory ];
ldr = ['logfileDirectory: ' logfile_directory ];


pause(1);
try
    defaults = readtable('PTBdefaults.txt');
    a = char([cellstr([char(defaults.Parameters) num2str(defaults.Values)]); {rdr}; {mdr}; {ldr}]);
    t = uitable(PTfig, 'ColumnWidth',{500},'ColumnFormat',{'char'},'Data',[cellstr(a)]);
    set(t,'units','normalized','OuterPosition',[.89 vPos-.82 .105 .3],'FontSize',fontsz*.8, 'ColumnName', [''])
catch
    defaults = ' '; 
    a = char(['Unable to set user defaults '; {rdr}; {mdr}; {ldr}]);
    t = uitable(PTfig, 'ColumnWidth',{500},'ColumnFormat',{'char'},'Data',[cellstr(a)]);
    set(t,'units','normalized','OuterPosition',[.89 vPos-.82 .105 .3],'FontSize',fontsz*.8, 'ColumnName', [''])
end


try guiHandles.Firmware.Value = defaults.Values(find(strcmp(defaults.Parameters, 'firmware'))), catch, guiHandles.Firmware.Value = 1, end
try guiHandles.RPYcomboLV.Value = defaults.Values(find(strcmp(defaults.Parameters, 'LogViewer-SinglePanel'))), catch, guiHandles.RPYcomboLV.Value = 0, end
try guiHandles.plotR.Value = defaults.Values(find(strcmp(defaults.Parameters, 'LogViewer-plotR'))), catch, guiHandles.plotR.Value = 1, end
try guiHandles.plotP.Value = defaults.Values(find(strcmp(defaults.Parameters, 'LogViewer-plotP'))), catch, guiHandles.plotP.Value = 1, end
try guiHandles.plotY.Value = defaults.Values(find(strcmp(defaults.Parameters, 'LogViewer-plotY'))), catch, guiHandles.plotY.Value = 1,  end
try guiHandles.lineSmooth.Value = defaults.Values(find(strcmp(defaults.Parameters, 'LogViewer-lineSmooth'))), catch, guiHandles.lineSmooth.Value = 1, end
try guiHandles.linewidth.Value = defaults.Values(find(strcmp(defaults.Parameters, 'LogViewer-lineWidth'))), catch, guiHandles.linewidth.Value = 3, end