function LobCalibration(varargin)
%% LobCalibration V2.10




 if isempty(varargin),
        if isempty(findobj('name','lob calibration')),  %check if a lob calibration gui is already opened
%             init; %loades the duty cycles and their shooting distances
            task = 'create';
        else figure(findobj('name','lob calibration'));
%             delete(gcf)
%             task = 'create';
            return; 
        end
 else
    task = varargin{1};
 end
 
 if isequal(task,'create')
        create_interface;
 elseif isequal(task,'turtle')
        Turtle;
 elseif isequal(task,'add_measurement')
        add_measurement;
 elseif isequal(task,'DeleteVal')
        DeleteVal;
 elseif isequal(task,'makeFit')
        makeFit;
%         printResults
 elseif isequal(task,'saveData')
        saveData;
elseif isequal(task,'Clear')
        Clear;
elseif isequal(task,'copyOld2New')
        copyOld2New;
else
     msgbox('something goes wrong....')
 end
 
end

 function create_interface
 
    global LC_handles; %LC stands for LobCalibration...
    global LC_Measurements;
      
    %figure size
    wFig     = 850;
    wAxes    = 400;
    wGui     = wFig-wAxes;
    midLeft  = (2/3*wGui)/2+wAxes;
    midRight = 5/6*wGui+wAxes;
    wFrame   = 1.2*(wFig-wAxes)/2;
    
    yTurtle  = 345;
    yInput   = 230;
    yMakeFit = 20;
    yFit     = 80;
    yClear   = 345;
    yNew     = 80;
    ySave    = 20;
    h        = 400;
 
    pos = [400 400 wFig h];
    LC_handles.figure   = figure('menubar','none','toolbar','none','Position', pos,'name','lob calibration','units','normalized','numbertitle','off','resize','off','color',[.9 .9 .9], 'Visible','off','CloseRequestFcn',@closereq);
    pos = [30 30 wAxes-30 h*9/10];
    LC_handles.axes     = axes('Units','pixels','Position',pos, 'XGrid', 'on', 'YGrid', 'on');
    set(LC_handles.axes, 'Xlim', [0 100], 'Ylim', [0 13])
    
    movegui(LC_handles.figure,'center')          % Move the GUI to the center of the screen
    
    h_box = 25;
    w_box = 100;
    
    
    
  % Turtle button group.
  hFrame = 50;
  pos = [midLeft-wFrame/2 yTurtle wFrame hFrame];
  LC_handles.turtleGroup = uibuttongroup('visible','on','Units','pixels','Position',pos, 'Title', 'Turtle selection', 'TitlePosition','centertop', 'Background', [.9 .9 .9]);
    %Choose your turtle
    h   = 20;
    w   = 120;
    pos = [wFrame/2-w/2 hFrame/2-1.3*h/2 w h];
    LC_handles.turtle = uicontrol('Style', 'popup','Parent',LC_handles.turtleGroup, 'HandleVisibility','off', 'String', '<select turtle>|turtle2|turtle3|turtle4|turtle5|turtle6', 'Position', pos, 'fontsize',11, 'Callback', 'LobCalibration(''turtle'')');

  % Input button group.
  hFrame = 110;
  pos = [midLeft-wFrame/2 yInput wFrame hFrame];
  LC_handles.InputGroup = uibuttongroup('visible','on','Units','pixels','Position',pos, 'Title', 'Input', 'TitlePosition','centertop', 'Background', [.9 .9 .9]);  
    % print 'Distance'
    h_print = 18;
    w_print = 95;
    pos_text2 = [wFrame/2+4 hFrame-40 w_print h_print];
    uicontrol( 'Style', 'Text','Parent',LC_handles.InputGroup,'String', 'distance [m]', 'Position', pos_text2,'fontsize',11,'HorizontalAlignment','Center','Background', [.9 .9 .9]);
    % print 'duty cycle'
    pos_text1 = [wFrame/2-w_print-6 hFrame-40 w_print h_print];
    uicontrol( 'Style', 'Text','Parent',LC_handles.InputGroup,'String', 'duty cycle [%]', 'Position', pos_text1,'fontsize',11,'HorizontalAlignment','Center','Background', [.9 .9 .9]);
    % enter measurement
    xPos = wFrame/2-w_print-6+w_print/4 ;
    h = 22;
    w = 45;
    pos_input1 = [xPos hFrame-65 w h];
    LC_Measurements.x =uicontrol('parent',LC_handles.InputGroup,'Style', 'edit','ToolTipString','Enter variable name','fontsize',11,'Position', pos_input1,'HorizontalAlignment','Center','BackgroundColor',[1 1 1]);  
    xPos = wFrame/2+7+w_print/4 ;
    pos_input2 = [xPos hFrame-65 w h];
    LC_Measurements.y =uicontrol('parent',LC_handles.InputGroup,'Style', 'edit','ToolTipString','Enter variable name','fontsize',11,'Position', pos_input2,'HorizontalAlignment','Center','BackgroundColor',[1 1 1]);  
    % add button
    h_add = 30;
    w_add = 60;
    pos = [wFrame/2-w_add/2 hFrame-100 w_add h_add];
    uicontrol('parent',LC_handles.InputGroup,'Style', 'pushbutton','String', 'Add','Position', pos, 'Callback', 'LobCalibration(''add_measurement'')');         


  % Make makefit group.
  hFrame = 60;
  pos = [midLeft-wFrame/2 yMakeFit wFrame hFrame];
  LC_handles.FitGroup = uibuttongroup('visible','on','Units','pixels','Position',pos, 'Title', 'Fit', 'TitlePosition','centertop', 'Background', [.9 .9 .9]);
    %fit button
    h_Fit = 30;
    w_Fit = 70;
    pos = [wFrame/2-w_Fit/2 hFrame-50 w_Fit h_Fit];
    uicontrol('parent',LC_handles.FitGroup,'Style', 'pushbutton','String', 'Make Fit','Position', pos, 'Callback', 'LobCalibration(''makeFit'')'); 

  % Make fit results group.
  hFrame = 260;
  pos = [midRight-wFrame/4 yFit wFrame*.5 hFrame];
  LC_handles.FitGroup = uibuttongroup('visible','on','Units','pixels','Position',pos, 'Title', 'Fit results', 'TitlePosition','centertop', 'Background', [.9 .9 .9]);  
    % print 'Distance'
    h_print = 90;
    w_print = 80;
    pos_text2 = [wFrame*.1 hFrame-110 w_print h_print];
    LC_handles.Fit = uicontrol( 'Style', 'Text','Parent',LC_handles.FitGroup,'String', '', 'Position', pos_text2,'fontsize',11,'HorizontalAlignment','Left','Background', [.9 .9 .9]);
    
    
  % Make clear group.
  hFrame = 50;
  pos = [midRight-wFrame/4 yClear wFrame*.5 hFrame];
  LC_handles.ClearGroup = uibuttongroup('visible','on','Units','pixels','Position',pos, 'Title', 'Clear', 'TitlePosition','centertop', 'Background', [.9 .9 .9]);
    %fit button
    h_Fit = 25;
    w_Fit = 70;
    pos = [wFrame/4-w_Fit/2 hFrame-42 w_Fit h_Fit];
    pos = [wFrame/4-w_Fit/2 hFrame-42 w_Fit h_Fit];
    uicontrol('parent',LC_handles.ClearGroup,'Style', 'pushbutton','String', 'Clear','Position', pos, 'Callback', 'LobCalibration(''Clear'')');
    
  % new measurements group.
  hFrame = 150;
  pos = [midLeft+.05*wFrame/2 yNew .95*wFrame/2 hFrame];
  LC_handles.newGroup = uibuttongroup('visible','on','Units','pixels','Position',pos, 'Title', 'new', 'TitlePosition','centertop', 'Background', [.9 .9 .9]); 
    % Delete button
    h_del = 30;
    w_del = 60;
    pos = [.95*wFrame/4-1.2*w_del/2 5 w_del h_del];
    uicontrol('parent',LC_handles.newGroup,'Style', 'pushbutton','String', 'Delete','Position', pos, 'Callback', 'LobCalibration(''DeleteVal'')');
    
    if(isequal(computer,'PCWIN'))
        font_name = 'Courier';
    else
        font_name = 'tlwgmono';
    end
    pos = [5 35 .95*wFrame/2-10 hFrame-55];
    LC_handles.listbox = uicontrol('parent',LC_handles.newGroup,'Style','listbox','HorizontalAlignment','right','ToolTipString','Measurements','min',0,'max',999,'fontname',font_name,'fontsize',12, 'String', {'empty'} ,'Position', pos,'BackgroundColor',[1 1 1]);         
  
  % old measurements group.
  hFrame = 150;
  pos = [midLeft-wFrame/2 yNew .95*wFrame/2 hFrame];
  LC_handles.oldGroup = uibuttongroup('visible','on','Units','pixels','Position',pos, 'Title', 'old', 'TitlePosition','centertop', 'Background', [.9 .9 .9]); 
    % Copy to right button
    h_del = 30;
    w_del = 60;
    pos = [.95*wFrame/4-1.2*w_del/2 5 w_del h_del];
    uicontrol('parent',LC_handles.oldGroup,'Style', 'pushbutton','String', '>>','Position', pos, 'Callback', 'LobCalibration(''copyOld2New'')');  
  
  
    if(isequal(computer,'PCWIN'))
        font_name = 'Courier';
    else
        font_name = 'tlwgmono';
    end
    pos = [5 35 .95*wFrame/2-10 hFrame-55];
    LC_handles.oldListbox = uicontrol('parent',LC_handles.oldGroup,'Style','listbox','HorizontalAlignment','right','ToolTipString','Measurements','min',0,'max',999,'fontname',font_name,'fontsize',12, 'String', {'empty'} ,'Position', pos,'BackgroundColor',[1 1 1],'Visible', 'off');         

  
  set(LC_handles.figure,'Visible','on') % make the figure visible
      
    
    
%  Save  group.
  hFrame = 57;
  pos = [midRight-wFrame/4 ySave wFrame*.5 hFrame];
  LC_handles.SaveGroup = uibuttongroup('visible','on','Units','pixels','Position',pos, 'Title', 'Save', 'TitlePosition','centertop', 'Background', [.9 .9 .9]); 
    %store button
    h_Fit = 30;
    w_Fit = 70;
    pos = [wFrame/4-w_Fit/2 hFrame-50 w_Fit h_Fit];
    uicontrol('parent',LC_handles.SaveGroup,'Style', 'pushbutton','String', 'Save','Position', pos, 'Callback', 'LobCalibration(''saveData'')');
  
 end


function Turtle

     global LC_handles
     global LC_Measurements

    turtle = get(LC_handles.turtle,'Value');
        try
            eval(['load(''Calibrations/Measurements_turtle' num2str(turtle) '.mat'');']);
            for n = 1:(size(listMatrix,1))
                 if listMatrix(n,1) < 100
                     space = '  ';
                 else
                     space = ' ';
                 end 
                oldMeasurements{n,1} = [num2str(listMatrix(n,1)), space,num2str(listMatrix(n,2))];
            end
            
            set(LC_handles.oldListbox, 'Visible', 'on');
            set(LC_handles.oldListbox,'String',oldMeasurements);
        
        catch err
          set(LC_handles.oldListbox,'Visible','off');
        end
end
 
 function add_measurement

     global LC_handles
     global LC_Measurements

     x = str2double(get(LC_Measurements.x,'String'));
     y = str2double(get(LC_Measurements.y,'String'));
     
     % setting the space between the number for two or three digits
     if x < 100
         space = '  ';
     else
         space = ' ';
     end
     
     if isnan(x) || isnan(y)
         % if there are no entries do nothing
     else
         %check if there are measurements
         Input = get(LC_handles.listbox, 'String');
         if strcmp(Input,'empty') 
             Input{1,1} = [get(LC_Measurements.x,'String'), space,get(LC_Measurements.y,'String')];
         else
             Input{size(Input,1)+1,1} = [get(LC_Measurements.x,'String'), space ,get(LC_Measurements.y,'String')];
         end
         set(LC_handles.listbox,'String',Input);
         
         plot(LC_handles.axes, x,y,'+');
         set(LC_handles.axes, 'XGrid', 'on', 'YGrid', 'on');
         set(LC_handles.axes, 'Xlim', [0 100], 'Ylim', [0 13]);
         hold on;

         % reset input field
         set(LC_Measurements.x,'String', '');
         set(LC_Measurements.y,'String', '');
     end
 end
 
 
 
function DeleteVal

    global LC_handles


    Input = get(LC_handles.listbox, 'String');
    % get the list number of the item which will be deleted
    item = get(LC_handles.listbox, 'Value');

    if strcmp(Input,'empty') 
         % do nothing
    elseif size(Input,1) == 1
        % set the firt item on the list to empty
        Input2{1,1} = 'empty';
        set(LC_handles.listbox,'String',Input2);
        % clear the axes, there is nothing to draw anymore...
        cla(LC_handles.axes)
    else
        %check if last item is selected on list
        if item == size(Input,1)
            % set selected item one lower
            % last  item in the list is deleted probably another amazing
            % feature of matlab...
            set(LC_handles.listbox, 'Value', item-1);    
        end
        % convert the list from string to numbers
        for k = 1:size(Input,1)
            listMatrix(k,:) = str2num(Input{k,1});
        end
        % delete item from list
        listMatrix(item,:) = [];
        % replot the figure
        hold off;
        plot(LC_handles.axes,listMatrix(:,1),listMatrix(:,2), '+')
        set(LC_handles.axes, 'XGrid', 'on', 'YGrid', 'on');
        set(LC_handles.axes, 'Xlim', [0 100], 'Ylim', [0 13]);
        hold on;
        % convert the numbers back to a string list
        for n = 1:(size(Input,1)-1)
             if listMatrix(n,1) < 100
                 space = '  ';
             else
                 space = ' ';
             end 
            Input2{n,1} = [num2str(listMatrix(n,1)), space,num2str(listMatrix(n,2))];
    %          Input2{n,1} = num2str(listMatrix(n,:));
        end
        set(LC_handles.listbox,'String',Input2);
    end


end


function copyOld2New
    global LC_handles
    
    check1 = get(LC_handles.listbox, 'String');
    check2 = get(LC_handles.oldListbox, 'visible');
    
    isEmpty = strcmp(check1,'empty');
    
    if (isEmpty(1,1) && strcmp(check2,'on'))   %security, hence it doesn't delete the measurements made
        
        Input = get(LC_handles.oldListbox, 'string');
        set(LC_handles.listbox,'String',Input);

        % convert the list from string to numbers
        for k = 1:size(Input,1)
            listMatrix(k,:) = str2num(Input{k,1});
        end
        % plot the figure
        hold off;
        plot(LC_handles.axes,listMatrix(:,1),listMatrix(:,2), '+')
        set(LC_handles.axes, 'XGrid', 'on', 'YGrid', 'on');
        set(LC_handles.axes, 'Xlim', [0 100], 'Ylim', [0 13]);
        hold on;
    
    else
        %do nothing
    end
end

function makeFit

   global LC_handles;
   global LC_results;
  
     Input = get(LC_handles.listbox, 'String');
        
     
    if size(Input,1)<3
        msgbox('At least 3 entries are necessary!', 'error' )
    else    
         %extract the numbers 
         for k = 1:size(Input,1)
            listMatrix(k,:) = str2num(Input{k,1});
         end

        [xData, yData] = prepareCurveData(sort(listMatrix(:,1)./100), sort(listMatrix(:,2)));

        % Set up fittype and options.
        ft = fittype( 'c-a*exp(-b*x)', 'independent', 'x', 'dependent', 'y' );
        opts = fitoptions( ft );
        opts.Algorithm = 'Levenberg-Marquardt';
        opts.Display = 'Off';
        opts.Lower = [-Inf -Inf -Inf];
        opts.StartPoint = [0.141886338627215 0.421761282626275 0.915735525189067];
        opts.Upper = [Inf Inf Inf];

        % Fit model to data.
        [fitresult, gof, output] = fit( xData, yData, ft, opts );

        % Plot fit with data.
        % figure( 'Name', 'untitled fit 1' );
        hold on;
        [abc] = coeffvalues(fitresult);

        % set data into global so we can save it
        LC_results.a = abc(1,1);
        LC_results.b = abc(1,2);
        LC_results.c = abc(1,3);
        % the duty cycle
        x = 0:100;
        plot(LC_handles.axes, x, abc(1,3)-abc(1,1)*exp(-abc(1,2)*x./100), 'r');
%         legend( LC_handles.axes, 'distance vs. dutycycle', 'fit', 'Location', 'NorthEast' );
        % Label axes
%         xlabel( 'x' );
%         ylabel( 'y' );
        grid on


        if gof.dfe<.8
            message = sprintf('bad fit!! \n\na = %.1f \nb = %.2f\nc = %.1f', abc(1,1), abc(1,2), abc(1,3));
        else
            message = sprintf('Good fit! \n\na = %.1f \nb = %.2f\nc = %.1f', abc(1,1), abc(1,2), abc(1,3));
        end

        set(LC_handles.Fit, 'String', message)
    end
  end
  
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  function saveData

     global LC_results;
     global LC_handles;
     
%      a = LC_results.a;
%      b = LC_results.b;
%      c = LC_results.c;
    
          
     fitResults = get(LC_handles.Fit, 'String');
     
     if size(fitResults,1) == 1
         msgbox('There are no fit results!', 'error' )
     else
     
         a = str2num(fitResults(3,5:end));
         b = str2num(fitResults(4,5:end));
         c = str2num(fitResults(5,5:end));

         turtle = get(LC_handles.turtle,'Value');

         if (exist('a', 'var') && exist('b', 'var') && exist('c', 'var') && (turtle ~= 1))

             savedata = [a; b; c];
             %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% for finalizing
             % save in the correct calibration directory
    %          saveDir = ['/home/robocup/svn/trunk/src/Turtle2/Vision/Calibration_data_turtle' num2str(turtle) '/lobshot.cal'];
    %          fid=fopen(saveDir,'wb');
    %          fwrite(fid,savedata,'double');
    %          fclose(fid);
            %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
            
            
             %Save a backup in the calibrations directory
             saveDir = ['Calibrations/lobshot_turtle' num2str(turtle) '.cal'];
             fid=fopen(saveDir,'wb');
             fwrite(fid,savedata,'double');
             fclose(fid);
             
             %Save measurements in calibrations directory 
             Input = get(LC_handles.listbox, 'String');  
                 %extract the numbers 
                 for k = 1:size(Input,1)
                    listMatrix(k,:) = str2num(Input{k,1});
                 end
%              eval(['Measurements_turtle' num2str(turtle) '= listMatrix']);    
             eval(['save(''Calibrations/Measurements_turtle' num2str(turtle) '.mat'', ''listMatrix'');']);


         elseif (turtle == 1)
             msgbox('Choose your Turtle!', 'error' )
         else
             msgbox('no solution exists, make a fit please!', 'error')
         end
     end
  end
  
  function Clear
    global LC_handles
     
     % To avoid overwriting turtle data also the turtle will be set back on 'choose your turtle' 
     set(LC_handles.turtle,'Value', 1);
     % set the firt item on the list to empty
     Input2{1,1} = 'empty';
     set(LC_handles.listbox,'String',Input2);
     % clear the axes
     cla(LC_handles.axes)
     % clear the fit results
     set(LC_handles.Fit, 'String', ' ')
     % no turtle selected, no old measurements
     set(LC_handles.oldListbox,'Visible','off');
  end
  
  
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  function closereq(src,evnt)
  
     delete(gcf);

  end
  
 
%   function printResults
%       global LC_handles;
%   message = sprintf('Good fit! \na = %.1f \nb = %.3f\nc = %.1f', 20, .8, 54);
%     message
%     set(LC_handles.Fit, 'String', message)
%     
% %     h_m = msgbox(message,'Results');
%   end
  
     
%  % code to retreive the saved calibration data
%         int dummy;
%         double lobshot[3];
%         FILE *fid;
%             
%         fid=fopen("/home/robocup/Documents/lobshot.cal","rb");
%         // fid=fopen("/home/robocup/lobshot.cal","rb"); //this is the location at the turtle
%         if (fid!=NULL){
%             dummy=fread(lobshot,sizeof(double),3,fid);
%             fclose(fid);
%             printl(1,"a = %f",lobshot[0]);
%             printl(2,"b = %f",lobshot[1]);
%             printl(3,"c = %f",lobshot[2]);
%         } else {
%             printl(8,"could not find bh.cal!!!");
%         }
% 
%             D =  log((c-dist)/a)/(-b);           
% 
%             if(D>1){
%                 D = 1;
%             }
%             if(D<0.25){
%                 D = 0.25;
%             }  

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%                         double distCor; //distance correction 
%                         
%                         int dummy;
%                         double lobshot[3];
%                         double c;
%                         double x1 = 4;
%                         double x2 = 10;
%                         double T1;
%                         double T2;
%                         FILE *fid;
% 
%                         fid=fopen("/home/robocup/Documents/lobshot.cal","rb");
%                         // fid=fopen("/home/robocup/lobshot.cal","rb"); //this is the location at the turtle
%                         if (fid!=NULL){
%                             dummy=fread(lobshot,sizeof(double),3,fid);
% %                             fclose(fid);
%                             a = lobshot[0];
%                             b = lobshot[1];
%                             c = lobshot[2];
%                             //printl(1,"a = %f",lobshot[0]);
%                             //printl(2,"b = %f",lobshot[1]);
%                             //printl(3,"c = %f",lobshot[2]);
%                         } else {
%                             printl(8,"could not find bh.cal!!!");
%                         }
%                         
%                         T1 = pS_in->pTPM->K_basis_value_lob;
%                         T2 = pS_in->pTPM->K_rate_value_lob;
%                         
%                         distCor = (T2-T1)/(x2-x1)*dist+(T1-(T2-T1)/(x2-x1)*x1);
%                         
%                         dist = dist+distCor;
%                         
%                         D =  log((c-dist)/a)/(-b);