%
% setparameters - sets turtle specific parameters

% N.B.: especially note that also the greenfield monitor computerbox should
% be set
%
% usage: setparameters(turtle)
%
% turtle - turtle id. Valid values are 'turtleX' where 1 <= X <= MAX_TURTLES.
%

%% @file
% sets turtle specific parameters
%
% usage: setparameters(turtle)
% @param turtle - turtle id. Valid values are 'turtleX' where 1 <= X <= MAX_TURTLES.
% @return none

function setparameters(turtle)

if nargin==0
    error('specify a turtle: e.g.: ''setparameters turtle1''');
elseif nargin==1
    try
        %
        % take care of wired / wireless option
        %
        turtletempname=turtle;
        if isequal(turtletempname(end),'w')
            turtletempname=turtletempname(1:end-2);
        end
        % Add pathnames that contain function we might need now
        % or later the S-functions
        addpathrobocup
        evalin('base','clear  host_bot coach_bot svr_vision_port svr_motion_port');
        evalin('base','global host_bot coach_bot svr_vision_port svr_motion_port');

        %
        % specifying the computers and ports
        %
        % get ip-adresses
        [s, w]=system('hostname');
        w=w(1:end-1);
        evalin('base',['coachbot                    =''' w ''';']);      % what is the coach?
        turtlelocal=sprintf('hostbot               =''%s'';',turtle);
        evalin('base',turtlelocal);                                               % what is the host?
        turtlelocal2=sprintf('hostbottemp               =''%s'';',turtletempname);
        evalin('base',turtlelocal2);                                               % what is the host?
        % don't change:
        evalin('base','localhost                   = ''127.0.0.1'';');
        evalin('base','coach_bot                   = get_bot_id(coachbot);');     % to get IP
        evalin('base','host_bot                    = get_bot_id(hostbot);');      % to get IP
        evalin('base','greenfield_monitor           = get_bot_id(''devpc7'');');     % to get IP
        evalin('base','host_bot_idnr               = str2num(hostbottemp(end));')     % robot number to identify to coach



        % port used for network data send and receive
evalin('base','port_network_sendreceive    = 9000 + host_bot_idnr*100;');
evalin('base','port_network_sendreceive_2  = 9002 + host_bot_idnr*100;');
evalin('base','port_network_sendreceive_3  = 9003 + host_bot_idnr*100;');
% port for video network send and receive
evalin('base','network_video_sendreceive_1 = 9004 + host_bot_idnr*100;');
evalin('base','network_video_sendreceive_2 = 9005 + host_bot_idnr*100;');
evalin('base','Vision_To_Strategy          = 9006 + host_bot_idnr*100;');
evalin('base','Strategy_To_Vision          = 9007 + host_bot_idnr*100;');
evalin('base','Vision_To_Coach_Port        = 9008 + host_bot_idnr*100;');

% port on which the image server and client work, don't change for optimal camera settings GA algortihm
evalin('base','port_imageserver            = 9009 + host_bot_idnr*100;');
%evalin('base','port_imageserver            = 9009 + host_bot_idnr*100;'); %to make by the hammer
% port on which the vision part runs
evalin('base','port_vision_mdl             = 9010 + host_bot_idnr*100;');
evalin('base','port_motion_mdl             = 9011 + host_bot_idnr*100;');
evalin('base','svr_vision_port             = 9012 + host_bot_idnr*100;');
evalin('base','svr_motion_port             = 9013 + host_bot_idnr*100;');
% For simulation environment
evalin('base','simulation_motion_port      = 9014 + host_bot_idnr*100;');
evalin('base','simulation_vision_port      = 9015 + host_bot_idnr*100;');

% port for greenfield network send and receive
evalin('base','port_greenfield_sendreceive     = 9016 + host_bot_idnr*100;');       % in show_greenfield these are hardcoded, so don't change


% ports for parameter tuning
evalin('base','port_vision_tuning          = 9017 + host_bot_idnr*100;');
evalin('base','port_motion_tuning          = 9018 + host_bot_idnr*100;');

% port for manual joystick control
evalin('base','port_manual_drive	   = 9019 + host_bot_idnr*100;');

% port for refboxsim network send and receive
evalin('base','port_refboxsim_sendreceive     = 9020 + host_bot_idnr*100;');    % in refboxsim these are hardcoded, so don't change
evalin('base','port_refbox_sendreceive        = 9021 + host_bot_idnr*100;');

% For connection with PaderKickers team server (fixed!)
evalin('base','paderkicker_teamserver_port = 2998;');

%temporarily overruling
evalin('base','svr_vision_port             = 8009;');
evalin('base','svr_motion_port             = 8010;');
evalin('base','port_vision_mdl             = 17726;');
evalin('base','port_motion_mdl             = 17725;');
evalin('base','Vision_To_Greenfield_Port   = 11100;');
    catch
        disp(lasterr)
    end
end