doevent.m

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%DOEVENT Event handler for the pendulum ball balancing simulator
%
%  Syntax:  doevent(strEvent)
%
%  Inputs:  strEvent is a string describing which item on the PENDUL2 menu
%           the user has selected.  See 'pendul2.m' for strEvent definitions.
%
%  Result:  Appropriate program action has been triggered.  Since this function
%           processes all possible menu selections, refer to the function body
%           for a complete description.
%
%  Remark:  This function is the event handler of the PENDULUM ball-balancing
%           simulator.  All menu events are handled in a consistent manner.
%           Note that set/variable/parameter editing events display new windows
%           and that eventual editing does not occur until those windows are closed.
%
%           Petur Snaeland, 25.04.1995
%           Revised: Hordur Kvaran, 20.10.97

function doevent(strEvent)

%  For Matlab 5 compatibility all global definitions are now declared here in the
%  beginning instead of individually depending on strEvent.
%  Hordur Kvaran, 14.10.97

global G1 G2 G3 G4 GU1 GU2 Y dY Phi dPhi Ts Ttot SOCLR SOCTC SOCDP ConType;
global BallRules CartRules;
%  Set the pointer to a busy hourglass.  Turned off once doevent finishes execution.
fignumber=watchon;

%##############################################################################
%
%  MAIN MENU EVENTS
%
whitebg('w') ;       % The Matlab in Bari, Italy, does not like this;

if strcmp(strEvent,'MainExit'),
   %
   %  Delete the main window.  Do not delete the figures that may be
   %  open - the user might want to look at them.
   %
   delete(gcf);
   fignumber=NaN;
     
elseif strcmp(strEvent,'MainSave'),
   %
   %  Save gains, initial values, SOC parameters and controller type to a .MAT file:
   %
   save settings G1 G2 G3 G4 GU1 GU2 Y dY Phi dPhi Ts Ttot SOCLR SOCTC SOCDP ...
                 ConType CartRules BallRules;
   load cartsets ;
   save setscart ISL ISM ISR MVL SST MVR PHL PSL OOO PSR PHR;
   load ballsets ;
   save setsball ISL ISM ISR MVL SST MVR PHL PSL OOO PSR PHR;
   watchoff(fignumber);

elseif strcmp(strEvent,'MainLoad'),
   load settings;
   load setscart ;
   save cartsets ISL ISM ISR MVL SST MVR PHL PSL OOO PSR PHR;
   load setsball ;
   save ballsets ISL ISM ISR MVL SST MVR PHL PSL OOO PSR PHR;
   %
   %  Update the displayed information in the lower half of the main screen.
   %
   hCartPos    = findobj('Tag','txtCartPos');
   hCartVel    = findobj('Tag','txtCartVel');
   hCartOut    = findobj('Tag','txtCartOut');
   hBallPos    = findobj('Tag','txtBallPos');
   hBallVel    = findobj('Tag','txtBallVel');
   hBallOut    = findobj('Tag','txtBallOut');
   hSimIniPos  = findobj('Tag','txtSimIniPos');
   hSimIniVel  = findobj('Tag','txtSimIniVel');
   hSimIniAng  = findobj('Tag','txtSimIniAng');
   hSimIniAVe  = findobj('Tag','txtSimIniAVe'); 
   hStep       = findobj('Tag','txtStep');
   hTtot       = findobj('Tag','txtTtot');
   hConType    = findobj('Tag','txtConType');

   dispinfo('G1',G1,hCartPos); dispinfo('G2',G2,hCartVel); dispinfo('GU1',GU1,hCartOut);
   dispinfo('G3',G3,hBallPos); dispinfo('G4',G4,hBallVel); dispinfo('GU2',GU2,hBallOut); 
   dispinfo('Y',Y,hSimIniPos); dispinfo('dY',dY,hSimIniVel); dispinfo('Phi',Phi,hSimIniAng); dispinfo('dPhi',dPhi,hSimIniAVe); 
   dispinfo('Ts',Ts,hStep);   dispinfo('Ttot',Ttot,hTtot);
   dispinfo('ConType',ConType,hConType);
   %
   %  Set controller type and check submenus as usually.
   %
   if strcmp(ConType,'Linear Summation'),
      ConType = setctrlr('SimConLin',hConType);
   elseif strcmp(ConType,'Rule Based Fuzzy'),
      ConType = setctrlr('SimConRul',hConType);
   elseif strcmp(ConType,'Table Based Fuzzy'),
      ConType = setctrlr('SimConTbl',hConType);
   elseif strcmp(ConType,'SOC on Cart'),
      ConType = setctrlr('SimConSOC',hConType);
   end;
   %
   %  Redraw the cart and ball to reflect new initial values.
   %
   draw(Y,Phi*pi/180);
   watchoff(fignumber);

elseif strcmp(strEvent,'MainDefault'),
   doevent('CartGainDef');    %Reset cart defaults
   doevent('BallGainDef');    %Reset ball defaults
   doevent('SimIniDef');      %Reset simulation defaults
   hStep = findobj('Tag','txtStep');
   hTtot = findobj('Tag','txtTtot');
   Ts = 0.1;   dispinfo('Ts',Ts,hStep);       % Time step size
   Ttot = 5 ;   dispinfo('Ttot',Ttot,hTtot);  % Total simulation period.
   SOCLR = 10; SOCTC = 0.5; SOCDP = 0.1;      % SOC cart controller parameters.
   %
   %  Revert to the default fuzzy rule base
   %
   RuleBase=['ISLMVLPHLISMMVLPSLISRMVLOOOISLSSTPSLISMSSTOOOISRSSTPSRISLMVROOOISMMVRPSRISRMVRPHR'];
   savebase('cartbase.txt',RuleBase);
   savebase('ballbase.txt',RuleBase);   
   BallRules = ones(1,9);  CartRules = ones(1,9);   
   clear RuleBase;
   %
   %  Revert to the default fuzzy sets
   %
   load decarset ;      %Load default cart-sets
   save cartsets ISL ISM ISR MVL SST MVR PHL PSL OOO PSR PHR;
   load debalset ;      %Load default ball-sets
   save ballsets ISL ISM ISR MVL SST MVR PHL PSL OOO PSR PHR;
   %Rebuild the control tables
   CartTable = carttabl(CartRules);
   BallTable = balltabl(BallRules);
   save fzytable CartTable BallTable ;
   %
   %  Set controller type and check submenus as usually.
   %
   hConType = findobj('Tag','txtConType');
   ConType = setctrlr('SimConLin',hConType);
   %
   %  Redraw the cart and ball to reflect new initial values.
   %
   draw(Y,Phi*pi/180);
   watchoff(fignumber);


%##############################################################################
%
%  CART MENU EVENTS
%

elseif strcmp(strEvent,'CartGains'),
   MainPos = get(gcf,'Position');
   MainX = MainPos(1); MainY = MainPos(2); MainW = MainPos(3); MainH = MainPos(4);
   %
   %  Define spacing, width and height of buttons and input window:
   %
   numEdit=3;
   gap=10; 
   BtnW=100; BtnH=25; 
   LabelW = 100;
   EditW=50; EditH=20;
   BoxW=350; BoxH=(4+numEdit-1)*gap+numEdit*EditH; 
   %
   %  Set up position matrices for the window, editbox and buttons:
   %
   posBox      = [MainX+(MainW-BoxW)/2 MainY+(MainH-BoxH)/2 BoxW BoxH];
   posFrame    = [gap gap BoxW-BtnW-3*gap BoxH-2*gap];
   posOK       = [BoxW-gap-BtnW BoxH-gap-BtnH BtnW BtnH];
   posCancel   = [BoxW-gap-BtnW BoxH-2*(gap+BtnH) BtnW BtnH];
   posG1Lbl    = [2*gap BoxH-2*gap-EditH LabelW EditH-gap/2];
   posG2Lbl    = [2*gap BoxH-3*gap-2*EditH LabelW EditH-gap/2];
   posGU1Lbl   = [2*gap BoxH-4*gap-3*EditH LabelW EditH-gap/2];
   posG1Edit   = [BoxW-BtnW-EditW-3*gap BoxH-2*gap-EditH EditW EditH];
   posG2Edit   = [BoxW-BtnW-EditW-3*gap BoxH-3*gap-2*EditH EditW EditH];
   posGU1Edit  = [BoxW-BtnW-EditW-3*gap BoxH-4*gap-3*EditH EditW EditH];
   strTitle    = 'Edit Cart Gains';
   strG1       = 'Cart Position Gain';
   strG2       = 'Cart Velocity Gain';
   strGU1      = 'Cart Output Gain  ';
   %
   %  Define callback strings for the command buttons.  These strings 
   %  specify how to respond when the user clicks the buttons.
   %
   cmdOK       = [ ' watchon; global G1 G2 GU1;',...
                   ' hUserInput1 = findobj(''Tag'',''hUserInput1''); ',...
                   ' hUserInput2 = findobj(''Tag'',''hUserInput2''); ',...
                   ' hUserInput3 = findobj(''Tag'',''hUserInput3''); ',...
                   ' NewG1 = str2num(get(hUserInput1,''String'')); ', ...
                   ' NewG2 = str2num(get(hUserInput2,''String'')); ', ...
                   ' NewGU1 = str2num(get(hUserInput3,''String'')); ', ...
                   ' if ~isempty(NewG1), ', ...
                   '    G1 = NewG1; hCartPos = findobj(''Tag'',''txtCartPos'');', ...
                   '    dispinfo(''G1'',G1,hCartPos); ', ...
                   ' end;',...
                   ' if ~isempty(NewG2), ', ...
                   '    G2 = NewG2; hCartVel = findobj(''Tag'',''txtCartVel'');', ...
                   '    dispinfo(''G2'',G2,hCartVel); ', ...
                   ' end;',...
                   ' if ~isempty(NewG1), ', ...
                   '    GU1 = NewGU1; hCartOut = findobj(''Tag'',''txtCartOut'');', ...
                   '    dispinfo(''GU1'',GU1,hCartOut); ', ...
                   ' end;',...
                   ' delete(gcf); clear NewG1 NewG2 NewGU1; watchoff;'];
   cmdCancel   = 'delete(gcf);';
   %
   %  Load the input windows, command buttons and editboxes.
   %
   h = figure('Visible','off','NumberTitle','off','MenuBar','none', ...
       'Name',strTitle,'Position',posBox,'Resize','off','Color',[.75 .75 .75]);
   uicontrol('Style','frame','String','','Position',posFrame,'BackgroundColor',[.75 .75 .75]);              
   uicontrol('Style','pushbutton','Units','pixels','Enable','on', ...
             'Position',posOK,'String','OK','Callback',cmdOK );
   uicontrol('Style','pushbutton','Units','pixels','Enable','on', ...
             'Position',posCancel,'String','Cancel','Callback',cmdCancel );
   uicontrol('Style','text','String',strG1,'Position',posG1Lbl, ...
             'BackgroundColor',[.75 .75 .75],'HorizontalAlignment','left');
   uicontrol('Style','text','String',strG2,'Position',posG2Lbl, ...
             'BackgroundColor',[.75 .75 .75],'HorizontalAlignment','left');
   uicontrol('Style','text','String',strGU1,'Position',posGU1Lbl, ...
             'BackgroundColor',[.75 .75 .75],'HorizontalAlignment','left');
   uicontrol('Style','edit','Position',posG1Edit,'String',num2str(G1), ...
             'BackgroundColor','White','Callback','','Tag','hUserInput1');
   uicontrol('Style','edit','Position',posG2Edit,'String',num2str(G2), ...
             'BackgroundColor','White','Callback','','Tag','hUserInput2');
   uicontrol('Style','edit','Position',posGU1Edit,'String',num2str(GU1), ...
             'BackgroundColor','White','Callback','','Tag','hUserInput3');
   set(h,'Visible','on');
   watchoff(fignumber);

elseif strcmp(strEvent,'CartGainPos'),
   %
   %  Define the command string that will be executed when the user presses the
   %  OK button after editing.  Check for illegal input (if so, do nothing).
   %  Else, close the box, clear its variables and display the new information.
   %
   cmdOK = [' watchon; global G1;',...
            ' hUserInput1 = findobj(''Tag'',''hUserInput1''); ',...
            ' NewG1 = str2num(get(hUserInput1,''String'')); ', ...
            ' if ~isempty(NewG1), ', ...
            '    G1 = NewG1; hCartPos=findobj(''Tag'',''txtCartPos'');', ...
            '    delete(gcf); dispinfo(''G1'',G1,hCartPos); ', ...
            ' end; clear NewG1; watchoff;' ];
   inputbox('Cart Position Gain','New value:  []',num2str(G1),cmdOK,'hUserInput1');
   watchoff(fignumber);

elseif strcmp(strEvent,'CartGainVel'),
   cmdOK = [' watchon; global G2;',...
            ' hUserInput1 = findobj(''Tag'',''hUserInput1''); ',...
            ' NewG2 = str2num(get(hUserInput1,''String'')); ', ...
            ' if ~isempty(NewG2), ', ...
            '    G2 = NewG2; hCartVel = findobj(''Tag'',''txtCartVel'');', ...
            '    delete(gcf); dispinfo(''G2'',G2,hCartVel); ', ...
            ' end; clear NewG2; watchoff;' ];
   inputbox('Cart Velocity Gain','New value:  []',num2str(G2),cmdOK,'hUserInput1');
   watchoff(fignumber);

elseif strcmp(strEvent,'CartGainOut'),
   cmdOK = [' watchon; global GU1;',...
            ' hUserInput1 = findobj(''Tag'',''hUserInput1''); ',...
            ' NewGU1 = str2num(get(hUserInput1,''String'')); ', ...
            ' if ~isempty(NewGU1), ', ...
            '    GU1 = NewGU1; hCartOut = findobj(''Tag'',''txtCartOut'');', ...
            '    delete(gcf); dispinfo(''GU1'',GU1,hCartOut); ', ...
            ' end; clear NewGU1; watchoff;' ];
   inputbox('Cart Output Gain','New value:  []',num2str(GU1),cmdOK,'hUserInput1');
   watchoff(fignumber);

elseif strcmp(strEvent,'CartGainDef'),
   %
   %  Set the cart gains to their default values.
   %
   G1 = 65; G2 = 65; GU1 = 0.37;
   %
   %  Update the gains displayed in the main window.
   %
   hCartPos = findobj('Tag','txtCartPos');
   hCartVel = findobj('Tag','txtCartVel');
   hCartOut = findobj('Tag','txtCartOut');
   dispinfo('G1',G1,hCartPos);
   dispinfo('G2',G2,hCartVel);
   dispinfo('GU1',GU1,hCartOut);
   watchoff(fignumber);

elseif strcmp(strEvent,'CartSets'),
   %
   %  Open the fuzzy set editing window.
   %
   editsets('cartsets');
   watchoff(fignumber);

elseif strcmp(strEvent,'CartBase'),
   %
   %  Open the fuzzy rule base editing window.
   %
   editbase('cartbase.txt');
   watchoff(fignumber);
   
elseif strcmp(strEvent,'CartTable'),
   %
   %  Load both of the fuzzy control tables.  Recompute the cart
   %  control table, and then save both tables again.
   %
   load fzytable;
   CartTable = carttabl(CartRules);
   save fzytable CartTable BallTable ;
   watchoff(fignumber);

elseif strcmp(strEvent,'CartSurface'),
   %
   %  Load the control tables.  Display a filled surface plot of
   %  the cart table.  Set appropriate titles and axis limits.
   %
   load fzytable;
   window('Cart Control Surface','figure');
   surfl(-100:10:100,-100:10:100,CartTable');
   title('Cart Control Surface');
   xlabel('Position'); ylabel('Velocity');
   axis([-100 100 -100 100 -200 200]);view([1,-1,1]);
   watchoff(fignumber);

elseif strcmp(strEvent,'TuneSOC'),
   MainPos = get(gcf,'Position');
   MainX = MainPos(1); MainY = MainPos(2); MainW = MainPos(3); MainH = MainPos(4);
   %
   %  Define spacing, width and height of buttons and input window:
   %
   numEdit=3;
   gap=10; 
   BtnW=100; BtnH=25; 
   LabelW = 100;
   EditW=50; EditH=20;
   BoxW=350; BoxH=(4+numEdit-1)*gap+numEdit*EditH; 
   %
   %  Set up position matrices for the window, editbox and buttons:
   %
   posBox      = [MainX+(MainW-BoxW)/2 MainY+(MainH-BoxH)/2 BoxW BoxH];
   posFrame    = [gap gap BoxW-BtnW-3*gap BoxH-2*gap];
   posOK       = [BoxW-gap-BtnW BoxH-gap-BtnH BtnW BtnH];
   posCancel   = [BoxW-gap-BtnW BoxH-2*(gap+BtnH) BtnW BtnH];
   posSOCLRLbl   = [2*gap BoxH-2*gap-EditH LabelW EditH-gap/2];
   posSOCTCLbl   = [2*gap BoxH-3*gap-2*EditH LabelW EditH-gap/2];
   posSOCDPLbl   = [2*gap BoxH-4*gap-3*EditH LabelW EditH-gap/2];
   posSOCLREdit  = [BoxW-BtnW-EditW-3*gap BoxH-2*gap-EditH EditW EditH];
   posSOCTCEdit  = [BoxW-BtnW-EditW-3*gap BoxH-3*gap-2*EditH EditW EditH];
   posSOCDPEdit  = [BoxW-BtnW-EditW-3*gap BoxH-4*gap-3*EditH EditW EditH];
   strTitle = 'Edit SOC Parameters';
   strSOCLR = 'SOC Learning Rate';
   strSOCTC = 'SOC Time Constant';
   strSOCDP = 'SOC Penalty Delay';