changes from zurich; my mac

Classes/Moveit_wrapper.m

@@ -0,0 +1,179 @@
+classdef Moveit_wrapper < handle
+    %
+
+    properties(Access=public)
+        moveit_function_name
+        para
+        state = struct()
+        comment
+    end
+
+    methods (Access=public)
+        function obj = Moveit_wrapper(moveit_function_name,options)
+            %
+
+            arguments
+                moveit_function_name
+                options.para
+            end
+
+            obj.moveit_function_name = moveit_function_name;
+            fn = fieldnames(options);
+            for n = 1:numel(fn)
+                try
+                    obj.(fn{n}) = options.(fn{n});
+                end
+            end
+
+            % Ensure the function exists
+            if ~exist(obj.moveit_function_name, 'file')
+                error('Function "%s" does not exist.', obj.moveit_function_name);
+            end
+
+            % Step 1: Get default parameters by calling moveit module
+            if isempty(obj.para)
+                global loop;
+                loop = 0;  % Request parameter structure
+                [obj.para, obj.comment] = feval(obj.moveit_function_name);
+            end
+
+        end
+
+        function signalclass_out = process(obj,signal_in)
+
+            isSignalClass = 0;
+            if isa(signal_in,"Signal")
+                signalclass_out = signal_in;
+                signal_in = signal_in.signal;
+                isSignalClass = 1;
+            end
+            input_len = length(signal_in);
+
+            signal_in = signal_in.';
+
+            % INIT MOVEIT
+            global loop;
+            loop = 0;
+            signal_out = obj.moveit_init(signal_in);
+
+            % RUN MOVEIT
+            global loop;
+            loop = 1;
+            signal_out = obj.moveit_init(signal_out);
+
+            % CHECK IF SIGNAL CHANGED
+            if input_len ~= length(signal_out)
+                warning(['Signal length changed in moveit function: ', obj.moveit_function_name]);
+            end
+
+            if isSignalClass
+                % append to logbook
+                lbdesc = ['Logbookentry'];
+                signalclass_out  = signalclass_out.logbookentry(lbdesc);
+                signalclass_out.signal = signal_out;
+            end
+
+        end
+
+        function open_settings(obj)
+            % Opens a settings dialog for modifying Moveit parameters with appropriate input types.
+            % Inserts separators when the level value changes.
+
+            fieldNames = fieldnames(obj.para);
+            settingsCell = {};
+            previousLevel = -inf; % Track previous level for separators
+
+            % Create input arguments for settingsdlg
+            for i = 1:numel(fieldNames)
+                fieldName = fieldNames{i};
+                value = obj.para.(fieldName);
+
+                % Get description from comment structure if available
+                if isfield(obj.comment, fieldName)
+                    description = obj.comment.(fieldName);
+                else
+                    description = fieldName; % Default to field name if no description
+                end
+
+                % Get level for this parameter
+                if isfield(obj.comment.level, fieldName)
+                    currentLevel = obj.comment.level.(fieldName);
+                else
+                    currentLevel = 1; % Default level
+                end
+
+                % Insert separator if the level changes
+                if currentLevel ~= previousLevel
+                    settingsCell{end+1} = 'separator';
+                    settingsCell{end+1} = ['Level ', num2str(currentLevel)];
+                end
+                previousLevel = currentLevel;
+
+                % Determine input type from obj.comment.type
+                if  
+                    inputType = obj.comment.type.(fieldName);
+                else
+                    inputType = 'number'; % Default type
+                end
+
+                % Add field description
+                settingsCell{end+1} = {description; fieldName};
+
+                % Define the input type
+                if strcmp(inputType, 'boolean')
+                    % Checkbox input
+                    settingsCell{end+1} = logical(value);                   % Enable checkbox
+                elseif contains(inputType, '|')
+                    % Dropdown selection (options separated by '|')
+                    dropdownOptions = strsplit(inputType, '|');
+                    settingsCell{end+1} = dropdownOptions;
+                else
+                    % Default: Numeric input
+                    settingsCell{end+1} = value;
+                end
+            end
+
+            % Open settings dialog
+            [newValues, button] = settingsdlg(...
+                'title', ['Settings: ', obj.moveit_function_name], ...
+                'description', ['Adjust parameters for ', obj.moveit_function_name], ...
+                settingsCell{:} ...
+                );
+
+            % Update obj.para with new values only if "OK" was pressed
+            if strcmp(button, 'OK')
+                fieldNames = fieldnames(newValues);
+                for i = 1:numel(fieldNames)
+                    if fieldNames{i}
+
+                    end
+                    obj.para.(fieldNames{i}) = newValues.(fieldNames{i});
+                end
+            end
+        end
+
+    end
+
+
+    methods (Access=private)
+
+        function data_out = moveit_init(obj,data_in)
+            arguments(Input)
+                obj
+                data_in double
+            end
+            % Step 2: Initialize the function
+            [data_out, obj.state] = feval(obj.moveit_function_name, data_in, obj.state, obj.para);
+        end
+
+        function data_out = moveit_simulation_computation(obj,data_in)
+            arguments(Input)
+                obj
+                data_in double
+            end
+            % Step 3: Process input signal
+            [data_out, obj.state] = feval(obj.moveit_function_name, data_in, obj.state, obj.para);
+        end
+
+    end
+end

Classes/Warehouse_class/classes/StorageParameter.m

@@ -0,0 +1,44 @@
+classdef StorageParameter < handle
+    %PARAMETER Summary of this class goes here
+    %   Detailed explanation goes here
+
+    properties
+        name
+        values
+        indices
+        length
+        getPhysForIndex = dictionary;
+        getIndexForPhys = dictionary;
+    end
+
+    methods
+        function obj = StorageParameter(name, values)
+            %PARAMETER Construct 
+            obj.name        = name;
+            obj.values      = values;
+            obj.indices     = [1:numel(obj.values)];
+            obj.length      = length(obj.values);
+            obj             = obj.buildIndexForPhysDict();
+            obj             = obj.buildPhysForIndexDict();
+        end
+
+        function obj = buildPhysForIndexDict(obj)
+            %take Index
+            %return Phys
+            for idx = 1:numel(obj.values)
+                obj.getPhysForIndex(idx) = obj.values(idx);
+            end
+        end
+
+
+        function obj = buildIndexForPhysDict(obj)
+            %take Phys
+            %return Index
+            for idx = 1:numel(obj.values)
+                obj.getIndexForPhys(obj.values(idx)) = idx;
+            end
+        end
+
+    end
+end
+