imdd_silas/Classes/Moveit_wrapper.m

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  1
                    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