[UAV] multi-unmanned collaborative task assignment program platform

unction GUIMultiUAV(action,Input)
%GUIMultiUAV - function builds the GUI and contains the callback function for it
%
%  Inputs:
%    (none)

%  Outputs:
%    (none)
%

%  AFRL/VACA
%  September 2000 - Created and Debugged - RAS



global g_Debug; 
if(~exist('g_Debug')),g_Debug=0; end;if(g_Debug==1),disp('GUIMultiUAV.m'); end; global g_isMonteCarloStop; global g_isMonteCarloRun; global g_OneTimeInitialization; global g_CommunicationMemory;if nargin <1,
	action = 'DrawFigure';
end

% add button names, callback function names and button colors to the following cell array to add buttons to the GUI
ButtonsStrings = {
	{'Xtreme Reinitilization'}, {['XtremeReinitialize; ']}, {['[1.0 1.0 0.0]']}
	{'Run Simulation'}, {['GUIMultiUAV(''RunSimulation''); ']}, {['[0.4 0.6 0.4]']}
	{'Run MonteCarlo'}, {['GUIMultiUAV(''RunMonteCarlo''); ']}, {['[0.4 0.6 0.4]']}
	{'Stop MonteCarlo'}, {['GUIMultiUAV(''StopMonteCarlo''); ']}, {['[0.6 0.4 0.4]']}
	{'Plot Vehicle Trajectories'}, {['GUIMultiUAV(''PlotResults''); ']}, {['[0.6 0.6 0.4]']}
	{'Print Simulation Settings'}, {['PrintSimulationSettings']}, {['[0.6 0.6 0.4]']}
	{'Plot Comm Avg Data Rate'}, {['GUIMultiUAV(''CommPlot''); ']}, {['[0.6 0.6 0.4]']}
	{'Save AVDS Data'}, {['GUIMultiUAV(''SaveAVDSData'') ']}, {['[0.6 0.6 0.4]']}
	{'Edit Globals'}, {['GUIMultiUAV(''EditInitializeGlobals''); ']}, {['[0.4 0.6 0.6]']}
	{'Edit MonteCarlo'}, {['GUIMultiUAV(''EditMonteCarlo''); ']}, {['[0.4 0.6 0.6]']}
	{'Edit Simulation Functions'}, {['GUIMultiUAV(''EditSimulationFunctions''); ']}, {['[0.4 0.6 0.6]']}
	{'Edit Create Structure'}, {['GUIMultiUAV(''EditCreateStructure''); ']}, {['[0.4 0.6 0.6]']}
	{'Edit GUI'}, {['GUIMultiUAV(''EditGUI''); ']}, {['[0.4 0.6 0.6]']}
	{'Run VehicleTest'}, {['GUIMultiUAV(''RunVehicleTest''); ']}, {['[0.4 0.6 0.4]']}
	{'Open MultiUAV Main (Simulink)'}, {['GUIMultiUAV(''OpenMultiUAV''); ']}, {['[0.5 0.4 0.6]']}
	{'Open MultiUAV Library (Simulink)'}, {['GUIMultiUAV(''OpenCooperativeLib''); ']}, {['[0.5 0.4 0.6]']}};for(CountMessages=1:g_CommunicationMemory.NumberMessages),
	ButtonsStrings{end+1.1} = {['Messages: ' g_CommunicationMemory.Messages{CountMessages}.Title]};
	MessageNumberString = num2str(CountMessages);
	ButtonsStrings{end,2} = {['GUIMultiUAV(''ShowMessage'', ',MessageNumberString,'); ']};
	ButtonsStrings{end,3} = {['[0.8 0.7 0.5]']};
end;	%for(CountMessages=1:g_CommunicationMemory.NumberMessages)
%add some blank buttons for spacing
%ButtonsStrings{end+1.1} = {"'}; ButtonsStrings{end,2} = {['']}; ButtonsStrings{end,3} = {['[0.7 0.7 0.7]']}; % moved def here for convenience with adding blank buttons ButtonsPerColumn = 14; switch action case 'ShowMessage'.if(~isempty(g_CommunicationMemory.Messages{Input}.Data)),
		fprintf(strcat(g_CommunicationMemory.Messages{Input}.Title,' = \n'));
		disp(g_CommunicationMemory.Messages{Input}.Data(:,find(g_CommunicationMemory.Messages{Input}.Data(1, :) ~ =0)));
	else.fprintf('****** No Messages ******\n');
	end;
	
case 'PlotResults',
	PlotOutput('PlotData'.0);

case 'CommPlot',
	CommPlot(0);
	
case 'RunSimulation',
	g_isMonteCarloRun=0;
	[t,x,y] = sim('MultiUAV'); Running % simulinkcase 'RunVehicleTest',
	[t,x,y] = sim('VehicleTest');
	
case 'SaveAVDSData',
	SaveAVDSData;
	
case 'EditInitializeGlobals',
	local_edit('InitializeGlobals.m');
	
case 'EditCreateStructure',
	local_edit('CreateStructure.m');
	
case 'EditMonteCarlo',
	local_edit('MonteCarloRuns.m');
	
case 'RunMonteCarlo',
    disp(sprintf('\n'));
    disp('Luke: All right, I''ll give it a try.');
    disp('Yoda: No. Try not. Do, or do not. *shakes head* There is no ''try''. ');
    disp('Luke: I don''t believe it! ');
    disp('Yoda: That is why you fail.');
    disp(sprintf(['Robot Us(es):\n\tEnable by uncommenting ''MonteCarloRuns; '' '... ' under ''case RunMonteCarlo''\n\tin GUIMultiUAV.m.']));

	%MonteCarloRuns;
	
case 'StopMonteCarlo',
	disp('* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *')
	disp('*********** Monte Carlo simulation will stop at the end of the current simulation run. ***********')
	disp('* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *')
	g_isMonteCarloStop = 1;
	
case 'EditSimulationFunctions',
	local_edit('SimulationFunctions.m');
	
case 'OpenMultiUAV',
	open 'MultiUAV.mdl';
	
case 'OpenCooperativeLib',
	open 'cooperative.mdl';

case 'EditGUI',
	local_edit('GUIMultiUAV.m');
	
case 'DrawFigure',
	
	[NumberButtons,dummy]=size(ButtonsStrings);
	
	NumberColumns = fix((NumberButtons- 1)/ButtonsPerColumn) + 1;
	ButtonWidth = 1/NumberColumns;
	if(NumberButtons > ButtonsPerColumn),
		ButtonHeight = 1/ButtonsPerColumn;
	else,
		ButtonHeight = 1/NumberButtons;
	end;
	
	GUIHeightIncrement = 0.025;
	GUIWidthIncrement = 0.15;
	if(NumberButtons > ButtonsPerColumn),
		GUIHeight = GUIHeightIncrement * ButtonsPerColumn;
	else,
		GUIHeight = GUIHeightIncrement * NumberButtons;
	end;
	GUIWidth = GUIWidthIncrement * NumberColumns;
	GUIPositionX = 0;
	GUIPositionY = 1 - (GUIHeight + GUIHeightIncrement);
	
	h0 = figure(32);
	clf;
	set(h0,'Color'[0.8 0.8 0.8],...'Name'.'MultiUAV Simulation'.'Units'.'normalized'.'Position', [GUIPositionX GUIPositionY GUIWidth GUIHeight], ...
		'Tag'.'MultiUAVFig'.'NumberTitle'.'off'.'MenuBar'.'none'.'ToolBar'.'none'.'DefaultaxesCreateFcn'.'plotedit(gcbf,''promoteoverlay''); ');
	
	ButtonPositionX = 0;
	ButtonPositionY = 1 - ButtonHeight;
	CountColumnButtons = 1;
	for(CountButtons = 1:NumberButtons),
		h=uicontrol('Style'.'pushbutton'.'Units'.'normalized'.'Position', [ButtonPositionX ButtonPositionY ButtonWidth ButtonHeight], ...
			'String', ButtonsStrings{CountButtons,1},...
			'Callback'.char(ButtonsStrings{CountButtons,2}),...'BackgroundColor',str2num(char(ButtonsStrings{CountButtons,3}))... ;if(CountColumnButtons >= ButtonsPerColumn),
			CountColumnButtons = 1;
			ButtonPositionY = 1 - ButtonHeight;
			ButtonPositionX = ButtonPositionX + ButtonWidth;
		else,
			ButtonPositionY = ButtonPositionY - ButtonHeight;
			CountColumnButtons = CountColumnButtons + 1;
		end;
	end;	%for(CountButtons = 1:NumberButtons),
end
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