diff --git a/src/livetankdemo.jl b/src/livetankdemo.jl
index ba74c63ae1e58a6e5b10eeb891b42f1d24b2d63d..acf4ea5376ce596a62a653a5109f54ef3d10d999 100644
--- a/src/livetankdemo.jl
+++ b/src/livetankdemo.jl
@@ -1,6 +1,6 @@
using InteractNext, Mux, Plots, LabProcesses, LabConnections, LabGUI
include("tankgraphic.jl")
-include("doubletank.jl")
+include("DoubleTank.jl")
include("tanklabgui.jl")
diff --git a/src/tankdemo.jl b/src/tankdemo.jl
index 927098b313227f9466a7ac949f99a1878fd924ac..037138203a5427dcc9972c7dafd373217a8604fa 100644
--- a/src/tankdemo.jl
+++ b/src/tankdemo.jl
@@ -1,6 +1,6 @@
using InteractNext, Mux, Plots, LabProcesses, LabGUI
include("tankgraphic.jl")
-include("doubletank.jl")
+include("DoubleTank.jl")
include("tanklabgui.jl")
R = DoubleTankSimulator(σ = 0.001)
diff --git a/src/tankgraphic.jl b/src/tankgraphic.jl
new file mode 100644
index 0000000000000000000000000000000000000000..bbe687bcd4edb4c5e07c87830c4409338f3c8aff
--- /dev/null
+++ b/src/tankgraphic.jl
@@ -0,0 +1,164 @@
+using InteractNext, Mux, Plots, LabGUI
+
+const lightblue = (150, 150, 255)
+const wall_thickness = 5
+const mouth_width = 20
+const animationspeed = 1500
+
+inspectdr(show=false)
+
+
+function stream(width, height, x, y)
+ bigstyle = Dict(:fill => "rgb$s_blue")
+ smallstyle = Dict(:fill => "rgb$lightblue")
+ lines = 10
+ sp = "$(height/animationspeed)s"
+ thickness = 10
+ speed = 10
+ ht = height - thickness
+ attr_small = Dict("width"=> "$(width)", "height" => "$(thickness)", "x" => "$(x)", "y"=>"$(y)")
+
+ #we may want to rethink this a little bit
+ animate1 = Dict("attributeType" => "XML", "attributeName" => "y", "from" => "$(y)",
+ "to" => "$(y+ht/2)", "dur" => sp, "repeatCount" => "indefinite")
+ animate2 = Dict("attributeType" => "XML", "attributeName" => "y", "from" => "$(y+ht/2)",
+ "to" => "$(y+ht)", "dur" => sp, "repeatCount" => "indefinite")
+ anim1 = dom"svg:animate"(attributes=animate1)
+ anim2 = dom"svg:animate"(attributes=animate2)
+ stline1 = Node(instanceof(dom"svg:rect"()), anim1, style = smallstyle, attributes = attr_small)
+ stline2 = Node(instanceof(dom"svg:rect"()), anim2, style = smallstyle, attributes = attr_small)
+ #stlines = (svg_rect(width, thickness, x, y+(speed*time() + i)%ht, smallstyle)
+ #for i in 0:ht/lines:ht)
+ #(svg_rect(width, height, x, y, bigstyle), stlines...)
+ (svg_rect(width, height, x, y, bigstyle), stline1, stline2)
+end
+
+
+function water_container(width, height, fill, x=0, y=0)
+ #Produces an SVG water container of size height, width, filled from the
+ #bottom to the height fill (as a proportion of height
+ #fill_level = fill*height
+ fill_level = fill*height
+ water_style = Dict(:fill => "rgb$s_blue")
+ wall_style = Dict(:fill => "rgb$s_black")
+ container_attr = Dict("x" => "$x",
+ "y" => "$y",
+ "width" => "$width",
+ "height" => "$height")
+ #svg_rect(width, fill_level, height-fill_level, water_style)
+ Node(svgsvg_symb,
+ svg_rect(width, fill_level, 0, height-fill_level, water_style),
+ svg_rect(wall_thickness, height, 0, 0, wall_style),
+ svg_rect(wall_thickness, height, width-wall_thickness, 0, wall_style),
+ svg_rect((width-mouth_width)/2, wall_thickness, 0, height-wall_thickness, wall_style),
+ svg_rect((width-mouth_width)/2, wall_thickness, (width+mouth_width)/2, height-wall_thickness, wall_style),
+ attributes = container_attr)
+end
+
+
+function tank_construct(upper, lower, pump_speed = 1, tnum = 0, r = -1)
+ height = 250
+ width = 200
+
+ arrowwidth = 0
+ arrowheight= 20
+ arrowtext = ""
+ #level_upper = height*upper
+ #level_lower = height*lower
+ upper_x = 75
+ upper_y = 100
+ lower_x = 75
+ lower_y = upper_y + height+50
+
+ tank_x = 0
+ tank_y = upper_y + height*2 + 100
+ tank_width = 2*lower_x+width
+ tank_height = 50
+ pipe_thickness = 25
+ pd = (pipe_thickness-mouth_width)/2
+ pt = pipe_thickness/2
+
+ if r>=0 && r<=1
+ arrowwidth = 20
+ end
+ redarrow = svg_polygon([(upper_x+width, 50+tnum*(height+50)-r*height),
+ (upper_x+width+arrowwidth, 50+tnum*(height+50)-r*height-arrowheight),
+ (upper_x+width+arrowwidth, 50+tnum*(height+50)-r*height+arrowheight)], s_red)
+ pipe = svg_polyline([(pipe_thickness/2, height*2+250), (pt,pt), (tank_width/2, pt), (tank_width/2, 50-pt)],
+ pipe_thickness, s_black)
+ funnel = svg_polygon([(tank_width/2, 2*pt), (tank_width/2-pipe_thickness*2, 4*pt),
+ (tank_width/2+pipe_thickness*2, 4*pt)], s_black)
+
+
+ #remove constraints later when controller is bug free
+ w1 = mouth_width*sqrt(max(0,pump_speed))
+ w2 = mouth_width*sqrt(max(0, upper))
+ w3 = mouth_width*sqrt(max(0, lower))
+
+ container1 = water_container(width, height, upper, upper_x, upper_y)
+ container2 = water_container(width, height, lower, lower_x, lower_y)
+
+
+ #The order of svg objects is important, latter elements are laid on top of existing ones
+ Node(svgsvg_symb,
+ stream(w1, height+50, upper_x+(width-w1)/2, 50)...,
+ stream(w2, height+50, upper_x+(width-w2)/2, height+100)...,
+ stream(w3, 100, upper_x+(width-w3)/2, 2*height+150)...,
+ container1, container2, redarrow,
+ #water_container(width, height, upper, upper_x, upper_y),
+ #water_container(width, height, lower, lower_x, lower_y),
+ svg_rect(tank_width, tank_height, tank_x, tank_y),
+ pipe,
+ funnel,
+ id = "tank",
+ attributes = stdattr)
+end
+
+#=
+gui = GUI()
+widgets, garbage = @construct for upper in 0:16,
+ lower in 0:16
+ Node(:div, "", id = "blarf")
+end
+
+set!(gui, widgets)
+
+dummy, graphic = @construct for tankvar in 0:1
+ tank_construct(gui[:upper]/16, gui[:lower]/16)
+end
+
+add!(gui, dummy)
+
+widgets2, graphic2 = @construct for t in 0:0.1:10
+ plot(linspace(0,2pi), sin.(gui[:lower]*linspace(0,2pi)))
+ plot!(linspace(0,2pi), cos.(gui[:upper]*linspace(0,2pi)))
+end
+
+add!(gui, widgets2)
+
+layout = make_grid(2,2)
+options_grid = make_grid(2,1)
+options_grid = setindex_(options_grid, widgets[1], 1, 1)
+options_grid = setindex_(options_grid, widgets[2], 2, 1)
+layout = setindex_(layout, options_grid, 1, 1)
+layout = setindex_(layout, graphic, 1, 2)
+layout = setindex_(layout, garbage, 2, 1)
+layout = setindex_(layout, graphic2, 2, 2)
+
+set!(gui, layout)
+
+
+function initialize()
+ print("Initializing...\n")
+ #WebIO.newid()
+ LabGUI.animate(gui, [:tankvar, :t], [:upper, :lower])
+ #animate(gui, :tankvar, 1)
+end
+
+function responder(req)
+ initialize()
+ gui.dom
+end
+
+webio_serve(page("/", responder), 8004)
+=#
diff --git a/src/tanklabgui.jl b/src/tanklabgui.jl
new file mode 100644
index 0000000000000000000000000000000000000000..d21a2cfe067abfc121fc704208768c776d97c528
--- /dev/null
+++ b/src/tanklabgui.jl
@@ -0,0 +1,114 @@
+function makegui(P, plottingframerate = 10, guiframerate = 10)
+ #tankpid = PID(1.0, 1.0, R.h, 1.0, 1.0, 0.51, 10, P)
+ tankpid = PID()
+ scale = 100/16
+ boundsupper = (0,1)
+ boundslower = (-2,2)
+ maxplotlength = 800
+ gui = GUI()
+ #ptfr = P.α/(P.a1*sqrt(2*P.g*(outputrange(P)[1][2]))) #pump to flow ratio
+ ptfr = 3.8 #the accuracy here isn't very important
+
+ widgets, graphic1 = @construct for
+ u in slider(0:0.01:1, label=" u"),
+ run in button("Run"), #This should only exist in the simulated version
+ K in slider(0:50, label="K"),
+ Ti in slider(0:50, label="Ti"),
+ Td in slider(0:50, label="Td"),
+ r in slider(0:0.01:1.0, label=" r"),
+ mode in togglebuttons(["Manual", "Automatic"], label=""),
+ tankno in togglebuttons(["Upper", "Lower"], label=""),
+ pOn in togglebuttons(["On", "Off"], label="P"),
+ iOn in togglebuttons(["On", "Off"], label="I"),
+ dOn in togglebuttons(["On", "Off"], label="D")
+
+ tankpid.K = K
+ tankpid.Ti = Ti
+ tankpid.Td = Td
+ if tankno=="Upper"
+ tankg = tank_construct(measure(P)..., u*ptfr, 1, r)
+ elseif tankno=="Lower"
+ tankg = tank_construct(measure(P)..., u*ptfr, 2, r)
+ else
+ tankg = tank_construct(measure(P)..., u*ptfr)
+ end
+ Node(:div, tankg, id="tanks")
+ end
+
+ w2, graphic2 = @construct for
+ dummy in checkbox(false, label="This button does nothing")
+ if length(gui.data[1])>maxplotlength
+ start = length(gui.data[1])-maxplotlength
+ else
+ start=1
+ end
+ p = plot(layout=(2,1), size=(700, 600))
+ plot!(p[1], gui.data[1][start:end], label="y", ylim = boundsupper)
+ plot!(p[1], gui.data[2][start:end], label="r")
+ plot!(p[2], gui.data[3][start:end], label="P", ylim = boundslower)
+ plot!(p[2], gui.data[4][start:end], label="I")
+ plot!(p[2], gui.data[5][start:end], label="D")
+ plot!(p[2], gui.data[6][start:end], label="Tot", color=:black)
+ end
+
+ #-----------------------------------------------#
+ #This should only exist in the simulated version#
+ on(obs(run)) do val
+ if val==1
+ @async prbs_experiment(P, gui, tankpid)
+ else
+ obs(run).listeners[end] = x ->()
+ end
+ end
+ #-----------------------------------------------#
+
+ layout = make_grid(1, 2)
+ left_element = make_grid(2,1)
+ settings_element = make_grid(5,1)
+ corner_element = make_grid(1,4)
+
+
+ p_element = make_grid(2,1)
+ p_element = setindex_(p_element, dom"div"(widgets[:pOn]), 1, 1)
+ p_element = setindex_(p_element, dom"div"(widgets[:K]), 2, 1)
+
+ i_element = make_grid(2,1)
+ i_element = setindex_(i_element, dom"div"(widgets[:iOn]), 1, 1)
+ i_element = setindex_(i_element, dom"div"(widgets[:Ti]), 2, 1)
+
+ d_element = make_grid(2,1)
+ d_element = setindex_(d_element, dom"div"(widgets[:dOn]), 1, 1)
+ d_element = setindex_(d_element, dom"div"(widgets[:Td]), 2, 1)
+
+
+ settings_element = setindex_(settings_element, dom"div"(widgets[:run]), 1, 1)
+ #settings_element = setindex_(settings_element, runbutton, 1, 1)
+ settings_element = setindex_(settings_element, dom"div"(widgets[:tankno]), 2, 1)
+ settings_element = setindex_(settings_element, dom"div"(widgets[:mode]), 3, 1)
+ settings_element = setindex_(settings_element, dom"div"(widgets[:r]), 4, 1)
+ settings_element = setindex_(settings_element, dom"div"(widgets[:u]), 5, 1)
+
+
+ corner_element = setindex_(corner_element, settings_element, 1, 1)
+ corner_element = setindex_(corner_element, p_element, 1, 2)
+ corner_element = setindex_(corner_element, i_element, 1, 3)
+ corner_element = setindex_(corner_element, d_element, 1, 4)
+
+ left_element = setindex_(left_element, corner_element, 1, 1)
+ left_element = setindex_(left_element, graphic2, 2, 1)
+ layout = setindex_(layout, left_element, 1, 1)
+ layout = setindex_(layout, graphic1, 1, 2)
+
+
+
+ LabGUI.set!(gui, widgets)
+ LabGUI.set!(gui, layout)
+ add!(gui, w2)
+
+ LabGUI.animate(gui, :u, 1/guiframerate)
+ LabGUI.animate(gui, :dummy, 1/plottingframerate)
+ function responder(req)
+ gui() #With Mux
+ end
+ return (gui, responder, tankpid)
+end