diff --git a/examples/testConnSpeed.m b/examples/testConnSpeed.m
index 8ea14f20dcb0f23a2ead05e0936fbd979a879657..ea2a6df794a50bcb74e2fa5bdaff8146c55440ed 100644
--- a/examples/testConnSpeed.m
+++ b/examples/testConnSpeed.m
@@ -20,7 +20,7 @@ function testConnSpeed(ioType, serPort, it, withResponse)
m = b.motorB;
m.setProperties('power', 10, 'limitMode', 'Time', 'limitValue', 15000);
- m.resetTachoCount();
+ m.tachoCount = 0;
if withResponse
for i = 0:it-1
diff --git a/source/Brick.m b/source/Brick.m
index 71ed0963961fd268ff5a2b84a827f4d081300c97..6927b8a298b77dacd7bd1a517597063c3418efbf 100644
--- a/source/Brick.m
+++ b/source/Brick.m
@@ -93,9 +93,6 @@
%
% threeToneByteCode Generates the bytecode for the playThreeTone function
%
-% TO DO::
-% - outputReset, outputRead
-%
% Example::
% b = Brick('ioType','usb')
% b = Brick('ioType','wifi','wfAddr','192.168.1.104','wfPort',5555,'wfSN','0016533dbaf5')
@@ -105,23 +102,23 @@
classdef Brick < handle
properties
- % connection handle
+ % Connection handle
conn;
- % debug input
+ % Debug
debug;
% IO connection type
ioType;
- % bluetooth brick device name
+ % Bluetooth brick device name
btDevice;
- % bluetooth brick communication channel
+ % Bluetooth brick communication channel
btChannel;
- % wifi brick IP address
+ % Wifi brick IP address
wfAddr;
- % wifi brick TCP port
+ % Wifi brick TCP port
wfPort;
- % brick serial number
+ % Brick serial number
wfSN;
- % bluetooth serial port
+ % Bluetooth serial port
serPort;
end
@@ -156,7 +153,7 @@ classdef Brick < handle
% - For instrBrickIO (bluetooth)
% b = Brick('ioType','instrbt','btDevice','EV3','btChannel',1)
- % init the properties
+ % Init the properties
opt.debug = 0;
opt.btDevice = 'EV3';
opt.btChannel = 1;
@@ -165,66 +162,52 @@ classdef Brick < handle
opt.wfSN = '0016533dbaf5';
opt.ioType = 'usb';
opt.serPort = '/dev/rfcomm0';
- % read in the options
+
+ % Read in the options
opt = tb_optparse(opt, varargin);
- % select the connection interface
- connect = 0;
- % usb
- if(strcmp(opt.ioType,'usb'))
- brick.debug = opt.debug;
- brick.ioType = opt.ioType;
- brick.conn = usbBrickIO(brick.debug);
- connect = 1;
- end
- % wifi
- if(strcmp(opt.ioType,'wifi'))
- brick.debug = opt.debug;
- brick.ioType = opt.ioType;
- brick.wfAddr = opt.wfAddr;
- brick.wfPort = opt.wfPort;
- brick.wfSN = opt.wfSN;
- brick.conn = wfBrickIO(brick.debug,brick.wfAddr,brick.wfPort,brick.wfSN);
- connect = 1;
- end
- % bluetooth
- if(strcmp(opt.ioType,'bt'))
- brick.debug = opt.debug;
- brick.ioType = opt.ioType;
- brick.serPort = opt.serPort;
- brick.conn = btBrickIO(brick.debug,brick.serPort);
- connect = 1;
- end
- % instrumentation and control wifi
- if(strcmp(opt.ioType,'instrwifi'))
- brick.debug = opt.debug;
- brick.ioType = opt.ioType;
- brick.wfAddr = opt.wfAddr;
- brick.wfPort = opt.wfPort;
- brick.wfSN = opt.wfSN;
- brick.conn = instrBrickIO(brick.debug,'wf',brick.wfAddr,brick.wfPort,brick.wfSN);
- connect = 1;
- end
- % instrumentation and control bluetooth
- if(strcmp(opt.ioType,'instrbt'))
- brick.debug = opt.debug;
- brick.ioType = opt.ioType;
- brick.btDevice = opt.btDevice;
- brick.btChannel = opt.btChannel;
- brick.conn = instrBrickIO(brick.debug,'bt',brick.btDevice,brick.btChannel);
- connect = 1;
- end
- % error
- if(~connect)
- fprintf('Please specify a serConn option: ''usb'',''wifi'',''bt'',''instrwifi'' or ''instrbt''.\n');
+ brick.debug = opt.debug;
+ brick.ioType = opt.ioType;
+ try
+ if(strcmp(opt.ioType,'usb')) % USB
+ brick.conn = usbBrickIO(brick.debug);
+ elseif(strcmp(opt.ioType,'wifi')) % WiFi
+ brick.wfAddr = opt.wfAddr;
+ brick.wfPort = opt.wfPort;
+ brick.wfSN = opt.wfSN;
+ brick.conn = wfBrickIO(brick.debug,brick.wfAddr,brick.wfPort,brick.wfSN);
+ elseif(strcmp(opt.ioType,'bt')) % Bluetooth
+ brick.serPort = opt.serPort;
+ brick.conn = btBrickIO(brick.debug,brick.serPort);
+ elseif(strcmp(opt.ioType,'instrwifi')) % Instrumentation and Control: WiFi
+ brick.wfAddr = opt.wfAddr;
+ brick.wfPort = opt.wfPort;
+ brick.wfSN = opt.wfSN;
+ brick.conn = instrBrickIO(brick.debug,'wf',brick.wfAddr,brick.wfPort,brick.wfSN);
+ elseif(strcmp(opt.ioType,'instrbt')) % Instrumentation and Control: Bluetooth
+ brick.btDevice = opt.btDevice;
+ brick.btChannel = opt.btChannel;
+ brick.conn = instrBrickIO(brick.debug,'bt',brick.btDevice,brick.btChannel);
+ end
+ catch ME
+ brick.conn = [];
+ rethrow(ME);
end
end
+ function set.debug(brick, debug)
+ % If debug is set in this layer, also set BrickIO.debug in lower layer
+ brick.debug = debug;
+ brick.conn.debug = debug;
+ end
+
function delete(brick)
% Brick.delete Delete the Brick object
%
% delete(b) closes the connection to the brick
- brick.conn.close();
+ if isa(brick.conn, 'handle') && isvalid(brick.conn)
+ brick.conn.delete();
+ end
end
function send(brick, cmd)
@@ -239,15 +222,17 @@ classdef Brick < handle
% Example::
% b.send(cmd)
- % send the message through the brickIO write function
-
+ % Send the message through the brickIO write function
brick.conn.write(cmd.msg);
+
% (MMI) When spamming the brick with commands, at some point, it will start
% behaving 'strange'. Sometimes, commands will be executed only with
% a delay, some commands may even be bypassed.
% (Maybe too many commands screw up the brick's internal command queue?..)
% Temporary workaround: Wait 5ms after each sent packet.
pause(0.005);
+
+ % Verbose output
if brick.debug > 0
fprintf('sent (hex): [ ');
for ii=1:length(cmd.msg)
@@ -268,12 +253,63 @@ classdef Brick < handle
% rmsg = Brick.receive() receives data from the brick through
% the connection handle.
%
+ % Notes:
+ % - If received packet is corrupt, up to five new packets are read (if all are
+ % corrupt, an error is thrown)
+ %
% Example::
% rmsg = b.receive()
-
- % read the message through the brickIO read function
+ %
+ % Read the message through the brickIO read function
rmsg = brick.conn.read();
+
+ % Check if reply is corrupt or error byte is set
+ try
+ reply = Command(rmsg);
+ catch ME
+ corrupt = 1;
+ if ~isempty(strfind(ME.identifier, 'CorruptPacket'))
+ % Read packet was corrupt - retry
+ id = [ID(), ':', 'CorruptPacket'];
+ warning(id, 'Read corrupt packet. Retrying...');
+ if brick.debug
+ fprintf('received (corrupt) (hex): [ ');
+ for ii=1:length(rmsg)
+ fprintf('%s ',dec2hex(rmsg(ii)))
+ end
+ fprintf(']\n');
+ fprintf('received (corrupt) (dec): [ ');
+ for ii=1:length(rmsg)
+ fprintf('%d ',rmsg(ii))
+ end
+ fprintf(']\n');
+ end
+
+ retries = 5;
+ while corrupt && retries
+ rmsg = brick.conn.read();
+ try
+ reply = Command(rmsg);
+ corrupt = 0;
+ catch
+ retries = retries-1;
+ end
+ end
+ end
+
+ if corrupt
+ rethrow(ME);
+ end
+ end
+
+ if reply.checkForError()
+ msg = 'Error byte is set. The Brick couldn''t handle the last packet';
+ id = [ID(), ':', 'CommandError'];
+ warning(id, msg);
+ end
+
+ % Verbose output
if brick.debug > 0
fprintf('received (hex): [ ');
for ii=1:length(rmsg)
@@ -614,8 +650,6 @@ classdef Brick < handle
cmd.opINPUT_DEVICE_SET_TYPEMODE(oldType,oldMode,newType,newMode);
cmd.addLength();
brick.send(cmd);
- % receive the command
- msg = brick.receive()';
end
% Implemented @ MMI
@@ -1510,7 +1544,7 @@ classdef Brick < handle
% b.outputReset(0,MotorBitfield.MotorA)
cmd = Command();
- cmd.addHeaderDirectReply(42,0,0);
+ cmd.addHeaderDirect(42,0,0);
cmd.opOUTPUT_RESET(layer,nos);
cmd.addLength();
brick.send(cmd);
@@ -1548,7 +1582,7 @@ classdef Brick < handle
% Implemented @ MMI
% Still buggy (WIP)
- function [speed tacho] = outputRead(brick,layer,no)
+ function [speed, tacho] = outputRead(brick,layer,no)
% Brick.outputRead(layer,no) Get tacho count and speed.
%
% [speed, tacho] = Brick.outputRead(layer,no) returns the tachometer
diff --git a/source/BrickIO.m b/source/BrickIO.m
index a4c00c212d61a3ca3792a126ae411fb2fcf89f96..585eb6d9f54c32615c5331124bad6c1109142956 100644
--- a/source/BrickIO.m
+++ b/source/BrickIO.m
@@ -11,8 +11,8 @@
% - The read function should return a uint8 datatype
% - The write function should be given a uint8 datatype as a parameter
-classdef BrickIO
- properties (Abstract)
+classdef BrickIO < handle
+ properties (Abstract, Access = 'protected')
% connection handle
handle
end
diff --git a/source/Command.m b/source/Command.m
index fa20a019e9cd319f61de337630b116194669f6ac..94d1fb069b66cdd97ff1192fb619017e3f959890 100644
--- a/source/Command.m
+++ b/source/Command.m
@@ -12,7 +12,8 @@
% addSystemCommand Adds a system command to the command object
% addDirectCommand Adds a direct command to the command object
%
-% checkForError @MMI Checks error byte in received package.
+% checkForError @MMI Checks error byte in received package
+% isCorrupt @MMI Checks whether reply packet is corrupt
%
% clear Clears the command msg
% display Displays the command msg (decimal)
@@ -286,12 +287,45 @@ classdef Command < handle
function cmd = Command(varargin)
% Command.cmd Create an empty command
%
- % c = Command(OPTIONS) is an object that represents an EV3 command
+ % c = Command() is an object that represents an EV3 command
+ % c = Command([...]) is an object that represents an EV3 reply
%
% Example::
% c = Command();
- cmd.msg = uint8([]);
+ if nargin > 0 % Packet is a reply
+ try
+ cmd.msg = uint8(varargin{1});
+ catch ME
+ id = [ID(), ':', 'InvalidParameter'];
+ msg = 'Failed to create reply-packet with Command-class.';
+ baseException = MException(id, msg);
+ baseException = addCause(baseException, ME);
+ throw(baseException);
+ end
+
+ % If corrupt, throw error
+ corrupt = cmd.isValidReply();
+ if corrupt < 1
+ msg = 'Invalid reply packet';
+ id = [ID(), ':', 'CorruptPacket'];
+ ME = MException(id, msg);
+ switch corrupt
+ case 0
+ causeMsg = 'Reply packet too short';
+ case -1
+ causeMsg = ['Specified packet length (bytes 1&2) does not equal ',...
+ 'actual packet length'];
+ case -2
+ causeMsg = 'Error type (byte 5) is not valid';
+ end
+ cause = MException(id, causeMsg);
+ ME = addCause(ME, cause);
+ throw(ME);
+ end
+ else % Packet is a command
+ cmd.msg = uint8([]);
+ end
end
function delete(cmd)
@@ -322,6 +356,43 @@ classdef Command < handle
end
end
+ function state = isValidReply(cmd)
+ % Command.isValidReply Check if reply-packet is valid
+ %
+ % state = cmd.isValidReply checks cmd against reply-packet-format and returns
+ % whether if cmd is valid (that is, does not fit the
+ % format).
+ % Notes:
+ % - state = 1, if reply is not corrupted (at least not in a way that can be
+ % tested)
+ % - state = 0, if reply is too short (minimum length = 5 bytes)
+ % - state = -1, if reply is corrupted due to invalid length/length indicator
+ % - state = -2, if reply is corrupted due to invalid error type byte
+ % - IMPORTANT: Of course, the packet can still contain invalid information which
+ % cannot be tested properly without context. This corruption-test
+ % only checks the contextless information.
+ %
+ state = 1;
+
+ % Minimum length of a reply packet is 5, for a packet without response buffer
+ minLength = 5;
+ if length(cmd.msg) < minLength
+ state = 0;
+ return
+ end
+
+ % Note: The two things that can be checked without context are the length and the
+ % command type, the remainder varies from packet to packet.
+ pLength = double(typecast(cmd.msg(1:2),'uint16')) + 2;
+ pCmdType = cmd.msg(5);
+
+ if pLength ~= length(cmd.msg)
+ state = -1;
+ elseif pCmdType ~= 2 && pCmdType ~=4
+ state = -2;
+ end
+ end
+
function addHeaderSystem(cmd,counter)
% Command.addHeaderSystem Add a system header with no reply
%
@@ -581,7 +652,7 @@ classdef Command < handle
end
function GV0(cmd,i)
- % Command.GV0 Add a global constant 0
+ % Command.GV0 Add a global variable 0
%
% Command.GV0(i) adds a global variable 0 to the command
% object.
diff --git a/source/ConnectionType.m b/source/ConnectionType.m
index a2d18c69c091832765f863f91ad6f534fdea7a3b..df8a552fb4c5040ee230d52adf4937202b1c4bcc 100644
--- a/source/ConnectionType.m
+++ b/source/ConnectionType.m
@@ -16,4 +16,4 @@ classdef ConnectionType < uint8
None (126)
Error (127)
end
-end
\ No newline at end of file
+end
diff --git a/source/EV3.m b/source/EV3.m
index f263011d5f4a8e5a7b366cb124b88fe91f0d18c7..2c9032c15b3cc1cf37b0db909e742e64203424cc 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -99,7 +99,6 @@ classdef EV3 < handle
properties (Hidden, Access = 'private') % Hidden properties for internal use only
init = 1; % Indicates 'init-phase' (Set to 1 as long as constructor is running)
- verbose = 0; % Debug mode for low level layers
end
methods % Standard methods
@@ -114,20 +113,25 @@ classdef EV3 < handle
ev3.setProperties(varargin{:});
- ev3.motorA = Motor('A', 'Debug', ev3.debug-ev3.verbose);
- ev3.motorB = Motor('B', 'Debug', ev3.debug-ev3.verbose);
- ev3.motorC = Motor('C', 'Debug', ev3.debug-ev3.verbose);
- ev3.motorD = Motor('D', 'Debug', ev3.debug-ev3.verbose);
+ ev3.motorA = Motor('A', 'Debug', ev3.debug);
+ ev3.motorB = Motor('B', 'Debug', ev3.debug);
+ ev3.motorC = Motor('C', 'Debug', ev3.debug);
+ ev3.motorD = Motor('D', 'Debug', ev3.debug);
- ev3.sensor1 = Sensor('1', 'Debug', ev3.debug-ev3.verbose);
- ev3.sensor2 = Sensor('2', 'Debug', ev3.debug-ev3.verbose);
- ev3.sensor3 = Sensor('3', 'Debug', ev3.debug-ev3.verbose);
- ev3.sensor4 = Sensor('4', 'Debug', ev3.debug-ev3.verbose);
+ ev3.sensor1 = Sensor('1', 'Debug', ev3.debug);
+ ev3.sensor2 = Sensor('2', 'Debug', ev3.debug);
+ ev3.sensor3 = Sensor('3', 'Debug', ev3.debug);
+ ev3.sensor4 = Sensor('4', 'Debug', ev3.debug);
ev3.init = 0;
end
+ function delete(ev3)
+ if ev3.isConnected
+ ev3.disconnect();
+ end
+ end
%% Connection
function connect(ev3, varargin)
%connect Connects EV3-object and its Motors and Sensors to physical brick.
@@ -153,8 +157,6 @@ classdef EV3 < handle
ev3.brick = 0;
ev3.isConnected = 0;
-
- % error('EV3::connect: Aborted connection.');
end
end
@@ -179,8 +181,8 @@ classdef EV3 < handle
% Try to connect
try
% Connect to physical brick
- ev3.brick = Brick('debug', ev3.verbose, varargin{1:end}); % Creating Brick-object implicitly
- % establishes connection
+ % -> Creating Brick-object implicitly establishes connection
+ ev3.brick = Brick('debug', ev3.debug>=2, varargin{1:end});
ev3.isConnected = 1;
if beep
@@ -205,8 +207,8 @@ classdef EV3 < handle
ev3.brick.delete();
ev3.brick = 0;
end
- error(['Brick::connect: Something went wrong, try again...\n', ...
- 'Error identifier: %s'], ME.identifier);
+
+ rethrow(ME);
end
end
@@ -220,9 +222,9 @@ classdef EV3 < handle
% b.disconnect();
%
- if ~ev3.isConnected
- error('EV3::connect: No brick connected.');
- end
+% if ~ev3.isConnected
+% error('EV3::connect: No brick connected.');
+% end
% Disconnect motors
% -> set references to brick object to 0
@@ -239,7 +241,9 @@ classdef EV3 < handle
ev3.sensor4.disconnect();
% Delete handle to brick object
- ev3.brick.delete();
+ if isBrickValid(ev3.brick) && ev3.brick ~= 0
+ ev3.brick.delete();
+ end
ev3.brick = 0;
ev3.isConnected = 0;
@@ -506,8 +510,8 @@ classdef EV3 < handle
ev3.debug = debug;
end
- if debug == 2
- ev3.verbose = 1;
+ if ev3.isConnected()
+ ev3.brick.debug = (ev3.debug >= 2);
end
end
@@ -515,7 +519,7 @@ classdef EV3 < handle
%setProperties Set multiple EV3 properties at once using MATLAB's inputParser.
%
% Arguments
- % * 'debug', 0/1/'on'/'off'/'true'/'false'
+ % * 'debug', 0/1/'on'/'off'/'true'/'false'/2
% * 'batteryMode', 'Voltage'/'Percentage': Mode in which batteryValue will be read.
%
% Example
@@ -560,7 +564,6 @@ classdef EV3 < handle
bat = ev3.getBattery();
end
- %% Display
%% Display
function display(ev3)
% WIP
diff --git a/source/ID.m b/source/ID.m
new file mode 100644
index 0000000000000000000000000000000000000000..b108a1c633f4cf667b31f2c46e37b18fcea9521b
--- /dev/null
+++ b/source/ID.m
@@ -0,0 +1,31 @@
+function id = ID()
+% Generates a string that serves as an error-ID for a calling function
+
+toolbox = 'RWTHMindstormsEV3';
+
+% Get stack trace
+stackTrace = dbstack();
+
+% Element on top of stack is this function (ID()), second element is caller
+% If no second element, caller is probably console -> not valid
+if length(stackTrace) <= 1
+ ME = MException('RWTHMindstormsEV3:ID', ...
+ ['ID() is only function on stack - can not create ID. (You can''t call ID() from ',...
+ 'the console).']);
+ throw(ME);
+end
+callerList = strsplit(stackTrace(2).name, '.');
+
+% The anticipated format of the caller is classname.functionname
+functionName = callerList{length(callerList)};
+
+% Create id
+if length(callerList) > 1
+ className = callerList{length(callerList)-1};
+ id = [toolbox, ':', className, ':', functionName];
+else
+ id = [toolbox, ':', functionName];
+end
+
+end
+
diff --git a/source/Motor.m b/source/Motor.m
index f0866b121227fe600173e860d879742d5bdade67..86257623e871f8fc8b14ead2371e50c78002c391 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -196,7 +196,7 @@ classdef Motor < handle
motor.setProperties(varargin{:});
motor.init = 0;
end
-
+
%% Connection
function connect(motor,brick)
%connect Connects Motor-object to physical brick.
@@ -226,7 +226,7 @@ classdef Motor < handle
motor.brick = 0;
motor.isConnected = 0;
- error('Motor::connect: Aborted connection.');
+ error('Motor::connect: Disconnected due to internal error.');
end
end
@@ -256,9 +256,9 @@ classdef Motor < handle
% brickInterface.delete(); % Actual disconnecting!!!
%
- if ~motor.isConnected
- error('Motor::disconnect: No brick connected.');
- end
+% if ~motor.isConnected
+% error('Motor::disconnect: No brick connected.');
+% end
motor.brick = 0; % Note: actual deleting is done in EV3::disconnect.
motor.isConnected = 0;
@@ -272,7 +272,7 @@ classdef Motor < handle
%update Updates motor-object to current status at its port.
% The parameters type, status and mode, which fully represent any device that can
% be connected to the brick, will be updated by this method. Furthermore, update()
- % concludes from theses parameters if there is a physical motor currently connected
+ % concludes from these parameters if there is a physical motor currently connected
% to the port (Motor.motorAtPort).
%
% Examples
@@ -286,7 +286,6 @@ classdef Motor < handle
% b.motorA.start(); -> no error
% b.motorA.type -> output DeviceType.LargeMotor/DeviceType.MediumMotor
%
-
if ~motor.isConnected
error(['Motor::update: Motor-Object not connected to brick handle.',...
'You have to call motor.connect(brick) first!']);
@@ -322,33 +321,6 @@ classdef Motor < handle
end
end
motor.mode = mode;
-
-% oldMode = motor.mode;
-%
-% motor.status = motor.getStatus();
-% [motor.type,newMode] = motor.getTypeMode();
-%
-% motor.motorAtPort = 1;
-% if motor.status~=ConnectionType.OutputTacho || ... % Regular Tacho-Motor connected?
-% (motor.type~=DeviceType.LargeMotor && motor.type~=DeviceType.MediumMotor) || ...
-% strcmp(class(motor.mode), 'DeviceMode.Error')
-% motor.motorAtPort = 0;
-% end
-%
-%
-% if strcmp(class(oldMode),class(newMode)) && oldMode~=newMode
-% if ~strcmp(class(oldMode), 'DeviceMode.Error') && ...
-% ~strcmp(class(newMode), 'DeviceMode.Error')
-% if newMode ~= DeviceMode.Motor.Speed
-% warning(['Motor::update: Physical motor''s mode was not ',...
-% 'the specified one. Changing...']);
-% end
-%
-% motor.mode = oldMode;
-% end
-% else
-% motor.mode = newMode;
-% end
end
%% Brick functions
@@ -572,28 +544,6 @@ classdef Motor < handle
end
end
- function resetTachoCount(motor)
- %resetTachoCount Resets tacho count to 0 if running without tacholimit
- % Compared to motor.reset, this resets the 'sensor mode' tacho count, a second
- % tacho counter. This counter is used for reading the tacho count with inputRead
- % and outputGetCount (via motor.tachoCount).
- % See also MOTOR.RESET
-
- if ~motor.isConnected
- error(['Motor::resetTachoCount: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
- error('Motor::resetTachoCount: No physical motor connected to Port %s',...
- motor.port);
- end
-
- motor.brick.outputClrCount(0, motor.port_);
- if motor.debug
- fprintf('(DEBUG) Motor::resetTachoCount: Called outputClrCount on Port %s\n',...
- motor.port);
- end
- end
-
function togglePolarity(motor)
%togglePolarity Switches the direction in which the motor turns.
if ~motor.isConnected
@@ -650,7 +600,7 @@ classdef Motor < handle
mode = DeviceMode(motor.type, uint8(mode));
end
- if isModeValid(mode, DeviceType.LargeMotor)
+ if isModeValid(DeviceType.LargeMotor, mode)
if mode == DeviceMode.Motor.Speed
error(['Motor::update: Physical motor''s mode has to be either ' ,...
'DeviceMode.Motor.Degrees or DeviceMode.Motor.Rotations. ' ,...
@@ -777,6 +727,14 @@ classdef Motor < handle
end
end
+ function set.tachoCount(motor, tachoCount)
+ if tachoCount~=0
+ error('Motor::set.tachoCount: Cannot set the tachoCount to a value ~= 0.');
+ end
+
+ motor.resetTachoCount();
+ end
+
function setProperties(motor, varargin)
%setProperties Sets multiple Motor properties at once using MATLAB's inputParser.
%
@@ -938,16 +896,7 @@ classdef Motor < handle
return;
end
-% if ~isnumeric(power)
-% error('Motor::setPower: Given parameter is not a numeric.');
-% elseif power<-100 || power>100
-% warning('Motor::setPower: Motor power has to be an element of [-100,100]!');
-% error('Motor::setPower: Given motor power is out of bounds.');
-% end
-
if motor.limitValue~=0 && motor.isRunning()
- % motor.start();
-
warning(['Motor::setPower: Can''t set power if motor is running with a ',...
'tacholimit. This would mess up the internal tacho state.']);
return;
@@ -983,6 +932,25 @@ classdef Motor < handle
end
end
+ function resetTachoCount(motor)
+ %resetTachoCount Resets tacho count to 0 if running without tacholimit
+ % Compared to motor.reset, this resets the 'sensor mode' tacho count, a second
+ % tacho counter. This counter is used for reading the tacho count with inputRead
+ % and outputGetCount (via motor.tachoCount).
+ % See also MOTOR.RESET
+
+ if ~motor.isConnected || ~motor.motorAtPort
+ return;
+ end
+
+ motor.brick.outputClrCount(0, motor.port_);
+
+ if motor.debug
+ fprintf('(DEBUG) Motor::resetTachoCount: Called outputClrCount on Port %s\n',...
+ motor.port);
+ end
+ end
+
function [type,mode] = getTypeMode(motor)
if ~motor.isConnected
error(['Motor::getTypeMode: Motor-Object not connected to brick handle.',...
diff --git a/source/Sensor.m b/source/Sensor.m
index f5ad914e43674ac8341a724a3428d3362f375239..f794ae8663cfdca07813e7aacc0e91dc47abcef2 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -136,9 +136,9 @@ classdef Sensor < handle
function disconnect(sensor)
%disconnect Disconnects Sensor-object from physical brick
- if ~sensor.isConnected
- error('Sensor::disconnect: No brick connected.');
- end
+% if ~sensor.isConnected
+% error('Sensor::disconnect: No brick connected.');
+% end
sensor.brick = 0; % Note: actual deleting is done in EV3::disconnect.
sensor.isConnected = 0;
@@ -163,8 +163,8 @@ classdef Sensor < handle
if strcmp(class(oldMode),class(newMode)) && oldMode~=newMode
if ~strcmp(class(oldMode), 'DeviceMode.Error') && ...
~strcmp(class(newMode), 'DeviceMode.Error')
- warning(['Sensor::update: Physical sensor''s mode was not ',...
- 'the specified one. Changing...']);
+ %warning(['Sensor::update: Physical sensor''s mode was not ',...
+ % 'the specified one. Changing...']);
sensor.setMode(oldMode);
sensor.mode = oldMode;
@@ -173,7 +173,7 @@ classdef Sensor < handle
sensor.mode = newMode;
end
- validStatus = [ConnectionType.NXTColor, ConnectionType.NXTDumb, ...
+ validStatus = [ConnectionType.NXTColor, ConnectionType.NXTDumb, ConnectionType.NXTIIC, ...
ConnectionType.InputDumb, ConnectionType.InputUART];
validTypes = [DeviceType.NXTTouch, DeviceType.NXTColor, ...
DeviceType.NXTLight, DeviceType.NXTSound, ...
@@ -330,10 +330,6 @@ classdef Sensor < handle
methods (Access = 'private') % Private brick functions that are wrapped by dependent params
function setMode(sensor, mode)
- % if ~sensor.isConnected
- % error(['Sensor::setMode: Sensor-Object not connected to brick handle.',...
- % 'You have to call sensor.connect(brick) first!']);
- % end
if ~sensor.isConnected || ~sensor.sensorAtPort
return
end
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 3b9163f2872f39dd2e153594771681ffa0cfb3d5..90a3e51ccbff4545bd74a1ea5ddc5410f50ecd8b 100644
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -26,16 +26,18 @@
classdef btBrickIO < BrickIO
properties
- % connection handle
- handle
% debug input
debug = 0;
% bluetooth serial port
serialPort = '/dev/rfcomm0'
end
+ properties (Access = 'protected')
+ % connection handle
+ handle
+ end
+
methods
-
function brickIO = btBrickIO(debug,serialPort)
%btBrickIO.btBrickIO Create a btBrickIO object
%
@@ -50,12 +52,31 @@ classdef btBrickIO < BrickIO
brickIO.debug = debug;
brickIO.serialPort = serialPort;
end
+
if brickIO.debug > 0
fprintf('btBrickIO init\n');
end
- % set the connection handle
- brickIO.handle = serial(brickIO.serialPort);
- % open the connection handle
+
+ % Set the connection handle
+ try
+ brickIO.handle = serial(brickIO.serialPort);
+ catch ME
+ if ~isempty(strfind(ME.identifier, 'invalidPORT'))
+ % Throw a clean InvalidSerialPort to avoid confusion in upper layers
+ msg = 'Couldn''t connect to BT-device because given serial port is invalid.';
+ id = [ID(), ':', 'InvalidSerialPort'];
+ throw(MException(id, msg));
+ else
+ % Throw combined error because error did not happen due to known reasons...
+ msg = 'Unknown error occurred while creating serial-port-object for BT connection.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
+ end
+ end
+
+ % Open the connection handle
brickIO.open;
end
@@ -63,11 +84,17 @@ classdef btBrickIO < BrickIO
%btBrickIO.delete Delete the btBrickIO object
%
% delete(brickIO) closes the bluetooth connection handle
+
if brickIO.debug > 0
fprintf('btBrickIO delete\n');
end
- % delete the bt handle
- brickIO.close;
+
+ % Disconnect
+ try
+ brickIO.close;
+ catch
+ % Connection already closed (probably due to an error) - do nothing
+ end
end
function open(brickIO)
@@ -79,8 +106,26 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO open\n');
end
- % open the bt handle
- fopen(brickIO.handle);
+
+ % Open the bt handle
+ try
+ fopen(brickIO.handle);
+ catch ME
+ if strcmp(ME.identifier, 'MATLAB:serial:fopen:opfailed')
+ % Throw only clean CommError to avoid confusion in upper layers
+ msg = 'Failed to open connection to Brick via Bluetooth.';
+ id = [ID(), ':', 'CommError'];
+ throw(MException(id, msg));
+ else
+ % Throw combined error because error did not happen due to communication
+ % failure
+ msg = 'Unknown error occurred while connecting to the Brick via Bluetooth.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
+ end
+ end
end
function close(brickIO)
@@ -92,8 +137,19 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO close\n');
end
- % close the close handle
- fclose(brickIO.handle);
+
+ try
+ % Close the close handle
+ fclose(brickIO.handle);
+ catch ME
+ % Throw combined error because error did not happen due to communication
+ % failure
+ msg = 'Unknown error occurred while disconnecting from the Brick via Bluetooth.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
+ end
end
function rmsg = read(brickIO)
@@ -105,11 +161,30 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO read\n');
end
- % get the number of bytes to be read from the bt handle
- nLength = fread(brickIO.handle,2);
- % read the remaining bytes
- rmsg = fread(brickIO.handle,double(typecast(uint8(nLength),'uint16')));
- % append the reply size to the return message
+
+ try
+ % Get the number of bytes to be read from the bt handle
+ nLength = fread(brickIO.handle,2);
+
+ % Read the remaining bytes
+ rmsg = fread(brickIO.handle,double(typecast(uint8(nLength),'uint16')));
+ catch ME
+ if strcmp(ME.identifier, 'MATLAB:serial:fread:opfailed')
+ % Throw only clean CommError to avoid confusion in upper layers
+ msg = 'Failed to read data from Brick via Bluetooth.';
+ id = [ID(), ':', 'CommError'];
+ throw(MException(id, msg));
+ else
+ % Throw combined error because error did not happen due to known reasons...
+ msg = 'Unknown error occurred while reading data from the Brick via BT.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);b.bee
+ end
+ end
+
+ % Append the reply size to the return message
rmsg = uint8([nLength' rmsg']);
end
@@ -126,7 +201,25 @@ classdef btBrickIO < BrickIO
if brickIO.debug > 0
fprintf('btBrickIO write\n');
end
- fwrite(brickIO.handle,wmsg);
+
+ try
+ % Write to the bluetooth handle
+ fwrite(brickIO.handle,wmsg);
+ catch ME
+ if strcmp(ME.identifier, 'MATLAB:serial:fwrite:opfailed')
+ % Throw only clean CommError to avoid confusion in upper layers
+ msg = 'Failed to send data to Brick via Bluetooth.';
+ id = [ID(), ':', 'CommError'];
+ throw(MException(id, msg));
+ else
+ % Throw combined error because error did not happen due to known reasons...
+ msg = 'Unknown error occurred while sending data to the Brick via BT.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
+ end
+ end
end
end
-end
\ No newline at end of file
+end
diff --git a/source/hidapi.m b/source/hidapi.m
index fe1fd000042cd84c608d224ceee575b699e6eaff..014c4a15bd580b3e4ae956fbc1c9c32919832593 100644
--- a/source/hidapi.m
+++ b/source/hidapi.m
@@ -1,7 +1,7 @@
%hidpi Interface to the hidapi library
%
% Methods::
-% hidpi Constructor, loads the hidapi library
+% hidapi Constructor, loads the hidapi library
% delete Destructor, closes any open hid connection
%
% open Open the hid device with vendor and product ID
@@ -12,13 +12,14 @@
% getHIDInfoString Get the relevant hid info from the hid device
% getManufacturersString Get the manufacturers string from the hid device
% getProductString Get the product string from the hid device
-% getSerialNumberString Get the serial number from the hid device
+% getSerialNumberString Get the serial number from the hid device
% setNonBlocking Set non blocking hid read
% init Init the hidapi (executed in open by default)
% exit Exit the hidapi
-% error Return the error string
+% error Return the error string
% enumerate Enumerate the connected hid devices
%
+%
% Example::
% hid = hidapi(1,1684,0005,1024,1025)
%
@@ -26,7 +27,7 @@
% - Developed from the hidapi available from http://www.signal11.us/oss/hidapi/
% - Windows: need the hidapi.dll file
% - Mac: need the hidapi.dylib file. Will also need Xcode installed to run load library
-% - Linux: will need to compile on host system and copy the resulting .so file
+% - Linux: will need to compile on host system and copy the resulting .so file
classdef hidapi < handle
properties
@@ -46,21 +47,26 @@ classdef hidapi < handle
slib = 'hidapi';
% shared library header
sheader = 'hidapi.h';
- % isOpen flag
- isOpen = 0;
+
end
methods
+ %% Constructor
function hid = hidapi(debug,vendorID,productID,nReadBuffer,nWriteBuffer)
%hidapi.hidapi Create a hidapi library interface object
- %
+ %
% hid = hidapi(debug,vendorID,productID,nReadBuffer,nWriteButter)
% is an object which initialises the hidapi from the corresponding
% OS library. Other parameters are also initialised. Some OS
% checking is required in this function to load the correct
% library.
%
+ % Throws::
+ % LoadingLibraryError Could not load .dll/.dylib/.so-file of hidapi
+ % InvalidFileNameOrFileMissing Either file names given were wrong or the files
+ % are missing (thunk files, proto files, ...)
+ %
% Notes::
% - debug is a flag specifying output printing (0 or 1).
% - vendorID is the vendor ID of the hid device (decimal not hex).
@@ -68,71 +74,118 @@ classdef hidapi < handle
% - nReadBuffer is the length of the read buffer.
% - nWriteBuffer is the length of the write buffer.
+
hid.debug = debug;
+
if hid.debug > 0
fprintf('hidapi init\n');
end
+
if nargin > 1
hid.vendorID = vendorID;
hid.productID = productID;
hid.nReadBuffer = nReadBuffer;
hid.nWriteBuffer = nWriteBuffer;
end
- % disable the type not found for structure warning
+
+ % Disable warnings
warning('off','MATLAB:loadlibrary:TypeNotFoundForStructure');
- % check if the library is loaded
- if ~libisloaded('hidapiusb')
- % check the operating system type and load slib
+ warning('off', 'MATLAB:loadlibrary:ClassIsLoaded');
+
+ try
+ % Check the operating system type and load slib
if (ispc == 1)
- % check the bit version
+ % Check the bit version
if (strcmp(mexext,'mexw32'))
hid.slib = 'hidapi32';
- % load the library via the proto file
+ % Load the library via the proto file
loadlibrary(hid.slib,@hidapi32_proto,'alias','hidapiusb')
- end
-
- if (strcmp(mexext,'mexw64'))
+ elseif (strcmp(mexext,'mexw64'))
hid.slib = 'hidapi64';
- % load the library via the proto file
+ % Load the library via the proto file
loadlibrary(hid.slib,@hidapi64_proto,'alias','hidapiusb')
- end
+ end
elseif (ismac == 1)
- hid.slib = 'hidapi64';
- % load the library via the proto file
- loadlibrary(hid.slib,@hidapi64mac_proto,'alias','hidapiusb');
+ hid.slib = 'hidapi64';
+ % Load the library via the proto file
+ loadlibrary(hid.slib,@hidapi64mac_proto,'alias','hidapiusb');
elseif (isunix == 1)
- hid.slib = 'libhidapi-libusb';
- % load the shared library
- loadlibrary(hid.slib,@hidapi_libusb_proto,'alias','hidapiusb');
- end
+ hid.slib = 'libhidapi-libusb';
+ % Load the shared library
+ loadlibrary(hid.slib,@hidapi_libusb_proto,'alias','hidapiusb');
+ end
+ catch ME
+ % Create own exception for clarification
+ id = [ID(), ':', 'LoadingLibraryError'];
+ msg = strcat({'Could not load library '}, {hid.slib}, {'.'});
+ exception = MException(id, msg);
+
+ % Try to narrow down loading failure
+ if isempty(findstr(ME.identifier, 'LoadFailed')) ...
+ && isempty(findstr(ME.identifier, 'ErrorLoadingLibrary')) ...
+ && isempty(findstr(ME.identifier, 'ErrorInHeader'))
+ id = [ID(), ':', 'InvalidFileNameOrFileMissing'];
+ msg = 'Invalid file names were given or files are not available.';
+ cause = MException(id, msg);
+ exception = addCause(exception, cause);
+ end
+
+ throw(exception);
end
-
+ % Remove the library extension
+ hid.slib = 'hidapiusb';
+
if hid.debug > 0
libfunctionsview('hidapiusb');
end
-
- % remove the library extension
- hid.slib = 'hidapiusb';
end
function delete(hid)
%hidapi.delete Delete hid object
%
- % delete(hid) closes an open hid device connection.
+ % delete(hid) closes an open hid device connection. This function is called
+ % automatically when deleting.
%
% Notes::
- % - You cannot unloadlibrary in this function as the object is
+ % - You cannot unloadlibrary in this function as the object is
% still present in the MATLAB work space.
if hid.debug > 0
fprintf('hidapi delete\n');
end
- if hid.isOpen == 1
- % close the open connection
- hid.close();
- end
end
-
+
+ %% Wrapper
+
+ function str = getManufacturersString(hid)
+ %hidapi.getManufacturersString get manufacturers string from hid object
+ %
+ % hid.getManufacturersString() returns the manufacturers string
+ % from the hid device using getHIDInfoString.
+
+ str = getHIDInfoString(hid,'hid_get_manufacturer_string');
+ end
+
+ function str = getProductString(hid)
+ %hidapi.getProductString get product string from hid object
+ %
+ % hid.getProductString() returns the product string from the
+ % hid device using getProductString.
+
+ str = getHIDInfoString(hid,'hid_get_product_string');
+ end
+
+ function str = getSerialNumberString(hid)
+ %hidapi.getSerialNumberString get product string from hid object
+ %
+ % hid.getSerialNumberString() returns the serial number string
+ % from the hid device using getSerialNumberString.
+
+ str = getHIDInfoString(hid,'hid_get_serial_number_string');
+ end
+
+ %% Wrapped HIDAPI-Functions
+
function open(hid)
%hidapi.open Open a hid object
%
@@ -140,10 +193,13 @@ classdef hidapi < handle
% initialised values of vendorID and productID from the hidapi
% constructor.
%
+ % Throws::
+ % CommError Error during communication with device
+ %
% Notes::
% - The pointer return value from this library call is always
% null so it is not possible to know if the open was
- % successful.
+ % successful.
% - The final parameter to the open hidapi library call has
% different types depending on OS. In windows it is uint16 but
% linux/mac it is int32.
@@ -151,87 +207,144 @@ classdef hidapi < handle
if hid.debug > 0
fprintf('hidapi open\n');
end
- % create a null pointer for the hid_open function (depends on OS)
+
+ % Create a null pointer for the hid_open function (depends on OS)
if (ispc == 1)
pNull = libpointer('uint16Ptr');
- end
- if ((ismac == 1) || (isunix == 1))
+ elseif ((ismac == 1) || (isunix == 1))
pNull = libpointer('int32Ptr');
end
- % open the hid interface
- [hid.handle,value] = calllib(hid.slib,'hid_open',uint16(hid.vendorID),uint16(hid.productID),pNull);
- % set open flag
- hid.isOpen = 1;
+
+ % Open the hid interface
+ [newHandle,value] = calllib(hid.slib,'hid_open',uint16(hid.vendorID), ...
+ uint16(hid.productID),pNull);
+
+ % (MMI) Assert error case (hid_open returns null-pointer in error case)
+ assert(isLibPointerValid(newHandle)==1, ...
+ [ID(), ':', 'CommError'], ...
+ 'Failed to connect to USB device.');
+
+ hid.handle = newHandle;
end
function close(hid)
%hidapi.close Close hid object
%
- % hid.close() closes the connection to a hid device.
+ % hid.close() closes the connection to a hid device. Gets called automatically
+ % when deleting the hid instance.
+ %
+ % Throws::
+ % InvalidHandle Handle to USB-device not valid
+ %
if hid.debug > 0
fprintf('hidapi close\n');
end
- if hid.isOpen == 1
- % close the connect
- calllib(hid.slib,'hid_close',hid.handle);
- % clear open flag
- hid.isOpen = 0;
- end
+
+ % (MMI) Check if pointer is (unexpectedly) already invalidated
+ assert(isLibPointerValid(hid.handle)==1, ...
+ [ID(), ':', 'InvalidHandle'], ...
+ 'Failed to close USB-connection because pointer to USB-device is already invalidated.');
+
+ % Close the connection
+ calllib(hid.slib,'hid_close',hid.handle);
+
+ % Invalidate the pointer
+ hid.handle = [];
end
-
function rmsg = read(hid)
%hidapi.rmsg Read from hid object
%
% rmsg = hid.read() reads from a hid device and returns the
% read bytes. Will print an error if no data was read.
-
+ %
+ % Throws::
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
+ %
+
if hid.debug > 0
fprintf('hidapi read\n');
end
- % read buffer of nReadBuffer length
+
+ % Read buffer of nReadBuffer length
buffer = zeros(1,hid.nReadBuffer);
- % create a unit8 pointer
+ % Create a uint8 pointer
pbuffer = libpointer('uint8Ptr', uint8(buffer));
- % read data from HID deivce
+
+ % (MMI) Check if pointer is (unexpectedly) already invalidated
+ assert(isLibPointerValid(hid.handle)==1, ...
+ [ID(), ':', 'InvalidHandle'], ...
+ 'Failed to read USB-data because pointer to USB-device is invalidated.');
+
+ % Read data from HID device
[res,h] = calllib(hid.slib,'hid_read',hid.handle,pbuffer,uint64(length(buffer)));
- % check the response
- if res == 0
- fprintf('hidapi read returned no data\n');
+
+ % (MMI) Check the response (No assert as there are multiple cases)
+ if res < 1
+ % Error occurred
+ id = [ID(), ':', 'CommError'];
+ % Narrow error down
+ if res == -1
+ msg = 'Connection error (probably lost connection to device)';
+ elseif res == 0
+ msg = ['Could not read data from device (device is still connected, ',...
+ 'but does not react)'];
+ else
+ msg = 'Unexpected connection error';
+ end
+ causeException = MException(id, msg);
+ ME = MException(id, 'Failed to read data via USB.');
+ addCause(ME, causeException);
+ throw(ME);
end
- % return the string value
+
+ % Return the string value
rmsg = pbuffer.Value;
end
-
+
function write(hid,wmsg,reportID)
%hidapi.write Write to hid object
%
% hid.write() writes to a hid device. Will print an error if
% there is a mismatch between the buffer size and the reported
% number of bytes written.
-
+ %
+ % Throws::
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
+ %
+
if hid.debug > 0
fprintf('hidapi write\n');
end
- % append a 0 at the front for HID report ID
+ % Append a 0 at the front for HID report ID
wmsg = [reportID wmsg];
- % pad with zeros for nWriteBuffer length
- % (MMI) Note:: The following line does not seem to be necessary;
- % wmsg does not need to be the max packet size. Uncommenting this doesn't affect
+
+ % Pad with zeros for nWriteBuffer length
+ % (MMI) Note:: The following line does not seem to be necessary;
+ % wmsg does not need to be the max packet size. Uncommenting this doesn't affect
% anything, and I would prefer sending short messages over long ones.
% Further testing may be required, so for now I don't change a thing.
- %wmsg(end+(hid.nWriteBuffer-length(wmsg))) = 0;
- % create a unit8 pointer
+ wmsg(end+(hid.nWriteBuffer-length(wmsg))) = 0;
+
+ % Create a uint8 pointer
pbuffer = libpointer('uint8Ptr', uint8(wmsg));
- % write the message
- [res,h] = calllib(hid.slib,'hid_write',hid.handle,wmsg,length(wmsg));
- % check the response
- if res ~= length(wmsg)
- fprintf('hidapi write error: wrote %d, sent %d\n',(length(wmsg)-1),res);
- end
+ % (MMI) Check if pointer is (unexpectedly) already invalidated
+ assert(isLibPointerValid(hid.handle)==1, ...
+ [ID(), ':', 'InvalidHandle'], ...
+ 'Failed to write to USB because pointer to USB-device is invalidated.');
+
+ % Write the message
+ [res,h] = calllib(hid.slib,'hid_write',hid.handle,pbuffer,uint64(length(wmsg)));
+
+ % (MMI) Check the response
+ assert(res == length(wmsg), ...
+ [ID(), ':', 'CommError'], ...
+ 'Failed to write data via USB.');
end
function str = getHIDInfoString(hid,info)
@@ -240,57 +353,41 @@ classdef hidapi < handle
% hid.getHIDInfoString(info) gets the corresponding hid info
% from the hid device
%
+ % Throws::
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
+ %
% Notes::
% - info is the hid information string.
if hid.debug > 0
fprintf(['hidapi ' info '\n']);
end
- % read buffer nReadBuffer length
+ % Read buffer nReadBuffer length
buffer = zeros(1,hid.nReadBuffer);
- % create a unit16 pointer (depends on OS)
+ % Create a libpointer (depends on OS)
if (ispc == 1)
pbuffer = libpointer('uint16Ptr', uint16(buffer));
- else if ((ismac == 1) || (isunix == 1))
- pbuffer = libpointer('int32Ptr', int32(buffer));
- end
- end
- % get the HID info string
- [res,h] = calllib(hid.slib,info,hid.handle,pbuffer,uint64(length(buffer)));
- % check the response
- if res ~= 0
- fprintf(['hidapi ' info ' error\n']);
+ elseif ((ismac == 1) || (isunix == 1))
+ pbuffer = libpointer('int32Ptr', uint32(buffer));
end
- % return the string value
- str = sprintf('%s',char(pbuffer.Value));
- end
-
- function str = getManufacturersString(hid)
- %hidapi.getManufacturersString get manufacturers string from hid object
- %
- % hid.getManufacturersString() returns the manufacturers string
- % from the hid device using getHIDInfoString.
- str = getHIDInfoString(hid,'hid_get_manufacturer_string');
- end
-
- function str = getProductString(hid)
- %hidapi.getProductString get product string from hid object
- %
- % hid.getProductString() returns the product string from the
- % hid device using getProductString.
+ % (MMI) Check if pointer is (unexpectedly) already invalidated
+ assert(isLibPointerValid(hid.handle)==1, ...
+ [ID(), ':', 'InvalidHandle'], ...
+ 'Failed to read USB-data because pointer to USB-device is invalidated.');
- str = getHIDInfoString(hid,'hid_get_product_string');
- end
-
- function str = getSerialNumberString(hid)
- %hidapi.getSerialNumberString get product string from hid object
- %
- % hid.getSerialNumberString() returns the serial number string
- % from the hid device using getSerialNumberString.
+ % Get the HID info string
+ [res,h] = calllib(hid.slib,info,hid.handle,pbuffer,uint32(length(buffer)));
- str = getHIDInfoString(hid,'hid_get_serial_number_string');
- end
+ % (MMI) Check the response
+ assert(res~=-1, ...
+ [ID(), ':', 'CommError'], ...
+ 'Failed to read HID info string.');
+
+ % Return the string value
+ str = sprintf('%s',char(pbuffer.Value));
+ end
function setNonBlocking(hid,nonblock)
%hidapi.setNonBlocking sets non blocking on the hid object
@@ -298,18 +395,29 @@ classdef hidapi < handle
% hid.setNonBlocking(nonblock) sets the non blocking flag on
% the hid device connection.
%
+ % Throws::
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
+ %
% Notes::
% nonblock - 0 disables nonblocking, 1 enables nonblocking
if hid.debug > 0
fprintf('hidapi setNonBlocking\n');
end
- % set non blocking
- [res,h] = calllib(hid.slib,'hid_set_nonblocking',hid.handle,uint64(nonblock));
- % check the response
- if res ~= 0
- fprintf('hidapi setNonBlocking error\n');
- end
+
+ % (MMI) Check if pointer is (unexpectedly) already invalidated
+ assert(isLibPointerValid(hid.handle)==1, ...
+ [ID(), ':', 'InvalidHandle'], ...
+ 'Failed to set USB-read-mode to non-blocking because pointer to USB-device is invalidated.');
+
+ % Set non blocking
+ [res,h] = calllib(hid.slib,'hid_set_nonblocking',hid.handle,uint32(nonblock));
+
+ % (MMI) Check the response
+ assert(res~=-1, ...
+ [ID(), ':', 'CommError'], ...
+ 'Failed to set USB-read-mode to non-blocking.');
end
function init(hid)
@@ -318,22 +426,35 @@ classdef hidapi < handle
% hid.init() inits the hidapi library. This is called
% automatically in the library itself with the open function.
%
+ % Throws::
+ % CommError Error during communication with device
+ %
% Notes::
% - You should not have to call this function directly.
if hid.debug > 0
fprintf('hidapi init\n');
end
+
+ warning([ID(), ':', 'RedundantCall'], ...
+ 'The init-function gets called automatically when connecting!');
+
+ % Init device
res = calllib(hid.slib,'hid_init');
- if res ~= 0
- fprintf('hidapi init error\n');
- end
+
+ % (MMI) Check the response
+ assert(res~=-1, ...
+ [ID(), ':', 'CommError'], ...
+ 'Failed to init USB-device.');
end
-
+
function exit(hid)
%hidapi.exit Exit hidapi
%
- % hid.exit() exits the hidapi library.
+ % hid.exit() exits the hidapi library.
+ %
+ % Throws::
+ % CommError Error during communication with device
%
% Notes::
% - You should not have to call this function directly.
@@ -341,10 +462,17 @@ classdef hidapi < handle
if hid.debug > 0
fprintf('hidapi exit\n');
end
+
+ warning([ID(), ':', 'RedundantCall'], ...
+ 'The exit-function gets called automatically when disconnecting!');
+
+ % Exit device
res = calllib(hid.slib,'hid_exit');
- if res ~= 0
- fprintf('hidapi exit error\n');
- end
+
+ % (MMI) Check the response
+ assert(res~=-1, ...
+ [ID(), ':', 'CommError'], ...
+ 'Failed to exit USB-device.');
end
function str = error(hid)
@@ -353,6 +481,9 @@ classdef hidapi < handle
% hid.error() returns the hid device error string if a function
% produced an error.
%
+ % Throws::
+ % InvalidHandle Handle to USB-device not valid
+ %
% Notes::
% - This function must be called explicitly if you think an
% error was generated from the hid device.
@@ -360,13 +491,19 @@ classdef hidapi < handle
if hid.debug > 0
fprintf('hidapi error\n');
end
- [h,str] = calllib(hid.slib,'hid_error',hid.handle);
+
+ % (MMI) Check if pointer is (unexpectedly) already invalidated
+ assert(isLibPointerValid(hid.handle)==1, ...
+ [ID(), ':', 'InvalidHandle'], ...
+ 'Failed to read USB-error-data because pointer to USB-device is invalidated.');
+
+ [~,str] = calllib(hid.slib,'hid_error',hid.handle);
end
function str = enumerate(hid,vendorID,productID)
%hidapi.enumerate Enumerates the hid object
%
- % str = hid.enumerate(vendorID,productID) enumerates the hid
+ % str = hid.enumerate(vendorID,productID) enumerates the hid
% device with the given vendorID and productID and returns a
% string with the returned hid information.
%
@@ -382,8 +519,21 @@ classdef hidapi < handle
if hid.debug > 0
fprintf('hidapi enumerate\n');
end
- % enumerate the hid devices
+
+ % Enumerate the hid devices
str = calllib(u.slib,'hid_enumerate',uint16(vendorID),uint16(productID));
end
- end
+ end
+end
+
+
+function valid = isLibPointerValid(handle)
+ %isHandleValid Check whether hid.handle is valid libpointer
+
+ valid = 0;
+ if ~isempty(handle)
+ if isa(handle, 'handle') && ~isNull(handle)
+ valid = 1;
+ end
+ end
end
diff --git a/source/usbBrickIO.m b/source/usbBrickIO.m
index 2c6de0c295a9287a538ce93fc46884ec014f6b85..06fd285c036c5086feb854475603e1da532de990 100644
--- a/source/usbBrickIO.m
+++ b/source/usbBrickIO.m
@@ -18,8 +18,6 @@
classdef usbBrickIO < BrickIO
properties
- % connection handle
- handle
% debug input
debug = 0;
% vendor ID (EV3 = 0x0694)
@@ -32,8 +30,12 @@ classdef usbBrickIO < BrickIO
nWriteBuffer = 1024;
end
+ properties (Access = 'protected')
+ % connection handle
+ handle
+ end
+
methods
-
function brickIO = usbBrickIO(varargin)
%usbBrickIO.usbBrickIO Create a usbBrickIO object
%
@@ -47,16 +49,42 @@ classdef usbBrickIO < BrickIO
if nargin == 0
brickIO.debug = 0;
- end
- if nargin > 0
+ else
brickIO.debug = varargin{1};
end
+
if brickIO.debug > 0
fprintf('usbBrickIO init\n');
end
- % create the usb handle
- brickIO.handle = hidapi(0,brickIO.vendorID,brickIO.productID,brickIO.nReadBuffer,brickIO.nWriteBuffer);
- % open the brick Io connection
+
+ % Create the usb handle
+ try
+ brickIO.handle = hidapi(0,brickIO.vendorID,brickIO.productID, ...
+ brickIO.nReadBuffer,brickIO.nWriteBuffer);
+ catch ME
+ if ~isempty(strfind(ME.identifier, 'InvalidParameterOrFileMissing'))
+ % Throw a clean InvalidParameterOrFileMissing to avoid confusion in upper layers
+ msg = ['Couldn''t load hidapi-library for USB connection due to a ' ...
+ 'missing file. Make sure the correct hidapi-library and its ' ...
+ 'corresponding thunk- and proto-files are available.'];
+ id = [ID(), ':', 'InvalidParameterOrFileMissing'];
+ throw(MException(id, msg));
+ elseif ~isempty(strfind(ME.identifier, 'LoadingLibraryError'))
+ % Throw a clean LoadingLibraryError to avoid confusion in upper layers
+ msg = 'Failed to load hidapi-library for USB connection.';
+ id = [ID(), ':', 'LoadingLibraryError'];
+ throw(MException(id, msg));
+ else
+ % Throw combined error because error did not happen due to known reasons...
+ msg = 'Unknown error occurred while trying to load the HIDAPI-lib for USB.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
+ end
+ end
+
+ % Open the brick IO connection
brickIO.open;
end
@@ -68,11 +96,15 @@ classdef usbBrickIO < BrickIO
if brickIO.debug > 0
fprintf('usbBrickIO delete\n');
end
- % delete the usb handle
- delete(brickIO.handle)
+
+ % Disconnect
+ try
+ brickIO.close;
+ catch
+ % Connection already closed (probably due to an error) - do nothing
+ end
end
- % open the brick IO connection
function open(brickIO)
%usbBrickIO.open Open the usbBrickIO object
%
@@ -82,8 +114,25 @@ classdef usbBrickIO < BrickIO
if brickIO.debug > 0
fprintf('usbBrickIO open\n');
end
- % open the usb handle
- brickIO.handle.open;
+
+ % Open the usb handle (MMI: and handle possible errors)
+ try
+ brickIO.handle.open;
+ catch ME
+ if ~isempty(strfind(ME.identifier, 'CommError'))
+ % Throw a clean CommError to avoid confusion in upper layers
+ msg = 'Failed to open connection to Brick via USB.';
+ id = [ID(), ':', 'CommError'];
+ throw(MException(id, msg));
+ else
+ % Throw combined error because error did not happen due to known reasons...
+ msg = 'Unknown error occurred while trying to connect to the Brick via USB.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
+ end
+ end
end
function close(brickIO)
@@ -94,8 +143,18 @@ classdef usbBrickIO < BrickIO
if brickIO.debug > 0
fprintf('usbBrickIO close\n');
end
- % close the usb handle
- brickIO.handle.close;
+
+ try
+ % Close the usb handle
+ brickIO.handle.close;
+ catch ME
+ % Throw combined error because error did not happen due to known reasons...
+ msg = 'Unknown error occurred while closing the USB connection.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
+ end
end
function rmsg = read(brickIO)
@@ -111,28 +170,38 @@ classdef usbBrickIO < BrickIO
if brickIO.debug > 0
fprintf('usbBrickIO read\n');
end
- % read from the usb handle
- rmsg = brickIO.handle.read;
- % (MMI) Sometimes, right after connecting via usb, the returned packets are of no
- % recognized format. To avoid dealing with those for now, they are simply discarded
- % and a new packet is requested.
- % This workaround is NOT safe as you can see. It is just temporary and works most
- % of the times.
- for i=0:5
- if rmsg(5) ~= 2 && rms(5) ~= 4
- rmsg = brickIO.handle.read;
+ % Read from the usb handle
+ try
+ rmsg = brickIO.handle.read;
+ catch ME
+ if ~isempty(strfind(ME.identifier, 'CommError'))
+ % Throw a clean CommError to avoid confusion in upper layers
+ msg = 'Failed to read data from the Brick via USB due to connection-error.';
+ id = [ID(), ':', 'CommError'];
+ throw(MException(id, msg));
+ elseif ~isempty(strfind(ME.identifier, 'InvalidHandle'))
+ % Throw a clean InvalidHandle to avoid confusion in upper layers
+ msg = 'Failed to read data from the Brick via USB due to invalid handle to USB-device.';
+ id = [ID(), ':', 'InvalidHandle'];
+ throw(MException(id, msg));
+ else
+ % Throw combined error because error did not happen due to known reasons...
+ msg = 'Unknown error occurred while reading data from the Brick via USB.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
end
- pause(0.005);
end
- % get the number of read bytes
- nLength = double(typecast(uint8(rmsg(1:2)),'uint16'));
- % format the read message (2 byte length plus message)
- if nLength+2 < length(rmsg) % If not, there has been an error -> dealt with in higher layer
- rmsg = rmsg(1:nLength+2);
+ % Get the number of read bytes
+ pLength = double(typecast(uint8(rmsg(1:2)),'uint16')) + 2;
+
+ % Format the read message (2 byte length plus message)
+ if pLength < length(rmsg)
+ rmsg = rmsg(1:pLength);
end
-
end
function write(brickIO,wmsg)
@@ -147,8 +216,30 @@ classdef usbBrickIO < BrickIO
if brickIO.debug > 0
fprintf('usbBrickIO write\n');
end
- % write to the usb handle using report ID 0
- brickIO.handle.write(wmsg,0);
+
+ % Write to the usb handle using report ID 0
+ try
+ brickIO.handle.write(wmsg,0);
+ catch ME
+ if ~isempty(strfind(ME.identifier, 'CommError'))
+ % Throw a clean CommError to avoid confusion in upper layers
+ msg = 'Failed to send data to Brick via USB due to connection-error.';
+ id = 'RWTHMindstormsEV3:usbBrickIO:write:CommError';
+ throw(MException(id, msg));
+ elseif ~isempty(strfind(ME.identifier, 'InvalidHandle'))
+ % Throw a clean InvalidHandle to avoid confusion in upper layers
+ msg = 'Failed to send data to Brick via USB due to invalid handle to USB-device.';
+ id = [ID(), ':', 'InvalidHandle'];
+ throw(MException(id, msg));
+ else
+ % Throw combined error because error did not happen due to known reasons...
+ msg = 'Unknown error occurred while sending data to the Brick via USB.';
+ id = [ID(), ':', 'UnknownError'];
+ newException = MException(id, msg);
+ newException = addCause(newException, ME);
+ throw(newException);
+ end
+ end
end
end
-end
\ No newline at end of file
+end
diff --git a/source/wfBrickIO.m b/source/wfBrickIO.m
index e469c9b1931152e35f7befc18099d120ecdee0d5..b234c566e96d57a98539f5b2182997912d2f317d 100644
--- a/source/wfBrickIO.m
+++ b/source/wfBrickIO.m
@@ -24,8 +24,6 @@
classdef wfBrickIO < BrickIO
properties
- % connection handle
- handle
% debug input
debug = 0;
% socket input strem
@@ -40,6 +38,11 @@ classdef wfBrickIO < BrickIO
serialNum = '0016533dbaf5';
end
+ properties (Access = 'protected')
+ % connection handle
+ handle
+ end
+
methods
function brickIO = wfBrickIO(debug,addr,port,serialNum)