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Tim Stadtmann authoredRelocated "checking-for-corrupt-packets" to Command class and enhanced it to all detectable error cases in replies.
Tim Stadtmann authoredRelocated "checking-for-corrupt-packets" to Command class and enhanced it to all detectable error cases in replies.
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Command.m 114.09 KiB
% EV3 command construction
%
% Methods::
% Command Constructor, creates an empty command object
% delete Destructor, clears the command object
%
% addHeaderSystem Adds a system header to the command object
% addHeaderSystemReply Adds a system header with reply to the command object
% addHeaderDirect Adds a direct header to the command object
% addHeaderDirectReply Adds a direct header with reply to the command object
% addLength Adds the length of the msg to the front of the command object
% 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
% isCorrupt @MMI Checks whether reply packet is corrupt
%
% clear Clears the command msg
% display Displays the command msg (decimal)
% displayHex Displays the command msg (hex)
%
% LC0 Adds a local constant 0 to the command object
% LC1 Adds a local constant 1 to the command object
% LC2 Adds a local constant 2 to the command object
% LC4 Adds a local constant 4 to the command object
% LV0 Adds a local variable 0 to the command object
% GV0 Adds a global variable 0 to the command object
% LCS Adds a local constant string to the command object
%
% addValue Adds a numerical value to the command object
% addArray Adds a numerical array to the command object
% addString Adds a string to the command object
% addLCSString Adds a LCS string to the command object
%
% LONGToBytes Adds a LONGToBytes to the command object
% WORDToBytes Adds a WORDToBytes to the command object
% BYTEToBytes Adds a BYTEToBytes to the command object
%
% PROGRAMHeader Adds a PROGRAMHeader to the command object
% addFileSize Adds the filesize to the command object
% VMTHREADHeader Adds a VMTHREADHeader to the command object
% SUBCALLHeader Adds a SUBCALLHeader to the command object
% BLOCKHeader Adds a BLOCKHeader to the command object
% GenerateByteCode Prints the command message to a file
%
% opNOP Adds a opNOP opcode to the command object
% opOBJECT_END Adds a opOBJECT_END opcode to the command object
%
% opJR Adds a opJR opcode to the command object
%
% opUI_FLUSH Adds a opUI_FLUSH opcode to the command object
%
% opUI_READ_GET_VBATT Adds a opUI_READ opcode with a GET_VBATT subcode to the command object
% opUI_READ_GET_LBATT Adds a opUI_READ opcode with a GET_LBATT subcode to the command object
%
% opUI_WRITE_PUT_STRING Adds a opUI_WRITE opcode with a PUT_STRING subcode to the command object
% opUI_WRITE_INIT_RUN Adds a opUI_WRITE opcode with a INIT_RUN subcode to the command object
% opUI_WRITE_LED Adds a opUI_WRITE opcode with a LED subcode to the command object
%
% opUI_DRAW_UPDATE Adds a opUI_DRAW opcode with a UPDATE subcode to the command object
% opUI_DRAW_CLEAN Adds a opUI_DRAW opcode with a CLEAN subcode to the command object
% opUI_DRAW_PIXEL Adds a opUI_DRAW opcode with a PIXEL subcode to the command object
% opUI_DRAW_LINE Adds a opUI_DRAW opcode with a LINE subcode to the command object
% opUI_DRAW_CIRCLE Adds a opUI_DRAW opcode with a CIRCLE subcode to the command object
% opUI_DRAW_TEXT Adds a opUI_DRAW opcode with a TEXT subcode to the command object
% opUI_DRAW_VALUE Adds a opUI_DRAW opcode with a VALUE subcode to the command object
% opUI_DRAW_FILLRECT Adds a opUI_DRAW opcode with a FILLRECT subcode to the command object
% opUI_DRAW_RECT Adds a opUI_DRAW opcode with a RECT subcode to the command object
% opUI_DRAW_INVERSERECT Adds a opUI_DRAW opcode with a INVERSERECT subcode to the command object
% opUI_DRAW_SELECT_FONT Adds a opUI_DRAW opcode with a SELECT_FONT subcode to the command object% opUI_DRAW_TOPLINE Adds a opUI_DRAW opcode with a TOPLINE subcode to the command object
% opUI_DRAW_FILLWINDOW Adds a opUI_DRAW opcode with a FILLWINDOW subcode to the command object
% opUI_DRAW_FILLCIRCLE Adds a opUI_DRAW opcode with a FILLCIRCLE subcode to the command object
% opUI_DRAW_STORE Adds a opUI_DRAW opcode with a STORE subcode to the command object
% opUI_DRAW_RESTORE Adds a opUI_DRAW opcode with a RESTORE subcode to the command object
%
% opTIMER_WAIT Adds a opTIMER opcode with a WAIT subcode to the command object
% opTIMER_READY Adds a opTIMER opcode with a READY subcode to the command object
% opTIMER_READ Adds a opTIMER opcode with a READ subcode to the command object
%
% opSOUND_BREAK Adds a opSOUND opcode with a BREAK subcode to the command object
% opSOUND_TONE Adds a opSOUND opcode with a TONE subcode to the command object
% opSOUND_PLAY Adds a opSOUND opcode with a PLAY subcode to the command object
% opSOUND_REPEAT Adds a opSOUND opcode with a REPEAT subcode to the command object
% opSOUND_TEST Adds a opSOUND opcode with a TEST subcode to the command object
% opSOUND_READY Adds a opSOUND opcode with a READY subcode to the command object
%
% opINPUT_DEVICE_LIST Adds a INPUT_DEVICE opcode with a DEVICE_LIST subcode to the command object
% opINPUT_DEVICE_GET_TYPEMODE Adds a INPUT_DEVICE opcode with a GET_TYPEMODE subcode to the command object
% opINPUT_DEVICE_SET_TYPEMODE @MMI: Adds a INPUT_DEVICE opcode with a SET_TYPEMODE subcode to the command object
% opINPUT_DEVICE_GET_SYMBOL Adds a INPUT_DEVICE opcode with a GET_SYMBOL subcode to the command object
% opINPUT_DEVICE_CLR_ALL Adds a INPUT_DEVICE opcode with a CLR_ALL subcode to the command object
% opINPUT_DEVICE_CLR_CHANGES @MMI: Adds a INPUT_DEVICE opcode with a CLR_CHANGES subcode to the command object
% opINPUT_DEVICE_GET_NAME Adds a INPUT_DEVICE opcode with a GET_NAME subcode to the command object
% opINPUT_DEVICE_GET_MODENAME @MMI: Adds a INPUT_DEVICE opcode with a GET_MODENAME subcode to the command object
% opINPUT_DEVICE_GET_CONNECTION @MMI: Adds a INPUT_DEVICE opcode with GET_CONNECTION subcode to the command object
% opINPUT_DEVICE_GET_MINMAX @MMI: Adds a INPUT_DEVICE opcode with a GET_MINMAX subcode to the command object
% opINPUT_DEVICE_GET_CHANGES @MMI: Adds a INPUT_DEVICE opcode with a GET_CHANGES subcode to the command object
% opINPUT_DEVICE_GET_FORMAT @MMI: Adds a INPUT_DEVICE opcode with a GET_FORMAT subcode to the command object
% opINPUT_DEVICE_GET_BUMPS @MMI: Adds a INPUT_DEVICE opcode with a GET_BUMPS subcode to the command object
% opINPUT_READY Adds a opINPUT_READY opcode to the command object
% opINPUT_TEST @MMI: Adds a opINPUT_TEST opcode to the command object
% opINPUT_READ Adds a opINPUT_READ opcode to the command object
% opINPUT_READSI Adds a opINPUT_READSI opcode to the command object
%
% opOUTPUT_SET_TYPE Adds a opOUTPUT_SET_TYPE opcode to the command object
% opOUTPUT_RESET Adds a opOUTPUT_RESET opcode to the command object
% opOUTPUT_STOP Adds a opOUTPUT_STOP opcode to the command object
% opOUTPUT_SPEED Adds a opOUTPUT_SPEED opcode to the command object
% opOUTPUT_POWER Adds a opOUTPUT_POWER opcode to the command object
% opOUTPUT_START Adds a opOUTPUT_START opcode to the command object
% opOUTPUT_POLARITY Adds a opOUTPUT_POLARITY opcode to the command object
% opOUTPUT_READ Adds a opOUTPUT_READ opcode to the command object
% opOUTPUT_TEST Adds a opOUTPUT_TEST opcode to the command object
% opOUTPUT_READY Adds a opOUTPUT_READY opcode to the command object
% opOUTPUT_STEP_POWER Adds a opOUTPUT_STEP_POWER opcode to the command object
% opOUTPUT_TIME_POWER @MMI: Adds a opOUTPUT_TIME_POWER opcode to the command object
% opOUTPUT_STEP_SPEED Adds a opOUTPUT_STEP_SPEED opcode to the command object
% opOUTPUT_TIME_SPEED Adds a opOUTPUT_TIME_SPEED opcode to the command object
% opOUTPUT_STEP_SYNC Adds a opOUTPUT_STEP_SYNC opcode to the command object
% opOUTPUT_TIME_SYNC Adds a opOUTPUT_TIME_SYNC opcode to the command object
% opOUTPUT_CLR_COUNT Adds a opOUTPUT_CLR_COUNT opcode to the command object
% opOUTPUT_GET_COUNT Adds a opOUTPUT_GET_COUNT opcode to the command object
%
% opCOM_TEST @MMI: Adds a opCOM_TEST opcode to the command object
% opCOM_READY @MMI: Adds a opCOM_READY opcode to the command object
% opCOMGET_GET_BRICKNAME Adds a opCOMGET opcode with a GET_BRICKNAME subcode to the command object
% opCOMSET_SET_BRICKNAME Adds a opCOMSET opcode with a SET_BRICKNAME subcode to the command object
%
% opMAILBOX_WRITE Adds a opMAILBOX_WRITE opcode to the command object
%
% BEGIN_DOWNLOAD Adds a BEGIN_DOWNLOAD system command to the command object
% CONTINUE_DOWNLOAD Adds a CONTINUE_DOWNLOAD system command to the command object
% BEGIN_UPLOAD Adds a BEGIN_UPLOAD system command to the command object
% CONTINUE_UPLOAD Adds a CONTINUE_UPLOAD system command to the command object
% LIST_FILES Adds a LIST_FILES system command to the command object
% CONTINUE_LIST_FILES Adds a CONTINUE_LIST_FILES system command to the command object
% CREATE_DIR Adds a CREATE_DIR system command to the command object
% DELETE_FILE Adds a DELETE_FILE system command to the command object
% WRITEMAILBOX Adds a WRITEMAILBOX system command to the command object%
% Notes::
% - Refer to the EV3 documentation or source code for a more detailed
% description of the commands.
%
% Example::
% cmd = Command();
% cmd.addHeaderDirect(42,0,0);
% cmd.opSOUND_TONE(volume,frequency,duration);
% cmd.addLength();
classdef Command < handle
% Communications format (c_com.h):
% /*
% System Command Bytes:
% ,------,------,------,------,------,------,------,------,
% |Byte 0|Byte 1|Byte 2|Byte 3|Byte 4|Byte 5| |Byte n|
% '------'------'------'------'------'------'------'------'
%
% Byte 0 - 1: Command size, Little Endian\n
%
% Byte 2 - 3: Message counter, Little Endian\n
%
% Byte 4: Command type. See following defines */
%
% #define SYSTEM_COMMAND_REPLY 0x01 // System command, reply required
% #define SYSTEM_COMMAND_NO_REPLY 0x81 // System command, reply not required
% /*
% Byte 5: System Command. see following defines */
%
% #define BEGIN_DOWNLOAD 0x92 // Begin file down load
% #define CONTINUE_DOWNLOAD 0x93 // Continue file down load
% #define BEGIN_UPLOAD 0x94 // Begin file upload
% #define CONTINUE_UPLOAD 0x95 // Continue file upload
% #define BEGIN_GETFILE 0x96 // Begin get bytes from a file (while writing to the file)
% #define CONTINUE_GETFILE 0x97 // Continue get byte from a file (while writing to the file)
% #define CLOSE_FILEHANDLE 0x98 // Close file handle
% #define LIST_FILES 0x99 // List files
% #define CONTINUE_LIST_FILES 0x9A // Continue list files
% #define CREATE_DIR 0x9B // Create directory
% #define DELETE_FILE 0x9C // Delete
% #define LIST_OPEN_HANDLES 0x9D // List handles
% #define WRITEMAILBOX 0x9E // Write to mailbox
% #define BLUETOOTHPIN 0x9F // Transfer trusted pin code to brick
% #define ENTERFWUPDATE 0xA0 // Restart the brick in Firmware update mode
% #define SETBUNDLEID 0xA1 // Set Bundle ID for mode 2
% #define SETBUNDLESEEDID 0xA2 // Set bundle seed ID for mode 2
%
% /*
%
% Byte 6 - n: Dependent on System Command
%
%
%
% System Command Response Bytes:
% ,------,------,------,------,------,------,------,------,
% |Byte 0|Byte 1|Byte 2|Byte 3| | | |Byte n|
% '------'------'------'------'------'------'------'------'
%
% Byte 0 � 1: Reply size, Little Endian\n
%
% Byte 2 � 3: Message counter, Little Endian\n
%
% Byte 4: Reply type. see following defines */
%
% #define SYSTEM_REPLY 0x03 // System command reply
% #define SYSTEM_REPLY_ERROR 0x05 // System command reply error
% /* % Byte 5: System command this is the response to
%
% Byte 6: Reply status
% */
%
% // SYSTEM command return codes
% #define SUCCESS 0x00
% #define UNKNOWN_HANDLE 0x01
% #define HANDLE_NOT_READY 0x02
% #define CORRUPT_FILE 0x03
% #define NO_HANDLES_AVAILABLE 0x04
% #define NO_PERMISSION 0x05
% #define ILLEGAL_PATH 0x06
% #define FILE_EXITS 0x07
% #define END_OF_FILE 0x08
% #define SIZE_ERROR 0x09
% #define UNKNOWN_ERROR 0x0A
% #define ILLEGAL_FILENAME 0x0B
% #define ILLEGAL_CONNECTION 0x0C
%
% /*
% Byte 7 - n: Response dependent on System Command
%
% Direct Command Bytes:
% ,------,------,------,------,------,------,------,------,
% |Byte 0|Byte 1|Byte 2|Byte 3|Byte 4|Byte 5| |Byte n|
% '------'------'------'------'------'------'------'------'
%
% Byte 0 � 1: Command size, Little Endian\n
%
% Byte 2 � 3: Message counter, Little Endian\n
%
% Byte 4: Command type. see following defines */
%
% #define DIRECT_COMMAND_REPLY 0x00 // Direct command, reply required
% #define DIRECT_COMMAND_NO_REPLY 0x80 // Direct command, reply not required
%
% /*
%
% Byte 5 - 6: Number of global and local variables (compressed).
%
% Byte 6 Byte 5
% 76543210 76543210
% -------- --------
% llllllgg gggggggg
%
% gg gggggggg Global variables [0..MAX_COMMAND_GLOBALS]
%
% llllll Local variables [0..MAX_COMMAND_LOCALS]
%
% Byte 7 - n: Byte codes
%
% Direct Command Response Bytes:
% ,------,------,------,------,------,------,------,------,
% |Byte 0|Byte 1|Byte 2|Byte 3| | | |Byte n|
% '------'------'------'------'------'------'------'------'
%
% Byte 0 - 1: Reply size, Little Endian\n
%
% Byte 2 - 3: Message counter, Little Endian\n
%
% Byte 4: Reply type. see following defines */
%
% #define DIRECT_REPLY 0x02 // Direct command reply
% #define DIRECT_REPLY_ERROR 0x04 // Direct command reply error
%
% /*
%
% Byte 5 - n: Response buffer (global variable values)
% */
properties
msg
end
methods
function cmd = Command(varargin)
% Command.cmd Create an empty command
%
% c = Command() is an object that represents an EV3 command
% c = Command([...]) is an object that represents an EV3 reply
%
% Example::
% c = Command();
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)
% Command.delete Clear command
%
% delete(c) clears the command
cmd.msg = '';
end
function errorDetected = checkForError(cmd)
% Command.checkForError Check command for error
%
% error = checkForError() returns 1 if error byte in received
% package is set and 0 if not.)
%
% Note:: - If 5th byte is set to 0x04 (direct command) or 0x05
% (system command) an error has occurred.
% (found in EV3 Communication Developer Kit.pdf)
% - Only valid if cmd is a reply packet, of course.
% 5th byte in reply is used for error detection replyTypeOffset = 5;
errorDetected = 0;
if cmd.msg(replyTypeOffset) == 4 || cmd.msg(replyTypeOffset) == 5
errorDetected = 1;
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
%
% Commad.addHeaderSystem(counter) adds a system command header
% with no reply (0x81).
%
% Notes::
% - counter is a decimal number used as a message counter
%
% Example::
% cmd.addHeaderSystem(42)
cmd.msg = [cmd.msg typecast(uint16(counter), 'uint8'), uint8(129)];
end
function addHeaderSystemReply(cmd,counter)
% Command.addHeaderSystemReply Add a system header with reply
%
% Command.addHeaderSystemReply(counter) adds a system command
% header with reply (0x01).
%
% Notes::
% - counter is a decimal number used as a message counter
%
% Example:: % cmd.addHeaderSystemReply(42)
cmd.msg = [cmd.msg typecast(uint16(counter), 'uint8'), uint8(1)];
end
function addHeaderDirect(cmd,counter,nGV,nLV)
% Command.addHeaderDirect Add a direct header with no reply
%
% Command.addHeaderDirect(counter,GV,LV) Adds a direct command
% header with no reply (0x80).
%
% Notes::
% - counter is a decimal number used as a message counter
% - nGV is the number of 1 byte global variables needed.
% - nLV is the number of 1 byte local variables needed.
% - If you needed a global float variable or 2 uint16s then GV = 4.
% - If you needed a local uint16 variable then LV = 2.
%
% Example::
% cmd.addHeaderDirect(42,0,0)
cmd.msg = [cmd.msg typecast(uint16(counter), 'uint8'), uint8(128), typecast(bitor(bitshift(uint16(nLV),10),uint16(nGV)), 'uint8')];
end
function addHeaderDirectReply(cmd,counter,nGV,nLV)
% Command.addHeaderDirectReply Add a direct header with reply
%
% Command.addHeaderDirect(counter,nGV,nLV) Adds a direct command
% header with reply (0x00).
%
% Notes::
% - counter is a decimal number used as a message counter
% - nGV is the number of 1 byte global variables needed.
% - nLV is the number of 1 byte local variables needed.
% - If you needed a global float varible then nGV = 4.
% - If you needed a local uint16 variable then nLV = 2.
%
% Example::
% cmd.addHeaderDirectReply(42,0,0)
cmd.msg = [cmd.msg typecast( uint16(counter), 'uint8'), uint8(0), typecast( bitor(bitshift(uint16(nLV),10),uint16(nGV)), 'uint8')];
end
function addLength(cmd)
% Command.addLength Add command length
%
% Command.addLength() adds the command message length to the
% start of command object message.
%
% Example::
% cmd.addLength()
cmd.msg = [typecast( uint16(length(cmd.msg)), 'uint8') cmd.msg];
end
function addSystemCommand(cmd,v)
% Command.addSystemCommand Add a system command
%
% Command.addSystemCommand(v) adds a system command to the
% command object.
%
% Notes::
% - v is the system commands which can be found in c_com.h
%
% Example::
% cmd.addSystemCommand(SystemCommands.BeginDownload)
cmd.msg = [cmd.msg uint8(v)];
end
function addDirectCommand(cmd,v)
% Command.addDirectCommand Add a direct command
%
% Command.addDirectCommand(v) adds a direct command to the
% command object.
%
% Notes::
% - v is the direct commands opcode can be found in ByteCodes.m
%
% Example::
% cmd.addDirectCommand(SoundSubCodes.Tone)
cmd.msg = [cmd.msg uint8(v)];
end
function clear(cmd)
% Command.clear Clear command
%
% Commad.clear clears the message
%
% Example::
% cmd.clear()
cmd.msg = '';
end
function s = char(cmd)
s = '';
for i=1:length(cmd.msg)
s = [s sprintf(' %d', cmd.msg(i))];
end
end
function s = hex(cmd)
s = '';
for i=1:length(cmd.msg)
s = [s sprintf(' %x', cmd.msg(i))];
end
end
function display(cmd)
% Command.display Display the command message (decimal)
%
% Command.display() prints the command message to the MATLAB
% command window in decimal format.
%
% Example::
% cmd.display()
loose = strcmp( get(0, 'FormatSpacing'), 'loose');
if loose
disp(' ');
end
disp([inputname(1), ' = '])
disp( char(cmd) );
end
function displayHex(cmd)
% Command.displayHex Display the command message (hex)
%
% Command.displayHex() prints the command message to the MATLAB
% command window in hexadecimal format.
%
% Example::
% cmd.displayHex()
loose = strcmp( get(0, 'FormatSpacing'), 'loose');
if loose
disp(' ');
end disp([inputname(1), ' = '])
disp( hex(cmd) );
end
function LC0(cmd,v)
% Command.LC0 Add a local constant 0
%
% Command.LC0(v) adds a local constant 0 to the command object.
%
% Notes::
% - v is the numerical value for the LC0 command
% - Local constant 0 is defined as ((v & PRIMPAR_VALUE) | PRIMPAR_SHORT |
% PRIMPAR_CONST) (which equals v)
% - LC0 has a range from -32 to 31 since PRIMPAR_VALUE = 3F
%
% Examples::
% cmd.LC0(10) --> cmd.msg = (cmd.msg 10)
cmd.msg = [cmd.msg bitor(bitand(typecast(int8(v),'uint8'),uint8(Primitives.pvalue)),bitor(uint8(Primitives.pshort),uint8(Primitives.pconst)))];
end
function LC1(cmd,v)
% Command.LC1 Add a local constant 1
%
% Command.LC1(v) adds a local constant 1 to the command object.
%
% Notes::
% - LC1(v) is defined as (PRIMPAR_LONG | PRIMPAR_CONST | PRIMPAR_1_BYTE),(v & 0xFF)
% - LC1 has a range from -127 to 128
% - v is the numerical value for the LC1 command
% - resulting part of msg will be 2 bytes long:
% -> byte 1 = indicator(129) that 1 byte will follow
% -> byte 2 = v
%
% Examples::
% cmd.LC1(100) --> cmd.msg = (cmd.msg 129 10)
cmd.msg = [cmd.msg bitor(bitor(uint8(Primitives.plong),uint8(Primitives.pconst)),(uint8(Primitives.p1_byte))), bitand(typecast(int8(v),'uint8'),255)];
end
function LC2(cmd,v)
% Command.LC2 Add a local constant 2
%
% Command.LC2(v) adds a local constant 2 to the command object.
%
% Notes::
% - Local constant 2 is defined as (PRIMPAR_LONG | PRIMPAR_CONST | PRIMPAR_2_BYTES),(v & 0xFF),((v >> 8) & 0xFF)
% - LC2 has a range from -32768 to 32767
% - v is the numerical value for the LC2 command
% - resulting part of msg will be 3 bytes long:
% -> byte 1 = indicator(130) that 2 bytes will follow
% -> byte 2-3 = v
%
% Examples::
% cmd.LC2(1000) --> cmd.msg = (cmd.msg 130 232 3)
cmd.msg = [cmd.msg bitor(bitor(uint8(Primitives.plong),uint8(Primitives.pconst)),(uint8(Primitives.p2_byte))), typecast(int16(v), 'uint8')];
end
function LC4(cmd,v)
% Command.LC4 Add a local constant 4
%
% Command.LC4(v) adds a local constant 4 to the command object.
%
% Notes::
% - Local constant 4 is defined as(PRIMPAR_LONG | PRIMPAR_CONST | PRIMPAR_4_BYTES),((ULONG)v & 0xFF),(((ULONG)v >> (ULONG)8) & 0xFF),(((ULONG)v >> (ULONG)16) & 0xFF),(((ULONG)v >> (ULONG)24) & 0xFF)
% - LC4 has a range from -2,147,483,648 to 2,147,483,647
% - v is the numerical value for the LC4 command
% - resulting part of msg will be 5 bytes long:
% -> byte 1 = indicator(131) that 4 bytes will follow % -> byte 2-5 = v
%
% Examples::
% cmd.LC4(10000) --> = (cmd.msg 131 16 39 0 0)
cmd.msg = [cmd.msg bitor(bitor(uint8(Primitives.plong),uint8(Primitives.pconst)),(uint8(Primitives.p4_byte))), typecast(int32(v), 'uint8')];
end
function LV0(cmd,i)
% Command.LV0 Add a local variable 0
%
% Command.LV0(i) adds a local variable 0 to the command object.
%
% Notes::
% - Local variable 0 is defined as ((i & PRIMPAR_INDEX) | PRIMPAR_SHORT | PRIMPAR_VARIABEL | PRIMPAR_LOCAL)
% - i is the number of 1 byte local variables needed.
%
% Example::
% cmd.LV0(1)
cmd.msg = [cmd.msg bitor(bitor(bitor(bitand(uint8(i),Primitives.pindex),Primitives.pshort),Primitives.pvariabel),Primitives.plocal)];
end
function GV0(cmd,i)
% Command.GV0 Add a global variable 0
%
% Command.GV0(i) adds a global variable 0 to the command
% object.
%
% Notes::
% - Global variable 0 is defined as ((i & PRIMPAR_INDEX) | PRIMPAR_SHORT | PRIMPAR_VARIABEL | PRIMPAR_GLOBAL)
% - i is the address in response buffer of reply packet where returned data should
% be stored
% - the response buffer starts at byte 5 and ends at byte 5+nGV
% - nGV defined in addHeaderDirectReply, used when creating command in Brick.m
%
% Example::
% cmd.GV0(0)--> Starting at byte 5, first n (see addHeaderDirectReply) bytes
% in response buffer of reply packet are reserved for returning data
% (n=1 for DATA8, n=4 for DATAF, etc.).
% Note: If nGV>n, remaining packet filled with either zeros or
% seemingly pointless data...
% cmd.GV0(0);cmd.GV0(1)--> first byte in response buffer for DATA8, next nGV-1 bytes
% for something else (e.g. DATA32, if nGV>=5)
cmd.msg = [cmd.msg bitor(bitor(bitor(bitand(uint8(i),Primitives.pindex),Primitives.pshort),Primitives.pvariabel),Primitives.pglobal)];
end
% Implemented @ MMI
% WIP
function GV1(cmd,i)
% (PRIMPAR_LONG | PRIMPAR_VARIABEL | PRIMPAR_GLOBAL | PRIMPAR_1_BYTE),(i & 0xFF)
cmd.msg = [cmd.msg bitor(bitor(bitor(Primitives.pglobal,Primitives.p1_byte),Primitives.pvariabel),Primitives.plong) bitand(i,255)];
end
% Implemented @ MMI
% WIP
function GV2(cmd,i)
% (PRIMPAR_LONG | PRIMPAR_VARIABEL | PRIMPAR_GLOBAL | PRIMPAR_2_BYTES),(i & 0xFF),((i >> 8) & 0xFF)
cmd.msg = [cmd.msg bitor(bitor(bitor(Primitives.pglobal,Primitives.p2_byte),Primitives.pvariabel),Primitives.plong) bitand(i,255) bitand(bitshift(i,-8),255)];
end
% Implemented @ MMI
% WIP
function GV4(cmd,i)
% (PRIMPAR_LONG | PRIMPAR_VARIABEL | PRIMPAR_GLOBAL | PRIMPAR_4_BYTES),(i & 0xFF),((i >> 8) & 0xFF),((i >> 16) & 0xFF),((i >> 24) & 0xFF)
cmd.msg = [cmd.msg bitor(bitor(bitor(Primitives.pglobal,Primitives.p4_byte),Primitives.pvariabel),Primitives.plong) bitand(i,255) bitand(bitshift(i,-8),255) bitand(bitshift(i,-16),255) bitand(bitshift(i,-24),255)];
end
function LCS(cmd) % Command.LCS Add a local constant string
%
% Command.LCS() adds a local constant string to the command
% object.
%
% Notes::
% - Local constant string is defined as (PRIMPAR_LONG | PRIMPAR_STRING)
%
% Example::
% cmd.LCS()
cmd.msg = [cmd.msg bitor(Primitives.plong,Primitives.pstring)];
end
function addValue(cmd,v)
% Command.addValue add a numerical value
%
% Command.addValue adds a numerical value to the command
% object.
%
% Notes::
% - v is the numerical value to be added with range -128 to 127
%
% Example::
% cmd.addValue(10)
cmd.msg = [cmd.msg uint8(v)];
end
function addArray(cmd,txt)
% Command.addArray add a numerical array
%
% Command.addArray(txt) adds a numerical array to the command
% object.
%
% Notes::
% - txt is the numerical array to be added
%
% Example::
% cmd.addArray([1,2,3,4,5])
for i=1:length(txt)
cmd.addValue(txt(i));
end
end
function addString(cmd,txt)
% Command.addString add a string
%
% Commad.addString(txt) adds a string to the command object.
%
% Notes::
% - txt is the string to be added
% - a null termination character is added to the end of the
% string
% - on most occasions addLCSString should be used
%
% Example::
% cmd.addString('hello')
for i=1:length(txt)
cmd.addValue(txt(i));
end
cmd.addValue(0);
end
function addLCSString(cmd,txt)
% Command.addLCSString add a string with the LCS type
%
% Command.addLCSString(txt) adds a string to the command object % with the LCS command as well.
%
% Notes::
% - txt is the string to be added
% - a null termination character is added to the end of the
% string.
%
% Example::
% cmd.addLCSString('hello')
cmd.LCS;
for i=1:length(txt)
cmd.addValue(txt(i));
end
cmd.addValue(0);
end
function LONGToBytes(cmd,x)
% Command.LONGToBytes add a LONGToBytes
%
% Command.LONGToBytes(x) adds a LONGToBytes to the command
% object.
%
% Notes::
% - x is the value to be added
% - LONGToBytes is defined as(UBYTE)((_x) & 0xFF),(UBYTE)((_x >> 8) & 0xFF),(UBYTE)((_x >> 16) & 0xFF),(UBYTE)((_x >> 24) & 0xFF)
%
% Example::
% cmd.LONGToBytes(1)
cmd.msg = [cmd.msg typecast(uint32(x), 'uint8')];
end
function WORDToBytes(cmd,x)
% Command.WORDToBytes add a WORDToBytes
%
% Command.WORDToBytes(x) adds a WORDToBytes to the command
% object.
%
% Notes::
% - x is the value to be added
% - WORDToBytes is defined as (UBYTE)((_x) & 0xFF),(UBYTE)((_x >> 8) & 0xFF)
%
% Example::
% cmd.WORDToBytes(1)
cmd.msg = [cmd.msg typecast(uint16(x), 'uint8')];
end
function BYTEToBytes(cmd,x)
% Command.BYTEToBytes add a BYTEToBytes
%
% Command.BYTEToBytes(x) adds a BYTEToBytes to the command
% object.
%
% Notes::
% - x is the value to be added
% - BYTEToBytes is defined as (UBYTE)((_x) & 0xFF)
%
% Example::
% cmd.BYTEToBytes(1)
cmd.msg = [cmd.msg uint8(x)];
end
function PROGRAMHeader(cmd,VersionInfo,NumberOfObjects,GlobalBytes)
% Command.PROGRAMHeader add a PROGRAMHeader
%
% Command.PROGRAMHeader(VersionInfo,NumberOfObjects,GlobalBytes)
% adds a PROGRAMHeader to the command object. %
% Notes::
% - VersionInfo is not used in the current byte implementation
% (hardcoded to 1.04)
% - NumberOfObjects is the number of objects used
% - GlobalBytes is the number of global bytes
% - PROGRAMHEADER is defined as 'L','E','G','O',LONGToBytes(0),WORDToBytes((UWORD)(BYTECODE_VERSION * 100.0)),WORDToBytes(NumberOfObjects),LONGToBytes(GlobalBytes)
%
% Example::
% cmd.PROGRAMHeader(0,1,0)
BYTECODE_VERSION = 1.04;
cmd.msg = [cmd.msg,uint8('L'),uint8('E'),uint8('G'),uint8('O')] ;
cmd.LONGToBytes(0);
cmd.WORDToBytes(BYTECODE_VERSION*100);
cmd.WORDToBytes(NumberOfObjects);
cmd.LONGToBytes(GlobalBytes);
end
function addFileSize(cmd)
% Command.addFileSize Add file size
%
% Command.addFileSize() adds the file size to the command
% object.
%
% Notes::
% - With bytecode compiling using "Old header", the file size is
% inserted at byte number 5 which corresponds to the two bytes
% after 'L','E','G','O'
%
% Example::
% cmd.addFileSize
cmd.msg(5:6) = typecast(uint16(length(cmd.msg)),'uint8');
end
function VMTHREADHeader(cmd,OffsetToInstructions,LocalBytes)
% Command.VMTHREADHeader Add a VMTHREADHeader
%
% Command.VMTHREADHeader(OffsetToInstructions,LocalBytes)
% adds a VMTHREADHeader to the command object.
%
% Notes::
% - OffsetToInstructions is the offset to the instructions
% - LocalBytes is the number of local bytes
% - VMTHREADHeader is defined as LONGToBytes(OffsetToInstructions),0,0,0,0,LONGToBytes(LocalBytes)
%
% Example::
% cmd.VMTHREADHeader(0,1)
cmd.LONGToBytes(OffsetToInstructions);
cmd.msg = [cmd.msg uint8(0),uint8(0),uint8(0),uint8(0)];
cmd.LONGToBytes(LocalBytes) ;
end
function SUBCALLHeader(cmd,OffsetToInstructions,LocalBytes)
% Command.SUBCALLHeader Add a SUBCALLHeader
%
% Command.SUBCALLHeader(OffsetToInstructions,LocalBytes)
% adds a SUBCALLHeader to the command object.
%
% Notes::
% - OffsetToInstructions is the offset to the instructions
% - LocalBytes is the number of local bytes
% - SUBCALLHeader is defined as LONGToBytes(OffsetToInstructions),0,0,1,0,LONGToBytes(LocalBytes)
%
% Example::
% cmd.SUBCALLHeader(0,1)
cmd.LONGToBytes(OffsetToInstructions); cmd.msg = [cmd.msg uint8(0),uint8(0),uint8(1),uint8(0)];
cmd.LONGToBytes(LocalBytes) ;
end
function BLOCKHeader(cmd,OffsetToInstructions,OwnerObjectId,TriggerCount)
% Command.BLOCKHeader
%
% Command.BLOCKHeader(OffsetToInstructions,OwnerObjectId,TriggerCount)
% adds a BLOCKHeader to the command object.
%
% Notes::
% - OffsetToInstructions is the offset to the instructions
% - OwnerObjectId is the owner object id
% - TriggerCount is the trigger count
% - BLOCKHeader is defined as LONGToBytes(OffsetToInstructions),WORDToBytes(OwnerObjectId),WORDToBytes(TriggerCount),LONGToBytes(0)
%
% Example::
% cmd.BLOCKHeader(0,0,0)
cmd.LONGToBytes(OffsetToInstructions);
cmd.WORDToBytes(OwnerObjectId);
cmd.WORDToBytes(TriggerCount)
cmd.LONGToBytes(0);
end
function GenerateByteCode(cmd, fileName)
% Command.GenerateByteCode Generate byte code
%
% Command.GenerateByteCode(fileName) prints the byte code in
% the command object to a file. This file can then be uplodaded
% and executed directly on the brick.
%
% Example::
% cmd.GenerateByteCode('tst.rbf')
fid = fopen([fileName '.rbf'], 'w');
fwrite(fid,cmd.msg,'uint8');
fclose(fid);
fprintf('Wrote %d bytes to %s.rbf\n',length(cmd.msg),fileName);
end
function opNOP(cmd)
% Command.opNOP Add a opNOP
%
% Command.opNOP() adds a opNOP opcode to the command object.
%
% Example::
% cmd.opNOP()
cmd.addDirectCommand(ByteCodes.Nop);
end
function opOBJECT_END(cmd)
% Command.opOBJECT_END Add a opOBJECT_END
%
% Command.opOBJECT_END() adds a opOBJECT_END opcode to the
% command object.
%
% Notes::
% - opOBJECT_END
%
% Example::
% cmd.opOBJECT_END()
cmd.addDirectCommand(ByteCodes.ObjectEnd);
end
function opJR(cmd,offset)
% Command.opJR Add a opJR
% % Command.opJR(offset) adds a opJR opcode to the command
% object.
%
% Notes::
% - offset is the number of command to jump where the sign
% indicates the jump direction
% - opJR,LC0(offset)
%
% Example::
% cmd.opJR(-10)
cmd.addDirectCommand(ByteCodes.Jr);
cmd.LC0(offset);
end
function opUI_FLUSH(cmd)
% Command.opUI_FLUSH Add a opUI_FLUSH
%
% Command.opUI_FLUSH() adds a opUI_FLUSH opcode to the command
% object.
%
% Notes::
% opUI_FLUSH
%
% Example::
% cmd.opUI_FLUSH()
cmd.addDirectCommand(ByteCodes.UIFlush);
end
function opUI_READ_GET_VBATT(cmd,value)
% Command.opUI_READ_GET_VBATT Add a opUI_READ_GET_VBATT
%
% Command.opUI_READ_GET_VBATT adds a opUI opcode with a
% READ_GET_VBATT subcode to the command object.
%
% Notes::
% - value is the address in response buffer where value (DATA32) should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opUI_READ,LC0(1),GV0(value)
%
% Example::
% cmd.opUI_READ_GET_VBATT(0)
cmd.addDirectCommand(ByteCodes.UIRead);
cmd.LC0(UIReadSubCodes.GetVbatt);
cmd.GV0(value);
end
function opUI_READ_GET_LBATT(cmd,value)
% Command.opUI_READ_GET_LBATT Add a opUI_READ_GET_LBATT
%
% Command.opUI_READ_GET_LBATT adds a opUI opcode with a
% READ_GET_LBATT subcode to the command object.
%
% Notes::
% - value is the address in response buffer where value (DATA8) should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opUI_READ,LC0(18),GV0(value)
%
% Example::
% cmd.opUI_READ_GET_LBATT(0)
cmd.addDirectCommand(ByteCodes.UIRead);
cmd.LC0(UIReadSubCodes.GetLbatt);
cmd.GV0(value);
end
function opUI_WRITE_PUT_STRING(cmd,txt)
% Command.opUI_WRITE_PUT_STRING Add a opUI_WRITE_PUT_STRING %
% Command.opUI_WRITE_PUT_STRING adds a opUR_WRITE opcode with a
% WRITE_PUT_STRING subcode to the command object.
%
% Notes::
% - txt is the string to be added
% - opUI_WRITE,LC0(8),LCS,'A','B' ... ,0
%
% Example::
% cmd.opUI_WRITE_PUT_STRING('hello')
cmd.addDirectCommand(ByteCodes.UIWrite);
cmd.LC0(UIWriteSubCodes.PutString);
cmd.addLCSString(txt);
end
function opUI_WRITE_INIT_RUN(cmd)
% Command.opUI_WRITE_INIT_RUN Add a opUI_WRITE_INIT_RUN
%
% Command.opUI_WRITE_INIT_RUN adds a opUI_WRITE opcode with a
% INIT_RUN subcode to the command object.
%
% Notes::
% - opUI_WRITE,LC0(25)
%
% Example::
% cmd.opUI_WRITE_INIT_RUN()
cmd.addDirectCommand(ByteCodes.UIWrite);
cmd.LC0(UIWriteSubCodes.InitRun);
end
function opUI_WRITE_LED(cmd,pattern)
% Command.opUI_WRITE_LED Add a opUI_WRITE_LED
%
% Command.opUI_WRITE_LED(pattern) adds a opUI_WRITE opcode with
% a WRITE_LED subcode to the command object.
%
% Notes::
% - pattern is the LED pattern from Device.LedBlack to
% Device.LedOrangePulse
% - opUI_WRITE,LC0(27),LC0(pattern)
%
% Example::
% cmd.opUI_WRITE_LED(Device.LedBlack)
cmd.addDirectCommand(ByteCodes.UIWrite);
cmd.LC0(UIWriteSubCodes.Led);
cmd.LC0(pattern);
end
function opUI_DRAW_UPDATE(cmd)
% Command.opUI_DRAW_UPDATE Add a opUI_DRAW_UPDATE
%
% Command.opUI_DRAW_UPDATE() adds a opUI_DRAW opcode with a
% DRAW_UPDATE subcode to the command object.
%
% Notes::
% - opUI_DRAW,LC0(0)
%
% Examples::
% cmd.opUI_DRAW_UPDATE()
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Update);
end
function opUI_DRAW_CLEAN(cmd)
% Command.opUI_DRAW_CLEAN Add a opUI_DRAW_CLEAN
% % Command.opUI_DRAW_CLEAN() adds a UI_DRAW opcode with a CLEAN
% subcode to the command object.
%
% Notes::
% - opUI_DRAW,LC0(1)
%
% Example::
% cmd.opUI_DRAW_CLEAN()
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Clean);
end
function opUI_DRAW_PIXEL(cmd,color,x,y)
% Command.opUI_DRAW_PIXEL Add a opUI_DRAW_PIXEL
%
% command.opUI_DRAW_PIXEL(color,x,y) adds a UI_DRAW opcode with
% a PIXEL subcode to the command object.
%
% Notes::
% - color is the pixel color (either foregrond or background)
% - x is the x coordinate on the LCD
% - y is the y coordinate on the LCD
% - opUI_DRAW,LC0(2),LC0(color),LC2(x),LC2(y)
%
% Example::
% cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,0,0)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Pixel);
cmd.LC0(color);
cmd.LC2(x);
cmd.LC2(y)
end
function opUI_DRAW_LINE(cmd,color,x0,y0,x1,y1)
% Command.opUI_DRAW_LINE Add a opUI_DRAW_LINE
%
% Command.opUI_DRAW_LINE(color,x0,y0,x1,y1) adds a UI_DRAW
% opcode with a LINE subcode to the command object.
%
% Notes::
% - color is the pixel color (either foregrond or background)
% - x0,y0 is the first point coordinate of the line
% - x1,y1 is the second point coordinate of the line
% - opUI_DRAW,LC0(3),LC0(color),LC2(x0),LC2(y0),LC2(x1),LC2(y1)
%
% Example::
% cmd.opUI_DRAW_LINE(vmCodes.vmFGColor,0,0,1,1)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Line);
cmd.LC0(color);
cmd.LC2(x0);
cmd.LC2(y0);
cmd.LC2(x1);
cmd.LC2(y1);
end
function opUI_DRAW_CIRCLE(cmd,color,x0,y0,r)
% Command.opUI_DRAW_CIRCLE Add a opUI_DRAW_CIRCLE
%
% Command.opUI_DRAW_CIRCLE(color,x0,y0,r) adds a UI_DRAW opcode
% with a CIRCLE subcode to the object command.
%
% Notes::
% - color is the pixel color (either foregrond or background)
% - x is the x coordinate of the circle center
% - y is the y coordinate of the circle center
% - r is the radius of the circle % - opUI_DRAW,LC0(4),LC0(color),LC2(x0),LC2(y0),LC2(r)
%
% Example::
% cmd.opUI_DRAW_CIRCLE(vmCodes.vmFGColor,0,0,5)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Circle);
cmd.LC0(color);
cmd.LC2(x0);
cmd.LC2(y0);
cmd.LC2(r);
end
function opUI_DRAW_TEXT(cmd,color,x,y,txt)
% Command.opUI_DRAW_TEXT Add a opUI_DRAW_TEXT
%
% Command.opUI_DRAW_TEXT(color,x,y,txt) adds a UI_DRAW opcode
% with a TEXT subcode to the command object.
%
% Notes::
% - color is the pixel color (either foregrond or background)
% - x is the x start coordinate of the text
% - y is the y start coordinate of the text
% - txt is the text to be printed
% - opUI_DRAW,LC0(5),LC0(color),LC2(x),LC2(y),LCS,'A','B' ...,0
%
% Example::
% cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,0,0,'hello')
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Text);
cmd.LC0(color);
cmd.LC2(x);
cmd.LC2(y);
cmd.addLCSString(txt);
end
function opUI_DRAW_VALUE(cmd,color,x,y,index,figures,decimals)
% Command.opUI_DRAW_VALUE Add a opUI_DRAW_VALUE
%
% Command.opUI_DRAW_VALUE(color,x,y,index,figures,decimals)
% adds a UI_DRAW opcode with a VALUE subcode to the command
% object.
% Notes::
% - color is the pixel color (either foregrond or background)
% - x is the x start coordinate of the text
% - y is the y start coordinate of the text
% - index is the value to write at an index
% - figures is the total number of figured inclusive decimal point
% - decimals is the number of decimals
% - opUI_DRAW,LC0(8),LC0(color),LC2(x),LC2(y),GV0(index),LC0(figures),LC0(decimals)
%
% Example::
% cmd.opUI_DRAW_VALUE(vmCodes.vmFGColor,0,0,0,3,2)
%
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Value);
cmd.LC0(color);
cmd.LC2(x);
cmd.LC2(y);
cmd.GV0(index);
cmd.LC0(figures);
cmd.LC0(decimals);
end
function opUI_DRAW_FILLRECT(cmd,color,x0,y0,x1,y1)
% Command.opUI_DRAW_FILLRECT Add a opUI_DRAW_FILLRECT
%
% Command.opUI_DRAW_FILLRECT(color,x0,y0,x1,y1) adds a % opUI_DRAW opcode with a FILLRECT subcode to the command
% object.
%
% Notes::
% - color is the pixel color (either foregrond or background)
% - x0,y0 is the point coordinate of the top left corner
% - x1,y1 is the point cooredinate of the bottom right corner
% - opUI_DRAW,LC0(9),LC0(color),LC2(x0),LC2(y0),LC2(x1),LC2(y1)
%
% Example::
% cmd.opUI_DRAW_FILLRECT(vmCodes.vmFGColor,0,0,10,10)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Fillrect);
cmd.LC0(color);
cmd.LC2(x0);
cmd.LC2(y0);
cmd.LC2(x1);
cmd.LC2(y1);
end
function opUI_DRAW_RECT(cmd,color,x0,y0,x1,y1)
% Command.opUI_DRAW_RECT Add a opUI_DRAW_RECT
%
% Command.opUI_DRAW_RECT(color,x0,y0,x1,y1) adds a
% opUI_DRAW opcode with a RECT subcode to the command
% object.
%
% Notes::
% - color is the pixel color (either foregrond or background)
% - x0,y0 is the point coordinate of the top left corner
% - x1,y1 is the point cooredinate of the bottom right corner
% - opUI_DRAW,LC0(10),LC0(color),LC2(x0),LC2(y0),LC2(x1),LC2(y1)
%
% Example::
% cmd.opUI_DRAW_RECT(vmCodes.vmFGColor,0,0,10,10)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Rect);
cmd.LC0(color);
cmd.LC2(x0);
cmd.LC2(y0);
cmd.LC2(x1);
cmd.LC2(y1);
end
function opUI_DRAW_INVERSERECT(cmd,x0,y0,x1,y1)
% Command.opUI_DRAW_INVERSERECT Add a opUI_DRAW_INVERSERECT
%
% Command.opUI_DRAW_INVERSERECT(x0,y0,x1,y1) adds a opUI_DRAW
% opcode with a INVERSERECT subcode to the command object.
%
% Notes::
% - x0,y0 is the point coordinate of the top left corner
% - x1,y1 is the point cooredinate of the bottom right corner
% - opUI_DRAW,LC0(16),LC2(x0),LC2(y0),LC2(x1),LC2(y1)
%
% Examples::
% cmd.opUI_DRAW_INVERSERECT(0,0,10,10)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Inverserect);
cmd.LC2(x0);
cmd.LC2(y0);
cmd.LC2(x1);
cmd.LC2(y1);
end
function opUI_DRAW_SELECT_FONT(cmd,type)
% Command.opUI_DRAW_SELECT_FONT Add a opUI_DRAW_SELECT_FONT %
% Command.opUI_DRAW_SELECT_FONT(type) adds a opUI_DRAW opcode
% with a SELECT_FONT subcode to the command object.
%
% Notes::
% - type is the font type [0..2]
% - opUI_DRAW,LC0(17),LC0(type)
%
% Examples::
% cmd.opUI_DRAW_SELECT_FONT(1)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.SelectFont);
cmd.LC0(type);
end
function opUI_DRAW_TOPLINE(cmd,enable)
% Command.opUI_DRAW_TOPLINE Add a opUI_DRAW_TOPLINE
%
% Command.opUI_DRAW_TOPLINE(enable) adds a opUI_DRAW opcode
% with a TOPLINE subcode to the command object.
%
% Notes::
% - enable is the top status line flag, 0 = disable, 1 = enable
% - opUI_DRAW,LC0(18),LC0(enable)
%
% Example::
% cmd.opUI_DRAW_TOPLINE(1)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Topline);
cmd.LC0(enable);
end
function opUI_DRAW_FILLWINDOW(cmd, color, y0, y1)
% Command.opUI_DRAW_FILLWINDOW Add a opUI_DRAW_FILLWINDOW
%
% Command.opUI_DRAW_FILLWINDOW adds a UI_DRAW opcode with a
% FILLWINDOW subcode to the command object.
%
% Notes::
% - color is the pixel color (either foregrond or background)
% - y0 is the start Y coordinate
% - y1 is the size of Y to fill to
% - opUI_DRAW,LC0(19),LC0(color),LC2(y0),LC2(y1)
%
% Example::
% cmd.opUI_DRAW_FILLWINDOW(vmCodes.vmFGColor,0,10)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Fillwindow);
cmd.LC0(color);
cmd.LC2(y0);
cmd.LC2(y1);
end
function opUI_DRAW_FILLCIRCLE(cmd,color,x0,y0,r)
% Command.opUI_DRAW_FILLCIRCLE Add a opUI_DRAW_FILLCIRCLE
%
% Command.opUI_DRAW_FILLCIRCLE(color,x0,y0,r) adds a UI_DRAW
% opcode with a FILLCIRCLE subcode to the command object.
%
% Notes::
% - color is the pixel color (either foreground or background)
% - x0 is the x coordinate of the circle center
% - y0 is the y coordinate of the circl center
% - r is the radius of the circle
% - opUI_DRAW,LC0(24),LC0(color),LC2(x0),LC2(y0),LC2(r)
%
% Example:: % cmd.opUI_DRAW_FILLCIRCLE(vmCodes.vmFGColor,10,10,5)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Fillcircle);
cmd.LC0(color);
cmd.LC2(x0);
cmd.LC2(y0);
cmd.LC2(r);
end
function opUI_DRAW_STORE(cmd,no)
% Command.opUI_DRAW_STORE Add a opUI_DRAW_STORE
%
% Command.opUI_DRAW_STORE(no) adds a UI_DRAW opcode with a
% STORE subcode to the command object.
%
% Notes::
% - no is the level number to store the UI screen
% - opUI_DRAW,LC0(25),LC0(no)
%
% Example::
% cmd.opUI_DRAW_STORE(1)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Store);
cmd.LC0(no);
end
function opUI_DRAW_RESTORE(cmd,no)
% Command.opUI_DRAW_RESTORE Add a opUI_DRAW_RESTORE
%
% Command.opUI_DRAW_RESTORE(no) adds a UI_DRAW opcode with a
% RESTORE subcode to the command object.
%
% Notes::
% - no is the level number to store the UI screen (0 is saved screen before run)
% - opUI_DRAW,LC0(26),LC0(no)
%
% Example::
% cmd.opUI_DRAW_RESTORE(1)
cmd.addDirectCommand(ByteCodes.UIDraw);
cmd.LC0(UIDrawSubCodes.Restore);
cmd.LC0(no);
end
function opTIMER_WAIT(cmd,time,timer)
% Command.opTIMER_WAIT Add a opTIMER_WAIT
%
% Command.opTIMER_WAIT(time,timer) adds a opTIMER opcode with a
% WAIT subcode to the command object.
%
% Notes::
% - time is the time is wait in ms
% - timer is the local variable used for timing
% - opTIMER_WAIT,LC2(time),LV0(timer)
%
% Example::
% cmd.opTIMER_WAIT(1000,0)
cmd.addDirectCommand(ByteCodes.TimerWait);
cmd.LC2(time);
cmd.LV0(timer);
end
function opTIMER_READY(cmd,timer)
% Command.opTIMER_READY Add a opTIMER_READY
%
% Command.opTIMER_READY(timer) adds a opTIMER opcode with a
% READY subcode to the command object. %
% Notes::
% - timer is the local variable used for timing
% - opTIMER_READY,LV0(timer)
%
% Example::
% cmd.opTIMER_READY(0)
cmd.addDirectCommand(ByteCodes.TimerReady);
cmd.LV0(timer);
end
function opTIMER_READ(cmd,time)
% Command.opTIMER_READ Add a opTIMER_READ
%
% Command.opTIMER_READ(time) adds a opTIMER opcode with a READ
% subcode to the command object.
%
% Notes::
% - time is the timer to be read in ms
% - opTIMER_READ,LV0(time)
%
% Example::
% cmd.opTIMER_READ(0)
cmd.addDirectCommand(ByteCodes.TimerRead);
cmd.LV0(time);
end
function opSOUND_BREAK(cmd)
% Command.opSOUND_BREAK Add a opSOUND_BREAK
%
% Command.opSOUND_BREAK() adds a opSOUND opcode with a BREAK
% subcode to the command object.
%
% Notes::
% - opSOUND,LC0(0)
%
% Example::
% cmd.opSOUND_BREAK()
cmd.addDirectCommand(ByteCodes.Sound);
cmd.LC0(SoundSubCodes.Break);
end
function opSOUND_TONE(cmd,volume,frequency,duration)
% Command.opSOUND_TONE Add a opSOUND_TONE
%
% Command.opSOUND_TONE(volume,frequency,duration) adds a
% opSOUND opcode with a TONE subcode to the command object.
%
% Notes::
% - volume is the tone volume from 0 to 100
% - frequency is the tone frequency in Hz
% - duration is the tone duration in ms
% - opSOUND,LC0(1),LC1(volume),LC2(frequency),LC2(duration)
%
% Example::
% cmd.opSOUND_TONE(5,1000,500)
cmd.addDirectCommand(ByteCodes.Sound);
cmd.LC0(SoundSubCodes.Tone);
cmd.LC1(volume);
cmd.LC2(frequency);
cmd.LC2(duration);
end
function opSOUND_PLAY(cmd,volume,name)
% Command.opSOUND_PLAY Add a opSOUND_PLAY
% % Command.opSOUND_PLAY(volume,name) adds a opSOUND opcode with
% a PLAY subcode the command object.
%
% Example::
% cmd.opSOUND_PLAY(5,'test.rsf')
%
% Notes::
% - volume is the volume to play the file at
% - name is the name of the file to play
% - opSOUND,LC0(2),LC0(volume),LCS,'A','B' ... '0'
cmd.addDirectCommand(ByteCodes.Sound);
cmd.LC0(SoundSubCodes.Play);
cmd.LC0(volume);
cmd.addLCSString(name);
end
function opSOUND_REPEAT(cmd,volume,name)
% Command.opSOUND_REPEAT Add a opSOUND_REPEAT
%
% Command.opSOUND_REPEAT(volume,name) adds a opSOUND opcode
% with a REPEAT subcode to the command object.
%
% Notes::
% - volume is the volume to repeat the file at
% - name is the name of the file to repeat
% - opSOUND,LC0(2),LC0(volume),LCS,'A','B' ... '0'
%
% Example::
% cmd.opSOUND_REPEAT(1,'test.rsf')
cmd.addDirectCommand(ByteCodes.Sound);
cmd.addDirectCommand(SoundSubCodes.Repeat);
cmd.LC0(volume);
cmd.addLCSString(name);
end
function opSOUND_TEST(cmd,busy)
% Command.opSOUND_TEST Add a opSOUND_TEST
%
% Command.opSOUND_TEST(busy) adds a opSOUND_TEST to the command
% object.
%
% Notes::
% - busy is the address in response buffer where the busy flag (DATA8) should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opSOUND_TEST,GV0(busy)
%
% Example::
% cmd.opSOUND_TEST(0)
cmd.addDirectCommand(ByteCodes.SoundTest);
cmd.GV0(busy);
end
function opSOUND_READY(cmd)
% Commad.opSOUND_READY Add a opSOUND_READY
%
% Command.opSOUND_READY() adds a opSOUND_READY opcode to the
% command object.
%
% Example::
% cmd.opSOUND_READY()
%
% Notes::
% - opSOUND_READY
cmd.addDirectCommand(ByteCodes.SoundReady);
end
function opINPUT_DEVICE_LIST(cmd,length,array,changed)
% Command.opINPUT_DEVICE_LIST Add a opINPUT_DEVICE_LIST
%
% Command.opINPUT_DEVICE_LIST(length,array,changed) adds a
% opINPUT_DEVICE_LIST opcode to the command object.
%
% Notes::
% - length is maximum number of device types (norm 32)
% - array is the returned device array list (DATA8 but can be 32 long so DATA32)
% - changed is the returned device changed status (DATA8)
% - opINPUT_DEVICE_LIST,LC0(length),GV0(array),GV0(changed)
%
% Example::
% cmd.opINPUT_DEVICE_LIST(32,0,4)
cmd.addDirectCommand(ByteCodes.InputDeviceList);
cmd.LC0(length);
cmd.GV0(array);
cmd.GV0(changed);
end
function opINPUT_DEVICE_GET_TYPEMODE(cmd,layer,no,type,mode)
% Command.opINPUT_DEVICE_GET_TYPEMODE Add a opINPUT_DEVICE_GET_TYPEMODE
%
% Command.opINPUT_DEVICE_GET_TYPEMODE(layer,no,type,mode) adds
% a opINPUT_DEVICE opcode with a GET_TYPEMODE subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - type is the address in response buffer where type (DATA8) should be stored
% - mode is the address in response buffer where mode (DATA8) should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opINPUT_DEVICE,LC0(5),LC0(layer),LC0(no),GV0(type),GV0(mode)
%
% Example::
% cmd.opINPUT_DEVICE_GET_TYPEMODE(0,SensorPort.Sensor1,0,1)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.GetTypeMode);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(type);
cmd.GV0(mode);
end
function opINPUT_DEVICE_SET_TYPEMODE(cmd,oldType,oldMode,newType,newMode)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.SetTypeMode);
cmd.LC0(oldType);
cmd.LC0(oldMode);
cmd.LC0(newType);
cmd.LC0(newMode);
end
function opINPUT_DEVICE_GET_SYMBOL(cmd,layer,no,length,destination)
% Command.opINPUT_DEVICE_GET_SYMBOL Add a opINPUT_DEVICE_GET_SYMBOL
%
% Command.opINPUT_DEVICE_GET_SYMBOL(layer,no,length,destination)
% adds a opINPUT_DEVICE opcode with a GET_SYMBOL subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - length is the maximal length of string returned (-1 no check)
% - destination is the address in response buffer where string should begin
% -> more info about response buffer: refer to GV0(cmd,i)
% - opINPUT_DEVICE,LC0(6),LC0(layer),LC0(no),LC0(length),GV0(destination) %
% Example::
% cmd.opINPUT_DEVICE_GET_SYMBOL(0,SensorPort.Sensor1,5,0)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.GetSymbol);
cmd.LC0(layer);
cmd.LC0(no);
cmd.LC0(length);
cmd.GV0(destination);
end
function opINPUT_DEVICE_CLR_ALL(cmd,layer)
% Command.opINPUT_DEVICE_CLR_ALL Add a opINPUT_DEVICE_CLR_ALL
%
% Command.opINPUT_DEVICE_CLR_ALL(layer) adds a opINPUT_DEVICE
% opcode with a CLR_ALL subcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
%
% Example::
% cmd.opINPUT_DEVICE_CLR_ALL(0)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.ClrAll);
cmd.LC0(layer);
end
% Implemented @ MMI
function opINPUT_DEVICE_CLR_CHANGES(cmd,layer,no)
% Command.opINPUT_DEVICE_CLR_CHANGES Add a opINPUT_DEVICE_CLR_CHANGES
%
% Command.opINPUT_DEVICE_CLR_CHANGES(layer,no)
% adds a opINPUT_DEVICE opcode with a CLR_CHANGES subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - opINPUT_DEVICE,LC0(26),LC0(layer),LC0(no)
%
% Example::
% cmd.opINPUT_DEVICE_CLR_CHANGES(0,SensorPort.Sensor1)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.ClrChanges);
cmd.LC0(layer);
cmd.LC0(no);
end
function opINPUT_DEVICE_GET_NAME(cmd,layer,no,length,destination)
% Command.opINPUT_DEVICE_GET_NAME Add a opINPUT_DEVICE_GET_NAME
%
% Command.opINPUT_DEVICE_GET_NAME(layer,no,length,destination)
% adds a opINPUT_DEVICE opcode with a GET_NAME subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - length is the maximal length of string returned (-1 no check)
% - destination is the address in response buffer where string should begin
% -> more info about response buffer: refer to GV0(cmd,i)
% - opINPUT_DEVICE,LC0(21),LC0(layer),LC0(no),LC0(length),GV0(destination)
%
% Example::
% cmd.opINPUT_DEVICE_GET_NAME(0,SensorPort.Sensor1,12,0)
cmd.addDirectCommand(ByteCodes.InputDevice); cmd.LC0(InputDeviceSubCodes.GetName);
cmd.LC0(layer);
cmd.LC0(no);
cmd.LC0(length);
cmd.GV0(destination);
end
% Implemented @ MMI
function opINPUT_DEVICE_GET_MODENAME(cmd,layer,no,mode,length,destination)
% Command.opINPUT_DEVICE_GET_MODENAME Add a opINPUT_DEVICE_GET_MODENAME
%
% Command.opINPUT_DEVICE_GET_MODENAME(layer,no,mode,length,destination)
% adds a opINPUT_DEVICE opcode with a GET_MODENAME subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - mode is the sensor mode at NO
% - length is the maximal length of string returned (-1 no check)
% - destination is the address in response buffer where string should begin
% -> more info about response buffer: refer to GV0(cmd,i)
% - opINPUT_DEVICE,LC0(22),LC0(layer),LC0(no),LC0(mode),LC0(length),GV0(destination)
%
% Example::
% cmd.opINPUT_DEVICE_GET_MODENAME(0,SensorPort.Sensor1,Device.Bumps,12,0)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.GetModeName);
cmd.LC0(layer);
cmd.LC0(no);
cmd.LC0(mode);
cmd.LC0(length);
cmd.GV0(destination);
end
% Implemented @ MMI
function opINPUT_DEVICE_GET_CONNECTION(cmd,layer,no,connection)
% Command.opINPUT_DEVICE_GET_CONNECTION Add a
% opINPUT_DEVICE_GET_CONNECTION
%
% Command.opINPUT_DEVICE_GET_CONNECTION(layer,no,connection)
% adds a opINPUT_DEVICE opcode with a GET_CONNECTION subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - connection is the address in response buffer where the connection type (DATA8)
% should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opINPUT_DEVICE,LC0(12),LC0(layer),LC0(no),GV0(connection)
%
% Example::
% cmd.opINPUT_DEVICE_GET_CONNECTION(0,SensorPort.Sensor1,0)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.GetConnection);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(connection);
end
% Implemented @ MMI
function opINPUT_DEVICE_GET_MINMAX(cmd,layer,no,min,max)
% Command.opINPUT_DEVICE_GET_MINMAX Add a
% opINPUT_DEVICE_GET_MINMAX
%
% Command.opINPUT_DEVICE_GET_MINMAX(layer,no,min,max)
% adds a opINPUT_DEVICE opcode with a GET_MINMAX subcode to the % command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - min is the address in response buffer where the min val (DATAF) should be stored
% - max is the address in response buffer where the max val (DATAF) should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opINPUT_DEVICE,LC0(30),LC0(layer),LC0(no),GV0(min),GV0(max)
%
% Example::
% cmd.opINPUT_DEVICE_GET_MINMAX(0,SensorPort.Sensor1,0,4)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.GetMinMax);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(min);
cmd.GV0(max);
% cmd.GV4(min);
% cmd.GV4(max);
end
% Implemented @ MMI
function opINPUT_DEVICE_GET_CHANGES(cmd,layer,no,changes)
% Command.opINPUT_DEVICE_GET_CHANGES Add a
% opINPUT_DEVICE_GET_CHANGES
%
% Command.opINPUT_DEVICE_GET_CHANGES(layer,no,min,max)
% adds a opINPUT_DEVICE opcode with a GET_CHANGES subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - changes is the address in response buffer where changes (DATAF) should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opINPUT_DEVICE,LC0(25),LC0(layer),LC0(no),GV0(changes)
%
% Example::
% cmd.opINPUT_DEVICE_GET_CHANGES(0,SensorPort.Sensor1,0)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.GetChanges);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(changes);
end
% Implemented @ MMI
function opINPUT_DEVICE_GET_FORMAT(cmd,layer,no,datasets,format,modes,view)
% Command.opINPUT_DEVICE_GET_FORMAT Add a
% opINPUT_DEVICE_GET_FORMAT
%
% Command.opINPUT_DEVICE_GET_FORMAT(layer,no,min,max)
% adds a opINPUT_DEVICE opcode with a GET_FORMAT subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - datasets is the address in response buffer where the no of datasets (DATA8)
% should be stored
% - format is the address in response buffer where the format (DATA8) should be
% stored
% - modes is the address in response buffer where the no of modes (DATA8) should be
% stored
% - view is the address in response buffer where the view (DATA8) should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% opINPUT_DEVICE,LC0(2),LC0(layer),LC0(no),GV0(datasets), % GV0(format),GV0(modes),GV0(view)
%
% Example::
% cmd.opINPUT_DEVICE_GET_FORMAT(0,SensorPort.Sensor1,0,1,2,3)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.GetFormat);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(datasets);
cmd.GV0(format);
cmd.GV0(modes);
cmd.GV0(view);
end
% Implemented @ MMI
function opINPUT_DEVICE_GET_BUMPS(cmd,layer,no,bumps)
% Command.opINPUT_DEVICE_GET_BUMPS Add a
% opINPUT_DEVICE_GET_BUMPS
%
% Command.opINPUT_DEVICE_GET_BUMPS(layer,no,bumps)
% adds a opINPUT_DEVICE opcode with a GET_BUMPS subcode to the
% command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - bumps is the address in response buffer where the no of bumps (DATA8)should be
% stored
% -> more info about response buffer: refer to GV0(cmd,i)
%
% opINPUT_DEVICE,LC0(31),LC0(layer),LC0(no),GV0(bumps)
%
% Example::
% cmd.opINPUT_DEVICE_GET_BUMPS(0,SensorPort.Sensor1,0)
cmd.addDirectCommand(ByteCodes.InputDevice);
cmd.LC0(InputDeviceSubCodes.GetBumps);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(bumps);
end
function opINPUT_READY(cmd,layer,no)
% Command.opINPUT_READY Add a opINPUT_READY
%
% Command.opINPUT_READY(layer,no) adds a opINPUT_READY opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - opINPUT_READY,LC0(layer),LC0(no)
%
% Example::
% cmd.opINPUT_READY(0,SensorPort.Sensor1)
cmd.addDirectCommand(ByteCodes.InputReady);
cmd.LC0(layer);
cmd.LC0(no);
end
% Implemented @ MMI
function opINPUT_TEST(cmd,layer,no,busy)
% Command.opINPUT_TEST Add a opINPUT_TEST
%
% Command.opINPUT_TEST(layer,no,value) adds a opINPUT_TEST opcode
% to the command object.
%
% Notes:: % - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - busy is the address in response buffer where the busy flag (DATA8) should be
% stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opINPUT_TEST,LC0(layer),LC0(no),GV0(value)
%
% Example::
% cmd.opINPUT_TEST(0,SensorPort.Sensor1,0)
cmd.addDirectCommand(ByteCodes.InputTest);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(value);
end
function opINPUT_READ(cmd,layer,no,type,mode,pct)
% Command.opINPUT_READ Add a opINPUT_READ
%
% Command.opINPUT_READ(layer,no,type,mode,pct) adds a opINPUT_READ
% opcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - type is the sensor type from types.html (0 = don't change)
% - mode is the sensor mode from types.html [0..7] (-1 = don't change)
% - pct is the address in response buffer where the read pct (DATA8)
% should be stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - The device type is already set when the sensor is
% connected, you should only need to specify the mode
% - opINPUT_READ,LC0(layer),LC0(no),LC0(type),LC0(mode),GV0(pct)
%
% Example::
% cmd.opINPUT_READ(0,SensorPort.Sensor1,Device.Ultrasonic,Device.USDistCM,0)
cmd.addDirectCommand(ByteCodes.InputRead);
cmd.LC0(layer);
cmd.LC0(no);
cmd.LC0(type);
cmd.LC0(mode);
cmd.GV0(pct);
end
function opINPUT_READSI(cmd,layer,no,type,mode,si)
% Command.opINPUT_READSI Add a opINPUT_READSI
%
% Command.opINPUT_READSI(layer,no,type,mode,si) adds a opINPUT_READSI
% opcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is the output port number from [0..3] or sensor port number minus 1
% - type is the sensor type from types.html (0 = don't change)
% - mode is the sensor mode from types.html [0..7] (-1 = don't change)
% - si is the address in response buffer where the read si value (DATA32) should be
% stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - The device type is already set when the sensor is connected, you should only
% need to specify the mode
% - opINPUT_READSI,LC0(layer),LC0(no),LC0(type),LC0(mode),GV0(si)
%
% Example::
% cmd.opINPUT_READ(0,SensorPort.Sensor1,Device.Ultrasonic,Device.USDistCM,0)
cmd.addDirectCommand(ByteCodes.InputReadSI);
cmd.LC0(layer);
cmd.LC0(no);
cmd.LC0(type); cmd.LC0(mode);
cmd.GV0(si);
end
function opOUTPUT_SET_TYPE(cmd,layer,nos,type)
% Command.opOUTPUT_SET_TYPE Add a opOUTPUT_SET_TYPE
%
% Command.opOUTPUT_SET_TYPE(layer,nos,type) adds a opOUTPUT_SET_TYPE
% opcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - type is the output device type from 0 to 255 (see types.html)
% - opOUTPUT_SET_TYPE,LC0(layer),LC0(nos),LC0(type)
%
% Example::
% cmd.opOUTPUT_SET_TYPE(0,MotorBitfield.MotorA,0)
cmd.addDirectCommand(ByteCodes.OutputSetType);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC0(type);
end
function opOUTPUT_RESET(cmd,layer,nos)
% Command.opOUTPUT_RESET Add a opOUTPUT_RESET
%
% Command.opOUTPUT_RESET(layer,nos) adds a opOUTPUT_RESET opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - opOUTPUT_RESET,LC0(layer),LC0(nos)
%
% Example::
% cmd.opOUTPUT_RESET(0,MotorBitfield.MotorA)
cmd.addDirectCommand(ByteCodes.OutputReset);
cmd.LC0(layer);
cmd.LC0(nos);
end
function opOUTPUT_STOP(cmd,layer,nos,brake)
% Command.opOUTPUT_STOP Add a opOUTPUT_STOP
%
% Command.opOUTPUT_STOP(layer,nos,brake) adds a opOUTPUT_STOP opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - opOUTPUT_STOP,LC0(layer),LC0(nos),LC0(brake)
%
% Example::
% cmd.opOUTPUT_STOP(0,MotorBitfield.MotorA,BrakeMode.Coast)
cmd.addDirectCommand(ByteCodes.OutputStop);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC0(brake);
end
function opOUTPUT_SPEED(cmd,layer,nos,speed)
% Command.opOUTPUT_SPEED Add a opOUTPUT_SPEED
%
% Command.opOUTPUT_SPEED(layer,nos,speed) adds a opOUTPUT_SPEED opcode
% to the command object.
% % Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - speed is the output speed with [+-0..100%] range
% - opOUTPUT_POWER,LC0(layer),LC0(nos),LC1(speed)
%
% Example::
% cmd.opOUTPUT_SPEED(0,MotorBitfield.MotorA,10)
cmd.addDirectCommand(ByteCodes.OutputSpeed);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC1(speed);
end
function opOUTPUT_POWER(cmd,layer,nos,power)
% Command.opOUTPUT_POWER Add a opOUTPUT_POWER
%
% Command.opOUTPUT_POWER(layer,nos,speed) adds a opOUTPUT_POWER opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - power is the output power with [+-0..100%] range
% - opOUTPUT_POWER,LC0(layer),LC0(nos),LC1(power)
%
% Example::
% cmd.opOUTPUT_POWER(0,MotorBitfield.MotorA,10)
cmd.addDirectCommand(ByteCodes.OutputPower);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC1(power);
end
function opOUTPUT_START(cmd,layer,nos)
% Command.opOUTPUT_START Add a opOUTPUT_START
%
% Command.opOUTPUT_START(layer,nos) adds a opOUTPUT_START opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - opOUTPUT_START,LC0(layer),LC0(nos)
%
% Example::
% cmd.opOUTPUT_START(0,MotorBitfield.MotorA)
cmd.addDirectCommand(ByteCodes.OutputStart);
cmd.LC0(layer);
cmd.LC0(nos);
end
function opOUTPUT_POLARITY(cmd,layer,nos,pol)
% Command.opOUTPUT_POLARITY Add a opOUTPUT_POLARITY
%
% Command.opOUTPUT_POLARITY(layer,nos,pol) adds a opOUTPUT_POLARITY opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - pol is the polarity [-1,0,1], -1 makes the motor run
% backward, 1 makes the motor run forward, 0 makes the motor
% run the opposite direction
% - opOUTPUT_POLARITY,LC0(layer),LC0(nos),LC0(pol)
%
% Example:: % cmd.opOUTPUT_POLARITY(0,MotorBitfield.MotorA,0)
cmd.addDirectCommand(ByteCodes.OutputPolarity);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC0(pol);
end
function opOUTPUT_READ(cmd,layer,no,speed,tacho)
% Command.opOUTPUT_READ Add a opOUTPUT_READ
%
% Command.opOUTPUT_READ(layer,no,speed,tacho) adds a opOUTPUT_READ opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - no is output motor number [0...3] ( != NOS)
% - speed is the address in response buffer where the read speed (DATA8) should be
% stored
% - tacho is the address in response buffer where the read tacho (DATA32) should be
% stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opOUTPUT_READ,LC0(layer),LC0(no),GV0(speed),GV0(tacho)
%
% Example::
% cmd.opOUTPUT_READ(0,MotorPort.MotorA,0,1)
cmd.addDirectCommand(ByteCodes.OutputRead);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(tacho);
cmd.GV0(speed);
end
function opOUTPUT_TEST(cmd,layer,nos,value)
% Command.opOUTPUT_TEST Add a opOUTPUT_TEST
%
% Command.opOUTPUT_READ(layer,nos) adds a opOUTPUT_TEST opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - busy is the address in response buffer where the busy flag (DATA8) should be
% stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opOUTPUT_TEST,LC0(layer),LC0(nos),GV0(value)
%
% Example::
% cmd.opOUTPUT_TEST(0,MotorBitfield.MotorA,0)
cmd.addDirectCommand(ByteCodes.OutputTest);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.GV0(value);
end
function opOUTPUT_READY(cmd,layer,nos)
% Command.opOUTPUT_READY Add a opOUTPUT_READY
%
% Command.opOUTPUT_READY(layer,nos) adds a opOUTPUT_READY opcode with
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - opOUTPUT_READY,LC0(layer),LC0(nos)
%
% Example::
% cmd.opOUTPUT_READY(0,MotorBitfield.MotorA)
cmd.addDirectCommand(ByteCodes.OutputReady);
cmd.LC0(layer);
cmd.LC0(nos);
end
function opOUTPUT_STEP_POWER(cmd,layer,nos,power,step1,step2,step3,brake)
% Command.opOUTPUT_STEP_POWER Add a opOUTPUT_STEP_POWER
%
% Command.opOUTPUT_STEP_POWER(layer,nos,power,step1,step2,step3,brake)
% adds a opOUTPUT_STEP_POWER opcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - power is the output power with [+-0..100%] range
% - step1 is the steps used to ramp up
% - step2 is the steps used for constant power
% - step3 is the steps used for ramp down
% - brake is [0..1] (0=Coast, 1=Brake)
% - opOUTPUT_STEP_POWER,LC0(layer),LC0(nos),LC1(power),LC4(step1),LC4(step2),LC4(step3),LC0(brake)
%
% Example::
% cmd.opOUTPUT_STEP_POWER(0,MotorBitfield.MotorA,50,50,360,50,BrakeMode.Coast)
cmd.addDirectCommand(ByteCodes.OutputStepPower);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC1(power);
cmd.LC4(step1);
cmd.LC4(step2);
cmd.LC4(step3);
cmd.LC0(brake);
end
% Implemented @ MMI
function opOUTPUT_TIME_POWER(cmd,layer,nos,power,step1,step2,step3,brake)
% Command.opOUTPUT_TIME_POWER Add a opOUTPUT_TIME_POWER
%
% Command.opOUTPUT_TIME_POWER(layer,nos,power,step1,step2,step3,brake)
% adds a opOUTPUT_TIME_POWER opcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - power is the output power with [+-0..100%] range
% - step1 is the time used to ramp up
% - step2 is the time used for constant power
% - step3 is the time used for ramp down
% - brake is [0..1] (0=Coast, 1=Brake)
% - opOUTPUT_TIME_POWER,LC0(layer),LC0(nos),LC1(power),LC4(step1),LC4(step2),LC4(step3),LC0(brake)
%
% Example::
% cmd.opOUTPUT_TIME_POWER(0,MotorBitfield.MotorA,50,50,360,50,BrakeMode.Coast)
cmd.addDirectCommand(ByteCodes.OutputTimePower);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC1(power);
cmd.LC4(step1);
cmd.LC4(step2);
cmd.LC4(step3);
cmd.LC0(brake);
end
function opOUTPUT_STEP_SPEED(cmd,layer,nos,speed,step1,step2,step3,brake)
% Command.opOUTPUT_STEP_SPEED Add a opOUTPUT_STEP_SPEED
%
% Command.opOUTPUT_STEP_SPEED(layer,nos,speed,step1,step2,step3,brake)
% adds a opOUTPUT_STEP_SPEED opcode to the command object. %
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - speed is the output speed with [+-0..100%] range
% - step1 is the steps used to ramp up
% - step2 is the steps used for constant speed
% - step3 is the steps used for ramp down
% - brake is [0..1] (0=Coast, 1=Brake)
% - opOUTPUT_STEP_POWER,LC0(layer),LC0(nos),LC1(speed),LC4(step1),LC4(step2),LC4(step3),LC0(brake)
%
% Example::
% cmd.opOUTPUT_STEP_SPEED(0,MotorBitfield.MotorA,50,50,360,50,BrakeMode.Coast)
cmd.addDirectCommand(ByteCodes.OutputStepSpeed);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC1(speed);
cmd.LC4(step1);
cmd.LC4(step2);
cmd.LC4(step3);
cmd.LC0(brake);
end
function opOUTPUT_TIME_SPEED(cmd,layer,nos,speed,step1,step2,step3,brake)
% Command.opOUTPUT_TIME_SPEED Add a opOUTPUT_TIME_SPEED
%
% Command.opOUTPUT_TIME_SPEED(layer,nos,speed,step1,step2,step3,brake)
% adds a opOUTPUT_TIME_SPEED opcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - speed is the output speed with [+-0..100%] range
% - step1 is the time used for ramp up
% - step2 is the time used for constant speed
% - step3 is the time used for ramp down
% - brake is [0..1] (0=Coast, 1=Brake)
% - opOUTPUT_TIME_SPEED,LC0(layer),LC0(nos),LC1(speed),LC4(step1),LC4(step2),LC4(step3),LC0(brake)
%
% Example::
% cmd.opOUTPUT_TIME_SPEED(0,MotorBitfield.MotorA,50,100,1000,100,BrakeMode.Coast)
cmd.addDirectCommand(ByteCodes.OutputTimeSpeed);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC1(speed);
cmd.LC4(step1);
cmd.LC4(step2);
cmd.LC4(step3);
cmd.LC0(brake);
end
function opOUTPUT_STEP_SYNC(cmd,layer,nos,power,turn,step,brake)
% Command.opOUTPUT_STEP_SYNC Add a opOUTPUT_STEP_SYNC
%
% Command.opOUTPUT_STEP_SYNC(layer,nos,power,turn,step,brake)
% adds a opOUTPUT_STEP_SYNC opcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - power is the output speed with [+-0..100%] range
% - turn is the turn ratio with [+-0..200] range
% - step is the number of tacho pulses
% - brake is [0..1] (0=Coast, 1=Brake)
% - opOUTPUT_STEP_SYNC,LC0(layer),LC0(nos),LC1(power),LC2(turn),LC4(step),LC0(brake)
%
% Example::
% cmd.opOUTPUT_STEP_SYNC(0,MotorBitfield.MotorA,50,30,100,BrakeMode.Coast)
cmd.addDirectCommand(ByteCodes.OutputStepSync);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC1(power);
cmd.LC2(turn);
cmd.LC4(step);
cmd.LC0(brake);
end
function opOUTPUT_TIME_SYNC(cmd,layer,nos,power,turn,time,brake)
% Command.opOUTPUT_TIME_SYNC Add a opOUTPUT_TIME_SYNC
%
% Command.opOUTPUT_TIME_SYNC(layer,nos,power,turn,time,brake)
% adds a opOUTPUT_TIME_SYNC opcode to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - power is the output power with [+-0..100%] range
% - turn is the turn ratio with [+-0..200] range
% - time is the time in ms
% - brake is [0..1] (0=Coast, 1=Brake)
% - opOUTPUT_STEP_SYNC,LC0(layer),LC0(nos),LC1(power),LC2(turn),LC4(time),LC0(brake)
%
% Example::
% cmd.opOUTPUT_TIME_SYNC(0,MotorBitfield.MotorA,50,30,1000,BrakeMode.Coast)
cmd.addDirectCommand(ByteCodes.OutputTimeSync);
cmd.LC0(layer);
cmd.LC0(nos);
cmd.LC1(power);
cmd.LC2(turn);
cmd.LC4(time);
cmd.LC0(brake);
end
function opOUTPUT_CLR_COUNT(cmd,layer,nos)
% Command.opOUTPUT_CLR_COUNT Add a opOUTPUT_CLR_COUNT
%
% Command.opOUTPUT_TIME_SYNC(layer,nos) adds a opOUTPUT_CLR_COUNT opcode
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - opOUTPUT_CLR_COUNT,LC0(layer),LC0(nos)
%
% Example::
% cmd.opOUTPUT_CLR_COUNT(0,MotorBitfield.MotorA)
cmd.addDirectCommand(ByteCodes.OutputClrCount);
cmd.LC0(layer);
cmd.LC0(nos);
end
function opOUTPUT_GET_COUNT(cmd,layer,no,tacho)
% Command.opOUTPUT_GET_COUNT Add a opOUTPUT_GET_COUNT
%
% Command.opOUTPUT_GET_COUNT(layer,no,tacho) adds a opOUTPUT_GET_COUNT
% to the command object.
%
% Notes::
% - layer is the usb chain layer (usually 0)
% - NO is output motor number [0...3] ( != NOS)
% - tacho is the address in response buffer where read tacho (DATA32) should be
% stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opOUTPUT_GET_COUNT,LC0(layer),LC0(NO),GV0(tacho)
% % Example::
% cmd.opOUTPUT_GET_COUNT(0,MotorPort.MotorA,4)
cmd.addDirectCommand(ByteCodes.OutputGetCount);
cmd.LC0(layer);
cmd.LC0(no);
cmd.GV0(tacho);
end
% Implemented @ MMI
function opCOM_TEST(cmd,hardware,name,busy)
% Command.opCOM_TEST Add a opCOM_TEST
%
% Command.opCOM_TEST(hardware,name,value) adds a opCOM_TEST to
% the command object.
%
% Notes::
% - hardware is the communication adapter to be tested.
% -> 1: USB, 2: BT, 3: Wifi
% - name is the name of the device ('0': own adapter) (?)
% - busy is the address in response buffer where the busy flag (DATA8) should be
% stored
% -> more info about response buffer: refer to GV0(cmd,i)
% - opCOM_TEST,LC0(hardware),LCS,'0',GV0(value)
%
% Example::
% cmd.opCOM_TEST(1,'0',0)
cmd.addDirectCommand(ByteCodes.COMTest);
cmd.LC0(hardware);
cmd.addLCSString(name);
cmd.GV0(value);
end
% Implemented @ MMI
function opCOM_READY(cmd,hardware,name)
% Command.opCOM_READY Add a opCOM_READY
%
% Command.opCOM_READY(hardware,name,value) adds a opCOM_READY to
% the command object.
%
% Notes::
% - hardware is the communication adapter to be tested.
% -> 1: USB, 2: BT, 3: Wifi
% - name is the name of the device ('0': own adapter) (?)
% - state is 0 when ready and 1 when busy. (DATA8)
% - opCOM_READY,LC0(hardware),LCS,'0'
%
% Example::
% cmd.opCOM_TEST(1,'0')
cmd.addDirectCommand(Bytecodes.COMReady);
cmd.LC0(hardware);
cmd.addLCSString(name);
end
function opCOMGET_GET_BRICKNAME(cmd,length,name)
% Command.opCOMGET_GET_BRICKNAME Add a opCOMGET_GET_BRICKNAME
%
% Command.opCOMGET_GET_BRICKNAME(length,name) adds a opCOMGET
% with a GET_BRICKNAME subcode to the command object.
%
% Notes::
% - length is the maximal length of string returned (-1 no check)
% - name is the address in response buffer where string should begin
% -> more info about response buffer: refer to GV0(cmd,i)
% - opCOMGET_GET_BRICKNAME,LC0(13),LC0(length),GV0(name)
%
% Example::
% cmd.opCOMGET_GET_BRICKNAME(10,0)
cmd.addDirectCommand(ByteCodes.COMGet);
cmd.LC0(COMGetSubCodes.GetBrickName);
cmd.LC0(length);
cmd.GV0(name);
end
function opCOMSET_SET_BRICKNAME(cmd,name)
% Command.opCOMSET_SET_BRICKNAME Add a opCOMSET_SET_BRICKNAME
%
% Command.opCOMSET_SET_BRICKNAME(name) adds a opCOMSET
% with a SET_BRICKNAME subcode to the command object.
%
% Notes::
% - name is the brick name to be set
% - opCOMSET_SET_BRICKNAME,LC0(13),LCS,'E','V','3',0
%
% Example::
% cmd.opCOMSET_SET_BRICKNAME('EV3')
cmd.addDirectCommand(ByteCodes.COMSet);
cmd.LC0(COMSetSubCodes.SetBrickName);
cmd.addLCSString(name);
end
function opMAILBOX_WRITE(cmd,brickname,boxname,type,msg)
% Command.opMAILBOX_WRITE Add a opMAILBOX_WRITE
%
% Command.opMAILBOX_WRITE(brickname,boxname,type,msg) adds a
% opMAILBOX_WRITE to the command object.
%
% Notes::
% - brickname is the name of remote device
% - boxname is the name of the receiving mailbox
% - type is the data type of the values being sent where DATA_8
% (0) is logic, DATA_F (3) is numeric and DATA_S (4) is text
% - msg is the message to be sent
% - opMAILBOX_WRITE,LCS,'T','5','0','0',0,0,LCS,'a','b','c',LC0(0),LC0(1),LC0(1)
%
% Example::
% cmd.opMAILBOX_WRITE('T500','abc','logical',1)
cmd.addDirectCommand(ByteCodes.MailboxWrite);
cmd.addLCSString(brickname);
% hardware transportation media (not used)
cmd.LC0(0);
cmd.addLCSString(boxname);
% type
switch type
case 'logic'
cmd.LC0(0);
cmd.LC0(1);
cmd.LC0(msg);
case 'numeric'
cmd.LC0(3);
cmd.LC0(1);
cmd.LC4(typecast(single(msg),'int32'));
case 'text'
cmd.LC0(4);
cmd.LC0(1);
cmd.addLCSString(msg);
otherwise
fprintf('Error! Type must be ''text'', ''numeric'' or ''logic''.\n');
end
end
function BEGIN_DOWNLOAD(cmd,filelength,filename)
% Command.BEGIN_DOWNLOAD Add a BEGIN_DOWNLOAD
%
% Command.BEGIN_DOWNLOAD(filelength,filename) adds a BEGIN_DOWNLOAD % system command to the command object. Download is from PC to
% brick.
%
% Notes::
% - filelength is the length of the file in bytes
% - filename is the PC file for download to the brick relative
% to '/home/root/lms2012/sys' directory
% - ss (BEGIN_DOWNLOAD) llllllll (filelength) nn.. (filename)
%
% Example::
% cmd.BEGIN_DOWNLOAD(60,'../apps/tst/tst.rbf')
cmd.addSystemCommand(SystemCommands.BeginDownload);
cmd.addArray(typecast(uint32(filelength),'uint8'));
cmd.addString(filename);
end
function CONTINUE_DOWNLOAD(cmd,handle,payload)
% Command.CONTINUE_DOWNLOAD Add a CONTINUE_DOWNLOAD
%
% Command.CONTINUE_DOWNLOAD(handle,payload) adds a
% CONTINUE_DOWNLOAD system command to the command object.
% Download is from PC to brick.
%
% Notes::
% - handle is the handle returned from BEGIN_DOWNLOAD
% - payload is the byte data to be downloaded to the brick
% - ss (CONTINUE_DOWNLOAD) hh (handle from BEGIN_DOWNLOAD REPLY) pppppppp ... (payload)
%
% Example::
% cmd.CONTINUE_DOWNLOAD(0,[10 20 30 .... ])
cmd.addSystemCommand(SystemCommands.ContinueDownload);
cmd.addValue(handle);
cmd.addArray(payload);
end
function BEGIN_UPLOAD(cmd,filelength,filename)
% Command.BEGIN_UPLOAD Add a BEGIN_UPLOAD
%
% Command.BEGIN_UPLOAD(filelength,filename) adds a BEGIN_UPLOAD
% system command to the command object. Upload is from brick to
% PC.
%
% Notes::
% - filelength is the max buffer size used for file upload
% - filename is the file to be uploaded from brick to PC
% relative to '/home/root/lms2012/sys' directory
% - ss (BEGIN_UPLOAD) llll (filelength/bytes to read) nn..(filename including path)
%
% Example::
% cmd.BEGIN_UPLOAD(100,'../apps/tst/tst.rbf')
cmd.addSystemCommand(SystemCommands.BeginUpload);
cmd.addArray(typecast(uint16(filelength),'uint8'));
cmd.addString(filename);
end
function CONTINUE_UPLOAD(cmd,handle,maxlength)
% Command.CONTINUE_UPLOAD Add a CONTINUE_UPLOAD
%
% Command.CONTINUE_UPLOAD(handle,maxlength) adds a
% CONTINUE_UPLOAD system command to the commanc object. Upload
% is from brick to PC.
%
% Notes::
% - handle is the handle returned from BEGIN_UPLOAD
% - maxlength is the max buffer size used for file upload
% - ss (CONTINUE_UPLOAD) hh (handle from BEGIN_UPLOAD REPLY) llll (maxlength/bytes to read)
% Example:: % cmd.CONTINUE_UPLOAD(0,100)
cmd.addSystemCommand(SystemCommands.ContinueUpload);
cmd.addValue(handle);
cmd.addArray(typecast(uint16(maxlength),'uint8'));
end
function LIST_FILES(cmd,maxlength,pathname)
% Command.LIST_FILES Add a LIST_FILES
%
% Command.LIST_FILES(maxlength,pathname) adds a LIST_FILES
% system command to the command object.
%
% Notes::
% - maxlength is the max buffer size used for file listing
% - pathname is the absolute pathname use for file listing
% - ss (LIST_FILES) llll (maxlength/max bytes to read) nn..(pathname)
%
% Example::
% cmd.LIST_FILES(100,'/home/root/lms2012/')
cmd.addSystemCommand(SystemCommands.ListFiles);
cmd.addArray(typecast(uint16(maxlength),'uint8'));
cmd.addString(pathname)
end
function CONTINUE_LIST_FILES(cmd,handle,maxlength)
% Command.CONTINUE_LIST_FILES Add a CONTINUE_LIST_FILES
%
% Command.CONTINUE_LIST_FILES(handle,maxlength) adds a
% CONTINUE_LIST_FILES system command to the command object.
%
% Notes::
% - handle is the handle returned by LIST_FILES
% - maxlength is the max buffer size used for file listing
% - ss (CONTINUE_LIST_FILES) hh (handle) llll (maxlength/max bytes to read)
%
% Example::
% cmd.CONTINUE_LIST_FILES(0,100)
cmd.addSystemCommand(SystemCommands.ContinueListFiles);
cmd.addValue(handle);
cmd.addArray(typecast(uint16(maxlength),'uint8'));
end
function CREATE_DIR(cmd,pathname)
% Command.CREATE_DIR Add a CREATE_DIR
%
% Command.CREATE_DIR(pathname) adds a CREATE_DIR system command
% to the command object.
%
% Notes::
% - pathname is the absolute path for directory creation.
% - ss (CREATE_DIR) pp (pathname)
%
% Example::
% cmd.CREATE_DIR('/home/root/lms2012/newdir')
cmd.addSystemCommand(SystemCommands.CreateDir);
cmd.addString(pathname);
end
function DELETE_FILE(cmd,pathname)
% Command.DELETE_FILE Add a DELETE_FILE
%
% Command.DELETE_FILE(pathname) adds a DELETE_FILE system
% command to the command object.
% % Notes::
% - pathname is the absolute file path for deleteion
% - ss (DELETE_FILE) pp (pathname)
%
% Example::
% cmd.DELETE_FILE('/home/root/lms2012/newdir')
cmd.addSystemCommand(SystemCommands.DeleteFile);
cmd.addString(pathname);
end
function WRITEMAILBOX(cmd,title,type,msg)
% Command.WRITEMAILBOX Add a WRITEMAILBOX
%
% Command.WRITEMAILBOX(title,type,msg) adds a WRITEMAILBOX
% command to the command object.
%
% Notes::
% - title is the message title sent from the brick
% - type is the sent message type being either 'text',
% 'numeric' or 'logic'
% - msg is the message to be sent
%
% Example::
% cmd.WRITEMAILBOX('abc','text','hello!')
cmd.addSystemCommand(SystemCommands.WriteMailBox);
cmd.addValue(length(title)+1);
cmd.addString(title);
switch type
case 'text'
cmd.addArray(typecast(uint16(length(msg)+1),'uint8'));
cmd.addString(msg);
case 'numeric'
cmd.addArray(typecast(uint16(4),'uint8'));
cmd.addArray(typecast(single(msg),'uint8'));
case 'logic'
cmd.addArray(typecast(uint16(1),'uint8'));
if msg(1) >= 1
msg(1) = 1;
else msg(1) = 0;
end
cmd.addArray(typecast(uint8(msg),'uint8'));
end
end
end
end