From 0076e4f03c61fb3c33911c8f03383030e56391d3 Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Fri, 28 Apr 2017 18:07:51 +0200
Subject: [PATCH] Moar cleanup and bugfixes related to previous changes
---
source/BrickIO.m | 2 +-
source/CommunicationInterface.m | 9 +---
source/btBrickIO.m | 77 ++++++++++++++++++---------------
source/usbBrickIO.m | 46 ++++++++++----------
4 files changed, 66 insertions(+), 68 deletions(-)
diff --git a/source/BrickIO.m b/source/BrickIO.m
index ebdb054..a5ee112 100755
--- a/source/BrickIO.m
+++ b/source/BrickIO.m
@@ -11,7 +11,7 @@
% - The read function should return a uint8 datatype
% - The write function should be given a uint8 datatype as a parameter
-classdef BrickIO < handle
+classdef BrickIO < MaskedHandle
properties (Abstract)
% time-out period (if 0, no time-out)
timeOut
diff --git a/source/CommunicationInterface.m b/source/CommunicationInterface.m
index 7c222a5..1ae2fe7 100755
--- a/source/CommunicationInterface.m
+++ b/source/CommunicationInterface.m
@@ -128,13 +128,6 @@ classdef CommunicationInterface < handle
% b = CommunicationInterface(...) is an object that represents a connection
% interface to a Lego Mindstorms EV3 brick.
%
- % Options::
- % 'debug' Debug level, show communications packet
- % 'ioType' IO connection type, either usb, wifi or bt
- % 'deviceName' Bluetooth brick device name
- % 'channel' Bluetooth connection channel
- % 'serPort' Serial port connection
- %
% Notes::
% - Can connect through: usbBrickIO, btBrickIO
% - For USB connection:
@@ -200,7 +193,7 @@ classdef CommunicationInterface < handle
defaultSerPort = '/dev/rfcomm0';
defaultBTDevice = 'EV3';
defaultBTChannel = 1;
- if(ispc)
+ if(ispc && license('test', 'instr_control_toolbox'))
defaultBackend = 'instrumentControl';
else
defaultBackend = 'serial';
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 5ed51f7..0625c3f 100755
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -1,44 +1,51 @@
-%btBrickIO Bluetooth interface between MATLAB and the brick
-%
-% Methods::
-%
-% btBrickIO Constructor, initialises and opens the bluetooth connection
-% delete Destructor, closes the bluetooth connection
-%
-% open Open a bluetooth connection to the brick
-% close Close the bluetooth connection to the brick
-% read Read data from the brick through bluetooth
-% write Write data to the brick through bluetooth
-%
-% Example::
-% btbrick = btBrickIO(1,'/dev/rfcomm0')
-%
-% Notes::
-% - Connects to the bluetooth module on the host through a serial
-% connection. Hence be sure that a serial connection to the bluetooth
-% module can be made. Also be sure that the bluetooth module can be paired
-% to the brick before MATLAB is opened.
-% - Works under mac and potentially linux (have yet to find a suitable
-% bluetooth device that can pair with the brick under linux).
-% - Does not work under windows (will need to either virtualise the serial
-% bluetooth port or use the instrumentation and control toolbox BrickIO
-% version).
-
classdef btBrickIO < BrickIO
+ % Bluetooth interface between MATLAB and the brick
+ %
+ % Notes:
+ % * Connects to the bluetooth module on the host through a serial
+ % connection. Hence be sure that a serial connection to the bluetooth
+ % module can be made. Also be sure that the bluetooth module has been paired
+ % to the brick before trying to connect.
+ % * Usage is OS-dependent:
+ %
+ % - Windows: the deviceName- & channel-properties are needed for connection. The
+ % implementation is based on the Instrument Control toolbox.
+ % - Linux (and potentially Mac): serialPort-property is needed for connection. The
+ % implementation is based on MATLAB's serial port implementation.
+ %
+ % Attributes:
+ % debug (bool): If true, each open/close/read/write-call will be noted in the console.
+ % serialPort (string): Path to the serial-port object (default: '/dev/rfcomm0'). Only
+ % needed when using MATLAB's serial class (i.e. on linux/mac).
+ % deviceName (string): Name of the BT-device = the brick (default: 'EV3'). Only
+ % needed when using the Instrument Control toolbox (i.e. on windows).
+ % channel (numeric > 0): BT-channel of the connected BT-device (default: 1). Only
+ % needed when using the Instrument Control toolbox (i.e. on windows).
+ % timeOut (numeric >= 0): seconds after which a timeout-error occurs if no packet could be
+ % read.
+ % backend ('serial'|'instrumentControl'): Backend this implementation is based on. Is
+ % automatically chosend depending on the OS ('serial' for linux/mac,
+ % 'instrumentControl' for windows).
+ %
+
properties
- % debug input
+ % debug (bool): If true, each open/close/read/write-call will be noted in the console.
debug;
- % bluetooth serial port (used if backend == 'serial')
+ % Path to the serial-port object (default: '/dev/rfcomm0'). Only
+ % needed when using MATLAB's serial class (i.e. on linux/mac).
serialPort;
- % bluetooth brick device name (used if backend == 'instrumentControl')
+ % deviceName (string): Name of the BT-device = the brick (default: 'EV3'). Only
+ % needed when using the Instrument Control toolbox (i.e. on windows).
deviceName;
- % bluetooth connection channel (used if backend == 'instrumentControl')
+ % channel (numeric > 0): BT-channel of the connected BT-device (default: 1). Only
+ % needed when using the Instrument Control toolbox (i.e. on windows).
channel;
- % time-out period in seconds (if 0, no time-out)
+ % timeOut (numeric > 0): seconds after which a timeout-error occurs if no packet could be
+ % read.
timeOut;
- % use implementation based on the serial-connection implementation by MATLAB (should
- % work on mac & linux) or based on the Instrumentation & Control Toolbox
- % (should work on windows) (-> 'serial'|'instrumentControl')
+ % backend ('serial'|'instrumentControl'): Backend this implementation is based on. Is
+ % automatically chosend depending on the OS ('serial' for linux/mac,
+ % 'instrumentControl' for windows).
backend;
end
@@ -63,7 +70,7 @@ classdef btBrickIO < BrickIO
p.addOptional('deviceName', 'EV3');
p.addOptional('channel', 1);
p.addOptional('timeOut', 10);
- if(ispc == 1)
+ if(ispc && license('test', 'instr_control_toolbox'))
p.addOptional('backend', 'instrumentControl');
else
p.addOptional('backend', 'serial');
diff --git a/source/usbBrickIO.m b/source/usbBrickIO.m
index 6a7a7c5..d2c5fb2 100755
--- a/source/usbBrickIO.m
+++ b/source/usbBrickIO.m
@@ -1,34 +1,32 @@
-%usbBrickIO USB interface between MATLAB and the brick
-%
-% Methods::
-%
-% usbBrickIO Constructor, initialises and opens the usb connection
-% delete Destructor, closes the usb connection
-%
-% open Open a usb connection to the brick
-% close Close the usb connection to the brick
-% read Read data from the brick through usb
-% write Write data to the brick through usb
-%
-% Example::
-% usbbrick = usbBrickIO()
-%
-% Notes::
-% - Uses the hid library implementation in hidapi.m
-
classdef usbBrickIO < BrickIO
+ % USB interface between MATLAB and the brick
+ %
+ % Notes:
+ % * Uses the hid library implementation in hidapi.m
+ %
+ % Attributes:
+ % debug (bool): If true, each open/close/read/write-call will be noted in the console.
+ % vendorID (numeric): = 0x694 for EV3
+ % productID (numeric): = 0x0005 for EV3
+ % nReadBuffer (numeric): read buffer size
+ % nWriteBuffer (numeric): write buffer size (1 Byte bigger than actual packet)
+ % timeOut (numeric >= 0): milliseconds after which a timeout-error occurs if no packet could be
+ % read.
+ %
+
properties
- % debug input
+ % debug (bool): If true, each open/close/read/write-call will be noted in the console.
debug = 0;
- % vendor ID (EV3 = 0x0694)
+ % vendorID (numeric): = 0x694 for EV3
vendorID = 1684;
- % product ID (EV3 = 0x0005)
+ % productID (numeric): = 0x0005 for EV3
productID = 5;
- % read buffer size
+ % nReadBuffer (numeric): read buffer size
nReadBuffer = 1024;
- % write buffer size
+ % nWriteBuffer (numeric): write buffer size (1 Byte bigger than actual packet)
nWriteBuffer = 1025;
- % time-out period in milliseconds (if 0, no time-out)
+ % timeOut (numeric >= 0): milliseconds after which a timeout-error occurs if no packet could be
+ % read.
timeOut = 10000;
end
--
GitLab