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Commit 0726e13a authored by Tim Stadtmann's avatar Tim Stadtmann
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Rename execute() to handleCommand()

parent 9a1166a2
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source/EV3.m
+ 7
− 7
View file @ 0726e13a
......@@ -295,7 +295,7 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
ev3.execute(@soundPlayTone, 10, 1000, 100);
ev3.handleCommand(@soundPlayTone, 10, 1000, 100);
end
function playTone(ev3, volume, frequency, duration)
......@@ -318,7 +318,7 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
ev3.execute(@soundPlayTone, volume, frequency, duration);
ev3.handleCommand(@soundPlayTone, volume, frequency, duration);
end
function stopTone(ev3)
......@@ -336,7 +336,7 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
ev3.execute(@soundStopTone);
ev3.handleCommand(@soundStopTone);
end
function status = tonePlayed(ev3)
......@@ -358,7 +358,7 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
status = ev3.execute(@soundTest);
status = ev3.handleCommand(@soundTest);
end
%% Setter
......@@ -472,7 +472,7 @@ classdef EV3 < MaskedHandle
end
methods (Access = private) % Private brick functions that are wrapped by dependent params
function varargout = execute(ev3, commandHandle, varargin)
function varargout = handleCommand(ev3, commandHandle, varargin)
% Execute a CommunicationInterface-method given as a handle
%
% As those methods have different, fixed numbers of output arguments, this quantity
......@@ -493,9 +493,9 @@ classdef EV3 < MaskedHandle
% Retrieve batteryValue from brick in current mode. (Wrapped by EV3.batteryValue)
if strcmpi(ev3.batteryMode, 'Percentage')
bat = ev3.execute(@uiReadLbatt);
bat = ev3.handleCommand(@uiReadLbatt);
else
bat = ev3.execute(@uiReadVbatt);
bat = ev3.handleCommand(@uiReadVbatt);
end
end
......
source/Motor.m
+ 28
− 28
View file @ 0726e13a
......@@ -272,7 +272,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
motor.execute(@outputStart, 0, motor.port);
motor.handleCommand(@outputStart, 0, motor.port);
motor.state.startedNotBusy = true;
else
......@@ -284,21 +284,21 @@ classdef Motor < MaskedHandle & dynamicprops
if strcmpi(motor.limitMode, 'Tacho')
if motor.speedRegulation
motor.execute(@outputStepSpeed, 0, motor.port, motor.power,...
motor.handleCommand(@outputStepSpeed, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
else
motor.execute(@outputStepPower, 0, motor.port, motor.power,...
motor.handleCommand(@outputStepPower, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
end
elseif strcmpi(motor.limitMode, 'Time')
if motor.speedRegulation
motor.execute(@outputTimeSpeed, 0, motor.port, motor.power,...
motor.handleCommand(@outputTimeSpeed, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
else
motor.execute(@outputTimePower, 0, motor.port, motor.power,...
motor.handleCommand(@outputTimePower, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
end
......@@ -326,7 +326,7 @@ classdef Motor < MaskedHandle & dynamicprops
return;
end
motor.execute(@outputStop, 0, motor.port, motor.brakeMode_);
motor.handleCommand(@outputStop, 0, motor.port, motor.brakeMode_);
motor.state.startedNotBusy = false;
end
......@@ -447,11 +447,11 @@ classdef Motor < MaskedHandle & dynamicprops
if strcmpi(motor.limitMode, 'Tacho')
motor.execute(@outputStepSync, 0, motor.port+syncMotor.port, ...
motor.handleCommand(@outputStepSync, 0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
motor.limitValue, motor.brakeMode_);
elseif strcmpi(motor.limitMode, 'Time')
motor.execute(@outputTimeSync, 0, motor.port+syncMotor.port, ...
motor.handleCommand(@outputTimeSync, 0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
motor.limitValue, motor.brakeMode_);
end
......@@ -493,7 +493,7 @@ classdef Motor < MaskedHandle & dynamicprops
syncMotor.applyState();
% Synced stopping
motor.execute(@outputStop, 0, motor.port+syncMotor.port, motor.brakeMode_);
motor.handleCommand(@outputStop, 0, motor.port+syncMotor.port, motor.brakeMode_);
% On next start, both motors have to send power-opcode again
if motor.state.sendPowerOnSet
......@@ -552,7 +552,7 @@ classdef Motor < MaskedHandle & dynamicprops
port2str('Motor', motor.port));
end
motor.execute(@outputReset, 0, motor.port);
motor.handleCommand(@outputReset, 0, motor.port);
end
function resetTachoCount(motor)
......@@ -567,7 +567,7 @@ classdef Motor < MaskedHandle & dynamicprops
port2str('Motor', motor.port));
end
motor.execute(@outputClrCount, 0, motor.port);
motor.handleCommand(@outputClrCount, 0, motor.port);
end
function setBrake(motor, brake)
......@@ -918,7 +918,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
methods (Access = private) % Private functions that directly interact with commLayer#
function varargout = execute(motor, commandHandle, varargin)
function varargout = handleCommand(motor, commandHandle, varargin)
% Execute a CommunicationInterface-method given as a handle
%
% As those methods have different, fixed numbers of output arguments, this quantity
......@@ -954,9 +954,9 @@ classdef Motor < MaskedHandle & dynamicprops
end;
if motor.currentSpeedRegulation
motor.execute(@outputSpeed, 0, motor.port, power);
motor.handleCommand(@outputSpeed, 0, motor.port, power);
else
motor.execute(@outputPower, 0, motor.port, power);
motor.handleCommand(@outputPower, 0, motor.port, power);
end
success = true;
return;
......@@ -967,7 +967,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getTypeMode: Motor-Object not connected to comm handle.');
end
[typeNo, modeNo] = motor.execute(@inputDeviceGetTypeMode, 0, motor.portInput);
[typeNo, modeNo] = motor.handleCommand(@inputDeviceGetTypeMode, 0, motor.portInput);
type = DeviceType(typeNo);
mode = DeviceMode(type,modeNo);
end
......@@ -977,7 +977,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getStatus: Motor-Object not connected to comm handle.');
end
statusNo = motor.execute(@inputDeviceGetConnection, 0, motor.portInput);
statusNo = motor.handleCommand(@inputDeviceGetConnection, 0, motor.portInput);
status = ConnectionType(statusNo);
end
......@@ -986,11 +986,11 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
end
cnt = motor.execute(@outputGetCount, 0, motor.portNo);
cnt = motor.handleCommand(@outputGetCount, 0, motor.portNo);
end
function cnt = getInternalTachoCount(motor)
[~, cnt] = motor.execute(@outputRead, 0, motor.portNo);
[~, cnt] = motor.handleCommand(@outputRead, 0, motor.portNo);
end
function speed = getSpeed(motor)
......@@ -998,7 +998,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getSpeed: Motor-Object not connected to comm handle.');
end
speed = motor.execute(@inputReadSI, 0, motor.portInput, DeviceMode.Motor.Speed);
speed = motor.handleCommand(@inputReadSI, 0, motor.portInput, DeviceMode.Motor.Speed);
end
function busy = getBusyFlag(motor)
......@@ -1014,7 +1014,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getBusyFlag: Motor-Object not connected to comm handle.');
end
busy = motor.execute(@outputTest, 0, motor.port);
busy = motor.handleCommand(@outputTest, 0, motor.port);
end
function applyBrake(motor)
......@@ -1028,12 +1028,12 @@ classdef Motor < MaskedHandle & dynamicprops
end
if motor.speedRegulation
motor.execute(@outputPower, 0, motor.port, 0);
motor.handleCommand(@outputPower, 0, motor.port, 0);
else
motor.execute(@outputSpeed, 0, motor.port, 0);
motor.handleCommand(@outputSpeed, 0, motor.port, 0);
end
motor.execute(@outputStart, 0, motor.port);
motor.execute(@outputStop, 0, motor.port, BrakeMode.Brake);
motor.handleCommand(@outputStart, 0, motor.port);
motor.handleCommand(@outputStop, 0, motor.port, BrakeMode.Brake);
end
function releaseBrake(motor)
......@@ -1047,12 +1047,12 @@ classdef Motor < MaskedHandle & dynamicprops
end
if motor.speedRegulation
motor.execute(@outputPower, 0, motor.port, 0);
motor.handleCommand(@outputPower, 0, motor.port, 0);
else
motor.execute(@outputSpeed, 0, motor.port, 0);
motor.handleCommand(@outputSpeed, 0, motor.port, 0);
end
motor.execute(@outputStart, 0, motor.port);
motor.execute(@outputStop, 0, motor.port, BrakeMode.Coast);
motor.handleCommand(@outputStart, 0, motor.port);
motor.handleCommand(@outputStop, 0, motor.port, BrakeMode.Coast);
end
end
......
source/Sensor.m
+ 7
− 7
View file @ 0726e13a
......@@ -252,7 +252,7 @@ classdef Sensor < MaskedHandle
% warning(['Sensor::reset: Current version of reset resets ALL devices, that is, ',...
% 'all motor tacho counts and all other sensor counters!']);
sensor.execute(@inputDeviceClrAll, 0);
sensor.handleCommand(@inputDeviceClrAll, 0);
end
%% Setter
......@@ -390,7 +390,7 @@ classdef Sensor < MaskedHandle
sensor.port+1);
end
sensor.execute(@inputReadSI, 0, sensor.port, mode); % Reading a value implicitly
sensor.handleCommand(@inputReadSI, 0, sensor.port, mode); % Reading a value implicitly
% sets the mode.
end
......@@ -423,7 +423,7 @@ classdef Sensor < MaskedHandle
mode = sensor.mode;
end
val = sensor.execute(@inputReadSI, 0, sensor.port, sensor.mode);
val = sensor.handleCommand(@inputReadSI, 0, sensor.port, sensor.mode);
if strcmp(class(sensor.mode), 'DeviceMode.Color')
......@@ -434,7 +434,7 @@ classdef Sensor < MaskedHandle
% See note
if isnan(val)
val = sensor.execute(@inputReadSI, 0, sensor.port, sensor.mode);
val = sensor.handleCommand(@inputReadSI, 0, sensor.port, sensor.mode);
end
end
......@@ -443,7 +443,7 @@ classdef Sensor < MaskedHandle
error('Sensor::getStatus: Sensor-Object not connected to comm handle.');
end
statusNo = sensor.execute(@inputDeviceGetConnection, 0, sensor.port);
statusNo = sensor.handleCommand(@inputDeviceGetConnection, 0, sensor.port);
status = ConnectionType(statusNo);
end
......@@ -456,7 +456,7 @@ classdef Sensor < MaskedHandle
for i = 1:10
try
[typeNo,modeNo] = sensor.execute(@inputDeviceGetTypeMode, 0, sensor.port);
[typeNo,modeNo] = sensor.handleCommand(@inputDeviceGetTypeMode, 0, sensor.port);
type = DeviceType(typeNo);
catch ME
continue;
......@@ -474,7 +474,7 @@ classdef Sensor < MaskedHandle
end
methods (Access = private)
function varargout = execute(sensor, commandHandle, varargin)
function varargout = handleCommand(sensor, commandHandle, varargin)
% Execute a CommunicationInterface-method given as a handle
%
% As those methods have different, fixed numbers of output arguments, this quantity
......
0% or .
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