diff --git a/source/EV3.m b/source/EV3.m
index cc7bbbea30b1a469baaab625767c76c9b12b00cd..239698e4aa5eecd9b9df2d2d187256fec30a2428 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -268,12 +268,6 @@ classdef EV3 < MaskedHandle
%% Device functions
function stopAllMotors(ev3)
% Sends a stop-command to all motor-ports.
-
- if ~ev3.isConnected
- error(['EV3::stopAllMotors: Brick-Object not connected physical brick. ',...
- 'You have to call ev3.connect(...) first!']);
- end
-
ev3.commInterface.outputStopAll();
end
@@ -289,12 +283,6 @@ classdef EV3 < MaskedHandle
% b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
% b.beep(); % |br|
%
-
- if ~ev3.isConnected
- error(['EV3::beep: Brick-Object not connected physical brick. ',...
- 'You have to call ev3.connect(...) first!']);
- end
-
ev3.handleCommand(@soundPlayTone, 10, 1000, 100);
end
@@ -312,12 +300,6 @@ classdef EV3 < MaskedHandle
% b.playTone(40, 5000, 1000); % Plays tone with 40% volume and 5000Hz for 1
% second. |br|
%
-
- if ~ev3.isConnected
- error(['EV3::isConnected: Brick-Object not connected physical brick. ',...
- 'You have to call ev3.connect(...) first!']);
- end
-
ev3.handleCommand(@soundPlayTone, volume, frequency, duration);
end
@@ -330,12 +312,6 @@ classdef EV3 < MaskedHandle
% b.playTone(10,100,100000000); % Accidentally given wrong tone duration :) |br|
% b.stopTone(); % Stops tone immediately. |br|
%
-
- if ~ev3.isConnected
- error(['EV3::stopTone: Brick-Object not connected physical brick. ',...
- 'You have to call ev3.connect(...) first!']);
- end
-
ev3.handleCommand(@soundStopTone);
end
@@ -352,12 +328,6 @@ classdef EV3 < MaskedHandle
% pause(0.5); % Small pause is necessary as tone does not start instantaneously |br|
% b.tonePlayed(); % -> Outputs 1 to console. |br|
%
-
- if ~ev3.isConnected
- error(['EV3::tonePlayed: Brick-Object not connected physical brick. ',...
- 'You have to call ev3.connect(...) first!']);
- end
-
status = ev3.handleCommand(@soundTest);
end
@@ -442,7 +412,7 @@ classdef EV3 < MaskedHandle
%% Getter
function bat = get.batteryValue(ev3)
if ~ev3.isConnected
- warning(ID('noConnection'), 'EV3::getBattery: EV3-Object not connected to physical EV3.');
+ warning(ID('noConnection'), 'EV3-Object not connected to physical EV3.');
bat = 0;
return;
@@ -477,7 +447,15 @@ classdef EV3 < MaskedHandle
%
% As those methods have different, fixed numbers of output arguments, this quantity
% has to be retrieved first.
-
+
+ if ~ev3.isConnected
+ msg = ['Brick-Object not connected physical brick. ',...
+ 'You have to call connect(...) first!'];
+ id = [ID(), ':', 'NotConnected'];
+
+ throw(MException(id, msg));
+ end
+
if ev3.debug
fprintf('(DEBUG) Sending %s\n', func2str(commandHandle));
end
@@ -486,12 +464,27 @@ classdef EV3 < MaskedHandle
% do this ugly workaround using strings. See
% https://de.mathworks.com/matlabcentral/answers/96617-how-can-i-use-nargin-nargout-to-determine-the-number-of-input-output-arguments-of-an-object-method
nOut = nargout(strcat('CommunicationInterface>CommunicationInterface.', func2str(commandHandle)));
- [varargout{1:nOut}] = commandHandle(ev3.commInterface, varargin{:});
+
+ try
+ [varargout{1:nOut}] = commandHandle(ev3.commInterface, varargin{:});
+ catch ME
+ %ev3.detectedCommError(ME.identifier, ME.message);
+ if ~isempty(strfind(exceptionID, 'CommError'))
+ warning('Lost connection to the Brick!');
+ ev3.disconnect();
+ else
+ warning('Something went wrong. Trying to reset the connection...');
+ ev3.disconnect();
+ ev3.connect();
+ end
+
+ throw(exception);
+ end
end
function bat = getBattery(ev3)
- % Retrieve batteryValue from brick in current mode. (Wrapped by EV3.batteryValue)
-
+ % Retrieve batteryValue from brick in current mode. (Wrapped by get.batteryValue)
+
if strcmpi(ev3.batteryMode, 'Percentage')
bat = ev3.handleCommand(@uiReadLbatt);
else
diff --git a/source/Motor.m b/source/Motor.m
index c5ed3bb23040e34d43a87d2095e0c754e556304a..a0ed2715c26aa0fb218c7bd8aae00e55f314f6af 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -199,13 +199,11 @@ classdef Motor < MaskedHandle & dynamicprops
function start(motor)
% Starts the motor.
- if ~motor.connectedToBrick
- error('Motor::start: Motor-Object not connected to comm handle.');
- elseif ~motor.physicalMotorConnected
- error('Motor::start: No physical motor connected to Port %s',...
+ if ~motor.physicalMotorConnected
+ error('Could not detect motor at Port %s',...
port2str('Motor', motor.port));
elseif motor.isRunning
- error('Motor::start: Motor is already running!');
+ error('Motor is already running!');
end
if motor.speedRegulation ~= motor.currentSpeedRegulation
@@ -278,7 +276,7 @@ classdef Motor < MaskedHandle & dynamicprops
else
limit = motor.limitValue - (motor.smoothStart + motor.smoothStop);
if limit < 0
- error(['Motor::start: smoothStart/Stop invalid. ' ,...
+ error(['smoothStart/Stop invalid. ' ,...
'smoothStart + smoothStop has to be smaller than limitValue.']);
end
@@ -316,10 +314,8 @@ classdef Motor < MaskedHandle & dynamicprops
%
% See also MOTOR.START, MOTOR.SYNCEDSTOP / :meth:`start`, :meth:`syncedStop`
- if ~motor.connectedToBrick
- error('Motor::stop: Motor-Object not connected to comm handle.');
- elseif ~motor.physicalMotorConnected
- error('Motor::stop: No physical motor connected to Port %s',...
+ if ~motor.physicalMotorConnected
+ error('Could not detect motor at Port %s',...
port2str('Motor', motor.port));
elseif motor.isSynced && motor.isRunning
motor.syncedStop();
@@ -377,32 +373,30 @@ classdef Motor < MaskedHandle & dynamicprops
% Check parameters
if ~isDeviceValid('Motor', syncMotor)
- error('Motor::syncedStart: Given motor to sync with is not a valid motor object.');
+ error('Given motor to sync with is not a valid motor object.');
elseif ~isempty(varargin)
if length(varargin)~=2
- error(['Motor::syncedStart: Wrong number of input arguments. ' ,...
+ error(['Wrong number of input arguments. ' ,...
'Possible input: ''turnRatio'', value (with value in [-200,200])']);
end
parameter = varargin{1};
turnRatio = varargin{2};
if ~strcmpi(parameter, 'turnRatio') || ~isnumeric(turnRatio) || ...
turnRatio<-200 || turnRatio > 200
- error(['Motor::syncedStart: Wrong format of input arguments. Possible ',...
+ error(['Wrong format of input arguments. Possible ',...
'input: ''turnRatio'', value (with value in [-200,200])']);
end
end
% Check connection and motor parameter
- if ~motor.connectedToBrick || ~syncMotor.connectedToBrick
- error('Motor::syncedStart: Motor-Object not connected to comm handle.');
- elseif ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
- error('Motor::syncedStart: No physical motor connected to Port %s or %s.',...
+ if ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
+ error('Could not detect motor at Port %s or %s.',...
port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
elseif motor.speedRegulation
- error(['Motor::syncedStart: Cannot run motors synchronized if ',...
+ error(['Cannot run motors synchronized if ',...
'speedRegulation is turned on.']);
elseif motor.isRunning || syncMotor.isRunning
- error('Motor::syncedStart: One of the motors is already running!');
+ error('One of the motors is already running!');
end
% If the motor coasts into its stops, the internal tachocount has to be reset
@@ -467,7 +461,7 @@ classdef Motor < MaskedHandle & dynamicprops
% See also MOTOR.SYNCEDSTART, MOTOR.STOP / :meth:`syncedStart`, :meth:`stop`
if ~motor.isSynced
- error('Motor::syncedStop: Motor has not been started synchronized with another.');
+ error('Motor has not been started synchronized with another.');
else
% Retrieve synced motor from cache
if motor.isMaster
@@ -481,10 +475,8 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- if ~motor.connectedToBrick || ~syncMotor.connectedToBrick
- error('Motor::syncedStop: Motor-Object not connected to comm handle.');
- elseif ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
- error('Motor::syncedStop: No physical motor connected to either Port %s or %s.',...
+ if ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
+ error('Could not detect motor at Port %s or %s.',...
port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
end
@@ -518,10 +510,6 @@ classdef Motor < MaskedHandle & dynamicprops
% * Workaround: Poll isRunning until it is false (No need to check if motor is
% connected as speed correctly returns 0 if it's not)
- if ~motor.connectedToBrick
- error('Motor::waitFor: Motor-Object not connected to comm handle.');
- end
-
while motor.isRunning
pause(0.03);
end
@@ -544,11 +532,8 @@ classdef Motor < MaskedHandle & dynamicprops
%
% See also MOTOR.RESETTACHOCOUNT / :attr:`resetTachoCount`
- if ~motor.connectedToBrick
- error(['Motor::internalReset: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.physicalMotorConnected
- error('Motor::internalReset: No physical motor connected to Port %s',...
+ if ~motor.physicalMotorConnected
+ error('Could not detect motor at Port %s',...
port2str('Motor', motor.port));
end
@@ -560,10 +545,8 @@ classdef Motor < MaskedHandle & dynamicprops
%
% See also MOTOR.TACHOCOUNT / :attr:`tachoCount`
- if ~motor.connectedToBrick
- error('Motor::resetTachoCount: Motor-Object not connected to comm handle.');
- elseif ~motor.physicalMotorConnected
- error('Motor::resetTachoCount: No physical motor connected to Port %s',...
+ if ~motor.physicalMotorConnected
+ error('Could not detect motor at Port %s',...
port2str('Motor', motor.port));
end
@@ -583,7 +566,7 @@ classdef Motor < MaskedHandle & dynamicprops
% See also MOTOR.BRAKEMODE / :attr:`brakeMode`
if ~isBool(brake)
- error('Motor::setBrake: Given parameter is not a valid bool.');
+ error('Given parameter is not a valid bool.');
else
brake = str2bool(brake);
end
@@ -601,10 +584,10 @@ classdef Motor < MaskedHandle & dynamicprops
%% Setter
function set.power(motor, power)
if ~isnumeric(power)
- error('Motor::set.power: Given parameter is not a numeric.');
+ error('Given parameter is not a numeric.');
elseif power<-100 || power>100
- warning('Motor::set.power: Motor power has to be an element of [-100,100]!');
- error('Motor::set.power: Given motor power is out of bounds.');
+ warning('Motor power has to be an element of [-100,100]!');
+ error('Given motor power is out of bounds.');
end
motor.power = power; % Set power parameter.
@@ -621,7 +604,7 @@ classdef Motor < MaskedHandle & dynamicprops
function set.speedRegulation(motor, speedRegulation)
if ~isBool(speedRegulation)
- error('Motor::set.speedRegulation: Given parameter is not a bool.');
+ error('Given parameter is not a bool.');
end
speedRegulation = str2bool(speedRegulation);
@@ -643,7 +626,7 @@ classdef Motor < MaskedHandle & dynamicprops
function set.currentSpeedRegulation(motor, currentSpeedRegulation)
if ~isBool(currentSpeedRegulation)
- error('Motor::set.currentSpeedRegulation: Given parameter is not a bool.');
+ error('Given parameter is not a bool.');
end
currentSpeedRegulation = str2bool(currentSpeedRegulation);
@@ -659,10 +642,10 @@ classdef Motor < MaskedHandle & dynamicprops
function set.smoothStart(motor, steps)
if ~isnumeric(steps)
- error('Motor::set.smoothStart: Given parameter is not a numeric.');
+ error('Given parameter is not a numeric.');
elseif steps<0
- warning('Motor::set.smoothStart: Smooth start steps have to be positive.');
- error('Motor::set.smoothStart: Smooth start steps are out of bounds.');
+ warning('Smooth start steps have to be positive.');
+ error('Smooth start steps are out of bounds.');
end
motor.smoothStart = steps;
@@ -670,10 +653,10 @@ classdef Motor < MaskedHandle & dynamicprops
function set.smoothStop(motor, steps)
if ~isnumeric(steps)
- error('Motor::set.smoothStop: Given parameter is not a numeric.');
+ error('Given parameter is not a numeric.');
elseif steps<0
- warning('Motor::set.smoothStop: Smooth stop steps have to be positive.');
- error('Motor::set.smoothStop: Smooth stop steps are out of bounds.');
+ warning('Smooth stop steps have to be positive.');
+ error('Smooth stop steps are out of bounds.');
end
motor.smoothStop = steps;
@@ -682,7 +665,7 @@ classdef Motor < MaskedHandle & dynamicprops
function set.brakeMode(motor, brakeMode)
if ~ischar(brakeMode) || ...
(~strcmpi(brakeMode, 'coast') && ~strcmpi(brakeMode, 'brake'))
- error('Motor::set.brakeMode: Given parameter is not a valid brake mode.');
+ error('Given parameter is not a valid brake mode.');
end
% If new brakeMode is 'Brake': reset internal tachocount once
@@ -701,7 +684,7 @@ classdef Motor < MaskedHandle & dynamicprops
function set.limitMode(motor, limitMode)
if ~ischar(limitMode) || ...
(~strcmpi(limitMode, 'tacho') && ~strcmpi(limitMode, 'time'))
- error('Motor::set.limitMode: Given parameter is not a valid limit mode.');
+ error('Given parameter is not a valid limit mode.');
end
motor.limitMode = limitMode;
@@ -709,10 +692,10 @@ classdef Motor < MaskedHandle & dynamicprops
function set.limitValue(motor, limitValue)
if ~isnumeric(limitValue)
- error('Motor::set.limitValue: Given parameter is not a numeric.');
+ error('Given parameter is not a numeric.');
elseif limitValue<0
- warning('Motor::set.limitValue: limitValue has to be positive!');
- error('Motor::set.limitValue: Given limitValue is out of bounds.');
+ warning('limitValue has to be positive!');
+ error('Given limitValue is out of bounds.');
end
if limitValue == 0
@@ -733,13 +716,13 @@ classdef Motor < MaskedHandle & dynamicprops
try
motor.port = str2PortParam(class(motor), port);
catch ME
- error('Motor::set.port: Given parameter is not valid port string.');
+ error('Given parameter is not valid port string.');
end
end
function set.commInterface(motor, comm)
if ~isCommInterfaceValid(comm)
- error('Motor::set.commInterface: Handle to commInterface not valid.');
+ error('Handle to commInterface not valid.');
end
motor.commInterface = comm;
@@ -747,7 +730,7 @@ classdef Motor < MaskedHandle & dynamicprops
function set.debug(motor, debug)
if ~isBool(debug)
- error('Motor::set.debug: Given parameter is not a bool.');
+ error('Given parameter is not a bool.');
end
motor.debug = str2bool(debug);
@@ -846,7 +829,7 @@ classdef Motor < MaskedHandle & dynamicprops
if motor.connectedToBrick
cnt = motor.getTachoCount();
if isnan(cnt)
- warning('Motor::get.tachoCount: Could not detect motor at port %s.', ...
+ warning('Could not detect motor at port %s.', ...
port2str('Motor', motor.port));
cnt = 0;
end
@@ -858,7 +841,7 @@ classdef Motor < MaskedHandle & dynamicprops
if motor.connectedToBrick
cnt = motor.getInternalTachoCount();
if isnan(cnt)
- warning('Motor::get.internalTachoCount: Could not detect motor at port %s.', ...
+ warning('Could not detect motor at port %s.', ...
port2str('Motor', motor.port));
cnt = 0;
end
@@ -870,7 +853,7 @@ classdef Motor < MaskedHandle & dynamicprops
if motor.connectedToBrick
speed = motor.getSpeed();
if isnan(speed)
- warning('Motor::get.currentSpeed: Could not detect motor at port %s.', ...
+ warning('Could not detect motor at port %s.', ...
port2str('Motor', motor.port));
speed = 0;
end
@@ -917,13 +900,21 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- methods (Access = private) % Private functions that directly interact with commLayer#
+ methods (Access = private) % Private functions that directly interact with commLayer
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
% has to be retrieved first.
+ if ~motor.connectedToBrick
+ msg = ['Not connected to physical brick. ',...
+ 'You have to call connect(...) on the EV3 object first!'];
+ id = [ID(), ':', 'NotConnected'];
+
+ throw(MException(id, msg));
+ end
+
if motor.debug
fprintf('(DEBUG) Sending %s\n', func2str(commandHandle));
end
@@ -932,7 +923,21 @@ classdef Motor < MaskedHandle & dynamicprops
% do this ugly workaround using strings. See
% https://de.mathworks.com/matlabcentral/answers/96617-how-can-i-use-nargin-nargout-to-determine-the-number-of-input-output-arguments-of-an-object-method
nOut = nargout(strcat('CommunicationInterface>CommunicationInterface.', func2str(commandHandle)));
- [varargout{1:nOut}] = commandHandle(motor.commInterface, varargin{:});
+ try
+ [varargout{1:nOut}] = commandHandle(motor.commInterface, varargin{:});
+ catch ME
+ %motor.ev3Handle.detectedCommError(ME.identifier, ME.message);
+ if ~isempty(strfind(ME.identifier, 'CommError'))
+ warning('Lost connection to the Brick!');
+ motor.disconnect();
+ else
+ warning('Something went wrong. Trying to reset the connection...');
+ motor.disconnect();
+ motor.connect();
+ end
+
+ throw(exception);
+ end
end
function success = setPower(motor, power)
@@ -963,29 +968,17 @@ classdef Motor < MaskedHandle & dynamicprops
end
function [type,mode] = getTypeMode(motor)
- if ~motor.connectedToBrick
- error('Motor::getTypeMode: Motor-Object not connected to comm handle.');
- end
-
[typeNo, modeNo] = motor.handleCommand(@inputDeviceGetTypeMode, 0, motor.portInput);
type = DeviceType(typeNo);
mode = DeviceMode(type,modeNo);
end
function status = getStatus(motor)
- if ~motor.connectedToBrick
- error('Motor::getStatus: Motor-Object not connected to comm handle.');
- end
-
statusNo = motor.handleCommand(@inputDeviceGetConnection, 0, motor.portInput);
status = ConnectionType(statusNo);
end
function cnt = getTachoCount(motor)
- if ~motor.connectedToBrick
- error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
- end
-
cnt = motor.handleCommand(@outputGetCount, 0, motor.portNo);
end
@@ -994,10 +987,6 @@ classdef Motor < MaskedHandle & dynamicprops
end
function speed = getSpeed(motor)
- if ~motor.connectedToBrick
- error('Motor::getSpeed: Motor-Object not connected to comm handle.');
- end
-
speed = motor.handleCommand(@inputReadSI, 0, motor.portInput, DeviceMode.Motor.Speed);
end
@@ -1009,22 +998,15 @@ classdef Motor < MaskedHandle & dynamicprops
% called immediately after starting the motor.
% * Busy is set to true if motor is running with tacholimit or synced
%
-
- if ~motor.connectedToBrick
- error('Motor::getBusyFlag: Motor-Object not connected to comm handle.');
- end
-
busy = motor.handleCommand(@outputTest, 0, motor.port);
end
function applyBrake(motor)
- if ~motor.connectedToBrick
- error('Motor::applyBrake: Motor-Object not connected to comm handle.');
- elseif ~motor.physicalMotorConnected
- error('Motor::applyBrake: No physical motor connected to Port %s',...
+ if ~motor.physicalMotorConnected
+ error('Could not detect motor at Port %s',...
port2str('Motor', motor.port));
elseif motor.currentSpeed~=0
- error('Motor::applyBrake: Can''t apply brake because Motor is moving');
+ error('Can''t apply brake because Motor is moving');
end
if motor.speedRegulation
@@ -1037,13 +1019,11 @@ classdef Motor < MaskedHandle & dynamicprops
end
function releaseBrake(motor)
- if ~motor.connectedToBrick
- error('Motor::releaseBrake: Motor-Object not connected to comm handle.');
- elseif ~motor.physicalMotorConnected
- error('Motor::releaseBrake: No physical motor connected to Port %s',...
+ if ~motor.physicalMotorConnected
+ error('Could not detect motor at Port %s',...
port2str('Motor', motor.port));
elseif motor.currentSpeed~=0
- error('Motor::releaseBrake: Can''t release brake because Motor is moving');
+ error('Can''t release brake because Motor is moving');
end
if motor.speedRegulation
@@ -1088,7 +1068,7 @@ classdef Motor < MaskedHandle & dynamicprops
meta.Hidden = true;
meta.Access = 'private';
elseif ~override
- error('Motor::addProperty: Motor already has this property.');
+ error('Motor already has this property.');
end
motor.(propName) = propValue;
@@ -1111,15 +1091,15 @@ classdef Motor < MaskedHandle & dynamicprops
if motor.connectedToBrick
if isCommInterfaceValid(motor.commInterface)
- error('Motor::connect: Motor-Object already has a comm handle.');
+ error('Motor-Object already has a comm handle.');
else
- warning(['Motor::connect: Motor.connectedToBrick is set to ''True'', but ',...
+ warning(['Motor.connectedToBrick is set to ''True'', but ',...
'comm handle is invalid. Deleting invalid handle and ' ,...
'resetting Motor.connectedToBrick now...']);
motor.disconnect();
- error('Motor::connect: Disconnected due to internal error.');
+ error('Disconnected due to internal error.');
end
end
diff --git a/source/Sensor.m b/source/Sensor.m
index 5e1c82947200b6c20cc13ebb9233d583be3111d1..ffdb7aca409ae40bc95f8b73b92357a23a82aa49 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -243,14 +243,12 @@ classdef Sensor < MaskedHandle
% * This clears ALL the sensors right now, no other Op-Code available... :(
%
- if ~sensor.connectedToBrick
- error('Sensor::reset: Sensor-Object not connected to comm handle.');
- elseif ~sensor.physicalSensorConnected
- error('Sensor::reset: No physical sensor connected to Port %d.',...
+ if ~sensor.physicalSensorConnected
+ error('Could not detect sensor at Port %d',...
sensor.port+1);
end
-% warning(['Sensor::reset: Current version of reset resets ALL devices, that is, ',...
+% warning(['Current version of reset resets ALL devices, that is, ',...
% 'all motor tacho counts and all other sensor counters!']);
sensor.handleCommand(@inputDeviceClrAll, 0);
end
@@ -264,7 +262,7 @@ classdef Sensor < MaskedHandle
type = sensor.type;
if ~isModeValid(mode, type)
- error('Sensor::set.mode: Invalid sensor mode.');
+ error('Invalid sensor mode.');
else
sensor.mode = mode;
@@ -281,7 +279,7 @@ classdef Sensor < MaskedHandle
function set.debug(sensor, debug)
% Check if debug is valid and set sensor.debug if it is.
if ~isBool(debug)
- error('Sensor::set.debug: Given parameter is not a bool.');
+ error('Given parameter is not a bool.');
end
sensor.debug = str2bool(debug);
@@ -289,7 +287,7 @@ classdef Sensor < MaskedHandle
function set.port(sensor, port)
if ~isPortStrValid(class(sensor),port)
- error('Sensor::set.port: Given port is not a valid port.');
+ error('Given port is not a valid port.');
else
sensor.port = str2PortParam(class(sensor), port);
end
@@ -297,7 +295,7 @@ classdef Sensor < MaskedHandle
function set.commInterface(sensor, comm)
if ~isCommInterfaceValid(comm)
- error('Sensor::set.commInterface: Handle to commInterface not valid.');
+ error('Handle to commInterface not valid.');
else
sensor.commInterface = comm;
end
@@ -354,7 +352,7 @@ classdef Sensor < MaskedHandle
if sensor.connectedToBrick
value = sensor.getValue(defaultMode);
if isnan(value)
- warning('Sensor::get.value: Could not detect sensor at port %d.', ...
+ warning('Could not detect sensor at port %d.', ...
sensor.port+1);
value = 0;
end
@@ -383,10 +381,8 @@ classdef Sensor < MaskedHandle
methods (Access = private) % Private brick functions that are wrapped by dependent params
function setMode(sensor, mode)
- if ~sensor.connectedToBrick
- error('Sensor::getTachoCount: Sensor-Object not connected to comm handle.');
- elseif ~sensor.physicalSensorConnected
- error('Sensor::getTachoCount: No physical sensor connected to Port %d',...
+ if ~sensor.physicalSensorConnected
+ error('Could not detect sensor at Port %d',...
sensor.port+1);
end
@@ -407,16 +403,12 @@ classdef Sensor < MaskedHandle
% 5 is numerically highest available number of modes for a sensor(NXT Color)
if ~isnumeric(defaultMode) || defaultMode > 5
- error('Sensor::getValue: Invalid mode');
+ error('Invalid mode');
end
else
defaultMode = -1;
end
- if ~sensor.connectedToBrick
- error('Sensor::getValue: Sensor-Object not connected to comm handle.');
- end
-
if defaultMode ~= -1
mode = defaultMode;
else
@@ -439,19 +431,11 @@ classdef Sensor < MaskedHandle
end
function status = getStatus(sensor)
- if ~sensor.connectedToBrick
- error('Sensor::getStatus: Sensor-Object not connected to comm handle.');
- end
-
statusNo = sensor.handleCommand(@inputDeviceGetConnection, 0, sensor.port);
status = ConnectionType(statusNo);
end
function [type,mode] = getTypeMode(sensor)
- if ~sensor.connectedToBrick
- error('Sensor::getTypeMode: Sensor-Object not connected to comm handle.');
- end
-
type = DeviceType.Error;
for i = 1:10
@@ -471,15 +455,20 @@ classdef Sensor < MaskedHandle
end
end
- end
-
- methods (Access = private)
- function varargout = handleCommand(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
% has to be retrieved first.
+ if ~sensor.connectedToBrick
+ msg = ['Not connected to physical brick. ',...
+ 'You have to call connect(...) on the EV3 object first!'];
+ id = [ID(), ':', 'NotConnected'];
+
+ throw(MException(id, msg));
+ end
+
if sensor.debug
fprintf('(DEBUG) Sending %s\n', func2str(commandHandle));
end
@@ -488,7 +477,21 @@ classdef Sensor < MaskedHandle
% do this ugly workaround using strings. See
% https://de.mathworks.com/matlabcentral/answers/96617-how-can-i-use-nargin-nargout-to-determine-the-number-of-input-output-arguments-of-an-object-method
nOut = nargout(strcat('CommunicationInterface>CommunicationInterface.', func2str(commandHandle)));
- [varargout{1:nOut}] = commandHandle(sensor.commInterface, varargin{:});
+ try
+ [varargout{1:nOut}] = commandHandle(sensor.commInterface, varargin{:});
+ catch ME
+ %sensor.ev3Handle.detectedCommError(ME.identifier, ME.message);
+ if ~isempty(strfind(ME.identifier, 'CommError'))
+ warning('Lost connection to the Brick!');
+ sensor.disconnect();
+ else
+ warning('Something went wrong. Trying to reset the connection...');
+ sensor.disconnect();
+ sensor.connect();
+ end
+
+ throw(exception);
+ end
end
end
@@ -498,16 +501,16 @@ classdef Sensor < MaskedHandle
if sensor.connectedToBrick
if isCommInterfaceValid(sensor.commInterface)
- error('Sensor::connect: Sensor-Object already has a comm handle.');
+ error('Sensor-Object already has a comm handle.');
else
- warning(['Sensor::connect: Sensor.connectedToBrick is set to ''True'', but ',...
+ warning(['Sensor.connectedToBrick is set to ''True'', but ',...
'comm handle is invalid. Deleting invalid handle and ' ,...
'resetting Sensor.connectedToBrick now...']);
sensor.commInterface = 0;
sensor.connectedToBrick = false;
- error('Sensor::connect: Disconnected due to internal error.');
+ error('Disconnected due to internal error.');
end
end