Move connection tests to dispatch-method

Adapted (and cleaned up) error messages and warnings accordingly.

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

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