diff --git a/docs/initialBytecodes.odt b/docs/initialBytecodes.odt
new file mode 100644
index 0000000000000000000000000000000000000000..1654003debefd1f54e7e639a33ffc898ac1b83d7
Binary files /dev/null and b/docs/initialBytecodes.odt differ
diff --git a/docs/relevanteBytecodes.odt b/docs/relevanteBytecodes.odt
new file mode 100644
index 0000000000000000000000000000000000000000..9bc75cc235238b207de3823692696bca2b55d799
Binary files /dev/null and b/docs/relevanteBytecodes.odt differ
diff --git a/typedata.ods b/docs/typedata.ods
similarity index 100%
rename from typedata.ods
rename to docs/typedata.ods
diff --git a/initialBytecodes.odt b/initialBytecodes.odt
deleted file mode 100644
index ff55540b55caf7cf2ed4500e609c40a4cd16c19f..0000000000000000000000000000000000000000
Binary files a/initialBytecodes.odt and /dev/null differ
diff --git a/relevanteBytecodes.odt b/relevanteBytecodes.odt
deleted file mode 100644
index b2af85419ac97c13e11dbb376ea1e7b9f0aa8b70..0000000000000000000000000000000000000000
Binary files a/relevanteBytecodes.odt and /dev/null differ
diff --git a/source/ByteCodes.m b/source/ByteCodes.m
index 455c26e7dd59cd56a7fb9dd17af006db8005248d..e35a2985fd97342a8b7fb1210f3f30bb993bd891 100644
--- a/source/ByteCodes.m
+++ b/source/ByteCodes.m
@@ -97,10 +97,10 @@ classdef ByteCodes < uint8
%
%Communications
- COMReady (208) % = 0xD0 @MMI
+ COMReady (208) % = 0xD0
COMGet (211) % = 0xD3,
COMSet (212) % = 0xD4,
- COMTest (213) % = 0xD5 @MMI
+ COMTest (213) % = 0xD5
% %Mailbox
MailboxOpen (216) % = 0xD8,
diff --git a/source/CommunicationInterface.m b/source/CommunicationInterface.m
index 65869b81eb47ed71584ec130139000e3eca03ae2..8c47af53aeb0167a4474403e9f7324ff852fb348 100755
--- a/source/CommunicationInterface.m
+++ b/source/CommunicationInterface.m
@@ -44,10 +44,6 @@ classdef CommunicationInterface < handle
% inputRead @MMI: Reads a connected sensor at a layer, NO, type and mode in percentage
% inputReadSI Reads a connected sensor at a layer, NO, type and mode in SI units
%
- % plotSensor Plots a sensor readings over time
- % displayColor Displays the color from a color sensor
- %
- %
% outputStop Stops motor at a layer, NOS and brake
% outputStopAll Stops all the motors
% outputPower Sets motor output power at a layer, NOS and speed
@@ -1797,129 +1793,6 @@ classdef CommunicationInterface < handle
end
brick.soundPlayTone(volume, 1000, duration);
end
-
- function playThreeTones(brick)
- % Brick.playThreeTones Play three tones on the brick
- %
- % Brick.playThreeTones() plays three tones consequentively on
- % the brick with one upload command.
- %
- % Example::
- % b.playThreeTones();
-
- cmd = Command();
- cmd.addHeaderDirect(42,0,0);
- cmd.opSOUND_TONE(5,440,500);
- cmd.opSOUND_READY();
- cmd.opSOUND_TONE(10,880,500);
- cmd.opSOUND_READY();
- cmd.opSOUND_TONE(15,1320,500);
- cmd.opSOUND_READY();
- cmd.addLength();
- % print message
- fprintf('Sending three tone message ...\n');
- brick.send(cmd);
- end
-
- function plotSensor(brick,layer,no,mode)
- % Brick.plotSensor plot the sensor output
- %
- % Brick.plotSensor(layer,no,mode) plots the sensor output
- % to MATLAB.
- %
- % 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 from types.html. (-1=don't change)
- %
- % Example::
- % b.plotSensor(0,SensorPort.Sensor1,Device.USDistCM)
- % b.plotSensor(0,SensorPort.Sensor1,Device.GyroAng)
-
- % start timing
- tic;
- % create figure
- hfig = figure('name','EV3 Sensor');
- % init the the data
- t = 0;
- x = 0;
- hplot = plot(t,x);
- % one read to set the mode
- reading = brick.inputReadSI(layer,no,mode);
- % set the title
- name = brick.inputDeviceGetName(layer,no);
- title(['Device name: ' name]);
- % set the y label
- name = brick.inputDeviceSymbol(layer,no);
- ylabel(['Sensor value (' name(1:end-1) ')']);
- % set the x label
- xlabel('Time (s)');
- % set the x axis
- xlim([0 10]);
- % wait until the figure is closed
- while(findobj('name','EV3 Sensor') == 1)
- % get the reading
- reading = brick.inputReadSI(layer,no,mode);
- t = [t toc];
- x = [x reading];
- set(hplot,'Xdata',t)
- set(hplot,'Ydata',x)
- drawnow
- % reset after 10 seconds
- if (toc > 10)
- % reset
- t = 0;
- x = x(end);
- tic
- end
- end
- end
-
- function displayColor(brick,layer,no)
- % Brick.displayColor display sensor color
- %
- % Brick.displayColor(layer,no) displays the color read from the
- % color sensor in a MATLAB figure.
- %
- % Notes::
- % - layer is the usb chain layer (usually 0).
- % - NO is the output port number from [0..3] or sensor port
- % number minus 1.
- %
- % Example::
- % b.displayColor(0,SensorPort.Sensor1)
-
- % create figure
- hfig = figure('name','EV3 Color Sensor');
- % wait until the figure is closed
- while(findobj('name','EV3 Color Sensor') == 1)
- % read the color sensor in color detection mode
- color = brick.inputReadSI(layer,no,Device.ColColor);
- % change the figure background according to the color
- switch color
- case Device.NoColor
- set(hfig,'Color',[0.8,0.8,0.8])
- case Device.BlackColor
- set(hfig,'Color',[0,0,0])
- case Device.BlueColor
- set(hfig,'Color',[0,0,1])
- case Device.GreenColor
- set(hfig,'Color',[0,1,0])
- case Device.YellowColor
- set(hfig,'Color',[1,1,0])
- case Device.RedColor
- set(hfig,'Color',[1,0,0])
- case Device.WhiteColor
- set(hfig,'Color',[1,1,1])
- case Device.BrownColor
- set(hfig,'Color',[0.6,0.3,0])
- otherwise
- set(hfig,'Color',[0.8,0.8,0.8])
- end
- drawnow
- end
- end
end
methods (Access = private)
diff --git a/source/EV3.m b/source/EV3.m
index 1f598f140be075531b495c05f871978e610c5117..5b36c75b9caf0cfcbf1b05e885c9a68587052c1f 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -468,7 +468,7 @@ classdef EV3 < MaskedHandle
% Resets Motors and Sensors.
%
% Notes:
- % * Gets called automatically by EV3.delete.
+ % * Gets called automatically by EV3.disconnect.
%
% See also MOTOR.RESETPHYSICALMOTOR, SENSOR.RESETPHYSICALSENSOR
diff --git a/source/Motor.m b/source/Motor.m
index b8edd40c5a801aa43a2fc8d44454dd5aca4454e2..e087e8375d57101b45ae5b4e179c9da52c8ca396 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -843,15 +843,6 @@ classdef Motor < MaskedHandle & dynamicprops
end
function conn = get.physicalMotorConnected(motor)
-% try
-% conn = motor.isPhysicalMotorConnected();
-% catch ME
-% if ~isempty(strfind(ME.identifier, 'NotConnected'))
-% conn = DeviceType.Unknown;
-% else
-% throw(ME);
-% end
-% end
currentType = motor.type;
conn = (currentType==DeviceType.MediumMotor || currentType==DeviceType.LargeMotor);
end
@@ -1036,6 +1027,11 @@ classdef Motor < MaskedHandle & dynamicprops
methods (Access = ?EV3)
function resetPhysicalMotor(motor)
+ % Stop motor, release brakes and reset all tacho counts.
+ %
+ % Notes:
+ % * This is called automatically on disconnect
+
% Do nothing if there is either no connection or no motor connected to port
if ~motor.ev3Handle.isConnected || ~motor.physicalMotorConnected
return;
diff --git a/source/OutputStreamSend.class b/source/OutputStreamSend.class
deleted file mode 100755
index 50aa9f9f6fe5e3e3ad9d43e454f3d4da298ef3bb..0000000000000000000000000000000000000000
Binary files a/source/OutputStreamSend.class and /dev/null differ
diff --git a/source/OutputStreamSend.java b/source/OutputStreamSend.java
deleted file mode 100755
index 2249b5dee071d7dd4100d60e899e398121247fe3..0000000000000000000000000000000000000000
--- a/source/OutputStreamSend.java
+++ /dev/null
@@ -1,53 +0,0 @@
-import java.io.*;
-
-public class OutputStreamSend {
- public static byte[] buffer = null;
- public static int counter = 0;
-
- public OutputStreamSend(int length) {
- buffer = new byte[length];
- clear();
- }
-
- public OutputStreamSend() {
- this(128);
- }
-
- public void addtoBuffer(char v) {
- buffer[counter] = (byte)v;
- counter++;
- }
-
- public void addtoBufferN(char[] v, int len) {
- for(int i=0; i<len; i++)
- {
- buffer[counter] = (byte)v[i];
- counter++;
- }
- }
-
- public void display() {
- for(int i=0;i<counter;i++)
- {
- System.out.print(buffer[i]);
- }
- }
-
- public void clear() {
- for(int i=0;i<counter;i++)
- {
- buffer[i] = 0;
- }
- counter = 0;
- }
-
- public void send(OutputStream output) throws IOException {
- try {
- output.write(buffer,0,counter);
- output.flush();
- this.clear();
-
- } catch (Exception e) {}
- }
-
-}
diff --git a/source/Sensor.m b/source/Sensor.m
index a52638e991da960523abad11e9736000e4af2a59..5e6ac9fe283051a0bf4ac8d61703648213e8bb33 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -254,15 +254,14 @@ classdef Sensor < MaskedHandle
type = sensor.type;
if ~isModeValid(mode, type)
error('Invalid sensor mode.');
- else
- sensor.mode = mode;
-
- if ~strcmp(class(mode),'DeviceMode.Default') && sensor.ev3Handle.isConnected
- try
- sensor.setMode(mode); % Update physical brick's mode parameter
- catch
- % Ignore
- end
+ end
+
+ sensor.mode = mode;
+ if ~strcmp(class(mode),'DeviceMode.Default') && sensor.ev3Handle.isConnected
+ try
+ sensor.setMode(mode); % Update physical brick's mode parameter
+ catch
+ % Ignore
end
end
end
@@ -279,9 +278,9 @@ classdef Sensor < MaskedHandle
function set.port(sensor, port)
if ~isPortStrValid(class(sensor),port)
error('Given port is not a valid port.');
- else
- sensor.port = str2PortParam(class(sensor), port);
end
+
+ sensor.port = str2PortParam(class(sensor), port);
end
function setProperties(sensor, varargin)
@@ -332,10 +331,9 @@ classdef Sensor < MaskedHandle
%% Getter
function value = get.value(sensor)
value = 0;
- defaultMode = -1;
if sensor.ev3Handle.isConnected
- value = sensor.getValue(defaultMode);
+ value = sensor.getValue();
if isnan(value)
warning('Could not detect sensor at port %d.', ...
sensor.port+1);
@@ -369,34 +367,15 @@ classdef Sensor < MaskedHandle
sensor.handleCommand(@inputReadSI, true, 0, sensor.port, mode); % Reading a value implicitly sets the mode.
end
- function val = getValue(sensor, varargin)
+ function val = getValue(sensor)
%getValue Reads value from sensor
%
% Notes:
% * After changing the mode, sensors initially always send an invalid value. In
% this case, the inputReadSI-opCode is sent again to get the correct value.
%
-
- if ~isempty(varargin)
- defaultMode = varargin{1};
-
- % 5 is numerically highest available number of modes for a sensor(NXT Color)
- if ~isnumeric(defaultMode) || defaultMode > 5
- error('Invalid mode');
- end
- else
- defaultMode = -1;
- end
-
- if defaultMode ~= -1
- mode = defaultMode;
- else
- mode = sensor.mode;
- end
-
val = sensor.handleCommand(@inputReadSI, false, 0, sensor.port, sensor.mode);
-
if strcmp(class(sensor.mode), 'DeviceMode.Color')
if sensor.mode == DeviceMode.Color.Col
val = Color(val);
@@ -417,6 +396,8 @@ classdef Sensor < MaskedHandle
function [type,mode] = getTypeMode(sensor)
type = DeviceType.Error;
+ % In very rare cases, the brick sends an invalid type-no - try to get a valid one up
+ % to ten times (I know, I know, another ugly workaround :( )
for i = 1:10
try
[typeNo,modeNo] = sensor.handleCommand(@inputDeviceGetTypeMode, false, 0, sensor.port);
@@ -424,6 +405,7 @@ classdef Sensor < MaskedHandle
catch ME
continue;
end
+
break;
end
@@ -467,6 +449,11 @@ classdef Sensor < MaskedHandle
methods (Access = ?EV3)
function resetPhysicalSensor(sensor)
+ % Reset mode to default and reset sensor value
+ %
+ % Notes:
+ % * This is called automatically on disconnect
+
if ~sensor.ev3Handle.isConnected || ~sensor.physicalSensorConnected
return
end
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 639ea0c8d8d69092f10c18a8a8b8417fb93b869a..2e955475bd2a1a8ecc715a88dd20fb099672578d 100644
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -289,6 +289,9 @@ classdef btBrickIO < BrickIO
if(ispc && license('test', 'instr_control_toolbox')) % Choose 'backend'-default depending on OS
p.addOptional('backend', 'instrumentControl');
else
+ if ispc
+ warning('Instrument&Control-Toolbox not installed. Using MATLAB default backend for BT communication. This could lead to errors on Windows!');
+ end
p.addOptional('backend', 'serial');
end
diff --git a/source/hidapi_old.h b/source/hidapi_old.h
deleted file mode 100755
index 6c8c48396496ac4083ec81739fe0245db4e53066..0000000000000000000000000000000000000000
--- a/source/hidapi_old.h
+++ /dev/null
@@ -1,383 +0,0 @@
-/*******************************************************
- HIDAPI - Multi-Platform library for
- communication with HID devices.
-
- Alan Ott
- Signal 11 Software
-
- 8/22/2009
-
- Copyright 2009, All Rights Reserved.
-
- At the discretion of the user of this library,
- this software may be licensed under the terms of the
- GNU Public License v3, a BSD-Style license, or the
- original HIDAPI license as outlined in the LICENSE.txt,
- LICENSE-gpl3.txt, LICENSE-bsd.txt, and LICENSE-orig.txt
- files located at the root of the source distribution.
- These files may also be found in the public source
- code repository located at:
- http://github.com/signal11/hidapi .
-********************************************************/
-
-/** @file
- * @defgroup API hidapi API
- */
-
-#ifndef HIDAPI_H__
-#define HIDAPI_H__
-
-#include <wchar.h>
-
-#ifdef _WIN32
- #define HID_API_EXPORT __declspec(dllexport)
- #define HID_API_CALL
-#else
- #define HID_API_EXPORT /**< API export macro */
- #define HID_API_CALL /**< API call macro */
-#endif
-
-#define HID_API_EXPORT_CALL HID_API_EXPORT HID_API_CALL /**< API export and call macro*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
- struct hid_device_;
- typedef struct hid_device_ hid_device; /**< opaque hidapi structure */
-
- /** hidapi info structure */
- struct hid_device_info {
- /** Platform-specific device path */
- char *path;
- /** Device Vendor ID */
- unsigned short vendor_id;
- /** Device Product ID */
- unsigned short product_id;
- /** Serial Number */
- wchar_t *serial_number;
- /** Device Release Number in binary-coded decimal,
- also known as Device Version Number */
- unsigned short release_number;
- /** Manufacturer String */
- wchar_t *manufacturer_string;
- /** Product string */
- wchar_t *product_string;
- /** Usage Page for this Device/Interface
- (Windows/Mac only). */
- unsigned short usage_page;
- /** Usage for this Device/Interface
- (Windows/Mac only).*/
- unsigned short usage;
- /** The USB interface which this logical device
- represents. Valid on both Linux implementations
- in all cases, and valid on the Windows implementation
- only if the device contains more than one interface. */
- int interface_number;
-
- /** Pointer to the next device */
- struct hid_device_info *next;
- };
-
-
- /** @brief Initialize the HIDAPI library.
-
- This function initializes the HIDAPI library. Calling it is not
- strictly necessary, as it will be called automatically by
- hid_enumerate() and any of the hid_open_*() functions if it is
- needed. This function should be called at the beginning of
- execution however, if there is a chance of HIDAPI handles
- being opened by different threads simultaneously.
-
- @ingroup API
-
- @returns
- This function returns 0 on success and -1 on error.
- */
- int HID_API_EXPORT HID_API_CALL hid_init(void);
-
- /** @brief Finalize the HIDAPI library.
-
- This function frees all of the static data associated with
- HIDAPI. It should be called at the end of execution to avoid
- memory leaks.
-
- @ingroup API
-
- @returns
- This function returns 0 on success and -1 on error.
- */
- int HID_API_EXPORT HID_API_CALL hid_exit(void);
-
- /** @brief Enumerate the HID Devices.
-
- This function returns a linked list of all the HID devices
- attached to the system which match vendor_id and product_id.
- If @p vendor_id and @p product_id are both set to 0, then
- all HID devices will be returned.
-
- @ingroup API
- @param vendor_id The Vendor ID (VID) of the types of device
- to open.
- @param product_id The Product ID (PID) of the types of
- device to open.
-
- @returns
- This function returns a pointer to a linked list of type
- struct #hid_device, containing information about the HID devices
- attached to the system, or NULL in the case of failure. Free
- this linked list by calling hid_free_enumeration().
- */
- struct hid_device_info HID_API_EXPORT * HID_API_CALL hid_enumerate(unsigned short vendor_id, unsigned short product_id);
-
- /** @brief Free an enumeration Linked List
-
- This function frees a linked list created by hid_enumerate().
-
- @ingroup API
- @param devs Pointer to a list of struct_device returned from
- hid_enumerate().
- */
- void HID_API_EXPORT HID_API_CALL hid_free_enumeration(struct hid_device_info *devs);
-
- /** @brief Open a HID device using a Vendor ID (VID), Product ID
- (PID) and optionally a serial number.
-
- If @p serial_number is NULL, the first device with the
- specified VID and PID is opened.
-
- @ingroup API
- @param vendor_id The Vendor ID (VID) of the device to open.
- @param product_id The Product ID (PID) of the device to open.
- @param serial_number The Serial Number of the device to open
- (Optionally NULL).
-
- @returns
- This function returns a pointer to a #hid_device object on
- success or NULL on failure.
- */
- HID_API_EXPORT hid_device * HID_API_CALL hid_open(unsigned short vendor_id, unsigned short product_id, wchar_t *serial_number);
-
- /** @brief Open a HID device by its path name.
-
- The path name be determined by calling hid_enumerate(), or a
- platform-specific path name can be used (eg: /dev/hidraw0 on
- Linux).
-
- @ingroup API
- @param path The path name of the device to open
-
- @returns
- This function returns a pointer to a #hid_device object on
- success or NULL on failure.
- */
- HID_API_EXPORT hid_device * HID_API_CALL hid_open_path(const char *path);
-
- /** @brief Write an Output report to a HID device.
-
- The first byte of @p data[] must contain the Report ID. For
- devices which only support a single report, this must be set
- to 0x0. The remaining bytes contain the report data. Since
- the Report ID is mandatory, calls to hid_write() will always
- contain one more byte than the report contains. For example,
- if a hid report is 16 bytes long, 17 bytes must be passed to
- hid_write(), the Report ID (or 0x0, for devices with a
- single report), followed by the report data (16 bytes). In
- this example, the length passed in would be 17.
-
- hid_write() will send the data on the first OUT endpoint, if
- one exists. If it does not, it will send the data through
- the Control Endpoint (Endpoint 0).
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param data The data to send, including the report number as
- the first byte.
- @param length The length in bytes of the data to send.
-
- @returns
- This function returns the actual number of bytes written and
- -1 on error.
- */
- int HID_API_EXPORT HID_API_CALL hid_write(hid_device *device, const unsigned char *data, size_t length);
-
- /** @brief Read an Input report from a HID device with timeout.
-
- Input reports are returned
- to the host through the INTERRUPT IN endpoint. The first byte will
- contain the Report number if the device uses numbered reports.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param data A buffer to put the read data into.
- @param length The number of bytes to read. For devices with
- multiple reports, make sure to read an extra byte for
- the report number.
- @param milliseconds timeout in milliseconds or -1 for blocking wait.
-
- @returns
- This function returns the actual number of bytes read and
- -1 on error.
- */
- int HID_API_EXPORT HID_API_CALL hid_read_timeout(hid_device *dev, unsigned char *data, size_t length, int milliseconds);
-
- /** @brief Read an Input report from a HID device.
-
- Input reports are returned
- to the host through the INTERRUPT IN endpoint. The first byte will
- contain the Report number if the device uses numbered reports.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param data A buffer to put the read data into.
- @param length The number of bytes to read. For devices with
- multiple reports, make sure to read an extra byte for
- the report number.
-
- @returns
- This function returns the actual number of bytes read and
- -1 on error.
- */
- int HID_API_EXPORT HID_API_CALL hid_read(hid_device *device, unsigned char *data, size_t length);
-
- /** @brief Set the device handle to be non-blocking.
-
- In non-blocking mode calls to hid_read() will return
- immediately with a value of 0 if there is no data to be
- read. In blocking mode, hid_read() will wait (block) until
- there is data to read before returning.
-
- Nonblocking can be turned on and off at any time.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param nonblock enable or not the nonblocking reads
- - 1 to enable nonblocking
- - 0 to disable nonblocking.
-
- @returns
- This function returns 0 on success and -1 on error.
- */
- int HID_API_EXPORT HID_API_CALL hid_set_nonblocking(hid_device *device, int nonblock);
-
- /** @brief Send a Feature report to the device.
-
- Feature reports are sent over the Control endpoint as a
- Set_Report transfer. The first byte of @p data[] must
- contain the Report ID. For devices which only support a
- single report, this must be set to 0x0. The remaining bytes
- contain the report data. Since the Report ID is mandatory,
- calls to hid_send_feature_report() will always contain one
- more byte than the report contains. For example, if a hid
- report is 16 bytes long, 17 bytes must be passed to
- hid_send_feature_report(): the Report ID (or 0x0, for
- devices which do not use numbered reports), followed by the
- report data (16 bytes). In this example, the length passed
- in would be 17.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param data The data to send, including the report number as
- the first byte.
- @param length The length in bytes of the data to send, including
- the report number.
-
- @returns
- This function returns the actual number of bytes written and
- -1 on error.
- */
- int HID_API_EXPORT HID_API_CALL hid_send_feature_report(hid_device *device, const unsigned char *data, size_t length);
-
- /** @brief Get a feature report from a HID device.
-
- Make sure to set the first byte of @p data[] to the Report
- ID of the report to be read. Make sure to allow space for
- this extra byte in @p data[].
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param data A buffer to put the read data into, including
- the Report ID. Set the first byte of @p data[] to the
- Report ID of the report to be read.
- @param length The number of bytes to read, including an
- extra byte for the report ID. The buffer can be longer
- than the actual report.
-
- @returns
- This function returns the number of bytes read and
- -1 on error.
- */
- int HID_API_EXPORT HID_API_CALL hid_get_feature_report(hid_device *device, unsigned char *data, size_t length);
-
- /** @brief Close a HID device.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- */
- void HID_API_EXPORT HID_API_CALL hid_close(hid_device *device);
-
- /** @brief Get The Manufacturer String from a HID device.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param string A wide string buffer to put the data into.
- @param maxlen The length of the buffer in multiples of wchar_t.
-
- @returns
- This function returns 0 on success and -1 on error.
- */
- int HID_API_EXPORT_CALL hid_get_manufacturer_string(hid_device *device, wchar_t *string, size_t maxlen);
-
- /** @brief Get The Product String from a HID device.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param string A wide string buffer to put the data into.
- @param maxlen The length of the buffer in multiples of wchar_t.
-
- @returns
- This function returns 0 on success and -1 on error.
- */
- int HID_API_EXPORT_CALL hid_get_product_string(hid_device *device, wchar_t *string, size_t maxlen);
-
- /** @brief Get The Serial Number String from a HID device.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param string A wide string buffer to put the data into.
- @param maxlen The length of the buffer in multiples of wchar_t.
-
- @returns
- This function returns 0 on success and -1 on error.
- */
- int HID_API_EXPORT_CALL hid_get_serial_number_string(hid_device *device, wchar_t *string, size_t maxlen);
-
- /** @brief Get a string from a HID device, based on its string index.
-
- @ingroup API
- @param device A device handle returned from hid_open().
- @param string_index The index of the string to get.
- @param string A wide string buffer to put the data into.
- @param maxlen The length of the buffer in multiples of wchar_t.
-
- @returns
- This function returns 0 on success and -1 on error.
- */
- int HID_API_EXPORT_CALL hid_get_indexed_string(hid_device *device, int string_index, wchar_t *string, size_t maxlen);
-
- /** @brief Get a string describing the last error which occurred.
-
- @ingroup API
- @param device A device handle returned from hid_open().
-
- @returns
- This function returns a string containing the last error
- which occurred or NULL if none has occurred.
- */
- HID_API_EXPORT const wchar_t* HID_API_CALL hid_error(hid_device *device);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/source/wfBrickIO.m b/source/wfBrickIO.m
deleted file mode 100755
index b234c566e96d57a98539f5b2182997912d2f317d..0000000000000000000000000000000000000000
--- a/source/wfBrickIO.m
+++ /dev/null
@@ -1,189 +0,0 @@
-%wfBrickIO Wifi interface between MATLAB and the brick
-%
-% Methods::
-%
-% wfBrickIO Constructor, initialises and opens the wifi connection
-% delete Destructor, closes the wifi connection
-%
-% open Open a wifi connection to the brick
-% close Close the wifi connection to the brick
-% read Read data from the brick through wifi
-% write Write data to the brick through wifi
-%
-% Example::
-% wfbrick = wfBrickIO(1,'192.168.1.104',5555,'0016533dbaf5')
-%
-% Notes::
-% - Java string casting is inconsistent in MATLAB across different
-% operating systems. The purpose of OutputStreamSend is to ensure that the
-% correct string sequence is sent to the brick, no matter what operating
-% system MATLAB is running under.
-% - The OutputStreamSend class file will need to be present in the java
-% path before a wfBrickIO object is made.
-% - This class works across all 3 operating systems.
-
-classdef wfBrickIO < BrickIO
- properties
- % debug input
- debug = 0;
- % socket input strem
- inputStream
- % socket output stream
- outputStream
- % brick IP address
- addr = '192.168.1.104';
- % brick tcp port (default is 5555)
- port = 5555;
- % brick serial number
- serialNum = '0016533dbaf5';
- end
-
- properties (Access = 'protected')
- % connection handle
- handle
- end
-
- methods
-
- function brickIO = wfBrickIO(debug,addr,port,serialNum)
- %wfBrickIO.wfBrickIO Create a wfBrickIO object
- %
- % wfbrick = wfBrickIO(debug,addr,port,serialNum) is an object
- % which initialises and opens a wifi connection between MATLAB
- % and the brick using java functions. The following string is
- % sent to the brick
- % ['GET /target?sn=' brickIO.serialNum ' VMTP1.0' char(10) 'Protocol: EV3']
- % which initialises the conncetion. The brick returns
- % ['Accept:EV340']
- %
- % Notes::
- % - debug is a flag specifying output printing (0 or 1).
- % - addr is the IP address of the brick
- % - port is the TCP port of the brick (default is 5555)
- % - serialNum is the serial number of the brick. The serial
- % number can be found in the menu on the EV3 brick or obtained
- % through the emitted UDP packet on port 3015.
-
- if nargin > 0
- brickIO.debug = debug;
- brickIO.addr = addr;
- brickIO.port = port;
- brickIO.serialNum = serialNum;
- end
- if brickIO.debug > 0
- fprintf('wfBrickIO init\n');
- end
- % import the required java libraries
- import java.io.*;
- import java.net.*;
- % add the java path to the class path
- javaaddpath .
- % open the brick IO connection
- brickIO.handle = Socket(brickIO.addr, brickIO.port);
- % set the input stream
- brickIO.inputStream = DataInputStream(brickIO.handle.getInputStream);
- % set the output stream
- brickIO.outputStream = OutputStreamSend();
- % connection message to the brick
- wmsg = ['GET /target?sn=' brickIO.serialNum ' VMTP1.0' char(10) 'Protocol: EV3'];
- if brickIO.debug > 0
- fprintf('Sent: [ %s ]\n',char(wmsg));
- end
- % send the connection message
- brickIO.write(wmsg);
- % receive the reply
- rmsg = brickIO.read;
- if brickIO.debug > 0
- fprintf('Returned: [ %s ]\n',char(rmsg));
- end
- end
-
- function delete(brickIO)
- %wfBrickIO.delete Delete the wfBrickIO object
- %
- % delete(brickIO) closes the wifi connection handle
-
- if brickIO.debug > 0
- fprintf('wfBrickIO delete\n');
- end
- % delete the wf handle
- brickIO.close
- end
-
- function handle = open(brickIO)
- %wfBrickIO.open Open the wfBrickIO object
- %
- % handle = wfBrickIO.open() returns a handle to the wifi
- % socket connection using the initialised IP address and TCP
- % port values from the wfBrickIO constructor.
-
- if brickIO.debug > 0
- fprintf('wfBrickIO open\n');
- end
- % open the socket handle
- handle = Socket(brickIO.addr, brickIO.port);
- end
-
- function close(brickIO)
- %wfBrickIO.close Close the wfBrickIO object
- %
- % wfBrickIO.close() closes the wifi socket connection
-
- if brickIO.debug > 0
- fprintf('wfBrickIO close\n');
- end
- % close the close handle
- brickIO.handle.close();
- end
-
- function rmsg = read(brickIO)
- %wfBrickIO.read Read data from the wfBrickIO object
- %
- % rmsg = wfBrickIO.read() reads data from the brick through wifi
- % and returns the data in uint8 format.
- %
- % Notes::
- % - This function is blocking with no time out in the current
- % implementation.
-
- if brickIO.debug > 0
- fprintf('wfBrickIO read\n');
- end
- % block until bytes have been received
- while (brickIO.inputStream.available == 0)
-
- end
- % get the number of bytes to be read from the input stream
- nLength = brickIO.inputStream.available;
- % read the bytes from the input stream
- rmsg = zeros(1,nLength);
- for ii=1:nLength
- rmsg(ii) = brickIO.inputStream.readByte;
- end
- % convert from double to int8
- rmsg = cast(rmsg,'int8');
- % change from int8 to uint8 (cannot do this in one step)
- rmsg = typecast(rmsg,'uint8');
- end
-
- function write(brickIO,wmsg)
- %wfBrickIO.write Write data to the wfBrickIO object
- %
- % wfBrickIO.write(wmsg) writes data to the brick through wifi.
- %
- % Notes::
- % - wmsg is the data to be written to the brick via wifi in
- % uint8 format.
-
- if brickIO.debug > 0
- fprintf('wfBrickIO write\n');
- end
- % add the message to the output stream
- brickIO.outputStream.addtoBufferN(char(wmsg),length(wmsg));
- % send the output stream data
- brickIO.outputStream.send(brickIO.handle.getOutputStream());
- % clear the output stream
- brickIO.outputStream.clear();
- end
- end
-end
\ No newline at end of file