From 2b285db0e4464c3e2daff1990df2b8c885ffea61 Mon Sep 17 00:00:00 2001
From: Dominik Mehlem <mehlem@ient.rwth-aachen.de>
Date: Fri, 9 Dec 2022 15:20:08 +0100
Subject: [PATCH] switch from MATLAB serial to MATLAB serialport
---
source/EV3.m | 3 ++-
source/Motor.m | 18 ++++++++---------
source/btBrickIO.m | 48 +++++++++++++++++++++++++++++++++------------
tools/connect.py | 22 ++++++++++++---------
tools/disconnect.py | 2 +-
tools/rc.local.sh | 1 +
6 files changed, 62 insertions(+), 32 deletions(-)
diff --git a/source/EV3.m b/source/EV3.m
index a261347..4d94f08 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -268,9 +268,10 @@ classdef EV3 < MaskedHandle
end
% Delete handle to comm-interface
- if isCommInterfaceValid(ev3.commInterface) && ev3.commInterface ~= 0
+ if isCommInterfaceValid(ev3.commInterface)
ev3.commInterface.delete();
end
+ pause(5);
ev3.commInterface = 0;
ev3.isConnected = false;
diff --git a/source/Motor.m b/source/Motor.m
index 950202d..a6d7cb8 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -769,14 +769,14 @@ classdef Motor < MaskedHandle & dynamicprops
p.parse(varargin{:});
if ~isempty(fieldnames(p.Unmatched))
- A = fieldnames(p.Unmatched);
- warn = 'The following input parameters were invalid: ';
- warn = [warn A{1}];
- for i = 2:length(A)
- warn = [warn ', ' A{i}];
- end
- warning(warn)
- end
+ A = fieldnames(p.Unmatched);
+ warn = 'The following input parameters were invalid: ';
+ warn = [warn A{1}];
+ for i = 2:length(A)
+ warn = [warn ', ' A{i}];
+ end
+ warning(warn)
+ end
% Set properties
if motor.init
@@ -926,7 +926,7 @@ classdef Motor < MaskedHandle & dynamicprops
if ~motor.ev3Handle.isConnected || ~motor.physicalMotorConnected
success = false;
return;
- end;
+ end
if motor.currentSpeedRegulation
motor.handleCommand(@outputSpeed, true, 0, motor.port, power);
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 161924b..bf275af 100644
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -94,7 +94,8 @@ classdef btBrickIO < BrickIO
% Set the connection handle
try
if strcmp(brickIO.backend, 'serial')
- brickIO.handle = serial(brickIO.serialPort);
+ brickIO.handle = serialport(brickIO.serialPort, 9600);
+ pause(3);
else
brickIO.handle = Bluetooth(brickIO.deviceName,brickIO.channel);
end
@@ -115,7 +116,10 @@ classdef btBrickIO < BrickIO
end
% Open the connection
- brickIO.open;
+ if ~strcmp(brickIO.backend, 'serial')
+ brickIO.open;
+ end
+
end
function delete(brickIO)
@@ -142,7 +146,9 @@ classdef btBrickIO < BrickIO
% Open the bt handle
try
- fopen(brickIO.handle);
+ if ~strcmp(brickIO.backend, 'serial')
+ fopen(brickIO.handle);
+ end
catch ME
if strcmp(ME.identifier, 'MATLAB:serial:fopen:opfailed')
% Throw only clean CommError to avoid confusion in upper layers
@@ -170,7 +176,9 @@ classdef btBrickIO < BrickIO
try
% Close the close handle
- fclose(brickIO.handle);
+ if ~strcmp(brickIO.backend, 'serial')
+ fclose(brickIO.handle);
+ end
catch ME
% Throw combined error because error did not happen due to communication
% failure
@@ -183,7 +191,7 @@ classdef btBrickIO < BrickIO
end
function rmsg = read(brickIO)
- % Reads data from the brick through bluetooth via fread and returns the data in uint8 format.
+ % Reads data from the brick through bluetooth via read and returns the data in uint8 format.
if brickIO.debug > 0
fprintf('\t(DEBUG) (BT read) \n');
@@ -191,12 +199,20 @@ classdef btBrickIO < BrickIO
try
% Get the number of bytes to be read from the bt handle
- nLength = fread(brickIO.handle,2);
+ if strcmp(brickIO.backend, 'serial')
+ nLength = read(brickIO.handle,2,'uint8');
+ else
+ nLength = fread(brickIO.handle,2);
+ end
% Read the remaining bytes
- rmsg = fread(brickIO.handle,double(typecast(uint8(nLength),'uint16')));
+ if strcmp(brickIO.backend, 'serial')
+ rmsg = read(brickIO.handle,double(typecast(uint8(nLength),'uint16')),'uint8');
+ else
+ rmsg = fread(brickIO.handle,double(typecast(uint8(nLength),'uint16')));
+ end
catch ME
- if strcmp(ME.identifier, 'MATLAB:serial:fread:opfailed')
+ if strcmp(ME.identifier, 'MATLAB:serialport:read:opfailed') || strcmp(ME.identifier, 'MATLAB:serial:fread:opfailed')
% Throw only clean CommError to avoid confusion in upper layers
msg = 'Failed to read data from Brick via Bluetooth.';
id = [ID(), ':', 'CommError'];
@@ -212,11 +228,15 @@ classdef btBrickIO < BrickIO
end
% Append the reply size to the return message
- rmsg = uint8([nLength' rmsg']);
+ if strcmp(brickIO.backend, 'serial')
+ rmsg = uint8([nLength rmsg]);
+ else
+ rmsg = uint8([nLength' rmsg']);
+ end
end
function write(brickIO,wmsg)
- % Writes data to the brick through bluetooth via fwrite.
+ % Writes data to the brick through bluetooth via write.
%
% Arguments:
% wmsg (uint8 array): Data to be written to the brick via bluetooth
@@ -227,9 +247,13 @@ classdef btBrickIO < BrickIO
try
% Write to the bluetooth handle
- fwrite(brickIO.handle,wmsg);
+ if strcmp(brickIO.backend, 'serial')
+ write(brickIO.handle,wmsg, class(wmsg));
+ else
+ fwrite(brickIO.handle,wmsg);
+ end
catch ME
- if strcmp(ME.identifier, 'MATLAB:serial:fwrite:opfailed')
+ if strcmp(ME.identifier, 'MATLAB:serialport:write:opfailed') || strcmp(ME.identifier, 'MATLAB:serial:fwrite:opfailed')
% Throw only clean CommError to avoid confusion in upper layers
msg = 'Failed to send data to Brick via Bluetooth.';
id = [ID(), ':', 'CommError'];
diff --git a/tools/connect.py b/tools/connect.py
index f0e0d99..1edfd50 100755
--- a/tools/connect.py
+++ b/tools/connect.py
@@ -204,11 +204,11 @@ def print_success(brick, device):
# we can now use our bluetooth-EV3 with matlab
print(f'''
-################ USE WITH MATLAB ################
-## 1. b=EV3 ##
-## 2. b.connect('bt','serPort','{device}') ##
-## 3. use b ##
-#################################################
+################ USE WITH MATLAB ############
+1. b=EV3();
+2. b.connect('bt','serPort','{device}');
+3. b.beep();
+#############################################
''')
@@ -258,13 +258,17 @@ def pair(brick, PIN, device, channel=1):
# the purpose of doing this here is to do it in a controlled manner so it can be semi-automatic,
# since the daemon does not automatically pop up a PIN request form upon receiving from the device.
write(btctl, f'pair {MAC}')
+ print('Connecting...')
+ sleep(3)
+ write(btctl, f'{PIN}') # "enter" pin
- print(f'Pairing {name}: accept at the device (PIN {PIN})')
+ print(f'Pairing {name}: accept at the device AND confirm PIN. (PIN {PIN})')
sleep(1)
- print('then press Enter to continue...')
- input('If the prompt does not appear in a few seconds, abort and restart this script.')
-
+ print('THEN press Enter to continue...')
+ input('If the prompt does not appear in a few seconds, press Enter to retry pairing.')
+
write(btctl, f'{PIN}') # "enter" pin
+
for c in range(5):
print('.', end='', flush=True)
sleep(1)
diff --git a/tools/disconnect.py b/tools/disconnect.py
index 46e1225..af596b1 100755
--- a/tools/disconnect.py
+++ b/tools/disconnect.py
@@ -78,7 +78,7 @@ def print_dc_menu():
try:
print(f'\nClose matlab or make sure you disconnect /dev/{b.device} inside matlab,')
- print('for example using "b.disconnect()".\n')
+ print('for example by using "b.disconnect()".\n')
input('Then press Enter to continue.')
except:
print()
diff --git a/tools/rc.local.sh b/tools/rc.local.sh
index de41686..ac25f11 100755
--- a/tools/rc.local.sh
+++ b/tools/rc.local.sh
@@ -6,6 +6,7 @@ for i in /opt/mindstorms/tools/*; do
ln -s $i /usr/local/bin/
done
+apt-get -y update
# copy laboratory documentation
echo "Copying documentation ..."
--
GitLab