diff --git a/source/Brick.m b/source/CommunicationInterface.m
similarity index 95%
rename from source/Brick.m
rename to source/CommunicationInterface.m
index 6927b8a298b77dacd7bd1a517597063c3418efbf..34fcecbba2c408920a57cdb7df1a596c4bf98f7a 100644
--- a/source/Brick.m
+++ b/source/CommunicationInterface.m
@@ -99,31 +99,37 @@
% b = Brick('ioType','bt','serPort','/dev/rfcomm0')
-classdef Brick < handle
+classdef CommunicationInterface < handle
properties
- % Connection handle
- conn;
% Debug
debug;
+ end
+
+ properties (SetAccess = 'private')
% IO connection type
ioType;
% Bluetooth brick device name
- btDevice;
+ btDevice = '';
% Bluetooth brick communication channel
- btChannel;
+ btChannel = 0;
% Wifi brick IP address
- wfAddr;
+ wfAddr = '';
% Wifi brick TCP port
- wfPort;
+ wfPort = '';
% Brick serial number
- wfSN;
+ wfSN = '';
% Bluetooth serial port
serPort;
end
-
+
+ properties (Hidden, Access = 'private')
+ % Connection handle
+ conn;
+ end
+
methods
- function brick = Brick(varargin)
+ function commInterface = CommunicationInterface(varargin)
% Brick.Brick Create a Brick object
%
% b = Brick(OPTIONS) is an object that represents a connection
@@ -153,53 +159,49 @@ classdef Brick < handle
% - For instrBrickIO (bluetooth)
% b = Brick('ioType','instrbt','btDevice','EV3','btChannel',1)
- % Init the properties
- opt.debug = 0;
- opt.btDevice = 'EV3';
- opt.btChannel = 1;
- opt.wfAddr = '192.168.1.104';
- opt.wfPort = 5555;
- opt.wfSN = '0016533dbaf5';
- opt.ioType = 'usb';
- opt.serPort = '/dev/rfcomm0';
-
- % Read in the options
- opt = tb_optparse(opt, varargin);
- brick.debug = opt.debug;
- brick.ioType = opt.ioType;
+ commInterface.setProperties(varargin{:});
+% % Init the properties
+% opt.debug = 0;
+% opt.btDevice = 'EV3';
+% opt.btChannel = 1;
+% opt.wfAddr = '192.168.1.104';
+% opt.wfPort = 5555;
+% opt.wfSN = '0016533dbaf5';
+% opt.ioType = 'usb';
+% opt.serPort = '/dev/rfcomm0';
+%
+% % Read in the options
+% opt = tb_optparse(opt, varargin);
+% commInterface.debug = opt.debug;
+% commInterface.ioType = opt.ioType;
+
try
- if(strcmp(opt.ioType,'usb')) % USB
- brick.conn = usbBrickIO(brick.debug);
- elseif(strcmp(opt.ioType,'wifi')) % WiFi
- brick.wfAddr = opt.wfAddr;
- brick.wfPort = opt.wfPort;
- brick.wfSN = opt.wfSN;
- brick.conn = wfBrickIO(brick.debug,brick.wfAddr,brick.wfPort,brick.wfSN);
- elseif(strcmp(opt.ioType,'bt')) % Bluetooth
- brick.serPort = opt.serPort;
- brick.conn = btBrickIO(brick.debug,brick.serPort);
- elseif(strcmp(opt.ioType,'instrwifi')) % Instrumentation and Control: WiFi
- brick.wfAddr = opt.wfAddr;
- brick.wfPort = opt.wfPort;
- brick.wfSN = opt.wfSN;
- brick.conn = instrBrickIO(brick.debug,'wf',brick.wfAddr,brick.wfPort,brick.wfSN);
- elseif(strcmp(opt.ioType,'instrbt')) % Instrumentation and Control: Bluetooth
- brick.btDevice = opt.btDevice;
- brick.btChannel = opt.btChannel;
- brick.conn = instrBrickIO(brick.debug,'bt',brick.btDevice,brick.btChannel);
+ if(strcmp(commInterface.ioType,'usb')) % USB
+ commInterface.conn = usbBrickIO(commInterface.debug);
+ elseif(strcmp(commInterface.ioType,'wifi')) % WiFi
+ commInterface.wfAddr = opt.wfAddr;
+ commInterface.wfPort = opt.wfPort;
+ commInterface.wfSN = opt.wfSN;
+ commInterface.conn = wfBrickIO(commInterface.debug,commInterface.wfAddr,commInterface.wfPort,commInterface.wfSN);
+ elseif(strcmp(commInterface.ioType,'bt')) % Bluetooth
+% commInterface.serPort = opt.serPort;
+ commInterface.conn = btBrickIO(commInterface.debug,commInterface.serPort);
+ elseif(strcmp(commInterface.ioType,'instrwifi')) % Instrumentation and Control: WiFi
+ commInterface.wfAddr = opt.wfAddr;
+ commInterface.wfPort = opt.wfPort;
+ commInterface.wfSN = opt.wfSN;
+ commInterface.conn = instrBrickIO(commInterface.debug,'wf',commInterface.wfAddr,commInterface.wfPort,commInterface.wfSN);
+ elseif(strcmp(commInterface.ioType,'instrbt')) % Instrumentation and Control: Bluetooth
+ commInterface.btDevice = opt.btDevice;
+ commInterface.btChannel = opt.btChannel;
+ commInterface.conn = instrBrickIO(commInterface.debug,'bt',commInterface.btDevice,commInterface.btChannel);
end
catch ME
- brick.conn = [];
+ commInterface.conn = [];
rethrow(ME);
end
end
- function set.debug(brick, debug)
- % If debug is set in this layer, also set BrickIO.debug in lower layer
- brick.debug = debug;
- brick.conn.debug = debug;
- end
-
function delete(brick)
% Brick.delete Delete the Brick object
%
@@ -208,7 +210,40 @@ classdef Brick < handle
if isa(brick.conn, 'handle') && isvalid(brick.conn)
brick.conn.delete();
end
- end
+ end
+
+ function set.debug(brick, debug)
+ % If debug is set in this layer, also set BrickIO.debug in lower layer
+ brick.debug = debug;
+ brick.conn.debug = debug;
+ end
+
+ function setProperties(brick, varargin)
+ p = inputParser();
+
+ % Set default values
+ defaultIOType = 'usb';
+ defaultSerPort = '/dev/rfcomm0';
+ defaultDebug = false;
+
+ % Define anonymous function that will return whether given value in varargin is valid
+ %validTypes = ;
+ checkIOType = @(x) ismember(x, {'usb', 'bt'});
+ checkDebug = @(x) isBool(x);
+
+ % Add parameters
+ p.addRequired('ioType', checkIOType);
+ p.addOptional('serPort', defaultSerPort);
+ p.addOptional('debug', defaultDebug, checkDebug);
+
+ % Parse input...
+ p.parse(varargin{:});
+
+ % Set properties
+ brick.ioType = p.Results.ioType;
+ brick.serPort = p.Results.serPort;
+ brick.debug = p.Results.debug;
+ end
function send(brick, cmd)
% Brick.send Send data to the brick
@@ -230,7 +265,7 @@ classdef Brick < handle
% a delay, some commands may even be bypassed.
% (Maybe too many commands screw up the brick's internal command queue?..)
% Temporary workaround: Wait 5ms after each sent packet.
- pause(0.005);
+ % pause(0.005);
% Verbose output
if brick.debug > 0
@@ -629,7 +664,6 @@ classdef Brick < handle
%
% Example::
% [type,mode] = b.inputDeviceTypeMode(0,SensorPort.Sensor1)
-
cmd = Command();
cmd.addHeaderDirectReply(42,2,0);
cmd.opINPUT_DEVICE_GET_TYPEMODE(layer,no,0,1);
@@ -1316,7 +1350,7 @@ classdef Brick < handle
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - pol is the polarity [-1,0,1], -1 makes the motor run
- % backward, 1 makes the motor run forward, 0 makes the motor
+ % backwards, 1 makes the motor run forwards, 0 makes the motor
% run the opposite direction when starting next time
%
% Example::
diff --git a/source/EV3.m b/source/EV3.m
index 2c9032c15b3cc1cf37b0db909e742e64203424cc..0cbb62d727041203f65cc761303cf4eff5b4888a 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -15,7 +15,7 @@ classdef EV3 < handle
% batteryValue - Current battery charge level
% get-only
% isConnected - Is virtual brick connected to physical one?
- % brick - Brick object from sublayer class Brick -> used as interface to the physical brick.
+ % commInterface - Brick object from sublayer class Brick -> used as interface to the physical brick.
%
% Methods:
% Standard
@@ -80,8 +80,8 @@ classdef EV3 < handle
end
properties (SetAccess = 'private') % Read-only properties that are set internally
- isConnected = 0; % Is virtual brick currently connected to physical brick?
- brick = 0; % Brick object from sub-layer class Brick -> used as interface to the
+ isConnected = false; % Is virtual brick currently connected to physical brick?
+ commInterface = 0; % Brick object from sub-layer class Brick -> used as interface to the
% physical brick.
%% Motors and Sensors
@@ -113,99 +113,99 @@ classdef EV3 < handle
ev3.setProperties(varargin{:});
- ev3.motorA = Motor('A', 'Debug', ev3.debug);
- ev3.motorB = Motor('B', 'Debug', ev3.debug);
- ev3.motorC = Motor('C', 'Debug', ev3.debug);
- ev3.motorD = Motor('D', 'Debug', ev3.debug);
+ ev3.motorA = Motor('A', 'Debug', ev3.debug>=1);
+ ev3.motorB = Motor('B', 'Debug', ev3.debug>=1);
+ ev3.motorC = Motor('C', 'Debug', ev3.debug>=1);
+ ev3.motorD = Motor('D', 'Debug', ev3.debug>=1);
- ev3.sensor1 = Sensor('1', 'Debug', ev3.debug);
- ev3.sensor2 = Sensor('2', 'Debug', ev3.debug);
- ev3.sensor3 = Sensor('3', 'Debug', ev3.debug);
- ev3.sensor4 = Sensor('4', 'Debug', ev3.debug);
+ ev3.sensor1 = Sensor('1', 'Debug', ev3.debug>=1);
+ ev3.sensor2 = Sensor('2', 'Debug', ev3.debug>=1);
+ ev3.sensor3 = Sensor('3', 'Debug', ev3.debug>=1);
+ ev3.sensor4 = Sensor('4', 'Debug', ev3.debug>=1);
- ev3.init = 0;
+ ev3.init = false;
end
function delete(ev3)
- if ev3.isConnected
- ev3.disconnect();
- end
+ %delete Disconnects from physical brick and deletes this instance
+
+ if ev3.isConnected
+ ev3.disconnect();
+ end
end
+
%% Connection
function connect(ev3, varargin)
%connect Connects EV3-object and its Motors and Sensors to physical brick.
%
% Arguments
- % * 'beep', 'on'/'off': EV3 beeps if connection has been established.
- % * 'ioType', 'bt'/'usb': Connection type
- % * ['ioType', 'bt'] 'serPort', '/dev/rfcommx': Path to serial port
+ % * 'bt'/'usb': Connection type
+ % * 'serPort', '/dev/rfcommx': Path to serial port (if 'bt'), where x = 0...9
+ % * 'beep', bool: EV3 beeps if connection has been established.
%
% Examples
- % b = EV3(); b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % b = EV3(); b.connect('beep', 'on', ''ioType', 'usb');
+ % b = EV3(); b.connect('bt', 'serPort', '/dev/rfcomm0');
+ % b = EV3(); b.connect('usb', 'beep', 'on', );
%
% Check connection
if ev3.isConnected
- if isBrickValid(ev3.brick)
+ if isCommInterfaceValid(ev3.commInterface)
error('EV3::connect: Already connected.');
else
warning(['EV3::connect: EV3.isConnected is set to ''True'', but ',...
- 'brick handle is invalid. Deleting invalid handle and ' ,...
+ 'comm handle is invalid. Deleting invalid handle and ' ,...
'resetting EV3.isConnected now...']);
- ev3.brick = 0;
- ev3.isConnected = 0;
+ ev3.commInterface = 0;
+ ev3.isConnected = false;
end
end
- % Interpret arguments
- if nargin < 3
+ if nargin < 2
error('EV3::connect: Wrong number of input arguments.');
end
- beep = 0;
- if strcmpi(varargin{1}, 'beep')
- if strcmpi(varargin{2}, 'on')
- beep = 1;
- elseif ~strcmpi(varargin{2}, 'off')
- % First argument was beep, but second one was neither 'true' nor
- % 'false'
- warning(['EV3::connect: The parameter after "beep" has to be either ',...
- '"true" or "false"']);
- error('EV3::connect: Wrong input arguments.');
+
+ idxes = strcmpi('beep', varargin);
+ idx = find([0, idxes(1:end-1)]);
+ if ~isempty(idx)
+ beep = varargin{idx}; %#ok<FNDSB>
+ if ~isBool(beep)
+ error('EV3::connect: Argument after ''beep'' has to be a bool.');
end
- varargin = varargin(3:end); % Cut beep-part off
+ else
+ beep = false;
end
% Try to connect
try
% Connect to physical brick
- % -> Creating Brick-object implicitly establishes connection
- ev3.brick = Brick('debug', ev3.debug>=2, varargin{1:end});
- ev3.isConnected = 1;
+ % -> Creating communication-handle implicitly establishes connection
+ ev3.commInterface = CommunicationInterface(varargin{:}, 'debug', ev3.debug>=2);
+ ev3.isConnected = true;
if beep
ev3.beep();
end
% Connect motors
- ev3.motorA.connect(ev3.brick);
- ev3.motorB.connect(ev3.brick);
- ev3.motorC.connect(ev3.brick);
- ev3.motorD.connect(ev3.brick);
+ ev3.motorA.connect(ev3.commInterface);
+ ev3.motorB.connect(ev3.commInterface);
+ ev3.motorC.connect(ev3.commInterface);
+ ev3.motorD.connect(ev3.commInterface);
% Connect sensors
- ev3.sensor1.connect(ev3.brick);
- ev3.sensor2.connect(ev3.brick);
- ev3.sensor3.connect(ev3.brick);
- ev3.sensor4.connect(ev3.brick);
+ ev3.sensor1.connect(ev3.commInterface);
+ ev3.sensor2.connect(ev3.commInterface);
+ ev3.sensor3.connect(ev3.commInterface);
+ ev3.sensor4.connect(ev3.commInterface);
catch ME
% Something went wrong...
- ev3.isConnected = 0;
- if isBrickValid(ev3.brick) && ev3.brick ~= 0
- ev3.brick.delete();
- ev3.brick = 0;
+ ev3.isConnected = false;
+ if isCommInterfaceValid(ev3.commInterface) && ev3.commInterface ~= 0
+ ev3.commInterface.delete();
+ ev3.commInterface = 0;
end
rethrow(ME);
@@ -372,11 +372,11 @@ classdef EV3 < handle
%beep Plays a 'beep' tone on brick.
%
% Notes
- % * This equals playTone(10, 1000, 100). (Wraps the same opCode in comm-layer)
+ % * This equals playTone(10, 1000, 100) (Wraps the same opCode in comm-layer)
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.beep();
%
@@ -385,7 +385,7 @@ classdef EV3 < handle
'You have to call ev3.connect(...) first!']);
end
- ev3.brick.beep();
+ ev3.commInterface.beep();
if ev3.debug
fprintf('(DEBUG) EV3::beep: Called beep on brick\n');
@@ -398,11 +398,11 @@ classdef EV3 < handle
% Arguments
% * volume (0...100)
% * frequency (250...10000)
- % * duration (in milliseconds)
+ % * duration (>0, in milliseconds)
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.playTone(50, 5000, 1000); % Plays tone with 50% volume and 5000Hz for 1
% % second.
%
@@ -412,7 +412,7 @@ classdef EV3 < handle
'You have to call ev3.connect(...) first!']);
end
- ev3.brick.soundPlayTone(volume, frequency, duration);
+ ev3.commInterface.soundPlayTone(volume, frequency, duration);
if ev3.debug
fprintf('(DEBUG) EV3::beep: Called soundPlayTone on brick\n');
@@ -424,7 +424,7 @@ classdef EV3 < handle
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.playTone(10,100,100000000); % Accidentally given wrong tone duration.
% b.stopTone(); % Stops tone immediately.
%
@@ -434,7 +434,7 @@ classdef EV3 < handle
'You have to call ev3.connect(...) first!']);
end
- ev3.brick.soundStopTone();
+ ev3.commInterface.soundStopTone();
if ev3.debug
fprintf('(DEBUG) EV3::beep: Called soundStopTone on brick\n');
@@ -445,11 +445,11 @@ classdef EV3 < handle
%tonePlayed Tests if tone is currently played.
%
% Output
- % * status: Returns 0 if a tone is being played, 1 if not.
+ % * status: True for a tone being played
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.playTone(10, 100, 1000);
% pause(0.5);
% b.tonePlayed() -> Outputs 1 to console.
@@ -460,7 +460,7 @@ classdef EV3 < handle
'You have to call ev3.connect(...) first!']);
end
- status = ev3.brick.soundTest;
+ status = ev3.commInterface.soundTest;
if ev3.debug
fprintf('(DEBUG) EV3::beep: Called soundTest on brick\n');
@@ -468,13 +468,11 @@ classdef EV3 < handle
end
%% Setter
- function set.brick(ev3, brick)
- % Check if brick is valid and set ev3.brick if it is.
-
- if ~isBrickValid(brick)
- error('EV3::set.brick: Handle to Brick-object not valid.');
+ function set.commInterface(ev3, comm)
+ if ~isCommInterfaceValid(comm)
+ error('EV3::set.commInterface: Handle to Brick-object not valid.');
else
- ev3.brick = brick;
+ ev3.commInterface = comm;
end
end
@@ -504,14 +502,10 @@ classdef EV3 < handle
error('EV3::set.debug: Given parameter is not a bool.');
end
- if ischar(debug)
- ev3.debug = str2bool(debug);
- else
- ev3.debug = debug;
- end
+ ev3.debug = str2bool(debug);
- if ev3.isConnected()
- ev3.brick.debug = (ev3.debug >= 2);
+ if ev3.isConnected
+ ev3.commInterface.debug = (ev3.debug >= 2);
end
end
@@ -581,20 +575,17 @@ classdef EV3 < handle
end
if strcmpi(ev3.batteryMode, 'Percentage')
- bat = ev3.brick.uiReadLbatt();
+ bat = ev3.commInterface.uiReadLbatt();
if ev3.debug
fprintf('(DEBUG) EV3::getBattery: Called uiReadLBatt.\n');
end
elseif strcmpi(ev3.batteryMode, 'Voltage')
- bat = ev3.brick.uiReadVbatt();
+ bat = ev3.commInterface.uiReadVbatt();
if ev3.debug
fprintf('(DEBUG) EV3::getBattery: Called uiReadVBatt.\n');
end
- else
- warning('EV3:getBattery: Mode has to be Percentage or Voltage!');
- error('EV3::getBattery: Mode not valid.');
end
end
end
diff --git a/source/Sensor.m b/source/Sensor.m
index f794ae8663cfdca07813e7aacc0e91dc47abcef2..fe0c983f61c0d45079ab9e891aa2aec09a8458d4 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -27,7 +27,7 @@ classdef Sensor < handle
%
% b = EV3();
% b = EV3('debug', 'on', 'batteryMode', 'Voltage');
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.sensor1.mode = DeviceMode.Touch.Bumps;
% while value < 10
% pause(0.1);
@@ -40,226 +40,120 @@ classdef Sensor < handle
% Signature
% Author: Tim Stadtmann
% Date: 2016/05/20
+ % Updated: 2016/08/15
properties % Standard properties to be set by user
+ %mode - Sensor mode in which the value will be read
+ % -> DeviceMode.[...] (except for DeviceMode.Motor.[...])
+ mode;
+
%debug - Debug turned on or off
% In debug mode, everytime a command is passed to the sublayer ('communication layer'),
% there is feedback in the console about what command has been called, etc.
% -> Any valid boolean (0/1/'on'/'off'/'true'/'false')
debug;
-
- %mode - Sensor mode in which the value will be read
- % -> DeviceMode.[...] (except for DeviceMode.Motor.[...])
- mode;
end
- properties (Dependent) % Parameters to be read directly from physical brick
- value % Value read from sensor
- end
-
- properties (SetAccess = 'private') % Read-only properties that are set internally or in init-phase
- %sensorAtPort - Is physical sensor actually connected to port?
- % This property will be changed by Sensor.update() if changes have happened on the
- % physical brick, depending on status, type and mode values.
- % See also STATUS, TYPE, MODE, UPDATE
- sensorAtPort = 0;
-
- %brick - Brick object from sublayer class Brick -> used as interface to the physical brick.
- % See also BRICK
- brick = 0;
-
+ properties (SetAccess = 'private')
%port - Sensor port
% This is only the string representation of the sensor port to work with.
- % Internally, SensorPort-enums are used. (This is a bit inconvenient but more
- % consistent compared with Motor)
+ % Internally, SensorPort-enums are used.
% -> '1' / '2' / '3' / '4'
- port;
+ port;
+ end
+
+ properties (Dependent) % Parameters to be read directly from physical brick
+ value; % Value read from sensor
+ type; % Physical sensor connected to this port?
+ end
+
+ properties (Hidden, Access = 'private') % Hidden properties for internal use only
+ commInterface = 0; % Communication interface
- %status - Connection status at port
- % This property will be changed by Sensor.update() if changes have happened on the
- % physical brick.
- % See also CONNECTIONTYPE, UPDATE
- status = DeviceMode.Error.Undefined;
+ %% Miscallenous flags
- %type - Device type at port
- % This property will be changed by Sensor.update() if changes have happened on the
- % physical brick.
- % See also DEVICEMODE.ERROR, UPDATE
- type = DeviceMode.Error.Undefined;
+ connectedToBrick = false; % Does (virtual) sensor-object have a valid brick-handle?
+ init = true; % Indicates 'init-phase' (True as long as constructor is running)
end
- properties (Hidden, Access = 'private') % Hidden properties for internal use only
- init = 1; % Is set to zero after initial 'creating' phase is done.
- isConnected = 0; % Does (virtual) sensor-object have a valid brick-handle?
-
- %% Equivalent for Sensor.port in enumeration SensorPort
- % Port is an actual parameter on the physical brick. To avoid using string
- % comparisons each time it is used, the corresponding value (i.e. '1' -> SensorPort.Sensor1)
- % to the given strings is saved (hidden from the user).
- port_;
+ properties (Hidden, Dependent, Access = 'private')
+ physicalSensorConnected; % Physical sensor connected to this port?
end
methods % Standard methods
%% Constructor
function sensor = Sensor(varargin)
sensor.setProperties(varargin{1:end});
- sensor.init = 0;
- end
-
- %% Connection
- function connect(sensor,brick)
- %connect Connects Sensor-object to physical brick
- if sensor.isConnected
- if isBrickValid(sensor.brick)
- error('Sensor::connect: Sensor-Object already has a brick handle.');
- else
- warning(['Sensor::connect: Sensor.isConnected is set to ''True'', but ',...
- 'brick handle is invalid. Deleting invalid handle and ' ,...
- 'resetting Sensor.isConnected now...']);
-
- sensor.brick = 0;
- sensor.isConnected = 0;
-
- error('Sensor::connect: Aborted connection.');
- end
- end
-
- sensor.brick = brick;
- sensor.isConnected = 1;
-
- if sensor.debug
- fprintf('(DEBUG) Sensor-Object connected to brick handle.\n');
- end
-
- sensor.update();
- end
-
- function disconnect(sensor)
- %disconnect Disconnects Sensor-object from physical brick
-% if ~sensor.isConnected
-% error('Sensor::disconnect: No brick connected.');
-% end
-
- sensor.brick = 0; % Note: actual deleting is done in EV3::disconnect.
- sensor.isConnected = 0;
- sensor.sensorAtPort = 0;
-
- sensor.status = DeviceMode.Error.Undefined;
- sensor.type = DeviceMode.Error.Undefined;
- end
-
- function update(sensor)
- %update Updates Sensor-object to current status at its port.
- if ~sensor.isConnected
- error(['Sensor::update: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
- end
-
- oldMode = sensor.mode;
-
- sensor.status = sensor.getStatus();
- [sensor.type, newMode] = sensor.getTypeMode();
-
- if strcmp(class(oldMode),class(newMode)) && oldMode~=newMode
- if ~strcmp(class(oldMode), 'DeviceMode.Error') && ...
- ~strcmp(class(newMode), 'DeviceMode.Error')
- %warning(['Sensor::update: Physical sensor''s mode was not ',...
- % 'the specified one. Changing...']);
-
- sensor.setMode(oldMode);
- sensor.mode = oldMode;
- end
- else
- sensor.mode = newMode;
- end
-
- validStatus = [ConnectionType.NXTColor, ConnectionType.NXTDumb, ConnectionType.NXTIIC, ...
- ConnectionType.InputDumb, ConnectionType.InputUART];
- validTypes = [DeviceType.NXTTouch, DeviceType.NXTColor, ...
- DeviceType.NXTLight, DeviceType.NXTSound, ...
- DeviceType.NXTTemperature, DeviceType.NXTUltraSonic, ...
- DeviceType.Color, DeviceType.Gyro, DeviceType.InfraRed, ...
- DeviceType.Touch, DeviceType.UltraSonic];
-
- sensor.sensorAtPort = 1;
- if ~ismember(sensor.status, validStatus) || ~ismember(sensor.type, validTypes) || ...
- strcmp(class(sensor.mode), 'DeviceMode.Error')
- sensor.sensorAtPort = 0;
- end
+ sensor.init = false;
end
%% Brick functions
function reset(sensor)
%reset Resets value on sensor
% Note: This clears ALL the sensors right now, no other Op-Code available... :(
- if ~sensor.isConnected
- error(['Sensor::reset: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
- elseif ~sensor.sensorAtPort
- error('Sensor::reset: No physical sensor connected to Port %s.',...
- sensor.port);
+ if ~sensor.connectedToBrick
+ error(['Sensor::reset: Sensor-Object not connected to comm handle.',...
+ 'You have to call sensor.connect(commInterface) first!']);
+ elseif ~sensor.physicalSensorConnected
+ error('Sensor::reset: No physical sensor connected to Port %d.',...
+ sensor.port+1);
end
warning(['Sensor::reset: Current version of reset resets ALL devices, that is, ',...
'all motor tacho counts and all other sensor counters!']);
- sensor.brick.inputDeviceClrAll(0);
+ sensor.commInterface.inputDeviceClrAll(0);
if sensor.debug
- fprintf('(DEBUG) Sensor::reset: Called inputReadSI on Port %s.\n',...
- sensor.port);
+ fprintf('(DEBUG) Sensor::reset: Called inputReadSI on Port %d.\n',...
+ sensor.port+1);
end
end
%% Setter
- function set.brick(sensor, brick)
- if ~isBrickValid(brick)
- error('Sensor::set.brick: Handle to brick not valid.');
- else
- sensor.brick = brick;
- end
- end
-
- function set.port(sensor, port)
- if ~isPortValid(class(sensor),port)
- error('Sensor::set.port: Given port is not a valid port.');
+ function set.mode(sensor, mode)
+ if strcmp(class(mode),'DeviceMode.Default') && ~sensor.physicalSensorConnected
+ sensor.mode = mode;
+ return;
end
- if ischar(port)
- sensor.port = port;
- sensor.port_ = str2PortParam(class(sensor), port);
+ type = sensor.type;
+ if ~isModeValid(mode, type)
+ error('Sensor::set.mode: Sensor mode is not valid for connected sensor type.');
else
- error('Sensor::set.port: Port has to be a string.');
+ sensor.mode = mode;
+
+ if ~strcmp(class(mode),'DeviceMode.Default') && sensor.connectedToBrick
+ try
+ sensor.setMode(mode); % Update physical brick's mode parameter
+ catch
+ % Ignore
+ end
+ end
end
end
-
+
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.');
end
- if ischar(debug)
- sensor.debug = str2bool(debug);
+ sensor.debug = str2bool(debug);
+ end
+
+ function set.port(sensor, port)
+ if ~isPortStrValid(class(sensor),port)
+ error('Sensor::set.port: Given port is not a valid port.');
else
- sensor.debug = debug;
+ sensor.port = str2PortParam(class(sensor), port);
end
end
-
- function set.mode(sensor, mode)
- if strcmp(class(mode),'DeviceMode.Error') && ~sensor.sensorAtPort
- sensor.mode = mode;
- return;
- end
-
- if strcmp(class(mode), 'uint8') || strcmp(class(mode), 'double')
- mode = DeviceMode(sensor.type, uint8(mode));
- end
-
- if ~isModeValid(mode, sensor.type)
- error('Sensor::set.mode: Sensor mode is not valid.');
+
+ function set.commInterface(sensor, comm)
+ if ~isCommInterfaceValid(comm)
+ error('Sensor::set.commInterface: Handle to commInterface not valid.');
else
- sensor.mode = mode;
- sensor.setMode(mode);
+ sensor.commInterface = comm;
end
end
@@ -272,7 +166,7 @@ classdef Sensor < handle
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient);
% % Instead of: b.sensor1.debug = 'on';
% % b.sensor1.mode = DeviceMode.Color.Ambient;
@@ -369,7 +263,7 @@ classdef Sensor < handle
if isnan(val)
pause(0.01);
- val = sensor.brick.inputReadSI(0, sensor.port_, sensor.mode);
+ val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
if isnan(val)
warning('Sensor::getValue: Brick returned invalid value (NaN). Try again...');
end
@@ -377,39 +271,78 @@ classdef Sensor < handle
if sensor.debug
fprintf('(DEBUG) Sensor::getValue: Called inputReadSI on Port %d.\n',...
- sensor.port);
+ sensor.port+1);
end
end
function status = getStatus(sensor)
- if ~sensor.isConnected
- error(['Sensor::getStatus: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
+ if ~sensor.connectedToBrick
+ error(['Sensor::getStatus: Sensor-Object not connected to comm handle.',...
+ 'You have to call sensor.connect(commInterface) first!']);
end
- statusNo = sensor.brick.inputDeviceGetConnection(0, sensor.port_);
+ statusNo = sensor.commInterface.inputDeviceGetConnection(0, sensor.port);
status = ConnectionType(statusNo);
if sensor.debug
- fprintf('(DEBUG) Sensor::getStatus: Called inputDeviceGetConnection on Port %s\n',...
- sensor.port);
+ fprintf(['(DEBUG) Sensor::getStatus: Called inputDeviceGetConnection on ' ,...
+ 'Port %d.\n'], sensor.port+1);
end
end
function [type,mode] = getTypeMode(sensor)
- if ~sensor.isConnected
- error(['Sensor::getTypeMode: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
+ if ~sensor.connectedToBrick
+ error(['Sensor::getTypeMode: Sensor-Object not connected to comm handle.',...
+ 'You have to call sensor.connect(commInterface) first!']);
end
- [typeNo,modeNo] = sensor.brick.inputDeviceGetTypeMode(0, sensor.port_);
+ [typeNo,modeNo] = sensor.commInterface.inputDeviceGetTypeMode(0, sensor.port);
type = DeviceType(typeNo);
- mode = DeviceMode(type,modeNo);
+ try
+ mode = DeviceMode(type,modeNo);
+ catch ME
+ mode = DeviceMode.Default.Undefined;
+ end
if sensor.debug
- fprintf('(DEBUG) Sensor::getTypeMode: Called inputDeviceGetConnection on Port %s\n',...
- sensor.port);
+ fprintf(['(DEBUG) Sensor::getStatus: Called inputDeviceGetConnection on ' ,...
+ 'Port %d.\n'], sensor.port+1);
+ end
+ end
+ end
+
+ methods (Access = {?EV3})
+ function connect(sensor,commInterface)
+ %connect Connects Sensor-object to physical brick
+
+ if sensor.connectedToBrick
+ if isCommInterfaceValid(sensor.commInterface)
+ error('Sensor::connect: Sensor-Object already has a comm handle.');
+ else
+ warning(['Sensor::connect: 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.');
+ end
end
+
+ sensor.commInterface = commInterface;
+ sensor.connectedToBrick = true;
+
+ if sensor.debug
+ fprintf('(DEBUG) Sensor-Object connected to comm handle.\n');
+ end
+ end
+
+ function disconnect(sensor)
+ %disconnect Disconnects Sensor-object from physical brick
+
+ sensor.commInterface = 0; % Note: actual deleting is done in EV3::disconnect.
+ sensor.connectedToBrick = false;
end
end
end
diff --git a/source/isBrickValid.m b/source/isCommInterfaceValid.m
similarity index 54%
rename from source/isBrickValid.m
rename to source/isCommInterfaceValid.m
index 24447ec6f346555416f553e895b6f00c334f8afd..77d7dc2195b732f57c11cbee25378b75f98ffb0f 100644
--- a/source/isBrickValid.m
+++ b/source/isCommInterfaceValid.m
@@ -1,10 +1,10 @@
-function isValid = isBrickValid(testBrick)
+function isValid = isCommInterfaceValid(comm)
% Returns whether given brick object is valid or not.
isValid = 0;
- if ~isempty(testBrick)
+ if ~isempty(comm)
% The second case (after the '||') is allowed as a default value (think of it as a nullptr).
- if (isa(testBrick, 'Brick') && testBrick.isvalid) || ...
- (isnumeric(testBrick) && testBrick==0)
+ if (isa(comm, 'CommunicationInterface') && comm.isvalid) || ...
+ (isnumeric(comm) && comm==0)
isValid = 1;
end
end