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Commit 4dcef9f4 authored by Tim Stadtmann's avatar Tim Stadtmann
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Implement execute-method in EV3 & Sensor

parent 60c7b65c
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source/EV3.m
+ 23
− 31
View file @ 4dcef9f4
......@@ -166,7 +166,6 @@ classdef EV3 < MaskedHandle
% b.connect('usb', 'beep', 'on', ); % |br|
%
% See also ISCONNECTED / :attr:`isConnected`
if ev3.isConnected
if isCommInterfaceValid(ev3.commInterface)
error('EV3::connect: Already connected.');
......@@ -294,11 +293,7 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
ev3.commInterface.soundPlayTone(10, 1000, 100);
if ev3.debug
fprintf('(DEBUG) EV3::beep: Sent ''soundPlayTone''-command\n');
end
ev3.execute(@soundPlayTone, 10, 1000, 100);
end
function playTone(ev3, volume, frequency, duration)
......@@ -321,11 +316,7 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
ev3.commInterface.soundPlayTone(volume, frequency, duration);
if ev3.debug
fprintf('(DEBUG) EV3::playTone: Sent ''soundPlayTone''-command\n');
end
ev3.execute(@soundPlayTone, volume, frequency, duration);
end
function stopTone(ev3)
......@@ -343,11 +334,7 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
ev3.commInterface.soundStopTone();
if ev3.debug
fprintf('(DEBUG) EV3::stopTone: Called ''soundStopTone''-command\n');
end
ev3.execute(@soundStopTone);
end
function status = tonePlayed(ev3)
......@@ -369,11 +356,7 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
status = ev3.commInterface.soundTest;
if ev3.debug
fprintf('(DEBUG) EV3::tonePlayed: Called ''soundTest''-command\n');
end
status = ev3.execute(@soundTest);
end
%% Setter
......@@ -487,21 +470,30 @@ classdef EV3 < MaskedHandle
end
methods (Access = private) % Private brick functions that are wrapped by dependent params
function varargout = execute(ev3, 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 ev3.debug
fprintf('(DEBUG) Sending %s\n', func2str(commandHandle));
end
% Note: Arrg. MATLAB does not support nargout for class methods directly, so I have to
% 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{:});
end
function bat = getBattery(ev3)
% Retrieve batteryValue from brick in current mode. (Wrapped by EV3.batteryValue)
if strcmpi(ev3.batteryMode, 'Percentage')
bat = ev3.commInterface.uiReadLbatt();
if ev3.debug
fprintf('(DEBUG) EV3::getBattery: Called ''uiReadLBatt''-command\n');
end
bat = ev3.execute(@uiReadLbatt);
else
bat = ev3.commInterface.uiReadVbatt();
if ev3.debug
fprintf('(DEBUG) EV3::getBattery: Called ''uiReadVBatt''-command\n');
end
bat = ev3.execute(@uiReadVbatt);
end
end
......
source/Sensor.m
+ 25
− 31
View file @ 4dcef9f4
......@@ -252,11 +252,7 @@ classdef Sensor < MaskedHandle
% warning(['Sensor::reset: Current version of reset resets ALL devices, that is, ',...
% 'all motor tacho counts and all other sensor counters!']);
if sensor.debug
fprintf('\n(DEBUG) Sensor::reset: Calling ''inputReadSI''-command on Port %d...\n',...
sensor.port+1);
end
sensor.commInterface.inputDeviceClrAll(0);
sensor.execute(@inputDeviceClrAll, 0);
end
%% Setter
......@@ -394,11 +390,7 @@ classdef Sensor < MaskedHandle
sensor.port+1);
end
if sensor.debug
fprintf('\n(DEBUG) Sensor::setMode: Calling ''inputReadSI''-command on Port %d...\n',...
sensor.port+1);
end
sensor.commInterface.inputReadSI(0, sensor.port, mode); % Reading a value implicitly
sensor.execute(@inputReadSI, 0, sensor.port, mode); % Reading a value implicitly
% sets the mode.
end
......@@ -431,11 +423,7 @@ classdef Sensor < MaskedHandle
mode = sensor.mode;
end
if sensor.debug
fprintf('\n(DEBUG) Sensor::getValue: Calling ''inputReadSI''-command on Port %d...\n',...
sensor.port+1);
end
val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
val = sensor.execute(@inputReadSI, 0, sensor.port, sensor.mode);
if strcmp(class(sensor.mode), 'DeviceMode.Color')
......@@ -446,11 +434,7 @@ classdef Sensor < MaskedHandle
% See note
if isnan(val)
if sensor.debug
fprintf('\n(DEBUG) Sensor::getValue: Calling ''inputReadSI''-command on Port %d...\n',...
sensor.port+1);
end
val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
val = sensor.execute(@inputReadSI, 0, sensor.port, sensor.mode);
end
end
......@@ -459,12 +443,7 @@ classdef Sensor < MaskedHandle
error('Sensor::getStatus: Sensor-Object not connected to comm handle.');
end
if sensor.debug
fprintf(['\n(DEBUG) Sensor::getStatus: Calling ''inputDeviceGetConnection''-command on ' ,...
'Port %d...\n'], sensor.port+1);
end
statusNo = sensor.commInterface.inputDeviceGetConnection(0, sensor.port);
statusNo = sensor.execute(@inputDeviceGetConnection, 0, sensor.port);
status = ConnectionType(statusNo);
end
......@@ -475,13 +454,9 @@ classdef Sensor < MaskedHandle
type = DeviceType.Error;
if sensor.debug
fprintf(['\n(DEBUG) Sensor::getStatus: Calling ''inputDeviceGetConnection''-command on ' ,...
'Port %d...\n'], sensor.port+1);
end
for i = 1:10
try
[typeNo,modeNo] = sensor.commInterface.inputDeviceGetTypeMode(0, sensor.port);
[typeNo,modeNo] = sensor.execute(@inputDeviceGetTypeMode, 0, sensor.port);
type = DeviceType(typeNo);
catch ME
continue;
......@@ -498,6 +473,25 @@ classdef Sensor < MaskedHandle
end
methods (Access = private)
function varargout = execute(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.debug
fprintf('(DEBUG) Sending %s\n', func2str(commandHandle));
end
% Note: Arrg. MATLAB does not support nargout for class methods directly, so I have to
% 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{:});
end
end
methods (Access = ?EV3)
function connect(sensor,commInterface)
%connect Connects Sensor-object to physical brick
......
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