From 4dcef9f49d72316632afe1cade5cf04e6362b142 Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Sat, 22 Apr 2017 16:15:29 +0200
Subject: [PATCH] Implement execute-method in EV3 & Sensor
---
source/EV3.m | 54 ++++++++++++++++++++---------------------------
source/Sensor.m | 56 ++++++++++++++++++++++---------------------------
2 files changed, 48 insertions(+), 62 deletions(-)
diff --git a/source/EV3.m b/source/EV3.m
index 7ddac27..9e8763c 100755
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -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
diff --git a/source/Sensor.m b/source/Sensor.m
index 2cd6ec2..2cea9db 100755
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -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
--
GitLab