Merge branch 'develop' into issue-highLevelDispatch

source/Device.m

-%Device Device enumeration for the brick
-%
-% Notes::
-% - Collection of enumeration constants used for the brick
-
-classdef Device < uint8
-    enumeration
-         % motor types and modes
-         LargeMotor (7)
-         MediumMotor (8)
-         MotorDegrees (0)
-         MotorRotation (1)
-         MotorSpeed (2)
-         % motor definitions for setting and starting the motor (found in c_output.c => NOS DATA8)
-         MotorA (1)
-         MotorB (2)
-         MotorC (4)
-         MotorD (8)
-         % motor definitions for reading motor data with output functions (found in c_output.c)
-         %  e.g. outputGetCount(...), outputRead(...) (the latter is yet to be implemented)
-         MotorA_PORT (0)
-         MotorB_PORT (1)
-         MotorC_PORT (2)
-         MotorD_PORT (3)
-         % motor definitions for input functions (found in (?))
-         %  e.g. inputDeviceGetConnection(...), inputDeviceGetName(...), ...
-         MotorA_INPUT (16)
-         MotorB_INPUT (17)
-         MotorC_INPUT (18)
-         MotorD_INPUT (19)
-         % mode of braking (found in c_output.c)
-         Coast (0)
-         Brake (1)
-         % sensor ports (found in c_output.c)
-         Port1 (0)
-         Port2 (1)
-         Port3 (2)
-         Port4 (3)
-         % LED patterns (found in bytecodes.h)
-         LedBlack (0)
-         LedGreen (1)
-         LedRed   (2)
-         LedOrange (3)
-         LedGreenFlash (4)
-         LedRedFlash (5)
-         LedOrangeFlash (6)
-         LedGreenPulse (7)
-         LedRedPulse (8)
-         LedOrangePulse (9)
-         % colors (found in bytecodes.h)
-         NoColor (0)
-         BlackColor (1)
-         BlueColor (2)
-         GreenColor (3)
-         YellowColor (4)
-         RedColor (5)
-         WhiteColor (6)
-         BrownColor (7)
-         % ultrasonic sensor definitions (found in types.html)
-         Ultrasonic (30)
-         USDistCM (0)
-         USDistIN (1)
-         USListen (2)
-         % gyro sensor definitions (found in types.html)
-         Gyro (32)
-         GyroAng (0)
-         GyroRate (1)
-         % touch sensor definitions (found in types.html)
-         Touch (16)
-         Pushed (0)
-         Bumps (1)
-         % color sensor definitions (found in types.html)
-         Color (29)
-         ColReflect (0)
-         ColAmbient (1)
-         ColColor (2)
-         % input & output connection types (found in lms2012.h)
-         ConnUnknown (111)
-         ConnDaisyChain (117)
-         ConnNXTColor (118)
-         ConnNXTDumb (119)
-         ConnNXTIIC (120)
-         ConnInputDumb (121)
-         ConnInputUART (122)
-         ConnOutputDumb (123)
-         ConnOutputIntelligent (124)
-         ConnOutputTacho (125)
-         ConnNone (126)
-         ConnError (127)
-         % NXT sound sensor definitions (found in types.html)
-         Sound (3)
-         SoundDB (0)
-         SoundDBA (1)
-         % NXT light sensor definitions (found in types.html)
-         NXTLight (2)
-         NXTReflect (0)
-         NXTAmbient (1)
-         % NXT touch sensor definitions
-         NXTTouch (1)
-         % NXT color sensor definitions
-         NXTColor (4)
-         NXTColReflect (0)
-         NXTColAmbient (1)
-         NXTColCol (2)
-         NXTColGreen (3)
-         NXTColBlue (4)
-         NXTColRaw (5)
-         % NXT ultrasonic sensor definitions
-         NXTUltrasonic (5)
-         NXTUSDistCM (0)
-         NXTUSDistIN (1)
-         % NXT temperature sensor definitions
-         NXTTemperature (6)
-         NXTTempC (0)
-         NXTTempF (1)
-         % additional device types
-         TypeUnknown (125)
-         TypeNone (126)
-         TypeError (127)
-    end
-end

source/EV3.m

@@ -170,7 +170,8 @@ classdef EV3 < MaskedHandle
 
             if ev3.isConnected
                 if isCommInterfaceValid(ev3.commInterface)
-                    error('EV3::connect: Already connected.');
+                    warning('EV3::connect: Already connected. Resetting connection now...');
+                    ev3.disconnect();
                 else
                     warning(['EV3::connect: EV3.isConnected is set to ''True'', but ',...
                              'comm handle is invalid. Deleting invalid handle and ' ,...
@@ -241,8 +242,16 @@ classdef EV3 < MaskedHandle
             %     b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
             %     % do stuff |br|
             %     b.disconnect(); % |br|
-
-            ev3.resetPhysicalBrick();
+            
+            % Resetting needs a working connection in order to send reset-commands
+            % to the Brick. If the connection has been aborted (e.g. by pulling the
+            % USB-cord), the reset-methods would fail -> catch this error and for
+            % now do nothing.
+            try
+                ev3.resetPhysicalBrick();
+            catch ME
+                % For now: ignore
+            end
 
             % Disconnect motors and sensors
             % -> set references to comm handle to 0
@@ -432,9 +441,10 @@ classdef EV3 < MaskedHandle
             warning('off', 'all');  % Turn off warnings while reading values
             for i = 1:length(props)
                 p = props{i};
-
-                if strcmp(class(ev3.(p)),'Sensor') || strcmp(class(ev3.(p)), 'Motor')
-                    fprintf('\t%15s [Type: %s]\n', p, char(ev3.(p).type));
+                member = ev3.(p);
+                
+                if strcmp(class(member),'Sensor') || strcmp(class(member), 'Motor')
+                    fprintf('\t%15s [Type: %s]\n', p, char(member.type));
                 end
             end
             warning('on', 'all');

source/displayProperties.m

@@ -46,15 +46,15 @@ for i = 1:length(dependentProps)
     value = device.(p);
     if ~isempty(enumeration(value))  % Test if parameter is enumeration
         fprintf('\t%15s:   %s\n', p, char(value));
-    elseif isnumeric(device.(p)) || islogical(value)
+    elseif isnumeric(value) || islogical(value)
         if isfloat(value)
             fprintf('\t%15s:   %1.1f\n', p, value);
         else
             fprintf('\t%15s:   %d\n', p, value);
         end
-    elseif ischar(device.(p))
+    elseif ischar(value)
         fprintf('\t%15s:   %s\n', p, value);
-    elseif islogical(device.(p))
+    elseif islogical(value)
 
     end
 end