From 8ed5338479fb95480bae2e550e258817ceae6f34 Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Thu, 27 Apr 2017 17:34:03 +0200
Subject: [PATCH] Include instrBrickIO into btBrickIO for Win (WIP)
instrBrickIO is now deprecated and will be deleted in a future commit.
This is a WIP-version and Bluetooth has not been tested yet.
---
source/CommunicationInterface.m | 96 +++++++++------------------------
source/btBrickIO.m | 87 ++++++++++++++++++++++++------
2 files changed, 98 insertions(+), 85 deletions(-)
diff --git a/source/CommunicationInterface.m b/source/CommunicationInterface.m
index 858e6d6..07fe1ad 100755
--- a/source/CommunicationInterface.m
+++ b/source/CommunicationInterface.m
@@ -113,18 +113,6 @@ classdef CommunicationInterface < handle
properties (SetAccess = private)
% IO connection type
ioType;
- % Bluetooth brick device name
- btDevice = '';
- % Bluetooth brick communication channel
- btChannel = 0;
- % Wifi brick IP address
- wfAddr = '';
- % Wifi brick TCP port
- wfPort = '';
- % Brick serial number
- wfSN = '';
- % Bluetooth serial port
- serPort;
end
properties (Hidden, Access = private)
@@ -141,65 +129,32 @@ classdef CommunicationInterface < handle
% interface to a Lego Mindstorms EV3 brick.
%
% Options::
- % 'debug',D Debug level, show communications packet
- % 'ioType',P IO connection type, either usb, wifi or bt
- % 'btDevice',bt Bluetooth brick device name
- % 'btChannel',cl Bluetooth connection channel
- % 'wfAddr',wa Wifi brick IP address
- % 'wfPort',pr Wifi brick TCP port, default 5555
- % 'wfSN',sn Wifi brick serial number (found under Brick info on the brick OR through sniffing the UDP packets the brick emits on port 3015)
- % 'serPort',SP Serial port connection
+ % 'debug' Debug level, show communications packet
+ % 'ioType' IO connection type, either usb, wifi or bt
+ % 'deviceName' Bluetooth brick device name
+ % 'channel' Bluetooth connection channel
+ % 'serPort' Serial port connection
%
% Notes::
- % - Can connect through: usbBrickIO, wfBrickIO, btBrickIO or
- % instrBrickIO.
+ % - Can connect through: usbBrickIO, btBrickIO
% - For usbBrickIO:
% b = Brick('ioType','usb')
- % - For wfBrickIO:
- % b = Brick('ioType','wifi','wfAddr','192.168.1.104','wfPort',5555,'wfSN','0016533dbaf5')
% - For btBrickIO:
% b = Brick('ioType','bt','serPort','/dev/rfcomm0')
- % - For instrBrickIO (wifi)
- % b = Brick('ioType','instrwifi','wfAddr','192.168.1.104','wfPort',5555,'wfSN','0016533dbaf5')
- % - For instrBrickIO (bluetooth)
- % b = Brick('ioType','instrbt','btDevice','EV3','btChannel',1)
- 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;
-
+ props = commInterface.evaluateProperties(varargin{:});
+ commInterface.ioType = props.ioType;
+ commInterface.debug = props.debug;
+
try
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);
+ commInterface.conn = usbBrickIO(props.debug);
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);
+ if(strcmp(props.backend, 'serial'))
+ commInterface.conn = btBrickIO('debug', props.debug, 'serPort', props.serPort);
+ else
+ commInterface.conn = btBrickIO('debug', props.debug, 'channel', props.channel, 'deviceName', props.deviceName);
+ end
end
catch ME
commInterface.conn = [];
@@ -222,7 +177,6 @@ classdef CommunicationInterface < handle
brick.debug = debug;
brick.conn.debug = debug;
end
-
function set.timeOut(brick, timeOut)
if ~isnumeric(timeOut) || timeOut < 0
error(ID(), 'timeOut-period of USB-handle can only be set to positive numerical values.');
@@ -230,37 +184,39 @@ classdef CommunicationInterface < handle
brick.conn.timeOut = timeOut;
end
-
function timeOut = get.timeOut(brick)
timeOut = brick.conn.timeOut;
end
- function setProperties(brick, varargin)
+ function props = evaluateProperties(brick, varargin)
p = inputParser();
p.KeepUnmatched = true;
% Set default values
defaultIOType = 'usb';
defaultSerPort = '/dev/rfcomm0';
+ defaultBTDevice = 'EV3';
+ defaultBTChannel = 1;
+ defaultBackend = 'serial';
defaultDebug = false;
- % Define anonymous function that will return whether given value in varargin is valid
- %validTypes = ;
+ % Define anonymous functions that will return whether given value in varargin is valid
checkIOType = @(x) ismember(x, {'usb', 'bt'});
checkDebug = @(x) isBool(x);
+ checkBackend = @(x) ismember(x, {'serial', 'instrumentControl'});
% Add parameters
p.addRequired('ioType', checkIOType);
p.addOptional('serPort', defaultSerPort);
p.addOptional('debug', defaultDebug, checkDebug);
+ p.addOptional('deviceName', defaultBTDevice);
+ p.addOptional('channel', defaultBTChannel);
+ p.addOptional('backend', defaultBackend, checkBackend);
% Parse input...
p.parse(varargin{:});
- % Set properties
- brick.ioType = p.Results.ioType;
- brick.serPort = p.Results.serPort;
- brick.debug = p.Results.debug;
+ props = p.Results;
end
%% Commands
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index e5a5bfb..ede4c66 100755
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -27,11 +27,19 @@
classdef btBrickIO < BrickIO
properties
% debug input
- debug = 0;
- % bluetooth serial port
- serialPort = '/dev/rfcomm0'
+ debug;
+ % bluetooth serial port (used if backend == 'serial')
+ serialPort;
+ % bluetooth brick device name (used if backend == 'instrumentControl')
+ btDevice;
+ % bluetooth connection channel (used if backend == 'instrumentControl')
+ btChannel;
% time-out period in seconds (if 0, no time-out)
- timeOut = 10;
+ timeOut;
+ % use implementation based on the serial-connection implementation by MATLAB (should
+ % work on mac & linux) or based on the Instrumentation & Control Toolbox
+ % (should work on windows) (-> 'serial'|'instrumentControl')
+ backend;
end
properties (Access = 'protected')
@@ -40,20 +48,50 @@ classdef btBrickIO < BrickIO
end
methods
- function brickIO = btBrickIO(debug,serialPort)
+ %function brickIO = btBrickIO(debug,serialPort,backend)
+ function brickIO = btBrickIO(brickIO, varargin)
%btBrickIO.btBrickIO Create a btBrickIO object
%
% btbrick = btBrickIO(debug,serialPort) is an object which
% initialises and opens a bluetooth connection between MATLAB
- % and the brick using serial functions.
- %
- % Notes::
- % - debug is a flag specifying output printing (0 or 1).
+ % and the brick.
- if nargin > 1
- brickIO.debug = debug;
- brickIO.serialPort = serialPort;
- end
+ p = inputParser();
+ p.KeepUnmatched = 1;
+
+ p.addOptional('debug', 0);
+ p.addOptional('serPort', '/dev/rfcomm0');
+ p.addOptional('btDevice', 'EV3');
+ p.addOptional('btChannel', 1);
+ p.addOptional('timeOut', 10);
+ p.addOptional('backend', 'serial');
+
+ p.parse(varargin{:});
+
+ brickIO.debug = p.Results.debug;
+ brickIO.serialPort = p.Results.serPort;
+ brickIO.btDevice = p.Results.btDevice;
+ brickIO.btChannel = p.Results.btChannel;
+ brickIO.timeOut = p.Results.timeOut;
+ brickIO.backend = p.Results.backend;
+
+% if nargin > 1
+% brickIO.debug = debug;
+% brickIO.serialPort = serialPort;
+% if nargin >= 3
+% if ~strcmp(backend, 'serial') && ~strcmp(backend, 'instrumentControl')
+% msg = 'btBrickIO''s backend-parameter has to be either ''serial'' or ''instrumentControl''.';
+% id = [ID(), ':', 'InvalidParameter'];
+% throw(MException(id, msg));
+% elseif ~license('test', 'instr_control_toolbox')
+% msg = 'Cannot use Instrument-Control-Toolbox for Bluetooth: Toolbox not installed.';
+% id = [ID(), ':', 'AssetNotAvailable'];
+% throw(MException(id, msg));
+% end
+%
+% brickIO.backend = backend;
+% end
+% end
if brickIO.debug > 0
fprintf('btBrickIO init\n');
@@ -61,7 +99,11 @@ classdef btBrickIO < BrickIO
% Set the connection handle
try
- brickIO.handle = serial(brickIO.serialPort);
+ if strcmp(brickIO.backend, 'serial')
+ brickIO.handle = serial(brickIO.serialPort);
+ else
+ brickIO.handle = Bluetooth(brickIO.btDevice,brickIO.btChannel);
+ end
catch ME
if ~isempty(strfind(ME.identifier, 'invalidPORT'))
% Throw a clean InvalidSerialPort to avoid confusion in upper layers
@@ -234,6 +276,21 @@ classdef btBrickIO < BrickIO
if timeOut == 0
brickIO.handle.Timeout = 9999999; % MATLAB.serial seems to have no option to disable timeout
end
- end
+ end
+ function set.backend(brickIO, backend)
+ if ~strcmp(backend, 'serial')
+ if ~strcmp(backend, 'instrumentControl')
+ msg = 'btBrickIO''s backend-parameter has to be either ''serial'' or ''instrumentControl''.';
+ id = [ID(), ':', 'InvalidParameter'];
+ throw(MException(id, msg));
+ elseif ~license('test', 'instr_control_toolbox')
+ msg = 'Cannot use Instrument-Control-Toolbox for Bluetooth: Toolbox not installed.';
+ id = [ID(), ':', 'AssetNotAvailable'];
+ throw(MException(id, msg));
+ end
+ end
+
+ brickIO.backend = backend;
+ end
end
end
--
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