diff --git a/source/BrickIO.m b/source/BrickIO.m
index 585eb6d9f54c32615c5331124bad6c1109142956..ebdb054b682f28d8dc5562de9e9dad224011b9ae 100755
--- a/source/BrickIO.m
+++ b/source/BrickIO.m
@@ -12,6 +12,11 @@
% - The write function should be given a uint8 datatype as a parameter
classdef BrickIO < handle
+ properties (Abstract)
+ % time-out period (if 0, no time-out)
+ timeOut
+ end
+
properties (Abstract, Access = 'protected')
% connection handle
handle
diff --git a/source/CommunicationInterface.m b/source/CommunicationInterface.m
index f1ed918fab8e988db33fd9b22b0f22c2031b1405..66758207ec91db80556f6ae2fc48912e16b81275 100755
--- a/source/CommunicationInterface.m
+++ b/source/CommunicationInterface.m
@@ -105,6 +105,11 @@ classdef CommunicationInterface < handle
debug;
end
+ properties (Dependent)
+ % Time-out period in seconds (if 0, no time-out)
+ timeOut;
+ end
+
properties (SetAccess = private)
% IO connection type
ioType;
@@ -128,6 +133,7 @@ classdef CommunicationInterface < handle
end
methods
+ %% Constructor, Destructor, Setter...
function commInterface = CommunicationInterface(varargin)
% Brick.Brick Create a Brick object
%
@@ -217,6 +223,18 @@ classdef CommunicationInterface < handle
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.');
+ end
+
+ brick.conn.timeOut = timeOut;
+ end
+
+ function timeOut = get.timeOut(brick)
+ timeOut = brick.conn.timeOut;
+ end
+
function setProperties(brick, varargin)
p = inputParser();
p.KeepUnmatched = true;
@@ -245,120 +263,9 @@ classdef CommunicationInterface < handle
brick.debug = p.Results.debug;
end
- function send(brick, cmd)
- % Brick.send Send data to the brick
- %
- % Brick.send(cmd) sends a command to the brick through the
- % connection handle.
- %
- % Notes::
- % - cmd is a command object.
- %
- % Example::
- % b.send(cmd)
-
- % Send the message through the brickIO write function
- brick.conn.write(cmd.msg);
-
- % (MMI) When spamming the brick with commands, at some point, it will start
- % behaving 'strange'. Sometimes, commands will be executed only with
- % 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);
-
- % Verbose output
- if brick.debug > 0
- fprintf('sent (hex): [ ');
- for ii=1:length(cmd.msg)
- fprintf('%s ',dec2hex(cmd.msg(ii)))
- end
- fprintf(']\n');
- fprintf('sent (dec): [ ');
- for ii=1:length(cmd.msg)
- fprintf('%d ',cmd.msg(ii))
- end
- fprintf(']\n');
- end
- end
-
- function rmsg = receive(brick)
- % Brick.receive Receive data from the brick
- %
- % rmsg = Brick.receive() receives data from the brick through
- % the connection handle.
- %
- % Notes:
- % - If received packet is corrupt, up to five new packets are read (if all are
- % corrupt, an error is thrown)
- %
- % Example::
- % rmsg = b.receive()
- %
-
- % Read the message through the brickIO read function
- rmsg = brick.conn.read();
-
- % Check if reply is corrupt or error byte is set
- try
- reply = Command(rmsg);
- catch ME
- corrupt = 1;
- if ~isempty(strfind(ME.identifier, 'CorruptPacket'))
- % Read packet was corrupt - retry
- %id = [ID(), ':', 'CorruptPacket'];
- %warning(id, 'Read corrupt packet. Retrying...');
- if brick.debug
- fprintf('received (corrupt) (hex): [ ');
- for ii=1:length(rmsg)
- fprintf('%s ',dec2hex(rmsg(ii)))
- end
- fprintf(']\n');
- fprintf('received (corrupt) (dec): [ ');
- for ii=1:length(rmsg)
- fprintf('%d ',rmsg(ii))
- end
- fprintf(']\n');
- end
-
- retries = 5;
- while corrupt && retries
- rmsg = brick.conn.read();
- try
- reply = Command(rmsg);
- corrupt = 0;
- catch
- retries = retries-1;
- end
- end
- end
-
- if corrupt
- rethrow(ME);
- end
- end
-
- if reply.checkForError()
- msg = 'Error byte is set. The Brick couldn''t handle the last packet';
- id = [ID(), ':', 'CommandError'];
- warning(id, msg);
- end
-
- % Verbose output
- if brick.debug > 0
- fprintf('received (hex): [ ');
- for ii=1:length(rmsg)
- fprintf('%s ',dec2hex(rmsg(ii)))
- end
- fprintf(']\n');
- fprintf('received (dec): [ ');
- for ii=1:length(rmsg)
- fprintf('%d ',rmsg(ii))
- end
- fprintf(']\n');
- end
- end
-
+ %% Commands
+ % Methods in this block each correspond to a certain opCode which is implemented in the
+ % EV3 firmware -> each method creates one packet and sends it.
function voltage = uiReadVbatt(brick)
% Brick.uiReadVbatt Return battery level (voltage)
%
@@ -373,7 +280,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
voltage = typecast(uint8(msg(6:9)),'single');
if brick.debug > 0
fprintf('Battery voltage: %.02fV\n', voltage);
@@ -395,81 +303,14 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
level = msg(6);
if brick.debug > 0
fprintf('Battery level: %d%%\n', level);
end
end
- function drawTest(brick)
- % Brick.drawTest Draw test shapes
- %
- % Brick.drawTest() shows the drawing capabilities of the brick.
- %
- % Example::
- % b.drawTest()
-
- cmd = Command();
- cmd.addHeaderDirect(42,4,1);
- % save the UI screen
- cmd.opUI_DRAW_STORE(0);
- % change the led pattern
- cmd.opUI_WRITE_LED(Device.LedGreenFlash);
- % clear the screen (top line still remains with remote cmds)
- cmd.opUI_DRAW_FILLWINDOW(0,0,0);
- % draw four pixels
- cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,12,15);
- cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,12,20);
- cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,18,15);
- cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,18,20);
- % draw line
- cmd.opUI_DRAW_LINE(vmCodes.vmFGColor,0,25,vmCodes.vmLCDWidth,25);
- cmd.opUI_DRAW_LINE(vmCodes.vmFGColor,15,25,15,127);
- % draw circle
- cmd.opUI_DRAW_CIRCLE(1,40,40,10);
- % draw rectangle
- cmd.opUI_DRAW_RECT(vmCodes.vmFGColor,70,30,20,20);
- % draw filled cricle
- cmd.opUI_DRAW_FILLCIRCLE(vmCodes.vmFGColor,40,70,10);
- % draw filled rectangle
- cmd.opUI_DRAW_FILLRECT(vmCodes.vmFGColor,70,60,20,20);
- % draw inverse rectangle
- cmd.opUI_DRAW_INVERSERECT(30,90,60,20);
- % change font
- cmd.opUI_DRAW_SELECT_FONT(2);
- % draw text
- cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,100,40,'EV3');
- % change font
- cmd.opUI_DRAW_SELECT_FONT(1);
- % reprint
- cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,100,70,'EV3');
- % change font
- cmd.opUI_DRAW_SELECT_FONT(0);
- % reprint
- cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,100,90,'EV3');
- % voltage string
- cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,100,110,'v =');
- % store voltage
- cmd.opUI_READ_GET_VBATT(0);
- % print the voltage value (global)
- cmd.opUI_DRAW_VALUE(vmCodes.vmFGColor,130,110,0,5,3);
- % update the window
- cmd.opUI_DRAW_UPDATE;
- % 5 second timer (so you can see the changing LED pattern)
- cmd.opTIMER_WAIT(5000,0);
- % wait for timer
- cmd.opTIMER_READY(0);
- % reset the LED
- cmd.opUI_WRITE_LED(Device.LedGreen);
- % return UI screen
- cmd.opUI_DRAW_RESTORE(0);
- % return
- cmd.opUI_DRAW_UPDATE;
- cmd.addLength();
- brick.send(cmd)
- end
-
% Implemented @ MMI
function state = soundTest(brick)
% Brick.soundTest Test speaker
@@ -490,7 +331,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the state
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% speaker state is the 6th byte
state = msg(6);
end
@@ -511,7 +353,7 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive reply
- brick.receive();
+ brick.waitForReply();
end
function soundPlayTone(brick, volume, frequency, duration)
@@ -550,29 +392,7 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
end
-
- function beep(brick,volume,duration)
- % Brick.beep Play a beep on the brick
- %
- % Brick.beep(volume,duration) plays a beep tone with volume and
- % duration.
- %
- % Notes::
- % - volume is the beep volume from 0 to 100, by default 10. (DATA8)
- % - duration is the beep duration in ms, by default 100. (DATA16)
- %
- % Example::
- % b.beep(5,500)
- if nargin < 2
- volume = 10;
- end
- if nargin < 3
- duration = 100;
- end
- brick.soundPlayTone(volume, 1000, duration);
- end
-
function playThreeTones(brick)
% Brick.playThreeTones Play three tones on the brick
%
@@ -616,7 +436,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the type array
types = [msg(6), msg(7), msg(8), msg(9)];
end
@@ -642,7 +463,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the device name
name = sscanf(char(msg(6:end)),'%s');
end
@@ -670,7 +492,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the type and mode
type = msg(6);
mode = msg(7);
@@ -710,7 +533,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the mode name
mode = sscanf(char(msg(6:end)),'%s');
end
@@ -740,7 +564,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the connection type
conn = msg(6);
end
@@ -767,7 +592,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the values
min = typecast(uint8(msg(6:9)),'single');
max = typecast(uint8(msg(10:13)),'single');
@@ -799,7 +625,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the changes
changes = typecast(uint8(msg(6:9)),'single');
if brick.debug > 0
@@ -835,7 +662,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the data
datasets = msg(6);
format = msg(7);
@@ -865,7 +693,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the bumps
bumps = typecast(uint8(msg(6:9)),'single');
if brick.debug > 0
@@ -895,7 +724,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the symbol name
name = sscanf(char(msg(6:end)),'%s');
end
@@ -963,7 +793,7 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive reply
- brick.receive();
+ brick.waitForReply();
end
% Implemented @ MMI
@@ -988,7 +818,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the state
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% device state is the 6th (final) byte
state = msg(6);
end
@@ -1022,7 +853,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
reading = msg(6);
if brick.debug > 0
fprintf('Sensor reading: %.02f\n', reading);
@@ -1052,7 +884,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
reading = typecast(uint8(msg(6:9)),'single');
if brick.debug > 0
fprintf('Sensor reading: %.02f\n', reading);
@@ -1082,126 +915,27 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
reading = typecast(uint8(msg(6:9)),'single');
if brick.debug > 0
fprintf('Sensor reading: %.02f\n', reading);
end
end
- function plotSensor(brick,layer,no,mode)
- % Brick.plotSensor plot the sensor output
+ function outputStop(brick,layer,nos,brake)
+ % Brick.outputPower Stops a motor
%
- % Brick.plotSensor(layer,no,mode) plots the sensor output
- % to MATLAB.
+ % Brick.outputPower(layer,nos,brake) stops motor at a layer
+ % NOS and brake.
%
% Notes::
% - layer is the usb chain layer (usually 0).
- % - NO is the output port number from [0..3] or sensor port
- % number minus 1.
- % - mode is the sensor mode from types.html. (-1=don't change)
+ % - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08).
+ % - brake is [0..1] (0=Coast, 1=Brake).
%
% Example::
- % b.plotSensor(0,SensorPort.Sensor1,Device.USDistCM)
- % b.plotSensor(0,SensorPort.Sensor1,Device.GyroAng)
-
- % start timing
- tic;
- % create figure
- hfig = figure('name','EV3 Sensor');
- % init the the data
- t = 0;
- x = 0;
- hplot = plot(t,x);
- % one read to set the mode
- reading = brick.inputReadSI(layer,no,mode);
- % set the title
- name = brick.inputDeviceGetName(layer,no);
- title(['Device name: ' name]);
- % set the y label
- name = brick.inputDeviceSymbol(layer,no);
- ylabel(['Sensor value (' name(1:end-1) ')']);
- % set the x label
- xlabel('Time (s)');
- % set the x axis
- xlim([0 10]);
- % wait until the figure is closed
- while(findobj('name','EV3 Sensor') == 1)
- % get the reading
- reading = brick.inputReadSI(layer,no,mode);
- t = [t toc];
- x = [x reading];
- set(hplot,'Xdata',t)
- set(hplot,'Ydata',x)
- drawnow
- % reset after 10 seconds
- if (toc > 10)
- % reset
- t = 0;
- x = x(end);
- tic
- end
- end
- end
-
- function displayColor(brick,layer,no)
- % Brick.displayColor display sensor color
- %
- % Brick.displayColor(layer,no) displays the color read from the
- % color sensor in a MATLAB figure.
- %
- % Notes::
- % - layer is the usb chain layer (usually 0).
- % - NO is the output port number from [0..3] or sensor port
- % number minus 1.
- %
- % Example::
- % b.displayColor(0,SensorPort.Sensor1)
-
- % create figure
- hfig = figure('name','EV3 Color Sensor');
- % wait until the figure is closed
- while(findobj('name','EV3 Color Sensor') == 1)
- % read the color sensor in color detection mode
- color = brick.inputReadSI(layer,no,Device.ColColor);
- % change the figure background according to the color
- switch color
- case Device.NoColor
- set(hfig,'Color',[0.8,0.8,0.8])
- case Device.BlackColor
- set(hfig,'Color',[0,0,0])
- case Device.BlueColor
- set(hfig,'Color',[0,0,1])
- case Device.GreenColor
- set(hfig,'Color',[0,1,0])
- case Device.YellowColor
- set(hfig,'Color',[1,1,0])
- case Device.RedColor
- set(hfig,'Color',[1,0,0])
- case Device.WhiteColor
- set(hfig,'Color',[1,1,1])
- case Device.BrownColor
- set(hfig,'Color',[0.6,0.3,0])
- otherwise
- set(hfig,'Color',[0.8,0.8,0.8])
- end
- drawnow
- end
- end
-
- function outputStop(brick,layer,nos,brake)
- % Brick.outputPower Stops a motor
- %
- % Brick.outputPower(layer,nos,brake) stops motor at a layer
- % NOS and brake.
- %
- % Notes::
- % - layer is the usb chain layer (usually 0).
- % - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08).
- % - brake is [0..1] (0=Coast, 1=Brake).
- %
- % Example::
- % b.outputStop(0,MotorBitfield.MotorA,BrakeMode.Brake)
+ % b.outputStop(0,MotorBitfield.MotorA,BrakeMode.Brake)
cmd = Command();
cmd.addHeaderDirect(42,0,0);
@@ -1311,7 +1045,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive();
+ reply = brick.receive()';
+ msg = reply.msg;
% motor state is the final byte
state = msg(end);
end
@@ -1336,7 +1071,7 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive reply
- brick.receive();
+ brick.waitForReply();
end
% Implemented @ MMI
@@ -1607,7 +1342,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
tacho = typecast(uint8(msg(6:9)),'int32');
if brick.debug > 0
fprintf('Tacho: %d degrees\n', tacho);
@@ -1643,7 +1379,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% Current thoughts: the bug could be in the firmware (DUNDUNDUN).
% The docu states: "Offset in the response buffer (global variables) must be
% aligned (float/32bits first and 8 bits last)." [/lms2012/doc/html/directcommands.html]
@@ -1691,7 +1428,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the state
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the state
state = msg(end);
end
@@ -1717,7 +1455,7 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive reply
- brick.receive();
+ brick.waitForReply();
end
function name = comGetBrickName(brick)
@@ -1734,7 +1472,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the brick name
name = sscanf(char(msg(6:end)),'%s');
end
@@ -1768,7 +1507,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the brick name
mac = sscanf(char(msg(4:10)),'%s');
end
@@ -1787,7 +1527,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the command
- msg = brick.receive()';
+ reply = brick.receive()';
+ msg = reply.msg;
% return the brick name
id = sscanf(char(msg(6:end)),'%s');
end
@@ -1843,7 +1584,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the sent response
- rmsg = brick.receive();
+ reply = brick.receive()';
+ rmsg = reply.msg;
handle = rmsg(end);
pause(1)
% send the file
@@ -1853,7 +1595,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the sent response
- rmsg = brick.receive();
+ reply = brick.receive()';
+ rmsg = reply.msg;
% print message
fprintf('%s uploaded\n',filename);
end
@@ -1881,7 +1624,8 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
% receive the sent response
- rmsg = brick.receive();
+ reply = brick.receive()';
+ rmsg = reply.msg;
% extract payload
payload = rmsg(13:end);
% print to file
@@ -1913,7 +1657,8 @@ classdef CommunicationInterface < handle
cmd.LIST_FILES(maxlength,pathname);
cmd.addLength();
brick.send(cmd);
- rmsg = brick.receive();
+ reply = brick.receive()';
+ rmsg = reply.msg;
% print
fprintf('%s',rmsg(13:end));
end
@@ -1935,7 +1680,7 @@ classdef CommunicationInterface < handle
cmd.CREATE_DIR(pathname);
cmd.addLength();
brick.send(cmd);
- rmsg = brick.receive();
+ brick.waitForReply();
end
function deleteFile(brick,pathname)
@@ -1956,7 +1701,7 @@ classdef CommunicationInterface < handle
cmd.DELETE_FILE(pathname);
cmd.addLength();
brick.send(cmd);
- rmsg = brick.receive();
+ brick.waitForReply();
end
function writeMailBox(brick,title,type,msg)
@@ -1996,7 +1741,8 @@ classdef CommunicationInterface < handle
% Example::
% [title,msg] = b.readMailBox('text')
- mailmsg = brick.receive();
+ reply = brick.receive()';
+ mailmsg = reply.msg;
% extract message title (starts at pos 8, pos 7 is the size)
title = char(mailmsg(8:7+mailmsg(7)));
% parse message according to type
@@ -2013,6 +1759,7 @@ classdef CommunicationInterface < handle
end
end
+ %% Bytecode test
function threeToneByteCode(brick,filename)
% Brick.threeToneByteCode Create three tone byte code
%
@@ -2044,5 +1791,322 @@ classdef CommunicationInterface < handle
% generate the byte code
cmd.GenerateByteCode(filename);
end
+
+ %% Utility
+ % Methods in this block are composed of multiple commands and more logic for convenience
+ function drawTest(brick)
+ % Brick.drawTest Draw test shapes
+ %
+ % Brick.drawTest() shows the drawing capabilities of the brick.
+ %
+ % Example::
+ % b.drawTest()
+
+ cmd = Command();
+ cmd.addHeaderDirect(42,4,1);
+ % save the UI screen
+ cmd.opUI_DRAW_STORE(0);
+ % change the led pattern
+ cmd.opUI_WRITE_LED(Device.LedGreenFlash);
+ % clear the screen (top line still remains with remote cmds)
+ cmd.opUI_DRAW_FILLWINDOW(0,0,0);
+ % draw four pixels
+ cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,12,15);
+ cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,12,20);
+ cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,18,15);
+ cmd.opUI_DRAW_PIXEL(vmCodes.vmFGColor,18,20);
+ % draw line
+ cmd.opUI_DRAW_LINE(vmCodes.vmFGColor,0,25,vmCodes.vmLCDWidth,25);
+ cmd.opUI_DRAW_LINE(vmCodes.vmFGColor,15,25,15,127);
+ % draw circle
+ cmd.opUI_DRAW_CIRCLE(1,40,40,10);
+ % draw rectangle
+ cmd.opUI_DRAW_RECT(vmCodes.vmFGColor,70,30,20,20);
+ % draw filled cricle
+ cmd.opUI_DRAW_FILLCIRCLE(vmCodes.vmFGColor,40,70,10);
+ % draw filled rectangle
+ cmd.opUI_DRAW_FILLRECT(vmCodes.vmFGColor,70,60,20,20);
+ % draw inverse rectangle
+ cmd.opUI_DRAW_INVERSERECT(30,90,60,20);
+ % change font
+ cmd.opUI_DRAW_SELECT_FONT(2);
+ % draw text
+ cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,100,40,'EV3');
+ % change font
+ cmd.opUI_DRAW_SELECT_FONT(1);
+ % reprint
+ cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,100,70,'EV3');
+ % change font
+ cmd.opUI_DRAW_SELECT_FONT(0);
+ % reprint
+ cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,100,90,'EV3');
+ % voltage string
+ cmd.opUI_DRAW_TEXT(vmCodes.vmFGColor,100,110,'v =');
+ % store voltage
+ cmd.opUI_READ_GET_VBATT(0);
+ % print the voltage value (global)
+ cmd.opUI_DRAW_VALUE(vmCodes.vmFGColor,130,110,0,5,3);
+ % update the window
+ cmd.opUI_DRAW_UPDATE;
+ % 5 second timer (so you can see the changing LED pattern)
+ cmd.opTIMER_WAIT(5000,0);
+ % wait for timer
+ cmd.opTIMER_READY(0);
+ % reset the LED
+ cmd.opUI_WRITE_LED(Device.LedGreen);
+ % return UI screen
+ cmd.opUI_DRAW_RESTORE(0);
+ % return
+ cmd.opUI_DRAW_UPDATE;
+ cmd.addLength();
+ brick.send(cmd)
+ end
+
+ function beep(brick,volume,duration)
+ % Brick.beep Play a beep on the brick
+ %
+ % Brick.beep(volume,duration) plays a beep tone with volume and
+ % duration.
+ %
+ % Notes::
+ % - volume is the beep volume from 0 to 100, by default 10. (DATA8)
+ % - duration is the beep duration in ms, by default 100. (DATA16)
+ %
+ % Example::
+ % b.beep(5,500)
+
+ if nargin < 2
+ volume = 10;
+ end
+ if nargin < 3
+ duration = 100;
+ end
+ brick.soundPlayTone(volume, 1000, duration);
+ end
+
+ function plotSensor(brick,layer,no,mode)
+ % Brick.plotSensor plot the sensor output
+ %
+ % Brick.plotSensor(layer,no,mode) plots the sensor output
+ % to MATLAB.
+ %
+ % Notes::
+ % - layer is the usb chain layer (usually 0).
+ % - NO is the output port number from [0..3] or sensor port
+ % number minus 1.
+ % - mode is the sensor mode from types.html. (-1=don't change)
+ %
+ % Example::
+ % b.plotSensor(0,SensorPort.Sensor1,Device.USDistCM)
+ % b.plotSensor(0,SensorPort.Sensor1,Device.GyroAng)
+
+ % start timing
+ tic;
+ % create figure
+ hfig = figure('name','EV3 Sensor');
+ % init the the data
+ t = 0;
+ x = 0;
+ hplot = plot(t,x);
+ % one read to set the mode
+ reading = brick.inputReadSI(layer,no,mode);
+ % set the title
+ name = brick.inputDeviceGetName(layer,no);
+ title(['Device name: ' name]);
+ % set the y label
+ name = brick.inputDeviceSymbol(layer,no);
+ ylabel(['Sensor value (' name(1:end-1) ')']);
+ % set the x label
+ xlabel('Time (s)');
+ % set the x axis
+ xlim([0 10]);
+ % wait until the figure is closed
+ while(findobj('name','EV3 Sensor') == 1)
+ % get the reading
+ reading = brick.inputReadSI(layer,no,mode);
+ t = [t toc];
+ x = [x reading];
+ set(hplot,'Xdata',t)
+ set(hplot,'Ydata',x)
+ drawnow
+ % reset after 10 seconds
+ if (toc > 10)
+ % reset
+ t = 0;
+ x = x(end);
+ tic
+ end
+ end
+ end
+
+ function displayColor(brick,layer,no)
+ % Brick.displayColor display sensor color
+ %
+ % Brick.displayColor(layer,no) displays the color read from the
+ % color sensor in a MATLAB figure.
+ %
+ % Notes::
+ % - layer is the usb chain layer (usually 0).
+ % - NO is the output port number from [0..3] or sensor port
+ % number minus 1.
+ %
+ % Example::
+ % b.displayColor(0,SensorPort.Sensor1)
+
+ % create figure
+ hfig = figure('name','EV3 Color Sensor');
+ % wait until the figure is closed
+ while(findobj('name','EV3 Color Sensor') == 1)
+ % read the color sensor in color detection mode
+ color = brick.inputReadSI(layer,no,Device.ColColor);
+ % change the figure background according to the color
+ switch color
+ case Device.NoColor
+ set(hfig,'Color',[0.8,0.8,0.8])
+ case Device.BlackColor
+ set(hfig,'Color',[0,0,0])
+ case Device.BlueColor
+ set(hfig,'Color',[0,0,1])
+ case Device.GreenColor
+ set(hfig,'Color',[0,1,0])
+ case Device.YellowColor
+ set(hfig,'Color',[1,1,0])
+ case Device.RedColor
+ set(hfig,'Color',[1,0,0])
+ case Device.WhiteColor
+ set(hfig,'Color',[1,1,1])
+ case Device.BrownColor
+ set(hfig,'Color',[0.6,0.3,0])
+ otherwise
+ set(hfig,'Color',[0.8,0.8,0.8])
+ end
+ drawnow
+ end
+ end
+ end
+
+ methods (Access = private)
+ function send(brick, cmd)
+ % Brick.send Send data to the brick
+ %
+ % Brick.send(cmd) sends a command to the brick through the
+ % connection handle.
+ %
+ % Notes::
+ % - cmd is a command object.
+ %
+ % Example::
+ % b.send(cmd)
+
+ % Send the message through the brickIO write function
+ brick.conn.write(cmd.msg);
+
+ % (MMI) When spamming the brick with commands, at some point, it will start
+ % behaving 'strange'. Sometimes, commands will be executed only with
+ % 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);
+
+ % Verbose output
+ if brick.debug > 0
+ fprintf('sent (hex): [ ');
+ for ii=1:length(cmd.msg)
+ fprintf('%s ',dec2hex(cmd.msg(ii)))
+ end
+ fprintf(']\n');
+ fprintf('sent (dec): [ ');
+ for ii=1:length(cmd.msg)
+ fprintf('%d ',cmd.msg(ii))
+ end
+ fprintf(']\n');
+ end
+ end
+
+ function reply = receive(brick)
+ % Brick.receive Receive data from the brick
+ %
+ % rmsg = Brick.receive() receives data from the brick through
+ % the connection handle.
+ %
+ % Notes::
+ % - If received packet is corrupt, up to five new packets are read (if all are
+ % corrupt, an error is thrown)
+ %
+ % Example::
+ % rmsg = b.receive()
+ %
+
+ % Read the message through the brickIO read function
+ rmsg = brick.conn.read();
+
+ % Check if reply is corrupt or error byte is set
+ try
+ reply = Command(rmsg);
+ catch ME
+ corrupt = 1;
+ if ~isempty(strfind(ME.identifier, 'CorruptPacket'))
+ % Read packet was corrupt - retry
+ %id = [ID(), ':', 'CorruptPacket'];
+ %warning(id, 'Read corrupt packet. Retrying...');
+ if brick.debug
+ fprintf('received (corrupt) (hex): [ ');
+ for ii=1:length(rmsg)
+ fprintf('%s ',dec2hex(rmsg(ii)))
+ end
+ fprintf(']\n');
+ fprintf('received (corrupt) (dec): [ ');
+ for ii=1:length(rmsg)
+ fprintf('%d ',rmsg(ii))
+ end
+ fprintf(']\n');
+ end
+
+ retries = 5;
+ while corrupt && retries
+ rmsg = brick.conn.read();
+ try
+ reply = Command(rmsg);
+ corrupt = 0;
+ catch
+ retries = retries-1;
+ end
+ end
+ end
+
+ if corrupt
+ rethrow(ME);
+ end
+ end
+
+ if reply.checkForError()
+ msg = 'Error byte is set. The Brick couldn''t handle the last packet';
+ id = [ID(), ':', 'CommandError'];
+ warning(id, msg);
+ end
+
+ % Verbose output
+ if brick.debug > 0
+ fprintf('received (hex): [ ');
+ for ii=1:length(rmsg)
+ fprintf('%s ',dec2hex(rmsg(ii)))
+ end
+ fprintf(']\n');
+ fprintf('received (dec): [ ');
+ for ii=1:length(rmsg)
+ fprintf('%d ',rmsg(ii))
+ end
+ fprintf(']\n');
+ end
+ end
+
+ function waitForReply(brick)
+ oldTimeOut = brick.timeOut;
+ brick.timeOut = 0;
+
+ brick.receive();
+
+ brick.timeOut = oldTimeOut;
+ end
end
end
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 02946f677e153d650af1a0195670a0e426e59df0..e5a5bfb1628e59ea513a5d5c9e10d1db4f84187f 100755
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -30,6 +30,8 @@ classdef btBrickIO < BrickIO
debug = 0;
% bluetooth serial port
serialPort = '/dev/rfcomm0'
+ % time-out period in seconds (if 0, no time-out)
+ timeOut = 10;
end
properties (Access = 'protected')
@@ -221,5 +223,17 @@ classdef btBrickIO < BrickIO
end
end
end
+
+ function set.timeOut(brickIO, timeOut)
+ if ~isnumeric(timeOut) || timeOut < 0
+ error(ID(), 'timeOut-period of Bluetooth-handle can only be set to positive numerical values.');
+ end
+
+ brickIO.timeOut = timeOut;
+
+ if timeOut == 0
+ brickIO.handle.Timeout = 9999999; % MATLAB.serial seems to have no option to disable timeout
+ end
+ end
end
end
diff --git a/source/hidapi.m b/source/hidapi.m
index 4542eea7c0501aafb2b6d358c84cadc1a2e1423e..a8803b46dea4d1baaeaba85db5ec3737da8741ff 100755
--- a/source/hidapi.m
+++ b/source/hidapi.m
@@ -253,8 +253,63 @@ classdef hidapi < handle
hid.handle = [];
end
+ % @ MMI
+ function rmsg = read_timeout(hid, timeOut)
+ %hidapi.read_timeout Read from hid object with a time-out
+ %
+ % rmsg = hid.read_timeout() reads from a hid device and returns the
+ % read bytes. Will print an error if no data was read during the time-out period.
+ %
+ % Arguments::
+ % timeOut time-out period in milliseconds
+ %
+ % Throws::
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
+ %
+
+ if hid.debug > 0
+ fprintf('hidapi read_timeout\n');
+ end
+
+ % Read buffer of nReadBuffer length
+ buffer = zeros(1,hid.nReadBuffer);
+ % Create a uint8 pointer
+ pbuffer = libpointer('uint8Ptr', uint8(buffer));
+
+ % Check if pointer is (unexpectedly) already invalidated
+ assert(isLibPointerValid(hid.handle)==1, ...
+ [hid.slib, ':', 'InvalidHandle'], ...
+ 'Failed to read USB-data because pointer to USB-device is invalidated.');
+
+ % Read data from HID device
+ [res,h] = calllib(hid.slib,'hid_read_timeout',hid.handle,pbuffer,uint64(length(buffer)),timeOut);
+
+ % Check the response (No assert as there are multiple cases)
+ if res < 1
+ % Error occurred
+ id = [hid.slib, ':', 'CommError'];
+ % Narrow error down
+ if res == -1
+ msg = 'Connection error (probably lost connection to device)';
+ elseif res == 0
+ msg = ['Could not read data from device (device is still connected, ',...
+ 'but does not react)'];
+ else
+ msg = 'Unexpected connection error';
+ end
+ causeException = MException(id, msg);
+ ME = MException(id, 'Failed to read data via USB.');
+ addCause(ME, causeException);
+ throw(ME);
+ end
+
+ % Return the string value
+ rmsg = pbuffer.Value;
+ end
+
function rmsg = read(hid)
- %hidapi.rmsg Read from hid object
+ %hidapi.read Read from hid object
%
% rmsg = hid.read() reads from a hid device and returns the
% read bytes. Will print an error if no data was read.
diff --git a/source/usbBrickIO.m b/source/usbBrickIO.m
index 06fd285c036c5086feb854475603e1da532de990..5854cc57a775c682caf3ab41dca62ae819a78bd8 100755
--- a/source/usbBrickIO.m
+++ b/source/usbBrickIO.m
@@ -28,6 +28,8 @@ classdef usbBrickIO < BrickIO
nReadBuffer = 1024;
% write buffer size
nWriteBuffer = 1024;
+ % time-out period in milliseconds (if 0, no time-out)
+ timeOut = 10000;
end
properties (Access = 'protected')
@@ -173,7 +175,11 @@ classdef usbBrickIO < BrickIO
% Read from the usb handle
try
- rmsg = brickIO.handle.read;
+ if brickIO.timeOut ~= 0
+ rmsg = brickIO.handle.read_timeout(brickIO.timeOut);
+ else
+ rmsg = brickIO.handle.read();
+ end
catch ME
if ~isempty(strfind(ME.identifier, 'CommError'))
% Throw a clean CommError to avoid confusion in upper layers
@@ -241,5 +247,13 @@ classdef usbBrickIO < BrickIO
end
end
end
+
+ function set.timeOut(brickIO, timeOut)
+ if ~isnumeric(timeOut) || timeOut < 0
+ error(ID(), 'timeOut-period of USB-handle can only be set to positive numerical values.');
+ end
+
+ brickIO.timeOut = timeOut*1000;
+ end
end
end