diff --git a/source/EV3.m b/source/EV3.m
index 610693e852f655a5e09a9fca81926d7b296d5faa..cc7bbbea30b1a469baaab625767c76c9b12b00cd 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -1,4 +1,4 @@
-classdef EV3 < MaskedHandle
+classdef EV3 < MaskedHandle
% High-level class to work with physical bricks.
%
% This is the 'central' class (from user's view) when working with this toolbox. It
@@ -295,11 +295,7 @@ 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.handleCommand(@soundPlayTone, 10, 1000, 100);
end
function playTone(ev3, volume, frequency, duration)
@@ -322,11 +318,7 @@ 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.handleCommand(@soundPlayTone, volume, frequency, duration);
end
function stopTone(ev3)
@@ -344,11 +336,7 @@ 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.handleCommand(@soundStopTone);
end
function status = tonePlayed(ev3)
@@ -370,11 +358,7 @@ 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.handleCommand(@soundTest);
end
%% Setter
@@ -488,21 +472,30 @@ classdef EV3 < MaskedHandle
end
methods (Access = private) % Private brick functions that are wrapped by dependent params
+ function varargout = handleCommand(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.handleCommand(@uiReadLbatt);
else
- bat = ev3.commInterface.uiReadVbatt();
-
- if ev3.debug
- fprintf('(DEBUG) EV3::getBattery: Called ''uiReadVBatt''-command\n');
- end
+ bat = ev3.handleCommand(@uiReadVbatt);
end
end
diff --git a/source/Motor.m b/source/Motor.m
index b9887d67297fc49dbc69cb8316bda253072267c7..c5ed3bb23040e34d43a87d2095e0c754e556304a 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -272,10 +272,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::start: Calling ''outputStart''-command on Port %s...\n', port2str('Motor', motor.port));
- end
- motor.commInterface.outputStart(0, motor.port);
+ motor.handleCommand(@outputStart, 0, motor.port);
motor.state.startedNotBusy = true;
else
@@ -287,41 +284,21 @@ classdef Motor < MaskedHandle & dynamicprops
if strcmpi(motor.limitMode, 'Tacho')
if motor.speedRegulation
- if motor.debug
- fprintf('\n(DEBUG) Motor::start: Calling ''outputStepSpeed''-command on Port %s...\n',...
- port2str('Motor', motor.port));
- end
-
- motor.commInterface.outputStepSpeed(0, motor.port, motor.power,...
+ motor.handleCommand(@outputStepSpeed, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
else
- if motor.debug
- fprintf('\n(DEBUG) Motor::start: Calling ''outputStepPower''-command on Port %s...\n',...
- port2str('Motor', motor.port));
- end
-
- motor.commInterface.outputStepPower(0, motor.port, motor.power,...
+ motor.handleCommand(@outputStepPower, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
end
elseif strcmpi(motor.limitMode, 'Time')
if motor.speedRegulation
- if motor.debug
- fprintf('\n(DEBUG) Motor::start: Calling ''outputTimeSpeed''-command on Port %s...\n',...
- port2str('Motor', motor.port));
- end
-
- motor.commInterface.outputTimeSpeed(0, motor.port, motor.power,...
+ motor.handleCommand(@outputTimeSpeed, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
else
- if motor.debug
- fprintf('\n(DEBUG) Motor::start: Calling ''outputTimePower''-command on Port %s...\n',...
- port2str('Motor', motor.port));
- end
-
- motor.commInterface.outputTimePower(0, motor.port, motor.power,...
+ motor.handleCommand(@outputTimePower, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
end
@@ -349,10 +326,7 @@ classdef Motor < MaskedHandle & dynamicprops
return;
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::stop: Calling ''outputStop''-command on Port %s...\n', port2str('Motor', motor.port));
- end
- motor.commInterface.outputStop(0, motor.port, motor.brakeMode_);
+ motor.handleCommand(@outputStop, 0, motor.port, motor.brakeMode_);
motor.state.startedNotBusy = false;
end
@@ -473,19 +447,11 @@ classdef Motor < MaskedHandle & dynamicprops
if strcmpi(motor.limitMode, 'Tacho')
- if motor.debug
- fprintf(['\n(DEBUG) Motor::syncedStart: Calling ''outputStepSync''-command on ' ,...
- 'Ports %s and %s.\n'], port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
- end
- motor.commInterface.outputStepSync(0, motor.port+syncMotor.port, ...
+ motor.handleCommand(@outputStepSync, 0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
motor.limitValue, motor.brakeMode_);
elseif strcmpi(motor.limitMode, 'Time')
- if motor.debug
- fprintf('\n(DEBUG) Motor::start: Calling ''outputStepSync''-command on Ports %s and %s.\n',...
- port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
- end
- motor.commInterface.outputTimeSync(0, motor.port+syncMotor.port, ...
+ motor.handleCommand(@outputTimeSync, 0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
motor.limitValue, motor.brakeMode_);
end
@@ -527,11 +493,7 @@ classdef Motor < MaskedHandle & dynamicprops
syncMotor.applyState();
% Synced stopping
- if motor.debug
- fprintf('\n(DEBUG) Motor::syncedStop: Calling ''outputStop''-command on Ports %s and %s.\n', ...
- port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
- end
- motor.commInterface.outputStop(0, motor.port+syncMotor.port, motor.brakeMode_);
+ motor.handleCommand(@outputStop, 0, motor.port+syncMotor.port, motor.brakeMode_);
% On next start, both motors have to send power-opcode again
if motor.state.sendPowerOnSet
@@ -590,11 +552,7 @@ classdef Motor < MaskedHandle & dynamicprops
port2str('Motor', motor.port));
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::internalReset: Calling ''outputReset''-command on Port %s...\n',...
- port2str('Motor', motor.port));
- end
- motor.commInterface.outputReset(0, motor.port);
+ motor.handleCommand(@outputReset, 0, motor.port);
end
function resetTachoCount(motor)
@@ -609,11 +567,7 @@ classdef Motor < MaskedHandle & dynamicprops
port2str('Motor', motor.port));
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::resetTachoCount: Calling ''outputClrCount''-command on Port %s...\n',...
- port2str('Motor', motor.port));
- end
- motor.commInterface.outputClrCount(0, motor.port);
+ motor.handleCommand(@outputClrCount, 0, motor.port);
end
function setBrake(motor, brake)
@@ -963,7 +917,24 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- methods (Access = private) % Private functions that directly interact with commLayer
+ methods (Access = private) % Private functions that directly interact with commLayer#
+ function varargout = handleCommand(motor, 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 motor.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(motor.commInterface, varargin{:});
+ end
+
function success = setPower(motor, power)
% Sets given power value on the physical Brick.
%
@@ -983,15 +954,9 @@ classdef Motor < MaskedHandle & dynamicprops
end;
if motor.currentSpeedRegulation
- if motor.debug
- fprintf('\n(DEBUG) Motor::setPower: Calling ''outputSpeed''-command on Port %s...\n', port2str('Motor', motor.port));
- end
- motor.commInterface.outputSpeed(0, motor.port, power);
+ motor.handleCommand(@outputSpeed, 0, motor.port, power);
else
- if motor.debug
- fprintf('\n(DEBUG) Motor::setPower: Calling ''outputPower''-command on Port %s...\n', port2str('Motor', motor.port));
- end
- motor.commInterface.outputPower(0, motor.port, power);
+ motor.handleCommand(@outputPower, 0, motor.port, power);
end
success = true;
return;
@@ -1002,12 +967,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getTypeMode: Motor-Object not connected to comm handle.');
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::getTypeMode: Calling ''inputDeviceGetTypeMode''-command on Port %s...\n',...
- port2str('Motor', motor.port));
- end
-
- [typeNo,modeNo] = motor.commInterface.inputDeviceGetTypeMode(0, motor.portInput);
+ [typeNo, modeNo] = motor.handleCommand(@inputDeviceGetTypeMode, 0, motor.portInput);
type = DeviceType(typeNo);
mode = DeviceMode(type,modeNo);
end
@@ -1017,11 +977,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getStatus: Motor-Object not connected to comm handle.');
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::getStatus: Calling ''inputDeviceGetConnection''-command on Port %s...\n',...
- port2str('Motor', motor.port));
- end
- statusNo = motor.commInterface.inputDeviceGetConnection(0, motor.portInput);
+ statusNo = motor.handleCommand(@inputDeviceGetConnection, 0, motor.portInput);
status = ConnectionType(statusNo);
end
@@ -1030,17 +986,11 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::getTachoCount: Calling ''outputGetCount''-command on Port %s...\n', port2str('Motor', motor.port));
- end
- cnt = motor.commInterface.outputGetCount(0, motor.portNo);
+ cnt = motor.handleCommand(@outputGetCount, 0, motor.portNo);
end
function cnt = getInternalTachoCount(motor)
- if motor.debug
- fprintf('\n(DEBUG) Motor::getInternalTachoCount: Calling ''outputRead''-command on Port %s...\n', port2str('Motor', motor.port));
- end
- [~, cnt] = motor.commInterface.outputRead(0, motor.portNo);
+ [~, cnt] = motor.handleCommand(@outputRead, 0, motor.portNo);
end
function speed = getSpeed(motor)
@@ -1048,10 +998,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getSpeed: Motor-Object not connected to comm handle.');
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::getSpeed: Calling ''inputReadSI''-command on Port %s...\n', port2str('Motor', motor.port));
- end
- speed = motor.commInterface.inputReadSI(0, motor.portInput, DeviceMode.Motor.Speed);
+ speed = motor.handleCommand(@inputReadSI, 0, motor.portInput, DeviceMode.Motor.Speed);
end
function busy = getBusyFlag(motor)
@@ -1067,10 +1014,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getBusyFlag: Motor-Object not connected to comm handle.');
end
- if motor.debug
- fprintf('\n(DEBUG) Motor::getBusyFlag: Calling ''outputTest''-command on Port %s...\n', port2str('Motor', motor.port));
- end
- busy = motor.commInterface.outputTest(0, motor.port);
+ busy = motor.handleCommand(@outputTest, 0, motor.port);
end
function applyBrake(motor)
@@ -1083,18 +1027,13 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::applyBrake: Can''t apply brake because Motor is moving');
end
- if motor.debug
- fprintf(['\n(DEBUG) Motor::applyBrake: Calling ''outputPower'', ''outputStart'' and' ,...
- '''outputStop'' on Port %s...\n'], port2str('Motor', motor.port));
- end
-
if motor.speedRegulation
- motor.commInterface.outputPower(0, motor.port, 0);
+ motor.handleCommand(@outputPower, 0, motor.port, 0);
else
- motor.commInterface.outputSpeed(0, motor.port, 0);
+ motor.handleCommand(@outputSpeed, 0, motor.port, 0);
end
- motor.commInterface.outputStart(0, motor.port);
- motor.commInterface.outputStop(0, motor.port, BrakeMode.Brake);
+ motor.handleCommand(@outputStart, 0, motor.port);
+ motor.handleCommand(@outputStop, 0, motor.port, BrakeMode.Brake);
end
function releaseBrake(motor)
@@ -1107,17 +1046,13 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::releaseBrake: Can''t release brake because Motor is moving');
end
- if motor.debug
- fprintf(['\n(DEBUG) Motor::releaseBrake: Calling ''outputPower'', ''outputStart'' and' ,...
- '''outputStop'' on Port %s...\n'], port2str('Motor', motor.port));
- end
if motor.speedRegulation
- motor.commInterface.outputPower(0, motor.port, 0);
+ motor.handleCommand(@outputPower, 0, motor.port, 0);
else
- motor.commInterface.outputSpeed(0, motor.port, 0);
+ motor.handleCommand(@outputSpeed, 0, motor.port, 0);
end
- motor.commInterface.outputStart(0, motor.port);
- motor.commInterface.outputStop(0, motor.port, BrakeMode.Coast);
+ motor.handleCommand(@outputStart, 0, motor.port);
+ motor.handleCommand(@outputStop, 0, motor.port, BrakeMode.Coast);
end
end
diff --git a/source/Sensor.m b/source/Sensor.m
index f89b80f8c8460d1e3c1e6031ab8c469fc5bbc1e8..5e1c82947200b6c20cc13ebb9233d583be3111d1 100644
--- 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.handleCommand(@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.handleCommand(@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.handleCommand(@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.handleCommand(@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.handleCommand(@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.handleCommand(@inputDeviceGetTypeMode, 0, sensor.port);
type = DeviceType(typeNo);
catch ME
continue;
@@ -498,6 +473,25 @@ classdef Sensor < MaskedHandle
end
+ methods (Access = private)
+ function varargout = handleCommand(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