From ef4f6463891cff9540325e4cd09c0c65dbc8292f Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Fri, 5 Aug 2016 17:40:09 +0200
Subject: [PATCH] Fix issues with undeleted comm interfaces
On deletion/disconnect, communication-objects of lower layers are now
properly deleted and disconnected.
---
source/EV3.m | 17 +++++++++++------
source/Motor.m | 6 +++---
source/Sensor.m | 10 +++++-----
3 files changed, 19 insertions(+), 14 deletions(-)
diff --git a/source/EV3.m b/source/EV3.m
index face392..2c9032c 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -127,6 +127,11 @@ classdef EV3 < handle
ev3.init = 0;
end
+ function delete(ev3)
+ if ev3.isConnected
+ ev3.disconnect();
+ end
+ end
%% Connection
function connect(ev3, varargin)
%connect Connects EV3-object and its Motors and Sensors to physical brick.
@@ -152,8 +157,6 @@ classdef EV3 < handle
ev3.brick = 0;
ev3.isConnected = 0;
-
- % error('EV3::connect: Aborted connection.');
end
end
@@ -219,9 +222,9 @@ classdef EV3 < handle
% b.disconnect();
%
- if ~ev3.isConnected
- error('EV3::connect: No brick connected.');
- end
+% if ~ev3.isConnected
+% error('EV3::connect: No brick connected.');
+% end
% Disconnect motors
% -> set references to brick object to 0
@@ -238,7 +241,9 @@ classdef EV3 < handle
ev3.sensor4.disconnect();
% Delete handle to brick object
- ev3.brick.delete();
+ if isBrickValid(ev3.brick) && ev3.brick ~= 0
+ ev3.brick.delete();
+ end
ev3.brick = 0;
ev3.isConnected = 0;
diff --git a/source/Motor.m b/source/Motor.m
index c3b09d1..8625762 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -256,9 +256,9 @@ classdef Motor < handle
% brickInterface.delete(); % Actual disconnecting!!!
%
- if ~motor.isConnected
- error('Motor::disconnect: No brick connected.');
- end
+% if ~motor.isConnected
+% error('Motor::disconnect: No brick connected.');
+% end
motor.brick = 0; % Note: actual deleting is done in EV3::disconnect.
motor.isConnected = 0;
diff --git a/source/Sensor.m b/source/Sensor.m
index 55e67d1..f794ae8 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -136,9 +136,9 @@ classdef Sensor < handle
function disconnect(sensor)
%disconnect Disconnects Sensor-object from physical brick
- if ~sensor.isConnected
- error('Sensor::disconnect: No brick connected.');
- end
+% if ~sensor.isConnected
+% error('Sensor::disconnect: No brick connected.');
+% end
sensor.brick = 0; % Note: actual deleting is done in EV3::disconnect.
sensor.isConnected = 0;
@@ -163,8 +163,8 @@ classdef Sensor < handle
if strcmp(class(oldMode),class(newMode)) && oldMode~=newMode
if ~strcmp(class(oldMode), 'DeviceMode.Error') && ...
~strcmp(class(newMode), 'DeviceMode.Error')
- warning(['Sensor::update: Physical sensor''s mode was not ',...
- 'the specified one. Changing...']);
+ %warning(['Sensor::update: Physical sensor''s mode was not ',...
+ % 'the specified one. Changing...']);
sensor.setMode(oldMode);
sensor.mode = oldMode;
--
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