Changeset 130

Timestamp:

07/10/08 03:13:18 (5 years ago)

Author:

atorf

Message:

Adapted GUI_WatchAnalogSensor to work with new toolbox (and with ultrasonic)

Location:

branches/atorf/RWTHMindstormsNXT

Files:

• COM_CloseNXT.m (modified) (5 diffs)
• COM_CollectPacket.m (modified) (1 diff)
• demos (modified) (1 prop)
• demos/GUI_WatchAnalogSensor.fig (modified) (previous)
• demos/GUI_WatchAnalogSensor.m (modified) (13 diffs)

branches/atorf/RWTHMindstormsNXT/COM_CloseNXT.m

@@ -87 +87 @@
         end%try
         
-        textOut(sprintf('Closing handle (USB) with MAC = %s (handle was %.1f minutes old)\n', h.NXTMAC, etime(clock, h.CreationTime) / 60));
         
         if h.ConnectionTypeValue == 1 % USB
+            textOut(sprintf('Closing handle (USB) with MAC = %s (handle was %.1f minutes old)\n', h.NXTMAC, etime(clock, h.CreationTime) / 60));
             if h.OSValue == 1 % win
                 USB_CloseHandle_Windows(h);
@@ -96 +96 @@
             end%if
         else % BT
+            textOut(sprintf('Closing handle (Bluetooth) on port %s (handle was %.1f minutes old)... ', h.ComPort, etime(clock, h.CreationTime) / 60));
             BT_CloseHandle(h);
         end%if
@@ -171 +172 @@
 %% Close given bluetooth connection
 
-    textOut(sprintf('Closing Bluetooth connection on port %s ... ', h.ComPort));
+    %textOut(sprintf('Closing Bluetooth connection on port %s ... ', h.ComPort));
 
 
@@ -232 +233 @@
 %% Close all serial ports
     if nargin < 1
-        textOut(sprintf('Closing all open serial ports... '));
+        textOut(sprintf('Closing all serial ports... '));
         if ispc % WINDOWS VERSION -------------
             try
@@ -271 +272 @@
         ComPort = readFromIniFile(inisection, 'SerialPort', inifilename);
 
-        textOut(sprintf('Closing open serial port %s... ', ComPort));
+        textOut(sprintf('Closing serial port %s... ', ComPort));
 
         if ispc % WINDOWS VERSION -------------

branches/atorf/RWTHMindstormsNXT/COM_CollectPacket.m

@@ -116 +116 @@
             textOut(sprintf('Packet contains error message %d: "%s"\n', statusbyte, errmsg));
             DebugMode(oldstate);
+            % increase handle's error-count by 1
+            handle.TransmissionErrors(1);
         end%if
     end%if

branches/atorf/RWTHMindstormsNXT/demos/GUI_WatchAnalogSensor.m

@@ -23 +23 @@
 % Edit the above text to modify the response to help GUI_WatchAnalogSensor
 
-% Last Modified by GUIDE v2.5 26-Jul-2007 14:15:55
+% Last Modified by GUIDE v2.5 10-Jul-2008 03:03:01
 
 % Begin initialization code - DO NOT EDIT
@@ -108 +108 @@
 global DisableScreenOut;
 global StopSensorWatchLoop;
+global USmode;
 StopSensorWatchLoop = false;
 
 
-port = str2num(get(handles.txtPort, 'String'));
+%tmp = get(handles.lstPort, 'String');
+port = get(handles.lstPort, 'Value') - 1; % - 1 because 1st sensor is 0
 tmp = get(handles.lstSensorType, 'String');
 sensortype = tmp{get(handles.lstSensorType, 'Value')};
-%sensortype 
-
-h = BT_GetDefaultHandle;
+
+PlotData = get(handles.chkPlotData, 'Value');
+
+USmode = false;
+if strcmpi(sensortype, 'Ultrasonic')
+    USmode = true;  
+end%if
+
+h = COM_GetDefaultNXT;
 
 OldScreenOutMode = DisableScreenOut;
@@ -124 +132 @@
 
 try
-    if NXT_SetInputMode(port, sensortype, 'PERIODCOUNTERMODE', 'reply', h) ~= 0
-        errordlg('Invalid sensor type, or the specified sensor is not connected to the specified port')
-        return
+    if USmode
+        CloseSensor(port);
+        OpenUltrasonic(port);
+    else
+        if NXT_SetInputMode(port, sensortype, 'PERIODCOUNTERMODE', 'reply', h) ~= 0
+            errordlg('Invalid sensor type, or the specified sensor is not connected to the specified port')
+            return
+        end%if
     end%if
-    
 catch
     errordlg('Invalid sensor type, or the specified sensor is not connected to the specified port')
@@ -135 +147 @@
 
 
+MaxYVal = 1024;
+if USmode; MaxYVal = 256; end%if
 
 axes(handles.axsSensorData);
-axis([0 DisplayPeriod 0 1024]);
+axis([0 DisplayPeriod 0 MaxYVal]);
 hold on
 cla
-plot([0 DisplayPeriod], [1024 * 0.45 1024 * 0.45], 'k--')
-plot([0 DisplayPeriod], [1024 * 0.55 1024 * 0.55], 'k--')
-cmap = colormap(jet(1024));
+
+if ~USmode
+    plot([0 DisplayPeriod], [MaxYVal * 0.45 MaxYVal * 0.45], 'k--')
+    plot([0 DisplayPeriod], [MaxYVal * 0.55 MaxYVal * 0.55], 'k--')
+else
+    plot([0 DisplayPeriod], [150 150], 'k--')
+end%if
+cmap = colormap(jet(MaxYVal));
 
 
 tictic(1);
 tictic(3);
-% we've got this handy bytecounter only when using a serial port handle,
-% i.e. under windows...
-if ispc
-    StartBytesReceived = h.ValuesReceived;
-else
-    StartBytesReceived = 0;
-end%if
+
+StartBytesReceived = h.BytesReceived();
+StartErrorCount = h.TransmissionErrors();
+
 ReplyCount = 0;
 MaxLatency = 0;
 LatencySum = 0;
+
+if h.ConnectionTypeValue == 1
+    LineWidth = 2; % USB
+else
+    LineWidth = 3;
+end%if
+    
+
 while(~StopSensorWatchLoop)
-    
+
     if toctoc(1) >= 1
         
-        if ispc % WINDOWS version for serial port handle only...
-            set(handles.txtReceivedBytes, 'String',  h.ValuesReceived - StartBytesReceived);
-            StartBytesReceived = h.ValuesReceived;
-        end%if
-           
+        PlotData = get(handles.chkPlotData, 'Value');
+        
+        set(handles.txtReceivedBytes, 'String',  h.BytesReceived() - StartBytesReceived);
+        StartBytesReceived = h.BytesReceived();
+
         set(handles.txtAvgLatency, 'String',  [num2str(ceil((LatencySum / ReplyCount) * 1000)) ' ms'] );
         LatencySum = 0;
@@ -175 +199 @@
         ReplyCount = 0;
         
+        set(handles.txtTransmissionErrors, 'String', h.TransmissionErrors() - StartErrorCount);
+        StartErrorCount = h.TransmissionErrors();
+
+        % update current values so there's at least some kind of info
+        if ~USmode            
+            set(handles.txtPeriodCount, 'String', out.ScaledVal);
+            set(handles.txtCurVal, 'String', out.NormalizedADVal);
+        else
+            set(handles.txtCurVal, 'String', out);
+        end%if
+
+        
+        drawnow % need this for MATLAB to not freeze if drawing is disabled
+        
         tictic(1);
     end%if
@@ -181 +219 @@
     tictic(2);
     
-    out = NXT_GetInputValues(port, h);
+    if ~USmode
+        out = NXT_GetInputValues(port, h);
+    else
+        out = GetUltrasonic(port);
+        if out < 1
+            % work around for color map to not crash
+            out = 1;
+        end%if
+    end%if
     ReplyCount = ReplyCount + 1;
     
@@ -187 +233 @@
     LatencySum = LatencySum + tmp;
     if tmp > MaxLatency, MaxLatency = tmp; end
+ 
    
-    
-    set(handles.txtPeriodCount, 'String', out.ScaledVal);
-    set(handles.txtCurVal, 'String', out.NormalizedADVal);
-   
-    plot([toctoc(3) toctoc(3)], [0 out.NormalizedADVal], 'LineWidth', 3, 'Color', cmap(out.NormalizedADVal + 1, :))
-    
-    
     if toctoc(3) > DisplayPeriod
         tictic(3);
         cla
-        plot([0 DisplayPeriod], [1024 * 0.45 1024 * 0.45], 'k--')
-        plot([0 DisplayPeriod], [1024 * 0.55 1024 * 0.55], 'k--')
+        if ~USmode
+            plot([0 DisplayPeriod], [MaxYVal * 0.45 MaxYVal * 0.45], 'k--')
+            plot([0 DisplayPeriod], [MaxYVal * 0.55 MaxYVal * 0.55], 'k--')
+        else
+            plot([0 DisplayPeriod], [150 150], 'k--')
+        end%if
     end%if
-    
-    
-    drawnow
+
+    
+    if PlotData
+        if ~USmode            
+            set(handles.txtPeriodCount, 'String', out.ScaledVal);
+            set(handles.txtCurVal, 'String', out.NormalizedADVal);
+            plot([toctoc(3) toctoc(3)], [0 out.NormalizedADVal], 'LineWidth', LineWidth, 'Color', cmap(out.NormalizedADVal + 1, :))
+        else
+            set(handles.txtCurVal, 'String', out);
+            plot([toctoc(3) toctoc(3)], [0 out], 'LineWidth', LineWidth, 'Color', cmap(out + 1, :))
+        end%if
+
+        drawnow
+    end%if
     
     
 end%while
+
+try
+    CloseSensor(SENSOR_1);
+    CloseSensor(SENSOR_2);
+    CloseSensor(SENSOR_3);
+    CloseSensor(SENSOR_4);
+catch
+    % nothing
+end%try
+    
 DisableScreenOut = OldScreenOutMode;
 
@@ -243 +308 @@
 
 
-function edit3_Callback(hObject, eventdata, handles)
-% hObject    handle to edit3 (see GCBO)
-% eventdata  reserved - to be defined in a future version of MATLAB
-% handles    structure with handles and user data (see GUIDATA)
-
-% Hints: get(hObject,'String') returns contents of edit3 as text
-%        str2double(get(hObject,'String')) returns contents of edit3 as a double
-
 
 % --- Executes during object creation, after setting all properties.
@@ -266 +323 @@
 
 
-function edit4_Callback(hObject, eventdata, handles)
-% hObject    handle to edit4 (see GCBO)
-% eventdata  reserved - to be defined in a future version of MATLAB
-% handles    structure with handles and user data (see GUIDATA)
-
-% Hints: get(hObject,'String') returns contents of edit4 as text
-%        str2double(get(hObject,'String')) returns contents of edit4 as a double
-
-
 % --- Executes during object creation, after setting all properties.
 function edit4_CreateFcn(hObject, eventdata, handles)
@@ -358 +406 @@
 
 
-function edit8_Callback(hObject, eventdata, handles)
-% hObject    handle to edit8 (see GCBO)
-% eventdata  reserved - to be defined in a future version of MATLAB
-% handles    structure with handles and user data (see GUIDATA)
-
-% Hints: get(hObject,'String') returns contents of edit8 as text
-%        str2double(get(hObject,'String')) returns contents of edit8 as a double
-
-
-% --- Executes during object creation, after setting all properties.
-function edit8_CreateFcn(hObject, eventdata, handles)
-% hObject    handle to edit8 (see GCBO)
-% eventdata  reserved - to be defined in a future version of MATLAB
-% handles    empty - handles not created until after all CreateFcns called
-
-% Hint: edit controls usually have a white background on Windows.
-%       See ISPC and COMPUTER.
-if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
-    set(hObject,'BackgroundColor','white');
-end
-
-
-% --- Executes on button press in checkbox1.
-function checkbox1_Callback(hObject, eventdata, handles)
-% hObject    handle to checkbox1 (see GCBO)
-% eventdata  reserved - to be defined in a future version of MATLAB
-% handles    structure with handles and user data (see GUIDATA)
-
-% Hint: get(hObject,'Value') returns toggle state of checkbox1
-
-
-% --- Executes on button press in checkbox2.
-function checkbox2_Callback(hObject, eventdata, handles)
-% hObject    handle to checkbox2 (see GCBO)
-% eventdata  reserved - to be defined in a future version of MATLAB
-% handles    structure with handles and user data (see GUIDATA)
-
-% Hint: get(hObject,'Value') returns toggle state of checkbox2
-
-
-% --- Executes on button press in checkbox3.
-function checkbox3_Callback(hObject, eventdata, handles)
-% hObject    handle to checkbox3 (see GCBO)
-% eventdata  reserved - to be defined in a future version of MATLAB
-% handles    structure with handles and user data (see GUIDATA)
-
-% Hint: get(hObject,'Value') returns toggle state of checkbox3
-
-
-
-function edit9_Callback(hObject, eventdata, handles)
-% hObject    handle to edit9 (see GCBO)
-% eventdata  reserved - to be defined in a future version of MATLAB
-% handles    structure with handles and user data (see GUIDATA)
-
-% Hints: get(hObject,'String') returns contents of edit9 as text
-%        str2double(get(hObject,'String')) returns contents of edit9 as a double
 
 
@@ -554 +545 @@
 
 % Hint: get(hObject,'Value') returns toggle state of cmdResetCount
-
-h = BT_GetDefaultHandle;
-port = str2num(get(handles.txtPort, 'String'));
-NXT_ResetInputScaledValue(port, h)
+global USmode
+
+if ~USmode
+    %h = COM_GetDefaultNXT;
+    port = get(handles.lstPort, 'Value') - 1;
+    NXT_ResetInputScaledValue(port)
+end%if
 
 
@@ -572 +566 @@
 % if default handle set, ok, if not, create one...
 try
-    h = BT_GetDefaultHandle();
+    h = COM_GetDefaultNXT();
 catch
-    BT_CloseAllHandles('bluetooth.ini');
-    BT_SetDefaultHandle(BT_OpenHandle('bluetooth.ini', 'check'))
+    COM_CloseNXT('all', 'bluetooth.ini');
+    COM_SetDefaultNXT(COM_OpenNXT('bluetooth.ini', 'check'));
 end%try
 
@@ -602 +596 @@
 
 
+
+
+
+function txtTransmissionErrors_Callback(hObject, eventdata, handles)
+% hObject    handle to txtTransmissionErrors (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of txtTransmissionErrors as text
+%        str2double(get(hObject,'String')) returns contents of txtTransmissionErrors as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function txtTransmissionErrors_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to txtTransmissionErrors (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    empty - handles not created until after all CreateFcns called
+
+% Hint: edit controls usually have a white background on Windows.
+%       See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+    set(hObject,'BackgroundColor','white');
+end
+
+
+
+
+% --- Executes on selection change in lstPort.
+function lstPort_Callback(hObject, eventdata, handles)
+% hObject    handle to lstPort (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: contents = get(hObject,'String') returns lstPort contents as cell array
+%        contents{get(hObject,'Value')} returns selected item from lstPort
+
+
+% --- Executes during object creation, after setting all properties.
+function lstPort_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to lstPort (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    empty - handles not created until after all CreateFcns called
+
+% Hint: popupmenu controls usually have a white background on Windows.
+%       See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+    set(hObject,'BackgroundColor','white');
+end
+
+
+
+
+% --- Executes when user attempts to close figure1.
+function figure1_CloseRequestFcn(hObject, eventdata, handles)
+% hObject    handle to figure1 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: delete(hObject) closes the figure
+delete(hObject);
+
+
+
+
+% --- Executes on button press in chkPlotData.
+function chkPlotData_Callback(hObject, eventdata, handles)
+% hObject    handle to chkPlotData (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of chkPlotData
+
+