Changeset 135

Timestamp:

07/11/08 17:03:25 (5 years ago)

Author:

atorf

Message:

Added warning for not-supported system commands under Windows/USB (Fantom)

Location:

branches/atorf/RWTHMindstormsNXT

Files:

• COM_SendPacket.m (modified) (2 diffs)
• checkStatusByte.m (modified) (2 diffs)
• doc/programming/ToolboxVer2Guidelines.html (modified) (3 diffs)
• doc/programming/ToolboxVer2Guidelines.m (modified) (1 diff)
• private/getReplyLengthFromCmdByte.m (modified) (1 diff)

branches/atorf/RWTHMindstormsNXT/COM_SendPacket.m

@@ -257 +257 @@
 
 
-    % if length(packet) > 1 && packet(2) == 0 && packet(1) > 1
-    %     warning('MATLAB:RWTHMindstormsNXT:USB:usingBTPacketForUSB', 'Seems like you are calling USB_SendAndCollectPacket with Bluetooth packet-data (containing two length bytes at the beginning not needed for USB). Ignoring this call...')
-    %     reply = [];
-    %     return
-    % end%if
-
     NoReplyBit = 128; % hardcoded the old hex2dec('80') version for performance improvement
+    % find out if packet requests a reply
     NeedReply = (bitand(packet(1), NoReplyBit) == 0);
 
+    % preallocate reply buffer
     if NeedReply
         reply = uint8(zeros(getReplyLengthFromCmdByte(packet(2)), 1)); % need to know the reply packet size
@@ -272 +268 @@
     end%if
 
+    % find out if we've got a system or direct command
+    % remember: direct commands: 0x00, 0x80 (reply needed)
+    %           system command:  0x01, 0x81 (reply needed)
+    % so check the least significant bit
+    if bitand(packet(1), 1) == 1
+        % the reason: at the moment we cannot send system commands!
+        warning('MATLAB:RWTHMindstormsNXT:notYetImplementedWarning', 'Cannot send system command (not yet implemented). At the moment only direct commands can be sent via USB on Windows. Use Bluetooth on Windows or Linux. Discarding packet, trying to continue...');        
+        return
+    end%if
 
     [whatever command reply status] = calllib('fantom', 'nFANTOM100_iNXT_sendDirectCommand', h.Handle, NeedReply, packet(2:end)', length(packet), reply, length(reply), 0);

branches/atorf/RWTHMindstormsNXT/checkStatusByte.m

@@ -52 +52 @@
     f_resp_hex = num2str(dec2hex(f_resp, 2));
     switch (f_resp_hex)
+        % we introduce this 0x01 custom error (NOT from LEGO Mindstorms
+        % Documentation). It happens when we try to collect a packet but
+        % there were no data received (the statusbyte is then still
+        % initialized to 1):
+        case '01'
+            err_message = 'Empty packet: no data received';
+        % standard errors from NXT documentation
         case '20'
             err_message = 'Pending communication transaction in progress';
@@ -87 +94 @@
             err_message = 'Bad arguments';
         otherwise
-            err_message= 'Unknown Error';
+            err_message = 'Unknown Error';
     end
     

branches/atorf/RWTHMindstormsNXT/doc/programming/ToolboxVer2Guidelines.html

@@ -12 +12 @@
       <title>RWTH - Mindstorms NXT Toolbox Version 2.00 beta Guidelines</title>
       <meta name="generator" content="MATLAB 7.5">
-      <meta name="date" content="2008-07-10">
+      <meta name="date" content="2008-07-11">
       <meta name="m-file" content="ToolboxVer2Guidelines"><style>
 
@@ -125 +125 @@
          <p>The handle contains some function-handles (to store dynamic information using the principle of function closures). However
             they are not to be used by normal users! It will later be explained to the advanced user how to retrieve connection statistics
-            (how many bytes and packets wer sent or received).
+            (how many bytes and packets were sent or received).
          </p>
          <p>For now, the message is: We have got a huge handle struct, look at it if you want, but do not modify it. It does not matter
@@ -254 +254 @@
 % using the principle of function closures). However they are not to be
 % used by normal users! It will later be explained to the advanced user
-% how to retrieve connection statistics (how many bytes and packets wer
+% how to retrieve connection statistics (how many bytes and packets were
 % sent or received).
 

branches/atorf/RWTHMindstormsNXT/doc/programming/ToolboxVer2Guidelines.m

@@ -64 +64 @@
 % using the principle of function closures). However they are not to be
 % used by normal users! It will later be explained to the advanced user
-% how to retrieve connection statistics (how many bytes and packets wer
+% how to retrieve connection statistics (how many bytes and packets were
 % sent or received).
 

branches/atorf/RWTHMindstormsNXT/private/getReplyLengthFromCmdByte.m

@@ -40 +40 @@
 %% Check parameter
 if (byte < 0) || (byte > 20)
-    warning('MATLAB:RWTHMindstormsNXT:invalidCommandByte', 'CommandByte must be between 0 and 20, trying to continue...');
+    % the warning below is correct, direct commands that need replies are
+    % indeed between bytes 0 and 20, but system commands are different,
+    % so we do not use this warning at the moment!
+    %warning('MATLAB:RWTHMindstormsNXT:invalidCommandByte', 'CommandByte must be between 0 and 20, trying to continue...');
+    
+    % no reply needed means length = 0, but this might change when
+    % implementing NXT_GetFirmwareVersion correctly...
     len = 0;
     return