Changeset 775

Timestamp:

08/31/09 21:53:47 (4 years ago)

Author:

atorf

Message:

• Removed flood of warnings in .WaitFor?, if MotorControl is terminated during WaitFor?
• Added possibility to suppress warnings in NXT_MessageRead by requesting status byte, just as in NXT_LSGetStatus…
• Documentation updates (removed references to old motor commands)
• ToolboxBenchmark? up2date for version 4.* now
• Updated changelog as usual

Location:

trunk

Files:

• doc/release.html (modified) (2 diffs)
• mfiles/@NXTMotor/NXTMotor.m (modified) (1 diff)
• mfiles/@NXTMotor/SendToNXT.m (modified) (1 diff)
• mfiles/@NXTMotor/WaitFor.m (modified) (3 diffs)
• mfiles/CalibrateCompass.m (modified) (1 diff)
• mfiles/NXT_MessageRead.m (modified) (5 diffs)
• mfiles/SwitchLamp.m (modified) (1 diff)
• tools/ToolboxBenchmark.m (modified) (4 diffs)

trunk/doc/release.html

@@ -39 +39 @@
     <li>Parameter <code>UseThisNXTMAC</code> of <code>COM_OpenNXTEx</code> can now also contain colons,
         i.e. both <code>'00:16:12:34:56:78'</code> and <code>'001612345678'</code> are valid</li>
+    <li>Removed a possible "flood of warnings" in <code>NXTMotor.WaitFor()</code> if NXT program MotorControl is being terminated during 
+        execution 
     <li>Added examples in motor documentation</code></li>
     <li>Updated documentation in various places</code></li>
@@ -45 +47 @@
   <ul>
     <li>This release has <i>milestone</i> status, so there may be remaining bugs, or documentation might be outdated in some places</li>
-    <li>Tutorials in "Programming Robots", especially about USB connections and Motors, are not fully up-to-date and complete yet.</li>
+    <li>Tutorials in "Programming Robots", especially about USB connections and motors, are not fully up-to-date and complete yet.</li>
     <li>The toolbox programs <code>ToolboxTest</code> and <code>ToolboxBenchmark</code> are not up to date yet and are hence not included in this release.
     <li>Mixing methods from the <code>NXTMotor</code> class and the function <code>DirectMotorCommand</code> can lead to warnings or other problems.</li>

trunk/mfiles/@NXTMotor/NXTMotor.m

@@ -175 +175 @@
 %
 %
-% See also: SendToNXT, ReadFromNXT, WaitFor, Stop, ResetPosition   
+% See also: SendToNXT, ReadFromNXT, WaitFor, Stop, ResetPosition,
+% DirectMotorCommand
 %
 %

trunk/mfiles/@NXTMotor/SendToNXT.m

@@ -39 +39 @@
 %+        NXT_PlayTone(400,500);
 %
-% See also: NXTMotor, ReadFromNXT, Stop, WaitFor, ResetPosition
+% See also: NXTMotor, ReadFromNXT, Stop, WaitFor, DirectMotorCommand
 %
 % Signature

trunk/mfiles/@NXTMotor/WaitFor.m

@@ -151 +151 @@
 %% Actual waitfor-loop 
 
+warned236 = false;
 mTimedOut = false;
 hGlobalTimeOut = tic();
@@ -175 +176 @@
     end%while
     
+    
     reply = '';
     while(isempty(reply))
         % this loop is to ALWAYS collect all packets we request!!)
         
-        reply = NXT_MessageRead(OutboxNr, OutboxNr, true, handle);
+        % request statusByte so that we don't get flooded with error msgs...
+        [reply dummy statusByte] = NXT_MessageRead(OutboxNr, OutboxNr, true, handle);
+        
+        % ignore error 64
+        if (statusByte ~= 0) && (statusByte ~= 64) % 64 = "Specified mailbox queue is empty"
+            if (statusByte == 236) && (~warned236) % MATLAB:RWTHMindstormsNXT:messageReadWithNoActiveProgram
+                warned236 = true;
+                warning('MATLAB:RWTHMindstormsNXT:embeddedMotorControlSeemsTerminated', 'The embedded NXC program MotorControl should be running on the NXT brick. It seems the program is not running and/or was terminated accidentally. Please restart it or create a new NXT handle! Continuing...')
+            end%if
+            %NOTE we're ignoring all other errors here...
+        end%if
+        
+        
         %disp(sprintf('    WaitFor, Motor %d, reply = %s', obj.Port(1), reply));
+        
 
         if ~isempty(reply) % some sort of reply
@@ -208 +223 @@
     end%while
 
+    % check if warning236 -> noReplyFromEmbedded... warning was triggered:
+    if mTimedOut
+        break
+    end%if
+    
     % check "global timeout"
     if (timeout ~= 0) && (toc(hGlobalTimeOut) > timeout)

trunk/mfiles/CalibrateCompass.m

@@ -35 +35 @@
 %+
 %+     % compass is attached to motor A, rotate 2 full turns 
-%+     SetMotor(MOTOR_A);
-%+         SetPower(5);
-%+         SetAngleLimit(720);
-%+     SendMotorSettings;
+%+     m = NXTMotor('A', 'Power', 5, 'TachoLimit', 720)
+%+     m.SendToNXT();
 %+
-%+     WaitForMotor(MOTOR_A);
+%+     m.WaitFor();
 %+
 %+     % calibration should now be complete!

trunk/mfiles/NXT_MessageRead.m

@@ -1 @@
-function [message localInboxReturn] = NXT_MessageRead(localInbox, remoteInbox, removeFromRemote, handle)
+function [message localInboxReturn statusByte] = NXT_MessageRead(localInbox, remoteInbox, removeFromRemote, handle)
 % Retrieves a "NXT-to-NXT message" from the specified inbox
 %  
@@ -6 +6 @@
 %
 %   |[message localInboxReturn] = NXT_MessageRead(LocalInbox, RemoteInbox, RemoveFromRemote, handle)| 
+%
+%   |[message localInboxReturn statusByte] = NXT_MessageRead(LocalInbox, RemoteInbox, RemoveFromRemote)| 
+%
+%   |[message localInboxReturn statusByte] = NXT_MessageRead(LocalInbox, RemoteInbox, RemoveFromRemote, handle)| 
 %
 % Description
@@ -23 +27 @@
 %   |localInboxReturn| is just the mailbox number that the message was read
 %   from (again, see official Mindstorms communication protocol).
+%
+%   Optionally, the packet's statusbyte is returned in the output argument
+%   |statusByte|, if requested. Warning from this functions will then be
+%   supressed (i.e. no warnings are raised then).
 %
 %   If no NXT handle is specified the default one (|COM_GetDefaultNXT|) is used.
@@ -51 +59 @@
 % Signature
 %   Author: Linus Atorf (see AUTHORS)
-%   Date: 2009/02/27
+%   Date: 2009/08/31
 %   Copyright: 2007-2009, RWTH Aachen University
 %
@@ -107 +115 @@
 
 %% Check for errors
+statusByte = status;
 [err errmsg] = checkStatusByte(status);
 if err
     
-    % ignore error 64: "Specified mailbox queue is empty"
-    if status ~= 64 
-        % special error 236: "No active program"
-        % received when indeed no program is running
-        % apparently MessageRead only works when an NXC
-        % program is running at the same time?!
-        if status == 236
-            warning('MATLAB:RWTHMindstormsNXT:messageReadWithNoActiveProgram', 'NXT_MessageRead was called while no program (NXT-G / NXC / NBC) is being executed on the NXT brick. Apparently, the direct command MessageRead will not work then. You can safely ignore this warning by calling  warning(''off'', ''MATLAB:RWTHMindstormsNXT:messageReadWithNoActiveProgram'')');
-        else
-            oldstate = DebugMode();
-            DebugMode on; 
-            % TODO It is probably better to display a real warning here instead
-            % of a "debug" textOut message that will be deactivated most of the
-            % time. However this is a very rare condition that should not occur
-            % using correctly implemented protocol commands anyway.
-            textOut(sprintf('Packet (reply to %s) contains error message %d: "%s"\n' ,commandbyte2name(cmd), status, errmsg));
-            DebugMode(oldstate);
-            % increase handle's error-count by 1
-            handle.TransmissionErrors(1);
+    if nargout < 3
+        % ignore error 64: "Specified mailbox queue is empty"
+        if status ~= 64 
+            % special error 236: "No active program"
+            % received when indeed no program is running
+            % apparently MessageRead only works when an NXC
+            % program is running at the same time?!
+            if status == 236
+                warning('MATLAB:RWTHMindstormsNXT:messageReadWithNoActiveProgram', 'NXT_MessageRead was called while no program (NXT-G / NXC / NBC) is being executed on the NXT brick. Apparently, the direct command MessageRead will not work then. You can safely ignore this warning by calling  warning(''off'', ''MATLAB:RWTHMindstormsNXT:messageReadWithNoActiveProgram'')');
+            else
+                oldstate = DebugMode();
+                DebugMode on; 
+                % TODO It is probably better to display a real warning here instead
+                % of a "debug" textOut message that will be deactivated most of the
+                % time. However this is a very rare condition that should not occur
+                % using correctly implemented protocol commands anyway.
+                textOut(sprintf('Packet (reply to %s) contains error message %d: "%s"\n' ,commandbyte2name(cmd), status, errmsg));
+                DebugMode(oldstate);
+                % increase handle's error-count by 1
+                handle.TransmissionErrors(1);
+            end%if
         end%if
     end%if

trunk/mfiles/SwitchLamp.m

@@ -31 +31 @@
 %+   SwitchLamp(MOTOR_A, 'off');
 %
-% See also: SetPower, SendMotorSettings, StopMotor, MOTOR_A, MOTOR_B, MOTOR_C
+% See also: NXTMotor, StopMotor, MOTOR_A, MOTOR_B, MOTOR_C
 %
 % Signature

trunk/tools/ToolboxBenchmark.m

@@ -41 +41 @@
 portMotor2  = MOTOR_B;
  
+motor1 = NXTMotor(portMotor);
+motor2 = NXTMotor(portMotor2);
 
 %% Connect to NXT
@@ -129 +131 @@
 
 % for motor read, we let the motor running...
-SetMotor(portMotor)
-    SetPower(20)
-SendMotorSettings
-SetMotor(portMotor2)
-    SetPower(-20)
-SendMotorSettings
+DirectMotorCommand(portMotor, 20, 0, 'on', 'off', 0, 'off');
+DirectMotorCommand(portMotor2, -20, 0, 'on', 'off', 0, 'off');
 
 fprintf('- Testing MOTOR READ... ');
@@ -209 +207 @@
         % randomly use different motors
         if rand > 0.5
-            dummy = GetMotorSettings(portMotor);
+            dummy = motor1.ReadFromNXT();
         else
-            dummy = GetMotorSettings(portMotor2);
+            dummy = motor2.ReadFromNXT();
         end%if
     end%function
@@ -218 +216 @@
         % randomly use different motors and settings
         if rand > 0.5
-            SetMotor(portMotor)
-                SetPower(45)
-                SpeedRegulation on
-                SetAngleLimit(3446)
-                SetRampMode down
-            SendMotorSettings
+            DirectMotorCommand(portMotor, 45, 3446, 'on', 'off', 0, 'down');
+%             SetMotor(portMotor)
+%                 SetPower(45)
+%                 SpeedRegulation on
+%                 SetAngleLimit(3446)
+%                 SetRampMode down
+%             SendMotorSettings
         else
-            SetMotor(portMotor2)
-                SetPower(-80)
-                SpeedRegulation off
-                SetAngleLimit off
-                SetRampMode up
-            SendMotorSettings
+            DirectMotorCommand(portMotor2, -80, 3446, 'off', 'off', 0, 'up');
+%             SetMotor(portMotor2)
+%                 SetPower(-80)
+%                 SpeedRegulation off
+%                 SetAngleLimit off
+%                 SetRampMode up
+%             SendMotorSettings
         end%if