Changeset 981

Timestamp:

09/30/11 12:21:35 (20 months ago)

Author:

staas

Message:

*COM_MakeBTConfigFile.m : added the fields NXT-Name, NXT-Mac and Channel to the Bluetooth ini-File to make it compatible to the new Matlab Bluetooth interface
*COM_OpenNXTEx.m : some changes to better support the new Matlab Bluetooth interface. You can open NXT via NXT-Name or NXT-MAC given in the ini-File.
*Troubleshooting.m : added Section for Windows 64Bit USB problems

Location:

trunk

Files:

• doc/m2html/Troubleshooting.m (modified) (1 diff)
• mfiles/COM_MakeBTConfigFile.m (modified) (5 diffs)
• mfiles/COM_OpenNXTEx.m (modified) (5 diffs)

trunk/doc/m2html/Troubleshooting.m

@@ -46 +46 @@
 % </html>
 
+%% Windows 64Bit
+%
+
+%%
+%
+% *Problems with USB-Connection* 
+%
+% If you have problems connecting your NXT make sure you installed
+% "libusb_win32" correctly. You have to run "inf-wizard.exe" once for EVERY
+% NXT. Your NXT is installed correctly if it appears under "libusb-win32
+% devices" in your Windows Device Manager.
 
 

trunk/mfiles/COM_MakeBTConfigFile.m

@@ -21 +21 @@
 %
 % Signature
-%   Author: Alexander Behrens, Linus Atorf (see AUTHORS)
-%   Date: 2008/07/09
+%   Author: Alexander Behrens, Linus Atorf, Martin Staas (see AUTHORS)
+%   Date: 2011/09/30
 %   Copyright: 2007-2011, RWTH Aachen University
 %
@@ -57 +57 @@
         dlg_title = 'Configuration File Settings';
         if ispc
-            prompt    = {'Filename:', 'SerialPort:', 'BaudRate:', 'DataBits:', 'SendPause:', 'ReceivePause:', 'Timeout:'};
+            archstr = computer('arch');
+            Is64Bit = regexp(archstr,'\w*64','match'); %are we running on 64Bit?
+            if isempty(Is64Bit)
+                prompt    = {'Filename:', 'SerialPort:', 'BaudRate:', 'DataBits:', 'SendPause:', 'ReceivePause:', 'Timeout:'};
+            else
+                prompt    = {'Filename:', 'SerialPort:', 'BaudRate:', 'DataBits:', 'SendPause:', 'ReceivePause:', 'Timeout:','NXT-Name:','NXT-MAC:','Channel:'};
+            end
         else
             prompt    = {'Filename:', 'SerialPort:', 'SendPause:', 'ReceivePause:', 'Timeout:'};
@@ -66 +72 @@
         
         if ispc
-            default_parameters = {'bluetooth.ini','COM3','9600', '8', '5', '25', '2'};
+            if isempty(Is64Bit)
+                default_parameters = {'bluetooth.ini','COM3','9600', '8', '5', '25', '2'};
+            else
+                default_parameters = {'bluetooth.ini','COM3','9600', '8', '5', '25', '2','NXT','','1'};
+            end
         else
             default_parameters = {'bluetooth.ini', '/dev/rfcomm0', '5', '25', '2'};
@@ -76 +86 @@
             filename     = my_parameters{1};
             if ispc
-                port         = my_parameters{2};
-                baudrate     = str2double(my_parameters{3});
-                databits     = str2double(my_parameters{4});
-                sendpause    = str2double(my_parameters{5});
-                receivepause = str2double(my_parameters{6});
-                timeout      = str2double(my_parameters{7});
+                if isempty(Is64Bit)
+                    port         = my_parameters{2};
+                    baudrate     = str2double(my_parameters{3});
+                    databits     = str2double(my_parameters{4});
+                    sendpause    = str2double(my_parameters{5});
+                    receivepause = str2double(my_parameters{6});
+                    timeout      = str2double(my_parameters{7});
+                else
+                    port         = my_parameters{2};
+                    baudrate     = str2double(my_parameters{3});
+                    databits     = str2double(my_parameters{4});
+                    sendpause    = str2double(my_parameters{5});
+                    receivepause = str2double(my_parameters{6});
+                    timeout      = str2double(my_parameters{7});
+                    nxtname         = my_parameters{8};
+                    nxtmac          = my_parameters{9};
+                    channel      = str2double(my_parameters{10});
+                end
             else
                 port         = my_parameters{2};
@@ -119 +141 @@
             fwrite(h_file, sprintf('Timeout=%d\r\n', timeout));
             fwrite(h_file, sprintf('\r\n'));
+            
+            if ~isempty(Is64Bit)
+                fwrite(h_file, sprintf('NXT-Name=%s\r\n', nxtname));
+                fwrite(h_file, sprintf('NXT-MAC=%s\r\n', nxtmac));
+                fwrite(h_file, sprintf('Channel=%d\r\n', channel));
+                fwrite(h_file, sprintf('\r\n'));  
+            end
 
             fclose(h_file);

trunk/mfiles/COM_OpenNXTEx.m

@@ -102 +102 @@
 %
 % Signature
-%   Author: Linus Atorf, Alexander Behrens (see AUTHORS)
-%   Date: 2011/09/28
+%   Author: Linus Atorf, Alexander Behrens, Martin Staas (see AUTHORS)
+%   Date: 2011/09/30
 %   Copyright: 2007-2011, RWTH Aachen University
 %
@@ -413 +413 @@
         end%if
         if hIn.OSValue == 4 % 64 Bit
-            NXTName = readFromIniFile(inisection, 'NXTName', inifilename);            
+            NXTName = readFromIniFile(inisection, 'NXT-Name', inifilename);
+            NXTMac  = readFromIniFile(inisection, 'NXT-Mac', inifilename);
             Channel = readFromIniFile(inisection, 'Channel', inifilename);            
         end
@@ -459 +460 @@
         end%try
     elseif ispc && hIn.OSValue == 4 % 64 Bit
-        handle= Bluetooth(NXTName,str2num(Channel));
-        fopen(handle);
+        if ~isempty(NXTMac) %open with MAC
+            btMac = strcat( 'btspp://' , NXTMac);
+            handle= Bluetooth(btMac,str2num(Channel));   
+        else %open with name
+            handle = Bluetooth(NXTName,str2num(Channel));
+        end
+        
+        try
+            % Try to open our Bluetooth Handle. This might fail if NXTName
+            % or NXTMac are false or the NXT turned off.
+            fopen(handle);
+            if ~ strcmp(handle.RemoteName,NXTName); %if connection works, check if names match, just to be sure
+                warning('MATLAB:RWTHMindstormsNXT:Bluetooth:namesDontMatch','The Name of the NXT with MAC: "%s" is: "%s" this name does not match the one given in the Bluetooth ini-File: "%s". Using NXT with name: "%s"', NXTMac, handle.RemoteName, NXTName, handle.RemoteName);
+            end
+        catch
+            
+            if ~isempty(NXTMac) && ~isempty(NXTName) %maybe we can get the right NXT by name?
+                try
+                    warning('MATLAB:RWTHMindstormsNXT:Bluetooth:couldNotOpenConnectionMac','Could not open connection to NXT with MAC: "%s". Trying to open NXT with name "%s" instead.', NXTMac, NXTName);
+                    handle = Bluetooth(NXTName,str2num(Channel));
+                    fopen(handle);
+                catch
+                    error('MATLAB:RWTHMindstormsNXT:Bluetooth:couldNotOpenConnectionToNXT', 'Could not open bluetooth connection to NXT: %s. Please check your bluetooth ini-File', NXTName );
+                end
+            else
+                error('MATLAB:RWTHMindstormsNXT:Bluetooth:couldNotOpenConnectionToNXT', 'Could not open bluetooth connection to NXT: %s. Please check your bluetooth ini-File', NXTName );
+        end
+        end %try
+        
         
         
@@ -511 +539 @@
 
         %TODO get NXT's name & mac in here, and compare...
+        %this is already checked above for Windows 64-Bit. 
         
     end%if
@@ -779 +808 @@
     hOut.ConnectionTypeName     = 'USB';
     
-%% Unload libusb (if already in memory)
-    if libisloaded('libusb')
+
+%% Unload libusb when working with Linux (if already in memory)
+    if libisloaded('libusb') && (hIn.OSValue == 2)
         textOut(sprintf('  - Unloading library "libusb"... '));
         try