www.gusucode.com > Sphero Connectivity Package 程序工具箱matlab源码 > Sphero Connectivity Package/+sphero/hwinfo.m
classdef hwinfo < handle
%HWINFO Hardware related information of the connected Sphero
% OBJ = SPHERO.HWINFO(SPHEROOBJ) creates a object which provides hardware
% information of connected Sphero
%
% hwinfo properties:
% Address - Bluetooth address of Sphero
% ConnectionColor - Colors with which Sphero blinks when not connected to any device
% InternalBluetoothName - Name that is set for the Sphero internally
%
% hwinfo methods:
% getVoltageTripPoints - Get the voltage points for what Sphero considers Low Battery and Critical battery
% powerNotification - Set whether the Sphero should send asynchronous message with the power state periodically
% readPowerState - Retrieve the power state of the sphero
% setVoltageTripPoints - Set the voltage points for what Sphero considers Low Battery and Critical battery
% version - Hardware and software version of connected Sphero
%
% Examples:
% hw = sphero.hwinfo(sph);
% conncol = hw.ConnectionColor
%
% power = readPowerState(hw)
%
% See also:
% SPHERO
% SPHERO.HARDWAREINFO
% <a href="matlab:showdemo('sphero_examples')">Sphero Connectivity Package Examples</a>
% Copyright 2015-2018, The MathWorks, Inc.
properties(SetAccess = private, GetAccess = public)
%Address - Bluetooth address of Sphero
Address
%ConnectionColor - The 3 colors with which Sphero blinks when not connected to any device
% For example: PRB denotes Purple Red Blue
ConnectionColor
end
properties
%InternalBluetoothName - Name that is set for the Sphero internally
% This name can be different from the standard 'Sphero-colors'
% pattern that is used as the name of the Bluetooth device when
% connecting over Bluetooth, where 'colors' are the shortnames of
% the 3 colors with which the Sphero blinks when not connected to
% any device (ConnectionColor). This name is internally held by the
% Sphero.
InternalBluetoothName
end
properties (Access = private)
%SpheroObj - Object of Sphero class, which is the device to which currently connected
SpheroObj
end
methods (Access = private)
function [internalname, btaddress, idcolors] = btInfo(obj)
%BTINFO Retrieve the Bluetooth information from the Sphero.
% This includes internal name, Bluetooth address and the colors
% with which Sphero blinks when not connected to any device
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'getbtname', [], 1);
out = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
if length(out)<3
error('btInfo:InvalidResponse', 'Invalid response received');
else
internalname = deblank(out(1, :));
btaddress = deblank(out(2, :));
idcolors = deblank(out(3, :));
end
end
function varargout = deviceName(obj, name)
%DEVICENAME Set the internal name of Sphero
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'setbtname', [], [], [], name);
response = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function powerstate = decodePowerState(obj, stateID) %#ok<INUSL>
%DECODEPOWERSTATE Decode the Power state from the ID
err = MException('Hwinfo:DecodePowerState:InvalidResponse', 'Invalid response received.');
switch stateID
case 1
powerstate = 'Charging';
case 2
powerstate = 'Battery OK';
case 3
powerstate = 'Battery Low';
case 4
powerstate = 'Battery Critical';
otherwise
throwAsCaller(err);
end
end
end
methods
function obj = hwinfo(spheroObj)
%HWINFO Hardware related information of the connected Sphero
% OBJ = HWINFO(SPHEROOBJ) creates a object which provides hardware
% information of connected Sphero
obj.SpheroObj = spheroObj;
[internalname, btaddress, idcolors] = btInfo(obj);
obj.InternalBluetoothName = internalname;
obj.Address = btaddress;
obj.ConnectionColor = idcolors;
end
function ver = version(obj) %%NOTE: Not working at present!
%VERSION Hardware and software version of connected Sphero
% VER = VERSION(HW) returns the various hardware and software
% versions of the Sphero as a struct with the following fields:
% RecordVersion
% ModelNumber
% HardwareVersion
% MainSpheroApplicationVersion
% MainSpheroApplicationRev
% BootloaderVersion
% OrbBasicVersion
% MacroExecutiveVersion
% ApiMajorRev
% ApiMinorRev
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'version', [], 1);
ver = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
end
function [powerstate, varargout] = readPowerState(obj)
%READPOWERSTATE Retrieve the power state of the sphero
% POWERSTATE = READPOWERSTATE(HWINFOOBJECT) returns the current
% power state of the sphero as a string
%
% [POWERSTATE, VOLTAGE] = READPOWERSTATE(HWINFOOBJECT)
% returns the current battery voltage along with the power state
%
% [POWERSTATE, VOLTAGE, CHARGES] = READPOWERSTATE(HWINFOOBJECT)
% returns the Number of battery recharges in the life of the
% Sphero, besides the power state and voltage
%
% [POWERSTATE, VOLTAGE, CHARGES, TIMEAWAKE] = READPOWERSTATE(HWINFOOBJECT)
% returns the time (in seconds) since last recharge as well
nargoutchk(0, 4);
err = MException('Hwinfo:ReadPowerState:InvalidResponse', 'Invalid response received.');
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'getpwrstate', [], 1);
out = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
try
state = out{2};
powerstate = decodePowerState(obj, state);
voltage = out{3}/100; % The returned value is in 100ths of a volt
if nargout>1
varargout{1} = voltage;
if nargout>2
varargout(2:nargout-1) = out(4:nargout+1);
end
end
catch exception
if strncmp('Sphero', exception.identifier, 6)||strncmp('Hwinfo', exception.identifier, 6)
rethrow(exception)
else
exception2 = addCause(err, exception);
throw(exception2);
end
end
end
function varargout = powerNotification(obj, flag)
%POWERNOTIFICATION Set whether the Sphero should send asynchronous message with the power state periodically and when the power state changes
% POWERNOTIFICATION(HWINFOOBJECT, FLAG) enables the
% periodic power state notification when FLAG is 1, and
% disables it when FLAG is 0
%
% RESULT = POWERNOTIFICATION(HWINFOOBJECT, FLAG) returns 1 if the command
% succeeds, otherwise it returns 0
nargoutchk(0,1);
p = inputParser;
addRequired(p, 'flag', @(x) isnumeric(x) && (x==0 || x==1));
parse(p, flag);
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'setpwrnotify', [], [], [], flag);
response = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function [vlow, vcrit] = getVoltageTripPoints(obj)
%GETVOLTAGETRIPPOINTS Get the voltage points for what Sphero considers Low Battery and Critical battery
% [VLOW, VCRITICAL] = GETVOLTAGETRIPPOINTS(HWINFOOBJECT)
% returns the voltage points for low battery and critical
% battery
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'getpowertrips', [], 1);
response = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
vlow = double(response(1))/100; % The returned value is in 100ths of a volt
vcrit = double(response(2))/100; % The returned value is in 100ths of a volt
end
function varargout = setVoltageTripPoints(obj, vlow, vcrit)
% SETVOLTAGETRIPPOINTS Set the voltage points for what Sphero considers Low Battery and Critical battery
% SETVOLTAGETRIPPOINTS(HWINFOOBJECT, VLOW, VCRITICAL)
% sets the low and critical battery voltage levels for the
% Sphero. The low battery voltage should be in the range 6.5V
% to 7.5V. The critical battery voltage should be in the range
% 6.0V to 7.0V, and there must be a minimum separation of 0.25V
% between the two values.
%
% RESULT = SETVOLTAGETRIPPOINTS(HWINFOOBJECT, VLOW, VCRITICAL)
% returns 1 if the command succeeds, otherwise it returns 0
p = inputParser;
addRequired(p, 'objectname');
addRequired(p, 'vlow', @(x) isnumeric(x) && (x>=6.5&&x<=7.5));
addRequired(p, 'vcrit', @(x) isnumeric(x) && (x>=6&&x<=7));
parse(p, obj, vlow, vcrit);
if vlow-vcrit<0.25
error(['There must be a minimum separation of 0.25V '...
'between the low and critical battery voltage values']);
end
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'setpowertrips', [], [], [], vlow*100, vcrit*100);
response = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
end
methods
%GET / SET Methods
function set.InternalBluetoothName(obj, value)
%set.InternalBluetoothName Custom setter for InternalBluetoothName property
if ~strcmp(value, obj.InternalBluetoothName)
result = deviceName(obj, value);
if ~result
error('InternalBluetoothName:InvalidResponse', ...
'Unable to set internal bluetooth name.');
end
end
obj.InternalBluetoothName = value;
end
function name = get.InternalBluetoothName(obj)
%get.InternalBluetoothName Custom getter for InternalBluetoothName property
name = obj.InternalBluetoothName;
end
end
methods (Hidden = true)
% Advanced commands
function devicemode = deviceMode(obj)
%DEVICEMODE The current device mode of the Sphero (Normal or User Hack)
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'getdevicemode', [], 1);
response = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
switch response
case 0
devicemode='Normal';
case 1
devicemode = 'User Hack';
otherwise
devicemode = 'error';
end
end
function diag = diagnostics(obj)
%DIAGNOSTICS Diagnostics information of the Sphero, to help diagnose aerrant behavior
% DIAG = DIAGNOSTICS(HW) returns the diagnostic information as a
% struct with the following fields:
% RecordVersion
% GoodPacketsReceived
% BadDeviceIDPackets
% BadDataLengthPackets
% BadCommandIDPackets
% BadChecksumPackets
% ReceiveBufferOverruns
% MessagesTransmitted
% TransmitBufferOverruns
% ChargeCycles
% SecondsSinceCharge
% SecondsOn
% DistanceRolled
% SensorFailures
% GyroAdjustCount
err = MException('Hwinfo:Diagnostics:InvalidResponse', 'Invalid response received.');
try
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'runl2diags', [], 1);
response = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
diag.RecordVersion = response{1};
diag.GoodPacketsReceived = response{2};
diag.BadDeviceIDPackets = response{3};
diag.BadDataLengthPackets = response{4};
diag.BadCommandIDPackets = response{5};
diag.BadChecksumPackets = response{6};
diag.ReceiveBufferOverruns = response{7};
diag.MessagesTransmitted = response{8};
diag.TransmitBufferOverruns = response{9};
diag.ChargeCycles = response{12};
diag.SecondsSinceCharge = response{13};
diag.SecondsOn = response{14};
diag.DistanceRolled = response{15};
diag.SensorFailures = response{16};
diag.GyroAdjustCount = response{17};
catch exception
if strncmp('Sphero', exception.identifier, 6)||strncmp('Hwinfo', exception.identifier, 6)||isnan(response)
rethrow(exception)
else
exception2 = addCause(err, exception);
throw(exception2);
end
end
end
function varargout = clearCounters(obj)
%CLEARCOUNTERS Clear the counters that are used in the Diagnostic information
% CLEARCOUNTERS(HW) clears the counters such as the
% GoodPacketReceived, BadDeviceIDPackets, BadCommandIDPackets etc
%
% RESULT = CLEARCOUNTERS(HW) returns 1 if the command succeeds,
% otherwise it returns 0
[responseexpected, seq] = sendCmd(obj.SpheroObj.Api, 'clearcounters', [], [], []);
response = readResponse(obj.SpheroObj.Api, responseexpected, seq, obj.SpheroObj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function delete(obj)
%DELETE Delete the Hardware Information object
if strcmp(obj.SpheroObj.Status, 'open')
powerNotification(obj, 0) % Turn off power notification, so that sphero does not keep responding with its power state
end
end
end
end