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## Copyright (C) 2019-2020 John Donoghue <john.donoghue@ieee.org>
##
## This program is free software: you can redistribute it and/or modify it
## under the terms of the GNU General Public License as published by
## the Free Software Foundation, either version 3 of the License, or
## (at your option) any later version.
##
## This program is distributed in the hope that it will be useful, but
## WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
## GNU General Public License for more details.
classdef ultrasonic < handle
## -*- texinfo -*-
## @deftypefn {} {@var{dev} =} ultrasonic (@var{ar}, @var{triggerpin})
## @deftypefnx {} {@var{dev} =} ultrasonic (@var{ar}, @var{triggerpin}, @var{echopin})
## @deftypefnx {} {@var{dev} =} ultrasonic (@var{ar}, @var{triggerpin}, @var{echopin}, @var{propname}, @var{propvalue})
## Create an ultrasonic object to communicate to a connected ultrasonic device
##
## @subsubheading Inputs
## @var{ar} - connected arduino object
##
## @var{triggerpin} - trigger pin for attached device.
##
## @var{echopin} - trigger pin for attached device.
##
## @var{propname}, @var{propvalue} - property name/value pair for values to pass to devices.
##
## Currently known properties:
## @table @asis
## @item outputformat
## string designating number format for output ('double')
## @end table
##
## @subsubheading Outputs
## @var{dev} - created ultrasonic object
##
## @subsubheading Properties
## The ultrasonic object has the following public properties:
## @table @asis
## @item parent
## The parent (arduino) for this device
## @item pins
## pins used by this object
## @item triggerpin
## trigger used for created object
## @item echopin
## Echo pin set for object
## @item outputformat
## Output format for the created object
## @end table
##
## @seealso{arduino, readDistance, readEchoTime}
## @end deftypefn
properties (Access = private)
id = [];
pins = {};
outputformat = "double";
parent = [];
resourceowner = "ultrasonic";
endproperties
methods (Access = public)
function this = ultrasonic (varargin)
ARDUINO_ULTRASONIC_CONFIG = 1;
if nargin < 2
error ("expects arduino object and triggerpin pin");
endif
ar = varargin{1};
triggerpin = varargin{2};
echopin = [];
if nargin > 2
echopin = varargin{3};
endif
if nargin > 3 && mod(nargin-3, 2) != 0
error ("arduino: expected property name, value pairs");
endif
if !iscellstr (varargin(4:2:nargin))
error ("arduino: expected property names to be strings");
endif
this.id = [];
this.pins = {};
this.outputformat = "double";
for i = 4:2:nargin
propname = tolower(varargin{i});
propvalue = varargin{i+1};
% printf("%s = %s\n", propname, propvalue);
if strcmp (propname, "outputformat")
if !ischar(propvalue)
error("outputformat should be a string");
endif
this.outputformat = tolower(propvalue);
# NOTE:currently outputformat is ignored
endif
endfor
if (!isa (ar, "arduino"))
error("expects arduino object");
endif
this.parent = ar;
this.resourceowner = "ultrasonic";
tmp_pins = {};
validatePin(ar, triggerpin, 'digital')
tmp_pins{end+1} = getPinInfo(ar, triggerpin);
if !isempty(echopin)
validatePin(ar, echopin, 'digital')
tmp_pins{end+1} = getPinInfo(ar, echopin);
endif
this.pins = tmp_pins;
this.id = tmp_pins{1}.terminal;
try
configurePin(ar, tmp_pins{1}.name, "digitaloutput")
configurePinResource (ar, tmp_pins{1}.name, this.resourceowner, "digitaloutput", true);
if numel(tmp_pins) > 1
configurePin(ar, tmp_pins{2}.name, "digitaloutput")
configurePinResource (ar, tmp_pins{2}.name, this.resourceowner, "digitalinput", true);
endif
if numel(tmp_pins) > 1
[tmp, sz] = sendCommand(this.parent, this.resourceowner, ARDUINO_ULTRASONIC_CONFIG, [this.id 1 tmp_pins{2}.terminal]);
else
[tmp, sz] = sendCommand(this.parent, this.resourceowner, ARDUINO_ULTRASONIC_CONFIG, [this.id 1]);
endif
catch
for i=1:numel(tmp_pins)
configurePinResource(ar, tmp_pins{i}.name, tmp_pins{i}.owner, tmp_pins{i}.mode, true)
configurePin(ar, tmp_pins{i}.name, tmp_pins{i}.mode)
endfor
rethrow (lasterror);
end_try_catch
#
# set clean up function
# this.cleanup = onCleanup (@() cleanupUltrasonic (ar, this.resourceowner, tmp_pins));
endfunction
endmethods
endclassdef
%!shared arduinos
%! arduinos = scanForArduinos(1);
%!assert(numel(arduinos), 1);
%!test
%! ar = arduino();
%! assert(!isempty(ar));
%!
%! x = ultrasonic(ar, "d9");
%! assert(!isempty(x));
%! assert(isa(x, "ultrasonic"))
%!test
%! ar = arduino();
%! x = ultrasonic(ar, "d9", "d10");
%! assert(!isempty(x));
%!test
%! ar = arduino();
%! fail ('ultrasonic();', 'expects arduino object and triggerpin pin')
%! fail ('ultrasonic(ar);', 'expects arduino object and triggerpin pin')
%! fail ('ultrasonic(ar, "hello");', 'arduino: unknown pin hello')
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