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R2671/MATLAB/hri_comm.m
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hri_comm.m
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classdef hri_comm < handle
% HHRIBOARD HHRI board class.
% Manages the communication between MATLAB on PC and the HHRI board,
% and allows remote operation.
properties(Access = private)
hSerial
packetBuffer
rxCurrentMessageType
rxBytesCount
firstHalfByte
rxTimer
pendingPingback
pendingGetVarsList
pendingGetVar
logfile
varsList
streamId
varsIdsToStream
streamPacketSize
streamBuffer
currentStreamBufferIndex
gotVarsListCallbackFunc
boardOfflineCallbackFunc
plotDecimCounter
end
properties(Hidden = true, Access = private, Constant = true)
%% Messages sent by MATLAB to the board.
PC_MESSAGE_DO_NOTHING = 0; % Do nothing.
PC_MESSAGE_PING = 1;
PC_MESSAGE_GET_VARS_LIST = 2; % Request the device to send the variables list.
PC_MESSAGE_SET_STREAMED_VAR = 3; % Set the variables to be streamed.
PC_MESSAGE_GET_VAR = 4; % Request the device to send the selected value.
PC_MESSAGE_SET_VAR = 5; % Set the selected variable.
%% Messages sent by the board to MATLAB.
STM_MESSAGE_PINGBACK = 0; % Response to a ping request.
STM_MESSAGE_VAR = 1; % Variable state.
STM_MESSAGE_STREAMING_PACKET = 2; % Streaming packet.
STM_MESSAGE_DEBUG_TEXT = 3; % Debug text message.
STM_MESSAGE_VARS_LIST = 4; % Monitored variables list.
STM_MESSAGE_START_INFO = 5; % Notification that the board has (re)started.
%% Other constants.
SYNCVAR_NAME_SIZE = 20; % Max size of a SyncVar name, including the '\0' trailing character.
STREAMING_BUFF_LEN = 1000; % [bytes].
READ_BYTES_PERIOD = 0.100; % [s].
VAR_ACCESSES = {'readonly', 'writeonly', 'read+write'};
VAR_TYPES = {'bool', 'uint8', 'int8', 'uint16', 'int16', ...
'uint32', 'int32', 'uint64', 'int64', 'single', ...
'double'};
end
methods
function hbh = hri_comm(comPortName, gotVarsListCallbackFunc)
% HHRIBOARD Class constructor.
hbh.hSerial = serial(comPortName, ...
'BaudRate', 1843200, ...
'Parity', 'none', ...
'StopBits', 1, ...
'FlowControl', 'none', ...
'Timeout', 0.5, ...
'InputBufferSize', 100000, ...
'ReadAsyncMode', 'continuous');
hbh.packetBuffer = zeros(1, 1000, 'uint8');
hbh.rxCurrentMessageType = 0;
hbh.rxBytesCount = 0;
hbh.pendingPingback = 0;
hbh.logfile = 0;
hbh.rxTimer = 0;
hbh.streamId = 0;
hbh.gotVarsListCallbackFunc = gotVarsListCallbackFunc;
hbh.plotDecimCounter = 1;
end
function open(hbh)
% OPEN Open the serial link, and start receiving data.
% Open the serial link.
fopen(hbh.hSerial);
flushinput(hbh.hSerial);
% Setup the callback function, called periodically to read the
% bytes sent by the board.
hbh.rxTimer = timer('Period', hbh.READ_BYTES_PERIOD, ...
'TimerFcn', @(~,~)readBytes(hbh), ...
'ExecutionMode', 'fixedRate', ...
'BusyMode', 'drop');
start(hbh.rxTimer);
% Stop the streaming, if it was running.
setStreamedVars(hbh, []);
% Get the remote variables list, if the board is OK.
if ping(hbh)
requestVarsList(hbh);
end
end
function close(hbh)
% CLOSE Close the serial link.
stop(hbh.rxTimer);
if strcmp(hbh.hSerial.Status, 'open')
fclose(hbh.hSerial);
delete(hbh);
end
end
function delete(hbh)
% DELETE Class destructor.
close(hbh);
end
function ok = ping(hbh)
% PING Check if the board is responding to a ping request.
hbh.pendingPingback = 1;
sendPacket(hbh, hbh.PC_MESSAGE_PING, []);
startTime = tic;
while hbh.pendingPingback && toc(startTime) < 1.0
pause(0.1);
end
ok = (hbh.pendingPingback == 0);
end
% function ok = getLinkStatus(hbh)
%
% end
function startLogging(hbh)
% STARTLOGGING Start the logging to a text file.
% wmh WalkiMotorboard object to set.
% Open the logfile to write.
hbh.logfile = fopen(['logs/log_' ...
datestr(now, 'yyyy-mm-dd_HH_MM_SS') ...
'.csv'], 'w');
% Build the header.
header = 'timestamp [us];';
for i=1:length(hbh.varsList(hbh.varsIdsToStream))
header = [header hbh.varsList(i).name ';']; %#ok<AGROW>
end
header(end) = [];
fprintf(hbh.logfile, [header '\n']);
end
function stopLogging(hbh)
% STOPLOGGING Stop the logging to a text file.
% wmh WalkiMotorboard object to set.
if hbh.logfile ~= 0
fclose(hbh.logfile);
hbh.logfile = 0;
end
end
function requestVarsList(hbh)
sendPacket(hbh, hbh.PC_MESSAGE_GET_VARS_LIST, []);
end
function varsList = getVarsList(hbh)
sendPacket(hbh, hbh.PC_MESSAGE_GET_VARS_LIST, []);
hbh.pendingGetVarsList = 1;
while hbh.pendingGetVarsList
pause(0.1);
end
varsList = hbh.varsList;
end
function setVar(hbh, varId, newValue)
% SETVAR Set a board variable to the desired value.
% wmh WalkiMotorboard object to set.
% varId the selected variable to set.
% newValue the new desired value of the selected variable. The
% given value will be cast to the correct type.
% Send a packet to set the value of the variable.
if strcmp(hbh.varsList(varId).type, 'bool')
newValue = cast(newValue, 'uint8');
else
newValue = cast(newValue, hbh.varsList(varId).type);
end
data = [varId-1 typecast(newValue, 'uint8')];
sendPacket(hbh, hbh.PC_MESSAGE_SET_VAR, data);
end
function varValue = getVar(hbh, varId)
% REQUESTVAR Get the variable value from the board.
% This function blocks until the variable has been received.
% wmh WalkiMotorboard object to set.
% varId the ID of the selected variable to get.
hbh.pendingGetVar = 1;
sendPacket(hbh, hbh.PC_MESSAGE_GET_VAR, varId-1);
while(hbh.pendingGetVar)
pause(0.01);
end
varValue = hbh.varsList(varId).value{:};
end
function dispVarsList(hbh)
for i=1:length(hbh.varsList)
fprintf('#%i %s %s (size %i) %s\n', i, ...
hbh.varsList(i).name, ...
hbh.varsList(i).type, ...
hbh.varsList(i).size, ...
hbh.varsList(i).access);
end
end
function setStreamedVars(hbh, varsIdsToStream)
% Allocate the buffer.
hbh.streamBuffer = zeros(1000, length(varsIdsToStream));
hbh.currentStreamBufferIndex = 1;
% Build the communication packet.
hbh.streamId = hbh.streamId + 1;
hbh.streamPacketSize = 1 + 4; % ID + timestamp.
hbh.varsIdsToStream = varsIdsToStream;
data = zeros(1, 2 + length(varsIdsToStream));
data(1) = uint8(length(varsIdsToStream));
data(2) = uint8(hbh.streamId);
for i=1:length(varsIdsToStream)
data(2+i) = uint8(varsIdsToStream(i)-1);
hbh.streamPacketSize = hbh.streamPacketSize + ...
hbh.varsList(varsIdsToStream(i)).size;
end
sendPacket(hbh, hbh.PC_MESSAGE_SET_STREAMED_VAR, data);
% TODO: remove.
% This avoids a bug when removing a variable while streaming.
pause(0.1);
end
function vars = getStreaming(hbh)
vars = hbh.streamBuffer(1:hbh.currentStreamBufferIndex-1, :);
hbh.currentStreamBufferIndex = 1;
end
end
methods(Static)
function boardComPort = getHriComPort()
hwinfo = instrhwinfo('Serial');
ports = hwinfo.AvailableSerialPorts;
for i=1:length(ports)
port = ports{i};
h = hri_comm(port, 0);
open(h);
if ping(h)
boardComPort = port;
delete(h);
return;
end
delete(h);
clear h;
end
boardComPort = '';
end
end
methods(Access = private)
function sendPacket(wmh, type, data)
% Build the packet.
txBuffer = zeros(1, 1 + length(data) * 2, 'uint8');
txBuffer(1) = bitset(type, 8); % Set bit 8 to 1 ("start byte").
for i = 1:length(data)
b = data(i);
txBuffer(i*2+0) = bitshift(b, -4); % MSB.
txBuffer(i*2+1) = bitshift(bitshift(b, 4), -4); % LSB.
end
% Send the packet through the serial link.
fwrite(wmh.hSerial, txBuffer); % TODO: set to 'async'?
end
function readBytes(hbh)
try
hri_constants;
% Read the available bytes from the serial link.
nAvailableBytes = hbh.hSerial.BytesAvailable;
if nAvailableBytes == 0
return;
end
rxBytes = fread(hbh.hSerial, nAvailableBytes, 'uint8');
% Cache the most accessed members.
rxBytesCountC = hbh.rxBytesCount;
packetBufferC = hbh.packetBuffer;
% Process each byte, one by one.
for rxByte = rxBytes'
if bitget(rxByte, 8) == 1 % Start byte.
hbh.rxCurrentMessageType = bitset(rxByte, 8, 0);
rxBytesCountC = 0;
else % "Normal" byte.
rxBytesCountC = rxBytesCountC + 1;
end
if rem(rxBytesCountC, 2) == 1 % Got first half byte.
hbh.firstHalfByte = rxByte;
else % Got nothing, or the second half byte.
dataBytesReady = floor(rxBytesCountC / 2);
% Accumulate the incoming byte in the RX packet buffer.
if dataBytesReady > 0
packetBufferC(dataBytesReady) = ...
bitshift(hbh.firstHalfByte, 4) + ... % MSB.
bitshift(bitshift(rxByte, 4), -4); % LSB.
end
% If enough data bytes have been received, interpret
% them.
switch hbh.rxCurrentMessageType
case hbh.STM_MESSAGE_PINGBACK
hbh.pendingPingback = 0;
case hbh.STM_MESSAGE_VAR
if dataBytesReady >= 1
varId = packetBufferC(1) + 1;
varSize = hbh.varsList(varId).size;
if dataBytesReady == 1 + varSize
if strcmp(hbh.varsList(varId).type, 'bool')
hbh.varsList(varId).value = {packetBufferC(2) ~= 0};
else
hbh.varsList(varId).value = {typecast(packetBufferC(2:1+varSize), hbh.varsList(varId).type)};
end
end
hbh.pendingGetVar = 0;
end
case hbh.STM_MESSAGE_STREAMING_PACKET
if dataBytesReady == hbh.streamPacketSize
if packetBufferC(1) == hbh.streamId
timestamp = cast(typecast(packetBufferC(2:5), 'uint32'), 'double');
p = 6;
for varId=hbh.varsIdsToStream
if strcmp(hbh.varsList(varId).type, 'bool')
hbh.varsList(varId).value = {packetBufferC(p) ~= 0};
p = p + 1;
else
varSize = hbh.varsList(varId).size;
hbh.varsList(varId).value = {typecast(packetBufferC(p:p+varSize-1), hbh.varsList(varId).type)};
p = p + varSize;
end
end
% Add the values into the streaming buffer.
streamBufferLine = cellfun(@(x)cast(x{:}, 'double'), {hbh.varsList(hbh.varsIdsToStream).value});
if hbh.plotDecimCounter >= PLOT_DOWNSAMPLING
hbh.plotDecimCounter = 1;
hbh.streamBuffer(hbh.currentStreamBufferIndex,:) = streamBufferLine;
hbh.currentStreamBufferIndex = hbh.currentStreamBufferIndex + 1;
% If the streaming buffer is full, restart.
if hbh.currentStreamBufferIndex >= hbh.STREAMING_BUFF_LEN
hbh.currentStreamBufferIndex = 1;
warning('The streaming buffer was full, and has been reseted.');
end
else
hbh.plotDecimCounter = hbh.plotDecimCounter + 1;
end
% Log to file, if enabled.
if hbh.logfile ~= 0
fprintf(hbh.logfile, '%f;', [timestamp streamBufferLine]);
fprintf(hbh.logfile, '\n');
end
end
end
case hbh.STM_MESSAGE_DEBUG_TEXT
if dataBytesReady > 0 && ...
packetBufferC(dataBytesReady) == 0
message = char(...
packetBufferC(...
1:find(packetBufferC == 0)-1));
message(message == 13) = [];
fprintf([message '\n']);
end
case hbh.STM_MESSAGE_VARS_LIST
if dataBytesReady > 0
nVars = double(packetBufferC(1));
hbh.varsList = [];
if dataBytesReady == 1 + nVars * (hbh.SYNCVAR_NAME_SIZE + 3)
j = 2;
for i=1:nVars
name = packetBufferC(j:j+hbh.SYNCVAR_NAME_SIZE);
hbh.varsList(i).name = char(name(1:find(name == 0, 1, 'first')-1));
j = j + hbh.SYNCVAR_NAME_SIZE;
hbh.varsList(i).type = hbh.VAR_TYPES{packetBufferC(j)+1};
j = j + 1;
hbh.varsList(i).access = hbh.VAR_ACCESSES{packetBufferC(j)+1};
j = j + 1;
hbh.varsList(i).size = double(packetBufferC(j));
j = j + 1;
if strcmp(hbh.varsList(i).type, 'bool')
hbh.varsList(i).value = 0;
else
hbh.varsList(i).value = {cast(0, hbh.varsList(i).type)};
end
end
hbh.pendingGetVarsList = 0;
if isa(hbh.gotVarsListCallbackFunc, 'function_handle')
hbh.gotVarsListCallbackFunc(hbh.varsList);
end
end
end
case hbh.STM_MESSAGE_START_INFO
if dataBytesReady == 0
disp('The board has (re)started.');
requestVarsList(hbh);
end
end
end
end
% De-cache the cached variables.
hbh.rxBytesCount = rxBytesCountC;
hbh.packetBuffer = packetBufferC;
catch e
% Having this variable in global allows accessing it from
% the main workspace.
global err; %#ok<TLEV>
err = e;
rethrow(e);
end
end
end
end
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