Homec4science
Diffusion HHRI-software (master) Browse

R2671/MATLAB/Functions/getVar.m
8d3f6f95d43cmaster

Last Change
Raw File

getVar.m
View Options

This document is not UTF8. It was detected as Shift JIS and converted to UTF8 for display.
function [Var,ERR] = getVar(Var_id,handles)
% Demande l'etat d'une variable (stand alone function)
%
% Output :
% Var -> returns the asked variable
% ERR -> 0 : ok
% 1 : TimeOut (nothing received)
% 2 : The packet has not the right size
% 3 : The received variable is not the one asked
ERR = 0;
TimeOut = handles.COMOPT.USART_TIMEOUT_SHORT;
PacketSize = 11; % header, var_id on 2 (half) bytes, variable on 8 (half) bytes
if handles.streaming_enable
usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
stop(handles.UsartTimer);
end
flushinput(handles.s); %Vide le buffer
tmp0 = dec2hex(Var_id,2);
packet = [handles.COMOPT.StartFrame + handles.COMOPT.PC_MESSAGE_GET_VAR, hex2dec(tmp0(1)), hex2dec(tmp0(2))];
fwrite(handles.s,packet);
tmp = 0;
while(TimeOut>0)
BA = get(handles.s,{'BytesAvailable'});
if(BA{1}<PacketSize)
pause(0.01);
TimeOut = TimeOut-0.01; %tr駸 aproximatif
if TimeOut == 0
Var=[];
ERR=1;
return;
end
else
tmp = fread(handles.s,1);
if((tmp >= handles.COMOPT.StartFrame) && (tmp-handles.COMOPT.StartFrame == handles.COMOPT.STM_MESSAGE_VAR))
tmp0 = fread(handles.s,2);
tmp1 = fread(handles.s,8);
TimeOut = 0;
else
TimeOut = TimeOut-0.01; %tr駸 aproximatif
if TimeOut == 0
Var=[];
ERR=1;
return;
end
end
end
end
if(max(size(tmp1))~=8)
Var=[];
ERR=2;
return;
end
Var_id_recu = 2^4*tmp0(1) + tmp0(2);
if Var_id_recu ~= Var_id
Var=[];
ERR=3;
return;
end
Var = uint32(2^28*tmp1(7) + 2^24*tmp1(8) + 2^20*tmp1(5) + 2^16*tmp1(6)+...
2^12*tmp1(3) + 2^8*tmp1(4) + 2^4*tmp1(1) + tmp1(2));
%78 56 34 12 because this corresponds to the data bytes 3 2 1 0.
%StatReg = tmp;
if sum(Var_id == [1:6,10,13:26]) %Var is a float
Var = typecast(Var,'single');
end
if sum(Var_id == [8,9]) %Var is a int
Var = typecast(Var,'int32');
end
if handles.streaming_enable
usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
start(handles.UsartTimer);
end
end
c4science · Help