RunExperiment.m

00001 function output = RunExperiment(dest_ip,port,input,output_size,params)
00002     % RunExperiment
00003     % [output] = RunExperiment(dest_ip, port, input, output_size,params)
00004     %
00005     %  Sends input to the FRDM board and processes output data 
00006     %
00007     %  INPUT PARAMETERS
00008     %    dest_ip:    (string) ip address of FRDM board
00009     %    port:       (int) port used by server on FRDM board
00010     %    input:      (float vector) input variables for the experiment 
00011     %                which are sent to the FRDM board
00012     %    ouput_size: (int) number of floats to be sent back by the FRDM
00013     %                board at each control step
00014     %    params:     (struct) (optional) contains arguments below
00015     %                params.callback - callback function 
00016     %                params.timeout - timeout to end experiment (seconds)
00017     %
00018     %  OUTPUT PARAMETERS
00019     %    output:     (float vector) matrix of all data recieved from FRDM
00020     %                board during the experiment
00021     
00022     if nargin == 4
00023         params = struct();
00024     end
00025     if ~isfield(params,'callback')
00026         params.callback = 0;
00027     end
00028     
00029     if ~isfield(params,'timeout')
00030         params.timeout = 2;
00031     end
00032     
00033     
00034     done = 0;
00035     
00036     data             = []; % output data
00037     % boolean to store if there is a callback
00038     has_callback     = strcmp(class(params.callback) , 'function_handle');
00039     
00040     % event handler for packet reception
00041     function [] = recv(obj,es)
00042         if es.Data.DatagramLength == 1
00043             done = 1;
00044             return
00045         end
00046         % All packets must contains floats, which are of size 4
00047         % if the packet isn't divisible by 4, there is an error
00048         if mod(es.Data.DatagramLength,4*output_size) > 0
00049             fprintf(1,'Error bad data size %d expected mod %d\n',es.Data.DatagramLength,4*output_size);
00050             fread(obj, es.Data.DatagramLength);
00051             return
00052         end
00053         
00054         d = fread(obj, es.Data.DatagramLength);
00055         d = typecast(uint8(d),'single');
00056         %length(d)
00057         
00058         num_data = length(d)/output_size;
00059         
00060         d = reshape(d,output_size,num_data)';       
00061         data(end+1 : end+num_data,:) = d;
00062         
00063         if (has_callback)
00064             params.callback(d);
00065         end
00066     end
00067 
00068     % create port and bind handler
00069     u = udp(dest_ip,port);
00070     u.InputBufferSize = 1000000;
00071     u.DatagramReceivedFcn = @recv;
00072     u.DatagramTerminateMode = 'on';
00073     
00074     fopen(u);
00075     
00076     % Send input data to mbed
00077     fwrite(u,typecast(single(input),'uint8'))
00078 
00079     tic
00080     
00081     % Wait for experiment to finish
00082     k = 0;
00083     pd = 0;
00084     pk = 0;
00085     while done == 0
00086        k = k+1;
00087        
00088        if mod(k,20) == 0
00089            fprintf(' (%d bytes recieved, %d available)\n',u.ValuesReceived,u.BytesAvailable);
00090        else
00091            fprintf('.');
00092        end
00093        
00094        d = size(data,1);
00095        if d > pd
00096            pk = k;
00097            pd = d;
00098        elseif (k-pk) > params.timeout*10
00099            break
00100        end
00101        
00102        pause(.1);
00103     end
00104     fprintf('\nExperiment finished\n');
00105     toc
00106 
00107 
00108     fclose(u)
00109     delete(u)
00110     output = data;
00111 end