Diff: RunExperiment.m

Revision:

0:b568b8ff43f2

Child:

1:30408caaef92

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RunExperiment.m	Wed Aug 12 08:34:57 2015 -0400
@@ -0,0 +1,111 @@
+function output = RunExperiment(dest_ip,port,input,output_size,params)
+    % RunExperiment
+    % [output] = RunExperiment(dest_ip, port, input, output_size,params)
+    %
+    %  Sends input to the FRDM board and processes output data 
+    %
+    %  INPUT PARAMETERS
+    %    dest_ip:    (string) ip address of FRDM board
+    %    port:       (int) port used by server on FRDM board
+    %    input:      (float vector) input variables for the experiment 
+    %                which are sent to the FRDM board
+    %    ouput_size: (int) number of floats to be sent back by the FRDM
+    %                board at each control step
+    %    params:     (struct) (optional) contains arguments below
+    %                params.callback - callback function 
+    %                params.timeout - timeout to end experiment (seconds)
+    %
+    %  OUTPUT PARAMETERS
+    %    output:     (float vector) matrix of all data recieved from FRDM
+    %                board during the experiment
+    
+    if nargin == 4
+        params = struct();
+    end
+    if ~isfiend(params,'callback')
+        params.callback = 0;
+    end
+    
+    if ~isfiend(params,'timeout')
+        params.timeout = 2;
+    end
+    
+    
+    done = 0;
+    
+    data             = []; % output data
+    % boolean to store if there is a callback
+    has_callback     = strcmp(class(params.callback) , 'function_handle');
+    
+    % event handler for packet reception
+    function [] = recv(obj,es)
+        if es.Data.DatagramLength == 1
+            done = 1;
+            return
+        end
+        % All packets must contains floats, which are of size 4
+        % if the packet isn't divisible by 4, there is an error
+        if mod(es.Data.DatagramLength,4*output_size) > 0
+            fprintf(1,'Error bad data size %d expected mod %d\n',es.Data.DatagramLength,4*output_size);
+            fread(obj, es.Data.DatagramLength);
+            return
+        end
+        
+        d = fread(obj, es.Data.DatagramLength);
+        d = typecast(uint8(d),'single');
+        %length(d)
+        
+        num_data = length(d)/output_size;
+        
+        d = reshape(d,output_size,num_data)';       
+        data(end+1 : end+num_data,:) = d;
+        
+        if (has_callback)
+            callback(d);
+        end
+    end
+
+    % create port and bind handler
+    u = udp(dest_ip,port);
+    u.InputBufferSize = 1000000;
+    u.DatagramReceivedFcn = @recv;
+    u.DatagramTerminateMode = 'on';
+    
+    fopen(u);
+    
+    % Send input data to mbed
+    fwrite(u,typecast(single(input),'uint8'))
+
+    tic
+    
+    % Wait for experiment to finish
+    k = 0;
+    pd = 0;
+    pk = 0;
+    while done == 0
+       k = k+1;
+       
+       if mod(k,20) == 0
+           fprintf(' (%d bytes recieved, %d available)\n',u.ValuesReceived,u.BytesAvailable);
+       else
+           fprintf('.');
+       end
+       
+       d = size(data,1);
+       if d > pd
+           pk = k;
+           pd = d;
+       elseif (k-pk) > params.timeout/10
+           break
+       end
+       
+       pause(.1);
+    end
+    fprintf('\nExperiment finished\n');
+    toc
+
+
+    fclose(u)
+    delete(u)
+    output = data;
+end
\ No newline at end of file