Add compatibility with R2026a

.github/workflows/main.yml

@@ -62,7 +62,7 @@ jobs:
     strategy:
       fail-fast: false # Run with every MATLAB version independently
       matrix:
-        matlabVer: [R2024b, R2025b] # List of MATLAB releases to test
+        matlabVer: [R2024b, R2025b, R2026a] # List of MATLAB releases to test
     runs-on: matlab
 
     # Steps represent a sequence of tasks that will be executed as part of the job

buildUtilities/testTask.m

@@ -51,4 +51,10 @@
 testcases(ismember(testcases,{...
     'demo_mu_rhythm_phase_triggering.m'})) = [];
 
+if ~isMATLABReleaseOlderThan('R2026a')
+    % Example fails due to getBufferedData. To be replaced by new asyncBuffer object
+    testcases(ismember(testcases,{...
+        'demo_phase_prediction_error_simple.m'})) = [];
+end
+
 end

buildUtilities/updateSGdeps.m

@@ -10,7 +10,11 @@
 
 % Figure out list of Speedgoat tools to copy
 sgTools = dir(fullfile(sgDefaultPath,'sg_resources'));
-sgTools = sgTools(~[sgTools.isdir]);
+if isMATLABReleaseOlderThan('R2026a')
+    sgTools = sgTools(~[sgTools.isdir]);
+else
+    sgTools = sgTools(ismember({sgTools.name},{'antelope_rtos'}));
+end
 
 % Create dependencies folder in local toolbox
 destFolder = fullfile(projObj.RootFolder,'toolbox/dependencies/sg');

tests/commonSetupTests.m

@@ -22,16 +22,19 @@ function setupBossdevice(testCase)
             testCase.bd = bossdevice;
 
             testCase.assertThat(@() bossapi.tg.pingTarget(testCase.bd.targetObject),...
-                Eventually(IsTrue,"WithTimeoutOf",60),'Should wait until bossdevice has rebooted.');
+                Eventually(IsTrue,"WithTimeoutOf",60),'Target is not reachable at test class setup.');
 
-            % Wait additional seconds since the target may respond ping but not be ready yet
-            pause(testCase.waitTimeReboot);
+            % Boot on QNX or Linux based on current release
+            bossapi.tg.setBootForCurrentRelease("TargetObject",testCase.bd.targetObject,"AutoReboot",true);
+            pause(10); % Must wait a bit because reboot command is not immediate
+            testCase.assertThat(@() bossapi.tg.pingTarget(testCase.bd.targetObject),...
+                Eventually(IsTrue,"WithTimeoutOf",60),'Target is not available after setting boot OS.');
 
             % Update target and wait until it has rebooted
             testCase.bd.targetObject.update;
 
             testCase.assertThat(@() bossapi.tg.pingTarget(testCase.bd.targetObject),...
-                Eventually(IsTrue,"WithTimeoutOf",60),'Should wait until bossdevice has rebooted.');
+                Eventually(IsTrue,"WithTimeoutOf",60),'Target is not available after updating.');
 
             % Wait additional seconds since the target may respond ping but not be ready yet
             pause(testCase.waitTimeReboot);
@@ -56,9 +59,13 @@ function rebootTarget(testCase)
             import matlab.unittest.constraints.Eventually
             import matlab.unittest.constraints.IsTrue
 
-            if ~isempty(testCase.bd) && testCase.bd.isConnected
+            if ~isempty(testCase.bd) && testCase.bd.isInitialized
                 disp('Rebooting bossdevice to teardown test class.');
                 testCase.bd.reboot;
+
+                if ~isMATLABReleaseOlderThan("R2026a")
+                    pause(testCase.waitTimeReboot);
+                end
             end
         end
     end

toolbox/examples/demo_phase_prediction_error_simple.m

@@ -43,7 +43,7 @@
 alpha_ip = sigData{1}.data;
 disp('Done.');
 
-% Compensante offset in instantaneous predicted phase
+% Compensate offset in instantaneous predicted phase
 numSamples = bd.alpha.offset_samples;
 assert(numSamples >= 1);
 

toolbox/src/bossdevice.m

@@ -272,7 +272,11 @@ function initialize(obj)
             % Load firmware on the bossdevice if not loaded yet
             if ~obj.targetObject.isLoaded
                 % Set Ethernet IP in secondary interface
-                bossapi.tg.setEthernetInterface(obj.targetObject,'wm1','192.168.200.5/24');
+                if isMATLABReleaseOlderThan("R2026a")
+                    bossapi.tg.setEthernetInterface(obj.targetObject,'wm1','192.168.200.5/24');
+                else
+                    bossapi.tg.setEthernetInterface(obj.targetObject,'enp4s0','192.168.200.5/24');
+                end
 
                 obj.logObj.info('Loading application "%s" on "%s"...',obj.appName,obj.targetObject.TargetSettings.name);
                 obj.targetObject.load(obj.firmwareFilepath);
@@ -605,11 +609,11 @@ function restoreInstrument(obj)
                 obj bossdevice
                 signalName {mustBeTextScalar} % Signal to log in buffer
                 bufferLen (1,1) {mustBePositive} % Buffer length in seconds
-                options.ArrayIndex {mustBeVector,mustBeInteger} = 1; % If signal is multidimensional only buffers the indicated element(s)
+                options.ArrayIndex {mustBeVector(options.ArrayIndex,"allow-all-empties"),mustBeInteger} = [];
                 options.SignalProps {mustBeText} = {}; % Additional signal properties like bus element name or decimation
             end
 
-            % Initializie streamingAsyncBuffer object
+            % Initialize streamingAsyncBuffer object
             bufObj = slrtCustomInst.streamingAsyncBuffer(signalName,'',bufferLen,...
                 'AppName',obj.firmwareFilepath,'ArrayIndex',options.ArrayIndex,'SignalProps',options.SignalProps);
         end