www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+applanix_msgs/COMPortSetup.m
classdef COMPortSetup < robotics.ros.Message %COMPortSetup MATLAB implementation of applanix_msgs/COMPortSetup % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'applanix_msgs/COMPortSetup' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'a6bd005ff624172e9e2145b5e8243fec' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) ApplanixMsgsCOMPortParamsClass = robotics.ros.msg.internal.MessageFactory.getClassForType('applanix_msgs/COMPortParams') % Dispatch to MATLAB class for message type applanix_msgs/COMPortParams end properties (Dependent) Transaction PortsCount PortMask Ports end properties (Access = protected) Cache = struct('Ports', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'PortMask', 'Ports', 'PortsCount', 'Transaction'} % List of non-constant message properties ROSPropertyList = {'port_mask', 'ports', 'ports_count', 'transaction'} % List of non-constant ROS message properties end methods function obj = COMPortSetup(msg) %COMPortSetup Construct the message object COMPortSetup import com.mathworks.toolbox.robotics.ros.message.MessageInfo; % Support default constructor if nargin == 0 obj.JavaMessage = obj.createNewJavaMessage; return; end % Construct appropriate empty array if isempty(msg) obj = obj.empty(0,1); return; end % Make scalar construction fast if isscalar(msg) % Check for correct input class if ~MessageInfo.compareTypes(msg(1), obj.MessageType) error(message('robotics:ros:message:NoTypeMatch', obj.MessageType, ... char(MessageInfo.getType(msg(1))) )); end obj.JavaMessage = msg(1); return; end % Check that this is a vector of scalar messages. Since this % is an object array, use arrayfun to verify. if ~all(arrayfun(@isscalar, msg)) error(message('robotics:ros:message:MessageArraySizeError')); end % Check that all messages in the array have the correct type if ~all(arrayfun(@(x) MessageInfo.compareTypes(x, obj.MessageType), msg)) error(message('robotics:ros:message:NoTypeMatchArray', obj.MessageType)); end % Construct array of objects if necessary objType = class(obj); for i = 1:length(msg) obj(i,1) = feval(objType, msg(i)); %#ok<AGROW> end end function transaction = get.Transaction(obj) %get.Transaction Get the value for property Transaction transaction = typecast(int16(obj.JavaMessage.getTransaction), 'uint16'); end function set.Transaction(obj, transaction) %set.Transaction Set the value for property Transaction validateattributes(transaction, {'numeric'}, {'nonempty', 'scalar'}, 'COMPortSetup', 'Transaction'); obj.JavaMessage.setTransaction(transaction); end function portscount = get.PortsCount(obj) %get.PortsCount Get the value for property PortsCount portscount = typecast(int16(obj.JavaMessage.getPortsCount), 'uint16'); end function set.PortsCount(obj, portscount) %set.PortsCount Set the value for property PortsCount validateattributes(portscount, {'numeric'}, {'nonempty', 'scalar'}, 'COMPortSetup', 'PortsCount'); obj.JavaMessage.setPortsCount(portscount); end function portmask = get.PortMask(obj) %get.PortMask Get the value for property PortMask portmask = typecast(int16(obj.JavaMessage.getPortMask), 'uint16'); end function set.PortMask(obj, portmask) %set.PortMask Set the value for property PortMask validateattributes(portmask, {'numeric'}, {'nonempty', 'scalar'}, 'COMPortSetup', 'PortMask'); obj.JavaMessage.setPortMask(portmask); end function ports = get.Ports(obj) %get.Ports Get the value for property Ports if isempty(obj.Cache.Ports) javaArray = obj.JavaMessage.getPorts; array = obj.readJavaArray(javaArray, obj.ApplanixMsgsCOMPortParamsClass); obj.Cache.Ports = feval(obj.ApplanixMsgsCOMPortParamsClass, array); end ports = obj.Cache.Ports; end function set.Ports(obj, ports) %set.Ports Set the value for property Ports if ~isvector(ports) && isempty(ports) % Allow empty [] input ports = feval([obj.ApplanixMsgsCOMPortParamsClass '.empty'], 0, 1); end validateattributes(ports, {obj.ApplanixMsgsCOMPortParamsClass}, {'vector'}, 'COMPortSetup', 'Ports'); javaArray = obj.JavaMessage.getPorts; array = obj.writeJavaArray(ports, javaArray, obj.ApplanixMsgsCOMPortParamsClass); obj.JavaMessage.setPorts(array); % Update cache if necessary if ~isempty(obj.Cache.Ports) obj.Cache.Ports = []; obj.Cache.Ports = obj.Ports; end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Ports = []; end function cpObj = copyElement(obj) %copyElement Implements deep copy behavior for message % Call default copy method for shallow copy cpObj = copyElement@robotics.ros.Message(obj); % Clear any existing cached properties cpObj.resetCache; % Create a new Java message object cpObj.JavaMessage = obj.createNewJavaMessage; % Iterate over all primitive properties cpObj.Transaction = obj.Transaction; cpObj.PortsCount = obj.PortsCount; cpObj.PortMask = obj.PortMask; % Recursively copy compound properties cpObj.Ports = copy(obj.Ports); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Transaction = strObj.Transaction; obj.PortsCount = strObj.PortsCount; obj.PortMask = strObj.PortMask; PortsCell = arrayfun(@(x) feval([obj.ApplanixMsgsCOMPortParamsClass '.loadobj'], x), strObj.Ports, 'UniformOutput', false); obj.Ports = vertcat(PortsCell{:}); end end methods (Access = ?robotics.ros.Message) function strObj = saveobj(obj) %saveobj Implements saving of message to MAT file % Return an empty element if object array is empty if isempty(obj) strObj = struct.empty; return end strObj.Transaction = obj.Transaction; strObj.PortsCount = obj.PortsCount; strObj.PortMask = obj.PortMask; strObj.Ports = arrayfun(@(x) saveobj(x), obj.Ports); end end methods (Static, Access = {?matlab.unittest.TestCase, ?robotics.ros.Message}) function obj = loadobj(strObj) %loadobj Implements loading of message from MAT file % Return an empty object array if the structure element is not defined if isempty(strObj) obj = robotics.ros.msggen.applanix_msgs.COMPortSetup.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.applanix_msgs.COMPortSetup; obj.reload(strObj); end end end