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