www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+grizzly_msgs/RawStatus.m

    classdef RawStatus < robotics.ros.Message
    %RawStatus MATLAB implementation of grizzly_msgs/RawStatus
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'grizzly_msgs/RawStatus' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '1f60c3c0abd6518a31d1f3fa02872ac9' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant)
        ERRORCOMMANDTIMEOUT = uint8(1)
        ERRORUNDERVOLT = uint8(2)
        ERRORESTOP = uint8(4)
        ERRORESTOPRESET = uint8(8)
        ERRORBRKDET = uint8(16)
    end
    
    properties (Constant, Access = protected)
        StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header
    end
    
    properties (Dependent)
        Header
        Voltage
        UserCurrent
        BodyTempAdc
        FansOn
        RcOverride
        RcVelocity
        RcRotation
        Error
    end
    
    properties (Access = protected)
        Cache = struct('Header', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'BodyTempAdc', 'Error', 'FansOn', 'Header', 'RcOverride', 'RcRotation', 'RcVelocity', 'UserCurrent', 'Voltage'} % List of non-constant message properties
        ROSPropertyList = {'body_temp_adc', 'error', 'fans_on', 'header', 'rc_override', 'rc_rotation', 'rc_velocity', 'user_current', 'voltage'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = RawStatus(msg)
            %RawStatus Construct the message object RawStatus
            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 header = get.Header(obj)
            %get.Header Get the value for property Header
            if isempty(obj.Cache.Header)
                obj.Cache.Header = feval(obj.StdMsgsHeaderClass, obj.JavaMessage.getHeader);
            end
            header = obj.Cache.Header;
        end
        
        function set.Header(obj, header)
            %set.Header Set the value for property Header
            validateattributes(header, {obj.StdMsgsHeaderClass}, {'nonempty', 'scalar'}, 'RawStatus', 'Header');
            
            obj.JavaMessage.setHeader(header.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Header)
                obj.Cache.Header.setJavaObject(header.getJavaObject);
            end
        end
        
        function voltage = get.Voltage(obj)
            %get.Voltage Get the value for property Voltage
            voltage = single(obj.JavaMessage.getVoltage);
        end
        
        function set.Voltage(obj, voltage)
            %set.Voltage Set the value for property Voltage
            validateattributes(voltage, {'numeric'}, {'nonempty', 'scalar'}, 'RawStatus', 'Voltage');
            
            obj.JavaMessage.setVoltage(voltage);
        end
        
        function usercurrent = get.UserCurrent(obj)
            %get.UserCurrent Get the value for property UserCurrent
            usercurrent = single(obj.JavaMessage.getUserCurrent);
        end
        
        function set.UserCurrent(obj, usercurrent)
            %set.UserCurrent Set the value for property UserCurrent
            validateattributes(usercurrent, {'numeric'}, {'nonempty', 'scalar'}, 'RawStatus', 'UserCurrent');
            
            obj.JavaMessage.setUserCurrent(usercurrent);
        end
        
        function bodytempadc = get.BodyTempAdc(obj)
            %get.BodyTempAdc Get the value for property BodyTempAdc
            bodytempadc = single(obj.JavaMessage.getBodyTempAdc);
        end
        
        function set.BodyTempAdc(obj, bodytempadc)
            %set.BodyTempAdc Set the value for property BodyTempAdc
            validateattributes(bodytempadc, {'numeric'}, {'nonempty', 'scalar'}, 'RawStatus', 'BodyTempAdc');
            
            obj.JavaMessage.setBodyTempAdc(bodytempadc);
        end
        
        function fanson = get.FansOn(obj)
            %get.FansOn Get the value for property FansOn
            fanson = logical(obj.JavaMessage.getFansOn);
        end
        
        function set.FansOn(obj, fanson)
            %set.FansOn Set the value for property FansOn
            validateattributes(fanson, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'RawStatus', 'FansOn');
            
            obj.JavaMessage.setFansOn(fanson);
        end
        
        function rcoverride = get.RcOverride(obj)
            %get.RcOverride Get the value for property RcOverride
            rcoverride = int16(obj.JavaMessage.getRcOverride);
        end
        
        function set.RcOverride(obj, rcoverride)
            %set.RcOverride Set the value for property RcOverride
            validateattributes(rcoverride, {'numeric'}, {'nonempty', 'scalar'}, 'RawStatus', 'RcOverride');
            
            obj.JavaMessage.setRcOverride(rcoverride);
        end
        
        function rcvelocity = get.RcVelocity(obj)
            %get.RcVelocity Get the value for property RcVelocity
            rcvelocity = typecast(int16(obj.JavaMessage.getRcVelocity), 'uint16');
        end
        
        function set.RcVelocity(obj, rcvelocity)
            %set.RcVelocity Set the value for property RcVelocity
            validateattributes(rcvelocity, {'numeric'}, {'nonempty', 'scalar'}, 'RawStatus', 'RcVelocity');
            
            obj.JavaMessage.setRcVelocity(rcvelocity);
        end
        
        function rcrotation = get.RcRotation(obj)
            %get.RcRotation Get the value for property RcRotation
            rcrotation = typecast(int16(obj.JavaMessage.getRcRotation), 'uint16');
        end
        
        function set.RcRotation(obj, rcrotation)
            %set.RcRotation Set the value for property RcRotation
            validateattributes(rcrotation, {'numeric'}, {'nonempty', 'scalar'}, 'RawStatus', 'RcRotation');
            
            obj.JavaMessage.setRcRotation(rcrotation);
        end
        
        function error = get.Error(obj)
            %get.Error Get the value for property Error
            error = typecast(int8(obj.JavaMessage.getError), 'uint8');
        end
        
        function set.Error(obj, error)
            %set.Error Set the value for property Error
            validateattributes(error, {'numeric'}, {'nonempty', 'scalar'}, 'RawStatus', 'Error');
            
            obj.JavaMessage.setError(error);
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Header = [];
        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.Voltage = obj.Voltage;
            cpObj.UserCurrent = obj.UserCurrent;
            cpObj.BodyTempAdc = obj.BodyTempAdc;
            cpObj.FansOn = obj.FansOn;
            cpObj.RcOverride = obj.RcOverride;
            cpObj.RcVelocity = obj.RcVelocity;
            cpObj.RcRotation = obj.RcRotation;
            cpObj.Error = obj.Error;
            
            % Recursively copy compound properties
            cpObj.Header = copy(obj.Header);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.Voltage = strObj.Voltage;
            obj.UserCurrent = strObj.UserCurrent;
            obj.BodyTempAdc = strObj.BodyTempAdc;
            obj.FansOn = strObj.FansOn;
            obj.RcOverride = strObj.RcOverride;
            obj.RcVelocity = strObj.RcVelocity;
            obj.RcRotation = strObj.RcRotation;
            obj.Error = strObj.Error;
            obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header);
        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.Voltage = obj.Voltage;
            strObj.UserCurrent = obj.UserCurrent;
            strObj.BodyTempAdc = obj.BodyTempAdc;
            strObj.FansOn = obj.FansOn;
            strObj.RcOverride = obj.RcOverride;
            strObj.RcVelocity = obj.RcVelocity;
            strObj.RcRotation = obj.RcRotation;
            strObj.Error = obj.Error;
            strObj.Header = saveobj(obj.Header);
        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.grizzly_msgs.RawStatus.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.grizzly_msgs.RawStatus;
            obj.reload(strObj);
        end
    end
end