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