www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+sr_robot_msgs/AuxSpiData.m
classdef AuxSpiData < robotics.ros.Message %AuxSpiData MATLAB implementation of sr_robot_msgs/AuxSpiData % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'sr_robot_msgs/AuxSpiData' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '0be98a0e10e956b06a48167fcb32ca84' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object 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 Sensors end properties (Access = protected) Cache = struct('Header', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Header', 'Sensors'} % List of non-constant message properties ROSPropertyList = {'header', 'sensors'} % List of non-constant ROS message properties end methods function obj = AuxSpiData(msg) %AuxSpiData Construct the message object AuxSpiData 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'}, 'AuxSpiData', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function sensors = get.Sensors(obj) %get.Sensors Get the value for property Sensors javaArray = obj.JavaMessage.getSensors; array = obj.readJavaArray(javaArray, 'uint16'); sensors = uint16(array); end function set.Sensors(obj, sensors) %set.Sensors Set the value for property Sensors validateattributes(sensors, {'numeric'}, {'vector', 'numel', 16}, 'AuxSpiData', 'Sensors'); javaArray = obj.JavaMessage.getSensors; array = obj.writeJavaArray(sensors, javaArray, 'uint16'); obj.JavaMessage.setSensors(array); 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.Sensors = obj.Sensors; % Recursively copy compound properties cpObj.Header = copy(obj.Header); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Sensors = strObj.Sensors; 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.Sensors = obj.Sensors; 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.sr_robot_msgs.AuxSpiData.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.sr_robot_msgs.AuxSpiData; obj.reload(strObj); end end end