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

    classdef PublishMessageRequest < robotics.ros.Message
    %PublishMessageRequest MATLAB implementation of topic_proxy/PublishMessageRequest
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'topic_proxy/PublishMessageRequest' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '0bfb78644634f93633d70b6a4a05176c' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant, Access = protected)
        TopicProxyMessageInstanceClass = robotics.ros.msg.internal.MessageFactory.getClassForType('topic_proxy/MessageInstance') % Dispatch to MATLAB class for message type topic_proxy/MessageInstance
    end
    
    properties (Dependent)
        Message
        Latch
    end
    
    properties (Access = protected)
        Cache = struct('Message', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'Latch', 'Message'} % List of non-constant message properties
        ROSPropertyList = {'latch', 'message'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = PublishMessageRequest(msg)
            %PublishMessageRequest Construct the message object PublishMessageRequest
            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 message = get.Message(obj)
            %get.Message Get the value for property Message
            if isempty(obj.Cache.Message)
                obj.Cache.Message = feval(obj.TopicProxyMessageInstanceClass, obj.JavaMessage.getMessage);
            end
            message = obj.Cache.Message;
        end
        
        function set.Message(obj, message)
            %set.Message Set the value for property Message
            validateattributes(message, {obj.TopicProxyMessageInstanceClass}, {'nonempty', 'scalar'}, 'PublishMessageRequest', 'Message');
            
            obj.JavaMessage.setMessage(message.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Message)
                obj.Cache.Message.setJavaObject(message.getJavaObject);
            end
        end
        
        function latch = get.Latch(obj)
            %get.Latch Get the value for property Latch
            latch = logical(obj.JavaMessage.getLatch);
        end
        
        function set.Latch(obj, latch)
            %set.Latch Set the value for property Latch
            validateattributes(latch, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PublishMessageRequest', 'Latch');
            
            obj.JavaMessage.setLatch(latch);
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Message = [];
        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.Latch = obj.Latch;
            
            % Recursively copy compound properties
            cpObj.Message = copy(obj.Message);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.Latch = strObj.Latch;
            obj.Message = feval([obj.TopicProxyMessageInstanceClass '.loadobj'], strObj.Message);
        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.Latch = obj.Latch;
            strObj.Message = saveobj(obj.Message);
        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.topic_proxy.PublishMessageRequest.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.topic_proxy.PublishMessageRequest;
            obj.reload(strObj);
        end
    end
end