www.gusucode.com > robotsimulink 工具箱 matlab源码程序 > robotsimulink/robotslros/+robotics/+slros/+internal/+block/ParameterBase.m
classdef ParameterBase < ...
matlab.System & ...
matlab.system.mixin.internal.CustomIcon
%This class is for internal use only. It may be removed in the future.
%ParameterBase Base class for ROS parameter blocks
% Copyright 2015 The MathWorks, Inc.
%#codegen
%#ok<*EMCA>
properties (Nontunable)
%ParameterName Name
% This system object will use ParameterName as specified in both
% simulation and code generation. In particular, it will not add a
% "/" in front of the name, as that forces the topic to be in the
% absolute namespace.
ParameterName = '/my_param'
%ParameterSource Source
% By default, the user can choose a parameter name from the ROS
% network.
ParameterSource = robotics.slros.internal.block.CommonMask.TopicSourceFromNetwork
%ParameterType Data type
% This is the data type of the Value output. Possible values are
% double, int32, uint8[] (string), and boolean. This data type is only valid in
% Simulink. For the corresponding MATLAB data type string, refer
% to the ParameterTypeML property.
% Default: 'double'
ParameterType = 'double'
end
% The following should ideally not show up in the MATLAB System block
% dialog. However, setting them as 'Hidden' will prevent them from
% being accessible via set_param & get_param.
%
% ModelName is needed for managing the node instance
% BlockId is needed to generate a unique identifier in codegen
properties (Nontunable)
%ModelName - Name of Simulink model
% Used for managing the ROS node instance.
ModelName = 'untitled'
%BlockId - Simulink Block Identifier
% Used to generate unique identifier for the block during code
% generation. This should be obtained using Simulink.ID.getSID()
% on the library block (*not* the MATLAB system block). The
% SID has the format '<modelName>:<blocknum>'
BlockId = 'param_'
%StreamWSVar - Get and set parameters from variable in base workspace
% Used to redirect system objects to get and set parameters from a workspace
% variable instead of from ROS network (used for testing only).
% The workspace variable should be created like this:
%
% workspaceVar = robotics.slros.internal.sim.ParameterListStream;
% workspaceVar.ParameterList = {paramValue1, paramValue2, paramValue3} );
%
% This capability of using workspace variables is only used in
% internal testing, and is not documented for Simulink users.
StreamWSVar = ''
end
properties (Nontunable, Hidden)
%ParameterTypeML - The ROS parameter type as MATLAB data type
% To avoid always converting back and forth between the two
% representations, I convert it once whenever the ParameterType
% is set.
ParameterTypeML = 'double'
end
properties (Access = protected, Transient)
%ROSMaster - Handle to an object that handles ROS master interaction
% It is initialized to indicate the class of the object.
ROSMaster = robotics.slros.internal.sim.ROSMaster.empty
%ParameterStream - Handle to object that implements robotics.slros.internal.sim.ParameterStream
% This can be a sim.ParameterNetStream (for getting messages off
% the ROS network) or sim.ParameterListStream (for getting messages
% from an object in the base workspace; used in conjunction with
% StreamWsVar property)
ParameterStream
end
properties (Abstract, Access = protected)
%MessageCatalogLibrary - The file for the block's message catalog library
% For example, this could be 'getparam' or 'setparam'
MessageCatalogLibrary
%StateHandler - Object handling the state of the parameter value
% The derived classes will use a different object for handling
% scalar and array values.
StateHandler
end
% These are the options for the dropdown lists
% The properties are constant, hidden, and transient based on the
% system object documentation
properties (Constant, Hidden, Transient)
%ParameterSourceSet - Dropdown choices for parameter source
ParameterSourceSet = matlab.system.StringSet({...
robotics.slros.internal.block.CommonMask.TopicSourceFromNetwork, ...
robotics.slros.internal.block.CommonMask.TopicSourceSpecifyOwn});
%ParameterTypeSet - Dropdown choices for parameter data type
ParameterTypeSet = matlab.system.StringSet({'double', 'int32', 'boolean', ...
robotics.slros.internal.sim.DataTypes.SimulinkStringType});
end
properties(Constant, Access = protected)
%HeaderFile - Name of header file with declarations for variables and types
% It is referred to in code emitted by setupImpl and stepImpl.
HeaderFile = robotics.slros.internal.cgen.Constants.InitCode.HeaderFile
end
methods
function set.ParameterName(obj, val)
%set.ParameterName Set the parameter name
% The name is validated based on standard ROS naming rules
% and an error is thrown if the parameter name does not
% conform.
validateattributes(val, {'char'}, {'nonempty'}, '', 'ParameterName');
if coder.target('MATLAB')
robotics.ros.internal.Namespace.canonicalizeName(val); % throws error
end
obj.ParameterName = val;
end
function set.ParameterType(obj, val)
%set.ParameterType Set the parameter type
% This is already a dropdown, so no separate data type
% validation is necessary.
% Convert the Simulink data type into the corresponding
% MATLAB data type.
obj.ParameterTypeML = robotics.slros.internal.sim.DataTypes.simulinkToMatlab(val); %#ok<MCSUP>
obj.ParameterType = val;
% Set appropriate state handler for scalar and array parameters
obj.initializeStateHandler;
end
function set.ModelName(obj, val)
%set.ModelName Set model name property
validateattributes(val, {'char'}, {'nonempty'}, '', 'ModelName');
obj.ModelName = val;
end
function set.BlockId(obj, val)
%set.BlockId Set block ID property
validateattributes(val, {'char'}, {'nonempty'}, '', 'BlockId');
obj.BlockId = val;
end
function set.StreamWSVar(obj, val)
%set.StreamWSVar Set parameter stream property
validateattributes(val, {'char'}, {'nonempty'}, '', 'StreamWSVar');
obj.StreamWSVar = val;
end
end
methods (Access = protected)
function out = constantSampleTimePropagationImpl(~)
% Enable this system object to inherit constant ('inf') sample times
out = 'Allow';
end
function initializeStateHandler(obj)
%initializeStateHandler Set up the state handler
% Make sure that StateHandler is initialized correctly
isScalarType = robotics.slros.internal.sim.DataTypes.isSimulinkDataTypeScalar(obj.ParameterType);
obj.setStateHandler(isScalarType);
end
function setupImpl(obj)
%setupImpl Model initialization call
% setupImpl is called when model is being initialized at the
% start of a simulation.
if coder.target('MATLAB')
% Executing in MATLAB interpreted mode
modelHasPriorState = robotics.slros.internal.sim.ModelStateManager.hasState(obj.ModelName);
nodeRefCountIncremented = false;
try %#ok<EMTC>
modelState = robotics.slros.internal.sim.ModelStateManager.getState(obj.ModelName, 'create');
% Initialize parameter stream (either from ROS network
% or from workspace variable)
obj.initializeParameterStream(modelState);
modelState.incrNodeRefCount();
nodeRefCountIncremented = true; %#ok<NASGU>
catch ME
if nodeRefCountIncremented
modelState.decrNodeRefCount(); %#ok<UNRCH>
end
if ~modelHasPriorState || ~modelState.nodeHasReferrers()
robotics.slros.internal.sim.ModelStateManager.clearState(obj.ModelName);
end
% RETHROW will generate a hard-to-read stack trace, so
% use THROW instead.
throw(ME);
end
elseif coder.target('RtwForRapid')
% Rapid Accelerator. In this mode, coder.target('Rtw')
% returns true as well, so it is important to check for
% 'RtwForRapid' before checking for 'Rtw'
msgId = ['robotics:robotslros:' obj.MessageCatalogLibrary ':RapidAccelNotSupported'];
coder.internal.error(msgId);
elseif coder.target('Sfun')
% 'Sfun' - SimThruCodeGen target
% Do nothing. MATLAB System block first does a pre-codegen
% compile with 'Sfun' target, & then does the "proper"
% codegen compile with Rtw or RtwForRapid, as appropriate.
else
% 'RtwForSim' - ModelReference SIM target
% 'MEX', 'HDL', 'Custom' - Not applicable to MATLAB System block
coder.internal.error('robotics:robotslros:sysobj:UnsupportedCodegenMode');
end
end
% We don't save SimState, since there is no way save & restore
% the GetParameter object. However, saveObjectImpl and loadObjectImpl
% are required since we have private properties.
function s = saveObjectImpl(obj)
% The errorIf() below will ensure that FastRestart cannot be used
% in a model with ROS blocks
coder.internal.error(['robotics:robotslros:' ...
obj.MessageCatalogLibrary ':SimStateNotSupported']);
s = saveObjectImpl@matlab.System(obj);
end
function loadObjectImpl(obj,s,wasLocked)
loadObjectImpl@matlab.System(obj,s,wasLocked);
end
%%
function releaseImpl(obj)
if coder.target('MATLAB')
st = robotics.slros.internal.sim.ModelStateManager.getState(obj.ModelName);
st.decrNodeRefCount();
if ~st.nodeHasReferrers()
robotics.slros.internal.sim.ModelStateManager.clearState(obj.ModelName);
end
else % coder.target('Rtw')
% Nothing to do. The system object will never be released
% in the generated node.
end
end
function initializeParameterStream(obj, modelState)
%initializeParameterStream Initialize the ParameterStream property
% The stream is either connected to the ROS network or
% connected to a workspace variable.
if ~isempty(obj.StreamWSVar)
% Use a variable in MATLAB Workspace as source of messages.
obj.ParameterStream = evalin('base', obj.StreamWSVar);
validateattributes(obj.ParameterStream, {'robotics.slros.internal.sim.ParameterListStream'}, {'scalar'}, ...
'setup', 'ParameterStream');
else
% Use ROS network as a source of parameters.
if isempty(modelState.ROSNode) || ~isvalid(modelState.ROSNode)
obj.ROSMaster = robotics.slros.internal.sim.ROSMaster();
% verifyReachable() errors if ROS master is unreachable
obj.ROSMaster.verifyReachable();
% createNode() errors if unable to create node
% (e.g., if node with same name already exists)
uniqueName = obj.ROSMaster.makeUniqueName(obj.ModelName);
modelState.ROSNode = obj.ROSMaster.createNode(uniqueName);
end
% Initialize the MATLAB ROS parameter stream
obj.ParameterStream = robotics.slros.internal.sim.ParameterNetStream(...
obj.ParameterName, modelState.ROSNode);
end
end
end
methods(Static, Access = protected)
function simMode = getSimulateUsingImpl
%getSimulateUsingImpl Restrict simulation mode to interpreted execution
simMode = 'Interpreted execution';
end
function flag = showSimulateUsingImpl
%showSimulateUsingImpl Do now show simulation execution mode dropdown in block mask
flag = false;
end
end
%% Methods that need to be implemented by derived classes
methods (Abstract, Access = protected)
setStateHandler(obj, isScalar)
%setStateHandler Set the correct state handler object (for scalar or array parameter)
end
end