www.gusucode.com > robotsimulink 工具箱 matlab源码程序 > robotsimulink/robotslros/+robotics/+slros/+internal/+block/SetParameter.m
classdef SetParameter < robotics.slros.internal.block.ParameterBase
%This class is for internal use only. It may be removed in the future.
%SetParameter Set the value for a named ROS parameter
%
% H = robotics.slros.internal.block.SetParameter creates a system
% object, H, that sets the value for a named ROS parameter. The list of
% all ROS parameters is maintained by the ROS parameter server.
%
% This system object is intended for use with the MATLAB System
% block. In order to access the ROS functionality from MATLAB, see
% ROSPARAM.
%
% See also robotics.slros.internal.block.GetParameter
% Copyright 2015-2016 The MathWorks, Inc.
%#codegen
properties (Access = protected)
%MessageCatalogLibrary - The file for the block's message catalog library
% This property is used by the ParameterBase base class to access
% the correct message catalog.
MessageCatalogLibrary = 'setparam'
%StateHandler - Object handling the state of the parameter value
% The handler uses SetParameterScalarState for scalar parameters
% and SetParameterArrayState for array parameters.
StateHandler
end
methods
function obj = SetParameter(varargin)
%SetParameter Standard constructor
% Enable code to be generated even this file is p-coded
coder.allowpcode('plain');
% Support name-value pair arguments when constructing the object.
setProperties(obj, nargin, varargin{:});
end
end
methods (Access = protected)
function num = getNumInputsImpl(obj)
%getNumInputsImpl Get number of inputs
num = obj.StateHandler.getNumInputsImpl;
end
function num = getNumOutputsImpl(~)
%getNumOutputsImpl Get number of outputs
num = 0;
end
end
methods (Access = protected)
%% Common System Object functions
%%
function setupImpl(obj)
%setupImpl Model initialization call
% setupImpl is called when model is being initialized at the
% start of a simulation.
if coder.target('Rtw')
% 'Rtw' is executed during model build
% Include the header file with the C++ declarations
coder.cinclude(obj.HeaderFile);
% Append 0 to obj.ParameterName, since MATLAB doesn't
% automatically zero-terminate strings in generated code
zeroDelimName = [obj.ParameterName 0];
coder.ceval([obj.BlockId '.initialize'], zeroDelimName);
else
% All other conditions are treated in base class
setupImpl@robotics.slros.internal.block.ParameterBase(obj);
end
end
function varargout = getInputNamesImpl(obj)
%getInputNamesImpl Get the labels for the input ports
varargout = obj.StateHandler.getInputNamesImpl;
end
%%
function stepImpl(obj, varargin)
%stepImpl System Object step call
% STEPIMPL(OBJ, VALUE) is the main processing
% loop for this system object if a scalar parameter is set.
%
% STEPIMPL(OBJ, VALUE, ARRAYLENGTH) is the main processing
% loop for this system object if a string or numeric array
% parameter is set.
%
% VALUE is the parameter value that should be set on the ROS
% parameter server.
% ARRAYLENGTH is the length of the array that should be sent.
% ARRAYLENGTH must be smaller than the length of the array in
% VALUE.
%
% Note that setting a parameter value on the server will be
% executed synchronously both in MATLAB and in C++, meaning
% that stepImpl will block until the value is set on the
% parameter server.
if coder.target('MATLAB')
% Interpreted execution
value = obj.StateHandler.simulationStepImpl(obj.ParameterTypeML, varargin{:});
obj.ParameterStream.setValue(value);
else % coder.target('Rtw')
% Executed in the code-generated model
obj.StateHandler.codegenStepImpl(obj, varargin{:});
end
end
function validateInputsImpl(obj, varargin)
%validateInputsImpl Validate and check all inputs to this block
% This function is only called once when the model starts up,
% not at runtime.
obj.StateHandler.validateInputsImpl(obj.ParameterTypeML, varargin{:});
end
%% Custom mask visualization functions
function maskDisplay = getMaskDisplayImpl(obj)
%getMaskDisplayImpl Customize the mask icon display
% This method is inherited from matlab.system.mixin.internal.CustomIcon
% and allows the customization of the mask display code. Note
% that this works both for the base mask and for the mask-on-mask
% that we are using.
% Construct the input labels based no the number of inputs
numInputs = obj.getNumInputsImpl;
[inputNames{1:numInputs}] = obj.getInputNamesImpl;
portLabelText = {};
for i = 1:length(inputNames)
portLabelText = [portLabelText ['port_label(''input'', ' num2str(i) ', ''' inputNames{i} ''')']]; %#ok<AGROW>
end
if length(obj.ParameterName) > 16
paramNameText = ['text(83, 12, ''' obj.ParameterName ''', ''horizontalAlignment'', ''right'');'];
else
paramNameText = ['text(50, 12, ''' obj.ParameterName ''', ''horizontalAlignment'', ''center'');'];
end
maskDisplay = { ...
['color(''white'');', char(10)], ... % Fix min and max x,y co-ordinates for autoscale mask units
['plot([100,100,100,100],[100,100,100,100]);', char(10)], ...
['plot([0,0,0,0],[0,0,0,0]);', char(10)],...
'color(''blue'')', ...
'text(20, 90, ''ROS'', ''horizontalAlignment'', ''right'')', ...
'color(''black'')', ...
paramNameText, ...
'text(52, 60, ''Set Parameter'', ''horizontalAlignment'', ''center'');', ...
portLabelText{:}}; %#ok<CCAT>
end
%% Ensure that input cannot change size once system object is locked
function flag = isInputSizeLockedImpl(~,~)
%isInputSizeLockedImpl Locked input size status
% This function will be called once for each input of the
% system block.
flag = true;
end
end
%% Concrete implementations of abstract ParameterBase methods
methods(Access = protected)
function setStateHandler(obj, isScalar)
%setStateHandler Set the correct state handler object (scalar or array)
if isScalar
obj.StateHandler = robotics.slros.internal.block.SetParameterScalarState;
else
obj.StateHandler = robotics.slros.internal.block.SetParameterArrayState;
end
end
end
methods(Static, Access = protected)
% Note that this is ignored for the mask-on-mask
function header = getHeaderImpl
%getHeaderImpl Create mask header
% This only has an effect on the base mask.
header = matlab.system.display.Header(mfilename('class'), ...
'Title', message('robotics:robotslros:blockmask:SetParameterTitle').getString, ...
'Text', message('robotics:robotslros:blockmask:SetParameterDescription').getString, ...
'ShowSourceLink', false);
end
% Note that this is ignored for the mask-on-mask
% This function is important for the promotion of parameters to
% work correctly.
function groups = getPropertyGroupsImpl(~)
%getPropertyGroupsImpl Create property display groups.
% This only has an effect on the base mask.
paramGroup = matlab.system.display.Section(...
'Title', message('robotics:robotslros:blockmask:ROSParameterPrompt').getString,...
'PropertyList', {'ParameterSource','ParameterName','ParameterType'});
otherGroup = matlab.system.display.Section(...
'Title', message('robotics:robotslros:blockmask:ParametersHeadingPrompt').getString',...
'PropertyList', {'ModelName', 'BlockId'});
groups = [paramGroup, otherGroup];
end
end
end