www.gusucode.com > robotsimulink 工具箱 matlab源码程序 > robotsimulink/robotslros/+robotics/+slros/+internal/+bus/VarlenArraySizeStore.m
classdef VarlenArraySizeStore < handle
%This class is for internal use only. It may be removed in the future.
% VarlenArraySizeStore is an interface for managing variable-length
% array information for a single Simulink model (this information is
% stored with the model in the Model Workspace).
%
% Methods:
% updateModel - Update model workspace with modified array-size
% info (dirties the model but does not save it)
%
% getMsgTypeInfo - Get array-size info for a ROS message type
% setMsgTypeInfo - Set array-size info for a ROS message type
% resetMsgTypeInfo - Clear array-size info for a ROS message type
%
% getTruncateAction - Get truncate action for the model
% setTruncateAction - Set truncate action for the model
%
% applyMaxLengths - Apply stored array-size limits for a message
% (if they exist), else apply defaults
%
% Static Methods:
% getDefaultTruncateAction - Get default truncate action
% applyDefaultMaxLengths - Apply default array-size limits to a
% message
%
% See also: bus.VarLenArrayInfo
% Copyright 2014 The MathWorks, Inc.
properties(Constant)
DefaultPrimitiveArrayMaxLen = 128
DefaultMessageArrayMaxLen = 16
end
properties(Constant, Access=private)
WorkspaceVarName = 'SL_ROS_VariableLengthArrays_MaxSizes'
end
properties(SetAccess=private)
ModelWorkspace
DataIsModified = false
ModelWSListener
ModelName
MsgTypeMap
CommonInfo
end
methods
function obj = VarlenArraySizeStore(model)
% No point in constructing without a model
% we would have to keep checking for validity of Map
validateattributes(model, {'char'}, {'nonempty'});
% bdIsLoaded() can error if model is not a properly formatted name
% The error message (Simulink:utility:InvalidBlockDiagramName)
% is informative, so no need to wrap it
if ~bdIsLoaded(model)
% We could use load_system, but it's not clear when we
% would unload (and there would be no indication to use
% that the model is loaded). Cleaner to let the user
% manage the load/unload
error(message('robotics:robotslros:arraysizestore:UnableToLoadModel', model));
end
try
obj.ModelWorkspace = get_param(model,'ModelWorkspace');
catch
% Model does not have a ModelWorkspace param (most likely
% old-style .mdl file).
error(message('robotics:robotslros:arraysizestore:SLXFormatRequired', model));
end
if isempty(obj.ModelWorkspace)
% Most likely, the model is a library.
if strcmpi(get_param(bdroot(model), 'BlockDiagramType'), 'library')
error(message('robotics:robotslros:arraysizestore:LibraryNotAllowed', model));
else
error(message('robotics:robotslros:arraysizestore:UnableToLoadWorkspace', model));
end
end
obj.ModelName = bdroot(model);
obj.ModelWSListener = handle.listener(obj.ModelWorkspace, 'ObjectBeingDestroyed', @(~,~) delete(obj));
obj.loadDataFromWorkspace();
end
function updateModel(obj)
if ~ishandle(obj.ModelWorkspace)
error(message('robotics:robotslros:arraysizestore:ModelNoLongerLoaded', obj.ModelName));
end
if obj.DataIsModified
obj.saveDataToWorkspace();
% ModelWorkspace.saveToModel() cannot be called if source is
% 'Model File'. Just set the dirty bit and let the user decide
% whether to save the model or not
owningModel = obj.ModelWorkspace.ownerName;
set_param(owningModel,'Dirty','on');
% Clear the workspace bus variables (so that
% subsequent simulation runs get updated sizes)
robotics.slros.internal.bus.Util.clearSLBusesInBaseWorkspace();
end
end
function arrayinfo = getMsgTypeInfo(obj, msgType)
if obj.MsgTypeMap.isKey(msgType)
msgtypeInfo = obj.MsgTypeMap(msgType);
% resuscitate the VarLenArrayInfo object
arrayinfo = robotics.slros.internal.bus.VarLenArrayInfo(msgType);
arrayinfo.setPropsStruct(msgtypeInfo);
else
arrayinfo = [];
end
end
function setMsgTypeInfo(obj, msgType, arrayinfo)
validateattributes(msgType, {'char'}, {'nonempty'});
validateattributes(arrayinfo, {'robotics.slros.internal.bus.VarLenArrayInfo'}, {'scalar'});
% Don't store as handle array (this is an internal class,
% whereas this information will be saved with model, and can
% persist across releases)
obj.MsgTypeMap(msgType) = arrayinfo.getPropsStruct();
obj.DataIsModified = true;
end
function resetMsgTypeInfo(obj, msgType)
if obj.MsgTypeMap.isKey(msgType)
obj.MsgTypeMap.remove(msgType);
obj.DataIsModified = true;
end
end
function out = getTruncateAction(obj)
out = obj.CommonInfo.ArrayTruncateAction;
end
function setTruncateAction(obj, action)
validateattributes(action, ...
{'robotics.slros.internal.bus.VarLenArrayTruncationAction'}, {'scalar'});
if obj.CommonInfo.ArrayTruncateAction ~= action
obj.CommonInfo.ArrayTruncateAction = action;
obj.DataIsModified = true;
end
end
function applyMaxLengths(obj, arrayinfo)
% applyMaxLengths(ARRAYINFO) applies stored array-size limits
% for a message (if they exist) to ARRAYINFO. If there are no stored
% limits, it applies default array-size limits.
%
validateattributes(arrayinfo, {'robotics.slros.internal.bus.VarLenArrayInfo'}, {'scalar'});
msgtype = arrayinfo.MessageType;
if obj.MsgTypeMap.isKey(msgtype)
% msg is in database, return existing values
% doApplyDefaults will be flipped to false only if all
% conditions are met
doApplyDefaults = true;
storedInfo = obj.MsgTypeMap(msgtype);
validStoredInfo = isstruct(storedInfo) && ...
all(isfield(storedInfo, {'PropertyName', 'DataType', 'MaxLength'}));
if validStoredInfo
storedNames = {storedInfo.PropertyName};
curNames = {arrayinfo.ArrayProps.PropertyName};
if numel(storedNames) == numel(curNames) && all(strcmpi(storedNames, curNames))
arrayinfo.setFromCellArray('MaxLength', {storedInfo.MaxLength});
doApplyDefaults = false;
storedInfoMismatch = false;
else % stored property names don't match
storedInfoMismatch = true;
end
else % stored info doesn't look right
storedInfoMismatch = true;
end
else % msg is not in database
doApplyDefaults = true;
storedInfoMismatch = false;
end
if storedInfoMismatch
obj.resetMsgTypeInfo(msgtype); % remove from store
warning(message('robotics:robotslros:arraysizestore:MaxArraySizesReset', ...
arrayinfo.MessageType, obj.ModelName));
end
if doApplyDefaults || storedInfoMismatch
obj.applyDefaultMaxLengths(arrayinfo);
end
end
end
%%
methods(Access=private)
function loadDataFromWorkspace(obj)
if ~obj.ModelWorkspace.hasVariable(obj.WorkspaceVarName)
applyDefaults = true;
else
try
data = obj.ModelWorkspace.getVariable(obj.WorkspaceVarName);
obj.CommonInfo = data.CommonInfo;
% convert from string to enum type
obj.CommonInfo.ArrayTruncateAction = ...
robotics.slros.internal.bus.VarLenArrayTruncationAction.fromChar(data.CommonInfo.ArrayTruncateAction);
obj.MsgTypeMap = data.MsgTypeMap;
applyDefaults = false;
catch
warning(message('robotics:robotslros:arraysizestore:CorruptedModelWorkspace', ...
obj.ModelName));
applyDefaults = true;
obj.DataIsModified = true;
% Clear workspace bus variables to flush out existing information
robotics.slros.internal.bus.Util.clearSLBusesInBaseWorkspace();
end
end
if applyDefaults
obj.CommonInfo = struct();
obj.CommonInfo.ArrayTruncateAction = obj.getDefaultTruncateAction();
obj.MsgTypeMap = containers.Map;
end
end
function saveDataToWorkspace(obj)
commonInfo = obj.CommonInfo;
commonInfo.ArrayTruncateAction = char(commonInfo.ArrayTruncateAction);
data = struct('CommonInfo', commonInfo, 'MsgTypeMap', obj.MsgTypeMap);
obj.ModelWorkspace.assignin(obj.WorkspaceVarName, data);
end
end
%%
methods(Static)
function out = getDefaultTruncateAction()
out = robotics.slros.internal.bus.VarLenArrayTruncationAction.EmitWarning;
end
function applyDefaultMaxLengths(arrayinfo)
import robotics.slros.internal.bus.VarlenArraySizeStore
validateattributes(arrayinfo, {'robotics.slros.internal.bus.VarLenArrayInfo'}, {'scalar'});
maxLengths = cell(1,numel(arrayinfo.ArrayProps));
for i=1:numel(arrayinfo.ArrayProps)
% datatype is either a ROS message type (e.g.,
% 'geometry_msgs/Point') or a primitive Simulink datatype
% (e.g, 'uint8', 'single').
datatype = arrayinfo.ArrayProps(i).DataType;
if strfind(datatype,'/')
% Array of ROS messages
maxLength = VarlenArraySizeStore.DefaultMessageArrayMaxLen;
else
% Array of primitive type
% Note: strings are mapped to arrays of uint8
maxLength = VarlenArraySizeStore.DefaultPrimitiveArrayMaxLen;
end
maxLengths{i} = maxLength;
end
arrayinfo.setFromCellArray('MaxLength', maxLengths);
end
end
end