www.gusucode.com > robotsimulink 工具箱 matlab源码程序 > robotsimulink/robotslros/+robotics/+slros/+internal/+dlg/ArraySizeManager.m
classdef ArraySizeManager < handle
%This class is for internal use only. It may be removed in the future.
% ArraySizeManager opens a DDG dialog that lets the user inspect
% and modify the maximum sizes of variable-length arrays, for all ROS
% messages used in a Simulink model. Once the user accepts the
% changes, the information is written back to the model and the model
% is dirtied, *but it is not saved*.
%
% Sample use:
% mgr = robotics.slros.internal.dlg.ArraySizeManager(gcs);
% mgr.openDialog
%
% See also: bus.VarlenArraySizeStore
% Copyright 2014 The MathWorks, Inc.
properties(SetAccess=private)
Dialog
ModelName
NumMsgTypesInModel = 0
NumVarLenMsgTypesInModel = 0
end
properties(Access=private)
VarlenSizeStore
MsgVarLenInfo
Position = [200 200] % x,y position in pixels
SelectedMsgTypeIndex
MsgTypeList
TruncateAction
end
methods
function obj = ArraySizeManager(modelname)
modelname = bdroot(modelname);
obj.VarlenSizeStore = robotics.slros.internal.bus.VarlenArraySizeStore(modelname);
obj.ModelName = modelname;
% Below, we get the maximum length info from
% Util.getAllMessageInfoMapForModel, which consults the
% current bus, but use VarlenArraySizeStore to distinguish
% bewteen customized vs. default values. This can cause a
% problem if the bus definitions in the workspace are
% out-of-sync for any reason (e.g., if the user has modified
% the bus definitions using BUSEDITOR).
%
% The cleanest solution is to c;ear the buses in the workspace
% upon entry; they will be recreated in the call to
% Util.getAllMessageInfoMapForModel with the stored
% information. (This clearing only needs to be done for the
% current model but it is safe to clear buses for all models,
% and also simpler).
robotics.slros.internal.bus.Util.clearSLBusesInBaseWorkspace();
% Get transitive closure for all messages in model
allMsgsMap = robotics.slros.internal.bus.Util.getAllMessageInfoMapForModel(modelname);
% Now run over all the messages
allMsgsTypesInModel = keys(allMsgsMap);
obj.NumMsgTypesInModel = numel(allMsgsTypesInModel);
obj.MsgVarLenInfo = containers.Map;
for i=1:numel(allMsgsTypesInModel)
msgType = allMsgsTypesInModel{i};
msgMapInfo = allMsgsMap(msgType);
msginfo = robotics.slros.internal.bus.VarLenArrayInfo.extractFromMsgMapInfo(msgMapInfo);
if numel(msginfo.ArrayProps) > 0
% This message has variable-length arrays
msgtypeInfo = obj.VarlenSizeStore.getMsgTypeInfo(msgType);
if ~isempty(msgtypeInfo)
% preexisting custom lengths for model
isUserSpecified = true;
else
% use default values
msgtypeInfo = msginfo;
isUserSpecified = false;
end
obj.MsgVarLenInfo(msgType) = ...
struct('MsgTypeInfo', msgtypeInfo, 'UserSpecified', isUserSpecified, 'IsDirty', false);
end
obj.TruncateAction.CurrentState = obj.VarlenSizeStore.getTruncateAction();
obj.TruncateAction.IsDirty = false;
end
obj.MsgTypeList = sort(keys(obj.MsgVarLenInfo));
obj.NumVarLenMsgTypesInModel = numel(obj.MsgTypeList);
obj.SelectedMsgTypeIndex = 1;
obj.setPositionWrtModelWindow();
% openDialog() will put up error dialog if there are no
% messages in the model
end
function setPositionWrtModelWindow(obj)
% There is no way to set the size of the DDG Window (using MCOS)
% without specifying the location as well. So set the location
% relative to the model window
pos = get_param(obj.ModelName, 'Location'); % [x y width height] (in pixels)
% position the dialog 1/10 of the way from top-left corner
obj.Position = round([pos(1)+(pos(3)/10) pos(2)+(pos(4)/10)]);
end
function set.Position(obj, val)
% the X,Y position for a block can be obtained using get(gcbh,'Position')
validateattributes(val, {'numeric'}, {'size', [1 2], 'real', 'positive', 'integer'});
obj.Position = val;
end
function openDialog(obj)
if obj.NumMsgTypesInModel <= 0 || obj.NumVarLenMsgTypesInModel <= 0
if obj.NumMsgTypesInModel <= 0
msgStr = message('robotics:robotslros:arraysizemgr:NoROSMessages', obj.ModelName).getString;
else
msgStr = message('robotics:robotslros:arraysizemgr:NoVarLenROSMessages', obj.ModelName).getString;
end
dlgTitle = message('robotics:robotslros:arraysizemgr:DialogTitle').getString;
dlgProvider = DAStudio.DialogProvider;
% obj.Dialog = dlgProvider.errordlg(msgStr, dlgTitle, true); % non-blocking
obj.Dialog = dlgProvider.msgbox(msgStr, dlgTitle, true); % non-blocking
else
obj.SelectedMsgTypeIndex = 1;
obj.Dialog = DAStudio.Dialog(obj);
obj.Dialog.refresh;
end
end
function tableChangedCallback(obj, dlg, row, col, newValue)
% Invoked on any changes to the the table
msgdata = obj.MsgVarLenInfo( obj.MsgTypeList{obj.SelectedMsgTypeIndex} );
msginfo = msgdata.MsgTypeInfo;
oldValue = msginfo.getMaxLength(row+1);
newnum = max(round(str2double(newValue)), 0);
% row and col are zero-based
if isnan(newnum) || ~(newnum > 0) || ~isreal(newnum)
strValue = num2str(oldValue); % reset back to old value
else
% even if new value is valid, may need to modify it
% (e.g., due to rounding)
msginfo.setMaxLength(row+1, newnum);
strValue = num2str(newnum);
msgdata.MsgTypeInfo = msginfo;
msgdata.IsDirty = true;
obj.MsgVarLenInfo( obj.MsgTypeList{obj.SelectedMsgTypeIndex} ) = msgdata;
end
dlg.setTableItemValue('rostable', row, col, strValue);
dlg.refresh;
end
function msgTypeChangedCallback(obj, dlg, tag, value) %#ok<INUSL>
% Invoked when user selects another message type from listbox
% value is the index of the user selection (zero-index).
try
if isnumeric(value) && isscalar(value)
obj.SelectedMsgTypeIndex = value+1;
msgtype = obj.MsgTypeList{obj.SelectedMsgTypeIndex};
msgdata = obj.MsgVarLenInfo(msgtype);
if msgdata.UserSpecified
dlg.setWidgetValue('modifydefaults', 0);
else
dlg.setWidgetValue('modifydefaults', 1);
end
end
catch ME
disp(ME.getReport);
end
dlg.refresh;
end
function useDefaultsCheckboxCallback(obj, dlg, tag, value) %#ok<INUSL>
% Invoked when user changes the "use defaults" dropdown
% <value> is the index of the selection
% 0 = use default, 1 = specify custom
try
msgtype = obj.MsgTypeList{obj.SelectedMsgTypeIndex};
msgdata = obj.MsgVarLenInfo(msgtype);
wasUserSpecified = msgdata.UserSpecified;
msgdata.UserSpecified = (value == 0);
if wasUserSpecified && ~msgdata.UserSpecified
% transitioning from user-specified to default
obj.VarlenSizeStore.applyDefaultMaxLengths(msgdata.MsgTypeInfo);
msgdata.IsDirty = true;
end
obj.MsgVarLenInfo(msgtype) = msgdata;
catch ME
disp(ME.getReport);
end
dlg.refresh;
end
function truncateActionDropdownCallback(obj, dlg, tag, value) %#ok<INUSL>
% Invoked when user changes the truncate action dropdown.
% <value> is the index of the selection
% 0 = Truncate w/ warning, 1 = Truncate silently
try
if value == 0
newState = ...
robotics.slros.internal.bus.VarLenArrayTruncationAction.EmitWarning;
else
newState = ...
robotics.slros.internal.bus.VarLenArrayTruncationAction.DoNothing;
end
if obj.TruncateAction.CurrentState ~= newState
obj.TruncateAction.CurrentState = newState;
obj.TruncateAction.IsDirty = true;
end
catch ME
disp(ME.getReport);
end
dlg.refresh;
end
function dlgClose(obj, closeaction)
% closeaction is 'ok' if user clicked OK
% 'cancel' if user clicked cancel or closed window
if ~isvalid(obj.VarlenSizeStore)
% if the user closed the model, then obj.VarlenSizeStore
% would have deleted itself
% warn the user & exit
warning(message('robotics:robotslros:arraysizemgr:ModelAlreadyClosed', obj.ModelName));
return;
end
if ~strcmpi(closeaction, 'ok')
% Nothing to do if user clicked cancel or closed window
return;
end
try
modelDirty = false;
msgTypes = keys(obj.MsgVarLenInfo);
for i=1:numel(msgTypes)
msgdata = obj.MsgVarLenInfo(msgTypes{i});
if msgdata.IsDirty
modelDirty = true;
if msgdata.UserSpecified
obj.VarlenSizeStore.setMsgTypeInfo(msgTypes{i}, msgdata.MsgTypeInfo);
else
obj.VarlenSizeStore.resetMsgTypeInfo(msgTypes{i});
end
end
end
if obj.TruncateAction.IsDirty
modelDirty = true;
obj.VarlenSizeStore.setTruncateAction(obj.TruncateAction.CurrentState);
end
if modelDirty
obj.VarlenSizeStore.updateModel();
end
catch ME
disp(ME.getReport);
% Absorb all errors. If they are propagated back to
% DDG, this causes MATLAB to crash, (Can't convert to
% warnings are not as they are not displayed either).
end
end
function dlgstruct = getDialogSchema(obj)
assert(obj.NumMsgTypesInModel > 0 && obj.NumVarLenMsgTypesInModel > 0);
if isempty(obj.SelectedMsgTypeIndex)
obj.SelectedMsgTypeIndex = 1;
end
helptext.Name = message('robotics:robotslros:arraysizemgr:DialogInfo').getString;
helptext.Type = 'text';
helptext.WordWrap = true;
helptext.Tag = 'rosmsghelp';
modelname.Name = message('robotics:robotslros:arraysizemgr:ModelName', obj.ModelName).getString();
modelname.Type = 'text';
modelname.WordWrap = false;
modelname.Bold = true;
modelname.RowSpan = [1 1];
modelname.ColSpan = [1 1];
modelname.Tag = 'modelname';
modelInfoContainer.Type = 'panel';
modelInfoContainer.Name = '';
modelInfoContainer.LayoutGrid = [1 2]; % [numrows numcolumns]
modelInfoContainer.ColStretch = [1 3]; % [numrows numcolumns]
modelInfoContainer.Items = {modelname};
modelInfoContainer.Flat = true;
modelInfoContainer.Visible = 1;
truncateAction.Name = message('robotics:robotslros:arraysizemgr:TruncateActionPrompt').getString();
truncateAction.Type = 'combobox';
truncateAction.NameLocation = 1;
truncateAction.Entries = {...
message('robotics:robotslros:arraysizemgr:TruncateActionWarn').getString()
message('robotics:robotslros:arraysizemgr:TruncateActionNone').getString()
};
if obj.TruncateAction.CurrentState == ...
robotics.slros.internal.bus.VarLenArrayTruncationAction.EmitWarning
truncateAction.Value = 0;
else
truncateAction.Value = 1;
end
truncateAction.Tag = 'truncateaction';
truncateAction.ObjectMethod = 'truncateActionDropdownCallback'; % call method on UDD source object
truncateAction.MethodArgs = {'%dialog', '%tag', '%value'}; % '%handle ' is implicit as first arg
truncateAction.ArgDataTypes = {'handle', 'string', 'mxArray'};
truncateAction.Alignment = 1; % top-left
availableMsgs.Name = message('robotics:robotslros:arraysizemgr:MessageTypesPrompt').getString();
availableMsgs.Type = 'listbox';
availableMsgs.RowSpan = [1 2];
availableMsgs.ColSpan = [1 1];
availableMsgs.MultiSelect = false;
availableMsgs.Entries = obj.MsgVarLenInfo.keys();
availableMsgs.Alignment = 2;
availableMsgs.Value = obj.SelectedMsgTypeIndex-1; % convert to zero-based index
availableMsgs.ObjectMethod = 'msgTypeChangedCallback'; % call method on UDD source object
availableMsgs.MethodArgs = {'%dialog', '%tag', '%value'}; % '%handle ' is implicit as first arg
availableMsgs.ArgDataTypes = {'handle', 'string', 'mxarray'};
availableMsgs.Tag = 'availablemsgs';
msgdata = obj.MsgVarLenInfo( obj.MsgTypeList{obj.SelectedMsgTypeIndex} );
msginfo = msgdata.MsgTypeInfo;
numVarLenArraysInMsg = numel(msginfo.ArrayProps);
tabledata = cell(numVarLenArraysInMsg, 3);
for k=1:numel(msginfo.ArrayProps)
if msgdata.UserSpecified
backgroundcolor = [255 255 255];
else
backgroundcolor = [230 230 230];
end
propinfo = msginfo.ArrayProps(k);
tabledata{k,1}.Type = 'edit';
tabledata{k,1}.Value = propinfo.PropertyName;
tabledata{k,1}.Enabled = false;
tabledata{k,1}.BackgroundColor = backgroundcolor;
tabledata{k,2}.Type = 'edit';
tabledata{k,2}.Value = propinfo.DataType;
tabledata{k,2}.Enabled = false;
tabledata{k,2}.BackgroundColor = backgroundcolor;
tabledata{k,3}.Type = 'edit';
tabledata{k,3}.Value = sprintf('%d', propinfo.MaxLength);
tabledata{k,3}.BackgroundColor = backgroundcolor;
tabledata{k,3}.Enabled = msgdata.UserSpecified;
end
mytable.Type = 'table';
mytable.Name = '';
mytable.Size = [numVarLenArraysInMsg 3]; % colums: variable name, type, max length (editable)
mytable.Data = tabledata;
mytable.Grid = 1;
if msgdata.UserSpecified
mytable.ReadOnlyColumns = [0 1];
else
mytable.ReadOnlyColumns = [0 1 2];
end
mytable.HeaderVisibility = [0 1];
mytable.Editable = 1;
mytable.ColHeader = {
message('robotics:robotslros:arraysizemgr:ColumnHdrPropName').getString() ...
message('robotics:robotslros:arraysizemgr:ColumnHdrPropType').getString() ...
message('robotics:robotslros:arraysizemgr:ColumnHdrMaxItems').getString()
};
% mytable.ColumnCharacterWidth = [15 9 11 11 10];
mytable.ValueChangedCallback = @obj.tableChangedCallback;
mytable.Tag = 'rostable';
mytable.RowSpan = [2 2];
mytable.ColSpan = [3 4];
% enabling this also turns makes column headers boldface
% mytable.SelectionBehavior = 'row';
useDefaultsCheckbox.Name = message('robotics:robotslros:arraysizemgr:MsgActionUseDefault').getString();
useDefaultsCheckbox.Type = 'checkbox';
useDefaultsCheckbox.RowSpan = [1 1];
useDefaultsCheckbox.ColSpan = [3 4];
if msgdata.UserSpecified
useDefaultsCheckbox.Value = 0;
else
useDefaultsCheckbox.Value = 1;
end
useDefaultsCheckbox.Tag = 'modifydefaults';
useDefaultsCheckbox.ObjectMethod = 'useDefaultsCheckboxCallback'; % call method on UDD source object
useDefaultsCheckbox.MethodArgs = {'%dialog', '%tag', '%value'}; % '%handle ' is implicit as first arg
useDefaultsCheckbox.ArgDataTypes = {'handle', 'string', 'mxArray'};
tablecontainer.Name = '';
tablecontainer.Type = 'group';
tablecontainer.LayoutGrid = [2 4];
% tablecontainer.ColStretch = [0 1 1 1 1 1 1];
tablecontainer.Items = {availableMsgs, useDefaultsCheckbox, mytable};
tablecontainer.Visible = 1;
tablecontainer.Alignment = 0;
% container
mycontainer.Type = 'panel';
mycontainer.Name = '';
mycontainer.Items = {modelInfoContainer, helptext, truncateAction, tablecontainer};
mycontainer.Visible = 1;
% Main dialog
dlgstruct.DialogTitle = message('robotics:robotslros:arraysizemgr:DialogTitle').getString;
dlgstruct.HelpMethod = 'robotics.slros.internal.helpview';
dlgstruct.HelpArgs = {'rosManageSizesDlg'}; % doc topic id
dlgstruct.CloseMethod = 'dlgClose';
dlgstruct.CloseMethodArgs = {'%closeaction'};
dlgstruct.CloseMethodArgsDT = {'string'};
% dlgstruct.Sticky = true; % make this dialog modal wrt to other DDG dialogs (doesn't block MATLAB command line)
% Buttons to show on dialog (these are options to pass to DDG,
% not the final strings, so there is no need to use message
% catalog)
dlgstruct.StandaloneButtonSet = ...
{'Ok', 'Cancel', 'Help'}; % also available: 'Revert', 'Apply'
dlgstruct.Items = {mycontainer};
dlgstruct.Geometry = [obj.Position 750 450]; % xpos ypos width height
dlgstruct.DialogTag = 'slros_arraysizemgr';
end
end
methods(Static)
function launch(modelname)
% Convenience function for opening the dialog
mgr = robotics.slros.internal.dlg.ArraySizeManager(modelname);
mgr.openDialog();
end
end
end