www.gusucode.com > robotsimulink 工具箱 matlab源码程序 > robotsimulink/robotslros/+robotics/+slros/+internal/+dlg/DeviceParameterSpecifier.m
classdef DeviceParameterSpecifier < handle
%This class is for internal use only. It may be removed in the future.
% DeviceParameterSpecifier opens a DDG dialog that lets the user
% specify the parameters for connecting to a ROS device, e.g. user
% name, password, device address.
%
% Example:
% userDlg = robotics.slros.internal.dlg.DeviceParameterSpecifier
% userDlg.openDialog
% Copyright 2016 The MathWorks, Inc.
properties (Constant)
%DialogTag - Unique tag for dialog
% This can be used to find the dialog with the findDDGByTag
% function.
DialogTag = 'DeviceParameterSpecifierDialog'
end
properties (Access = private)
%Parser - The parsing helper object
Parser
%CloseFcnHandle - The user-specified function handle called when the dialog closes
% This function handle is invoked when the user clicks "OK" or
% "Cancel".
CloseFcnHandle = function_handle.empty
%Hostname - The hostname or IP address of the device
% This is part of the 'DeviceAddress' property.
Hostname
%SSHPort - SSH port used to connect to the device (default is 22)
% This is part of the 'DeviceAddress' property.
SSHPort
%IsSticky - Is dialog sticky with respect to other DDG windows
% If this is set to true, the user will not be able to interact
% with any other DDG dialogs or the model explorer until he
% dismisses the sticky dialog.
IsSticky = false
%PreventCloseCallback - If TRUE, ignore callbacks received through the dialog CloseMethod
% Since we are using custom buttons in this dialog, we are
% handling the dialog closing ourselves, so this flag gives us
% more control.
PreventCloseCallback = false
end
properties (SetObservable = true)
%ModelName - The name of the Simulink model associated with this device connection
ModelName = ''
%DeviceAddress - Contents of the device address edit field
% Note that device addresses can also contain the SSH port, e.g.
% '192.168.1.1:40763'. The individual elements are stored in the
% 'Hostname' and 'SSHPort' properties.
DeviceAddress@asciiString
%Username - Contents of the user name edit field
Username@asciiString
%Password - Contents of the password edit field
Password@asciiString
%ROSInstallFolder - Contents of the ROS folder edit field
ROSInstallFolder@asciiString
%CatkinWorkspace - Contents of the Catkin workspace edit field
CatkinWorkspace@asciiString
%RememberPassword - State of the "Remember my password" checkbox
RememberPassword@logical scalar
end
methods (Static)
function deviceParamDlg = openDialogForModel(modelName, varargin)
%openDialogForModel Convenience function for opening a dialog for a Simulink model
deviceParamDlg = robotics.slros.internal.dlg.DeviceParameterSpecifier;
deviceParamDlg.ModelName = modelName;
deviceParamDlg.openDialog(varargin{:});
end
end
methods
function obj = DeviceParameterSpecifier
%DeviceParameterSpecifier Standard constructor
obj.Parser = robotics.slros.internal.DeviceParameterParser;
end
function dlg = openDialog(obj, closeFcnHandle, isSticky)
%openDialog Open the dialog window
% openDialog(OBJ) opens the dialog window
%
% openDialog(OBJ, CLOSEFCNHANDLE) allows you to specify a
% function handle that will be called when the dialog is
% closed (user clicks OK or Cancel).
% CLOSEFCNHANDLE is a function handle that takes 6 arguments,
% e.g.
%
% closeFcn(closeAction, deviceAddress, hostname, sshport, username, password, rosfolder, catkinws)
% closeAction - Either 'ok' or 'cancel' to indicate what button the user pressed
% deviceAddress - Last value for device address (combination of hostname and sshport)
% hostname - Hostname or IP address
% sshport - SSH port used for connection
% username - Last value for username
% password - Last value for password
% rosFolder - Last value for ROS folder
% catkinWs - Last value for Catkin workspace
%
% openDialog(OBJ, CLOSEFCNHANDLE, ISSTICKY) lets you indicate
% if the dialog should be sticky (modal) or not. ISSTICKY is
% a logical scalar.
if exist('closeFcnHandle', 'var')
validateattributes(closeFcnHandle, {'function_handle'}, {'scalar'});
obj.CloseFcnHandle = closeFcnHandle;
else
obj.CloseFcnHandle = function_handle.empty;
end
if exist('isSticky', 'var')
validateattributes(isSticky, {'logical'}, {'scalar'});
obj.IsSticky = isSticky;
end
% Reset close callback handling
obj.PreventCloseCallback = false;
% Initialize the data from the MATLAB preferences
obj.Hostname = robotics.codertarget.internal.DeviceParameters.getHostname;
obj.SSHPort = robotics.codertarget.internal.DeviceParameters.getSSHPort;
% Assign the values of the properties associated with dialog
% widgets
obj.DeviceAddress = robotics.codertarget.internal.DeviceParameters.getDeviceAddress;
obj.Username = robotics.codertarget.internal.DeviceParameters.getUsername;
obj.Password = robotics.codertarget.internal.DeviceParameters.getPassword;
obj.RememberPassword = robotics.codertarget.internal.DeviceParameters.getSavePassword;
obj.CatkinWorkspace = robotics.codertarget.internal.DeviceParameters.getCatkinWorkspace;
obj.ROSInstallFolder = robotics.codertarget.internal.DeviceParameters.getROSInstallFolder;
% Bring up the dialog window
dlg = DAStudio.Dialog(obj);
end
function [isAccepted, hostname, sshPort, username, password, rosFolder, catkinWs] = ...
openDialogAndWait(obj)
%openDialogAndWait Open dialog and wait until the user closes it
% This function is blocking. This window is not model
% (sticky), because we want the user to interact with the
% diagnostic window when testing device parameters.
%
% The function will return the final value of all internal
% device parameters.
% Bring up the dialog window
dlg = obj.openDialog(@closeDialog, false);
% Wait for dialog to be closed (closeDialog callback is
% executed at that point)
waitfor(dlg);
% All output values have already been assigned in the callback
% Note that the device parameters have to be stored in this
% callback. If we wait until the code gets here, the dialog has
% already been deleted and the obj properties are not in a
% valid state anymore.
function closeDialog(finalaction, ~, hname, ssh, uname, pw, rosdir, ws)
% Set all output value
isAccepted = isequal(finalaction, 'ok');
hostname = hname;
sshPort = ssh;
username = uname;
password = pw;
rosFolder = rosdir;
catkinWs = ws;
end
end
end
methods (Hidden)
function okayButtonPressed(obj, dlg)
%okayButtonPressed Callback that is executed when the OK button is pressed
try
% Always save device address, user name, remember password
% selection, catkin workspace, and ROS install folder when
% user clicks "OK
robotics.codertarget.internal.DeviceParameters.setHostname(obj.Hostname);
robotics.codertarget.internal.DeviceParameters.setSSHPort(obj.SSHPort);
robotics.codertarget.internal.DeviceParameters.setUsername(obj.Username);
robotics.codertarget.internal.DeviceParameters.setSavePassword(obj.RememberPassword);
robotics.codertarget.internal.DeviceParameters.setCatkinWorkspace(obj.CatkinWorkspace);
robotics.codertarget.internal.DeviceParameters.setROSInstallFolder(obj.ROSInstallFolder);
% Only save password if user selected "Remember my password"
if obj.RememberPassword
robotics.codertarget.internal.DeviceParameters.setPassword(obj.Password);
else
% Reset any saved password if the user selects to not save it
robotics.codertarget.internal.DeviceParameters.setPassword('');
end
% Evaluate function handle for closing
obj.evaluateCloseFcn('ok');
% Close dialog. To prevent additional callbacks through
% dlgClose, set a flag.
obj.PreventCloseCallback = true;
dlg.delete
catch ex
% Convert all errors to warnings. If they are propagated back to
% DDG, this causes MATLAB to crash
warning(ex.identifier, ex.message)
end
end
function cancelButtonPressed(obj, dlg)
%cancelButtonPressed Callback that is executed when the Cancel button is pressed
try
% Evaluate function handle for closing
obj.evaluateCloseFcn('cancel');
% Close dialog without applying any changes.
% To prevent additional callbacks through dlgClose, set a
% flag.
obj.PreventCloseCallback = true;
dlg.delete
catch ex
% Convert all errors to warnings. If they are propagated back to
% DDG, this causes MATLAB to crash
warning(ex.identifier, ex.message)
end
end
function testButtonPressed(obj, ~)
%testButtonPressed Callback that is executed when the Test button is pressed
try
% Run a check on all the user settings
tester = robotics.slros.internal.diag.DeviceDiagnostics(obj.ModelName);
tester.runDiagnostics(obj.Hostname, obj.SSHPort, obj.Username, obj.Password, obj.ROSInstallFolder, obj.CatkinWorkspace);
catch ex
% Convert all errors to warnings. If they are propagated back to
% DDG, this causes MATLAB to crash
warning(ex.identifier, ex.message)
end
end
function dlgClose(obj, closeaction)
%dlgClose Callback executed when dialog is closed
% This callback is executed if the dialog gets deleted or
% the user clicks the X to close the dialog.
% We are using custom OK and Cancel buttons and in their
% callbacks, the dialog is deleted as well. To prevent double
% callbacks, use the PreventCloseCallback flag to indicate if
% additional actions should be performed in dlgClose.
%
% CLOSEACTION is always 'cancel', since we do not use the
% standard OK button.
try
if obj.PreventCloseCallback
% Do not do anything if this callback was triggered by
% our custom OK or Cancel buttons. They already handled
% all necessary actions.
return;
end
% Evaluate function handle for closing
obj.evaluateCloseFcn(closeaction);
catch ex
% Convert all errors to warnings. If they are propagated back to
% DDG, this causes MATLAB to crash
warning(ex.identifier, ex.message)
end
end
function evaluateCloseFcn(obj, closeaction)
%evaluateCloseFcn Evaluate the CloseFcnHandle callback
if ~isempty(obj.CloseFcnHandle)
feval(obj.CloseFcnHandle, closeaction, obj.DeviceAddress, ...
obj.Hostname, obj.SSHPort, obj.Username, obj.Password, ...
obj.ROSInstallFolder, obj.CatkinWorkspace);
end
end
function validateDeviceAddress(obj, deviceAddress, argName)
%validateDeviceAddress Validate the device address string
% Also separate the host name / IP address from the SSH port.
% Some examples of valid device addresses:
% localhost
% somehost:225
% 192.168.2.1
% 192.168.2.1:40763
[validHost, validSSHPort] = obj.Parser.validateDeviceAddress(deviceAddress, '', argName);
obj.Hostname = validHost;
obj.SSHPort = validSSHPort;
end
end
properties (Constant, Access = ?matlab.unittest.TestCase)
%% Tags for all widget elements.
% Make the tags accessible to unit tests to verify settings.
TextHeaderTag = 'textHeader'
EditDeviceAddressTag = 'editDeviceAddress'
EditUsernameTag = 'editUsername'
EditPasswordTag = 'editPassword'
CheckboxRememberTag = 'checkboxRememberPw'
EditROSFolderTag = 'editROSFolder'
EditCatkinWorkspaceTag = 'editCatkinWs'
ButtonHelpTag = 'buttonHelp'
ButtonOKTag = 'buttonOK'
ButtonCancelTag = 'buttonCancel'
ButtonTestTag = 'buttonTest'
ButtonPanelTag = 'panelButtonSet'
end
methods (Hidden)
function dlgstruct = getDialogSchema(obj)
%getDialogSchema Specify the DDG schema of the dialog
% Widget for header text
header.Name = message('robotics:robotslros:deviceparams:DialogHeader').getString;
header.Type = 'text';
header.Tag = obj.TextHeaderTag;
header.MinimumSize = [0 50];
header.RowSpan = [1 1];
header.ColSpan = [2 2];
header.HideName = true;
header.WordWrap = true;
% Widget for device address
deviceAddressLabel = message('robotics:robotslros:deviceparams:DeviceAddress').getString;
deviceAddress.Name = [deviceAddressLabel ': '];
deviceAddress.Type = 'edit';
deviceAddress.Tag = obj.EditDeviceAddressTag;
deviceAddress.RowSpan = [2 2];
deviceAddress.ColSpan = [2 2];
deviceAddress.ObjectProperty = 'DeviceAddress'; % Use an object property to store the value of the edit field
deviceAddress.Mode = true; % Update the property in immediate mode
deviceAddress.ValidationCallback = @(~,~,deviceAddress,~) ...
obj.validateDeviceAddress(deviceAddress, deviceAddressLabel);
deviceAddress.ToolTip = message('robotics:robotslros:deviceparams:DeviceAddressTooltip').getString;
% Widget for username
usernameLabel = message('robotics:robotslros:deviceparams:Username').getString;
username.Name = [usernameLabel ': '];
username.Type = 'edit';
username.Tag = obj.EditUsernameTag;
username.RowSpan = [3 3];
username.ColSpan = [2 2];
username.ObjectProperty = 'Username';
username.Mode = true;
username.ValidationCallback = @(~,~,username,~) obj.Parser.validateUsername(username, '', usernameLabel);
username.ToolTip = message('robotics:robotslros:deviceparams:UsernameTooltip').getString;
% Widget for password
passwordLabel = message('robotics:robotslros:deviceparams:Password').getString;
password.Name = [passwordLabel ': '];
password.Type = 'edit';
password.Tag = obj.EditPasswordTag;
password.EchoMode = 'password'; % Obfuscate password characters
password.RowSpan = [4 4];
password.ColSpan = [2 2];
password.ObjectProperty = 'Password';
password.Mode = true;
password.ValidationCallback = @(~,~,pw,~) obj.Parser.validatePassword(pw, '', passwordLabel);
password.ToolTip = message('robotics:robotslros:deviceparams:PasswordTooltip').getString;
% Widget for remember password checkbox
rememberPw.Name = message('robotics:robotslros:deviceparams:RememberPassword').getString;
rememberPw.Type = 'checkbox';
rememberPw.Tag = obj.CheckboxRememberTag;
rememberPw.MinimumSize = [0 50];
rememberPw.RowSpan = [5 5];
rememberPw.ColSpan = [2 2];
rememberPw.ObjectProperty = 'RememberPassword';
rememberPw.Mode = true;
rememberPw.ToolTip = message('robotics:robotslros:deviceparams:RememberPasswordTooltip').getString;
% Widget for Catkin workspace
catkinWsLabel = message('robotics:robotslros:deviceparams:CatkinWorkspace').getString;
catkinWs.Name = [catkinWsLabel ': '];
catkinWs.Type = 'edit';
catkinWs.Tag = obj.EditCatkinWorkspaceTag;
catkinWs.RowSpan = [7 7];
catkinWs.ColSpan = [2 2];
catkinWs.ObjectProperty = 'CatkinWorkspace';
catkinWs.Mode = true;
catkinWs.ValidationCallback = @(~,~,ws,~) obj.Parser.validateCatkinWorkspace(ws, '', catkinWsLabel);
catkinWs.ToolTip = message('robotics:robotslros:deviceparams:CatkinWorkspaceTooltip').getString;
% Widget for ROS folder
rosFolderLabel = message('robotics:robotslros:deviceparams:ROSFolder').getString;
rosFolder.Name = [rosFolderLabel ': '];
rosFolder.Type = 'edit';
rosFolder.Tag = obj.EditROSFolderTag;
rosFolder.RowSpan = [6 6];
rosFolder.ColSpan = [2 2];
rosFolder.ObjectProperty = 'ROSInstallFolder';
rosFolder.Mode = true;
rosFolder.ValidationCallback = @(~,~,dir,~) obj.Parser.validateROSFolder(dir, '', rosFolderLabel);
rosFolder.ToolTip = message('robotics:robotslros:deviceparams:ROSFolderTooltip').getString;
% Custom help button
helpButton.Name = message('robotics:robotslros:deviceparams:HelpButton').getString;
helpButton.Type = 'pushbutton';
helpButton.MatlabMethod = 'robotics.slros.internal.helpview';
helpButton.MatlabArgs = {'deviceParamsDlg'}; % doc topic id
helpButton.RowSpan = [1 1];
helpButton.ColSpan = [4 4];
helpButton.Tag = obj.ButtonHelpTag;
% Custom test button
testButton.Name = message('robotics:robotslros:deviceparams:TestButton').getString;
testButton.Type = 'pushbutton';
testButton.RowSpan = [1 1];
testButton.ColSpan = [3 3];
testButton.Tag = obj.ButtonTestTag;
testButton.ObjectMethod = 'testButtonPressed';
testButton.MethodArgs = {'%dialog'}; % object handle is implicit first arg
testButton.ArgDataTypes = {'handle'}; % 'handle' is type of %dialog
testButton.ToolTip = message('robotics:robotslros:deviceparams:TestButtonTooltip').getString;
% Custom OK button
okButton.Name = message('robotics:robotslros:deviceparams:OKButton').getString;
okButton.Type = 'pushbutton';
okButton.RowSpan = [1 1];
okButton.ColSpan = [1 1];
okButton.Tag = obj.ButtonOKTag;
okButton.ObjectMethod = 'okayButtonPressed';
okButton.MethodArgs = {'%dialog'}; % object handle is implicit first arg
okButton.ArgDataTypes = {'handle'}; % 'handle' is type of %dialog
% Custom Cancel button
cancelButton.Name = message('robotics:robotslros:deviceparams:CancelButton').getString;
cancelButton.Type = 'pushbutton';
cancelButton.RowSpan = [1 1];
cancelButton.ColSpan = [2 2];
cancelButton.Tag = obj.ButtonCancelTag;
cancelButton.ObjectMethod = 'cancelButtonPressed';
cancelButton.MethodArgs = {'%dialog'}; % object handle is implicit first arg
cancelButton.ArgDataTypes = {'handle'}; % 'handle' is type of %dialog
% Construct custom button panel
% We cannot use the standard StandaloneButtonSet, because we want
% to add the custom "Test" button to the same panel.
buttonPanel.Type = 'panel';
buttonPanel.LayoutGrid = [1 4];
buttonPanel.Items = {okButton, cancelButton, helpButton, testButton};
buttonPanel.Tag = obj.ButtonPanelTag;
% Main dialog structure
dlgstruct.DialogTitle = message('robotics:robotslros:deviceparams:DialogTitle').getString;
dlgstruct.DialogTag = obj.DialogTag;
dlgstruct.LayoutGrid = [7, 3];
dlgstruct.ColStretch = [1, 10, 1];
dlgstruct.StandaloneButtonSet = buttonPanel; % Use custom button panel
dlgstruct.Items = { header, deviceAddress, username, password, rememberPw, rosFolder, catkinWs};
dlgstruct.Sticky = obj.IsSticky;
dlgstruct.CloseMethod = 'dlgClose';
dlgstruct.CloseMethodArgs = {'%closeaction'};
dlgstruct.CloseMethodArgsDT = {'string'};
end
end
end