www.gusucode.com > robotsimulink 工具箱 matlab源码程序 > robotsimulink/robotslros/+robotics/+slros/+internal/+dlg/NetworkAddressSpecifier.m
classdef NetworkAddressSpecifier < handle
%This class is for internal use only. It may be removed in the future.
% NetworkAddressSpecifier opens a DDG dialog that lets the user inspect
% and modify the network addresses for ROS Master and Node Host that
% are used in Simulation. Once the user accepts the changes, the
% information is saved in MATLAB Preferences.
%
% Sample use:
% addr = robotics.slros.internal.dlg.NetworkAddressSpecifier;
% addr.openDialog
% Copyright 2014 The MathWorks, Inc.
properties(SetAccess=private)
NetAddrStore
Profile = robotics.slros.internal.sim.NetworkAddrProfile.empty
end
methods
function obj = NetworkAddressSpecifier
obj.NetAddrStore = robotics.slros.internal.sim.NetworkAddrStore;
obj.Profile = obj.NetAddrStore.getProfile();
if isempty(obj.Profile.MasterHost)
obj.Profile.MasterHost = obj.Profile.getDefaultMasterHost();
end
if isempty(obj.Profile.NodeHost)
obj.Profile.NodeHost = obj.Profile.getDefaultNodeHost();
end
end
function dlg = openDialog(obj)
dlg = DAStudio.Dialog(obj);
end
function dlgClose(obj, closeaction)
% closeaction is
% 'ok' if user clicked OK
% 'cancel' if user clicked cancel or closed window
try
isAcceptedSelection = strcmpi(closeaction, 'ok');
if isAcceptedSelection
obj.NetAddrStore.setProfile(obj.Profile);
obj.NetAddrStore.updateStore();
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 hostSelectionChanged(obj, dlg, tag, value)
% value: 0 (Default), 1 (Custom)
if strcmpi(tag, 'masterhost')
obj.Profile.MasterUseDefault = (value == 0);
else % strcmpi(tag, 'nodehost')
obj.Profile.NodeUseDefault = (value == 0);
end
dlg.refresh;
end
function hostNameChanged(obj, dlg, tag, value)
if strcmpi(tag, 'masterHostName')
oldStr = obj.Profile.MasterHost;
else % strcmpi(tag, 'nodeHostName')
oldStr = obj.Profile.NodeHost;
end
newStr = obj.convertStrToHostName(value);
if isempty(newStr)
dlg.setWidgetValue(tag, oldStr);
return;
end
if strcmpi(tag, 'masterHostName')
obj.Profile.MasterHost = newStr;
else % strcmpi(tag, 'nodeHostName')
obj.Profile.NodeHost = newStr;
end
dlg.setWidgetValue(tag, newStr);
end
function portChanged(obj, dlg, tag, value)
[num, numIsValid] = obj.convertStrToPortNum(value);
if numIsValid
obj.Profile.MasterPort = num;
end
valueStr = sprintf('%d', obj.Profile.MasterPort);
dlg.setWidgetValue(tag, valueStr);
end
function testMasterConnection(obj, dlg, tag) %#ok<INUSD>
dlgTitle = message('robotics:robotslros:netaddrdlg:TestMasterDlgTitle').getString;
successImage = fullfile(matlabroot, 'toolbox', 'robotics', 'robotsimulink', 'robotslros', 'resources', 'success_32.png');
errorImage = fullfile(matlabroot, 'toolbox', 'robotics', 'robotsimulink', 'robotslros', 'resources', 'error_32.png');
dp = DAStudio.DialogProvider;
dp.DialogImage = errorImage; % by default, show error icon
waitingDlg = [];
try
% ROSMaster constructor can take a while since it attempts
% to resolve hostname (and throws error if it cannot). So,
% put up the waiting dialog before invoking ROSMaster
% Note -- MSGBOX ignores dp.DialogImage
waitingDlg = dp.msgbox(...
message('robotics:robotslros:netaddrdlg:TestMasterChecking').getString, ...
dlgTitle, true);
rosMaster = robotics.slros.internal.sim.ROSMaster(obj.Profile);
isReachable = rosMaster.isReachable();
delete(waitingDlg);
if isReachable
dp.DialogImage = successImage;
dp.errordlg(...
message('robotics:robotslros:netaddrdlg:TestMasterSuccess', ...
rosMaster.MasterURI).getString, ...
dlgTitle, true);
else
dp.errordlg(...
message('robotics:robotslros:netaddrdlg:TestMasterFailure', ...
rosMaster.MasterURI).getString, ...
dlgTitle, true);
end
catch ME
if isa(waitingDlg, 'DAStudio.Dialog') && ishandle(waitingDlg)
delete(waitingDlg);
end
if strcmpi(ME.identifier, 'robotics:ros:util:HostInvalid') || ...
strcmpi(ME.identifier, 'robotics:ros:util:InvalidRosMasterURIEnv') || ...
strcmpi(ME.identifier, 'robotics:ros:util:URIInvalid')
% Error thrown by ROSMaster constructor. It is messy to
% provide a customized message as we don't want to
% retrieve the ROS_MASTER_uri environment variable
% (adds unnecessary coupling). So, just display the
% message but suppress the stack.
dp.errordlg(ME.message, dlgTitle, true);
else
dp.errordlg(ME.getReport('basic'), dlgTitle, true);
end
end
end
function dlgstruct = getDialogSchema(obj)
%% "ROS Master" section
row=1;
masterHostLabel.Name = message('robotics:robotslros:netaddrdlg:NetworkAddress').getString;
masterHostLabel.Type = 'text';
masterHostLabel.Alignment = 7;
masterHostLabel.RowSpan = [row row];
masterHostLabel.ColSpan = [1 1];
masterHostLabel.Visible = true;
masterHostSelection.Name = '';
masterHostSelection.NameLocation = 6;
masterHostSelection.Type = 'combobox';
masterHostSelection.Alignment = 0;
masterHostSelection.RowSpan = [row row];
masterHostSelection.ColSpan = [2 2];
masterHostSelection.Entries = {
message('robotics:robotslros:netaddrdlg:NetAddrDefault').getString
message('robotics:robotslros:netaddrdlg:NetAddrCustom').getString
};
if obj.Profile.MasterUseDefault
masterHostSelection.Value = 0;
else
masterHostSelection.Value = 1;
end
masterHostSelection.ObjectMethod = 'hostSelectionChanged'; % call method on UDD source object
masterHostSelection.MethodArgs = {'%dialog', '%tag', '%value'}; % '%handle ' is implicit as first arg
masterHostSelection.ArgDataTypes = {'handle', 'string', 'mxArray'};
masterHostSelection.Tag = 'masterhost';
masterTestBtn.Name = message('robotics:robotslros:netaddrdlg:TestConnection').getString;
masterTestBtn.Type = 'pushbutton';
masterTestBtn.RowSpan = [row row];
masterTestBtn.ColSpan = [3 3];
masterTestBtn.Alignment = 6; % top-left
masterTestBtn.Tag = 'masterTestBtn';
masterTestBtn.ObjectMethod = 'testMasterConnection'; % call method on UDD source object
masterTestBtn.MethodArgs = {'%dialog', '%tag'}; % '%handle ' is implicit as first arg
masterTestBtn.ArgDataTypes = {'handle', 'string'};
row = row+1;
masterHostNameLabel.Name = message('robotics:robotslros:netaddrdlg:HostOrIPAddr').getString;
masterHostNameLabel.Type = 'text';
masterHostNameLabel.Alignment = 7;
masterHostNameLabel.RowSpan = [row row];
masterHostNameLabel.ColSpan = [1 1];
masterHostNameLabel.Visible = ~obj.Profile.MasterUseDefault;
masterHostName.Name = '';
masterHostName.Type = 'edit';
masterHostName.Value = obj.Profile.MasterHost;
masterHostName.RowSpan = [row row];
masterHostName.ColSpan = [2 2];
masterHostName.Alignment = 0; % top-left
masterHostName.Tag = 'masterHostName';
masterHostName.ObjectMethod = 'hostNameChanged'; % call method on UDD source object
masterHostName.MethodArgs = {'%dialog', '%tag', '%value'}; % '%handle ' is implicit as first arg
masterHostName.ArgDataTypes = {'handle', 'string', 'mxArray'};
masterHostName.Visible = ~obj.Profile.MasterUseDefault;
row = row+1;
masterPortNumLabel.Name = message('robotics:robotslros:netaddrdlg:Port').getString;
masterPortNumLabel.Type = 'text';
masterPortNumLabel.Alignment = 7;
masterPortNumLabel.RowSpan = [row row];
masterPortNumLabel.ColSpan = [1 1];
masterPortNumLabel.Visible = ~obj.Profile.MasterUseDefault;
masterPortNum.Name = '';
masterPortNum.Type = 'edit';
masterPortNum.Value = sprintf('%d', obj.Profile.MasterPort);
masterPortNum.RowSpan = [row row];
masterPortNum.ColSpan = [2 2];
masterPortNum.Alignment = 0; % top-left
masterPortNum.Tag = 'masterPortNum';
masterPortNum.ObjectMethod = 'portChanged'; % call method on UDD source object
masterPortNum.MethodArgs = {'%dialog', '%tag', '%value'}; % '%handle ' is implicit as first arg
masterPortNum.ArgDataTypes = {'handle', 'string', 'mxArray'};
masterPortNum.Visible = ~obj.Profile.MasterUseDefault;
row = row + 1;
masterDefaultHelp.Name = message('robotics:robotslros:netaddrdlg:MasterDefaultHelp').getString;
masterDefaultHelp.Type = 'text';
masterDefaultHelp.Italic = 0;
masterDefaultHelp.WordWrap = true;
masterDefaultHelp.RowSpan = [row row];
masterDefaultHelp.ColSpan = [1 3];
masterDefaultHelp.Visible = obj.Profile.MasterUseDefault;
row = row+1; %#ok<NASGU>
% container
masterContainer.Type = 'group'; % can be 'panel', in which case, case use .Flat = true
masterContainer.Name = message('robotics:robotslros:netaddrdlg:ROSMaster').getString;
masterContainer.Flat = false;
masterContainer.LayoutGrid = [4 3]; % [numrows numcolumns]
masterContainer.ColStretch = [2 2 1];
masterContainer.Items = {masterDefaultHelp, masterHostLabel, masterHostSelection, masterHostNameLabel,...
masterHostName, masterPortNumLabel, masterPortNum, masterTestBtn};
masterContainer.Visible = true;
%% "Node Host" section
row=1;
nodeHelp.Name = message('robotics:robotslros:netaddrdlg:NodeHelp').getString;
nodeHelp.Type = 'text';
nodeHelp.Italic = 0;
nodeHelp.WordWrap = true;
nodeHelp.RowSpan = [row row];
nodeHelp.ColSpan = [1 3];
row = row+1;
nodeHostLabel.Name = message('robotics:robotslros:netaddrdlg:NetworkAddress').getString;
nodeHostLabel.Type = 'text';
nodeHostLabel.Alignment = 7;
nodeHostLabel.RowSpan = [row row];
nodeHostLabel.ColSpan = [1 1];
nodeHostLabel.Visible = true;
nodeHostSelection.Name = '';
nodeHostSelection.Type = 'combobox';
nodeHostSelection.Alignment = 0;
nodeHostSelection.RowSpan = [row row];
nodeHostSelection.ColSpan = [2 2];
nodeHostSelection.Entries = {
message('robotics:robotslros:netaddrdlg:NetAddrDefault').getString
message('robotics:robotslros:netaddrdlg:NetAddrCustom').getString
};
if obj.Profile.NodeUseDefault
nodeHostSelection.Value = 0;
else
nodeHostSelection.Value = 1;
end
nodeHostSelection.ObjectMethod = 'hostSelectionChanged'; % call method on UDD source object
nodeHostSelection.MethodArgs = {'%dialog', '%tag', '%value'}; % '%handle ' is implicit as first arg
nodeHostSelection.ArgDataTypes = {'handle', 'string', 'mxArray'};
nodeHostSelection.Tag = 'nodehost';
row=row+1;
nodeHostNameLabel.Name = message('robotics:robotslros:netaddrdlg:HostOrIPAddr').getString;
nodeHostNameLabel.Type = 'text';
nodeHostNameLabel.Alignment = 7;
nodeHostNameLabel.RowSpan = [row row];
nodeHostNameLabel.ColSpan = [1 1];
nodeHostNameLabel.Visible = ~obj.Profile.NodeUseDefault;
nodeHostName.Name = '';
nodeHostName.Type = 'edit';
nodeHostName.Value = obj.Profile.NodeHost;
nodeHostName.RowSpan = [row row];
nodeHostName.ColSpan = [2 2];
nodeHostName.Alignment = 0; % top-left
nodeHostName.ObjectMethod = 'hostNameChanged'; % call method on UDD source object
nodeHostName.MethodArgs = {'%dialog', '%tag', '%value'}; % '%handle ' is implicit as first arg
nodeHostName.ArgDataTypes = {'handle', 'string', 'mxArray'};
nodeHostName.Tag = 'nodeHostName';
nodeHostName.Visible = ~obj.Profile.NodeUseDefault;
row = row+1;
nodeDefaultHelp.Name = message('robotics:robotslros:netaddrdlg:NodeDefaultHelp').getString;
nodeDefaultHelp.Type = 'text';
nodeDefaultHelp.Italic = 0;
nodeDefaultHelp.WordWrap = true;
nodeDefaultHelp.RowSpan = [row row];
nodeDefaultHelp.ColSpan = [1 3];
nodeDefaultHelp.Visible = obj.Profile.NodeUseDefault;
% container
nodeContainer.Type = 'group'; % can be 'panel', in which case, case use .Flat = true
nodeContainer.Name = message('robotics:robotslros:netaddrdlg:NodeHost').getString;
nodeContainer.Flat = false;
nodeContainer.LayoutGrid = [4 3]; % [numrows numcolumns]
nodeContainer.ColStretch = [2 2 1];
nodeContainer.Items = {nodeHelp, nodeHostLabel, nodeHostSelection, ...
nodeHostNameLabel, nodeHostName, nodeDefaultHelp};
nodeContainer.Visible = true;
%% Main Dialog
helptext.Name = message('robotics:robotslros:netaddrdlg:HelpText').getString;
helptext.Type = 'text';
helptext.WordWrap = false;
helptext.RowSpan = [1 1];
helptext.ColSpan = [1 2];
helptext.Tag = 'helptext';
helptext.Visible = true;
topLevelContainer.Type = 'group'; % can be 'panel', in which case, case use .Flat = true
topLevelContainer.Name = '';
topLevelContainer.Items = {helptext, masterContainer, nodeContainer};
topLevelContainer.Visible = true;
%% Main dialog struct
dlgstruct.DialogTitle = message('robotics:robotslros:netaddrdlg:DialogTitle').getString;
dlgstruct.HelpMethod = 'robotics.slros.internal.helpview';
dlgstruct.HelpArgs = {'rosConfigNetAddrDlg'}; % doc topic id
dlgstruct.CloseMethod = 'dlgClose';
dlgstruct.CloseMethodArgs = {'%closeaction'};
dlgstruct.CloseMethodArgsDT = {'string'};
% Make this dialog modal wrt to other DDG dialogs
% (doesn't block MATLAB command line)
dlgstruct.Sticky = true;
% 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 = {topLevelContainer};
end
end
%%
methods(Static)
function launch()
% Convenience function for opening the dialog
addr = robotics.slros.internal.dlg.NetworkAddressSpecifier;
addr.openDialog();
end
function str = convertStrToHostName(str)
% Attempt to enforce some basic hostname constraints
str = regexprep(str, '[^0-9a-z-\.]', ''); % remove non alphanumeric chars
str = regexprep(str, '\.+', '\.'); % remove sequences of periods
str = regexprep(str, '(^\.|\.$)', ''); % remove prefixed & suffixed periods
end
function [num, isValid] = convertStrToPortNum(str)
% str2double returns NaN if unable to convert
num = str2double(str);
isValid = ~isnan(num);
if isValid
num = abs(fix(num));
num = min(num, 65535);
num = max(num, 1);
end
end
end
end