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LibrePilot/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp

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/**
******************************************************************************
*
* @file uavobjectgeneratormatlab.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief produce matlab code for uavobjects
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectgeneratormatlab.h"
using namespace std;
bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
fieldTypeStrMatlab << "int8" << "int16" << "int32"
<< "uint8" << "uint16" << "uint32" << "float32" << "uint8";
QDir matlabTemplatePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects"));
QDir matlabOutputPath = QDir( outputpath + QString("matlab") );
matlabOutputPath.mkpath(matlabOutputPath.absolutePath());
QString matlabCodeTemplate = readFile( matlabTemplatePath.absoluteFilePath( "uavobjecttemplate.m") );
if (matlabCodeTemplate.isEmpty() ) {
std::cerr << "Problem reading matlab templates" << endl;
return false;
}
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
ObjectInfo* info=parser->getObjectByIndex(objidx);
process_object(info);
}
matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode);
matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
matlabCodeTemplate.replace( QString("$(EXPORTCSVCODE)"), matlabExportCsvCode);
bool res = writeFile( matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate );
if (!res) {
cout << "Error: Could not write output files" << endl;
return false;
}
return true; // if we come here everything should be fine
}
/**
* Generate the matlab object files
*/
bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
{
if (info == NULL)
return false;
//Declare variables
QString objectName(info->name);
// QString objectTableName(objectName + "Objects");
QString objectTableName(objectName);
QString tableIdxName(objectName.toLower() + "Idx");
QString functionName("Read" + info->name + "Object");
QString functionCall(functionName + "(fid, timestamp, checkCRC, ");
QString objectID(QString().setNum(info->id));
QString isSingleInst = boolTo01String( info->isSingleInst );
//===================================================================//
// Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
//===================================================================//
// matlabSwitchCode.append("\t\tcase " + objectID + "\n");
matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n");
QString type;
QString allocfields;
if (0){
matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n");
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n");
else
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
}
}
else{
matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
if (!info->isSingleInst) {
allocfields.append(",...\n\t\t 'instanceID', 0");
}
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
else
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
}
allocfields.append(");\n");
}
matlabAllocationCode.append(allocfields);
matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
//==============================================================//
// Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
//==============================================================//
matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
// matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n");
matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +".timestamp) %Check to see if pre-allocated memory is exhausted\n");
matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n");
matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n");
matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n");
matlabSwitchCode.append("\t\t\t\tend\n");
matlabSwitchCode.append("\t\t\tend\n");
//============================================================//
// Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
//============================================================//
matlabCleanupCode.append(objectTableName + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +");\n" );
//========================================================================//
// Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) //
//========================================================================//
matlabSaveObjectsCode.append(",'"+objectTableName+"'");
//==========================================================================//
// Generate objects csv export code (will replace the $(EXPORTCSVCODE) tag) //
//==========================================================================//
matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '"+objectTableName+"', logfile);\n");
// OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile)
//=================================================================//
// Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
//=================================================================//
//Generate function description comment
matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
matlabFunctionsCode.append("\t\theaderSize = 8;\n");
matlabFunctionsCode.append("\telse\n");
matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
matlabFunctionsCode.append("\t\theaderSize = 10;\n");
matlabFunctionsCode.append("\tend\n\n");
// Generate functions code, actual fields of the object
QString funcfields;
matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n");
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
else
funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
}
matlabFunctionsCode.append(funcfields);
matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n");
matlabFunctionsCode.append("\t% read CRC\n");
matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n");
matlabFunctionsCode.append("\tif checkCRC\n");
matlabFunctionsCode.append("\t\tfseek(fid, startPos, 'bof');\n");
matlabFunctionsCode.append("\t\tcrc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));\n");
matlabFunctionsCode.append("\t\tfread(fid,1,'uint8');\n");
matlabFunctionsCode.append("\t\tif (crc_calc ~= crc_read)\n");
matlabFunctionsCode.append("\t\t\tdisp('CRC Error')\n");
matlabFunctionsCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName + " - 1;\n");
matlabFunctionsCode.append("\t\tend\n");
matlabFunctionsCode.append("\tend\n");
matlabFunctionsCode.append("\n\n");
return true;
}