1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-13 20:48:42 +01:00
LibrePilot/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp

197 lines
9.1 KiB
C++
Raw Normal View History

/**
******************************************************************************
*
* @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" << "single" << "uint8";
fieldSizeStrMatlab << "1" << "2" << "4"
<< "1" << "2" << "4" << "4" << "1";
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);
int numBytes=parser->getNumBytes(objidx);
process_object(info, numBytes);
}
matlabCodeTemplate.replace( QString("$(INSTANTIATIONCODE)"), matlabInstantiationCode);
matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode);
matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
matlabCodeTemplate.replace( QString("$(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, int numBytes)
{
if (info == NULL)
return false;
//Declare variables
QString objectName(info->name);
// QString objectTableName(objectName + "Objects");
QString objectTableName(objectName);
QString tableIdxName(objectName.toLower() + "Idx");
QString objectID(QString().setNum(info->id));
QString numBytesString=QString("%1").arg(numBytes);
//=========================================================================//
// Generate instantiation code (will replace the $(INSTANTIATIONCODE) tag) //
//=========================================================================//
QString type;
QString instantiationFields;
matlabInstantiationCode.append("\n\t" + tableIdxName + " = 0;\n");
matlabInstantiationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
if (!info->isSingleInst) {
instantiationFields.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 )
instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
else
instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
}
instantiationFields.append(");\n");
matlabInstantiationCode.append(instantiationFields);
matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
matlabInstantiationCode.append("\t" + objectName + "FidIdx = [];\n");
//==============================================================//
// Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
//==============================================================//
matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
matlabSwitchCode.append("\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + ") = bufferIdx; %#ok<*AGROW>\n");
matlabSwitchCode.append("\t\t\tbufferIdx=bufferIdx + " + objectTableName.toUpper() + "_NUMBYTES+1; %+1 is for CRC\n");
if(!info->isSingleInst){
matlabSwitchCode.append("\t\t\tbufferIdx = bufferIdx + 2; %An extra two bytes for the instance ID\n");
}
matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +"FidIdx) %Check to see if pre-allocated memory is exhausted\n");
matlabSwitchCode.append("\t\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + "*2) = 0;\n");
matlabSwitchCode.append("\t\t\tend\n");
//============================================================//
// Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
//============================================================//
matlabCleanupCode.append(objectTableName + "FidIdx =" + objectTableName + "FidIdx(1:" + tableIdxName +");\n" );
//=================================================================//
// Generate functions code (will replace the $(ALLOCATIONCODE) tag) //
//=================================================================//
//Generate function description comment
matlabAllocationCode.append("% " + objectName + " typecasting\n");
QString allocationFields;
//Add timestamp
allocationFields.append("\t" + objectName + ".timestamp = " +
"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
"- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
int currentIdx=0;
//Add Instance ID, if necessary
if(!info->isSingleInst){
allocationFields.append("\t" + objectName + ".instanceID = " +
"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
currentIdx+=2;
}
for (int n = 0; n < info->fields.length(); ++n) {
// Determine variabel type
type = fieldTypeStrMatlab[info->fields[n]->type];
//Determine variable type length
QString size = fieldSizeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 ){
allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
"reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt()*info->fields[n]->numElements - 1) + ")), '" + type + "')), "+ QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
}
else{
allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
"double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
}
currentIdx+=size.toInt()*info->fields[n]->numElements;
}
matlabAllocationCode.append(allocationFields);
matlabAllocationCode.append("\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)
return true;
}