Merge branch 'next' into amorale/OP-1294_fix_stacks_heap_cc

Makefile

@@ -723,7 +723,7 @@ $(OPFW_RESOURCE): $(FW_TARGETS)
 
 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 ifneq ($(strip $(filter opfw_resource all all_fw all_flight,$(MAKECMDGOALS))),)
-    $(eval openpilotgcs: $(OPFW_RESOURCE))
+    $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
 endif
 
 # Packaging targets: package, clean_package

ground/openpilotgcs/src/plugins/uavobjects/uavobject.m.template

@@ -59,59 +59,78 @@ $(INSTANTIATIONCODE)
 
 
 fid = fopen(logfile);
-buffer=fread(fid,Inf,'uchar=>uchar');
+buffer=fread(fid,Inf,'uchar=>uint8');
 fseek(fid, 0, 'bof');
-
+bufferlen = size(buffer);
-bufferIdx=1;
 
 correctMsgByte=hex2dec('20');
 correctTimestampedByte=hex2dec('A0');
 correctSyncByte=hex2dec('3C');
 unknownObjIDList=zeros(1,2);
-
+headerLen = 1 + 1 + 2 + 4 + 2; % sync type len id inst
-% Parse log file, entry by entry
+timestampLen = 4;
-% prebuf = buffer(1:12);
+crcLen = 1;
+oplHeaderLen = 8 + 4;
 
 last_print = -1e10;
 
+bufferIdx=1;
+headerIdx=oplHeaderLen + 1;
+
 startTime=clock;
 
 while (1)
-	if (feof(fid)); break; end
-
 	try
 	%% Read message header
 	% get sync field (0x3C, 1 byte)
-	sync = fread(fid, 1, 'uint8');
+	if (bufferlen < headerIdx + 12); break; end
+	sync = buffer(headerIdx);
+	% printf('%x ', sync);
+	headerIdx += 1;
 	if sync ~= correctSyncByte
-		prebuf = [prebuf(2:end); sync];
 		wrongSyncByte = wrongSyncByte + 1;
 		continue
 	end
 
-	% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
+	% printf('\n %u:',headerIdx - 1);
-	msgType = fread(fid, 1, 'uint8');
+	% get the opl timestamp and datablock size
-	if msgType ~= correctMsgByte && msgType ~= hex2dec('A0')
+	oplTimestamp = typecast(uint8(buffer(headerIdx - 1 - 8 - 4:headerIdx - 1 - 8 - 1)), 'uint32'); 
-		wrongMessageByte = wrongMessageByte + 1;	
+	oplSize = typecast(uint8(buffer(headerIdx - 1 - 8:headerIdx - 1 - 1)), 'uint64'); 
+
+	% get msg type (quint8 1 byte ) should be 0x20/0xA0, ignore the rest
+	msgType = buffer(headerIdx);
+	headerIdx += 1;
+	if msgType ~= correctMsgByte && msgType ~= correctTimestampedByte
+		% fixme: it should read the whole message payload instead of skipping and blindly searching for next sync byte.
+		fprintf('\nSkipping message type: %x \n', msgType);
 		continue
 	end
 
 	% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
-	msgSize = fread(fid, 1, 'uint16');
+	msgSize = uint32(typecast(buffer(headerIdx:headerIdx + 1), 'uint16'));
+	headerIdx += 2;
+
 	% get obj id (quint32 4 bytes)
-	objID = fread(fid, 1, 'uint32');
+	objID = typecast(uint8(buffer(headerIdx:headerIdx + 3)), 'uint32'); 
+	headerIdx += 4;
 
+	% get instance id (quint16 2 bytes)
+	instID = typecast(uint8(buffer(headerIdx:headerIdx + 1)),  'uint16');
+	% printf('Id %x type %x size %u Inst %x ', objID, msgType, msgSize, instID);
+	headerIdx += 2;
+
+	% get timestamp if needed (quint32 4 bytes)
 	if msgType == correctMsgByte
-		%% Process header if we are aligned
+		datasize = msgSize - headerLen;
-		timestamp = typecast(uint8(prebuf(1:4)), 'uint32');
-		datasize = typecast(uint8(prebuf(5:12)), 'uint64');
 	elseif msgType == correctTimestampedByte
-		timestamp = fread(fid,1,'uint16');
+		timestamp = typecast(uint8(buffer(headerIdx:headerIdx + 3)),  'uint32');
-	end
+	%	printf('ts %u');
-
+		headerIdx += 4;
-	if (isempty(objID)) 	%End of file
+		datasize = msgSize - headerLen - timestampLen;
-		break;
 	end
+	% printf('\n');
+	bufferIdx = headerIdx;
+	headerIdx += datasize + crcLen + oplHeaderLen;
 
 	%% Read object
 
@@ -125,9 +144,7 @@ $(SWITCHCODE)
 				unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1; 
 			end
 
-			datasize = typecast(buffer(datasizeBufferIdx + 4:datasizeBufferIdx + 12-1), 'uint64');
+			msgBytesLeft = msgSize - 1 - 1 - 2 - 4;
-
-			msgBytesLeft = datasize - 1 - 1 - 2 - 4;
 			if msgBytesLeft > 255
 				msgBytesLeft = 0;
 			end

ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp

@@ -122,9 +122,6 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo *info, int numBytes)
     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");
@@ -145,16 +142,15 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo *info, int numBytes)
     // Add timestamp
     allocationFields.append("\t" + objectName + ".timestamp = " +
                             "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
-                            "- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
+                            "- headerLen - oplHeaderLen, " + objectName + "FidIdx + 3 - headerLen - oplHeaderLen)), 'uint32'))';\n");
 
     int currentIdx = 0;
 
     // Add Instance ID, if necessary
     if (!info->isSingleInst) {
         allocationFields.append("\t" + objectName + ".instanceID = " +
-                                "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
+                                "double(typecast(buffer(mcolon(" + objectName + "FidIdx - 2"
-                                ", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
+                                ", " + objectName + "FidIdx - 2 + 1)), 'uint16'))';\n");
-        currentIdx += 2;
     }
 
     for (int n = 0; n < info->fields.length(); ++n) {