mirror of
https://bitbucket.org/librepilot/librepilot.git
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Further optimized Matlab parsing. It now does most typecast as vectorized operations.
The upshot is an approximately 50% performance boost.
This commit is contained in:
Laura Sebesta
parent
63e490a922
commit
69133c1427
@ -59,45 +59,50 @@ $(ALLOCATIONCODE)
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fid = fopen(logfile);
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buffer=fread(fid,Inf,'uchar=>uchar');
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fseek(fid, 0, 'bof');
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bufferIdx=1;
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correctMsgByte=hex2dec('20');
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correctSyncByte=hex2dec('3C');
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unknownObjIDList=zeros(1,2);
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% Parse log file, entry by entry
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prebuf = fread(fid, 12, 'uint8');
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log_size = dir(logfile);
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log_size = log_size.bytes;
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last_print = 0;
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% prebuf = buffer(1:12);
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last_print = -1e10;
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startTime=clock;
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while (1)
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if (feof(fid)); break; end
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%% Read message header
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% get sync field (0x3C, 1 byte)
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sync = fread(fid, 1, 'uint8');
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if sync ~= correctSyncByte
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prebuf = [prebuf(2:end); sync];
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wrongSyncByte = wrongSyncByte + 1;
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continue
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end
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%% Process header if we are aligned
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timestamp = typecast(uint8(prebuf(1:4)), 'uint32');
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datasize = typecast(uint8(prebuf(5:12)), 'uint64');
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sync = buffer(bufferIdx+12);
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if buffer(bufferIdx+12) ~= correctSyncByte
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bufferIdx=bufferIdx+1;
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wrongSyncByte = wrongSyncByte + 1;
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continue
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end
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%% Process header, if we are aligned
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% timestamp = typecast(buffer(bufferIdx:bufferIdx + 4-1), 'uint32'); %We do this one later
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datasizeBufferIdx = bufferIdx; %Just grab the index. We'll do a typecast later, if necessary
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% sync = buffer(bufferIdx+12); %This one has already been done
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msgType = buffer(bufferIdx+13); % get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
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% msgSize = typecast(buffer(bufferIdx+14:bufferIdx+ 14+2-1), 'uint16'); % NOT USED: get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
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objID = typecast(buffer(bufferIdx+16:bufferIdx+ 16+4-1), 'uint32'); % get obj id (quint32 4 bytes)
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% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
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msgType = fread(fid, 1, 'uint8');
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%Advance buffer past header
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bufferIdx=bufferIdx+20;
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%Check that message type is correct
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if msgType ~= correctMsgByte
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wrongMessageByte = wrongMessageByte + 1;
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continue
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end
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% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
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msgSize = fread(fid, 1, 'uint16');
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% get obj id (quint32 4 bytes)
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objID = fread(fid, 1, 'uint32');
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if (isempty(objID)) %End of file
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break;
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@ -110,15 +115,18 @@ $(SWITCHCODE)
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otherwise
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unknownObjIDListIdx=find(unknownObjIDList(:,1)==objID, 1, 'first');
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if isempty(unknownObjIDListIdx)
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unknownObjIDList=[unknownObjIDList; objID 1];
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unknownObjIDList=[unknownObjIDList; uint32(objID) 1]; %#ok<AGROW>
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else
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unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1;
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unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1;
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end
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datasize = typecast(buffer(datasizeBufferIdx + 4:datasizeBufferIdx + 12-1), 'uint64');
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msgBytesLeft = datasize - 1 - 1 - 2 - 4;
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if msgBytesLeft > 255
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msgBytesLeft = 0;
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end
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fread(fid, msgBytesLeft, 'uint8');
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bufferIdx=bufferIdx+msgBytesLeft;
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end
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catch
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% One of the reads failed - indicates EOF
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@ -126,42 +134,41 @@ $(SWITCHCODE)
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end
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if (wrongSyncByte ~= lastWrongSyncByte || wrongMessageByte~=lastWrongMessageByte ) ||...
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(ftell(fid) / log_size - last_print) > 0.01
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bufferIdx - last_print > 5e4 %Every 50,000 bytes show the status update
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lastWrongSyncByte=wrongSyncByte;
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lastWrongMessageByte=wrongMessageByte;
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str1=[];
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for i=1:length([str2 str3 str4 str5]);
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str1=[str1 sprintf('\b')];
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str1=[str1 sprintf('\b')]; %#ok<AGROW>
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end
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str2=sprintf('wrongSyncByte instances: % 10d\n', wrongSyncByte );
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str3=sprintf('wrongMessageByte instances: % 10d\n\n', wrongMessageByte );
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str4=sprintf('Completed bytes: % 9d of % 9d\n', ftell(fid), log_size);
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str4=sprintf('Completed bytes: % 9d of % 9d\n', bufferIdx, length(buffer));
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% Arbitrary times two so that it is at least as long
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estTimeRemaining=(log_size-ftell(fid))/(ftell(fid)/etime(clock,startTime)) * 2;
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estTimeRemaining=(length(buffer)-bufferIdx)/(bufferIdx/etime(clock,startTime)) * 2;
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h=floor(estTimeRemaining/3600);
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m=floor((estTimeRemaining-h*3600)/60);
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s=ceil(estTimeRemaining-h*3600-m*60);
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str5=sprintf('Est. time remaining, %02dh:%02dm:%02ds \n', h,m,s);
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last_print = ftell(fid) / log_size;
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last_print = bufferIdx;
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fprintf([str1 str2 str3 str4 str5]);
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end
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%Check if at end of file. If not, load next prebuffer
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if bufferIdx+12-1 > length(buffer)
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break;
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end
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% bufferIdx=bufferIdx+12;
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prebuf = fread(fid, 12, 'uint8');
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end
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fprintf('%d records in %0.2f seconds.\n', ftell(fid), etime(clock,startTime));
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for i=2:size(unknownObjIDList,1) %Don't show the first one, as it was simply a dummy placeholder
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disp(['Unknown object ID: 0x' dec2hex(unknownObjIDList(i,1),8) ' appeared ' int2str(unknownObjIDList(i,2)) ' times.']);
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end
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for i=2:size(unknownObjIDList,1) %Don't show the first one, as it was simply a dummy placeholder
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disp(['Unknown object ID: 0x' dec2hex(unknownObjIDList(i,1),8) ' appeared ' int2str(unknownObjIDList(i,2)) ' times.']);
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@ -170,28 +177,23 @@ end
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%% Clean Up and Save mat file
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fclose(fid);
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% Trim output structs
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%% Prune vectors
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$(CLEANUPCODE)
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%% Perform typecasting on vectors
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$(FUNCTIONSCODE)
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if strcmpi(outputType,'mat')
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matfile = strrep(logfile,'opl','mat');
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save(matfile $(SAVEOBJECTSCODE));
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else
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$(EXPORTCSVCODE);
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$(EXPORTCSVCODE)
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end
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fprintf('%d records in %0.2f seconds.\n', length(buffer), etime(clock,startTime));
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%% Object reading functions
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$(FUNCTIONSCODE)
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% This function prunes the excess pre-allocated space
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function [structOut]=PruneStructOfArrays(structIn, lastIndex)
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fieldNames = fieldnames(structIn);
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for i=1:length(fieldNames)
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structOut.(fieldNames{i})=structIn.(fieldNames{i})(:,1:lastIndex);
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end
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function OPLog2csv(structIn, structName, logfile)
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@ -229,3 +231,28 @@ function crc = compute_crc(data)
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crc = crc_table(1+bitxor(data(i),crc));
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end
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function out=mcolon(inStart, inFinish)
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%% This function was inspired by Bruno Luong's 'mcolon'. The name is kept the same as his 'mcolon'
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% function, found on Matlab's file exchange. The two functions return identical
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% results, although his is much faster. Unfortunately, C-compiled mex
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% code would make this function non-cross-platform, so a Matlab scripted
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% version is provided here.
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if size(inStart,1) > 1 || size(inFinish,1) > 1
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if size(inStart,2) > 1 || size(inFinish,2) > 1
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error('Inputs must be vectors, i.e just one column wide.')
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else
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inStart=inStart';
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inFinish=inFinish';
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end
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end
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diffIn=diff([inStart; inFinish]);
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numElements=sum(diffIn)+length(inStart);
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out=zeros(1,numElements);
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idx=1;
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for i=1:length(inStart)
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out(idx:idx+diffIn(i))=inStart(i):inFinish(i);
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idx=idx+diffIn(i)+1;
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end
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@ -31,7 +31,9 @@ using namespace std;
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bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
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fieldTypeStrMatlab << "int8" << "int16" << "int32"
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<< "uint8" << "uint16" << "uint32" << "float32" << "uint8";
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<< "uint8" << "uint16" << "uint32" << "single" << "uint8";
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fieldSizeStrMatlab << "1" << "2" << "4"
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<< "1" << "2" << "4" << "4" << "1";
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QDir matlabTemplatePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects"));
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QDir matlabOutputPath = QDir( outputpath + QString("matlab") );
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@ -46,7 +48,8 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
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for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
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ObjectInfo* info=parser->getObjectByIndex(objidx);
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process_object(info);
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int numBytes=parser->getNumBytes(objidx);
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process_object(info, numBytes);
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}
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matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
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@ -68,7 +71,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
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/**
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* Generate the matlab object files
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*/
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bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
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{
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if (info == NULL)
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return false;
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@ -82,12 +85,15 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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QString functionCall(functionName + "(fid, timestamp, checkCRC, ");
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QString objectID(QString().setNum(info->id));
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QString isSingleInst = boolTo01String( info->isSingleInst );
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QString numBytesString=QString("%1").arg(numBytes);
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//===================================================================//
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// Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
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//===================================================================//
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// matlabSwitchCode.append("\t\tcase " + objectID + "\n");
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matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n");
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QString type;
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QString allocfields;
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@ -121,6 +127,9 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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}
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matlabAllocationCode.append(allocfields);
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matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
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matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
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matlabAllocationCode.append("\t" + objectName + "FidIdx = [];\n");
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//==============================================================//
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@ -130,8 +139,8 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
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// matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
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matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
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matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
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if(0){
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matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n");
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matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +".timestamp) %Check to see if pre-allocated memory is exhausted\n");
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matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n");
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@ -139,12 +148,22 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n");
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matlabSwitchCode.append("\t\t\t\tend\n");
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matlabSwitchCode.append("\t\t\tend\n");
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} else{
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matlabSwitchCode.append("\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + ") = bufferIdx; %#ok<*AGROW>\n");
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matlabSwitchCode.append("\t\t\tbufferIdx=bufferIdx + " + objectTableName.toUpper() + "_NUMBYTES+1; %+1 is for CRC\n");
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if(!info->isSingleInst){
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matlabSwitchCode.append("\t\t\tbufferIdx = bufferIdx + 2; %An extra two bytes for the instance ID\n");
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}
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matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +"FidIdx) %Check to see if pre-allocated memory is exhausted\n");
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matlabSwitchCode.append("\t\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + "*2) = 0;\n");
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matlabSwitchCode.append("\t\t\tend\n");
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}
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//============================================================//
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// Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
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//============================================================//
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matlabCleanupCode.append(objectTableName + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +");\n" );
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// //============================================================//
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// // Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
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// //============================================================//
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matlabCleanupCode.append(objectTableName + "FidIdx =" + objectTableName + "FidIdx(1:" + tableIdxName +");\n" );
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//========================================================================//
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@ -163,51 +182,98 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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// Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
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//=================================================================//
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//Generate function description comment
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matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
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matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
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if(0){
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matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
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matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
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matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
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matlabFunctionsCode.append("\t\theaderSize = 8;\n");
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matlabFunctionsCode.append("\telse\n");
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matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
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matlabFunctionsCode.append("\t\theaderSize = 10;\n");
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matlabFunctionsCode.append("\tend\n\n");
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matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
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// Generate functions code, actual fields of the object
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QString funcfields;
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matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n");
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matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
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matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
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matlabFunctionsCode.append("\t\theaderSize = 8;\n");
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matlabFunctionsCode.append("\telse\n");
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matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
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matlabFunctionsCode.append("\t\theaderSize = 10;\n");
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matlabFunctionsCode.append("\tend\n\n");
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine type
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type = fieldTypeStrMatlab[info->fields[n]->type];
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// Append field
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if ( info->fields[n]->numElements > 1 )
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
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else
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
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// Generate functions code, actual fields of the object
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QString funcfields;
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matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n");
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine type
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type = fieldTypeStrMatlab[info->fields[n]->type];
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// Append field
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if ( info->fields[n]->numElements > 1 )
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
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else
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
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}
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matlabFunctionsCode.append(funcfields);
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matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n");
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// matlabFunctionsCode.append(QString("\tobjLen - %1 -headerSize\n").arg(numBytes));
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matlabFunctionsCode.append("\t% read CRC\n");
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matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n");
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matlabFunctionsCode.append("\tif checkCRC\n");
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matlabFunctionsCode.append("\t\tfseek(fid, startPos, 'bof');\n");
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matlabFunctionsCode.append("\t\tcrc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));\n");
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matlabFunctionsCode.append("\t\tfread(fid,1,'uint8');\n");
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matlabFunctionsCode.append("\t\tif (crc_calc ~= crc_read)\n");
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matlabFunctionsCode.append("\t\t\tdisp('CRC Error')\n");
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matlabFunctionsCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName + " - 1;\n");
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matlabFunctionsCode.append("\t\tend\n");
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matlabFunctionsCode.append("\tend\n");
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matlabFunctionsCode.append("\n\n");
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}
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matlabFunctionsCode.append(funcfields);
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else{
|
||||
matlabFunctionsCode.append("% " + objectName + " typecasting\n");
|
||||
QString funcfields;
|
||||
|
||||
matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n");
|
||||
//Add timestamp
|
||||
funcfields.append("\t" + objectName + ".timestamp = " +
|
||||
"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
|
||||
"- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
|
||||
|
||||
matlabFunctionsCode.append("\t% read CRC\n");
|
||||
matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n");
|
||||
int currentIdx=0;
|
||||
|
||||
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");
|
||||
//Add instance, if necessary
|
||||
if(!info->isSingleInst){
|
||||
funcfields.append("\t" + objectName + ".instanceID = " +
|
||||
"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
|
||||
", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
|
||||
currentIdx+=2;
|
||||
}
|
||||
|
||||
matlabFunctionsCode.append("\n\n");
|
||||
for (int n = 0; n < info->fields.length(); ++n) {
|
||||
// Determine type
|
||||
type = fieldTypeStrMatlab[info->fields[n]->type];
|
||||
|
||||
//Determine variable length
|
||||
QString size = fieldSizeStrMatlab[info->fields[n]->type];
|
||||
// Append field
|
||||
if ( info->fields[n]->numElements > 1 ){
|
||||
funcfields.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{
|
||||
funcfields.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;
|
||||
}
|
||||
matlabFunctionsCode.append(funcfields);
|
||||
matlabFunctionsCode.append("\n");
|
||||
|
||||
}
|
||||
|
||||
// ActuatorSettings.ChannelUpdateFreq(:,actuatorsettingsIdx) = double(fread(fid, 4, 'uint16'));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -35,7 +35,7 @@ public:
|
||||
bool generate(UAVObjectParser* gen,QString templatepath,QString outputpath);
|
||||
|
||||
private:
|
||||
bool process_object(ObjectInfo* info);
|
||||
bool process_object(ObjectInfo* info, int numBytes);
|
||||
QString matlabAllocationCode;
|
||||
QString matlabSwitchCode;
|
||||
QString matlabCleanupCode;
|
||||
@ -43,6 +43,7 @@ private:
|
||||
QString matlabExportCsvCode;
|
||||
QString matlabFunctionsCode;
|
||||
QStringList fieldTypeStrMatlab;
|
||||
QStringList fieldSizeStrMatlab;
|
||||
|
||||
};
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user