mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-17 02:52:12 +01:00
Cleaned up variable names, fixed bug in saving whereby the a log file could be saved over if the extension were not "opl".
This commit is contained in:
Laura Sebesta
parent
69133c1427
commit
699b2f3030
@ -55,7 +55,7 @@ if ~strcmpi(outputType,'mat') && ~strcmpi(outputType,'csv')
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error('Incorrect file format specified. Second argument must be ''mat'' or ''csv''.');
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end
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$(ALLOCATIONCODE)
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$(INSTANTIATIONCODE)
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fid = fopen(logfile);
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@ -182,10 +182,12 @@ $(CLEANUPCODE)
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%% Perform typecasting on vectors
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$(FUNCTIONSCODE)
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$(ALLOCATIONCODE)
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%% Save data to file
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if strcmpi(outputType,'mat')
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matfile = strrep(logfile,'opl','mat');
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[path, name]=fileparts(logfile);
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matfile = fullfile(path,[name '.mat']);
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save(matfile $(SAVEOBJECTSCODE));
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else
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$(EXPORTCSVCODE)
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@ -52,11 +52,11 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
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process_object(info, numBytes);
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}
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matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
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matlabCodeTemplate.replace( QString("$(INSTANTIATIONCODE)"), matlabInstantiationCode);
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matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
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matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode);
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matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
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matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
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matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
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matlabCodeTemplate.replace( QString("$(EXPORTCSVCODE)"), matlabExportCsvCode);
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bool res = writeFile( matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate );
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@ -81,91 +81,103 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
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// QString objectTableName(objectName + "Objects");
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QString objectTableName(objectName);
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QString tableIdxName(objectName.toLower() + "Idx");
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QString functionName("Read" + info->name + "Object");
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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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QString type;
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QString allocfields;
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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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if (0){
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matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\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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allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n");
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else
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allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
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}
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}
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else{
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matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
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if (!info->isSingleInst) {
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allocfields.append(",...\n\t\t 'instanceID', 0");
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}
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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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allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
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else
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allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
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}
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allocfields.append(");\n");
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matlabInstantiationCode.append("\n\t" + tableIdxName + " = 0;\n");
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matlabInstantiationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
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if (!info->isSingleInst) {
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allocfields.append(",...\n\t\t 'instanceID', 0");
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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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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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allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
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else
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allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
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}
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allocfields.append(");\n");
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matlabInstantiationCode.append(allocfields);
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matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
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matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
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matlabInstantiationCode.append("\t" + objectName + "FidIdx = [];\n");
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//==============================================================//
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// Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
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//==============================================================//
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matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\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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matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n");
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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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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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// //============================================================//
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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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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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// 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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// Generate functions code (will replace the $(ALLOCATIONCODE) tag) //
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//=================================================================//
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//Generate function description comment
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matlabAllocationCode.append("% " + objectName + " typecasting\n");
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QString allocationFields;
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//Add timestamp
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allocationFields.append("\t" + objectName + ".timestamp = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
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"- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
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int currentIdx=0;
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//Add Instance ID, if necessary
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if(!info->isSingleInst){
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allocationFields.append("\t" + objectName + ".instanceID = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
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", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
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currentIdx+=2;
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}
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine variabel type
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type = fieldTypeStrMatlab[info->fields[n]->type];
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//Determine variable type length
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QString size = fieldSizeStrMatlab[info->fields[n]->type];
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// Append field
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if ( info->fields[n]->numElements > 1 ){
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allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
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"reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
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", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt()*info->fields[n]->numElements - 1) + ")), '" + type + "')), "+ QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
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}
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else{
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allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
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", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
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}
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currentIdx+=size.toInt()*info->fields[n]->numElements;
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}
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matlabAllocationCode.append(allocationFields);
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matlabAllocationCode.append("\n");
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//========================================================================//
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// Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) //
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//========================================================================//
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@ -177,103 +189,8 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
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//==========================================================================//
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matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '"+objectTableName+"', logfile);\n");
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// OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile)
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//=================================================================//
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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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if(0){
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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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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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// 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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else{
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matlabFunctionsCode.append("% " + objectName + " typecasting\n");
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QString funcfields;
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//Add timestamp
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funcfields.append("\t" + objectName + ".timestamp = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
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"- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
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int currentIdx=0;
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//Add instance, if necessary
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if(!info->isSingleInst){
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funcfields.append("\t" + objectName + ".instanceID = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
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", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
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currentIdx+=2;
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}
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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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//Determine variable length
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QString size = fieldSizeStrMatlab[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 + " = " +
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"reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
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", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt()*info->fields[n]->numElements - 1) + ")), '" + type + "')), "+ QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
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}
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else{
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
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", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
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}
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currentIdx+=size.toInt()*info->fields[n]->numElements;
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}
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matlabFunctionsCode.append(funcfields);
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matlabFunctionsCode.append("\n");
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}
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// ActuatorSettings.ChannelUpdateFreq(:,actuatorsettingsIdx) = double(fread(fid, 4, 'uint16'));
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return true;
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}
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@ -36,12 +36,12 @@ public:
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private:
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bool process_object(ObjectInfo* info, int numBytes);
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QString matlabAllocationCode;
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QString matlabInstantiationCode;
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QString matlabSwitchCode;
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QString matlabCleanupCode;
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QString matlabAllocationCode;
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QString matlabSaveObjectsCode;
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QString matlabExportCsvCode;
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QString matlabFunctionsCode;
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QStringList fieldTypeStrMatlab;
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QStringList fieldSizeStrMatlab;
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