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Added CRC calculation to the matlab log parsing
This commit is contained in:
James Cotton
parent
3026527801
commit
6d6c7cac60
@ -3,6 +3,7 @@ function [] = OPLogConvert(varargin)
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% THIS FILE IS AUTOMATICALLY GENERATED.
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outputType='mat'; %Default output is a .mat file
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checkCRC = false;
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if nargin==0
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%%
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@ -32,26 +33,30 @@ correctMsgByte=hex2dec('20');
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correctSyncByte=hex2dec('3C');
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% Parse log file, entry by entry
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prebuf = fread(fid, 12, 'uint8');
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while (1)
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%% Read logging header
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timestamp = fread(fid, 1, '*uint32');
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if (feof(fid)); break; end
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datasize = fread(fid, 1, '*int64');
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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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disp ('Wrong sync byte');
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return
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end
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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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% 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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if msgType ~= correctMsgByte
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disp ('Wrong msgType');
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return
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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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@ -62,6 +67,7 @@ while (1)
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end
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%% Read object
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try
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switch objID
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$(SWITCHCODE)
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otherwise
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@ -69,7 +75,12 @@ $(SWITCHCODE)
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msgBytesLeft = datasize - 1 - 1 - 2 - 4;
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fread(fid, msgBytesLeft, 'uint8');
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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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break;
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end
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prebuf = fread(fid, 12, 'uint8');
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end
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%% Clean Up and Save mat file
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@ -127,3 +138,28 @@ function OPLog2csv(structIn, structName, logfile)
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dlmwrite(csvfile, headerOut, '');
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dlmwrite(csvfile, matOut, '-append');
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function crc = compute_crc(data)
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crc_table = [ ...
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hex2dec('00'),hex2dec('07'),hex2dec('0e'),hex2dec('09'),hex2dec('1c'),hex2dec('1b'),hex2dec('12'),hex2dec('15'),hex2dec('38'),hex2dec('3f'),hex2dec('36'),hex2dec('31'),hex2dec('24'),hex2dec('23'),hex2dec('2a'),hex2dec('2d'), ...
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hex2dec('70'),hex2dec('77'),hex2dec('7e'),hex2dec('79'),hex2dec('6c'),hex2dec('6b'),hex2dec('62'),hex2dec('65'),hex2dec('48'),hex2dec('4f'),hex2dec('46'),hex2dec('41'),hex2dec('54'),hex2dec('53'),hex2dec('5a'),hex2dec('5d'), ...
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hex2dec('e0'),hex2dec('e7'),hex2dec('ee'),hex2dec('e9'),hex2dec('fc'),hex2dec('fb'),hex2dec('f2'),hex2dec('f5'),hex2dec('d8'),hex2dec('df'),hex2dec('d6'),hex2dec('d1'),hex2dec('c4'),hex2dec('c3'),hex2dec('ca'),hex2dec('cd'), ...
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hex2dec('90'),hex2dec('97'),hex2dec('9e'),hex2dec('99'),hex2dec('8c'),hex2dec('8b'),hex2dec('82'),hex2dec('85'),hex2dec('a8'),hex2dec('af'),hex2dec('a6'),hex2dec('a1'),hex2dec('b4'),hex2dec('b3'),hex2dec('ba'),hex2dec('bd'), ...
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hex2dec('c7'),hex2dec('c0'),hex2dec('c9'),hex2dec('ce'),hex2dec('db'),hex2dec('dc'),hex2dec('d5'),hex2dec('d2'),hex2dec('ff'),hex2dec('f8'),hex2dec('f1'),hex2dec('f6'),hex2dec('e3'),hex2dec('e4'),hex2dec('ed'),hex2dec('ea'), ...
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hex2dec('b7'),hex2dec('b0'),hex2dec('b9'),hex2dec('be'),hex2dec('ab'),hex2dec('ac'),hex2dec('a5'),hex2dec('a2'),hex2dec('8f'),hex2dec('88'),hex2dec('81'),hex2dec('86'),hex2dec('93'),hex2dec('94'),hex2dec('9d'),hex2dec('9a'), ...
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hex2dec('27'),hex2dec('20'),hex2dec('29'),hex2dec('2e'),hex2dec('3b'),hex2dec('3c'),hex2dec('35'),hex2dec('32'),hex2dec('1f'),hex2dec('18'),hex2dec('11'),hex2dec('16'),hex2dec('03'),hex2dec('04'),hex2dec('0d'),hex2dec('0a'), ...
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hex2dec('57'),hex2dec('50'),hex2dec('59'),hex2dec('5e'),hex2dec('4b'),hex2dec('4c'),hex2dec('45'),hex2dec('42'),hex2dec('6f'),hex2dec('68'),hex2dec('61'),hex2dec('66'),hex2dec('73'),hex2dec('74'),hex2dec('7d'),hex2dec('7a'), ...
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hex2dec('89'),hex2dec('8e'),hex2dec('87'),hex2dec('80'),hex2dec('95'),hex2dec('92'),hex2dec('9b'),hex2dec('9c'),hex2dec('b1'),hex2dec('b6'),hex2dec('bf'),hex2dec('b8'),hex2dec('ad'),hex2dec('aa'),hex2dec('a3'),hex2dec('a4'), ...
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hex2dec('f9'),hex2dec('fe'),hex2dec('f7'),hex2dec('f0'),hex2dec('e5'),hex2dec('e2'),hex2dec('eb'),hex2dec('ec'),hex2dec('c1'),hex2dec('c6'),hex2dec('cf'),hex2dec('c8'),hex2dec('dd'),hex2dec('da'),hex2dec('d3'),hex2dec('d4'), ...
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hex2dec('69'),hex2dec('6e'),hex2dec('67'),hex2dec('60'),hex2dec('75'),hex2dec('72'),hex2dec('7b'),hex2dec('7c'),hex2dec('51'),hex2dec('56'),hex2dec('5f'),hex2dec('58'),hex2dec('4d'),hex2dec('4a'),hex2dec('43'),hex2dec('44'), ...
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hex2dec('19'),hex2dec('1e'),hex2dec('17'),hex2dec('10'),hex2dec('05'),hex2dec('02'),hex2dec('0b'),hex2dec('0c'),hex2dec('21'),hex2dec('26'),hex2dec('2f'),hex2dec('28'),hex2dec('3d'),hex2dec('3a'),hex2dec('33'),hex2dec('34'), ...
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hex2dec('4e'),hex2dec('49'),hex2dec('40'),hex2dec('47'),hex2dec('52'),hex2dec('55'),hex2dec('5c'),hex2dec('5b'),hex2dec('76'),hex2dec('71'),hex2dec('78'),hex2dec('7f'),hex2dec('6a'),hex2dec('6d'),hex2dec('64'),hex2dec('63'), ...
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hex2dec('3e'),hex2dec('39'),hex2dec('30'),hex2dec('37'),hex2dec('22'),hex2dec('25'),hex2dec('2c'),hex2dec('2b'),hex2dec('06'),hex2dec('01'),hex2dec('08'),hex2dec('0f'),hex2dec('1a'),hex2dec('1d'),hex2dec('14'),hex2dec('13'), ...
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hex2dec('ae'),hex2dec('a9'),hex2dec('a0'),hex2dec('a7'),hex2dec('b2'),hex2dec('b5'),hex2dec('bc'),hex2dec('bb'),hex2dec('96'),hex2dec('91'),hex2dec('98'),hex2dec('9f'),hex2dec('8a'),hex2dec('8d'),hex2dec('84'),hex2dec('83'), ...
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hex2dec('de'),hex2dec('d9'),hex2dec('d0'),hex2dec('d7'),hex2dec('c2'),hex2dec('c5'),hex2dec('cc'),hex2dec('cb'),hex2dec('e6'),hex2dec('e1'),hex2dec('e8'),hex2dec('ef'),hex2dec('fa'),hex2dec('fd'),hex2dec('f4'),hex2dec('f3') ...
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];
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crc = 0;
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for i = 1:length(data)
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crc = crc_table(1+bitxor(data(i),crc));
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end
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@ -79,7 +79,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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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, ");
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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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@ -166,6 +166,8 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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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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@ -177,6 +179,8 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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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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@ -188,8 +192,20 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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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("\t% read CRC\n");
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matlabFunctionsCode.append("\tfread(fid, 1, '*uint8');\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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