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Patch from Kenn for the matlab processing function to fix issue with multiple
isntance objects
This commit is contained in:
James Cotton
parent
813ac65159
commit
6fd2426a90
@ -1,58 +1,65 @@
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function [] = OPLogConvert()
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%% Define indices and arrays of structures to hold data
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%% Define indices and arrays of structures to hold data
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% THIS FILE IS AUTOMATICALLY GENERATED.
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$(ALLOCATIONCODE)
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%% Open file
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%fid = fopen('log.opl');
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[FileName,PathName,FilterIndex] = uigetfile('*.opl');
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logfile = strcat(PathName,FileName);
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fid = fopen(logfile);
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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 ~= hex2dec('3C')
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disp ('Wrong sync byte');
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return
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end
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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 ~= hex2dec('20')
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disp ('Wrong msgType');
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return
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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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%% Read object
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switch objID
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$(SWITCHCODE)
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otherwise
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disp('Unknown object ID');
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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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end
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%% Clean Up and Save mat file
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fclose(fid);
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matfile = strrep(logfile,'opl','mat');
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save(matfile $(SAVEOBJECTSCODE));
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%% Open log file
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% [FileName,PathName,FilterIndex] = uigetfile('*.opl');
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FileName='OP-2011-10-22_22-27-09.opl';
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PathName='/Users/kenz/Movies/brisk_videos/rover_test_1/';
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FilterIndex=1;
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logfile = fullfile(PathName,FileName);
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fid = fopen(logfile);
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% Parse log file, entry by entry
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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 ~= hex2dec('3C')
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disp ('Wrong sync byte');
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return
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end
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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 ~= hex2dec('20')
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disp ('Wrong msgType');
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return
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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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%% Read object
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switch objID
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$(SWITCHCODE)
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otherwise
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disp(['Unknown object ID: 0x' dec2hex(objID)]);
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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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end
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%% Clean Up and Save mat file
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fclose(fid);
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matfile = strrep(logfile,'opl','mat');
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save(matfile $(SAVEOBJECTSCODE));
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%% Object reading functions
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$(FUNCTIONSCODE)
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@ -50,7 +50,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
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}
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matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
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matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwithCode);
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matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
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matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
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matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
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@ -71,6 +71,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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if (info == NULL)
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return false;
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//Declare variables
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QString objectName(info->name);
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// QString objectTableName(objectName + "Objects");
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QString objectTableName(objectName);
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@ -80,39 +81,71 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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QString objectID(QString().setNum(info->id));
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QString isSingleInst = boolTo01String( info->isSingleInst );
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// Generate allocation code (will replace the $(ALLOCATIONCODE) tag)
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matlabAllocationCode.append("\n " + tableIdxName + " = 1;\n");
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matlabAllocationCode.append(" " + objectTableName + ".timestamp = 0;\n");
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QString type;
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QString allocfields;
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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(" " + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n");
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else
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allocfields.append(" " + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
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}
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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 + " = 1;\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(1," + QString::number(info->fields[n]->numElements, 10) + ");\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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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(1," + QString::number(info->fields[n]->numElements, 10) + ")");
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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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}
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matlabAllocationCode.append(allocfields);
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matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
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// Generate 'swith:' code (will replace the $(SWITCHCODE) tag)
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matlabSwithCode.append(" case " + objectID + "\n");
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matlabSwithCode.append(" " + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
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matlabSwithCode.append(" " + tableIdxName + " = " + tableIdxName +" + 1;\n");
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// Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag)
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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" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
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matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
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//=============================================================================//
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// Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag) //
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//=============================================================================//
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matlabSaveObjectsCode.append(",'"+objectTableName+"'");
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// Generate functions code (will replace the $(FUNCTIONSCODE) tag)
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matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
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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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matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + "\n");
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matlabFunctionsCode.append(" if " + isSingleInst + "\n");
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matlabFunctionsCode.append(" headerSize = 8;\n");
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matlabFunctionsCode.append(" else\n");
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matlabFunctionsCode.append(" " + objectName + ".instanceID = fread(fid, 1, 'uint16');\n");
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matlabFunctionsCode.append(" headerSize = 10;\n");
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matlabFunctionsCode.append(" end\n\n");
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matlabFunctionsCode.append(" " + objectName + ".timestamp = 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 = 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("\t" + objectName + ".timestamp = timestamp;\n");
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// Generate functions code, actual fields of the object
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QString funcfields;
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@ -122,16 +155,16 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
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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(" " + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
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else
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funcfields.append(" " + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n");
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n");
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}
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matlabFunctionsCode.append(funcfields);
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matlabFunctionsCode.append(" % read CRC\n");
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matlabFunctionsCode.append(" fread(fid, 1, 'uint8');\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("end\n\n");
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matlabFunctionsCode.append("\n\n");
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return true;
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}
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@ -37,7 +37,7 @@ public:
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private:
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bool process_object(ObjectInfo* info);
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QString matlabAllocationCode;
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QString matlabSwithCode;
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QString matlabSwitchCode;
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QString matlabSaveObjectsCode;
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QString matlabFunctionsCode;
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QStringList fieldTypeStrMatlab;
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