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Code Issues Releases Activity

Patch from Kenn for the matlab processing function to fix issue with multiple

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isntance objects
This commit is contained in:
James Cotton 2011-11-09 12:49:50 -06:00
parent 813ac65159
commit 6fd2426a90
3 changed files with 125 additions and 85 deletions
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109
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
View File

@ -1,58 +1,65 @@
function [] = OPLogConvert() function [] = OPLogConvert()
%% Define indices and arrays of structures to hold data %% Define indices and arrays of structures to hold data
% THIS FILE IS AUTOMATICALLY GENERATED.
$(ALLOCATIONCODE) $(ALLOCATIONCODE)
%% Open file %% Open log file
%fid = fopen('log.opl'); % [FileName,PathName,FilterIndex] = uigetfile('*.opl');
[FileName,PathName,FilterIndex] = uigetfile('*.opl');
logfile = strcat(PathName,FileName); FileName='OP-2011-10-22_22-27-09.opl';
fid = fopen(logfile); PathName='/Users/kenz/Movies/brisk_videos/rover_test_1/';
FilterIndex=1;
while (1)
%% Read logging header
timestamp = fread(fid, 1, 'uint32'); logfile = fullfile(PathName,FileName);
if (feof(fid)); break; end fid = fopen(logfile);
datasize = fread(fid, 1, 'int64');
% Parse log file, entry by entry
while (1)
%% Read message header %% Read logging header
% get sync field (0x3C, 1 byte) timestamp = fread(fid, 1, 'uint32');
sync = fread(fid, 1, 'uint8'); if (feof(fid)); break; end
if sync ~= hex2dec('3C') datasize = fread(fid, 1, 'int64');
disp ('Wrong sync byte');
return
end %% Read message header
% get msg type (quint8 1 byte ) should be 0x20, ignore the rest? % get sync field (0x3C, 1 byte)
msgType = fread(fid, 1, 'uint8'); sync = fread(fid, 1, 'uint8');
if msgType ~= hex2dec('20') if sync ~= hex2dec('3C')
disp ('Wrong msgType'); disp ('Wrong sync byte');
return return
end end
% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload % get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
msgSize = fread(fid, 1, 'uint16'); msgType = fread(fid, 1, 'uint8');
% get obj id (quint32 4 bytes) if msgType ~= hex2dec('20')
objID = fread(fid, 1, 'uint32'); disp ('Wrong msgType');
return
end
%% Read object % get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
switch objID msgSize = fread(fid, 1, 'uint16');
$(SWITCHCODE) % get obj id (quint32 4 bytes)
otherwise objID = fread(fid, 1, 'uint32');
disp('Unknown object ID');
msgBytesLeft = datasize - 1 - 1 - 2 - 4;
fread(fid, msgBytesLeft, 'uint8'); %% Read object
end switch objID
$(SWITCHCODE)
end otherwise
disp(['Unknown object ID: 0x' dec2hex(objID)]);
%% Clean Up and Save mat file msgBytesLeft = datasize - 1 - 1 - 2 - 4;
fclose(fid); fread(fid, msgBytesLeft, 'uint8');
end
matfile = strrep(logfile,'opl','mat');
save(matfile $(SAVEOBJECTSCODE));
end end
%% Clean Up and Save mat file
fclose(fid);
matfile = strrep(logfile,'opl','mat');
save(matfile $(SAVEOBJECTSCODE));
%% Object reading functions %% Object reading functions
$(FUNCTIONSCODE) $(FUNCTIONSCODE)

99
ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
View File

@ -50,7 +50,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
} }
matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode); matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwithCode); matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode); matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode); matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
@ -71,6 +71,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
if (info == NULL) if (info == NULL)
return false; return false;
//Declare variables
QString objectName(info->name); QString objectName(info->name);
// QString objectTableName(objectName + "Objects"); // QString objectTableName(objectName + "Objects");
QString objectTableName(objectName); QString objectTableName(objectName);
@ -80,39 +81,71 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
QString objectID(QString().setNum(info->id)); QString objectID(QString().setNum(info->id));
QString isSingleInst = boolTo01String( info->isSingleInst ); QString isSingleInst = boolTo01String( info->isSingleInst );
// Generate allocation code (will replace the $(ALLOCATIONCODE) tag)
matlabAllocationCode.append("\n " + tableIdxName + " = 1;\n"); //===================================================================//
matlabAllocationCode.append(" " + objectTableName + ".timestamp = 0;\n"); // Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
QString type; //===================================================================//
QString allocfields; // matlabSwitchCode.append("\t\tcase " + objectID + "\n");
for (int n = 0; n < info->fields.length(); ++n) { matlabAllocationCode.append("\n\t" + tableIdxName + " = 1;\n");
// Determine type QString type;
type = fieldTypeStrMatlab[info->fields[n]->type]; QString allocfields;
// Append field if (0){
if ( info->fields[n]->numElements > 1 ) matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n");
allocfields.append(" " + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n"); for (int n = 0; n < info->fields.length(); ++n) {
else // Determine type
allocfields.append(" " + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n"); type = fieldTypeStrMatlab[info->fields[n]->type];
} // Append field
if ( info->fields[n]->numElements > 1 )
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n");
else
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
}
}
else{
matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(1," + QString::number(info->fields[n]->numElements, 10) + ")");
else
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
}
allocfields.append(");\n");
}
matlabAllocationCode.append(allocfields); matlabAllocationCode.append(allocfields);
matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
// Generate 'swith:' code (will replace the $(SWITCHCODE) tag)
matlabSwithCode.append(" case " + objectID + "\n");
matlabSwithCode.append(" " + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
matlabSwithCode.append(" " + tableIdxName + " = " + tableIdxName +" + 1;\n");
// Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag) //=============================================================//
// Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
//=============================================================//
matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
//=============================================================================//
// Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag) //
//=============================================================================//
matlabSaveObjectsCode.append(",'"+objectTableName+"'"); matlabSaveObjectsCode.append(",'"+objectTableName+"'");
// Generate functions code (will replace the $(FUNCTIONSCODE) tag) matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
//=================================================================//
// Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
//=================================================================//
//Generate function description comment
matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + "\n"); matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + "\n");
matlabFunctionsCode.append(" if " + isSingleInst + "\n"); matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
matlabFunctionsCode.append(" headerSize = 8;\n"); matlabFunctionsCode.append("\t\theaderSize = 8;\n");
matlabFunctionsCode.append(" else\n"); matlabFunctionsCode.append("\telse\n");
matlabFunctionsCode.append(" " + objectName + ".instanceID = fread(fid, 1, 'uint16');\n"); matlabFunctionsCode.append("\t\t" + objectName + ".instanceID = fread(fid, 1, 'uint16');\n");
matlabFunctionsCode.append(" headerSize = 10;\n"); matlabFunctionsCode.append("\t\theaderSize = 10;\n");
matlabFunctionsCode.append(" end\n\n"); matlabFunctionsCode.append("\tend\n\n");
matlabFunctionsCode.append(" " + objectName + ".timestamp = timestamp;\n"); matlabFunctionsCode.append("\t" + objectName + ".timestamp = timestamp;\n");
// Generate functions code, actual fields of the object // Generate functions code, actual fields of the object
QString funcfields; QString funcfields;
@ -122,16 +155,16 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
type = fieldTypeStrMatlab[info->fields[n]->type]; type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field // Append field
if ( info->fields[n]->numElements > 1 ) if ( info->fields[n]->numElements > 1 )
funcfields.append(" " + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n"); funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
else else
funcfields.append(" " + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n"); funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n");
} }
matlabFunctionsCode.append(funcfields); matlabFunctionsCode.append(funcfields);
matlabFunctionsCode.append(" % read CRC\n"); matlabFunctionsCode.append("\t% read CRC\n");
matlabFunctionsCode.append(" fread(fid, 1, 'uint8');\n"); matlabFunctionsCode.append("\tfread(fid, 1, 'uint8');\n");
matlabFunctionsCode.append("end\n\n"); matlabFunctionsCode.append("\n\n");
return true; return true;
} }

2
ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
View File

@ -37,7 +37,7 @@ public:
private: private:
bool process_object(ObjectInfo* info); bool process_object(ObjectInfo* info);
QString matlabAllocationCode; QString matlabAllocationCode;
QString matlabSwithCode; QString matlabSwitchCode;
QString matlabSaveObjectsCode; QString matlabSaveObjectsCode;
QString matlabFunctionsCode; QString matlabFunctionsCode;
QStringList fieldTypeStrMatlab; QStringList fieldTypeStrMatlab;