/** ****************************************************************************** * * @file uavobjectgeneratormatlab.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief produce matlab code for uavobjects * * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "uavobjectgeneratormatlab.h" using namespace std; bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) { fieldTypeStrMatlab << "int8" << "int16" << "int32" << "uint8" << "uint16" << "uint32" << "float32" << "uint8"; QDir matlabTemplatePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects")); QDir matlabOutputPath = QDir( outputpath + QString("matlab") ); matlabOutputPath.mkpath(matlabOutputPath.absolutePath()); QString matlabCodeTemplate = readFile( matlabTemplatePath.absoluteFilePath( "uavobjecttemplate.m") ); if (matlabCodeTemplate.isEmpty() ) { std::cerr << "Problem reading matlab templates" << endl; return false; } for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) { ObjectInfo* info=parser->getObjectByIndex(objidx); process_object(info); } matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode); matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode); matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode); matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode); matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode); matlabCodeTemplate.replace( QString("$(EXPORTCSVCODE)"), matlabExportCsvCode); bool res = writeFile( matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate ); if (!res) { cout << "Error: Could not write output files" << endl; return false; } return true; // if we come here everything should be fine } /** * Generate the matlab object files */ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info) { if (info == NULL) return false; //Declare variables QString objectName(info->name); // QString objectTableName(objectName + "Objects"); QString objectTableName(objectName); QString tableIdxName(objectName.toLower() + "Idx"); QString functionName("Read" + info->name + "Object"); QString functionCall(functionName + "(fid, timestamp, checkCRC, "); QString objectID(QString().setNum(info->id)); QString isSingleInst = boolTo01String( info->isSingleInst ); //===================================================================// // Generate allocation code (will replace the $(ALLOCATIONCODE) tag) // //===================================================================// // matlabSwitchCode.append("\t\tcase " + objectID + "\n"); matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n"); QString type; QString allocfields; if (0){ matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n"); 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("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n"); else allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n"); } } else{ matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0"); if (!info->isSingleInst) { allocfields.append(",...\n\t\t 'instanceID', 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(" + QString::number(info->fields[n]->numElements, 10) + ",1)"); else allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0"); } allocfields.append(");\n"); } matlabAllocationCode.append(allocfields); matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n"); //==============================================================// // 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"); matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n"); matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +".timestamp) %Check to see if pre-allocated memory is exhausted\n"); matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n"); matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n"); matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n"); matlabSwitchCode.append("\t\t\t\tend\n"); matlabSwitchCode.append("\t\t\tend\n"); //============================================================// // Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) // //============================================================// matlabCleanupCode.append(objectTableName + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +");\n" ); //========================================================================// // Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) // //========================================================================// matlabSaveObjectsCode.append(",'"+objectTableName+"'"); //==========================================================================// // Generate objects csv export code (will replace the $(EXPORTCSVCODE) tag) // //==========================================================================// matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '"+objectTableName+"', logfile);\n"); // OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile) //=================================================================// // Generate functions code (will replace the $(FUNCTIONSCODE) tag) // //=================================================================// //Generate function description comment matlabFunctionsCode.append("%%\n% " + objectName + " read function\n"); matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n"); matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n"); matlabFunctionsCode.append("\tif " + isSingleInst + "\n"); matlabFunctionsCode.append("\t\theaderSize = 8;\n"); matlabFunctionsCode.append("\telse\n"); matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n"); matlabFunctionsCode.append("\t\theaderSize = 10;\n"); matlabFunctionsCode.append("\tend\n\n"); // Generate functions code, actual fields of the object QString funcfields; matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n"); 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 ) funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n"); else funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n"); } matlabFunctionsCode.append(funcfields); matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n"); matlabFunctionsCode.append("\t% read CRC\n"); matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n"); 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"); matlabFunctionsCode.append("\n\n"); return true; }