function [] = OPLogConvert()
%% Define indices and arrays of structures to hold data
% THIS FILE IS AUTOMATICALLY GENERATED.
$(ALLOCATIONCODE)

%% Open log file
% [FileName,PathName,FilterIndex] = uigetfile('*.opl');

FileName='OP-2011-10-22_22-27-09.opl';
PathName='/Users/kenz/Movies/brisk_videos/rover_test_1/';
FilterIndex=1;


logfile = fullfile(PathName,FileName);
fid = fopen(logfile);

% Parse log file, entry by entry
while (1)
	%% Read logging header
	timestamp = fread(fid, 1, 'uint32');
	if (feof(fid)); break; end
	datasize = fread(fid, 1, 'int64');
	
	
	%% Read message header
	% get sync field (0x3C, 1 byte)
	sync = fread(fid, 1, 'uint8');
	if sync ~= hex2dec('3C')
		disp ('Wrong sync byte');
		return
	end
	% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
	msgType = fread(fid, 1, 'uint8');
	if msgType ~= hex2dec('20')
		disp ('Wrong msgType');
		return
	end
	% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
	msgSize = fread(fid, 1, 'uint16');
	% get obj id (quint32 4 bytes)
	objID = fread(fid, 1, 'uint32');
	
	
	%% Read object
	switch objID
$(SWITCHCODE)
		otherwise
			disp(['Unknown object ID: 0x' dec2hex(objID)]);
			msgBytesLeft = datasize - 1 - 1 - 2 - 4;
			fread(fid, msgBytesLeft, 'uint8');
	end
	
end

%% Clean Up and Save mat file
fclose(fid);

matfile = strrep(logfile,'opl','mat');
save(matfile $(SAVEOBJECTSCODE));




%% Object reading functions
$(FUNCTIONSCODE)