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https://bitbucket.org/librepilot/librepilot.git
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6e0f478f43
Also made several optimization.
193 lines
9.1 KiB
C++
193 lines
9.1 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobjectgeneratormatlab.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief produce matlab code for uavobjects
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "uavobjectgeneratormatlab.h"
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using namespace std;
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bool UAVObjectGeneratorMatlab::generate(UAVObjectParser *parser, QString templatepath, QString outputpath)
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{
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fieldTypeStrMatlab << "int8" << "int16" << "int32"
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<< "uint8" << "uint16" << "uint32" << "single" << "uint8";
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fieldSizeStrMatlab << "1" << "2" << "4"
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<< "1" << "2" << "4" << "4" << "1";
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QDir matlabTemplatePath = QDir(templatepath + QString(MATLAB_CODE_DIR));
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QDir matlabOutputPath = QDir(outputpath + QString("matlab"));
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matlabOutputPath.mkpath(matlabOutputPath.absolutePath());
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QString matlabCodeTemplate = readFile(matlabTemplatePath.absoluteFilePath("uavobject.m.template"));
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if (matlabCodeTemplate.isEmpty()) {
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std::cerr << "Problem reading matlab templates" << endl;
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return false;
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}
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for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
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ObjectInfo *info = parser->getObjectByIndex(objidx);
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int numBytes = parser->getNumBytes(objidx);
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process_object(info, numBytes);
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}
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matlabCodeTemplate.replace(QString("$(INSTANTIATIONCODE)"), matlabInstantiationCode);
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matlabCodeTemplate.replace(QString("$(SWITCHCODE)"), matlabSwitchCode);
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matlabCodeTemplate.replace(QString("$(CLEANUPCODE)"), matlabCleanupCode);
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matlabCodeTemplate.replace(QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
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matlabCodeTemplate.replace(QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
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matlabCodeTemplate.replace(QString("$(EXPORTCSVCODE)"), matlabExportCsvCode);
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bool res = writeFile(matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate);
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if (!res) {
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cout << "Error: Could not write output files" << endl;
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return false;
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}
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return true; // if we come here everything should be fine
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}
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/**
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* Generate the matlab object files
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*/
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bool UAVObjectGeneratorMatlab::process_object(ObjectInfo *info, int numBytes)
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{
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if (info == NULL) {
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return false;
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}
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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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QString tableIdxName(objectName.toLower() + "Idx");
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QString objectID(QString().setNum(info->id));
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QString numBytesString = QString("%1").arg(numBytes);
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// =========================================================================//
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// Generate instantiation code (will replace the $(INSTANTIATIONCODE) tag) //
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// =========================================================================//
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QString type;
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QString instantiationFields;
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matlabInstantiationCode.append("\n\t" + tableIdxName + " = 0;\n");
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matlabInstantiationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
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if (!info->isSingleInst) {
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instantiationFields.append(",...\n\t\t 'instanceID', 0");
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}
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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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instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
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} else {
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instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
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}
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}
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instantiationFields.append(");\n");
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matlabInstantiationCode.append(instantiationFields);
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matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
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matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
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matlabInstantiationCode.append("\t" + objectName + "FidIdx = [];\n");
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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" + tableIdxName + " = " + tableIdxName + " + 1;\n");
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matlabSwitchCode.append("\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + ") = bufferIdx; %#ok<*AGROW>\n");
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matlabSwitchCode.append("\t\t\tbufferIdx=bufferIdx + " + objectTableName.toUpper() + "_NUMBYTES+1; %+1 is for CRC\n");
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matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName + "FidIdx) %Check to see if pre-allocated memory is exhausted\n");
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matlabSwitchCode.append("\t\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + "*2) = 0;\n");
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matlabSwitchCode.append("\t\t\tend\n");
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// ============================================================//
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// Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
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// ============================================================//
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matlabCleanupCode.append(objectTableName + "FidIdx =" + objectTableName + "FidIdx(1:" + tableIdxName + ");\n");
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// =================================================================//
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// Generate functions code (will replace the $(ALLOCATIONCODE) tag) //
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// =================================================================//
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// Generate function description comment
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matlabAllocationCode.append("% " + objectName + " typecasting\n");
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QString allocationFields;
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// Add timestamp
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allocationFields.append("\t" + objectName + ".timestamp = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx "
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"- headerLen - oplHeaderLen, " + objectName + "FidIdx + 3 - headerLen - oplHeaderLen)), 'uint32'))';\n");
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int currentIdx = 0;
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// Add Instance ID, if necessary
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if (!info->isSingleInst) {
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allocationFields.append("\t" + objectName + ".instanceID = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx - 2"
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", " + objectName + "FidIdx - 2 + 1)), 'uint16'))';\n");
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}
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine variabel type
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type = fieldTypeStrMatlab[info->fields[n]->type];
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// Determine variable type length
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QString size = fieldSizeStrMatlab[info->fields[n]->type];
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// Append field
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if (info->fields[n]->numElements > 1) {
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allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
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"reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
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", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() * info->fields[n]->numElements - 1) + ")), '" + type + "')), " + QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
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} else {
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allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
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"double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
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", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
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}
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currentIdx += size.toInt() * info->fields[n]->numElements;
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}
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matlabAllocationCode.append(allocationFields);
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matlabAllocationCode.append("\n");
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// ========================================================================//
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// Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) //
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// ========================================================================//
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matlabSaveObjectsCode.append(",'" + objectTableName + "'");
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// ==========================================================================//
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// Generate objects csv export code (will replace the $(EXPORTCSVCODE) tag) //
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// ==========================================================================//
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matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '" + objectTableName + "', logfile);\n");
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// OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile)
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return true;
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}
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