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68 lines
1.4 KiB
Matlab
68 lines
1.4 KiB
Matlab
function [] = OPLogConvert()
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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 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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