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198 lines
9.0 KiB
C++
198 lines
9.0 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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fieldTypeStrMatlab << "int8" << "int16" << "int32"
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<< "uint8" << "uint16" << "uint32" << "float32" << "uint8";
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QDir matlabTemplatePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects"));
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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( "uavobjecttemplate.m") );
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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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process_object(info);
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}
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matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
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matlabCodeTemplate.replace( QString("$(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("$(FUNCTIONSCODE)"), matlabFunctionsCode);
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matlabCodeTemplate.replace( QString("$(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)
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{
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if (info == NULL)
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return false;
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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 functionName("Read" + info->name + "Object");
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QString functionCall(functionName + "(fid, timestamp, ");
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QString objectID(QString().setNum(info->id));
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QString isSingleInst = boolTo01String( info->isSingleInst );
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//===================================================================//
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// Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
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//===================================================================//
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// matlabSwitchCode.append("\t\tcase " + objectID + "\n");
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matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n");
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QString type;
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QString allocfields;
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if (0){
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matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n");
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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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allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n");
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else
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allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
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}
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}
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else{
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matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
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if (!info->isSingleInst) {
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allocfields.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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allocfields.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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allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
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}
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allocfields.append(");\n");
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}
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matlabAllocationCode.append(allocfields);
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matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\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" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
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matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
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matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n");
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matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +") %Check to see if pre-allocated memory is exhausted\n");
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matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n");
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matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n");
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matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n");
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matlabSwitchCode.append("\t\t\t\tend\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 + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +");\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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//=================================================================//
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// Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
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//=================================================================//
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//Generate function description comment
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matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
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matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
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matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
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matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
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matlabFunctionsCode.append("\t\theaderSize = 8;\n");
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matlabFunctionsCode.append("\telse\n");
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matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
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matlabFunctionsCode.append("\t\theaderSize = 10;\n");
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matlabFunctionsCode.append("\tend\n\n");
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// Generate functions code, actual fields of the object
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QString funcfields;
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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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funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
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else
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funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
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}
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matlabFunctionsCode.append(funcfields);
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matlabFunctionsCode.append("\t% read CRC\n");
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matlabFunctionsCode.append("\tfread(fid, 1, '*uint8');\n");
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matlabFunctionsCode.append("\n\n");
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return true;
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}
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