forked from AndyLi-26/ardupilog
-
Notifications
You must be signed in to change notification settings - Fork 0
/
LogMsgGroup.m
444 lines (408 loc) · 18.8 KB
/
LogMsgGroup.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
classdef LogMsgGroup < dynamicprops & matlab.mixin.Copyable
properties (Access = {?Ardupilog})
data_len = 0; % Len of data portion for this message (neglecting 2-byte header + 1-byte ID)
format = ''; % Format string of data (e.g. QBIHBcLLefffB, QccCfLL, etc.)
fieldInfo = []; % Array of meta.DynamicProperty items
fieldNameCell = {}; % Cell-array of field names, to reduce run-time
bootDatenumUTC = NaN; % The datenum at boot, set by Ardupilog
alphaPrefix = 'f'; % Character prefix for validating property labels starting from a digit
end
properties (Access = public)
typeNumID = -1; % Numerical ID of message type (e.g. 128=FMT, 129=PARM, 130=GPS, etc.)
fieldUnits = struct();
fieldMultipliers = struct();
name = ''; % Human readable name of msg group
LineNo = [];
MsgInstance = 0; % Some messages refer to multiple instances of the same format.
end
properties (Dependent = true)
TimeS; % Time in seconds since boot.
DatenumUTC; % MATLAB datenum of UTC Time at boot
end
methods
function obj = LogMsgGroup(type_num, type_name, data_length, format_string, field_names_string, instance)
if nargin == 0
% This is an empty constructor, MATLAB requires it to exist
return
end
if nargin > 5 % instance was passed
obj.MsgInstance = instance;
end
obj.storeFormat(type_num, type_name, data_length, format_string, field_names_string);
end
function [] = storeFormat(obj, type_num, type_name, data_length, format_string, field_names_string)
if isempty(field_names_string)
obj.fieldNameCell = {};
else
obj.fieldNameCell = strsplit(field_names_string,',');
end
% Verify that format and labels agree
if length(format_string)~=length(obj.fieldNameCell)
warning('incompatible data on msg type=%d/%s', type_num, type_name);
obj = []; % Clear the instance and return %TODO this is kind of messy
return
end
% For each of the fields
for ndx = 1:length(obj.fieldNameCell)
fieldNameStr = obj.sanitizeFieldName(obj.fieldNameCell{ndx});
% Create a dynamic property with field name, and add to fieldInfo array
if isempty(obj.fieldInfo)
obj.fieldInfo = addprop(obj, fieldNameStr);
else
obj.fieldInfo(end+1) = addprop(obj, fieldNameStr);
end
% Put field format char (e.g. Q, c, b, h, etc.) into 'Description' field
obj.fieldInfo(end).Description = format_string(ndx);
end
% Save FMT data into private properties (Not actually used anywhere?)
obj.typeNumID = type_num;
obj.name = type_name;
obj.data_len = data_length;
obj.format = format_string;
% Assert that the provided message length and format agree
obj.verifyTypeLengths();
end
function [] = storeData(obj, data)
% Store the message data (from the data matrix) into the
% appropriate fields based on the column ordering.
% Format and store the msgData appropriately
columnIndex = 1;
for field_ndx = 1:length(obj.fieldInfo)
% Find corresponding field name
field_name_string = obj.fieldNameCell{field_ndx};
if isstrprop(field_name_string(1),'digit') % Check if first label is a digit
field_name_string = strcat(obj.alphaPrefix,field_name_string); % Add a alphabetic character as prefix
end
% select-and-format fieldData
switch obj.fieldInfo(field_ndx).Description
case 'a' % int16_t[32]
fieldLen = 2*32;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(uint8(tempArray),'int16'), [], 32));
case 'b' % int8_t
fieldLen = 1;
obj.(field_name_string) = double(typecast(data(:,columnIndex-1 +(1:fieldLen)),'int8'));
case 'B' % uint8_t
fieldLen = 1;
obj.(field_name_string) = double(typecast(data(:,columnIndex-1 +(1:fieldLen)),'uint8'));
case 'h' % int16_t
fieldLen = 2;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'int16'),[],1));
case 'H' % uint16_t
fieldLen = 2;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'uint16'),[],1));
case 'i' % int32_t
fieldLen = 4;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'int32'),[],1));
case 'I' % uint32_t
fieldLen = 4;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'uint32'),[],1));
case 'q' % int64_t
fieldLen = 8;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'int64'),[],1));
case 'Q' % uint64_t
fieldLen = 8;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'uint64'),[],1));
case 'f' % float (32 bits)
fieldLen = 4;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'single'),[],1));
case 'd' % double
fieldLen = 8;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'double'),[],1));
case 'n' % char[4]
fieldLen = 4;
obj.(field_name_string) = char(data(:,columnIndex-1 +(1:fieldLen)));
case 'N' % char[16]
fieldLen = 16;
obj.(field_name_string) = char(data(:,columnIndex-1 +(1:fieldLen)));
case 'Z' % char[64]
fieldLen = 64;
obj.(field_name_string) = char(data(:,columnIndex-1 +(1:fieldLen)));
case 'c' % int16_t * 100
fieldLen = 2;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'int16'),[],1))/100;
case 'C' % uint16_t * 100
fieldLen = 2;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'uint16'),[],1))/100;
case 'e' % int32_t * 100
fieldLen = 4;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'int32'),[],1))/100;
case 'E' % uint32_t * 100
fieldLen = 4;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'uint32'),[],1))/100;
case 'L' % int32_t (Latitude/Longitude)
fieldLen = 4;
tempArray = reshape(data(:,columnIndex-1 +(1:fieldLen))',1,[]);
obj.(field_name_string) = double(reshape(typecast(tempArray,'int32'),[],1))/1e7;
case 'M' % uint8_t (Flight mode)
fieldLen = 1;
obj.(field_name_string) = double(typecast(data(:,columnIndex-1 +(1:fieldLen)),'uint8'));
otherwise
warning(['Unsupported format character: ',obj.fieldInfo(field_ndx).Description,...
' --- Storing data as uint8 array.']);
end
columnIndex = columnIndex + fieldLen;
end
end
function [] = setLineNo(obj, LineNo)
obj.LineNo = LineNo;
end
function [fieldName] = sanitizeFieldName(obj, inputName)
% Prepend prefix if field name is numeric
if isstrprop(inputName(1),'digit') % Check if first label is a digit
fieldName = strcat(obj.alphaPrefix,inputName); % Add a alphabetic character as prefix
else
fieldName = inputName;
end
end
function [] = setUnitNames(obj, NamesCell)
% Store a string cell array with the unit names
% Validate input
if length(obj.fieldNameCell)~=length(NamesCell)
error('Wrong input length');
end
for fieldIdx=1:length(NamesCell)
fieldName = obj.sanitizeFieldName(obj.fieldNameCell{fieldIdx});
obj.fieldUnits.(fieldName) = NamesCell{fieldIdx};
end
end
function [] = setMultValues(obj, MultArray)
% Store an array containing the field value multipliers
% Validate input
if length(obj.fieldNameCell)~=length(MultArray)
error('Wrong input length');
end
for fieldIdx=1:length(MultArray)
fieldName = obj.sanitizeFieldName(obj.fieldNameCell{fieldIdx});
obj.fieldMultipliers.(fieldName) = MultArray(fieldIdx);
end
end
function [] = setBootDatenumUTC(obj, bootDatenumUTC)
obj.bootDatenumUTC = bootDatenumUTC;
end
function [] = verifyTypeLengths(obj)
% First, assert that the length(obj.format) == numel(obj.fieldNameCell)
if length(obj.format) > numel(obj.fieldNameCell)
warning([obj.name, ' format string ', obj.format,...
' has more (char) elements than defined fields. ',...
'Only using the first ', num2str(numel(obj.fieldNameCell)),...
': ', obj.format(1:numel(obj.fieldNameCell))]);
end
if length(obj.format) < numel(obj.fieldNameCell)
error([obj.name, ' format string: ', obj.format, ' with length ',...
num2str(length(obj.format)), ' does not provide (char)',...
' formats for all ', num2str(numel(obj.fieldNameCell)),...
' field names (in fieldNameCell)'])
end
% Next, verify that the FMT-specified message length agrees with
% the sum of the lengths of each (char) format type. (e.g. for 'bbQQ'
% since 'b'=int8=1byte, 'Q'=uint64=8bytes, the correct length would be
% 1+1+8+8=18)
length_sum = 0;
for varType = obj.format
length_sum = length_sum + formatLength(varType);
end
if (length_sum+3 ~= obj.data_len)
warning(sprintf('Incompatible declared message type length (%d) and format length (%d) in msg %d/%s',obj.data_len, length_sum+3, obj.typeNumID, obj.name));
end
end
function timeS = get.TimeS(obj)
if isprop(obj, 'TimeUS')
timeS = obj.TimeUS/1e6;
elseif isprop(obj, 'TimeMS')
timeS = obj.TimeMS/1e3;
else
timeS = NaN(size(obj.LineNo));
end
end
function datenumUTC = get.DatenumUTC(obj)
datenumUTC = obj.bootDatenumUTC + obj.TimeS/60/60/24;
end
function [answer, instanceFieldName] = isInstanced(obj)
answer = false;
instanceFieldName = '';
units = fieldnames(obj.fieldUnits);
for unit=units'
unitname = unit{1};
type = obj.fieldUnits.(unitname);
if strcmp(type, 'instance')
answer = true;
instanceFieldName = unitname;
end
end
end
function [slice, remainder] = getSlice(obj, slice_values, slice_type)
% This returns an indexed portion (a "slice") of a LogMsgGroup
% Example:
% cruise_gps_msgs = GPS.getSlice([t_begin_cruise, t_end_cruise], 'TimeUS')
% will return a smaller LogMsgGroup than GPS, only containing data
% between TimeUS values greater than t_begin_cruise and less than
% t_end_cruise.
if isprop(obj, slice_type)
% Find indices corresponding to slice_values, from slice_type
switch slice_type
case 'LineNo'
start_ndx = find(obj.LineNo >= slice_values(1),1,'first');
end_ndx = find(obj.LineNo <= slice_values(2),1,'last');
slice_ndx = start_ndx:1:end_ndx;
case 'TimeS'
start_ndx = find(obj.TimeS >= slice_values(1),1,'first');
end_ndx = find(obj.TimeS <= slice_values(2),1,'last');
slice_ndx = start_ndx:1:end_ndx;
case 'MsgInstance'
targetInstance = slice_values;
[isInstanced, instanceFieldName] = obj.isInstanced();
if ~isInstanced
error('Message does not support instances');
end
slice_ndx = find(obj.(instanceFieldName)==targetInstance);
otherwise
error(['Unsupported slice type: ', slice_type]);
end
else
slice_ndx = [];
end
% If the slice is not valid, return an empty LogMsgGroup
% HGM TODO: We need to improve this validity-checking. For instance, what if the slice_ndx is negative? That's not valid
if isempty(slice_ndx)
slice = LogMsgGroup.empty();
return
end
% End HGM TODO
% Create the slice as a new LogMsgGroup
field_names_string = strjoin(obj.fieldNameCell,',');
slice = LogMsgGroup(obj.typeNumID, obj.name, obj.data_len, obj.format, field_names_string, obj.MsgInstance);
% For each data field, copy the slice of data, identified by slice_ndx
for field_name = slice.fieldNameCell
% HGM: The following is valid for 1-dim and 2-dim fields.
% - Should we extend to n-dim fields?
% - If yes, is there a standard way to do this?
% -- one approach: Could build string_statement from ndims() and repeating ',:' ndims()-1 times, then calling with eval(string_statement)
% -- MATLAB, or the community, might already have this solved
slice.(field_name{1}) = obj.(field_name{1})(slice_ndx,:);
end
% Copy also the LineNo slice and set the bootDatenum
slice.setLineNo(obj.LineNo(slice_ndx));
slice.setBootDatenumUTC(obj.bootDatenumUTC);
slice.fieldUnits = obj.fieldUnits;
slice.fieldMultipliers = obj.fieldMultipliers;
end
end
methods(Access=protected)
function cpObj = copyElement(obj)
% Makes copy() into a "deep copy" method (i.e. when copying
% a LogMsgGroup, the new copy also has all the data stored
% in dynamic-property fields (e.g. TimeUS))
% Create a standard copy (to copy non-dynamic properties)
cpObj = [email protected](obj);
% Deep-copy the Dynamic Properties
for ndx = 1:length(obj.fieldInfo)
% Create a new dynamic property in the copy
cpObj.fieldInfo(ndx) = addprop(cpObj, obj.fieldInfo(ndx).Name);
% Copy the data from the original
cpObj.(obj.fieldInfo(ndx).Name) = obj.(obj.fieldInfo(ndx).Name);
end
end
end
end
function len = formatLength(varType)
% FORMATLENGTH return the size of the input variable type as designated
% Format characters in the format string for binary log messages
% a : int16_t[32] (array of 32 int16_t's)
% b : int8_t
% B : uint8_t
% h : int16_t
% H : uint16_t
% i : int32_t
% I : uint32_t
% f : float
% d : double
% n : char[4]
% N : char[16]
% Z : char[64]
% c : int16_t * 100
% C : uint16_t * 100
% e : int32_t * 100
% E : uint32_t * 100
% L : int32_t latitude/longitude
% M : uint8_t flight mode
% q : int64_t
% Q : uint64_t
switch varType
case 'a' % int16_t[32] (array of 32 int16_t's)
len = 2*32;
case 'b' % int8_t
len = 1;
case 'B' % uint8_t
len = 1;
case 'h' % int16_t
len = 2;
case 'H' % uint16_t
len = 2;
case 'i' % int32_t
len = 4;
case 'I' % uint32_t
len = 4;
case 'q' % int64_t
len = 8;
case 'Q' % uint64_t
len = 8;
case 'f' % float (32 bits)
len = 4;
case 'd' % double
len = 8;
case 'n' % char[4]
len = 4;
case 'N' % char[16]
len = 16;
case 'Z' % char[64]
len = 64;
case 'c' % int16_t * 100
len = 2;
case 'C' % uint16_t * 100
len = 2;
case 'e' % int32_t * 100
len = 4;
case 'E' % uint32_t * 100
len = 4;
case 'L' % int32_t (Latitude/Longitude)
len = 4;
case 'M' % uint8_t (Flight mode)
len = 1;
otherwise
error('Unknown variable type designator');
end
end
% Format characters in the format string for binary log messages
% a : int16_t[32] (array of 32 int16_t's)
% b : int8_t
% B : uint8_t
% h : int16_t
% H : uint16_t
% i : int32_t
% I : uint32_t
% f : float
% d : double
% n : char[4]
% N : char[16]
% Z : char[64]
% c : int16_t * 100
% C : uint16_t * 100
% e : int32_t * 100
% E : uint32_t * 100
% L : int32_t latitude/longitude
% M : uint8_t flight mode
% q : int64_t
% Q : uint64_t