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LogMsgGroup.m
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LogMsgGroup.m
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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 = copyElement@matlab.mixin.Copyable(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