From c562091be32b26824bec6921f5c89eeb627f4c4e Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Thu, 26 Feb 2015 19:28:50 +0100
Subject: [PATCH] First stab at generating for matlab_coder
---
tools/lc_to_matlab_coder.py | 108 ++++++++++++++++++++++++++++++++++++
1 file changed, 108 insertions(+)
create mode 100755 tools/lc_to_matlab_coder.py
diff --git a/tools/lc_to_matlab_coder.py b/tools/lc_to_matlab_coder.py
new file mode 100755
index 0000000..f1fbf36
--- /dev/null
+++ b/tools/lc_to_matlab_coder.py
@@ -0,0 +1,108 @@
+#!/usr/bin/python
+
+import sys
+import imp
+import subprocess
+import os
+import labcomm
+
+TRANSLATE={
+ labcomm.SHORT() : 'short',
+ labcomm.DOUBLE() : 'double'
+}
+
+def compile_lc(lc):
+ p = subprocess.Popen([ 'labcomm2014', '--python=/dev/stdout', lc],
+ stdout=subprocess.PIPE)
+ src = p.stdout.read()
+ code = compile(src, 'lc_import', 'exec')
+ mod = sys.modules.setdefault('lc_import', imp.new_module('lc_import'))
+ exec code in mod.__dict__
+ import lc_import
+ return (lc_import.typedef, lc_import.sample)
+
+def gen_binding(decl, lc_prefix, prefix, suffix):
+ if isinstance(decl, labcomm.sample):
+ if isinstance(decl.decl, labcomm.typedef):
+ print "%(n1)s = coder.cstructname(%(n1)s, '%(lc)s_%(n2)s')" % dict(
+ n1=decl.name, n2=decl.decl.name, lc=lc_prefix)
+ else:
+ print "%(n1)s = coder.cstructname(%(n1)s, '%(lc)s_%(n2)s')" % dict(
+ n1=decl.name, n2=decl.name, lc=lc_prefix)
+ gen_binding(decl.decl, lc_prefix, '%s.' % decl.name, suffix)
+ elif isinstance(decl, labcomm.typedef):
+ print "%(p)s%(s)s = coder.cstructname(%(p)s%(s)s, '%(lc)s_%(n)s')" % dict(
+ n=decl.name, lc=lc_prefix, p=prefix, s=suffix)
+ gen_binding(decl.decl, lc_prefix, prefix, suffix)
+ elif isinstance(decl, labcomm.array):
+ raise Exception("Array unhandled")
+ elif isinstance(decl, labcomm.struct):
+ for n, d in decl.field:
+ gen_binding(d, lc_prefix, '%sFields.%s' % (prefix, n), suffix)
+ elif isinstance(decl, labcomm.primitive):
+ pass
+ else:
+ raise Exception("Unhandled type. %s", decl)
+
+def gen_sample(lc_prefix, decl):
+ if isinstance(decl, labcomm.sample):
+ print "%s = " % decl.name,
+ gen_sample(lc_prefix, decl.decl)
+ print
+ gen_binding(decl, lc_prefix, '', '')
+ elif isinstance(decl, labcomm.typedef):
+ # Expand in place
+ gen_sample(lc_prefix, decl.decl)
+ elif isinstance(decl, labcomm.array):
+ raise Exception("Array unhandled")
+ elif isinstance(decl, labcomm.struct):
+ print "struct(..."
+ for n, d in decl.field:
+ print "'%s, " % n,
+ gen_sample(lc_prefix, d)
+ print ")..."
+ elif isinstance(decl, labcomm.primitive):
+ print "%s(0), ..." % TRANSLATE[decl]
+ else:
+ raise Exception("Unhandled type. %s", decl)
+
+"""
+robtarget = struct(...
+ 'orientation', ...
+ struct(...
+ 'q1', double(0), ...
+ 'q2', double(0), ...
+ 'q3', double(0), ...
+ 'q4', double(0) ...
+ ), ...
+ 'translation', ...
+ struct(...
+ 'x', double(0), ...
+ 'y', double(0), ...
+ 'z', double(0) ...
+ ), ...
+ 'configuration', ...
+ struct(...
+ 'cf1', int16(0), ...
+ 'cf4', int16(0), ...
+ 'cf6', int16(0), ...
+ 'cfx', int16(0) ...
+ ) ...
+);
+robtarget_types = coder.typeof(robtarget);
+
+act = coder.cstructname(robtarget_types, 'egm_pb2lc_robtarget');
+act.Fields.translation = coder.cstructname(act.Fields.translation, 'egm_pb2lc_cartesian');
+act.Fields.orientation = coder.cstructname(act.Fields.orientation, 'egm_pb2lc_quaternion');
+act.Fields.configuration = coder.cstructname(act.Fields.configuration, 'egm_pb2lc_confdata');
+"""
+
+def gen_matlab(lc):
+ lc_prefix = os.path.basename(lc).split('.')[0]
+ typedef, sample = compile_lc(lc)
+ for s in sample:
+ gen_sample(lc_prefix, s.signature)
+
+if __name__ == '__main__':
+ for lc in sys.argv[1:]:
+ gen_matlab(lc)
--
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