tools/lc_to_matlab_coder.py

+#!/usr/bin/python
+
+import sys
+import imp
+import subprocess
+import os
+import labcomm2014
+
+TRANSLATE={
+    labcomm2014.SHORT() : 'short',
+    labcomm2014.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, labcomm2014.sample):
+        if isinstance(decl.decl, labcomm2014.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, labcomm2014.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, labcomm2014.array):
+         raise Exception("Array unhandled")
+    elif isinstance(decl, labcomm2014.struct):
+        for n, d in decl.field:
+            gen_binding(d, lc_prefix, '%sFields.%s' % (prefix, n), suffix)
+    elif isinstance(decl, labcomm2014.primitive):
+        pass
+    else:
+        raise Exception("Unhandled type. %s", decl)
+    
+def gen_sample(lc_prefix, decl):
+    if isinstance(decl, labcomm2014.sample):
+        print "%s = " % decl.name,
+        gen_sample(lc_prefix, decl.decl)
+        print
+        gen_binding(decl, lc_prefix, '', '')
+    elif isinstance(decl, labcomm2014.typedef):
+        # Expand in place
+        gen_sample(lc_prefix, decl.decl)
+    elif isinstance(decl, labcomm2014.array):
+         raise Exception("Array unhandled")
+    elif isinstance(decl, labcomm2014.struct):
+        print "struct(..."
+        for n, d in decl.field:
+            print "'%s, " % n,
+            gen_sample(lc_prefix, d)
+        print ")..."
+    elif isinstance(decl, labcomm2014.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)