tools/lc2csv.py

+#!/usr/bin/env python
+
+import argparse
+import labcomm2014
+import sys
+import time
+
+
+class Reader(object):
+    def __init__(self, file_):
+        self._file = file_
+
+    def read(self, count):
+        data = self._file.read(count)
+        if len(data) == 0:
+            raise EOFError()
+        return data
+
+    def mark(self, value, decl):
+        pass
+
+
+class FollowingReader(Reader):
+    def __init__(self, file_, interval, timeout):
+        super(FollowingReader, self).__init__(file_)
+        self._interval = interval
+        self._timeout = timeout
+
+    def read(self, count):
+        data = ''
+        t_start = time.time()
+        while len(data) < count:
+            tmp = self._file.read(count - len(data))
+            if tmp:
+                data += tmp
+            else:
+                time.sleep(self._interval)
+                if self._timeout and time.time() - t_start > self._timeout:
+                    raise EOFError()
+        return data
+
+
+def flatten(sample, _type):
+    if isinstance(_type, labcomm2014.sample):
+        flatten(sample, _type.decl)
+    elif isinstance(_type, labcomm2014.array):
+        for e in sample:
+            flatten(e, _type.decl)
+    elif isinstance(_type, labcomm2014.struct):
+        for name, decl in _type.field:
+            flatten(sample[name], decl)
+    elif isinstance(_type, labcomm2014.BOOLEAN):
+        print "%d," % sample,
+    elif isinstance(_type, labcomm2014.STRING):
+        print "\"%s\"," % sample,
+    elif isinstance(_type, labcomm2014.primitive):
+        print "%s," % sample,
+    else:
+        raise Exception("Unhandled type. " + str(type(type_)) + " " + str(type_))
+
+
+def flatten_labels(_type, prefix=""):
+    if isinstance(_type, labcomm2014.sample):
+        flatten_labels(_type.decl, _type.name)
+    elif isinstance(_type, labcomm2014.array):
+        if len(_type.indices) != 1:
+            raise Exception("Fix multidimensional arrays")
+        if len(_type.indices) == 0:
+            raise Exception("We dont't handle dynamical sizes yet %s" % _type)
+        for i in range(0, _type.indices[0]):
+            flatten_labels(_type.decl, prefix + "[%d]" % i)
+    elif isinstance(_type, labcomm2014.struct):
+        for name, decl in _type.field:
+            flatten_labels(decl,
+                           prefix + "." + name)
+    elif isinstance(_type, labcomm2014.primitive):
+        print '"%s",' % prefix,
+    else:
+        raise Exception("Unhandled type. " + str(type(type_)) + " " + str(type_))
+
+
+def default(type_):
+    if isinstance(type_, labcomm2014.sample):
+        return default(type_.decl)
+    elif isinstance(type_, labcomm2014.array):
+        if len(type_.indices) != 1:
+            raise Exception("Fix multidimensional arrays")
+        if len(type_.indices) == 0:
+            raise Exception("We dont't handle dynamical sizes yet %s" % type_)
+        for i in range(0, type_.indices[0]):
+            return [default(type_.decl) for _ in range(type_.indices[0])]
+    elif isinstance(type_, labcomm2014.struct):
+        return {name: default(decl) for name, decl in type_.field}
+    elif isinstance(type_, labcomm2014.STRING):
+        return ''
+    elif isinstance(type_, labcomm2014.BOOLEAN):
+        return False
+    elif (isinstance(type_, labcomm2014.FLOAT) or
+          isinstance(type_, labcomm2014.DOUBLE)):
+        return float('NaN')
+    elif (isinstance(type_, labcomm2014.BYTE) or
+          isinstance(type_, labcomm2014.SHORT) or
+          isinstance(type_, labcomm2014.INTEGER) or
+          isinstance(type_, labcomm2014.LONG)):
+        return 0
+    else:
+        raise Exception("Unhandled type. " + str(type(type_)) + " " + str(type_))
+
+
+def dump(sample, _type):
+    for k in sorted(_type.keys()):
+        flatten(sample[k], _type[k])
+    print
+
+
+def dump_labels(type_):
+    for k in sorted(type_.keys()):
+        flatten_labels(type_[k])
+    print
+
+
+def defaults(current, type_):
+    for k in sorted(type_.keys()):
+        if k not in current:
+            current[k] = default(type_[k])
+
+
+def main(main_args):
+    parser = argparse.ArgumentParser()
+    parser.add_argument('elc', type=str, help="The log file.")
+    parser.add_argument('-f', '--follow', action='store_true',
+                        help="find all registrations that already "
+                        "exist, then watch the file for changes. All "
+                        "future registrations are ignored (because "
+                        "the header has already been written).")
+    parser.add_argument('-s', '--interval', action="store", type=float,
+                        default=0.040,
+                        help="time to sleep between failed reads. Requires -f.")
+    parser.add_argument('-t', '--timeout', action="store", type=float,
+                        help="timeout to terminate when no changes are detected. "
+                        "Requires -f.")
+    parser.add_argument('-w', '--no-default-columns', action="store_true",
+                        help="Do not fill columns for which there is no "
+                        "data with default values. Wait instead until at least "
+                        "one sample has arrived for each registration.")
+    parser.add_argument('-a', '--trigger-all', action="store_true",
+                        help="Output one line for each sample instead of for "
+                        "each sample of the registration that has arrived with "
+                        "the highest frequency.")
+    args = parser.parse_args(main_args)
+    n_samples = {}         # The number of received samples for each sample reg.
+    current = {}           # The most recent sample for each sample reg.
+    type_ = {}             # The type (declaration) of each sample reg.
+    file_ = open(args.elc)
+    if args.follow:
+        reader = FollowingReader(file_, args.interval, args.timeout)
+    else:
+        reader = Reader(file_)
+    d = labcomm2014.Decoder(reader)
+    while True:
+        try:
+            o, t = d.decode()
+            if o is None:
+                n_samples[t.name] = 0
+                type_[t.name] = t
+            else:
+                n_samples[t.name] += 1
+                current[t.name] = o
+                break
+        except EOFError:
+            break
+    dump_labels(type_)
+    if not args.no_default_columns:
+        defaults(current, type_)
+    n_rows = 0
+    while True:
+        try:
+            o, t = d.decode()
+            if o is None:
+                continue
+            current[t.name] = o
+            n_samples[t.name] += 1
+            if len(current) < len(type_):
+                continue
+            if args.trigger_all:
+                dump(current, type_)
+            else:
+                if n_samples[t.name] > n_rows:
+                    n_rows = n_samples[t.name]
+                    dump(current, type_)
+        except EOFError:
+            break
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])

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)