Code reorganization

.gitignore

@@ -0,0 +1 @@
+Generated/*

create_bus_from_mavlink_header.m → Functions/create_bus_from_mavlink_header.m

@@ -1,12 +1,7 @@
 function [busObj, bus_name, bus_orig_dtypes] = create_bus_from_mavlink_header(filename)
-% CREATE_BUS_FROM_MAVLINK_HEADER: Create a Simulink Bus from a single 
-% MAVLink message header file
-% 
-% NOTE: This function is called by another function create_sfun_header,
-%       so the user would typically not have to directly use this function.
+% CREATE_BUS_FROM_MAVLINK_HEADER: Create a Simulink Bus from a MAVLink message header file
 %
-% Input: string containing the MAVLink message header file name
-% 
+% Input: string containing the header file name.
 % Output: 
 %    busObj: bus object
 %    bus_name: string containing name of the bus
@@ -19,14 +14,14 @@
 fid = fopen(filename, 'r');
 datatypes = readtable('datatype_map.csv','ReadVariableNames',1);
 
-% Skip lines till "MAVPACKED"
+% Assume that the first line containing "typedef struct __" is the message
+% definition.
 lin = fgetl(fid);
-while ~contains(lin,'MAVPACKED')
+while ~startsWith(lin, 'typedef struct __')
     lin = fgetl(fid);
 end
 
-% Next line is "typedef struct" - extract bus name from this
-lin = fgetl(fid);
+% Extract bus name
 bus_name = strtrim(erase(lin,{'typedef struct __','{'}));
 bus_orig_dtypes = struct;
 
@@ -44,12 +39,13 @@
     if isempty(dimensions)
         dimensions = 1;
     else
+        % DO NOT CHANGE the following to str2double
         dimensions = str2num(dimensions{1});
         name = regexp(name,'\[(\d*)\]','split');
         name = name{1};
     end
 
-    idx = find(strcmp(datatype,datatypes.mavlink), 1);
+    idx = find(strcmp(datatype,datatypes.px4), 1);
     if isempty(idx)
         error(['Could not find datatype ' datatype ' in datatype_map.csv'])
     else
@@ -59,7 +55,7 @@
         busElements(nfields).DataType = char(datatypes.simulink(idx));
         busElements(nfields).Dimensions = dimensions;
         busElements(nfields).Description = description;
-        bus_orig_dtypes.(name) = char(datatypes.mavlink(idx));
+        bus_orig_dtypes.(name) = char(datatypes.px4(idx));
     end
     lin = fgetl(fid);
 end

create_sfun_decode.m → Functions/create_sfun_decode.m

@@ -3,19 +3,10 @@ function create_sfun_decode(filenames, sys_id, comp_id)
 % messages from an incoming MAVLink stream
 %
 % Inputs:
-%   filenames: strings containing the full path to the MAVLink messages
-%             header file names. These files must be created as a part of a
-%             single MAVLink dialect, and must reside in the directory 
-%             structure of the corresponding dialect. In other words, the
-%             directory containing this message file must also contain the
-%             "mavlink.h" file, and its parent directory must contain the
-%             other commond mavlink files such as "protocol.h".
-% 
-%             NOTE: To ensure compiler independence, provide the full paths
-%                   of the message files, and not relative paths.
-% 
-%   sys_id:   MAVLink SYSID to be used for Simulink (default 100)
-%   comp_id:  MAVLink COMPID to be used for Simulink (default 200)
+%   filenames: cell array of strings containing the MAVLink message header
+%              files for messages to be decoded
+%   sys_id: MAVLink SYSID to be used for Simulink (default 100)
+%   comp_id: MAVLink COMPID to be used for Simulink (default 200)
 %
 % Output:
 %   This function creates the Simulink buses, the s-function header files,
@@ -24,20 +15,14 @@ function create_sfun_decode(filenames, sys_id, comp_id)
 %Part of the Simulink MAVLink package.
 %(c) Aditya Joshi, November 2017
 
-
-%% Parse inputs
-
 if ~iscell(filenames), filenames = {filenames}; end
 
-disp('*** Running create_sfun_decode:')
+disp('--')
+disp('Creating decoder s-function:')
 
 if nargin < 2, sys_id = 100; end
 if nargin < 3, comp_id = 200; end
 
-pathname = fileparts(mfilename('fullpath'));
-sfun_include_dir = fullfile(pathname,'include');
-mavlink_dialect_dir = fileparts(filenames{1});
-
 
 %% Create message header files
 
@@ -47,12 +32,13 @@ function create_sfun_decode(filenames, sys_id, comp_id)
 end
 
 
-%% Create decode header file
+%% Create header file
 
-fprintf('Creating s-function header file... ')
+fprintf('Writing the decoder s-function header file... ')
 
-header_filename = fullfile(sfun_include_dir,'sfun_decode_mavlink.h');
-fid = fopen(header_filename,'w');
+header_filename = 'Generated/sfun_decode_mavlink.h';
+
+fid = fopen(header_filename, 'w');
 
 % Write header
 fprintf(fid,'%s\n','/*');
@@ -62,9 +48,9 @@ function create_sfun_decode(filenames, sys_id, comp_id)
 fprintf(fid,'%s\n','*/');
 fprintf(fid,'%s\n','');
 
-% Include sfun headers
+% Include message headers
 for i = 1:length(filenames)
-    fprintf(fid,'%s\n',['#include "' sfun_include_dir filesep 'sfun_mavlink_msg_' mavlink_msg_names{i} '.h"']);
+    fprintf(fid,'%s\n',['#include "sfun_mavlink_msg_' mavlink_msg_names{i} '.h"']);
 end
 
 % Define NFIELDS_OUTPUT_BUS
@@ -120,8 +106,8 @@ function create_sfun_decode(filenames, sys_id, comp_id)
 
 %% Create cpp file
 
-output_filename = 'sfun_decode_mavlink';
-fprintf(['Creating the output file ' output_filename '.cpp ... ']);
+output_filename = 'Generated/sfun_decode_mavlink';
+fprintf(['Writing source file ' output_filename '.cpp ... ']);
 
 fin = fopen('sfun_decode_mavlink_template.cpp','r');
 fout = fopen([output_filename '.cpp'],'w');
@@ -158,12 +144,13 @@ function create_sfun_decode(filenames, sys_id, comp_id)
                 fprintf(fout,'%s\n',['#define COMP_ID ' num2str(comp_id)]);
 
             case 3
-                % include mavlink common header
-                fprintf(fout,'%s\n',['#include "' mavlink_dialect_dir filesep 'mavlink.h"']);
+                % include mavlink.h file
+                mavlink_h = strcat(fileparts(filenames{1}), filesep, 'mavlink.h');
+                fprintf(fout,'%s\n',['#include "' mavlink_h '"']);
 
             case 4
-                % include header file
-                fprintf(fout,'%s\n',['#include "' header_filename '"']);
+                % include message header file
+                fprintf(fout,'%s\n', '#include "sfun_decode_mavlink.h"');
 
             case 5
                 % configure output ports
@@ -229,12 +216,9 @@ function create_sfun_decode(filenames, sys_id, comp_id)
 %% Compile cpp file
 
 disp('Compiling the s-function...')
-eval(['mex ' output_filename '.cpp']);
-
-movefile([output_filename '.*'],'sfunctions');
-disp('S-function source and compiled files are in the folder ''sfunctions''')
-
-% Add the sfunctions directory to path
-addpath(fullfile(pathname,'sfunctions'));
+eval('cd Generated')
+eval('mex sfun_decode_mavlink.cpp');
+eval('cd ..')
 
-disp('***')
+disp('Finished, compiled s-function is in the folder ''Generated''')
+disp('--')

create_sfun_encode.m → Functions/create_sfun_encode.m

@@ -3,19 +3,9 @@ function create_sfun_encode(filename, sys_id, comp_id)
 % message
 %
 % Inputs:
-%   filename: string containing the full path to the MAVLink message
-%             header file name. This file must be created as a part of a
-%             MAVLink dialect, and must reside in the directory structure
-%             of the corresponding dialect. In other words, the directory
-%             containing this message file must also contain the
-%             "mavlink.h" file, and its parent directory must contain the
-%             other commond mavlink files such as "protocol.h".
-% 
-%             NOTE: To ensure compiler independence, provide the full path
-%                   of the message file, and not relative path.
-% 
-%   sys_id:   MAVLink SYSID to be used for Simulink (default 100)
-%   comp_id:  MAVLink COMPID to be used for Simulink (default 200)
+%   filename: string containing the MAVLink message header file
+%   sys_id: MAVLink SYSID to be used for Simulink (default 100)
+%   comp_id: MAVLink COMPID to be used for Simulink (default 200)
 %
 % Output:
 %   This function creates the Simulink bus, the s-function header file, the
@@ -25,27 +15,21 @@ function create_sfun_encode(filename, sys_id, comp_id)
 %(c) Aditya Joshi, November 2017
 
 
-%% Parse inputs
+%% Create header file
+
+disp('--')
+disp(['Creating encoder s-function for ' filename ':'])
 
 if nargin < 2, sys_id = 100; end
 if nargin < 3, comp_id = 200; end
-
-pathname = fileparts(mfilename('fullpath'));
-sfun_include_dir = fullfile(pathname,'include');
-mavlink_dialect_dir = fileparts(filename);
-
-
-%% Create header file
-
-disp(' ')
-disp(['*** Running create_sfun_encode for ' filename ':'])
+
 mavlink_msg_name = create_sfun_header(filename);
 
 
 %% Create cpp file
 
-output_filename = ['sfun_encode_msg_' mavlink_msg_name];
-fprintf(['Creating the output file ' output_filename '.cpp ... ']);
+output_filename = ['Generated/sfun_encode_msg_' mavlink_msg_name];
+fprintf(['Writing source file ' output_filename '.cpp ... ']);
 
 fin = fopen('sfun_encode_msg_template.cpp','r');
 fout = fopen([output_filename '.cpp'],'w');
@@ -83,24 +67,22 @@ function create_sfun_encode(filename, sys_id, comp_id)
                 fprintf(fout,'%s\n',['#define COMP_ID ' num2str(comp_id)]);
 
             case 4
-                fprintf(fout,'%s\n',['#include "' mavlink_dialect_dir filesep 'mavlink.h"']);
+                mavlink_h = strcat(fileparts(filename), filesep, 'mavlink.h');
+                fprintf(fout,'%s\n',['#include "' mavlink_h '"']);
 
             case 5
-                fprintf(fout,'%s\n',['#include "' sfun_include_dir filesep 'sfun_mavlink_msg_' mavlink_msg_name '.h"']);
+                fprintf(fout,'%s\n',['#include "sfun_mavlink_msg_' mavlink_msg_name '.h"']);
 
             case 6
                 fprintf(fout,'\t%s\n',['ssRegisterTypeFromNamedObject(S, BUS_NAME_' upper(mavlink_msg_name) ', &BusType);']);
-
+                   
             case 7
-                fprintf(fout,'\t%s\n',['ssSetOutputPortWidth(S, 0, ENCODED_LEN_' upper(mavlink_msg_name) ');']);
-
-            case 8
                 fprintf(fout,'\t%s\n',['int_T *busInfo = (int_T *) malloc(2*NFIELDS_BUS_' upper(mavlink_msg_name) '*sizeof(int_T));']);
 
-            case 9
+            case 8
                 fprintf(fout,'\t%s\n',['encode_businfo_' mavlink_msg_name '(S, busInfo, 0);']);
 
-            case 10
+            case 9
                 fprintf(fout,'\t%s\n',['encode_vector_' mavlink_msg_name '(uvec, busInfo, yvec, 0);']);    
         end
 
@@ -119,13 +101,11 @@ function create_sfun_encode(filename, sys_id, comp_id)
 %% Compile cpp file
 
 disp('Compiling the s-function...')
+eval('cd Generated')
+output_filename = ['sfun_encode_msg_' mavlink_msg_name];
 eval(['mex ' output_filename '.cpp']);
+eval('cd ..')
 
-movefile([output_filename '.*'],'sfunctions');
-disp('S-function source and compiled files are in the folder ''sfunctions''')
-
-% Add the sfunctions directory to path
-addpath(fullfile(pathname,'sfunctions'));
-
-disp('***')
+disp('Finished, compiled s-function is in the folder ''Generated''')
+disp('--')
 

create_sfun_header.m → Functions/create_sfun_header.m

@@ -1,56 +1,38 @@
 function mavlink_msg_name = create_sfun_header(filename)
-% CREATE_SFUN_HEADER: Create the message header files to be included in the
-%                     s-functions used in the Simulink MAVLink library
-% 
-% NOTE: This function is called by other functions create_sfun_encode and
-%       create_sfun_decode, so the user would typically not have to
-%       directly use this function.
+% CREATE_SFUN_HEADER: Create the message header files for s-functions in Simulink MAVLink
 %
 % Inputs:
-%   filename: string containing the full path to the MAVLink message
-%             header file name. This file must be created as a part of a
-%             MAVLink dialect, and must reside in the directory structure
-%             of the corresponding dialect. In other words, the directory
-%             containing this message file must also contain the
-%             "mavlink.h" file, and its parent directory must contain the
-%             other commond mavlink files such as "protocol.h".
-%             NOTE: To ensure compiler independence, provide the full path
-%                   of the message file, and not relative path.
+%   mavlink_msg_name: string containing the name of the mavlink message. In the
+%                     standard naming convention, everythin after the "mavlink_msg_"
+%                     in the name of the mavlink header file is considered the
+%                     message name. e.g. if the header file is "mavlink_msg_altitude",
+%                     the message name is "altitude".
+%   simulink_bus: the Simulink bus object corresponding to this message. This bus
+%                     is created by the function "create_bus_from_mavlink_header"
 %
-% Output: The function creates the .h header file in the "include"
-%         directory of the Simulink MAVLink library.
+% Output: the function creates the .h header file in the "include" directory.
 %
 %Part of the Simulink MAVLink package.
 %(c) Aditya Joshi, October 2017
 
 
-%% Parse inputs
-
-pathname = fileparts(mfilename('fullpath'));
-
-
 %% Create and save bus
 
-disp('**')
-
 fprintf('Creating Simulink bus from message... ');
 [simulink_bus, simulink_bus_name, bus_orig_dtypes] = create_bus_from_mavlink_header(filename);
 assignin('base',simulink_bus_name,simulink_bus);
-disp('done');
+
 eval([simulink_bus_name '= simulink_bus;'])
-busfilename = ['buses/bus_' simulink_bus_name '.mat'];
+busfilename = ['Generated/bus_' simulink_bus_name '.mat'];
 save(busfilename,simulink_bus_name);
-disp(['Bus is saved in ' busfilename]);
-
-% Add the buses directory to path
-addpath(fullfile(pathname,'buses'));
+disp(['done, bus is saved in ' busfilename]);
 
 
 %% Prepare header file
 
-fprintf('Creating the s-function header file... ');
+fprintf('Writing the message s-function header file... ');
 mavlink_msg_name = erase(simulink_bus_name,{'mavlink_','_t'});
-fileName = fullfile(pathname,'include',['sfun_mavlink_msg_' mavlink_msg_name '.h']);
+fileName = ['Generated/sfun_mavlink_msg_' mavlink_msg_name '.h'];
 fid = fopen(fileName,'w');
 
 
@@ -65,7 +47,6 @@
 % Use full path in the #include statements
 fprintf(fid,'%s\n','');
 fprintf(fid,'%s\n',['#include "' filename '"']);
-fprintf(fid,'%s\n','');
 fprintf(fid,'%s\n',['#define BUS_NAME_' upper(mavlink_msg_name) ' "' simulink_bus_name '"']);
 fprintf(fid,'%s\n',['#define NFIELDS_BUS_' upper(mavlink_msg_name) ' ' num2str(length(simulink_bus.Elements))]);
 fprintf(fid,'%s\n',['#define ENCODED_LEN_' upper(mavlink_msg_name) ' (MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_' upper(mavlink_msg_name) '_LEN)']);
@@ -198,7 +179,5 @@
 
 
 fclose(fid);
-disp('done');
-disp(['Header file is saved in ' fileName]);
+disp(['done, header file is saved in ' fileName]);
 
-disp('**')

datatype_map.csv → Functions/datatype_map.csv

@@ -1,4 +1,4 @@
-mavlink,simulink
+px4,simulink
 uint8_t,uint8
 int8_t,int8
 uint16_t,uint16