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Commit 104ec18e authored by Davide Mor's avatar Davide Mor
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Run formatter

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with 125 additions and 90 deletions
src/main.cpp
+ 125
− 90
View file @ 104ec18e
...@@ -7,20 +7,23 @@ ...@@ -7,20 +7,23 @@
#include <mavlink_lib/pyxis/mavlink.h> #include <mavlink_lib/pyxis/mavlink.h>
#pragma GCC diagnostic pop #pragma GCC diagnostic pop
#include <iostream>
#include <fstream> #include <fstream>
#include <iostream>
#include <string> #include <string>
#include <unordered_map> #include <unordered_map>
const mavlink_message_info_t& get_message_info_for(uint8_t msgid) { const mavlink_message_info_t &get_message_info_for(uint8_t msgid)
{
static const mavlink_message_info_t infos[256] = MAVLINK_MESSAGE_INFO; static const mavlink_message_info_t infos[256] = MAVLINK_MESSAGE_INFO;
return infos[msgid]; return infos[msgid];
} }
class CsvStream { class CsvStream
{
public: public:
CsvStream(std::string path, const mavlink_message_info_t& info) : CsvStream(std::string path, const mavlink_message_info_t &info)
os(), info(info) { : os(), info(info)
{
os.exceptions(std::ifstream::failbit); os.exceptions(std::ifstream::failbit);
os.open(path, std::ios::binary); os.open(path, std::ios::binary);
...@@ -28,51 +31,62 @@ public: ...@@ -28,51 +31,62 @@ public:
format_message_header(); format_message_header();
} }
void put(const mavlink_message_t &msg) { void put(const mavlink_message_t &msg) { format_message(msg); }
format_message(msg);
}
private: private:
void format_field(const mavlink_message_t &msg, int id) { void format_field(const mavlink_message_t &msg, int id)
{
const mavlink_field_info_t &field = info.fields[id]; const mavlink_field_info_t &field = info.fields[id];
if(field.array_length != 0) { if (field.array_length != 0)
{
os << "<array not implemented>"; os << "<array not implemented>";
} else { }
switch(field.type) { else
{
switch (field.type)
{
case MAVLINK_TYPE_CHAR: case MAVLINK_TYPE_CHAR:
os << _MAV_RETURN_char(&msg, field.wire_offset); os << _MAV_RETURN_char(&msg, field.wire_offset);
break; break;
case MAVLINK_TYPE_UINT8_T: case MAVLINK_TYPE_UINT8_T:
os << static_cast<uint64_t>(_MAV_RETURN_uint8_t(&msg, field.wire_offset)); os << static_cast<uint64_t>(
_MAV_RETURN_uint8_t(&msg, field.wire_offset));
break; break;
case MAVLINK_TYPE_UINT16_T: case MAVLINK_TYPE_UINT16_T:
os << static_cast<uint64_t>(_MAV_RETURN_uint16_t(&msg, field.wire_offset)); os << static_cast<uint64_t>(
_MAV_RETURN_uint16_t(&msg, field.wire_offset));
break; break;
case MAVLINK_TYPE_UINT32_T: case MAVLINK_TYPE_UINT32_T:
os << static_cast<uint64_t>(_MAV_RETURN_uint32_t(&msg, field.wire_offset)); os << static_cast<uint64_t>(
_MAV_RETURN_uint32_t(&msg, field.wire_offset));
break; break;
case MAVLINK_TYPE_UINT64_T: case MAVLINK_TYPE_UINT64_T:
os << static_cast<uint64_t>(_MAV_RETURN_uint64_t(&msg, field.wire_offset)); os << static_cast<uint64_t>(
_MAV_RETURN_uint64_t(&msg, field.wire_offset));
break; break;
case MAVLINK_TYPE_INT8_T: case MAVLINK_TYPE_INT8_T:
os << static_cast<int64_t>(_MAV_RETURN_uint8_t(&msg, field.wire_offset)); os << static_cast<int64_t>(
_MAV_RETURN_uint8_t(&msg, field.wire_offset));
break; break;
case MAVLINK_TYPE_INT16_T: case MAVLINK_TYPE_INT16_T:
os << static_cast<int64_t>(_MAV_RETURN_uint16_t(&msg, field.wire_offset)); os << static_cast<int64_t>(
_MAV_RETURN_uint16_t(&msg, field.wire_offset));
break; break;
case MAVLINK_TYPE_INT32_T: case MAVLINK_TYPE_INT32_T:
os << static_cast<int64_t>(_MAV_RETURN_uint32_t(&msg, field.wire_offset)); os << static_cast<int64_t>(
_MAV_RETURN_uint32_t(&msg, field.wire_offset));
break; break;
case MAVLINK_TYPE_INT64_T: case MAVLINK_TYPE_INT64_T:
os << static_cast<int64_t>(_MAV_RETURN_uint64_t(&msg, field.wire_offset)); os << static_cast<int64_t>(
_MAV_RETURN_uint64_t(&msg, field.wire_offset));
break; break;
case MAVLINK_TYPE_FLOAT: case MAVLINK_TYPE_FLOAT:
...@@ -86,10 +100,13 @@ private: ...@@ -86,10 +100,13 @@ private:
} }
} }
void format_message(const mavlink_message_t &msg) { void format_message(const mavlink_message_t &msg)
{
bool first = true; bool first = true;
for(unsigned i = 0; i < info.num_fields; i++) { for (unsigned i = 0; i < info.num_fields; i++)
if(!first) { {
if (!first)
{
os << ","; os << ",";
} }
...@@ -100,10 +117,13 @@ private: ...@@ -100,10 +117,13 @@ private:
os << std::endl; os << std::endl;
} }
void format_message_header() { void format_message_header()
{
bool first = true; bool first = true;
for(unsigned i = 0; i < info.num_fields; i++) { for (unsigned i = 0; i < info.num_fields; i++)
if(!first) { {
if (!first)
{
os << ","; os << ",";
} }
...@@ -118,12 +138,16 @@ private: ...@@ -118,12 +138,16 @@ private:
const mavlink_message_info_t &info; const mavlink_message_info_t &info;
}; };
class Decoder { class Decoder
{
public: public:
Decoder(std::string input, std::string output) : Decoder(std::string input, std::string output)
input(input), output(output) {} : input(input), output(output)
{
}
void decode() { void decode()
{
std::ifstream is; std::ifstream is;
is.exceptions(std::ifstream::failbit); is.exceptions(std::ifstream::failbit);
is.open(input, std::ios::binary); is.open(input, std::ios::binary);
...@@ -132,15 +156,20 @@ public: ...@@ -132,15 +156,20 @@ public:
mavlink_message_t msg; mavlink_message_t msg;
mavlink_status_t status; mavlink_status_t status;
while(is.peek() != EOF) { while (is.peek() != EOF)
if(mavlink_parse_char(MAVLINK_COMM_0, is.get(), &msg, &status)) { {
if (mavlink_parse_char(MAVLINK_COMM_0, is.get(), &msg, &status))
{
uint8_t msgid = msg.msgid; uint8_t msgid = msg.msgid;
const mavlink_message_info_t &info = get_message_info_for(msgid); const mavlink_message_info_t &info =
get_message_info_for(msgid);
auto it = streams.find(msgid); auto it = streams.find(msgid);
if(it == streams.end()) { if (it == streams.end())
{
std::string filename = get_filename_for(info); std::string filename = get_filename_for(info);
it = streams.insert({msgid, CsvStream(filename, info)}).first; it = streams.insert({msgid, CsvStream(filename, info)})
.first;
} }
it->second.put(msg); it->second.put(msg);
...@@ -149,7 +178,8 @@ public: ...@@ -149,7 +178,8 @@ public:
} }
private: private:
std::string get_filename_for(const mavlink_message_info_t &info) { std::string get_filename_for(const mavlink_message_info_t &info)
{
return output + "/" + info.name + ".csv"; return output + "/" + info.name + ".csv";
} }
...@@ -157,9 +187,9 @@ private: ...@@ -157,9 +187,9 @@ private:
std::string output; std::string output;
}; };
void print_usage() { void print_usage()
std::cout << {
"Skyward mavlink decoder 2.0\n" std::cout << "Skyward mavlink decoder 2.0\n"
"\n" "\n"
"USAGE:\n" "USAGE:\n"
" ./mavdecoder <FILENAME>\n" " ./mavdecoder <FILENAME>\n"
...@@ -170,16 +200,21 @@ void print_usage() { ...@@ -170,16 +200,21 @@ void print_usage() {
<< std::flush; << std::flush;
} }
int main(int argc, char *argv[]) { int main(int argc, char *argv[])
if(argc != 2) { {
if (argc != 2)
{
print_usage(); print_usage();
return -1; return -1;
} }
try { try
{
Decoder decoder(argv[1], "out"); Decoder decoder(argv[1], "out");
decoder.decode(); decoder.decode();
} catch(std::exception &ex) { }
catch (std::exception &ex)
{
std::cout << "An exception occurred: " << ex.what() << std::endl; std::cout << "An exception occurred: " << ex.what() << std::endl;
return -1; return -1;
} }
......
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