The bug when aero_startup/Stroke2Angle.hh generated

[hi-kondo]

If the value of csv being referenced is an integer value, the array of the generated file(Stroke2Angle.hh) is incorrect.
For example, this is aero_startup/Stroke2Angle.cc

static const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData>>> LegInvTableCandidates = {{{{0,0,0},{1,.655,0.655},{3,2,0.678}},{}}, {{{0,0.0f,0.0f}}, {}}, {{{4,2.688,0.688}},{{5,3.386,0.698}}}, {{{5,3.386,0.698}},{{6,4.092,0.706},{7,4.807,0.715}}}, {{{6,4.092,0.706},{7,4.807,0.715}},{{8,5.529,0.722}}}, {{{8,5.529,0.722}},{{9,6.258,0.729},{10,6.994,0.736}}}, {{{9,6.258,0.729},{10,6.994,0.736}},{{11,7.737,0.743}}}, {{{11,7.737,0.743}},{{12,8.484,0.747}}}, {{{12,8.484,0.747}},{{13,9.237,0.753},{14,9.995,0.758}}}, {{{13,9.237,0.753},{14,9.995,0.758}},{{15,10.756,0.761}}}, {{{15,10.756,0.761}},{{16,11.522,0.766}}}, {{{16,11.522,0.766}},{{17,12.291,0.769}}}, {{{17,12.291,0.769}},{{18,13.063,0.772},{19,13.838,0.775}}}, {{{18,13.063,0.772},{19,13.838,0.775}},{{20,14.615,0.777}}}, {{{20,14.615,0.777}},{{21,15.394,0.779}}}, {{{21,15.394,0.779}},{{22,16.175,0.781},{23,16.958,0.783}}}, {{{22,16.175,0.781},{23,16.958,0.783}},{{24,17.741,0.783}}}, {{{24,17.741,0.783}},{{25,18.526,0.785}}}, {{{25,18.526,0.785}},{{26,19.311,0.785}}}, {{{26,19.311,0.785}},{{27,20.096,0.785},{28,20.881,0.785}}}, {{{27,20.096,0.785},{28,20.881,0.785}},{{29,21.667,0.786}}}, {{{29,21.667,0.786}},{{30,22.451,0.784}}}, {{{30,22.451,0.784}},{{31,23.236,0.785}}}, {{{31,23.236,0.785}},{{32,24.019,0.783},{33,24.801,0.782}}}, {{{32,24.019,0.783},{33,24.801,0.782}},{{34,25.583,0.782}}}, {{{34,25.583,0.782}},{{35,26.362,0.779}}}, {{{35,26.362,0.779}},{{36,27.141,0.779},{37,27.917,0.776}}}, {{{36,27.141,0.779},{37,27.917,0.776}},{{38,28.691,0.774}}}, {{{38,28.691,0.774}},{{39,29.464,0.773}}}, {{{39,29.464,0.773}},{{40,30.234,0.77}}}, {{{40,30.234,0.77}},{{41,31.001,0.767},{42,31.767,0.766}}}, {{{41,31.001,0.767},{42,31.767,0.766}},{{43,32.529,0.762}}}, {{{43,32.529,0.762}},{{44,33.288,0.759}}}, {{{44,33.288,0.759}},{{45,34.045,0.757},{46,34.798,0.753}}}, {{{45,34.045,0.757},{46,34.798,0.753}},{{47,35.548,0.75}}}, {{{47,35.548,0.75}},{{48,36.294,0.746}}}, {{{48,36.294,0.746}},{{49,37.037,0.743},{50,37.776,0.739}}}, {{{49,37.037,0.743},{50,37.776,0.739}},{{51,38.512,0.736}}}, {{{51,38.512,0.736}},{{52,39.243,0.731},{53,39.97,0.727}}}, {{{52,39.243,0.731},{53,39.97,0.727}},{{54,40.694,0.724}}}, {{{54,40.694,0.724}},{{55,41.413,0.719}}}, {{{55,41.413,0.719}},{{56,42.127,0.714},{57,42.838,0.711}}}, {{{56,42.127,0.714},{57,42.838,0.711}},{{58,43.543,0.705}}}, {{{58,43.543,0.705}},{{59,44.244,0.701},{60,44.94,0.696}}}, {{{59,44.244,0.701},{60,44.94,0.696}},{{61,45.632,0.692}}}, {{{61,45.632,0.692}},{{62,46.318,0.686},{63,46.999,0.681}}}, {{{62,46.318,0.686},{63,46.999,0.681}},{{64,47.676,0.677}}}, {{{64,47.676,0.677}},{{65,48.347,0.671}}}, {{{65,48.347,0.671}},{{66,49.012,0.665},{67,49.672,0.66}}}, {{{66,49.012,0.665},{67,49.672,0.66}},{{68,50.327,0.655},{69,50.976,0.649}}}, {{{68,50.327,0.655},{69,50.976,0.649}},{{70,51.62,0.644}}}, {{{70,51.62,0.644}},{{71,52.258,0.638},{72,52.89,0.632}}}, {{{71,52.258,0.638},{72,52.89,0.632}},{{73,53.516,0.626}}}, {{{73,53.516,0.626}},{{74,54.136,0.62},{75,54.75,0.614}}}, {{{74,54.136,0.62},{75,54.75,0.614}},{{76,55.358,0.608},{77,55.96,0.602}}}, {{{76,55.358,0.608},{77,55.96,0.602}},{{78,56.556,0.596}}}, {{{78,56.556,0.596}},{{79,57.145,0.589},{80,57.729,0.584}}}, {{{79,57.145,0.589},{80,57.729,0.584}},{{81,58.305,0.576},{82,58.875,0.57}}}, {{{81,58.305,0.576},{82,58.875,0.57}},{{83,59.439,0.564},{84,59.996,0.557}}}, {{{83,59.439,0.564},{84,59.996,0.557}},{{85,60.546,0.55}}}, {{{85,60.546,0.55}},{{86,61.09,0.544},{87,61.626,0.536}}}, {{{86,61.09,0.544},{87,61.626,0.536}},{{88,62.156,0.53},{89,62.679,0.523}}}, {{{88,62.156,0.53},{89,62.679,0.523}},{{90,63.195,0.516}}}, {{{90,63.195,0.516}},{}}};

Value is incorrect like as " {{{0,0.0f,0.0f}},"

In this time, it refers below csv file.

角度 | ストローク[mm] | 偏差[mm] | 積算偏差[mm] | 偏差[pulse] | 積算偏差[pulse]
-- | -- | -- | -- | -- | --
0 | 6.0780 | 0 | 0 | 0 | 0
1 | 6.7610 | 0.683 | 0.683 | 1092.8 | 1092.8
2 | 7.4550 | 0.694 | 1.377 | 1110.4 | 2203.2
3 | 8.1570 | 0.702 | 2.079 | 1123.2 | 3326.4
4 | 8.8680 | 0.711 | 2.79 | 1137.6 | 4464
5 | 9.5880 | 0.72 | 3.51 | 1152 | 5616
6 | 10.3140 | 0.726 | 4.236 | 1161.6 | 6777.6
7 | 11.0470 | 0.733 | 4.969 | 1172.8 | 7950.4
8 | 11.7870 | 0.74 | 5.709 | 1184 | 9134.4
9 | 12.5330 | 0.746 | 6.455 | 1193.6 | 10328
10 | 13.2840 | 0.751 | 7.206 | 1201.6 | 11529.6
11 | 14.0390 | 0.755 | 7.961 | 1208 | 12737.6
12 | 14.7990 | 0.76 | 8.721 | 1216 | 13953.6
13 | 15.5640 | 0.765 | 9.486 | 1224 | 15177.6
14 | 16.3310 | 0.767 | 10.253 | 1227.2 | 16404.8
15 | 17.1020 | 0.771 | 11.024 | 1233.6 | 17638.4
16 | 17.8760 | 0.774 | 11.798 | 1238.4 | 18876.8
17 | 18.6530 | 0.777 | 12.575 | 1243.2 | 20120
18 | 19.4310 | 0.778 | 13.353 | 1244.8 | 21364.8
19 | 20.2110 | 0.78 | 14.133 | 1248 | 22612.8
20 | 20.9930 | 0.782 | 14.915 | 1251.2 | 23864
21 | 21.7760 | 0.783 | 15.698 | 1252.8 | 25116.8
22 | 22.5600 | 0.784 | 16.482 | 1254.4 | 26371.2
23 | 23.3450 | 0.785 | 17.267 | 1256 | 27627.2
24 | 24.1300 | 0.785 | 18.052 | 1256 | 28883.2
25 | 24.9160 | 0.786 | 18.838 | 1257.6 | 30140.8
26 | 25.7010 | 0.785 | 19.623 | 1256 | 31396.8
27 | 26.4860 | 0.785 | 20.408 | 1256 | 32652.8
28 | 27.2710 | 0.785 | 21.193 | 1256 | 33908.8
29 | 28.0540 | 0.783 | 21.976 | 1252.8 | 35161.6
30 | 28.8370 | 0.783 | 22.759 | 1252.8 | 36414.4
31 | 29.6190 | 0.782 | 23.541 | 1251.2 | 37665.6
32 | 30.3990 | 0.78 | 24.321 | 1248 | 38913.6
33 | 31.1780 | 0.779 | 25.1 | 1246.4 | 40160
34 | 31.9550 | 0.777 | 25.877 | 1243.2 | 41403.2
35 | 32.7300 | 0.775 | 26.652 | 1240 | 42643.2
36 | 33.5040 | 0.774 | 27.426 | 1238.4 | 43881.6
37 | 34.2740 | 0.77 | 28.196 | 1232 | 45113.6
38 | 35.0430 | 0.769 | 28.965 | 1230.4 | 46344
39 | 35.8090 | 0.766 | 29.731 | 1225.6 | 47569.6
40 | 36.5720 | 0.763 | 30.494 | 1220.8 | 48790.4
41 | 37.3330 | 0.761 | 31.255 | 1217.6 | 50008
42 | 38.0900 | 0.757 | 32.012 | 1211.2 | 51219.2
43 | 38.8450 | 0.755 | 32.767 | 1208 | 52427.2
44 | 39.5960 | 0.751 | 33.518 | 1201.6 | 53628.8
45 | 40.3440 | 0.748 | 34.266 | 1196.8 | 54825.6
46 | 41.0880 | 0.744 | 35.01 | 1190.4 | 56016
47 | 41.8290 | 0.741 | 35.751 | 1185.6 | 57201.6
48 | 42.5660 | 0.737 | 36.488 | 1179.2 | 58380.8
49 | 43.2990 | 0.733 | 37.221 | 1172.8 | 59553.6
50 | 44.0280 | 0.729 | 37.95 | 1166.4 | 60720
51 | 44.7530 | 0.725 | 38.675 | 1160 | 61880
52 | 45.4740 | 0.721 | 39.396 | 1153.6 | 63033.6
53 | 46.1910 | 0.717 | 40.113 | 1147.2 | 64180.8
54 | 46.9030 | 0.712 | 40.825 | 1139.2 | 65320
55 | 47.6110 | 0.708 | 41.533 | 1132.8 | 66452.8
56 | 48.3140 | 0.703 | 42.236 | 1124.8 | 67577.6
57 | 49.0120 | 0.698 | 42.934 | 1116.8 | 68694.4
58 | 49.7050 | 0.693 | 43.627 | 1108.8 | 69803.2
59 | 50.3940 | 0.689 | 44.316 | 1102.4 | 70905.6
60 | 51.0780 | 0.684 | 45 | 1094.4 | 72000
61 | 51.7560 | 0.678 | 45.678 | 1084.8 | 73084.8
62 | 52.4300 | 0.674 | 46.352 | 1078.4 | 74163.2
63 | 53.0980 | 0.668 | 47.02 | 1068.8 | 75232
64 | 53.7600 | 0.662 | 47.682 | 1059.2 | 76291.2
65 | 54.4180 | 0.658 | 48.34 | 1052.8 | 77344
66 | 55.0700 | 0.652 | 48.992 | 1043.2 | 78387.2
67 | 55.7160 | 0.646 | 49.638 | 1033.6 | 79420.8
68 | 56.3570 | 0.641 | 50.279 | 1025.6 | 80446.4
69 | 56.9910 | 0.634 | 50.913 | 1014.4 | 81460.8
70 | 57.6210 | 0.63 | 51.543 | 1008 | 82468.8
71 | 58.2440 | 0.623 | 52.166 | 996.8 | 83465.6
72 | 58.8610 | 0.617 | 52.783 | 987.2 | 84452.8
73 | 59.4720 | 0.611 | 53.394 | 977.6 | 85430.4
74 | 60.0770 | 0.605 | 53.999 | 968 | 86398.4
75 | 60.6760 | 0.599 | 54.598 | 958.4 | 87356.8
76 | 61.2690 | 0.593 | 55.191 | 948.8 | 88305.6
77 | 61.8550 | 0.586 | 55.777 | 937.6 | 89243.2
78 | 62.4350 | 0.58 | 56.357 | 928 | 90171.2
79 | 63.0090 | 0.574 | 56.931 | 918.4 | 91089.6
80 | 63.5760 | 0.567 | 57.498 | 907.2 | 91996.8
81 | 64.1370 | 0.561 | 58.059 | 897.6 | 92894.4
82 | 64.6900 | 0.553 | 58.612 | 884.8 | 93779.2
83 | 65.2380 | 0.548 | 59.16 | 876.8 | 94656
84 | 65.7780 | 0.54 | 59.7 | 864 | 95520
85 | 66.3120 | 0.534 | 60.234 | 854.4 | 96374.4
86 | 66.8390 | 0.527 | 60.761 | 843.2 | 97217.6
87 | 67.3590 | 0.52 | 61.281 | 832 | 98049.6
88 | 67.8720 | 0.513 | 61.794 | 820.8 | 98870.4
89 | 68.3780 | 0.506 | 62.3 | 809.6 | 99680
90 | 68.8770 | 0.499 | 62.799 | 798.4 | 100478.4

To fix this problem, we should modify aero\description/scripts/make_stroke_to_angle_header.sh.

    # negative stroke value case
    if [[ ${#ntable[@]} -gt 0 ]]
    then
        idx=$((${#ntable[@]} - 1))
        e=${ntable[$idx]}
        if [[ $e != "" ]]
        then
            code="${code}{{${e::-1}},{}}, "
            array_offset="-$idx"
        elif [[ ${#ntable[@]} -gt 1 ]]
        then
            idx=$(($idx - 1))
            array_offset="-$idx"
        fi
    fi
    for (( idx=${#ntable[@]}-2 ; idx>=0 ; idx-- ))
    do
        e=${ntable[$idx]}
	if [[ $e != "" ]]
	then
            code="${code}{{${e::-1}},"
	    j=1
	    if [[ ${ntable[$(($idx + $j))]} == "" ]]
	    then
		j=2
	    fi
	    appendix=$(echo -e "${ntable[$(($idx + $j))]}")
            if [[ "$appendix" = "" ]]
            then
                code="${code}{}}, "
            else
		code="${code}{${appendix::-1}}}, "
            fi
        elif [[ $idx != 0 ]]
        then
            echo "   detected empty table in -${idx} of ${function_name}"
            code="${code}{{{0,0.0f,0.0f}}, {}}, "
	fi
done