%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% FileName:UAVState_Data_Exporter
% Author: 森郷
% Created on: 2023年12月4日
%
% Description:
% このスクリプトは、UAVState構造体から時系列データを抽出し、
% CSVファイルに出力します。ヘッダーには各フィールド名が使用され、
% 行方向に時間毎の各データを記録しています。
%
% Copyright (C) 2023 morisato
% All rights reserved.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% ヘッダーを抽出
headerFields = fieldnames(UAVState);
headers = {'time'};
for i = 1:length(headerFields)
    subStructFields = fieldnames(UAVState.(headerFields{i}));
    for j = 1:length(subStructFields)
        headers{end+1} = [headerFields{i} '_' subStructFields{j}];
    end
end

% ファイル名を定義
currentDateTime = datestr(now, 'yyyymmddHHMM');
fileName = ['UAVStateData_', currentDateTime, '.csv'];

% ヘッダーをCSVファイルに書き込む
fid = fopen(fileName, 'w');
fprintf(fid, '%s', strjoin(headers, ','));
fclose(fid);

% データを格納する行列を初期化
row_num = length(UAVState.(headerFields{end}).(subStructFields{1}).Time);
col_num = length(headers);
dataMatrix = zeros(row_num, col_num);

% 時間データを行列に格納
dataMatrix(:,1) = UAVState.(headerFields{end}).(subStructFields{1}).Time;

% 各フィールドデータを行列に格納
dataIndex = 2;
for i = 1:length(headerFields)
    subStruct = UAVState.(headerFields{i});
    subStructFields = fieldnames(subStruct);
    for j = 1:length(subStructFields)
        dataMatrix(:, dataIndex) = subStruct.(subStructFields{j}).Data;
        dataIndex = dataIndex + 1;
    end
end

% データをCSVファイルに書き込む
writematrix(dataMatrix, fileName, 'WriteMode', 'append');

% End