initial commit

-converter .txt -> MatLab matrices

workspace/sensors/SensorReader.h

@@ -0,0 +1,129 @@
+#ifndef SENSORREADER_H
+#define SENSORREADER_H
+
+#include <fstream>
+#include <iostream>
+#include <cstring>
+#include <string>
+#include <vector>
+
+#include "Recording.h"
+#include "Sensors.h"
+
+/**
+ * parse all sensor values from HandyGames data-files
+ */
+class SensorReader {
+
+private:
+
+	static constexpr int bufSize = 4096;
+
+public:
+
+	/** parse all values within the given file */
+	static Recording read(const std::string& file) {
+
+		Recording rec;
+		Sensors curSensor = Sensors::UNKNOWN;
+		char buf[bufSize];
+
+		// check
+		std::ifstream f(file.c_str());
+		if (!f.good()) {throw "error!";}
+
+		// parse each line
+		while(!f.bad() && !f.eof()) {
+
+			// read the next line
+			f.getline(buf, bufSize);
+			std::string line(buf);
+
+			// new sensor section? -> switch the current sensor
+			if (startsWith(line, "// [SENSOR] ")) {
+				std::string tmp = line.substr(19);
+				int idx = indexOf(tmp, ";");
+				curSensor = getSensor(tmp.substr(0, idx));
+			}
+
+			// skip empty lines
+			else if (line.empty()) {;}
+
+			// parse sensor values
+			else {
+				switch (curSensor) {
+					case Sensors::TYPE_ACCELEROMETER:	parseAccel(rec, line); break;
+					case Sensors::TYPE_GYROSCOPE:		parseGyro(rec, line); break;
+					case Sensors::TYPE_MAGNETIC_FIELD:	parseMagField(rec, line); break;
+					default:							break;
+				}
+			}
+
+
+		}
+
+		// done
+		return rec;
+
+	}
+
+	static void parseAccel(Recording& rec, const std::string& line) {
+		const std::vector<std::string> values = split(line);
+		rec.accel.add(getTS(values[0]), SensorAccelerometer(getFloat(values[1]), getFloat(values[2]), getFloat(values[3])));
+	}
+
+	static void parseGyro(Recording& rec, const std::string& line) {
+		const std::vector<std::string> values = split(line);
+		rec.gyro.add(getTS(values[0]), SensorGyro(getFloat(values[1]), getFloat(values[2]), getFloat(values[3])));
+	}
+
+	static void parseMagField(Recording& rec, const std::string& line) {
+		const std::vector<std::string> values = split(line);
+		rec.magField.add(getTS(values[0]), SensorMagneticField(getFloat(values[1]), getFloat(values[2]), getFloat(values[3])));
+	}
+
+
+
+	/** get the timestamp for the given string-value */
+	static uint64_t getTS(const std::string& s) {
+		return std::stoul(s) / 1000 / 1000;
+	}
+
+	/** convert the given string to a float value */
+	static float getFloat(const std::string& s) {
+		return std::stof(s);
+	}
+
+	/** does the given haystack start with the given needle? */
+	static bool startsWith(const std::string& haystack, const std::string& needle) {
+		if (needle.length() > haystack.length()) {return false;}
+		return memcmp(haystack.data(), needle.data(), needle.length()) == 0;
+	}
+
+	/** position of the first occurence of needle within haystack */
+	static int indexOf(const std::string& haystack, const std::string& needle, const int start = 0) {
+		std::string::size_type index = haystack.find(needle, start);
+		return (index == std::string::npos ) ? (-1) : (index);
+	}
+
+	static std::vector<std::string> split(const std::string& str) {
+		std::vector<std::string> list;
+		int last = 0;
+		while(true) {
+			const int next = indexOf(str, ",", last);
+			if (next == -1) {
+				std::string sub = str.substr(last, str.length()-last-2);
+				list.push_back(sub);
+				break;
+			} else {
+				std::string sub = str.substr(last, next-last);
+				list.push_back(sub);
+				last = next+2;
+			}
+		}
+		return list;
+	}
+
+};
+
+#endif // SENSORREADER_H