WiFiObsFile.cpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
#include "WiFiObsFile.hpp"
 
#include "util/Logger.hpp"
 
#include "util/Time/TimeBase.hpp"
 
#include "internal/NodeManager.hpp"
namespace nm = NAV::NodeManager;
#include "internal/FlowManager.hpp"
 
#include "NodeData/WiFi/WiFiObs.hpp"
 
NAV::WiFiObsFile::WiFiObsFile()
    : Node(typeStatic())
{
    LOG_TRACE("{}: called", name);
 
    _hasConfig = true;
    _guiConfigDefaultWindowSize = { 488, 248 };
 
    nm::CreateOutputPin(this, "WiFiObs", Pin::Type::Flow, { NAV::WiFiObs::type() }, &WiFiObsFile::pollData);
    // nm::CreateOutputPin(this, "Header Columns", Pin::Type::Object, { "std::vector<std::string>" }, &_headerColumns);
}
 
NAV::WiFiObsFile::~WiFiObsFile()
{
    LOG_TRACE("{}: called", nameId());
}
 
std::string NAV::WiFiObsFile::typeStatic()
{
    return "WiFiObsFile";
}
 
std::string NAV::WiFiObsFile::type() const
{
    return typeStatic();
}
 
std::string NAV::WiFiObsFile::category()
{
    return "Data Provider";
}
 
void NAV::WiFiObsFile::guiConfig()
{
    if (auto res = FileReader::guiConfig(".csv,.*", { ".csv" }, size_t(id), nameId()))
    {
        LOG_DEBUG("{}: Path changed to {}", nameId(), _path);
        flow::ApplyChanges();
        if (res == FileReader::PATH_CHANGED)
        {
            doReinitialize();
        }
        else
        {
            doDeinitialize();
        }
    }
}
 
[[nodiscard]] json NAV::WiFiObsFile::save() const
{
    LOG_TRACE("{}: called", nameId());
 
    json j;
 
    j["FileReader"] = FileReader::save();
 
    return j;
}
 
void NAV::WiFiObsFile::restore(json const& j)
{
    LOG_TRACE("{}: called", nameId());
 
    if (j.contains("FileReader"))
    {
        FileReader::restore(j.at("FileReader"));
    }
}
 
bool NAV::WiFiObsFile::initialize()
{
    LOG_TRACE("{}: called", nameId());
 
    return FileReader::initialize();
}
 
void NAV::WiFiObsFile::deinitialize()
{
    LOG_TRACE("{}: called", nameId());
 
    FileReader::deinitialize();
}
 
bool NAV::WiFiObsFile::resetNode()
{
    FileReader::resetReader();
 
    return true;
}
 
std::shared_ptr<const NAV::NodeData> NAV::WiFiObsFile::pollData()
{
    auto obs = std::make_shared<WiFiObs>();
 
    // Read line
    std::string line;
    getline(line);
    // Remove any starting non text characters
    line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isgraph(ch); }));
 
    if (line.empty())
    {
        return nullptr;
    }
 
    // Convert line into stream
    std::stringstream lineStream(line);
    std::string cell;
 
    uint16_t gpsCycle = 0;
    uint16_t gpsWeek = 0;
    long double gpsToW = 0.0;
    InsTime time;
 
    bool gpsCycleSet = false;
    bool gpsWeekSet = false;
    bool gpsToWSet = false;
    bool macAddressSet = false;
    bool distanceSet = false;
    bool distanceStdSet = false;
 
    // Split line at comma
    for (const auto& column : _headerColumns)
    {
        if (std::getline(lineStream, cell, ','))
        {
            // Remove any trailing non text characters
            cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end());
            if (cell.empty())
            {
                continue;
            }
 
            if (column == "GpsCycle")
            {
                gpsCycle = static_cast<uint16_t>(std::stoul(cell));
                gpsCycleSet = true;
            }
            else if (column == "GpsWeek")
            {
                gpsWeek = static_cast<uint16_t>(std::stoul(cell));
                gpsWeekSet = true;
            }
            else if (column == "GpsToW [s]")
            {
                gpsToW = std::stold(cell);
                gpsToWSet = true;
            }
            else if (column == "MacAddress")
            {
                obs->macAddress = cell;
                macAddressSet = true;
            }
            else if (column == "Distance [m]")
            {
                obs->distance = std::stod(cell);
                distanceSet = true;
            }
            else if (column == "DistanceStd [m]")
            {
                obs->distanceStd = std::stod(cell);
                distanceStdSet = true;
            }
        }
    }
 
    if (!gpsCycleSet || !gpsWeekSet || !gpsToWSet || !macAddressSet || !distanceSet || !distanceStdSet)
    {
        LOG_ERROR("{}: Not all columns are set", nameId());
        return nullptr;
    }
    time = InsTime(gpsCycle, gpsWeek, gpsToW);
    obs->insTime = time;
    invokeCallbacks(OUTPUT_PORT_INDEX_WiFiObs_OBS, obs);
    return obs;
}