modularization/src/fusion/bq_fusion_ult_surview/csv2buffer.cpp

//#if 0

#include "csv2buffer.h"
#include "buffer.cpp"

#define BUFFSIZE  100   // size of buffers

void ultdata(Buffer<UltParkinglots> &buffer,QString &filePath)
{

       // QString filePath = QDir::currentPath() + "/../data/UltParkinglots.csv";
        QList<QStringList> readData = QtCSV::Reader::readToList(filePath);

        unsigned dataIndex = 0;
        for(unsigned i = 0; i<BUFFSIZE; i++)
        {
            //qDebug() << readData.at(i).join(",");

            UltParkinglots ults;
            UltParkinglot ult;
            QStringList rowData = readData.at(dataIndex);
            unsigned j = rowData[0].toInt();
            ult.id = rowData[0].toInt();
            ult.low_time_stamp = rowData[1].toInt();
            ult.high_time_stamp = rowData[2].toInt();
            ult.valid_state = rowData[3].toInt();
            ult.park_type = rowData[4].toInt();
            ult.confidence = rowData[5].toDouble();

            ult.valid_state = rowData[6].toDouble();
            ult.park_length = rowData[7].toDouble();
            ult.park_width = rowData[8].toDouble();
            ult.park_direction = rowData[9].toDouble();
            Corners parkingPoints;
            parkingPoints.corners[0] = Point(rowData[10].toDouble(),rowData[11].toDouble());
            parkingPoints.corners[1] = Point(rowData[12].toDouble(),rowData[13].toDouble());
            parkingPoints.corners[2] = Point(rowData[14].toDouble(),rowData[15].toDouble());
            parkingPoints.corners[3] = Point(rowData[16].toDouble(),rowData[17].toDouble());
            ult.ParkingPoints = parkingPoints;
            ults.push_back(ult);
            j++;
            dataIndex ++;
            rowData = readData.at(dataIndex);
            j = rowData[0].toInt();

            //qDebug() <<"角点"<< ult.ParkingPoints.corners[0].x;

            while(j!=0)
            {
                //qDebug() << "进入while循环 ";
               // qDebug() << "while循环中的j "<<j;
                ult.id = rowData[0].toInt();
                ult.low_time_stamp = rowData[1].toInt();
                ult.high_time_stamp = rowData[2].toInt();
                ult.valid_state = rowData[3].toInt();
                ult.park_type = rowData[4].toInt();
                ult.confidence = rowData[5].toDouble();
                ult.valid_state = rowData[6].toDouble();
                ult.park_length = rowData[7].toDouble();
                ult.park_width = rowData[8].toDouble();
                ult.park_direction = rowData[9].toDouble();
                Corners parkingPoints;
                parkingPoints.corners[0] = Point(rowData[10].toDouble(),rowData[11].toDouble());
                parkingPoints.corners[1] = Point(rowData[12].toDouble(),rowData[13].toDouble());
                parkingPoints.corners[2] = Point(rowData[14].toDouble(),rowData[15].toDouble());
                parkingPoints.corners[3] = Point(rowData[16].toDouble(),rowData[17].toDouble());
                ult.ParkingPoints = parkingPoints;
                ults.push_back(ult);

                dataIndex++;
                rowData = readData.at(dataIndex);
                j = rowData[0].toInt();
                //qDebug() <<"while尾部j的值："<< j;

            }


            buffer.add(ults);

    }
 //qDebug() << readData.size();

}

void surdata(Buffer<SurViewParkinglots> &buffer,QString &filePath)
{
    QList<QStringList> readData =
          QtCSV::Reader::readToList(filePath);
        unsigned dataIndex = 0;
        for(unsigned i = 0; i<BUFFSIZE; i++)
        {
           // qDebug() << readData.at(i).join(",");
            SurViewParkinglots survs;
            SurViewParkinglot surv;
            QStringList rowData = readData.at(dataIndex);
            unsigned j = rowData[0].toInt();
            surv.id = rowData[0].toInt();
            surv.low_time_stamp = rowData[1].toInt();
            surv.high_time_stamp = rowData[2].toInt();
            surv.valid_state = rowData[3].toInt();
            surv.park_type = rowData[4].toInt();
            surv.confidence = rowData[5].toDouble();
            //qDebug() << surv.confidence;

            surv.park_length = rowData[6].toDouble();
            surv.park_width = rowData[7].toDouble();
            surv.park_direction = rowData[8].toDouble();


            Corners parkingPoints;
            parkingPoints.corners[0] = Point(rowData[9].toDouble(),rowData[10].toDouble());
            parkingPoints.corners[1] = Point(rowData[11].toDouble(),rowData[12].toDouble());
            parkingPoints.corners[2] = Point(rowData[13].toDouble(),rowData[14].toDouble());
            parkingPoints.corners[3] = Point(rowData[15].toDouble(),rowData[16].toDouble());
            surv.ParkingPoints = parkingPoints;
            survs.push_back(surv);
            j++;
            dataIndex++;
            rowData = readData.at(dataIndex);
            j = rowData[0].toInt();
            //qDebug() << j;

            while(j!=0)
            {
                //qDebug() << "进入while循环 ";
                surv.id = rowData[0].toInt();
                surv.low_time_stamp = rowData[1].toInt();
                surv.high_time_stamp = rowData[2].toInt();
                surv.valid_state = rowData[3].toInt();
                surv.park_type = rowData[4].toInt();
                surv.confidence = rowData[5].toDouble();

                surv.park_length = rowData[6].toDouble();
                surv.park_width = rowData[7].toDouble();
                surv.park_direction = rowData[8].toDouble();
                Corners parkingPoints;
                parkingPoints.corners[0] = Point(rowData[9].toDouble(),rowData[10].toDouble());
                parkingPoints.corners[1] = Point(rowData[11].toDouble(),rowData[12].toDouble());
                parkingPoints.corners[2] = Point(rowData[13].toDouble(),rowData[14].toDouble());
                parkingPoints.corners[3] = Point(rowData[15].toDouble(),rowData[16].toDouble());
                surv.ParkingPoints = parkingPoints;
                survs.push_back(surv);
                dataIndex++;
                rowData = readData.at(dataIndex);
                j = rowData[0].toInt();
                //qDebug() << "while循环结束 "<<j;
            }
            buffer.add(survs);
        }
        //qDebug() << readData.size();


}


void cardata(Buffer<CarState> &buffer, QString &filePath)
{
    QList<QStringList> readData =
          QtCSV::Reader::readToList(filePath);
    unsigned dataIndex = 0;
    for(unsigned i = 0; i<BUFFSIZE; i++)
    {
        CarState carState;
//        SurViewParkinglots survs;
//        SurViewParkinglot surv;
//        QStringList rowData = readData.at(dataIndex);
//        unsigned j = rowData[0].toInt();
//        surv.id = rowData[0].toInt(.);
        QStringList rowData = readData.at(dataIndex);
        carState.x = rowData[0].toDouble();
        carState.y = rowData[1].toDouble();
        carState.speed = rowData[2].toDouble();
        carState.ins_heading_angle = rowData[3].toDouble();
        buffer.add(carState);
        dataIndex++;
        if(dataIndex>=readData.size())
        {
            break;
        }
       // qDebug() << readData.size();

    }


}
void obsdata(Buffer<Obstacles> &buffer, QString &filePath){
  QList<QStringList> readData =
        QtCSV::Reader::readToList(filePath);
  unsigned dataIndex = 0;
  for(unsigned i = 0; i<BUFFSIZE; i++){
      Obstacles obstacles;
      Obstacle obstacle;
      bool br = false;
      for(unsigned j = 0; j<3; j++){
          QStringList rowData = readData.at(dataIndex);
          obstacle.id = rowData[0].toInt();
          obstacle.type = rowData[1].toInt();
          obstacle.state = rowData[2].toInt();
          obstacle.confidence = rowData[3].toDouble();
          obstacle.valid_time = rowData[4].toDouble();
          obstacle.pos_x = rowData[5].toDouble();
          obstacle.pos_y = rowData[6].toDouble();
          obstacle.length = rowData[7].toDouble();
          obstacle.width = rowData[8].toDouble();
          obstacle.height = rowData[9].toDouble();
          obstacle.rel_speed_x = rowData[10].toDouble();
          obstacle.rel_speed_y = rowData[11].toDouble();
          obstacle.abs_speed_x = rowData[12].toDouble();
          obstacle.abs_speed_y = rowData[13].toDouble();
          obstacle.heading = rowData[14].toDouble();

          obstacles.push_back(obstacle);

          dataIndex++;
          if(dataIndex >= readData.size()){
              br = true;
              break;
            }
        }
      buffer.add(obstacles);
      if(br){
          break;
        }
    }
}