public virtual bool TryParse(string xiRawData, out object xoData)
{
Assert.NonEmptyString(xiRawData, "xiRawData");
xoData = null;
bool result = false;
if (xiRawData.IndexOf('%') < 0 && xiRawData.IndexOf('#') < 0)
{
string [] vals = xiRawData.Split(Text.kComma, StringSplitOptions.RemoveEmptyEntries);
if (vals.Length > 7) // track,2,fields|time, track_id, track_status, existence_probability, meas_id, x_pos, x_vel, y_pos, y_vel, turn_rate, P(5 x 5)|<EOL>
{
xoData = new Data.Estimate();
Data.Estimate estimate = xoData as Data.Estimate;
estimate.timestamp = DateTime.Now;
double timestamp;
if (double.TryParse(vals[5], out timestamp))
{
estimate.rawTimestamp = (long)timestamp;
}
double val;
if (double.TryParse(vals[1], out val))
{
estimate.trackNumber = (int)val;
}
if (double.TryParse(vals[5], out val))
{
estimate.xPos = val;
}
if (double.TryParse(vals[7], out val))
{
estimate.yPos = val;
}
result = true;
}
}
return(result);
}
// track,2,fields,time, track_id, track_status, existence_probability, meas_id, x_pos, x_vel, y_pos, y_vel, turn_rate, P(5 x 5),<EOL>
// 0 1 2 3 4 5 6 7 8 9 10 11 12 13
// track, 2, time, track_id, track_status, existence_probability, meas_id, x_pos, x_vel, y_pos, y_vel, turn_rate, P(5 x 5), <EOL>
// track, 2, 1294754983.4190, 2, 1, 0.500000, 1, -578.262943, 0.00000000, -1688.746768, 0.00000000, 0.000000, 0.00000000, <EOL>
public virtual bool TryParse(string xiRawData, out object xoData)
{
Assert.NonEmptyString(xiRawData, "xiRawData");
xoData = null;
bool result = false;
string [] values = xiRawData.Split(new char [] { ',' }, StringSplitOptions.RemoveEmptyEntries);
if (values.Length > 0 && values[0].Trim().CompareTo("track") == 0)
{
bool eol = false;
bool eot = false;
bool eos = false;
bool hasFields = values.Length > 2 && values[2].Trim().CompareTo("fields") == 0;
if (!hasFields)
{
eol = values[values.Length - 1].CompareTo(DataProvider.kEol) == 0;
if (!eol)
{
eot = values[values.Length - 1].CompareTo(DataProvider.kEot) == 0;
if (!eot)
{
eos = values[values.Length - 1].CompareTo(DataProvider.kEos) == 0;
}
}
}
if (eol || eot || eos || hasFields)
{
Data.Estimate estimate = new Data.Estimate();
estimate.timestamp = DateTime.Now;
if (eol || eot)
{
if (values.Length > 9)
{
int trackNumber;
if (int.TryParse(values[3], out trackNumber))
{
estimate.trackNumber = trackNumber;
}
if (eol)
{
long timestamp;
if (long.TryParse(values[4], out timestamp))
{
estimate.rawTimestamp = timestamp;
}
double value;
if (double.TryParse(values[7], out value))
{
estimate.xPos = value;
}
if (double.TryParse(values[9], out value))
{
estimate.yPos = value;
}
estimate.operation = EDataOperation.eUpdateData;
}
else
{
estimate.operation = EDataOperation.eRemoveData;
}
xoData = estimate;
result = true;
}
}
else if (hasFields)
{
estimate.operation = EDataOperation.eAddData;
xoData = estimate;
result = true;
}
else if (eos)
{
estimate.operation = EDataOperation.eClearData;
xoData = estimate;
result = true;
}
}
}
return(result);
}
public virtual bool TryParse(string xiRawData, out object xoData)
{
Assert.NonEmptyString(xiRawData, "xiRawData");
xoData = null;
bool result = false;
if (xiRawData.IndexOf('%') > -1 || xiRawData.IndexOf('#') > -1)
{
}
else if (xiRawData.IndexOf("coordinate_system_dimension") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out coordinate_system_dimension);
}
}
else if (xiRawData.IndexOf("max_mode_order") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out max_mode_order);
}
}
else if (xiRawData.IndexOf("has_coord_turn") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out has_coord_turn);
}
}
else if (xiRawData.IndexOf("state_size") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out state_size);
}
}
else if (xiRawData.IndexOf("back_scan_list_dimension") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out back_scan_list_dimension);
}
}
else if (xiRawData.IndexOf("number_of_sub_hypotheses") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out number_of_sub_hypotheses);
}
}
else if (xiRawData.IndexOf("IMM_mode_count") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out IMM_mode_count);
}
}
else if (xiRawData.IndexOf("filter_module_types") > -1) // collect header data
{
}
else if (xiRawData.IndexOf("initialization_method") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out initialization_method);
}
}
else if (xiRawData.IndexOf("np") > -1) // collect header data
{
int equalSignIndex = xiRawData.IndexOf('=');
int semicolonIndex = xiRawData.IndexOf(';');
if (equalSignIndex > -1 && semicolonIndex > -1)
{
string data = xiRawData.Substring(++equalSignIndex, semicolonIndex - equalSignIndex);
int.TryParse(data, out np);
}
}
else
{
// 0 1 2 3 4 5 6 7 8
// % run_no, frame_no, sensor_no, track_id, track_status, cluster_id, num_updates, last_update_frame, last_update_time,
// 9 10
// [sensor_no frame_no associated_meas](number_of_sub_hypotheses x 3*back_scan_list_dimension), unique_associations((number_of_sub_hypotheses+1) x back_scan_list_dimension),
// 11
// association_weights((number_of_sub_hypotheses+1) x back_scan_list_dimension),
// 12 13 14 15 16 17 18 19
// X(1 x state_size), P(state_size x state_size), mu(1 x IMM_mode_count), existence_probabilities(1 x np), common_track_time, Xk(1 x state_size), Pk(state_size x state_size), muk(1 x IMM_mode_count)
string rawData = xiRawData.Replace(',', ' ');
string [] vals = rawData.Split(Text.kWhiteSpace, StringSplitOptions.RemoveEmptyEntries);
if (vals.Length > 20)
{
xoData = new Data.Estimate();
Data.Estimate estimate = xoData as Data.Estimate;
estimate.timestamp = DateTime.Now;
double run;
if (double.TryParse(vals[0], out run))
{
estimate.run = (int)run;
}
double frameNo;
if (double.TryParse(vals[1], out frameNo))
{
estimate.frameNo = (int)frameNo;
}
double sensorId;
if (double.TryParse(vals[2], out sensorId))
{
estimate.sensorId = (int)sensorId + 1;
}
int xPosIndex;
int xVelIndex;
int yPosIndex;
int yVelIndex;
int timeIndex;
IList <int> covarianceMatrixIndeces = new List <int>();
CalculateIndeces(out xPosIndex, out xVelIndex, out yPosIndex, out yVelIndex, out timeIndex, ref covarianceMatrixIndeces);
double time;
if (timeIndex < vals.Length && double.TryParse(vals[timeIndex], out time))
{
estimate.time = time;
}
double val;
if (xPosIndex < vals.Length && double.TryParse(vals[xPosIndex], out val))
{
estimate.xPos = val;
}
if (xVelIndex < vals.Length && double.TryParse(vals[xVelIndex], out val))
{
estimate.xVel = val;
}
if (yPosIndex < vals.Length && double.TryParse(vals[yPosIndex], out val))
{
estimate.yPos = val;
}
if (yVelIndex < vals.Length && double.TryParse(vals[yVelIndex], out val))
{
estimate.yVel = val;
}
int trackId;
if (int.TryParse(vals[3], out trackId))
{
estimate.trackNumber = trackId;
}
int trackStatus;
if (int.TryParse(vals[4], out trackStatus))
{
estimate.trackStatus = trackStatus;
}
int index;
double value;
const int rank = 4;
estimate.covarianceMatrix = new double [rank, rank];
for (int j = 0, m = rank; j < m; j++)
{
for (int i = 0, n = rank; i < n; i++)
{
index = covarianceMatrixIndeces[i + rank * j];
if (double.TryParse(vals[index], out value))
{
estimate.covarianceMatrix[j, i] = value;
}
}
}
result = true;
}
}
return(result);
}
