FileFormat WaypointLoaderNode::checkFileFormat(const char *filename)
{
std::ifstream ifs(filename);
if (!ifs)
{
return FileFormat::unknown;
}
// get first line
std::string line;
std::getline(ifs, line);
// parse first line
std::vector<std::string> parsed_columns;
parseColumns(line, &parsed_columns);
// check if first element in the first column does not include digit
if (!std::any_of(parsed_columns.at(0).cbegin(), parsed_columns.at(0).cend(), isdigit))
{
return FileFormat::ver3;
}
// if element consists only digit
int num_of_columns = countColumns(line);
ROS_INFO("columns size: %d", num_of_columns);
return ( num_of_columns == 3 ? FileFormat::ver1 // if data consists "x y z (velocity)"
: num_of_columns == 4 ? FileFormat::ver2 // if data consists "x y z yaw (velocity)
: FileFormat::unknown
);
}
void WaypointLoaderNode::publishLaneArray()
{
// extract file paths
std::vector<std::string> multi_file_path;
parseColumns(multi_lane_csv_, &multi_file_path);
autoware_msgs::LaneArray lane_array;
createLaneArray(multi_file_path, &lane_array);
lane_pub_.publish(lane_array);
}
void WaypointLoaderNode::parseWaypointForVer1(const std::string &line, autoware_msgs::waypoint *wp)
{
std::vector<std::string> columns;
parseColumns(line, &columns);
wp->pose.pose.position.x = std::stod(columns[0]);
wp->pose.pose.position.y = std::stod(columns[1]);
wp->pose.pose.position.z = std::stod(columns[2]);
wp->twist.twist.linear.x = kmph2mps(std::stod(columns[3]));
}
void WaypointLoaderNode::parseWaypointForVer2(const std::string &line, autoware_msgs::waypoint *wp)
{
std::vector<std::string> columns;
parseColumns(line, &columns);
wp->pose.pose.position.x = std::stod(columns[0]);
wp->pose.pose.position.y = std::stod(columns[1]);
wp->pose.pose.position.z = std::stod(columns[2]);
wp->pose.pose.orientation = tf::createQuaternionMsgFromYaw(std::stod(columns[3]));
wp->twist.twist.linear.x = kmph2mps(std::stod(columns[4]));
}
ColumnsDescription InterpreterCreateQuery::getColumnsDescription(const ASTExpressionList & columns, const Context & context)
{
ColumnsDescription res;
auto && columns_and_defaults = parseColumns(columns, context);
res.materialized = removeAndReturnColumns(columns_and_defaults, ColumnDefaultKind::Materialized);
res.aliases = removeAndReturnColumns(columns_and_defaults, ColumnDefaultKind::Alias);
res.ordinary = std::move(columns_and_defaults.first);
res.defaults = std::move(columns_and_defaults.second);
if (res.ordinary.size() + res.materialized.size() == 0)
throw Exception{"Cannot CREATE table without physical columns", ErrorCodes::EMPTY_LIST_OF_COLUMNS_PASSED};
return res;
}
void MemDbLoader::parseTable(const QDomElement & elemSource)
{
_tableName = elemSource.attribute("name");
_columnNames.clear();
QDomNodeList nlist = elemSource.childNodes();
for(int i = 0; i < nlist.count(); i++ ) {
QDomElement it = nlist.item(i).toElement();
if(it.tagName()=="columns") {
parseColumns(it);
}
else if(it.tagName()=="record") {
parseRecord(it);
}
}
}
InterpreterCreateQuery::ColumnsInfo InterpreterCreateQuery::getColumnsInfo(
const ASTPtr & columns, const Context & context)
{
ColumnsInfo res;
auto && columns_and_defaults = parseColumns(columns, context);
res.materialized_columns = removeAndReturnColumns(columns_and_defaults, ColumnDefaultType::Materialized);
res.alias_columns = removeAndReturnColumns(columns_and_defaults, ColumnDefaultType::Alias);
res.columns = std::make_shared<NamesAndTypesList>(std::move(columns_and_defaults.first));
res.column_defaults = std::move(columns_and_defaults.second);
if (res.columns->size() + res.materialized_columns.size() == 0)
throw Exception{"Cannot CREATE table without physical columns", ErrorCodes::EMPTY_LIST_OF_COLUMNS_PASSED};
return res;
}
void WaypointLoaderNode::parseWaypoint(const std::string &line, const std::vector<std::string> &contents,
autoware_msgs::waypoint *wp)
{
std::vector<std::string> columns;
parseColumns(line, &columns);
std::unordered_map<std::string, std::string> map;
for (size_t i = 0; i < contents.size(); i++)
{
map[contents.at(i)] = columns.at(i);
}
wp->pose.pose.position.x = std::stod(map["x"]);
wp->pose.pose.position.y = std::stod(map["y"]);
wp->pose.pose.position.z = std::stod(map["z"]);
wp->pose.pose.orientation = tf::createQuaternionMsgFromYaw(std::stod(map["yaw"]));
wp->twist.twist.linear.x = kmph2mps(std::stod(map["velocity"]));
wp->change_flag = std::stoi(map["change_flag"]);
}
void WaypointLoaderNode::loadWaypoints(const char *filename, std::vector<autoware_msgs::waypoint> *wps)
{
std::ifstream ifs(filename);
if (!ifs)
return;
std::string line;
std::getline(ifs, line); // get first line
std::vector<std::string> contents;
parseColumns(line, &contents);
std::getline(ifs, line); // remove second line
while (std::getline(ifs, line))
{
autoware_msgs::waypoint wp;
parseWaypoint(line, contents, &wp);
wps->push_back(wp);
}
planningVelocity(&*wps);
}
Piecewise::Piecewise(const InputParameters & parameters) :
Function(parameters),
_scale_factor(getParam<Real>("scale_factor")),
_has_axis(false),
_data_file_name(getParam<FileName>("data_file")),
_x_index(getParam<unsigned int>("x_index_in_file")),
_y_index(getParam<unsigned int>("y_index_in_file")),
_xy_only(getParam<bool>("xy_in_file_only"))
{
std::vector<Real> x;
std::vector<Real> y;
if (_data_file_name != "")
{
if ((parameters.isParamValid("x")) ||
(parameters.isParamValid("y")) ||
(parameters.isParamValid("xy_data")))
{
mooseError("In Piecewise " << _name << ": Cannot specify 'data_file' and 'x', 'y', or 'xy_data' together.");
}
if (_x_index == _y_index)
mooseError("In Piecewise " << _name << ": 'x_index_in_file' and 'y_index_in_file' are set to the same value.");
std::string format = getParam<std::string>("format");
if (format.compare(0, 4, "rows")==0)
{
parseRows( x, y );
}
else if (format.compare(0, 7, "columns")==0)
{
parseColumns( x, y);
}
else
{
mooseError("In Piecewise " << _name << ": Invalid option for format: "+format+" in "+name()+". Valid options are 'rows' and 'columns'.");
}
}
else if ((parameters.isParamValid("x")) ||
(parameters.isParamValid("y")))
{
if (! ((parameters.isParamValid("x")) &&
(parameters.isParamValid("y"))))
{
mooseError("In Piecewise " << _name << ": Both 'x' and 'y' must be specified if either one is specified.");
}
if (parameters.isParamValid("xy_data"))
{
mooseError("In Piecewise " << _name << ": Cannot specify 'x', 'y', and 'xy_data' together.");
}
x = getParam<std::vector<Real> >("x");
y = getParam<std::vector<Real> >("y");
}
else if (parameters.isParamValid("xy_data"))
{
std::vector<Real> xy = getParam<std::vector<Real> >("xy_data");
unsigned int xy_size = xy.size();
if (xy_size % 2 != 0)
{
mooseError("In Piecewise " << _name << ": Length of data provided in 'xy_data' must be a multiple of 2.");
}
unsigned int x_size = xy_size/2;
x.reserve(x_size);
y.reserve(x_size);
for (unsigned int i=0; i<xy_size/2; ++i)
{
x.push_back(xy[i*2]);
y.push_back(xy[i*2+1]);
}
}
else
{
mooseError("In Piecewise " << _name << ": Either 'data_file', 'x' and 'y', or 'xy_data' must be specified.");
}
try
{
_linear_interp.reset(new LinearInterpolation(x, y));
}
catch (std::domain_error & e)
{
mooseError("In Piecewise " << _name << ": " << e.what());
}
if (parameters.isParamValid("axis"))
{
_axis=parameters.get<int>("axis");
if (_axis < 0 || _axis > 2)
mooseError("In Piecewise " << _name << ": axis="<<_axis<<" outside allowable range (0-2).");
_has_axis = true;
}
}
void CSVDocument::load(const std::string& oFile, bool bWithHeader /* = true */, int *errorRow /* = NULL */, int *errorCol /* = NULL */)
{
std::ifstream oStream(oFile.c_str(), std::ios::in) ;
if (!oStream.is_open())
{
printf("打开文件失败: %s\n", oFile.c_str());
return;
}
std::vector<std::string> stringList;
char sBuff[1024];
while (!oStream.eof())
{
memset(sBuff, 0, sizeof(sBuff));
oStream.getline(sBuff, sizeof(sBuff));
if (sBuff[0] != '\0')
{
int len = (int)strlen(sBuff);
if (sBuff[len - 1] == '\r')
sBuff[len - 1] = '\0';
stringList.push_back(sBuff);
}
}
//首先清空现有数据
clearColumnObject();
//文档为空，没有数据则退出
if (stringList.size() <= 0)
return;
//从第1行分析列名称表，分隔符是","
parseColumns(stringList[1], ',');
//循环读取数据并添加到每个列对象
const int rowCount = (int)stringList.size();
m_dwRowNum = 0;
int hadErrCol = 0;
int nStartRow = bWithHeader ? 1 : 0;
for (int i = nStartRow; i < rowCount; ++i)
{
if (parseRow(stringList[i], ',', &hadErrCol))
{
m_dwRowNum++;
}
if (hadErrCol != 0)
{
if (errorRow && errorCol)
{
*errorCol = hadErrCol;
*errorRow = i;
return;
}
else assert(false);
}
}
#ifdef _DEBUG
for (size_t i = 0; i < m_dwColNum; ++i)
{
if ((int)m_dwRowNum != m_ColumnList[i]->size())
{
if (errorCol)
{
*errorCol = (int)i;
return;
}
else
{
assert(false);
}
}
}
#endif
}
void ODBCHandler::handleRequest(Poco::Net::HTTPServerRequest & request, Poco::Net::HTTPServerResponse & response)
{
Poco::Net::HTMLForm params(request, request.stream());
LOG_TRACE(log, "Request URI: " + request.getURI());
auto process_error = [&response, this](const std::string & message)
{
response.setStatusAndReason(Poco::Net::HTTPResponse::HTTP_INTERNAL_SERVER_ERROR);
if (!response.sent())
response.send() << message << std::endl;
LOG_WARNING(log, message);
};
if (!params.has("query"))
{
process_error("No 'query' in request body");
return;
}
if (!params.has("columns"))
{
process_error("No 'columns' in request URL");
return;
}
if (!params.has("connection_string"))
{
process_error("No 'connection_string' in request URL");
return;
}
UInt64 max_block_size = DEFAULT_BLOCK_SIZE;
if (params.has("max_block_size"))
{
std::string max_block_size_str = params.get("max_block_size", "");
if (max_block_size_str.empty())
{
process_error("Empty max_block_size specified");
return;
}
max_block_size = parse<size_t>(max_block_size_str);
}
std::string columns = params.get("columns");
std::unique_ptr<Block> sample_block;
try
{
sample_block = parseColumns(std::move(columns));
}
catch (const Exception & ex)
{
process_error("Invalid 'columns' parameter in request body '" + ex.message() + "'");
LOG_WARNING(log, ex.getStackTrace().toString());
return;
}
std::string format = params.get("format", "RowBinary");
std::string query = params.get("query");
LOG_TRACE(log, "Query: " << query);
std::string connection_string = params.get("connection_string");
LOG_TRACE(log, "Connection string: '" << connection_string << "'");
WriteBufferFromHTTPServerResponse out(request, response, keep_alive_timeout);
try
{
BlockOutputStreamPtr writer = FormatFactory::instance().getOutput(format, out, *sample_block, *context);
auto pool = getPool(connection_string);
ODBCBlockInputStream inp(pool->get(), query, *sample_block, max_block_size);
copyData(inp, *writer);
}
catch (...)
{
auto message = getCurrentExceptionMessage(true);
response.setStatusAndReason(
Poco::Net::HTTPResponse::HTTP_INTERNAL_SERVER_ERROR); // can't call process_error, bacause of too soon response sending
writeStringBinary(message, out);
tryLogCurrentException(log);
}
}
// DEPRECATED CONSTRUCTOR
Piecewise::Piecewise(const std::string & deprecated_name, InputParameters parameters) :
Function(deprecated_name, parameters),
_scale_factor( getParam<Real>("scale_factor") ),
_linear_interp( NULL ),
_has_axis(false),
_data_file_name(isParamValid("data_file") ? getParam<std::string>("data_file") : "")
{
std::vector<Real> x;
std::vector<Real> y;
if (_data_file_name != "")
{
if ((parameters.isParamValid("x")) ||
(parameters.isParamValid("y")) ||
(parameters.isParamValid("xy_data")))
{
mooseError("In Piecewise: Cannot specify 'data_file' and 'x', 'y', or 'xy_data' together.");
}
std::string format = getParam<std::string>("format");
if (format.compare(0, 4, "rows")==0)
{
parseRows( x, y );
}
else if (format.compare(0, 7, "columns")==0)
{
parseColumns( x, y);
}
else
{
mooseError("Invalid option for format: "+format+" in "+name()+". Valid options are 'rows' and 'columns'.");
}
}
else if ((parameters.isParamValid("x")) ||
(parameters.isParamValid("y")))
{
if (! ((parameters.isParamValid("x")) &&
(parameters.isParamValid("y"))))
{
mooseError("In Piecewise: Both 'x' and 'y' must be specified if either one is specified.");
}
if (parameters.isParamValid("xy_data"))
{
mooseError("In Piecewise: Cannot specify 'x', 'y', and 'xy_data' together.");
}
x = getParam<std::vector<Real> >("x");
y = getParam<std::vector<Real> >("y");
}
else if (parameters.isParamValid("xy_data"))
{
std::vector<Real> xy = getParam<std::vector<Real> >("xy_data");
unsigned int xy_size = xy.size();
if (xy_size % 2 != 0)
{
mooseError("In Piecewise: Length of data provided in 'xy_data' must be a multiple of 2.");
}
unsigned int x_size = xy_size/2;
x.reserve(x_size);
y.reserve(x_size);
for (unsigned int i=0; i<xy_size/2; ++i)
{
x.push_back(xy[i*2]);
y.push_back(xy[i*2+1]);
}
}
else
{
mooseError("In Piecewise: Either 'data_file', 'x' and 'y', or 'xy_data' must be specified.");
}
_linear_interp = new LinearInterpolation( x, y );
if (parameters.isParamValid("axis"))
{
_axis=parameters.get<int>("axis");
if (_axis < 0 || _axis > 2)
mooseError("In Piecewise function axis="<<_axis<<" outside allowable range (0-2).");
_has_axis = true;
}
}
