int main() {
int i = 0;
// file, delimiter, first_line_is_header?
CsvParser *csvparser = CsvParser_new("example_file_with_header.csv", ",", 1);
CsvRow *header;
CsvRow *row;
header = CsvParser_getHeader(csvparser);
if (header == NULL) {
printf("%s\n", CsvParser_getErrorMessage(csvparser));
return 1;
}
const char **headerFields = CsvParser_getFields(header);
for (i = 0 ; i < CsvParser_getNumFields(header) ; i++) {
printf("TITLE: %s\n", headerFields[i]);
}
// Do NOT destroy the headear manually if you plan to destroy the parser later.
// If you destroy both header and parser, you will get double free runtime error
// CsvParser_destroy_row(header);
while ((row = CsvParser_getRow(csvparser)) ) {
printf("==NEW LINE==\n");
const char **rowFields = CsvParser_getFields(row);
for (i = 0 ; i < CsvParser_getNumFields(row) ; i++) {
printf("FIELD: %s\n", rowFields[i]);
}
printf("\n");
CsvParser_destroy_row(row);
}
CsvParser_destroy(csvparser);
return 0;
}
void Trajectory::LoadMatrixFromCSV( const std::string& filename, Eigen::MatrixXd &matrix) {
cout << "Loading " << filename << endl;
int number_of_lines = GetNumberOfLines(filename);
int row_num = 0;
int i = 0;
// file, delimiter, first_line_is_header?
CsvParser *csvparser = CsvParser_new(filename.c_str(), ",", true);
CsvRow *header;
CsvRow *row;
header = CsvParser_getHeader(csvparser);
if (header == NULL) {
printf("%s\n", CsvParser_getErrorMessage(csvparser));
return;
}
char **headerFields = CsvParser_getFields(header);
for (i = 0 ; i < CsvParser_getNumFields(header) ; i++) {
//printf("TITLE: %s\n", headerFields[i]);
}
matrix.resize(number_of_lines - 1, i); // minus 1 for header, i = number of columns
while ((row = CsvParser_getRow(csvparser)) ) {
//printf("NEW LINE:\n");
char **rowFields = CsvParser_getFields(row);
for (i = 0 ; i < CsvParser_getNumFields(row) ; i++) {
matrix(row_num, i) = atof(rowFields[i]);
//printf("FIELD: %20.20f\n", atof(rowFields[i]));
}
CsvParser_destroy_row(row);
if (row_num == 1) {
dt_ = matrix(1, 0) - matrix(0, 0);
} else if (row_num > 1) {
if (matrix(row_num, 0) - matrix(row_num - 1, 0) - dt_ > 5*std::numeric_limits<double>::epsilon()) {
cerr << "Error: non-constant dt. Expected dt = " << dt_ << " but got matrix[" << row_num << "][0] - matrix[" << row_num - 1 << "][0] = " << matrix(row_num, 0) - matrix(row_num - 1, 0) << " (residual = " << (matrix(row_num, 0) - matrix(row_num - 1, 0) - dt_) << endl;
cout << matrix << endl;
exit(1);
}
}
row_num ++;
}
CsvParser_destroy(csvparser);
}
void CsvParser_destroy(CsvParser *csvParser) {
if (csvParser == NULL) {
return;
}
if (csvParser->filePath_ != NULL) {
free(csvParser->filePath_);
}
if (csvParser->errMsg_ != NULL) {
free(csvParser->errMsg_);
}
if (csvParser->fileHandler_ != NULL) {
fclose(csvParser->fileHandler_);
}
if (csvParser->header_ != NULL) {
CsvParser_destroy_row(csvParser->header_);
}
if (csvParser->csvString_ != NULL) {
free(csvParser->csvString_);
}
free(csvParser);
}
CsvRow *_CsvParser_getRow(CsvParser *csvParser) {
int numRowRealloc = 0;
int acceptedFields = 64;
int acceptedCharsInField = 64;
if (csvParser->filePath_ == NULL && (! csvParser->fromString_)) {
_CsvParser_setErrorMessage(csvParser, "Supplied CSV file path is NULL");
return NULL;
}
if (csvParser->csvString_ == NULL && csvParser->fromString_) {
_CsvParser_setErrorMessage(csvParser, "Supplied CSV string is NULL");
return NULL;
}
if (csvParser->delimiter_ == '\0') {
_CsvParser_setErrorMessage(csvParser, "Supplied delimiter is not supported");
return NULL;
}
if (! csvParser->fromString_) {
if (csvParser->fileHandler_ == NULL) {
csvParser->fileHandler_ = fopen(csvParser->filePath_, "r");
if (csvParser->fileHandler_ == NULL) {
int errorNum = errno;
const char *errStr = strerror(errorNum);
char *errMsg = (char*)malloc(1024 + strlen(errStr));
strcpy(errMsg, "");
sprintf(errMsg, "Error opening CSV file for reading: %s : %s", csvParser->filePath_, errStr);
_CsvParser_setErrorMessage(csvParser, errMsg);
free(errMsg);
return NULL;
}
}
}
CsvRow *csvRow = (CsvRow*)malloc(sizeof(CsvRow));
csvRow->fields_ = (char**)malloc(acceptedFields * sizeof(char*));
csvRow->numOfFields_ = 0;
int fieldIter = 0;
char *currField = (char*)malloc(acceptedCharsInField);
int inside_complex_field = 0;
int currFieldCharIter = 0;
int seriesOfQuotesLength = 0;
int lastCharIsQuote = 0;
int isEndOfFile = 0;
while (1) {
char currChar = (csvParser->fromString_) ? csvParser->csvString_[csvParser->csvStringIter_] : fgetc(csvParser->fileHandler_);
csvParser->csvStringIter_++;
int endOfFileIndicator;
if (csvParser->fromString_) {
endOfFileIndicator = (currChar == '\0');
} else {
endOfFileIndicator = feof(csvParser->fileHandler_);
}
if (endOfFileIndicator) {
if (currFieldCharIter == 0 && fieldIter == 0) {
_CsvParser_setErrorMessage(csvParser, "Reached EOF");
free(currField);
CsvParser_destroy_row(csvRow);
return NULL;
}
currChar = '\n';
isEndOfFile = 1;
}
if (currChar == '\r') {
continue;
}
if (currFieldCharIter == 0 && ! lastCharIsQuote) {
if (currChar == '\"') {
inside_complex_field = 1;
lastCharIsQuote = 1;
continue;
}
} else if (currChar == '\"') {
seriesOfQuotesLength++;
inside_complex_field = (seriesOfQuotesLength % 2 == 0);
if (inside_complex_field) {
currFieldCharIter--;
}
} else {
seriesOfQuotesLength = 0;
}
if (isEndOfFile || ((currChar == csvParser->delimiter_ || currChar == '\n') && ! inside_complex_field) ){
currField[lastCharIsQuote ? currFieldCharIter - 1 : currFieldCharIter] = '\0';
csvRow->fields_[fieldIter] = (char*)malloc(currFieldCharIter + 1);
strcpy(csvRow->fields_[fieldIter], currField);
free(currField);
csvRow->numOfFields_++;
if (currChar == '\n') {
return csvRow;
}
if (csvRow->numOfFields_ != 0 && csvRow->numOfFields_ % acceptedFields == 0) {
csvRow->fields_ = (char**)realloc(csvRow->fields_, ((numRowRealloc + 2) * acceptedFields) * sizeof(char*));
numRowRealloc++;
}
acceptedCharsInField = 64;
currField = (char*)malloc(acceptedCharsInField);
currFieldCharIter = 0;
fieldIter++;
inside_complex_field = 0;
} else {
currField[currFieldCharIter] = currChar;
currFieldCharIter++;
if (currFieldCharIter == acceptedCharsInField - 1) {
acceptedCharsInField *= 2;
currField = (char*)realloc(currField, acceptedCharsInField);
}
}
lastCharIsQuote = (currChar == '\"') ? 1 : 0;
}
}