std::map<std::shared_ptr<Track>,std::set<DetectionReport> >
TrackManager::initializeTracks(const std::vector<std::set<DetectionReport> >& DRsGroups,
std::unique_ptr<estimation::EstimationFilter<> > filter)
{
// for each set from DRsGroups, invoke initializeTrack() and add returned Track to tracks_ set.
// All initialized Tracks are collected and returned as map Track->DRs.
Common::GlobalLogger& logger = Common::GlobalLogger::getInstance();
{ // TODO rewrite this, when logger will be more sophisticated
std::stringstream msg;
msg << "Initialization of " << DRsGroups.size() << " DR groups.";
logger.log("TrackManager",msg.str());
}
std::map<std::shared_ptr<Track>,std::set<DetectionReport> > result;
for (auto DRs : DRsGroups) // copies group, to allow modification
{ // for each DR set
{ // TODO rewrite this, when logger will be more sophisticated
std::stringstream msg;
msg << "Computing group of " << DRs.size() << " DRs.";
logger.log("TrackManager",msg.str());
}
if (DRs.size() == 0) // skip to next group,
continue; // when no DRs available in this group (optimization)
auto rated = getRatedPairs(DRs);
std::vector<std::set<DetectionReport> > groups = chooseFromRated(rated);
for (auto group : groups)
{
std::shared_ptr<Track> track
= initializeTrack(group,filter->clone());
tracks_.insert(track);
result[track] = group;
}
}
return result;
}
void terminalDriver() {
char commands[NUM_SAVED_COMMANDS][BUFFERSIZE];
int lengths[NUM_SAVED_COMMANDS];
int commandNum = 0, viewingNum = 0;
char curCommand[BUFFERSIZE];
int commandLength = 0, totalCommands = 0;
char c;
int trainSpeeds[80];
int i;
for(i=0; i<80; i++) {
trainSpeeds[i] = 0;
}
int train[80];
for(i=0; i<80; i++) {
train[i] = -1;
}
Create(2, clockDriver);
outputEscape("[2J[13;100r");
refreshScreen();
initializeTrack();
moveCursor(13, 1);
Putc(2, '>');
while(true) {
c = (char)Getc(2);
switch(c) {
case '\r':
curCommand[commandLength] = '\0';
strcpy(commands[commandNum], curCommand);
lengths[commandNum] = commandLength;
Putc(2, '\r');
parseCommand(curCommand, trainSpeeds, train);
commandNum++;
commandNum %= NUM_SAVED_COMMANDS;
viewingNum = commandNum;
commands[commandNum][0] = '\0';
commandLength = 0;
if(totalCommands < NUM_SAVED_COMMANDS-1) totalCommands++;
Putc(2, '>');
break;
case '\t':
if(commandLength > 0) {
curCommand[commandLength] = '\0';
commandLength = tabComplete(curCommand);
outputEscape("[100D[K");
printf(">%s", curCommand);
}
break;
case '\x8':
if(commandLength > 0) {
commandLength--;
outputEscape("[1D[K");
}
break;
case '\x1B': //escape
c = (char)Getc(2);
c = (char)Getc(2);
if(c == 'A') {
if(commandNum == viewingNum) {
curCommand[commandLength] = '\0';
strcpy(commands[commandNum], curCommand);
lengths[commandNum] = commandLength;
}
if(viewingNum != ((commandNum + NUM_SAVED_COMMANDS - totalCommands)
% NUM_SAVED_COMMANDS)) {
viewingNum += NUM_SAVED_COMMANDS - 1;
viewingNum %= NUM_SAVED_COMMANDS;
strcpy(curCommand, commands[viewingNum]);
commandLength = lengths[viewingNum];
outputEscape("[100D[K");
printf(">%s", curCommand);
}
}else if(c == 'B') {
if(viewingNum != commandNum) {
viewingNum += 1;
viewingNum %= NUM_SAVED_COMMANDS;
strcpy(curCommand, commands[viewingNum]);
commandLength = lengths[viewingNum];
outputEscape("[100D[K");
printf(">%s", curCommand);
}
}
break;
default:
if(commandLength < BUFFERSIZE - 1) {
curCommand[commandLength++] = c;
Putc(2, c);
}
break;
}
}
}