[Positioning] Add InputDataReader & TopologyReaderCSV

InputDataReader handles all data input, i.e. data needed to prepare
computation (topology, calibration measurements, etc.).

TopologyReaderCSV reads topology from a CSV file (just Building and Area
for the moment).

cfg/topo.csv: change format (add building name and reorder coordinates).

UserInterface: add data input options.

posexcept: add data input exceptions.

owlps-positioning/Makefile

@@ -57,6 +57,8 @@ OBJ_LIST = \
 	realposition.o \
 	configuration.o \
 	userinterface.o \
+	inputdatareader.o \
+	topologyreadercsv.o \
 	textfilereader.o \
 	csvfilereader.o \
 	textfilewriter.o \
@@ -109,8 +111,19 @@ $(OBJ_DIR)/%.o: $(SRC_DIR)/%.cc $(SRC_DIR)/%.hh
 	$(LD) $(LDFLAGS) -o $@ $^
 
 # Dependencies
+$(OBJ_DIR)/owlps-positioning.o: \
+	$(OBJ_DIR)/userinterface.o \
+	$(OBJ_DIR)/inputdatareader.o \
+	$(OBJ_DIR)/stock.o \
+	$(OBJ_DIR)/positioning.o
 $(OBJ_DIR)/userinterface.o: \
 	$(OBJ_DIR)/configuration.o
+$(OBJ_DIR)/inputdatareader.o: \
+	$(OBJ_DIR)/topologyreadercsv.o \
+	$(OBJ_DIR)/configuration.o \
+	$(OBJ_DIR)/posexcept.o
+$(OBJ_DIR)/topologyreadercsv.o: \
+	$(OBJ_DIR)/textfilereader.o
 $(OBJ_DIR)/referencepoint.o: \
 	$(OBJ_DIR)/point3d.o
 $(OBJ_DIR)/waypoint.o: \
@@ -184,6 +197,7 @@ $(OBJ_DIR)/realposition.o: \
 	$(OBJ_DIR)/calibrationrequest.o \
 	$(OBJ_DIR)/referencepoint.o
 $(OBJ_DIR)/positioning.o: \
+	$(OBJ_DIR)/inputdatareader.o \
 	$(OBJ_DIR)/input.o \
 	$(OBJ_DIR)/realposition.o \
 	$(OBJ_DIR)/output.o \

owlps-positioning/TODO

@@ -1,5 +1,6 @@
 
 - Tests unitaires
+   ° Finir le test de InputDataReader.
    ° Finir le test de Input.
    ° Finir le test de Output.
    ° Finir le test de Positioning.

owlps-positioning/cfg/topo.csv

@@ -1,48 +1,48 @@
-# Liste des zones homogènes du bâtiment (pièces).
+# Liste des bâtiments et de leurs zones homogènes (pièces).
 # Chaque ligne définit une zone, de la forme :
-#   Nom de la pièce;X1;Y1;X2;Y2;Z1;Z2
+#   Nom du bâtiment;Nom de la pièce;X1;Y1;X2;Y2;Z1;Z2
 
 
 ### Rez-de-chaussée ###
 #
-0140;1.00;7.28;6.05;3.70;0.00;2.99
-0130;1.00;10.88;6.05;7.28;0.00;2.99
-0120;1.00;14.48;6.05;10.88;0.00;2.99
-0110;1.00;18.12;6.05;14.48;0.00;2.99
-0100;1.00;21.66;6.05;18.12;0.00;2.99
-0090;1.00;25.32;6.05;21.66;0.00;2.99
-0080;1.00;29.00;6.05;25.32;0.00;2.99
-0070;1.00;32.00;6.05;29.00;0.00;2.99
-WC N0;8.20;5.30;10.00;0.50;0.00;2.99
-0085;8.20;9.00;10.00;5.30;0.00;2.99
-0075;8.20;10.88;10.00;9.00;0.00;2.99
-Palier N0;5.00;3.70;8.20;0.50;0.00;2.99
-Couloir N0 A;6.05;30.00;8.20;3.70;0.00;2.99
-Couloir N0 B;8.20;16.50;10.00;10.88;0.00;2.99
-Couloir N0 C;8.20;24.80;10.00;22.60;0.00;2.99
+Numerica;0140;1.00;7.28;6.05;3.70;0.00;2.99
+Numerica;0130;1.00;10.88;6.05;7.28;0.00;2.99
+Numerica;0120;1.00;14.48;6.05;10.88;0.00;2.99
+Numerica;0110;1.00;18.12;6.05;14.48;0.00;2.99
+Numerica;0100;1.00;21.66;6.05;18.12;0.00;2.99
+Numerica;0090;1.00;25.32;6.05;21.66;0.00;2.99
+Numerica;0080;1.00;29.00;6.05;25.32;0.00;2.99
+Numerica;0070;1.00;32.00;6.05;29.00;0.00;2.99
+Numerica;WC N0;8.20;5.30;10.00;0.50;0.00;2.99
+Numerica;0085;8.20;9.00;10.00;5.30;0.00;2.99
+Numerica;0075;8.20;10.88;10.00;9.00;0.00;2.99
+Numerica;Palier N0;5.00;3.70;8.20;0.50;0.00;2.99
+Numerica;Couloir N0 A;6.05;30.00;8.20;3.70;0.00;2.99
+Numerica;Couloir N0 B;8.20;16.50;10.00;10.88;0.00;2.99
+Numerica;Couloir N0 C;8.20;24.80;10.00;22.60;0.00;2.99
 
 
 ### Escaliers N0 / N1 ###
 #
 # TODO : affiner la hauteur, etc.
-Escalier N0-N1 A;8.20;22.60;10.00;16.50;0.00;6.00
-Escalier N0-N1 B1;2.50;2.00;5.00;0.50;0.00;6.00
-Escalier N0-N1 B palier;1.00;3.70;2.50;0.50;1.50;6.00
-Escalier N0-N1 B2;2.50;3.70;5.00;2.00;1.50;6.00
+Numerica;Escalier N0-N1 A;8.20;22.60;10.00;16.50;0.00;6.00
+Numerica;Escalier N0-N1 B1;2.50;2.00;5.00;0.50;0.00;6.00
+Numerica;Escalier N0-N1 B palier;1.00;3.70;2.50;0.50;1.50;6.00
+Numerica;Escalier N0-N1 B2;2.50;3.70;5.00;2.00;1.50;6.00
 
 
 ### Premier étage ###
 #
-1100;1.00;7.28;6.05;3.70;3.00;6.00
-0190;1.00;10.88;6.05;7.28;3.00;6.00
-0180;1.00;14.48;6.05;10.88;3.00;6.00
-1070;1.00;18.12;6.05;14.48;3.00;6.00
-1060;1.00;25.32;6.05;18.12;3.00;6.00
-1050;1.00;31.40;6.05;25.32;3.00;6.00
-WC N1;8.20;9.00;10.00;0.50;3.00;6.00
-1105;8.20;10.88;10.00;9.00;3.00;6.00
-1095;8.20;29.30;10.00;24.80;3.00;6.00
-Palier N1;5.00;3.70;8.20;0.50;3.00;6.00
-Couloir N1 A;6.05;29.50;8.20;3.70;3.00;6.00
-Couloir N1 B;8.20;16.50;10.00;10.88;3.00;6.00
-Couloir N1 C;8.20;24.80;10.00;22.60;3.00;6.00
+Numerica;1100;1.00;7.28;6.05;3.70;3.00;6.00
+Numerica;0190;1.00;10.88;6.05;7.28;3.00;6.00
+Numerica;0180;1.00;14.48;6.05;10.88;3.00;6.00
+Numerica;1070;1.00;18.12;6.05;14.48;3.00;6.00
+Numerica;1060;1.00;25.32;6.05;18.12;3.00;6.00
+Numerica;1050;1.00;31.40;6.05;25.32;3.00;6.00
+Numerica;WC N1;8.20;9.00;10.00;0.50;3.00;6.00
+Numerica;1105;8.20;10.88;10.00;9.00;3.00;6.00
+Numerica;1095;8.20;29.30;10.00;24.80;3.00;6.00
+Numerica;Palier N1;5.00;3.70;8.20;0.50;3.00;6.00
+Numerica;Couloir N1 A;6.05;29.50;8.20;3.70;3.00;6.00
+Numerica;Couloir N1 B;8.20;16.50;10.00;10.88;3.00;6.00
+Numerica;Couloir N1 C;8.20;24.80;10.00;22.60;3.00;6.00

owlps-positioning/src/inputdatareader.cc

@@ -0,0 +1,50 @@
+#include "inputdatareader.hh"
+#include "configuration.hh"
+#include "posexcept.hh"
+#include "topologyreadercsv.hh"
+
+using namespace std ;
+
+
+
+/* *** Constructors *** */
+
+
+InputDataReader::InputDataReader()
+{
+  initialise_topology_media() ;
+}
+
+
+
+/* *** Operations *** */
+
+
+void InputDataReader::initialise_topology_media()
+{
+  if (! Configuration::is_configured("data-input.topology-medium"))
+    return ;
+
+  const vector<string> &media_names =
+    Configuration::string_vector_value("data-input.topology-medium") ;
+
+  for (vector<string>::const_iterator i = media_names.begin() ;
+       i != media_names.end() ; ++i)
+    {
+      if (*i == "CSV")
+        initialise_topology_csv() ;
+
+      else
+        throw topology_input_medium_type_unknown(*i) ;
+    }
+}
+
+
+void InputDataReader::initialise_topology_csv()
+{
+  if (! Configuration::is_configured("data-input.areas-csv-file"))
+    throw no_topology_input_csv_file() ;
+
+  TopologyReaderCSV(
+    Configuration::string_value("data-input.areas-csv-file")) ;
+}

owlps-positioning/src/inputdatareader.hh

@@ -0,0 +1,17 @@
+#ifndef _OWLPS_POSITIONING_INPUTDATAREADER_HH_
+#define _OWLPS_POSITIONING_INPUTDATAREADER_HH_
+
+/// Read input data using parameters in Configuration
+class InputDataReader
+{
+protected:
+  void initialise_topology_media(void) ;
+  void initialise_topology_csv(void) ;
+
+public:
+  InputDataReader(void) ;
+
+  ~InputDataReader(void) {}
+} ;
+
+#endif // _OWLPS_POSITIONING_INPUTDATAREADER_HH_

owlps-positioning/src/owlps-positioning.cc

@@ -1,12 +1,13 @@
 #include "userinterface.hh"
+#include "inputdatareader.hh"
 #include "stock.hh"
 #include "positioning.hh"
 
 
 int main(int argc, char **argv)
 {
-  UserInterface *ui = new UserInterface(argc, argv) ;
-  delete ui ; // We don't need it any more
+  delete new UserInterface(argc, argv) ;
+  delete new InputDataReader() ;
 
   Positioning positioning ;
 

owlps-positioning/src/posexcept.cc

@@ -24,6 +24,26 @@ element_not_found(const string &_explanation) throw():
 
 
 
+/* *** Data input *** */
+
+
+topology_input_medium_type_unknown::
+topology_input_medium_type_unknown(const string &medium_name) throw():
+  posexcept("The specified topology input medium « "+ medium_name +
+            " » is unknown!") {}
+
+
+no_topology_input_csv_file::no_topology_input_csv_file() throw():
+  posexcept(
+    "No topologyinput CSV file specified in the configuration!") {}
+
+
+malformed_topology::
+malformed_topology(const string &_explanation) throw():
+  posexcept("Error reading the topology:" + _explanation) {}
+
+
+
 /* *** Input *** */
 
 

owlps-positioning/src/posexcept.hh

@@ -44,6 +44,32 @@ public:
 
 
 
+/* *** Data input *** */
+
+
+class topology_input_medium_type_unknown: public posexcept
+{
+public:
+  topology_input_medium_type_unknown(
+    const std::string &medium_name) throw() ;
+} ;
+
+
+class no_topology_input_csv_file: public posexcept
+{
+public:
+  no_topology_input_csv_file(void) throw() ;
+} ;
+
+
+class malformed_topology: public posexcept
+{
+public:
+  malformed_topology(const std::string &_explanation) throw() ;
+} ;
+
+
+
 /* *** Input *** */
 
 

owlps-positioning/src/topologyreadercsv.cc

@@ -0,0 +1,60 @@
+#include "topologyreadercsv.hh"
+#include "posexcept.hh"
+#include "stock.hh"
+#include "point3d.hh"
+#include "area.hh"
+
+using namespace std ;
+
+
+
+/* *** Constructors *** */
+
+
+TopologyReaderCSV::TopologyReaderCSV(const string &filename):
+  file(filename)
+{
+  read_topology() ;
+}
+
+
+
+/* *** Operations *** */
+
+
+void TopologyReaderCSV::read_topology()
+{
+  while (file.next_line())
+    process_line() ;
+}
+
+
+void TopologyReaderCSV::process_line()
+{
+  string building_name ;
+  if (! file.read_field(building_name))
+    throw malformed_topology("Cannot read building name!") ;
+  Building &building = const_cast<Building&>(
+                         Stock::find_create_building(building_name)) ;
+
+  string name ;
+  if (! file.read_field(name))
+    throw malformed_topology("Cannot read area name!") ;
+
+  Point3D p_min(read_point()) ;
+  Point3D p_max(read_point()) ;
+
+  Area *area = new Area(&building, name, p_min, p_max) ;
+  building.add_area(area) ;
+}
+
+
+Point3D TopologyReaderCSV::read_point()
+{
+  float coord[3] ;
+  for (unsigned int i = 0 ; i < 3 ; ++i)
+    if (! file.read_field(coord[i]))
+      throw malformed_topology("Cannot read a whole Point3D!") ;
+
+  return Point3D(coord) ;
+}

owlps-positioning/src/topologyreadercsv.hh

@@ -0,0 +1,30 @@
+#ifndef _OWLPS_POSITIONING_TOPOLOGYREADERCSV_HH_
+#define _OWLPS_POSITIONING_TOPOLOGYREADERCSV_HH_
+
+class Point3D ;
+
+#include "csvfilereader.hh"
+
+#include <string>
+
+/// Reads and registers to the Stock an Area list from a CSV file
+/**
+ * CSV format is:
+ *   Building name;Room name;X1;Y1;Z1;X2;Y2;Z2
+ */
+class TopologyReaderCSV
+{
+protected:
+  CSVFileReader file ;
+
+  void read_topology(void) ;
+  void process_line(void) ;
+  Point3D read_point(void) ;
+
+public:
+  TopologyReaderCSV(const std::string &filename) ;
+
+  ~TopologyReaderCSV(void) {}
+} ;
+
+#endif // _OWLPS_POSITIONING_TOPOLOGYREADERCSV_HH_

owlps-positioning/src/userinterface.cc

@@ -82,6 +82,7 @@ void UserInterface::fill_cli_options()
 void UserInterface::fill_file_options()
 {
   fill_server_options() ;
+  fill_data_input_options() ;
   fill_input_options() ;
   fill_log_options() ;
   fill_positioning_options() ;
@@ -103,6 +104,27 @@ void UserInterface::fill_server_options()
 }
 
 
+void UserInterface::fill_data_input_options()
+{
+  po::options_description options("Data input options") ;
+
+  options.add_options()
+  ("data-input.topology-medium,T", po::value< vector<string> >()
+   ->composing(),
+   "Medium from which topology (buildings, areas and waypoints) is \
+read. You can specify this option more than once. Allowed: CSV.")
+  ("data-input.areas-csv-file,A", po::value<string>(),
+   "CSV file to use for topology input (when \
+data-input.topology-medium = CSV).")
+  ("data-input.waypoints-csv-file,W", po::value<string>(),
+   "CSV file to use for waypoints input (when \
+data-input.topology-medium = CSV).")
+  ;
+
+  file_options->add(options) ;
+}
+
+
 void UserInterface::fill_input_options()
 {
   po::options_description options("Input options") ;

owlps-positioning/src/userinterface.hh

@@ -25,6 +25,7 @@ protected:
   /// the configuration file
   void fill_file_options(void) ;
   void fill_server_options(void) ;
+  void fill_data_input_options(void) ;
   void fill_input_options(void) ;
   void fill_log_options(void) ;
   void fill_positioning_options(void) ;

owlps-positioning/tests/inputdatareader_test.hh

@@ -0,0 +1,15 @@
+#include <cxxtest/TestSuite.h>
+
+#include "inputdatareader.hh"
+
+class InputDataReader_test: public CxxTest::TestSuite
+{
+public:
+
+  void test_constructor(void)
+  {
+    // TODO: test with a mock Configuration?
+    InputDataReader inputdatareader1 ;
+  }
+
+} ;

owlps-positioning/tests/topologyreadercsv_test.hh

@@ -0,0 +1,83 @@
+#include <cxxtest/TestSuite.h>
+
+#include "topologyreadercsv.hh"
+
+class TopologyReaderCSV_test: public CxxTest::TestSuite
+{
+private:
+  std::string topology_file_name ;
+
+public:
+
+  TopologyReaderCSV_test(void):
+    topology_file_name("/tmp/TopologyReaderCSV_topology_file.csv")
+  {
+    Stock::clear() ;
+
+    std::ofstream topology_file(topology_file_name.c_str()) ;
+    topology_file
+        << "My building;My room #1;1;2;3;9;8;7\n"
+        << "My building;Room #2;4;5;6;6;5;4\n"
+        << "Building #2;My room #1;1;2;3;9;8;7\n"
+        << "My building;Room #2;4;5;6;6;5;4\n"
+        << "My building;Room #2;4;5;6;6;5;4\n" ;
+    topology_file.close() ;
+  }
+
+
+  ~TopologyReaderCSV_test(void)
+  {
+    Stock::clear() ;
+    TestUtil::remove_file(topology_file_name) ;
+  }
+
+
+  static TopologyReaderCSV_test* createSuite(void)
+  {
+    return new TopologyReaderCSV_test() ;
+  }
+
+
+  static void destroySuite(TopologyReaderCSV_test *suite)
+  {
+    delete suite ;
+  }
+
+
+  void test_topologyreadercsv(void)
+  {
+    TS_ASSERT_THROWS_NOTHING(
+      TopologyReaderCSV toporeader(topology_file_name)) ;
+
+    Building *building1 ;
+    TS_ASSERT_THROWS_NOTHING(
+      building1 = const_cast<Building*>(
+                    &Stock::get_building("My building"))) ;
+    Building *building2 ;
+    TS_ASSERT_THROWS_NOTHING(
+      building2 = const_cast<Building*>(
+                    &Stock::get_building("Building #2"))) ;
+
+    TS_ASSERT_EQUALS(building1->get_areas().size(), 2u) ;
+
+    Area *area_ptr ;
+    area_ptr = building1->get_areas().find("My room #1")->second ;
+    Area area1(building1, "My room #1",
+               Point3D(1,2,3), Point3D(9,8,7)) ;
+    assert(area_ptr) ;
+    TS_ASSERT_EQUALS(*area_ptr, area1) ;
+
+    area_ptr = building1->get_areas().find("Room #2")->second ;
+    assert(area_ptr) ;
+    Area area2(building1, "Room #2",
+               Point3D(4,5,6), Point3D(6,5,4)) ;
+    TS_ASSERT_EQUALS(*area_ptr, area2) ;
+
+    TS_ASSERT_EQUALS(building2->get_areas().size(), 1u) ;
+    area1.set_building(building2) ;
+    area_ptr = building2->get_areas().find("My room #1")->second ;
+    assert(area_ptr) ;
+    TS_ASSERT_EQUALS(*area_ptr, area1) ;
+  }
+
+} ;