/
data.go
159 lines (132 loc) · 4.8 KB
/
data.go
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package pkg
import (
"bufio"
"errors"
"fmt"
"log"
"math"
"os"
"regexp"
"strconv"
"strings"
)
type GPSMeasureGetFunc func(measurement GPSMeasurement) float64
func ReadData(config DataConfig) (*TrackData, error) {
trackInfo, measures, err := readTrackMeasures(config.InputFile)
if err != nil {
return nil, err
}
filteredMeasures := PredictKalmanFilteredMeasures(measures)
data := &TrackData{TrackInformation: trackInfo, GPSMeasurement: measures, FilteredGPSMeasurement: filteredMeasures}
laps := extractLaps(config, data)
data.Laps = laps
return data, nil
}
func readTrackMeasures(inputFile string) (*TrackInformation, []GPSMeasurement, error) {
file, err := os.Open(inputFile)
if err != nil {
return nil, nil, err
}
defer file.Close()
trackInfo := TrackInformation{}
var measures []GPSMeasurement
scanner := bufio.NewScanner(file)
lineCount := 0
for scanner.Scan() {
line := scanner.Text()
if strings.HasPrefix(line, "#") {
if strings.HasPrefix(line, "# End Point") {
r := regexp.MustCompile(`# End Point: ([0-9\.]+), ([0-9\.]+).*`)
matches := r.FindAllStringSubmatch(line, -1)
if matches == nil || len(matches) != 1 || len(matches[0]) != 3 {
return nil, nil, errors.New("can't parse end point lat/lng")
}
trackInfo.startLatLng = []float64{mustParseFloat64(matches[0][1]), mustParseFloat64(matches[0][2])}
// fmt.Printf("Found Start/End GPS coordinate: [%f/%f]\n", trackInfo.startLatLng[0], trackInfo.startLatLng[1])
}
} else if strings.HasPrefix(line, "\"Time\"") {
// skip the header
} else {
split := strings.Split(line, ",")
if len(split) != 20 {
return nil, nil, fmt.Errorf("not enough columns in line %d", lineCount)
}
measures = append(measures, GPSMeasurement{
relativeTime: mustParseFloat64(split[0]),
utcTimestamp: mustParseFloat64(split[1]),
latLng: []float64{mustParseFloat64(split[7]), mustParseFloat64(split[8])},
altitudeMeters: mustParseFloat64(split[9]),
speedKph: mustParseFloat64(split[11]),
headingDegrees: mustParseFloat64(split[12]),
accuracyMeter: mustParseFloat64(split[13]),
accelerationVector: []float64{mustParseFloat64(split[14]), mustParseFloat64(split[15]), mustParseFloat64(split[16])},
trackAddictLap: mustParseInt(split[2]),
})
}
lineCount++
}
if err := scanner.Err(); err != nil {
return nil, nil, err
}
return &trackInfo, measures, nil
}
func PredictKalmanFilteredMeasures(measurement []GPSMeasurement) []GPSMeasurement {
init := measurement[0]
gpsErrorStdDevMeters := stddev(measurement,
func(measurement GPSMeasurement) float64 {
return measurement.accuracyMeter
})
xAccelerationStdDev := stddev(measurement,
func(measurement GPSMeasurement) float64 {
return measurement.accelerationVector[0]
})
latFilter := NewKalmanFilterFusedPositionAccelerometer(latToMeter(init.latLng[0]),
gpsErrorStdDevMeters, xAccelerationStdDev, init.utcTimestamp)
yAccelerationStdDev := stddev(measurement,
func(measurement GPSMeasurement) float64 {
return measurement.accelerationVector[1]
})
lngFilter := NewKalmanFilterFusedPositionAccelerometer(lngToMeter(init.latLng[1]),
gpsErrorStdDevMeters, yAccelerationStdDev, init.utcTimestamp)
// fmt.Printf("GPS Error stddev [%f], X Accelerator stddev [%f], y Accelerator stddev [%f] \n",
// gpsErrorStdDevMeters, xAccelerationStdDev, yAccelerationStdDev)
var output []GPSMeasurement
for i := 1; i < len(measurement); i++ {
data := measurement[i]
speedMetersPerSecond := data.speedKph / 3.6
xVel := speedMetersPerSecond * math.Cos(data.headingDegrees)
yVel := speedMetersPerSecond * math.Sin(data.headingDegrees)
latFilter.Predict(data.accelerationVector[0], init.utcTimestamp)
lngFilter.Predict(data.accelerationVector[1], init.utcTimestamp)
latFilter.Update(latToMeter(data.latLng[0]), xVel, &data.accuracyMeter, 0)
lngFilter.Update(lngToMeter(data.latLng[1]), yVel, &data.accuracyMeter, 0)
point := metersToGeoPoint(latFilter.GetPredictedPosition(), lngFilter.GetPredictedPosition())
//fmt.Printf("[%f] vs. [%f]\n", data.latLng, point)
output = append(output, GPSMeasurement{
latLng: point,
altitudeMeters: data.altitudeMeters,
relativeTime: data.relativeTime,
accelerationVector: data.accelerationVector,
speedKph: data.speedKph,
utcTimestamp: data.utcTimestamp,
trackAddictLap: data.trackAddictLap,
accuracyMeter: data.accuracyMeter,
headingDegrees: data.headingDegrees,
})
}
return output
}
func mustParseFloat64(s string) float64 {
f, err := strconv.ParseFloat(s, 64)
if err != nil {
log.Fatalf("can't parse float: %s", s)
}
return f
}
func mustParseInt(s string) int {
i, err := strconv.ParseInt(s, 10, 32)
if err != nil {
log.Fatalf("can't parse int: %s", s)
}
return int(i)
}