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SRTParse_PICASIntruder.m
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SRTParse_PICASIntruder.m
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% Copyright (c) 2022 National Research Council Canada
function [ out ] = SRT_PARSE( file, DBG )
%SRT_PARSE: extract aircraft data from srt file
% Detailed explanation goes here
%Open File for Parsing
fid = fopen(file, 'rb');
%Set Not Debug if No Debug Variabl is Passed
if ~exist('DBG');
DBG = 0;
end
%File Does Not Exist?
if(fid < 0)
fprintf(2, 'ERROR: The File "%s" Does Not Exist!\n\n', file);
return;
end
out = cell(0,0);
%Initial State
STATE = 0;
%Main Loop Parses File.
line = '';
tst = [1,1];
while STATE ~= -1
%Set Loop Condition
tst = [];
%Read Lines Until Line With Writing is Found End if EOF
while length(tst) == 0
line = fgets(fid);
if feof(fid)
STATE = -1;
break;
end
tst = regexp(line, '[a-zA-Z0-9]');
end
%Parse Current Line
switch STATE
case -1
break;
case 0
%Make Sure This is a Frame Number
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
if isnan(str2double(line))
fprintf(2, 'ERROR: Incorrect Format of Input File %s\n\n', file);
return;
end
%Create Entry for new Frame
out = [out; cell(1,1)];
out{end} = struct('host_gpstime', 0, 'cam_gpstime', 0, 'frame_gpstime', 0, 'index', 0, ...
'elapsed_time',...
0, 'host_roll', 0, 'host_pitch', 0, 'host_hdg', 0, 'cam_roll', 0,...
'cam_pitch', 0, 'cam_hdg', 0, 'host_alt_gps_ft', 0, 'host_alt_agl_ft', 0,...
'host_lat', 0, 'host_lon', 0, 'cam_lat', 0, 'cam_lon', 0, 'cam_alt_gps_ft', 0,...
'cam_p', 0, 'cam_q', 0, 'cam_r', 0, 'cam_acc_x', 0,'cam_acc_y', 0, 'cam_acc_z',0 );
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end} = struct('frameIndex', str2double(strtok(line(nums(1):end), ' ')), 'gps_time', 0);
STATE = 1;
case 1
%Ignore Time Stamp (For Now)
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
STATE = 2;
case 2
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end}.host_gpstime = str2double(strtok(line(nums(1):end), ' ')); %num
out{end}.cam_gpstime = str2double(strtok(line(nums(2):end), ' ')); %num
out{end}.frame_gpstime = str2double(strtok(line(nums(3):end), ' ')); %sec
STATE = 3;
case 3
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end}.index = str2double(strtok(line(nums(1):end), ' ')); %deg
STATE = 4;
case 4
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end}.host_roll = str2double(strtok(line(nums(1):end), ' ')); %deg
out{end}.host_pitch = str2double(strtok(line(nums(2):end), ' ')); %deg
out{end}.host_hdg = str2double(strtok(line(nums(3):end), ' ')); %ft
STATE = 5;
case 5
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end}.host_lat = str2double(strtok(line(nums(1):end), ' ')); %deg
out{end}.host_lon = str2double(strtok(line(nums(2):end), ' ')); %deg
out{end}.host_alt_gps_ft = str2double(strtok(line(nums(3):end), ' ')); %deg
out{end}.host_alt_agl_ft = str2double(strtok(line(nums(4):end), ' ')); %deg
STATE = 6;
case 6
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end}.cam_roll = str2double(strtok(line(nums(1):end), ' ')); %deg
out{end}.cam_pitch = str2double(strtok(line(nums(2):end), ' ')); %deg
out{end}.cam_hdg = str2double(strtok(line(nums(3):end), ' ')); %ft
STATE = 7;
case 7
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end}.cam_lat = str2double(strtok(line(nums(1):end), ' ')); %deg
out{end}.cam_lon = str2double(strtok(line(nums(2):end), ' ')); %deg
out{end}.cam_alt_gps_ft = str2double(strtok(line(nums(3):end), ' ')); %deg
STATE = 8;
case 8
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end}.cam_P = str2double(strtok(line(nums(1):end), ' ')); %deg
out{end}.cam_Q = str2double(strtok(line(nums(2):end), ' ')); %deg
out{end}.cam_R = str2double(strtok(line(nums(3):end), ' ')); %deg
STATE = 9;
case 9
if DBG
fprintf(1, 'CASE %d: %s', STATE, line);
end
nums = regexp(line, '[-]?\d\d*+\.?\d*');
out{end}.cam_acc_x = str2double(strtok(line(nums(1):end), ' ')); %deg
out{end}.cam_acc_y = str2double(strtok(line(nums(2):end), ' ')); %deg
out{end}.cam_acc_z = str2double(strtok(line(nums(3):end), ' ')); %deg
STATE = 0;
% case 5
% if DBG
% fprintf(1, 'CASE %d: %s', STATE, line);
% end
% nums = regexp(line, '[-]?\d\d*+\.?\d*');
% out{end}.altitude_gps = str2double(strtok(line(nums(1):end), ' ')); %ft
% out{end}.altitude_agl = str2double(strtok(line(nums(2):end), ' ')); %ft
% STATE = 0;
otherwise
end
end
end