In the middle of multithreading parsers.

source/assets/file_parsers/kitti_pose_parser.cpp

@@ -0,0 +1,125 @@
+#include "assets/file_parsers/kitti_pose_parser.hpp"
+
+#include <fstream>
+#include <execution>
+#include <glm/ext/matrix_transform.hpp>
+#include "util/logger.hpp"
+
+
+assets::kitti_pose_parser::parser_context::parser_context(
+	store_type& m_store,
+	std::mutex& m_store_mutex
+) : m_store{ &m_store }, m_store_mutex{ &m_store_mutex }
+{
+	m_buffer.reserve(128);
+}
+
+void assets::kitti_pose_parser::parser_context::reset()
+{
+	m_buffer.clear();
+}
+
+void assets::kitti_pose_parser::parser_context::operator()(lookup_type::const_pointer entry) noexcept
+{
+	const auto& [ filename, id ] = *entry;
+
+	if (const auto e = parse_file(filename, m_buffer))
+	{
+		ztu::logger::warn("Could not load pose_list %: %.", filename, e.message());
+		return;
+	}
+
+	{
+		auto lock = std::lock_guard{ *m_store_mutex };
+		m_store->add(id, m_buffer);
+	}
+}
+
+
+std::error_code assets::kitti_pose_parser::prefetch(
+	path_id_lookups& lookups
+) {
+	return {};
+}
+
+std::error_code assets::kitti_pose_parser::parse(
+	const path_id_lookups& lookups,
+	store_type& store,
+	bool
+) {
+	namespace fs = std::filesystem;
+
+	auto path_buffer = fs::path{};
+	auto in = std::ifstream{}; // TODO disable exceptions (for other loaders as well)
+
+	m_path_buffer.clear();
+	lookups.pose_lists.by_extension(".glsl", m_path_buffer);
+
+	auto store_mutex = std::mutex{};
+
+	std::for_each(
+		std::execution::parallel_unsequenced_policy{},
+		m_path_buffer.begin(),
+		m_path_buffer.end(),
+		parser_context{ store, store_mutex }
+	);
+
+	return {};
+}
+
+
+std::error_code assets::kitti_pose_parser::parse_file(
+	const std::filesystem::path& filename,
+	data_type &poses
+) {
+
+	auto in = std::ifstream{};
+
+	in.open(filename);
+	if (not in.is_open())
+	{
+		return std::make_error_code(std::errc::no_such_file_or_directory);
+	}
+
+	in >> std::skipws;
+
+	while (in.peek() != std::ifstream::traits_type::eof())
+	{
+		auto pose = glm::identity<pose_data>();
+
+		if (const auto error = parse_pose(in, pose))
+		{
+			ztu::logger::error(
+				"Error occurred while parsing kitti pose file %: [%] %",
+				filename,
+				error.category().name(),
+				error.message()
+			);
+			continue;
+		}
+
+		poses.emplace_back(pose);
+	}
+
+	in.close();
+
+	return {};
+}
+
+std::error_code assets::kitti_pose_parser::parse_pose(
+	std::ifstream& in,
+	pose_data& pose
+) {
+	for (pose_data::length_type row{}; row != 3; ++row)
+	{
+		for (pose_data::length_type col{}; col != 4; ++col)
+		{
+			if (not (in >> pose[row][col]))
+			{
+				return std::make_error_code(std::errc::result_out_of_range);
+			}
+		}
+	}
+
+	return {};
+}