imu.cpp

#include "imu.hpp"
#include "magic_enum.hpp"
#include "spdlog/spdlog.h"
#include <algorithm>
#include <charconv>
#include <ranges>
constexpr auto is_num(std::string_view sv) {
	auto ltrim = sv | std::views::drop_while(isspace);
	auto to_skip = ltrim[0] == '-' ? 1 : 0;
	return std::ranges::all_of(ltrim.begin() + to_skip, ltrim.end(), isdigit);
}

auto is_imu(std::string_view sv) -> bool {
	if (std::ranges::count(sv, ';') != 7) {
		return false;
	}

	auto colums =
		sv | std::views::split(';') | std::views::transform([](auto &&rng) {
			return std::string_view(&*rng.begin(),
									size_t(std::ranges::distance(rng)));
		});
	if (colums.front() != "imu") {
		return false;
	}

	auto nums = colums.begin();
	++nums;
	return std::ranges::all_of(nums, colums.end(), is_num);
}

imu to_imu(std::string_view sv) {
	spdlog::debug("to_imu: '{}'", sv);
	auto colums =
		sv | std::views::split(';') | std::views::transform([](auto &&rng) {
			auto base = std::string_view(&*rng.begin(),
										 size_t(std::ranges::distance(rng)));
			base.remove_prefix(
				std::min(base.find_first_not_of(" "), base.size()));
			return base;
		});

	auto nums = colums | std::views::drop(1) |
				std::views::transform([](std::string_view strnum) {
					int64_t res{};
					auto [_, e] = std::from_chars(
						strnum.data(), strnum.data() + strnum.size(), res);
					if (e != std::errc{}) {
						spdlog::warn("to_imu({}): {}", strnum,
									 magic_enum::enum_name(e));
					}
					return res;
				});

	auto it = nums.begin();
	auto ts = *it;
	++it;
	auto ax = *it;
	++it;
	auto ay = *it;
	++it;
	auto az = *it;
	++it;
	auto gx = *it;
	++it;
	auto gy = *it;
	++it;
	auto gz = *it;
	return imu{uint32_t(ts),
			   {int16_t(ax), int16_t(ay), int16_t(az)},
			   {int16_t(gy), int16_t(gx), int16_t(gz)}};
}