1 files changed, 63 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/c/readSensorData.c b/SD-VBS/benchmarks/localization/src/c/readSensorData.c
new file mode 100644
index 0000000..12c0dc0
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/c/readSensorData.c
@@ -0,0 +1,63 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "localization.h"
+
+F2D* readSensorData(I2D* index, F2D* fid, I2D* type, I2D* eof)
+{
+    F2D *retData;
+    int rows, i, j, k;
+    int atype=-1, aindex;
+
+    aindex = asubsref(index, 0);
+
+    asubsref(index,0) = asubsref(index,0) + 1;
+    rows = fid->height;
+    asubsref(type,0) = 0;
+    retData = fSetArray(1, 8, 0);
+    
+    if( asubsref(index,0) > (rows-1) )
+        asubsref(eof,0) = 1;
+    else
+    {
+        if( asubsref(index,0) == rows)
+            asubsref(eof,0) = 1;
+        else
+            asubsref(eof,0) = 0;
+
+        k = asubsref(index,0);
+        atype = subsref(fid, k, 1);
+        if( (atype == 1) || (atype == 2) || (atype == 3) )
+        {
+            for(i=0; i<3; i++)
+            {
+                asubsref(retData,i) = subsref(fid,k,(i+2));
+            }
+        }
+        if( atype == 4 )
+        {
+            for(i=0; i<3; i++)
+            {
+                asubsref(retData,i) = subsref(fid,k,(i+2));
+            }
+            for(i=3; i<8; i++)
+            {
+                asubsref(retData,i) = subsref(fid,k+1,(i-3));
+            }
+            aindex = aindex + 1;
+        }
+        aindex = aindex + 1;
+    }
+
+    asubsref(index,0) = aindex;
+    asubsref(type, 0) = atype;
+
+    return retData;
+}
+
+
+
+