CObservationCANBusJ1939.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "obs-precomp.h"  // Precompiled headers

#include <mrpt/obs/CObservationCANBusJ1939.h>
#include <mrpt/serialization/CArchive.h>
#include <iostream>

using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace std;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationCANBusJ1939, CObservation, mrpt::obs)

uint8_t CObservationCANBusJ1939::serializeGetVersion() const { return 1; }
void CObservationCANBusJ1939::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    out << m_pgn << m_src_address << m_priority << m_pdu_format;
    out << m_pdu_spec << m_data_length;
    out.WriteAs<uint32_t>(m_data.size());
    if (!m_data.empty()) out.WriteBuffer(&m_data[0], m_data.size());
    out.WriteAs<uint32_t>(m_raw_frame.size());
    if (!m_raw_frame.empty())
        out.WriteBuffer(&m_raw_frame[0], m_raw_frame.size());
    out << sensorLabel << timestamp;
}

void CObservationCANBusJ1939::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        {
            uint32_t i, n;

            m_data.clear();
            m_raw_frame.clear();

            in >> m_pgn;
            in >> m_src_address;
            in >> m_priority;
            in >> m_pdu_format;
            in >> m_pdu_spec;
            in >> m_data_length;

            in >> n;
            m_data.resize(n);
            for (i = 0; i < n; ++i) in >> m_data[i];

            in >> n;
            m_raw_frame.resize(n);
            uint8_t aux;
            for (i = 0; i < n; ++i)
            {
                in >> aux;
                m_raw_frame[i] = char(aux);
            }

            in >> sensorLabel;
            in >> timestamp;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

void CObservationCANBusJ1939::getDescriptionAsText(std::ostream& o) const
{
    CObservation::getDescriptionAsText(o);

    o << "Priority: " << format("0x%02X", m_priority)
      << " [Dec: " << int(m_priority) << "]" << endl;
    o << "Parameter Group Number (PGN): " << format("0x%04X", m_pgn)
      << " [Dec: " << int(m_pgn) << "]" << endl;
    o << "PDU Format: " << format("0x%02X", m_pdu_format)
      << " [Dec: " << int(m_pdu_format) << "]" << endl;
    o << "PDU Spec: " << format("0x%02X", m_pdu_spec)
      << " [Dec: " << int(m_pdu_spec) << "]" << endl;
    o << "Source address: " << format("0x%02X", m_src_address)
      << " [Dec: " << int(m_src_address) << "]" << endl;
    o << "Data length: " << format("0x%02X", m_data_length)
      << " [Dec: " << int(m_data_length) << "]" << endl;
    o << "Data: ";
    for (unsigned char k : m_data) o << format("0x%02X", k) << " ";
    o << " [Dec: ";
    for (unsigned char k : m_data) o << int(k) << " ";
    o << "]" << endl;

    o << "Raw frame: ";
    for (char k : m_raw_frame) o << k;
    o << endl;
}