CLogFileRecord.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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 "nav-precomp.h"  // Precomp header

#include <mrpt/kinematics/CVehicleVelCmd_DiffDriven.h>
#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>
#include <mrpt/nav/reactive/CLogFileRecord.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/stl_serialization.h>

using namespace mrpt::nav;

IMPLEMENTS_SERIALIZABLE(CLogFileRecord, CSerializable, mrpt::nav)

/*---------------------------------------------------------------
                    Constructor
  ---------------------------------------------------------------*/
CLogFileRecord::CLogFileRecord()
    : robotPoseLocalization(0, 0, 0),
      robotPoseOdometry(0, 0, 0),
      relPoseSense(0, 0, 0),
      relPoseVelCmd(0, 0, 0),
      WS_targets_relative(),
      cur_vel(0, 0, 0),
      cur_vel_local(0, 0, 0),

      rel_cur_pose_wrt_last_vel_cmd_NOP(0, 0, 0),
      rel_pose_PTG_origin_wrt_sense_NOP(0, 0, 0)
{
    infoPerPTG.clear();
    WS_Obstacles.clear();
}

uint8_t CLogFileRecord::serializeGetVersion() const { return 26; }
void CLogFileRecord::serializeTo(mrpt::serialization::CArchive& out) const
{
    uint32_t i, n;

    // Version 0 ---------
    n = infoPerPTG.size();
    out << n;
    for (i = 0; i < n; i++)
    {
        out << infoPerPTG[i].PTG_desc.c_str();

        uint32_t m = infoPerPTG[i].TP_Obstacles.size();
        out << m;
        if (m)
            out.WriteBuffer(
                (const void*)&(*infoPerPTG[i].TP_Obstacles.begin()),
                m * sizeof(infoPerPTG[i].TP_Obstacles[0]));

        out << infoPerPTG[i]
                   .TP_Targets;  // v8: CPoint2D -> TPoint2D. v26: vector
        out << infoPerPTG[i].TP_Robot;  // v17
        out << infoPerPTG[i].timeForTPObsTransformation
            << infoPerPTG[i].timeForHolonomicMethod;  // made double in v12
        out << infoPerPTG[i].desiredDirection << infoPerPTG[i].desiredSpeed
            << infoPerPTG[i].evaluation;  // made double in v12
        // removed in v23: out << evaluation_org << evaluation_priority; //
        // added in v21
        out << infoPerPTG[i].HLFR;

        // Version 9: Removed security distances. Added optional field with
        // PTG info.
        const bool there_is_ptg_data = infoPerPTG[i].ptg ? true : false;
        out << there_is_ptg_data;
        if (there_is_ptg_data) out << infoPerPTG[i].ptg;

        // Was: out << infoPerPTG[i].clearance.raw_clearances; // v19
        infoPerPTG[i].clearance.writeToStream(out);  // v25
    }
    out << nSelectedPTG << WS_Obstacles;
    out << WS_Obstacles_original;  // v20

    // Removed v24: out << robotOdometryPose;
    out << robotPoseLocalization << robotPoseOdometry;  // v24

    out << WS_targets_relative;  // v8, v26: vector
    // v16:
    out << ptg_index_NOP << ptg_last_k_NOP;
    out << rel_cur_pose_wrt_last_vel_cmd_NOP
        << rel_pose_PTG_origin_wrt_sense_NOP;  // v24: CPose2D->TPose2D

    // Removed: v24. out << ptg_last_curRobotVelLocal; // v17
    ptg_last_navDynState.writeToStream(out);  // v24

    if (ptg_index_NOP < 0) out << cmd_vel /*v10*/ << cmd_vel_original;  // v15

    // Previous values: REMOVED IN VERSION #6
    n = robotShape_x.size();
    out << n;
    if (n)
    {
        out.WriteBuffer(
            (const void*)&(*robotShape_x.begin()), n * sizeof(robotShape_x[0]));
        out.WriteBuffer(
            (const void*)&(*robotShape_y.begin()), n * sizeof(robotShape_y[0]));
    }

    // Version 1 ---------
    out << cur_vel << cur_vel_local; /*v10*/
    // out << estimatedExecutionPeriod; // removed v13

    // Version 3 ----------
    for (i = 0; i < infoPerPTG.size(); i++)
    {
        out << infoPerPTG[i]
                   .evalFactors.base;  // v22: this is now a TParameters
    }

    out << nPTGs;  // v4
    // out << timestamp; // removed v13
    out << robotShape_radius;  // v11
    // out << cmd_vel_filterings; // added v12: Removed in v15

    out << values << timestamps;  // v13

    out << relPoseSense << relPoseVelCmd;  // v14, v24 changed CPose2D->TPose2D

    // v15: cmd_vel converted from std::vector<double> into CSerializable
    out << additional_debug_msgs;  // v18

    navDynState.writeToStream(out);  // v24
}

void CLogFileRecord::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        case 5:
        case 6:
        case 7:
        case 8:
        case 9:
        case 10:
        case 11:
        case 12:
        case 13:
        case 14:
        case 15:
        case 16:
        case 17:
        case 18:
        case 19:
        case 20:
        case 21:
        case 22:
        case 23:
        case 24:
        case 25:
        case 26:
        {
            // Version 0 --------------
            uint32_t i, n;

            infoPerPTG.clear();

            in >> n;
            infoPerPTG.resize(n);
            for (i = 0; i < n; i++)
            {
                auto& ipp = infoPerPTG[i];
                in >> ipp.PTG_desc;

                int32_t m;
                in >> m;
                ipp.TP_Obstacles.resize(m);
                if (m)
                    in.ReadBufferFixEndianness(&(*ipp.TP_Obstacles.begin()), m);

                ipp.TP_Targets.clear();
                if (version >= 8)
                {
                    if (version >= 26)
                    {
                        in >> ipp.TP_Targets;
                    }
                    else
                    {
                        mrpt::math::TPoint2D trg;
                        in >> trg;
                        ipp.TP_Targets.push_back(trg);
                    }
                }
                else
                {
                    mrpt::poses::CPoint2D pos;
                    in >> pos;
                    ipp.TP_Targets.emplace_back(pos.x(), pos.y());
                }
                if (version >= 17)
                    in >> ipp.TP_Robot;
                else
                    ipp.TP_Robot = mrpt::math::TPoint2D(0, 0);

                if (version >= 12)
                {
                    in >> ipp.timeForTPObsTransformation >>
                        ipp.timeForHolonomicMethod;
                    in >> ipp.desiredDirection >> ipp.desiredSpeed >>
                        ipp.evaluation;
                }
                else
                {
                    in.ReadAsAndCastTo<float, double>(
                        ipp.timeForTPObsTransformation);
                    in.ReadAsAndCastTo<float, double>(
                        ipp.timeForHolonomicMethod);
                    in.ReadAsAndCastTo<float, double>(ipp.desiredDirection);
                    in.ReadAsAndCastTo<float, double>(ipp.desiredSpeed);
                    in.ReadAsAndCastTo<float, double>(ipp.evaluation);
                }
                if (version >= 21 && version < 23)
                {
                    double evaluation_org, evaluation_priority;
                    in >> evaluation_org >> evaluation_priority;
                }

                in >> ipp.HLFR;

                if (version >= 9)  // Extra PTG info
                {
                    ipp.ptg.reset();

                    bool there_is_ptg_data;
                    in >> there_is_ptg_data;
                    if (there_is_ptg_data)
                        ipp.ptg = std::dynamic_pointer_cast<
                            CParameterizedTrajectoryGenerator>(in.ReadObject());
                }

                if (version >= 19)
                {
                    if (version < 25)
                    {
                        std::vector<std::map<double, double>> raw_clearances;
                        in >> raw_clearances;
                        ipp.clearance.resize(
                            raw_clearances.size(), raw_clearances.size());
                        for (size_t k = 0; k < raw_clearances.size(); k++)
                            ipp.clearance.get_path_clearance_decimated(k) =
                                raw_clearances[k];
                    }
                    else
                    {
                        ipp.clearance.readFromStream(in);
                    }
                }
                else
                {
                    ipp.clearance.clear();
                }
            }

            in >> nSelectedPTG >> WS_Obstacles;
            if (version >= 20)
            {
                in >> WS_Obstacles_original;  // v20
            }
            else
            {
                WS_Obstacles_original = WS_Obstacles;
            }

            if (version < 24)
            {
                mrpt::poses::CPose2D robotOdometryPose;
                in >> robotOdometryPose;
                robotPoseOdometry = robotOdometryPose.asTPose();
                robotPoseLocalization = robotOdometryPose.asTPose();
            }
            else
            {
                in >> robotPoseLocalization >> robotPoseOdometry;  // v24
            }

            WS_targets_relative.clear();
            if (version >= 8)
            {
                if (version >= 26)
                {
                    in >> WS_targets_relative;
                }
                else
                {
                    mrpt::math::TPoint2D trg;
                    in >> trg;
                    WS_targets_relative.emplace_back(trg);
                }
            }
            else
            {
                mrpt::poses::CPoint2D pos;
                in >> pos;
                WS_targets_relative.emplace_back(
                    mrpt::math::TPoint2D(pos.x(), pos.y()));
            }

            if (version >= 16)
            {
                in >> ptg_index_NOP >> ptg_last_k_NOP;
                if (version >= 24)
                {
                    in >> rel_cur_pose_wrt_last_vel_cmd_NOP >>
                        rel_pose_PTG_origin_wrt_sense_NOP;
                }
                else
                {
                    mrpt::poses::CPose2D crel_cur_pose_wrt_last_vel_cmd_NOP,
                        crel_pose_PTG_origin_wrt_sense_NOP;
                    in >> crel_cur_pose_wrt_last_vel_cmd_NOP >>
                        crel_pose_PTG_origin_wrt_sense_NOP;
                    rel_cur_pose_wrt_last_vel_cmd_NOP =
                        crel_cur_pose_wrt_last_vel_cmd_NOP.asTPose();
                    rel_pose_PTG_origin_wrt_sense_NOP =
                        crel_pose_PTG_origin_wrt_sense_NOP.asTPose();
                }
            }
            else
            {
                ptg_index_NOP = -1;
            }
            if (version >= 17 && version < 24)
            {
                in >> ptg_last_navDynState.curVelLocal;
            }
            if (version >= 24)
            {
                ptg_last_navDynState.readFromStream(in);
            }

            if (version >= 10)
            {
                if (version >= 15)
                {
                    if (ptg_index_NOP < 0) in >> cmd_vel;
                }
                else
                {
                    std::vector<double> vel;
                    in >> vel;
                    if (vel.size() == 2)
                        cmd_vel = mrpt::kinematics::CVehicleVelCmd::Ptr(
                            new mrpt::kinematics::CVehicleVelCmd_DiffDriven);
                    else
                        cmd_vel = mrpt::kinematics::CVehicleVelCmd::Ptr(
                            new mrpt::kinematics::CVehicleVelCmd_Holo);
                    for (size_t k = 0; k < cmd_vel->getVelCmdLength(); k++)
                        cmd_vel->setVelCmdElement(i, vel[k]);
                }
            }
            else
            {
                float v, w;
                in >> v >> w;
                cmd_vel = mrpt::kinematics::CVehicleVelCmd::Ptr(
                    new mrpt::kinematics::CVehicleVelCmd_DiffDriven);
                cmd_vel->setVelCmdElement(0, v);
                cmd_vel->setVelCmdElement(0, w);
            }

            if (version >= 15 && ptg_index_NOP < 0) in >> cmd_vel_original;

            if (version < 13)
            {
                float old_exec_time;
                in >> old_exec_time;
                values["executionTime"] = old_exec_time;
            }

            if (version < 6)
            {
                mrpt::math::CVectorFloat prevV, prevW, prevSelPTG;

                // Previous values: (Removed in version 6)
                in >> n;
                prevV.resize(n);
                if (n) in.ReadBufferFixEndianness(&(*prevV.begin()), n);

                in >> n;
                prevW.resize(n);
                if (n) in.ReadBufferFixEndianness(&(*prevW.begin()), n);

                in >> n;
                prevSelPTG.resize(n);
                if (n) in.ReadBufferFixEndianness(&(*prevSelPTG.begin()), n);
            }

            in >> n;
            robotShape_x.resize(n);
            robotShape_y.resize(n);
            if (n)
            {
                in.ReadBufferFixEndianness(&(*robotShape_x.begin()), n);
                in.ReadBufferFixEndianness(&(*robotShape_y.begin()), n);
            }

            if (version > 0)
            {  // Version 1 --------------
                if (version >= 10)
                {
                    in >> cur_vel >> cur_vel_local;
                }
                else
                {
                    float actual_v, actual_w;
                    in >> actual_v >> actual_w;
                    cur_vel = mrpt::math::TTwist2D(0, 0, 0);
                    cur_vel_local =
                        mrpt::math::TTwist2D(actual_v, .0, actual_w);
                }
            }
            else
            {  // Default values for old versions:
                cur_vel = mrpt::math::TTwist2D(0, 0, 0);
            }

            if (version < 13 && version > 1)
            {
                float old_estim_period;
                in >> old_estim_period;
                values["estimatedExecutionPeriod"] = old_estim_period;
            }

            for (i = 0; i < infoPerPTG.size(); i++)
            {
                infoPerPTG[i].evalFactors.clear();
            }
            if (version > 2)
            {
                // Version 3..22 ----------
                for (i = 0; i < infoPerPTG.size(); i++)
                {
                    if (version < 22)
                    {
                        in >> n;
                        for (unsigned int j = 0; j < n; j++)
                        {
                            float f;
                            in >> f;
                            infoPerPTG[i].evalFactors[mrpt::format("f%u", j)] =
                                f;
                        }
                    }
                    else
                    {
                        in >> infoPerPTG[i].evalFactors.base;
                    }
                }
            }

            if (version > 3)
            {
                // Version 4 ----------
                in >> nPTGs;
                if (version < 9)  // Old "securityDistances", now unused.
                {
                    in >> n;
                    float dummy;
                    for (i = 0; i < n; i++) in >> dummy;
                }
            }
            else
            {
                nPTGs = infoPerPTG.size();
            }

            if (version > 4)
            {
                if (version < 10)
                {
                    int32_t navigatorBehavior;  // removed in v10
                    in >> navigatorBehavior;
                }

                if (version < 6)  // Removed in version 6:
                {
                    mrpt::poses::CPoint2D doorCrossing_P1, doorCrossing_P2;
                    in >> doorCrossing_P1 >> doorCrossing_P2;
                }
            }

            if (version > 6 && version < 13)
            {
                mrpt::system::TTimeStamp tt;
                in >> tt;
                timestamps["tim_start_iteration"] = tt;
            }

            if (version >= 11)
            {
                in >> robotShape_radius;
            }
            else
            {
                robotShape_radius = 0.5;
            }

            if (version >= 12 && version < 15)
            {
                std::vector<std::vector<double>> dummy_cmd_vel_filterings;
                in >> dummy_cmd_vel_filterings;
            }

            if (version >= 13)
            {
                in >> values >> timestamps;
            }
            else
            {
                values.clear();
                timestamps.clear();
            }

            if (version >= 14)
            {
                if (version >= 24)
                {
                    in >> relPoseSense >> relPoseVelCmd;
                }
                else
                {
                    mrpt::poses::CPose2D crelPoseSense, crelPoseVelCmd;
                    in >> crelPoseSense >> crelPoseVelCmd;
                    relPoseSense = crelPoseSense.asTPose();
                    relPoseVelCmd = crelPoseVelCmd.asTPose();
                }
            }
            else
            {
                relPoseSense = relPoseVelCmd = mrpt::math::TPose2D(0, 0, 0);
            }

            if (version >= 18)
                in >> additional_debug_msgs;
            else
                additional_debug_msgs.clear();

            if (version >= 24)
                navDynState.readFromStream(in);
            else
            {
                navDynState =
                    CParameterizedTrajectoryGenerator::TNavDynamicState();
                navDynState.curVelLocal = cur_vel_local;
                if (!WS_targets_relative.empty())
                    navDynState.relTarget = WS_targets_relative[0];
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}