CObservationRFID.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 "obs-precomp.h"  // Precompiled headers

#include <mrpt/obs/CObservationRFID.h>
#include <mrpt/serialization/CArchive.h>

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

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

/** Constructor
 */
CObservationRFID::CObservationRFID() : tag_readings() {}
uint8_t CObservationRFID::serializeGetVersion() const { return 4; }
void CObservationRFID::serializeTo(mrpt::serialization::CArchive& out) const
{
    // The data
    const uint32_t Ntags = tag_readings.size();
    out << Ntags;  // new in v4

    // (Fields are dumped in separate for loops for backward compatibility
    // with old serialization versions)
    for (uint32_t i = 0; i < Ntags; i++) out << tag_readings[i].power;
    for (uint32_t i = 0; i < Ntags; i++) out << tag_readings[i].epc;
    for (uint32_t i = 0; i < Ntags; i++) out << tag_readings[i].antennaPort;

    out << sensorLabel;
    out << timestamp;
    out << sensorPoseOnRobot;  // Added in v3
}

void CObservationRFID::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        {
            uint32_t Ntags = 0;
            if (version < 4)
            {
                std::string ntags;
                in >> ntags;
                Ntags = atoi(ntags.c_str());
            }
            else
            {
                in >> Ntags;
            }

            // (Fields are read in separate for loops for backward compatibility
            // with old serialization versions)
            tag_readings.resize(Ntags);
            for (uint32_t i = 0; i < Ntags; i++) in >> tag_readings[i].power;
            for (uint32_t i = 0; i < Ntags; i++) in >> tag_readings[i].epc;
            for (uint32_t i = 0; i < Ntags; i++)
                in >> tag_readings[i].antennaPort;

            if (version >= 1)
                in >> sensorLabel;
            else
                sensorLabel = "";

            if (version >= 2)
                in >> timestamp;
            else
                timestamp = INVALID_TIMESTAMP;

            if (version >= 3)
                in >> sensorPoseOnRobot;
            else
                sensorPoseOnRobot = CPose3D();
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

void CObservationRFID::getSensorPose(CPose3D& out_sensorPose) const
{
    out_sensorPose = sensorPoseOnRobot;
}

void CObservationRFID::setSensorPose(const CPose3D& newSensorPose)
{
    sensorPoseOnRobot = newSensorPose;
}

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

    o << "Number of RFID tags sensed: " << tag_readings.size() << "\n";
    for (size_t i = 0; i < tag_readings.size(); i++)
    {
        const auto& rfid = tag_readings[i];
        o << "#" << i << ": Power=" << rfid.power
          << " (dBm) | AntennaPort=" << rfid.antennaPort
          << " | EPC=" << rfid.epc << std::endl;
    }
}