CObservationRawDAQ.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservation.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::obs
{
/** Store raw data from a Data Acquisition (DAQ) device, such that input or
 * output analog and digital channels, counters from encoders, etc. at one
 * sampling instant.
 *  All analog values are assumed to be volts.
 * On timing:
 * - CObservation::timestamp corresponds to the time of the first samples in
 * each of the vectors.
 * - CObservationRawDAQ::sample_rate is the sampling rate, in samples per second
 * per channel, as stored by the source driver.
 *
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationRawDAQ : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationRawDAQ, mrpt::obs)
   public:
    /** Constructor */
    inline CObservationRawDAQ() = default;
    /** Destructor */
    ~CObservationRawDAQ() override = default;
    std::vector<uint8_t> AIN_8bits; /** Readings from 8-bit analog input (ADCs)
                                       channels (vector length=channel count) in
                                       ADC units. */
    std::vector<uint16_t> AIN_16bits; /** Readings from 16-bit analog input
                                         (ADCs) channels (vector length=channel
                                         count) in ADC units. */
    std::vector<uint32_t> AIN_32bits; /** Readings from 32-bit analog input
                                         (ADCs) channels (vector length=channel
                                         count) in ADC units. */
    std::vector<float> AIN_float; /** Readings from analog input (ADCs) channels
                                     (vector length=channel count) in Volts. */
    std::vector<double> AIN_double; /** Readings from analog input (ADCs)
                                       channels (vector length=channel count) in
                                       Volts. */

    /** How many different ADC channels are present in the AIN_* vectors. */
    uint16_t AIN_channel_count{0};
    /** Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0
     * A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors. */
    bool AIN_interleaved{true};

    std::vector<uint8_t> AOUT_8bits; /** Present output values for 8-bit analog
                                        output (DACs) channels (vector
                                        length=channel count) in DAC units.*/
    std::vector<uint16_t> AOUT_16bits; /** Present output values for 16-bit
                                          analog output (DACs) channels (vector
                                          length=channel count) in DAC units.*/
    std::vector<float> AOUT_float; /** Present output values for 16-bit analog
                                      output (DACs) channels (vector
                                      length=channel count) in volts.*/
    std::vector<double> AOUT_double; /** Present output values for 16-bit analog
                                        output (DACs) channels (vector
                                        length=channel count) in volts.*/

    std::vector<uint8_t> DIN; /** Readings from digital inputs; each byte stores
                                 8 digital inputs, or 8-bit port. */
    std::vector<uint8_t> DOUT; /** Present digital output values; each byte
                                  stores 8 digital inputs, or 8-bit port. */

    std::vector<uint32_t> CNTRIN_32bits; /** Readings from ticks counters, such
                                            as quadrature encoders. (vector
                                            length=channel count) in ticks. */
    std::vector<double> CNTRIN_double; /** Readings from ticks counters, such as
                                          quadrature encoders. (vector
                                          length=channel count) in radians,
                                          degrees or any other unit (depends on
                                          the source driver). */

    /** The sampling rate, in samples per second per channel */
    double sample_rate{0};

    /** Not used in this class */
    void getSensorPose(mrpt::poses::CPose3D&) const override {}
    /** Not used in this class */
    void setSensorPose(const mrpt::poses::CPose3D&) override {}
    // See base class docs
    void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.

}  // namespace mrpt::obs