CObservationBatteryState.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/utils/CStream.h>
#include <mrpt/obs/CObservationBatteryState.h>
#include <mrpt/system/os.h>

using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::math;

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

/** Constructor
 */
CObservationBatteryState::CObservationBatteryState()
        : voltageMainRobotBattery(0),
          voltageMainRobotComputer(0),
          voltageMainRobotBatteryIsValid(false),
          voltageMainRobotComputerIsValid(false),
          voltageOtherBatteries(),
          voltageOtherBatteriesValid()
{
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationBatteryState::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        MRPT_UNUSED_PARAM(out);
        if (version)
                *version = 2;
        else
        {
                // The data
                out << voltageMainRobotBattery << voltageMainRobotComputer
                        << voltageMainRobotBatteryIsValid << voltageMainRobotComputerIsValid
                        << voltageOtherBatteries << voltageOtherBatteriesValid
                        << sensorLabel << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationBatteryState::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        MRPT_UNUSED_PARAM(in);
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                {
                        in >> voltageMainRobotBattery >> voltageMainRobotComputer >>
                                voltageMainRobotBatteryIsValid >>
                                voltageMainRobotComputerIsValid >> voltageOtherBatteries >>
                                voltageOtherBatteriesValid;
                        if (version >= 1)
                                in >> sensorLabel;
                        else
                                sensorLabel = "";

                        if (version >= 2)
                                in >> timestamp;
                        else
                                timestamp = INVALID_TIMESTAMP;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

// See base class docs
void CObservationBatteryState::getSensorPose(CPose3D& out_sensorPose) const
{
        out_sensorPose = CPose3D(0, 0, 0);
}

// See base class docs
void CObservationBatteryState::setSensorPose(const CPose3D& newSensorPose)
{
        MRPT_UNUSED_PARAM(newSensorPose);
}

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

        o << format(
                "Measured VoltageMainRobotBattery: %.02fV  isValid= %s \n",
                voltageMainRobotBattery,
                (voltageMainRobotBatteryIsValid == true) ? "True" : "False");

        o << format(
                "Measured VoltageMainRobotComputer: %.02fV  isValid= %s \n",
                voltageMainRobotComputer,
                (voltageMainRobotComputerIsValid == true) ? "True" : "False");

        o << "VoltageOtherBatteries: \n";
        for (CVectorDouble::Index i = 0; i < voltageOtherBatteries.size(); i++)
        {
                o << format(
                        "Index: %d --> %.02fV  isValid= %s \n", int(i),
                        voltageOtherBatteries[i],
                        (voltageOtherBatteriesValid[i] == true) ? "True" : "False");
        }
}