CObservationRFID.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/obs/CObservationRFID.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt::obs;
using namespace mrpt::utils;
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() {}
/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationRFID::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        // std::cout << "AP-1" << std::endl;
        MRPT_UNUSED_PARAM(out);
        if (version)
                *version = 4;
        else
        {
                // 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
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationRFID::readFromStream(mrpt::utils::CStream& in, int version)
{
        // MRPT_UNUSED_PARAM(in);
        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);

        std::cout << "Number of RFID tags sensed: " << tag_readings.size()
                          << std::endl
                          << std::endl;

        for (size_t i = 0; i < tag_readings.size(); i++)
        {
                const CObservationRFID::TTagReading& rfid = tag_readings[i];
                std::cout << "#" << i << ": Power=" << rfid.power
                                  << " (dBm) | AntennaPort=" << rfid.antennaPort
                                  << " | EPC=" << rfid.epc << std::endl;
        }
}