CObservationRawDAQ.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/CObservationRawDAQ.h>
#include <mrpt/utils/CStream.h>
#include <iostream>

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

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

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationRawDAQ::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                out << sensorLabel << timestamp << sample_rate << AIN_8bits
                        << AIN_16bits << AIN_32bits << AIN_float << AIN_double
                        << AIN_channel_count << AIN_interleaved << AOUT_8bits << AOUT_16bits
                        << AOUT_float << AOUT_double << DIN << DOUT << CNTRIN_32bits
                        << CNTRIN_double;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationRawDAQ::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        in >> sensorLabel >> timestamp >> sample_rate >> AIN_8bits >>
                                AIN_16bits >> AIN_32bits >> AIN_float >> AIN_double >>
                                AIN_channel_count >> AIN_interleaved >> AOUT_8bits >>
                                AOUT_16bits >> AOUT_float >> AOUT_double >> DIN >> DOUT >>
                                CNTRIN_32bits >> CNTRIN_double;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CObservationRawDAQ::getDescriptionAsText(std::ostream& o) const
{
        using namespace std;
        CObservation::getDescriptionAsText(o);

        cout << "Sample rate             : " << sample_rate << " Hz" << endl;
        cout << "Analog IN Channel count : " << AIN_channel_count << endl;
        cout << "Analog IN interleaved?  : " << (AIN_interleaved ? "yes" : "no")
                 << endl;

#define RAWDAQ_SHOW_FIRSTS(_VEC)                                       \
        cout << "Raw data in " #_VEC " (" << _VEC.size()                   \
                 << " entries): First values [";                               \
        if (!_VEC.empty())                                                 \
        {                                                                  \
                for (size_t i = 1;                                             \
                         i <= std::min(_VEC.size(), static_cast<size_t>(10)); i++) \
                        cout << _VEC[i - 1] << " ";                                \
                cout << " ... ";                                               \
        }                                                                  \
        cout << "]\n";

        RAWDAQ_SHOW_FIRSTS(AIN_8bits)
        RAWDAQ_SHOW_FIRSTS(AIN_16bits)
        RAWDAQ_SHOW_FIRSTS(AIN_32bits)
        RAWDAQ_SHOW_FIRSTS(AIN_float)
        RAWDAQ_SHOW_FIRSTS(AIN_double)
        RAWDAQ_SHOW_FIRSTS(AOUT_8bits)
        RAWDAQ_SHOW_FIRSTS(AOUT_16bits)
        RAWDAQ_SHOW_FIRSTS(AOUT_float)
        RAWDAQ_SHOW_FIRSTS(AOUT_double)
        RAWDAQ_SHOW_FIRSTS(DIN)
        RAWDAQ_SHOW_FIRSTS(DOUT)
        RAWDAQ_SHOW_FIRSTS(CNTRIN_32bits)
        RAWDAQ_SHOW_FIRSTS(CNTRIN_double)

        cout << endl;
}