CObservationBatteryState.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/serialization/CArchive.h>
#include <mrpt/obs/CObservationBatteryState.h>
#include <mrpt/system/os.h>

using namespace mrpt::obs;
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()
{
}

uint8_t CObservationBatteryState::serializeGetVersion() const { return 2; }
void CObservationBatteryState::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    // The data
    out << voltageMainRobotBattery << voltageMainRobotComputer
        << voltageMainRobotBatteryIsValid << voltageMainRobotComputerIsValid
        << voltageOtherBatteries << voltageOtherBatteriesValid << sensorLabel
        << timestamp;
}

void CObservationBatteryState::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    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");
    }
}