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" );
        }

}