CObservationCANBusJ1939.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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/CObservationCANBusJ1939.h>
#include <mrpt/utils/CStream.h>

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(CObservationCANBusJ1939, CObservation,mrpt::obs)

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationCANBusJ1939::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 1;
        else
        {
                uint32_t i,n = m_data.size();
        out << m_pgn;
        out << m_src_address;
        out << m_priority;
        out << m_pdu_format;
        out << m_pdu_spec;
        out << m_data_length;
                out << n;

                for(i=0;i<n;i++)
                        out << m_data[i];

                n = m_raw_frame.size();
                out << n;
                for(i=0;i<n;i++)
                        out << uint8_t(m_raw_frame[i]);

                out << sensorLabel
                    << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationCANBusJ1939::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
        case 1:
                {
                        uint32_t i,n;

                        m_data.clear();
                        m_raw_frame.clear();

                        in >> m_pgn;
                        in >> m_src_address;
                        in >> m_priority;
                        in >> m_pdu_format;
                        in >> m_pdu_spec;
                        in >> m_data_length;

                        in >> n;
                        m_data.resize(n);
                        for(i=0;i<n;++i)
                in >> m_data[i];

            in >> n;
            m_raw_frame.resize(n);
            uint8_t aux;
                        for(i=0;i<n;++i)
                        {
                            in >> aux;
                            m_raw_frame[i] = char(aux);
                        }

                        in >> sensorLabel;
                        in >> timestamp;

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}

void CObservationCANBusJ1939::getDescriptionAsText(std::ostream &o) const
{
        CObservation::getDescriptionAsText(o);

        o << "Priority: " << format("0x%02X",m_priority) << " [Dec: " << int(m_priority) << "]" << endl;
        o << "Parameter Group Number (PGN): " << format("0x%04X",m_pgn) << " [Dec: " << int(m_pgn) << "]" << endl;
        o << "PDU Format: " << format("0x%02X",m_pdu_format) << " [Dec: " << int(m_pdu_format) << "]" << endl;
        o << "PDU Spec: " << format("0x%02X",m_pdu_spec) << " [Dec: " << int(m_pdu_spec) << "]" << endl;
        o << "Source address: " << format("0x%02X",m_src_address) << " [Dec: " << int(m_src_address) << "]" << endl;
        o << "Data length: " << format("0x%02X",m_data_length) << " [Dec: " << int(m_data_length) << "]" << endl;
        o << "Data: ";
        for(uint8_t k = 0; k < m_data.size(); ++k)
                o << format("0x%02X",m_data[k]) << " ";
        o << " [Dec: ";
        for(uint8_t k = 0; k < m_data.size(); ++k)
                o << int(m_data[k]) << " ";
        o << "]" << endl;

        o << "Raw frame: ";
        for(uint8_t k = 0; k < m_raw_frame.size(); ++k)
                o << m_raw_frame[k];
        o << endl;


}