obs/CObservationRawDAQ.h

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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    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationRawDAQ_H
#define CObservationRawDAQ_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>

namespace mrpt
{
namespace obs
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRawDAQ , CObservation, OBS_IMPEXP)

        /** Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc. at one sampling instant.
         *  All analog values are assumed to be volts. 
         * On timing: 
         * - CObservation::timestamp corresponds to the time of the first samples in each of the vectors. 
         * - CObservationRawDAQ::sample_rate is the sampling rate, in samples per second per channel, as stored by the source driver.
         *
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationRawDAQ : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationRawDAQ )
         public:
                /** Constructor */
                inline CObservationRawDAQ() : AIN_channel_count(0),AIN_interleaved(true),sample_rate(0) { }
                /** Destructor */
                virtual ~CObservationRawDAQ()
                { }

                std::vector<uint8_t>  AIN_8bits;  /** Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units. */
                std::vector<uint16_t> AIN_16bits; /** Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units. */
                std::vector<uint32_t> AIN_32bits; /** Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units. */
                std::vector<float>    AIN_float;  /** Readings from analog input (ADCs) channels (vector length=channel count) in Volts. */
                std::vector<double>   AIN_double; /** Readings from analog input (ADCs) channels (vector length=channel count) in Volts. */

                uint16_t AIN_channel_count; //!< How many different ADC channels are present in the AIN_* vectors.
                bool     AIN_interleaved; //!< Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors.

                std::vector<uint8_t>  AOUT_8bits;  /** Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units.*/
                std::vector<uint16_t> AOUT_16bits; /** Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units.*/
                std::vector<float>    AOUT_float;  /** Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.*/
                std::vector<double>   AOUT_double; /** Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.*/

                std::vector<uint8_t>  DIN;   /** Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port. */
                std::vector<uint8_t>  DOUT;  /** Present digital output values; each byte stores 8 digital inputs, or 8-bit port. */

                std::vector<uint32_t> CNTRIN_32bits; /** Readings from ticks counters, such as quadrature encoders. (vector length=channel count) in ticks. */
                std::vector<double>   CNTRIN_double; /** Readings from ticks counters, such as quadrature encoders. (vector length=channel count) in radians, degrees or any other unit (depends on the source driver). */

                double sample_rate; //!< The sampling rate, in samples per second per channel

                /** Not used in this class */
                void getSensorPose( mrpt::poses::CPose3D & ) const  MRPT_OVERRIDE{ }
                /** Not used in this class */
                void setSensorPose( const mrpt::poses::CPose3D & ) MRPT_OVERRIDE { }
                // See base class docs
                void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationRawDAQ , CObservation, OBS_IMPEXP)

        } // End of namespace
} // End of namespace

#endif