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
{
/** 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 CObservationRawDAQ : public CObservation
{
        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. */

        /** How many different ADC channels are present in the AIN_* vectors. */
        uint16_t AIN_channel_count;
        /** 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. */
        bool AIN_interleaved;

        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). */

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

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

};  // End of class def.

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

#endif