CObservationRFID.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/obs/CObservationRFID.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationRFID, CObservation,mrpt::obs)

/** Constructor
 */
CObservationRFID::CObservationRFID() : tag_readings()
{
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationRFID::writeToStream(mrpt::utils::CStream &out, int *version) const
{
                //std::cout << "AP-1" << std::endl;
        MRPT_UNUSED_PARAM(out);
        if (version)
                *version = 4;
        else
        {
                // The data
                const uint32_t Ntags = tag_readings.size();
                out << Ntags;  // new in v4

        // (Fields are dumped in separate for loops for backward compatibility with old serialization versions)
                for (uint32_t i=0;i<Ntags;i++) out << tag_readings[i].power;
                for (uint32_t i=0;i<Ntags;i++) out << tag_readings[i].epc;
                for (uint32_t i=0;i<Ntags;i++) out << tag_readings[i].antennaPort;

                out     << sensorLabel;
                out     << timestamp;
                out     << sensorPoseOnRobot; // Added in v3
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationRFID::readFromStream(mrpt::utils::CStream &in, int version)
{
        //MRPT_UNUSED_PARAM(in);
        switch(version)
        {
        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
                {
                    uint32_t Ntags=0;
                        if (version<4)
                        {
                                std::string ntags;
                                in >> ntags;
                                Ntags = atoi(ntags.c_str());
                        }
                        else
                        {
                                in >> Ntags;
                        }

            // (Fields are read in separate for loops for backward compatibility with old serialization versions)
                        tag_readings.resize(Ntags);
                        for (uint32_t i=0;i<Ntags;i++) in >> tag_readings[i].power;
                        for (uint32_t i=0;i<Ntags;i++) in >> tag_readings[i].epc;
                        for (uint32_t i=0;i<Ntags;i++) in >> tag_readings[i].antennaPort;

                        if (version>=1)
                                in >> sensorLabel;
                        else sensorLabel="";

                        if (version>=2)
                                        in >> timestamp;
                        else    timestamp = INVALID_TIMESTAMP;

                        if (version>=3)
                                        in >> sensorPoseOnRobot;
                        else    sensorPoseOnRobot = CPose3D();

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };

}


void CObservationRFID::getSensorPose( CPose3D &out_sensorPose ) const
{
        out_sensorPose=sensorPoseOnRobot;
}

void CObservationRFID::setSensorPose( const CPose3D &newSensorPose )
{
        sensorPoseOnRobot = newSensorPose;
}

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

        std::cout << "Number of RFID tags sensed: " << tag_readings.size() << std::endl << std::endl;

        for (size_t i=0;i<tag_readings.size();i++)
        {
                const CObservationRFID::TTagReading &rfid = tag_readings[i];
                std::cout << "#"<< i
                        << ": Power=" << rfid.power
                        << " (dBm) | AntennaPort=" << rfid.antennaPort
                        << " | EPC=" << rfid.epc << std::endl;
        }
}