/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "obs-precomp.h"  // Precompiled headers
//
#include <mrpt/obs/CObservationWirelessPower.h>
#include <mrpt/serialization/CArchive.h>

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

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

uint8_t CObservationWirelessPower::serializeGetVersion() const { return 3; }
void CObservationWirelessPower::serializeTo(mrpt::serialization::CArchive& out) const
{
  out << power << sensorLabel << timestamp << sensorPoseOnRobot;  // in v3
}

void CObservationWirelessPower::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
  switch (version)
  {
    case 0:
    case 1:
    case 2:
    case 3:
    {
      in >> power;
      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 CObservationWirelessPower::getSensorPose(CPose3D& out_sensorPose) const
{
  out_sensorPose = sensorPoseOnRobot;
}

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

void CObservationWirelessPower::getDescriptionAsText(std::ostream& o) const
{
  CObservation::getDescriptionAsText(o);
  o << format("Measured Power: %.02f/100\n", power);
}

std::string CObservationWirelessPower::exportTxtHeader() const
{
  return mrpt::format("%18s", "POWER[0,100]");
}
std::string CObservationWirelessPower::exportTxtDataRow() const
{
  return mrpt::format("%18.5f ", power);
}
