From 142452f80c2017ffcb67d25c65dc782bab2fec47 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 2 Nov 2020 19:47:38 -0500
Subject: [PATCH] replay: print parameter changes and error on mismatch

---
 src/modules/replay/Replay.cpp | 36 +++++++++++++++++++++++++----------
 1 file changed, 26 insertions(+), 10 deletions(-)

diff --git a/src/modules/replay/Replay.cpp b/src/modules/replay/Replay.cpp
index cbedc43c39..8869b0a153 100644
--- a/src/modules/replay/Replay.cpp
+++ b/src/modules/replay/Replay.cpp
@@ -127,7 +127,9 @@ Replay::setupReplayFile(const char *file_name)
 void
 Replay::setUserParams(const char *filename)
 {
-	string line, param_name, value_string;
+	string line;
+	string pname;
+	string value_string;
 	ifstream myfile(filename);
 
 	if (!myfile.is_open()) {
@@ -144,23 +146,37 @@ Replay::setUserParams(const char *filename)
 		}
 
 		istringstream mystrstream(line);
-		mystrstream >> param_name;
+		mystrstream >> pname;
 		mystrstream >> value_string;
 
 		double param_value_double = stod(value_string);
 
-		param_t handle = param_find(param_name.c_str());
+		param_t handle = param_find(pname.c_str());
 		param_type_t param_format = param_type(handle);
-		_overridden_params.insert(param_name);
+		_overridden_params.insert(pname);
 
 		if (param_format == PARAM_TYPE_INT32) {
-			int32_t value = 0;
-			value = (int32_t)param_value_double;
+			int32_t orig_value = 0;
+			param_get(handle, &orig_value);
+
+			int32_t value = (int32_t)param_value_double;
+
+			if (orig_value != value) {
+				PX4_WARN("setting %s (INT32) %d -> %d", param_name(handle), orig_value, value);
+			}
+
 			param_set(handle, (const void *)&value);
 
 		} else if (param_format == PARAM_TYPE_FLOAT) {
-			float value = 0;
-			value = (float)param_value_double;
+			float orig_value = 0;
+			param_get(handle, &orig_value);
+
+			float value = (float)param_value_double;
+
+			if (fabsf(orig_value - value) > FLT_EPSILON) {
+				PX4_WARN("setting %s (FLOAT) %.3f -> %.3f", param_name(handle), (double)orig_value, (double)value);
+			}
+
 			param_set(handle, (const void *)&value);
 		}
 	}
@@ -383,7 +399,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
 		}
 
 		if (!compat) {
-			PX4_WARN("Formats for %s don't match. Will ignore it.", topic_name.c_str());
+			PX4_ERR("Formats for %s don't match. Will ignore it.", topic_name.c_str());
 			PX4_WARN(" Internal format: %s", orb_meta->o_fields);
 			PX4_WARN(" File format    : %s", file_format.c_str());
 			return true; // not a fatal error
@@ -549,7 +565,7 @@ Replay::readDropout(std::ifstream &file, uint16_t msg_size)
 	uint16_t duration;
 	file.read((char *)&duration, sizeof(duration));
 
-	PX4_INFO("Dropout in replayed log, %i ms", (int)duration);
+	PX4_ERR("Dropout in replayed log, %i ms", (int)duration);
 	return file.good();
 }