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ekf2 replay: add statistics output when replay finished

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The error counter is an indicator that the logger missed samples or dropped
due to a too small write buffer.
This commit is contained in:
Beat Küng 2017-03-03 08:33:04 +01:00 committed by Lorenz Meier
parent 2a11a2bc0b
commit 1d48d7e053
2 changed files with 30 additions and 0 deletions
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4
src/modules/replay/replay.hpp
View File

@ -97,6 +97,10 @@ protected:
std::streampos next_read_pos;
uint64_t next_timestamp; ///< timestamp of the file
// statistics
int error_counter = 0;
int publication_counter = 0;
};
/**

26
src/modules/replay/replay_main.cpp
View File

@ -799,6 +799,10 @@ bool Replay::publishTopic(Subscription &sub, void *data)
}
}
if (published) {
++sub.publication_counter;
}
return published;
}
@ -935,6 +939,7 @@ bool ReplayEkf2::findTimestampAndPublish(uint64_t timestamp, uint16_t msg_id, st
// this can happen in beginning of the log or on a dropout
PX4_DEBUG("No timestamp match found for topic %s (%i, %i)", sub.orb_meta->o_name, (int)sub.next_timestamp / 100,
timestamp);
++sub.error_counter;
return false;
}
@ -950,6 +955,27 @@ void ReplayEkf2::onEnterMainLoop()
void ReplayEkf2::onExitMainLoop()
{
// print statistics
auto print_sensor_statistics = [this](uint16_t msg_id, const char *name) {
if (msg_id != msg_id_invalid) {
Subscription &sub = _subscriptions[msg_id];
if (sub.publication_counter > 0 || sub.error_counter > 0) {
PX4_INFO("%s: %i, %i", name, sub.publication_counter, sub.error_counter);
}
}
};
PX4_INFO("");
PX4_INFO("Topic, Num Published, Num Error (no timestamp match found):");
print_sensor_statistics(_sensors_combined_msg_id, "sensor_combined");
print_sensor_statistics(_gps_msg_id, "vehicle_gps_position");
print_sensor_statistics(_optical_flow_msg_id, "optical_flow");
print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
print_sensor_statistics(_airspeed_msg_id, "airspeed");
print_sensor_statistics(_vehicle_vision_position_msg_id, "vehicle_vision_position");
print_sensor_statistics(_vehicle_vision_attitude_msg_id, "vehicle_vision_attitude");
orb_unsubscribe(_vehicle_attitude_sub);
_vehicle_attitude_sub = -1;
}