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replay: do not fail on first ignored topic

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bresch 2024-11-04 15:58:29 +01:00 committed by Daniel Agar
parent 651552c9b8
commit 31bef770aa
2 changed files with 24 additions and 16 deletions
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36
src/modules/replay/Replay.cpp
View File

@ -418,7 +418,7 @@ string Replay::getOrbFields(const orb_metadata *meta)
return format;
}
bool
Replay::ReadAndAndAddSubResult
Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
{
_read_buffer.reserve(msg_size + 1);
@ -428,11 +428,11 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
message[msg_size] = 0;
if (!file) {
return false;
return ReadAndAndAddSubResult::kFailure;
}
if (file.tellg() <= _subscription_file_pos) { //already read this subscription
return true;
return ReadAndAndAddSubResult::kIgnoringMsg;
}
_subscription_file_pos = file.tellg();
@ -444,7 +444,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
if (!orb_meta) {
PX4_WARN("Topic %s not found internally. Will ignore it", topic_name.c_str());
return true;
return ReadAndAndAddSubResult::kIgnoringMsg;
}
CompatBase *compat = nullptr;
@ -520,7 +520,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
}
}
return true; // not a fatal error
return ReadAndAndAddSubResult::kIgnoringMsg; // not a fatal error
}
}
@ -535,13 +535,13 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
if (!timestamp_found) {
delete subscription;
return true;
return ReadAndAndAddSubResult::kIgnoringMsg;
}
if (field_size != 8) {
PX4_ERR("Unsupported timestamp with size %i, ignoring the topic %s", field_size, orb_meta->o_name);
delete subscription;
return true;
return ReadAndAndAddSubResult::kIgnoringMsg;
}
//find first data message (and the timestamp)
@ -550,7 +550,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
if (!nextDataMessage(file, *subscription, msg_id)) {
delete subscription;
return false;
return ReadAndAndAddSubResult::kFailure;
}
file.seekg(cur_pos);
@ -558,7 +558,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
if (!subscription->orb_meta) {
//no message found. This is not a fatal error
delete subscription;
return true;
return ReadAndAndAddSubResult::kIgnoringMsg;
}
PX4_DEBUG("adding subscription for %s (msg_id %i)", subscription->orb_meta->o_name, msg_id);
@ -572,7 +572,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
onSubscriptionAdded(*_subscriptions[msg_id], msg_id);
return true;
return ReadAndAndAddSubResult::kSuccess;
}
bool
@ -908,12 +908,18 @@ Replay::run()
replay_file.seekg(_data_section_start);
//we know the next message must be an ADD_LOGGED_MSG
replay_file.read((char *)&message_header, ULOG_MSG_HEADER_LEN);
ReadAndAndAddSubResult res;
if (!readAndAddSubscription(replay_file, message_header.msg_size)) {
PX4_ERR("Failed to read subscription");
return;
}
do {
replay_file.read((char *)&message_header, ULOG_MSG_HEADER_LEN);
res = readAndAddSubscription(replay_file, message_header.msg_size);
if (res == ReadAndAndAddSubResult::kFailure) {
PX4_ERR("Failed to read subscription");
return;
}
} while (res != ReadAndAndAddSubResult::kSuccess);
const uint64_t timestamp_offset = getTimestampOffset();
uint32_t nr_published_messages = 0;

4
src/modules/replay/Replay.hpp
View File

@ -262,7 +262,9 @@ private:
///file parsing methods. They return false, when further parsing should be aborted.
bool readFormat(std::ifstream &file, uint16_t msg_size);
bool readAndAddSubscription(std::ifstream &file, uint16_t msg_size);
enum class ReadAndAndAddSubResult : uint8_t { kSuccess, kIgnoringMsg, kFailure };
ReadAndAndAddSubResult readAndAddSubscription(std::ifstream &file, uint16_t msg_size);
bool readFlagBits(std::ifstream &file, uint16_t msg_size);
/**