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added ekf2 replay module
This commit is contained in:
tumbili
@@ -0,0 +1,48 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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||||
# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
|
||||
# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#############################################################################
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set(MODULE_CFLAGS)
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if (${OS} STREQUAL "nuttx")
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list(APPEND MODULE_CFLAGS -Wframe-larger-than=4000)
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endif()
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px4_add_module(
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MODULE modules__ekf2_replay
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MAIN ekf2_replay
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COMPILE_FLAGS ${MODULE_CFLAGS}
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STACK 1000
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SRCS
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ekf2_replay_main.cpp
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DEPENDS
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platforms__common
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git_ecl
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,734 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ekf2_replay_main.cpp
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* Replay module for ekf2. This module reads ekf2 replay messages from a px4 logfile.
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* It uses this data to create sensor data for the ekf2 module.
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*
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* @author Roman Bapst
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*/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <px4_time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <math.h>
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#include <poll.h>
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#include <time.h>
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#include <float.h>
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#include <uORB/topics/ekf2_replay.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/ekf2_innovations.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/control_state.h>
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#include <sdlog2/sdlog2_messages.h>
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extern "C" __EXPORT int ekf2_replay_main(int argc, char *argv[]);
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#define PRINT_READ_ERROR PX4_WARN("error reading from log file");
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// union for log messages to write to log file
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#pragma pack(push, 1)
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struct {
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uint8_t head1, head2, type;
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union {
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struct log_ATT_s att;
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struct log_LPOS_s lpos;
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struct log_CTS_s control_state;
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struct log_EST0_s est0;
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struct log_EST1_s est1;
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struct log_EST2_s est2;
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struct log_EST3_s est3;
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struct log_EST4_s innov;
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struct log_EST5_s innov2;
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} body;
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} log_message;
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#pragma pack(pop)
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class Ekf2Replay;
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namespace ekf2_replay
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{
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Ekf2Replay *instance = nullptr;
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}
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class Ekf2Replay
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{
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public:
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/**
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* Constructor
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*/
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Ekf2Replay(char *logfile);
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/**
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* Destructor, also kills task.
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*/
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~Ekf2Replay();
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/**
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* Start task.
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*
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* @return OK on success.
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*/
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int start();
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void exit() { _task_should_exit = true; }
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static void task_main_trampoline(int argc, char *argv[]);
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void task_main();
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private:
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int _control_task = -1; /**< task handle for task */
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bool _task_should_exit = false;
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orb_advert_t _sensors_pub;
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orb_advert_t _gps_pub;
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int _att_sub;
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int _estimator_status_sub;
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int _innov_sub;
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int _lpos_sub;
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int _control_state_sub;
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char *_file_name;
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struct log_format_s _formats[100];
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struct sensor_combined_s _sensors;
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struct vehicle_gps_position_s _gps;
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bool _read_part1;
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bool _read_part2;
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int _write_fd = -1;
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// parse replay message from buffer
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void parseMessage(uint8_t *source, uint8_t *destination, uint8_t type);
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// copy the replay data from the logs into the topic structs which
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// will be pushlished after
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void setSensorData(uint8_t *data, uint8_t type);
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// sensor data for the estimator
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void publishSensorData();
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void writeMessage(int &fd, void *data, size_t size);
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bool needToSaveMessage(uint8_t type);
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void logIfUpdated();
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};
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Ekf2Replay::Ekf2Replay(char *logfile) :
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_sensors_pub(nullptr),
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_gps_pub(nullptr),
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_att_sub(-1),
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_estimator_status_sub(-1),
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_innov_sub(-1),
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_lpos_sub(-1),
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_control_state_sub(-1),
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_formats{},
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_sensors{},
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_gps{},
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_read_part1(false),
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_read_part2(false),
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_write_fd(-1)
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{
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// build the path to the log
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char tmp[] = "./rootfs/";
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char *path_to_log = (char *) malloc(1 + strlen(tmp) + strlen(logfile));
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strcpy(path_to_log, tmp);
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strcat(path_to_log, logfile);
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_file_name = path_to_log;
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}
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Ekf2Replay::~Ekf2Replay()
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{
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}
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void Ekf2Replay::publishSensorData()
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{
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if (_sensors_pub == nullptr && _read_part1) {
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_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &_sensors);
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} else if (_sensors_pub != nullptr && _read_part1) {
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orb_publish(ORB_ID(sensor_combined), _sensors_pub, &_sensors);
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}
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if (_gps_pub == nullptr && _gps.timestamp_position > 0) {
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_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_gps);
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} else if (_gps_pub != nullptr && _gps.timestamp_position > 0) {
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orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &_gps);
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}
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}
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void Ekf2Replay::parseMessage(uint8_t *source, uint8_t *destination, uint8_t type)
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{
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int i = 0;
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int write_index = 0;
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while (_formats[type].format[i] != '\0') {
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char data_type = _formats[type].format[i];
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switch (data_type) {
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case 'f':
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memcpy(&destination[write_index], &source[write_index], sizeof(float));
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write_index += sizeof(float);
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break;
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case 'Q':
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memcpy(&destination[write_index], &source[write_index], sizeof(uint64_t));
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write_index += sizeof(uint64_t);
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break;
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case 'L':
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memcpy(&destination[write_index], &source[write_index], sizeof(int32_t));
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write_index += sizeof(int32_t);
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break;
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case 'M':
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memcpy(&destination[write_index], &source[write_index], sizeof(uint8_t));
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write_index += sizeof(uint8_t);
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break;
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default:
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PX4_WARN("found unsupported data type in replay message, exiting!");
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_task_should_exit = true;
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break;
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}
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i++;
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}
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}
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void Ekf2Replay::setSensorData(uint8_t *data, uint8_t type)
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{
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struct log_RPL1_s replay_part1 = {};
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struct log_RPL2_s replay_part2 = {};
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if (type == LOG_RPL1_MSG) {
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uint8_t *dest_ptr = (uint8_t *)&replay_part1.time_ref;
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parseMessage(data, dest_ptr, type);
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_sensors.timestamp = replay_part1.time_ref;
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_sensors.gyro_integral_dt[0] = replay_part1.gyro_integral_dt;
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_sensors.accelerometer_integral_dt[0] = replay_part1.accelerometer_integral_dt;
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_sensors.magnetometer_timestamp[0] = replay_part1.magnetometer_timestamp;
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_sensors.baro_timestamp[0] = replay_part1.baro_timestamp;
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_sensors.gyro_integral_rad[0] = replay_part1.gyro_integral_x_rad;
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_sensors.gyro_integral_rad[1] = replay_part1.gyro_integral_y_rad;
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_sensors.gyro_integral_rad[2] = replay_part1.gyro_integral_z_rad;
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_sensors.accelerometer_integral_m_s[0] = replay_part1.accelerometer_integral_x_m_s;
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_sensors.accelerometer_integral_m_s[1] = replay_part1.accelerometer_integral_y_m_s;
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_sensors.accelerometer_integral_m_s[2] = replay_part1.accelerometer_integral_z_m_s;
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_sensors.magnetometer_ga[0] = replay_part1.magnetometer_x_ga;
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_sensors.magnetometer_ga[1] = replay_part1.magnetometer_y_ga;
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_sensors.magnetometer_ga[2] = replay_part1.magnetometer_z_ga;
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_sensors.baro_alt_meter[0] = replay_part1.baro_alt_meter;
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_read_part1 = true;
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} else if (type == LOG_RPL2_MSG) {
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uint8_t *dest_ptr = (uint8_t *)&replay_part2.time_pos_usec;
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parseMessage(data, dest_ptr, type);
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_gps.timestamp_position = replay_part2.time_pos_usec;
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_gps.timestamp_velocity = replay_part2.time_vel_usec;
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_gps.lat = replay_part2.lat;
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_gps.lon = replay_part2.lon;
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_gps.fix_type = replay_part2.fix_type;
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_gps.eph = replay_part2.eph;
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_gps.epv = replay_part2.epv;
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_gps.vel_m_s = replay_part2.vel_m_s;
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_gps.vel_n_m_s = replay_part2.vel_n_m_s;
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_gps.vel_e_m_s = replay_part2.vel_e_m_s;
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_gps.vel_d_m_s = replay_part2.vel_d_m_s;
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_gps.vel_ned_valid = replay_part2.vel_ned_valid;
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_read_part2 = true;
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}
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}
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void Ekf2Replay::writeMessage(int &fd, void *data, size_t size)
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{
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if (size != ::write(fd, data, size)) {
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PX4_WARN("error writing to file");
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}
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}
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bool Ekf2Replay::needToSaveMessage(uint8_t type)
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{
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if (type == LOG_ATT_MSG ||
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type == LOG_LPOS_MSG ||
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type == LOG_EST0_MSG ||
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type == LOG_EST1_MSG ||
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type == LOG_EST2_MSG ||
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type == LOG_EST3_MSG ||
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type == LOG_EST4_MSG ||
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type == LOG_EST5_MSG ||
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type == LOG_CTS_MSG) {
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return false;
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}
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return true;
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}
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// update all estimator topics and write them to log file
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void Ekf2Replay::logIfUpdated()
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{
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bool updated = false;
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// update attitude
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struct vehicle_attitude_s att = {};
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orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
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memset(&log_message.body.att.q_w, 0, sizeof(log_ATT_s));
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log_message.type = LOG_ATT_MSG;
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log_message.head1 = HEAD_BYTE1;
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log_message.head2 = HEAD_BYTE2;
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log_message.body.att.q_w = att.q[0];
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log_message.body.att.q_x = att.q[1];
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log_message.body.att.q_y = att.q[2];
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log_message.body.att.q_z = att.q[3];
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log_message.body.att.roll = att.roll;
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log_message.body.att.pitch = att.pitch;
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log_message.body.att.yaw = att.yaw;
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log_message.body.att.roll_rate = att.rollspeed;
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log_message.body.att.pitch_rate = att.pitchspeed;
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log_message.body.att.yaw_rate = att.yawspeed;
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log_message.body.att.gx = att.g_comp[0];
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log_message.body.att.gy = att.g_comp[1];
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log_message.body.att.gz = att.g_comp[2];
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writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_ATT_MSG].length);
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// update local position
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orb_check(_lpos_sub, &updated);
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if (updated) {
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struct vehicle_local_position_s lpos = {};
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orb_copy(ORB_ID(vehicle_local_position), _lpos_sub, &lpos);
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log_message.type = LOG_LPOS_MSG;
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log_message.head1 = HEAD_BYTE1;
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log_message.head2 = HEAD_BYTE2;
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log_message.body.lpos.x = lpos.x;
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log_message.body.lpos.y = lpos.y;
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log_message.body.lpos.z = lpos.z;
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log_message.body.lpos.ground_dist = lpos.dist_bottom;
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log_message.body.lpos.ground_dist_rate = lpos.dist_bottom_rate;
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log_message.body.lpos.vx = lpos.vx;
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log_message.body.lpos.vy = lpos.vy;
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log_message.body.lpos.vz = lpos.vz;
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log_message.body.lpos.ref_lat = lpos.ref_lat * 1e7;
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log_message.body.lpos.ref_lon = lpos.ref_lon * 1e7;
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log_message.body.lpos.ref_alt = lpos.ref_alt;
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log_message.body.lpos.pos_flags = (lpos.xy_valid ? 1 : 0) |
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(lpos.z_valid ? 2 : 0) |
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(lpos.v_xy_valid ? 4 : 0) |
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(lpos.v_z_valid ? 8 : 0) |
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(lpos.xy_global ? 16 : 0) |
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(lpos.z_global ? 32 : 0);
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log_message.body.lpos.ground_dist_flags = (lpos.dist_bottom_valid ? 1 : 0);
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log_message.body.lpos.eph = lpos.eph;
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log_message.body.lpos.epv = lpos.epv;
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writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_LPOS_MSG].length);
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}
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||||
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// update estimator status
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orb_check(_estimator_status_sub, &updated);
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||||
if (updated) {
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||||
struct estimator_status_s est_status = {};
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orb_copy(ORB_ID(estimator_status), _estimator_status_sub, &est_status);
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unsigned maxcopy0 = (sizeof(est_status.states) < sizeof(log_message.body.est0.s)) ? sizeof(est_status.states) : sizeof(
|
||||
log_message.body.est0.s);
|
||||
log_message.type = LOG_EST0_MSG;
|
||||
log_message.head1 = HEAD_BYTE1;
|
||||
log_message.head2 = HEAD_BYTE2;
|
||||
memset(&(log_message.body.est0.s), 0, sizeof(log_message.body.est0));
|
||||
memcpy(&(log_message.body.est0.s), est_status.states, maxcopy0);
|
||||
log_message.body.est0.n_states = est_status.n_states;
|
||||
log_message.body.est0.nan_flags = est_status.nan_flags;
|
||||
log_message.body.est0.health_flags = est_status.health_flags;
|
||||
log_message.body.est0.timeout_flags = est_status.timeout_flags;
|
||||
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST0_MSG].length);
|
||||
|
||||
log_message.type = LOG_EST1_MSG;
|
||||
log_message.head1 = HEAD_BYTE1;
|
||||
log_message.head2 = HEAD_BYTE2;
|
||||
unsigned maxcopy1 = ((sizeof(est_status.states) - maxcopy0) < sizeof(log_message.body.est1.s)) ? (sizeof(
|
||||
est_status.states) - maxcopy0) : sizeof(log_message.body.est1.s);
|
||||
memset(&(log_message.body.est1.s), 0, sizeof(log_message.body.est1.s));
|
||||
memcpy(&(log_message.body.est1.s), ((char *)est_status.states) + maxcopy0, maxcopy1);
|
||||
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST1_MSG].length);
|
||||
|
||||
log_message.type = LOG_EST2_MSG;
|
||||
log_message.head1 = HEAD_BYTE1;
|
||||
log_message.head2 = HEAD_BYTE2;
|
||||
unsigned maxcopy2 = (sizeof(est_status.covariances) < sizeof(log_message.body.est2.cov)) ? sizeof(
|
||||
est_status.covariances) : sizeof(log_message.body.est2.cov);
|
||||
memset(&(log_message.body.est2.cov), 0, sizeof(log_message.body.est2.cov));
|
||||
memcpy(&(log_message.body.est2.cov), est_status.covariances, maxcopy2);
|
||||
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST2_MSG].length);
|
||||
|
||||
log_message.type = LOG_EST3_MSG;
|
||||
log_message.head1 = HEAD_BYTE1;
|
||||
log_message.head2 = HEAD_BYTE2;
|
||||
unsigned maxcopy3 = ((sizeof(est_status.covariances) - maxcopy2) < sizeof(log_message.body.est3.cov)) ? (sizeof(
|
||||
est_status.covariances) - maxcopy2) : sizeof(log_message.body.est3.cov);
|
||||
memset(&(log_message.body.est3.cov), 0, sizeof(log_message.body.est3.cov));
|
||||
memcpy(&(log_message.body.est3.cov), ((char *)est_status.covariances) + maxcopy2, maxcopy3);
|
||||
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST3_MSG].length);
|
||||
|
||||
}
|
||||
|
||||
// update ekf2 innovations
|
||||
orb_check(_innov_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
struct ekf2_innovations_s innov = {};
|
||||
orb_copy(ORB_ID(ekf2_innovations), _innov_sub, &innov);
|
||||
memset(&log_message.body.innov.s, 0, sizeof(log_message.body.innov.s));
|
||||
|
||||
log_message.type = LOG_EST4_MSG;
|
||||
log_message.head1 = HEAD_BYTE1;
|
||||
log_message.head2 = HEAD_BYTE2;
|
||||
|
||||
for (unsigned i = 0; i < 6; i++) {
|
||||
log_message.body.innov.s[i] = innov.vel_pos_innov[i];
|
||||
log_message.body.innov.s[i + 6] = innov.vel_pos_innov_var[i];
|
||||
}
|
||||
|
||||
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST4_MSG].length);
|
||||
|
||||
log_message.type = LOG_EST5_MSG;
|
||||
log_message.head1 = HEAD_BYTE1;
|
||||
log_message.head2 = HEAD_BYTE2;
|
||||
memset(&(log_message.body.innov2.s), 0, sizeof(log_message.body.innov2.s));
|
||||
|
||||
for (unsigned i = 0; i < 3; i++) {
|
||||
log_message.body.innov2.s[i] = innov.mag_innov[i];
|
||||
log_message.body.innov2.s[i + 3] = innov.mag_innov_var[i];
|
||||
}
|
||||
|
||||
log_message.body.innov2.s[6] = innov.heading_innov;
|
||||
log_message.body.innov2.s[7] = innov.heading_innov_var;
|
||||
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST5_MSG].length);
|
||||
}
|
||||
|
||||
// update control state
|
||||
orb_check(_control_state_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
struct control_state_s control_state = {};
|
||||
orb_copy(ORB_ID(control_state), _control_state_sub, &control_state);
|
||||
log_message.type = LOG_CTS_MSG;
|
||||
log_message.head1 = HEAD_BYTE1;
|
||||
log_message.head2 = HEAD_BYTE2;
|
||||
log_message.body.control_state.vx_body = control_state.x_vel;
|
||||
log_message.body.control_state.vy_body = control_state.y_vel;
|
||||
log_message.body.control_state.vz_body = control_state.z_vel;
|
||||
log_message.body.control_state.airspeed = control_state.airspeed;
|
||||
log_message.body.control_state.roll_rate = control_state.roll_rate;
|
||||
log_message.body.control_state.pitch_rate = control_state.pitch_rate;
|
||||
log_message.body.control_state.yaw_rate = control_state.yaw_rate;
|
||||
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_CTS_MSG].length);
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf2Replay::task_main()
|
||||
{
|
||||
// formats
|
||||
const int _k_max_data_size = 1024; // 16x16 bytes
|
||||
uint8_t data[_k_max_data_size] = {};
|
||||
|
||||
// Open log file from which we read data
|
||||
// TODO Check if file exists
|
||||
int fd = ::open(_file_name, O_RDONLY);
|
||||
|
||||
// replay log file
|
||||
char *replay_log_name;
|
||||
replay_log_name = strtok(_file_name, ".");
|
||||
|
||||
char tmp[] = "_replayed.px4log";
|
||||
|
||||
char *path_to_replay_log = (char *) malloc(1 + strlen(tmp) + strlen(replay_log_name));
|
||||
strcpy(path_to_replay_log, ".");
|
||||
strcat(path_to_replay_log, replay_log_name);
|
||||
strcat(path_to_replay_log, tmp);
|
||||
|
||||
// open logfile to write
|
||||
_write_fd = ::open(path_to_replay_log, O_WRONLY | O_CREAT, S_IRWXU);
|
||||
|
||||
// subscribe to estimator topics
|
||||
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
_estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
|
||||
_innov_sub = orb_subscribe(ORB_ID(ekf2_innovations));
|
||||
_lpos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
|
||||
_control_state_sub = orb_subscribe(ORB_ID(control_state));
|
||||
|
||||
px4_pollfd_struct_t fds[1];
|
||||
|
||||
// we use attitude updates from the estimator for synchronisation
|
||||
fds[0].fd = _att_sub;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
bool read_first_header = false;
|
||||
|
||||
PX4_WARN("Replay in progress...");
|
||||
PX4_WARN("Log data will be written to %s", path_to_replay_log);
|
||||
|
||||
while (!_task_should_exit) {
|
||||
uint8_t header[3] = {};
|
||||
|
||||
if (::read(fd, header, 3) != 3) {
|
||||
if (!read_first_header) {
|
||||
PX4_WARN("error reading log file, is the path printed above correct?");
|
||||
|
||||
} else {
|
||||
PX4_WARN("Done!");
|
||||
}
|
||||
|
||||
_task_should_exit = true;
|
||||
continue;
|
||||
}
|
||||
|
||||
read_first_header = true;
|
||||
|
||||
if (header[0] != HEAD_BYTE1 || header[1] != HEAD_BYTE2) {
|
||||
PX4_WARN("bad log header\n");
|
||||
_task_should_exit = true;
|
||||
continue;
|
||||
}
|
||||
|
||||
// write header but only for messages which are not generated by the estimator
|
||||
if (needToSaveMessage(header[2])) {
|
||||
writeMessage(_write_fd, &header[0], 3);
|
||||
}
|
||||
|
||||
if (header[2] == LOG_FORMAT_MSG) {
|
||||
// format message
|
||||
struct log_format_s f;
|
||||
|
||||
if (::read(fd, &f.type, sizeof(f)) != sizeof(f)) {
|
||||
PRINT_READ_ERROR;
|
||||
_task_should_exit = true;
|
||||
continue;
|
||||
}
|
||||
|
||||
writeMessage(_write_fd, &f.type, sizeof(log_format_s));
|
||||
|
||||
memcpy(&_formats[f.type], &f, sizeof(f));
|
||||
|
||||
} else if (header[2] == LOG_PARM_MSG) {
|
||||
// parameter message
|
||||
if (::read(fd, &data[0], sizeof(log_PARM_s)) != sizeof(log_PARM_s)) {
|
||||
PRINT_READ_ERROR;
|
||||
_task_should_exit = true;
|
||||
continue;
|
||||
}
|
||||
|
||||
writeMessage(_write_fd, &data[0], sizeof(log_PARM_s));
|
||||
|
||||
} else if (header[2] == LOG_VER_MSG) {
|
||||
// version message
|
||||
if (::read(fd, &data[0], sizeof(log_VER_s)) != sizeof(log_VER_s)) {
|
||||
PRINT_READ_ERROR;
|
||||
_task_should_exit = true;
|
||||
continue;
|
||||
}
|
||||
|
||||
writeMessage(_write_fd, &data[0], sizeof(log_VER_s));
|
||||
|
||||
} else if (header[2] == LOG_TIME_MSG) {
|
||||
// time message
|
||||
if (::read(fd, &data[0], sizeof(log_TIME_s)) != sizeof(log_TIME_s)) {
|
||||
// assume that this is because we have reached the end of the file
|
||||
PX4_WARN("Done!");
|
||||
_task_should_exit = true;
|
||||
continue;
|
||||
}
|
||||
|
||||
writeMessage(_write_fd, &data[0], sizeof(log_TIME_s));
|
||||
|
||||
} else {
|
||||
// data message
|
||||
if (::read(fd, &data[0], _formats[header[2]].length - 3) != _formats[header[2]].length - 3) {
|
||||
PX4_WARN("Done!");
|
||||
_task_should_exit = true;
|
||||
continue;
|
||||
}
|
||||
|
||||
// all messages which we are not getting from the estimator are written
|
||||
// back into the replay log file
|
||||
if (needToSaveMessage(header[2])) {
|
||||
writeMessage(_write_fd, &data[0], _formats[header[2]].length - 3);
|
||||
}
|
||||
|
||||
// set estimator input data
|
||||
setSensorData(&data[0], header[2]);
|
||||
|
||||
// we have read both messages, publish them
|
||||
if (_read_part1 && _read_part2) {
|
||||
publishSensorData();
|
||||
|
||||
// wait for estimator output to arrive
|
||||
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
|
||||
|
||||
if (pret == 0) {
|
||||
PX4_WARN("timeout");
|
||||
}
|
||||
|
||||
if (pret < 0) {
|
||||
PX4_WARN("poll error");
|
||||
}
|
||||
|
||||
if (fds[0].revents & POLLIN) {
|
||||
// write all estimator messages to replay log file
|
||||
logIfUpdated();
|
||||
|
||||
_read_part1 = _read_part2 = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
::close(_write_fd);
|
||||
::close(fd);
|
||||
delete ekf2_replay::instance;
|
||||
ekf2_replay::instance = nullptr;
|
||||
}
|
||||
|
||||
void Ekf2Replay::task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
ekf2_replay::instance->task_main();
|
||||
}
|
||||
|
||||
int Ekf2Replay::start()
|
||||
{
|
||||
ASSERT(_control_task == -1);
|
||||
|
||||
/* start the task */
|
||||
_control_task = px4_task_spawn_cmd("ekf2_replay",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
3000,
|
||||
(px4_main_t)&Ekf2Replay::task_main_trampoline,
|
||||
nullptr);
|
||||
|
||||
if (_control_task < 0) {
|
||||
PX4_WARN("task start failed");
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int ekf2_replay_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1) {
|
||||
PX4_WARN("usage: ekf2_replay {start|stop|status}");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (ekf2_replay::instance != nullptr) {
|
||||
PX4_WARN("already running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ekf2_replay::instance = new Ekf2Replay(argv[2]);
|
||||
|
||||
if (ekf2_replay::instance == nullptr) {
|
||||
PX4_WARN("alloc failed");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (OK != ekf2_replay::instance->start()) {
|
||||
delete ekf2_replay::instance;
|
||||
ekf2_replay::instance = nullptr;
|
||||
PX4_WARN("start failed");
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
if (ekf2_replay::instance == nullptr) {
|
||||
PX4_WARN("not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ekf2_replay::instance->exit();
|
||||
|
||||
// wait for the destruction of the instance
|
||||
while (ekf2_replay::instance != nullptr) {
|
||||
usleep(50000);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (ekf2_replay::instance) {
|
||||
PX4_WARN("running");
|
||||
return 0;
|
||||
|
||||
} else {
|
||||
PX4_WARN("not running");
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
PX4_WARN("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
Reference in New Issue
Block a user