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replay: some API refactoring & extensions

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in preparation to the updated ekf2 replay
This commit is contained in:
Beat Küng
2017-03-04 22:47:54 +08:00
committed by Lorenz Meier
parent ba89839f65
commit 473192aa81
3 changed files with 50 additions and 31 deletions
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src/modules/replay/replay.hpp
+28 -15
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@@ -93,6 +93,8 @@ protected:
uint8_t multi_id;
int timestamp_offset; ///< marks the field of the timestamp
bool ignored = false; ///< if true, it will not be considered for publication in the main loop
std::streampos next_read_pos;
uint64_t next_timestamp; ///< timestamp of the file
};
@@ -114,6 +116,11 @@ protected:
*/
virtual void onExitMainLoop() {};
/**
* called when a new subscription is added
*/
virtual void onSubscriptionAdded(Subscription &sub, uint16_t msg_id) {};
/**
* handle delay until topic can be published.
* @param next_file_timestamp timestamp of next message to publish
@@ -126,7 +133,25 @@ protected:
* handle the publication of a topic update
* @return true if published, false otherwise
*/
virtual bool handleTopicUpdate(Subscription &sub, void *data);
virtual bool handleTopicUpdate(Subscription &sub, void *data, std::ifstream &replay_file);
/**
* read a topic from the file (offset given by the subscription) into _read_buffer
*/
void readTopicDataToBuffer(const Subscription &sub, std::ifstream &replay_file);
/**
* Find next data message for this subscription, starting with the stored file offset.
* Skip the first message, and if found, read the timestamp and store the new file offset.
* This also takes care of new subscriptions and parameter updates. When reaching EOF,
* the subscription is set to invalid.
* File seek position is arbitrary after this call.
* @return false on file error
*/
bool nextDataMessage(std::ifstream &file, Subscription &subscription, int msg_id);
std::vector<Subscription> _subscriptions;
std::vector<uint8_t> _read_buffer;
private:
bool _task_should_exit = false;
@@ -136,9 +161,6 @@ private:
uint64_t _file_start_time;
uint64_t _replay_start_time;
std::streampos _data_section_start; ///< first ADD_LOGGED_MSG message
std::vector<uint8_t> _read_buffer;
std::vector<Subscription> _subscriptions;
/** keep track of file position to avoid adding a subscription multiple times. */
std::streampos _subscription_file_pos = 0;
@@ -173,16 +195,6 @@ private:
bool readDropout(std::ifstream &file, uint16_t msg_size);
bool readAndApplyParameter(std::ifstream &file, uint16_t msg_size);
/**
* Find next data message for this subscription, starting with the stored file offset.
* Skip the first message, and if found, read the timestamp and store the new file offset.
* This also takes care of new subscriptions and parameter updates. When reaching EOF,
* the subscription is set to invalid.
* File seek position is arbitrary after this call.
* @return false on file error
*/
bool nextDataMessage(std::ifstream &file, Subscription &subscription, int msg_id);
static const orb_metadata *findTopic(const std::string &name);
/** get the array size from a type. eg. float[3] -> return float */
static std::string extractArraySize(const std::string &type_name_full, int &array_size);
@@ -217,7 +229,8 @@ protected:
* @param data
* @return true if published, false otherwise
*/
bool handleTopicUpdate(Subscription &sub, void *data) override;
bool handleTopicUpdate(Subscription &sub, void *data, std::ifstream &replay_file) override;
private: