replay module split replay_main.cpp into separate compilation units

Tools/uorb_graph/create.py

@@ -240,7 +240,7 @@ class Graph(object):
 
 
         special_cases_pub = [
-    ('replay', r'replay_main\.cpp$', None, r'^sub\.orb_meta$'),
+    ('replay', r'Replay\.cpp$', None, r'^sub\.orb_meta$'),
     ('fw_pos_control_l1', r'FixedwingPositionControl\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
 
     ('mc_pos_control', r'mc_pos_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),

src/modules/replay/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,6 +35,10 @@ px4_add_module(
 	MAIN replay
 	COMPILE_FLAGS
 	SRCS
+		definitions.hpp
 		replay_main.cpp
-	DEPENDS
+		Replay.cpp
+		Replay.hpp
+		ReplayEkf2.cpp
+		ReplayEkf2.hpp
 	)

src/modules/replay/Replay.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -166,6 +166,7 @@ protected:
 	 * called when entering the main replay loop
 	 */
 	virtual void onEnterMainLoop() {}
+
 	/**
 	 * called when exiting the main replay loop
 	 */
@@ -253,10 +254,13 @@ private:
 	bool readAndApplyParameter(std::ifstream &file, uint16_t msg_size);
 
 	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);
+
 	/** get the size of a type that is not an array */
 	static size_t sizeOfType(const std::string &type_name);
+
 	/** get the size of a type that can be an array */
 	static size_t sizeOfFullType(const std::string &type_name_full);
 
@@ -265,59 +269,4 @@ private:
 	static char *_replay_file;
 };
 
-
-/**
- * @class ReplayEkf2
- * replay specialization for Ekf2 replay
- */
-class ReplayEkf2 : public Replay
-{
-public:
-protected:
-
-	void onEnterMainLoop() override;
-	void onExitMainLoop() override;
-
-	uint64_t handleTopicDelay(uint64_t next_file_time, uint64_t timestamp_offset) override;
-
-	/**
-	 * handle ekf2 topic publication in ekf2 replay mode
-	 * @param sub
-	 * @param data
-	 * @param replay_file file currently replayed (file seek position should be considered arbitrary after this call)
-	 * @return true if published, false otherwise
-	 */
-	bool handleTopicUpdate(Subscription &sub, void *data, std::ifstream &replay_file) override;
-
-	void onSubscriptionAdded(Subscription &sub, uint16_t msg_id) override;
-
-private:
-
-	bool publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifstream &replay_file);
-
-	/**
-	 * find the next message for a subscription that matches a given timestamp and publish it
-	 * @param timestamp in 0.1 ms
-	 * @param msg_id
-	 * @param replay_file file currently replayed (file seek position should be considered arbitrary after this call)
-	 * @return true if timestamp found and published
-	 */
-	bool findTimestampAndPublish(uint64_t timestamp, uint16_t msg_id, std::ifstream &replay_file);
-
-	int _vehicle_attitude_sub = -1;
-
-	static constexpr uint16_t msg_id_invalid = 0xffff;
-
-	uint16_t _airspeed_msg_id = msg_id_invalid;
-	uint16_t _distance_sensor_msg_id = msg_id_invalid;
-	uint16_t _gps_msg_id = msg_id_invalid;
-	uint16_t _optical_flow_msg_id = msg_id_invalid;
-	uint16_t _sensor_combined_msg_id = msg_id_invalid;
-	uint16_t _vehicle_air_data_msg_id = msg_id_invalid;
-	uint16_t _vehicle_magnetometer_msg_id = msg_id_invalid;
-	uint16_t _vehicle_visual_odometry_msg_id = msg_id_invalid;
-
-	int _topic_counter = 0;
-};
-
 } //namespace px4

src/modules/replay/ReplayEkf2.cpp

@@ -0,0 +1,255 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 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
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <drivers/drv_hrt.h>
+#include <px4_defines.h>
+#include <px4_posix.h>
+
+// for ekf2 replay
+#include <uORB/topics/airspeed.h>
+#include <uORB/topics/distance_sensor.h>
+#include <uORB/topics/landing_target_pose.h>
+#include <uORB/topics/optical_flow.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_air_data.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_magnetometer.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_odometry.h>
+
+#include "ReplayEkf2.hpp"
+
+namespace px4
+{
+
+bool
+ReplayEkf2::handleTopicUpdate(Subscription &sub, void *data, std::ifstream &replay_file)
+{
+	if (sub.orb_meta == ORB_ID(ekf2_timestamps)) {
+		ekf2_timestamps_s ekf2_timestamps;
+		memcpy(&ekf2_timestamps, data, sub.orb_meta->o_size);
+
+		if (!publishEkf2Topics(ekf2_timestamps, replay_file)) {
+			return false;
+		}
+
+		px4_pollfd_struct_t fds[1];
+		fds[0].fd = _vehicle_attitude_sub;
+		fds[0].events = POLLIN;
+
+		// wait for a response from the estimator
+		int pret = px4_poll(fds, 1, 1000);
+
+		// introduce some breaks to make sure the logger can keep up
+		if (++_topic_counter == 50) {
+			px4_usleep(1000);
+			_topic_counter = 0;
+		}
+
+		if (pret == 0) {
+			PX4_WARN("poll timeout");
+
+		} else if (pret < 0) {
+			PX4_ERR("poll failed (%i)", pret);
+
+		} else {
+			if (fds[0].revents & POLLIN) {
+				vehicle_attitude_s att;
+				// need to to an orb_copy so that poll will not return immediately
+				orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &att);
+			}
+		}
+
+		return true;
+
+	} else if (sub.orb_meta == ORB_ID(vehicle_status) || sub.orb_meta == ORB_ID(vehicle_land_detected)
+		   || sub.orb_meta == ORB_ID(vehicle_gps_position)) {
+		return publishTopic(sub, data);
+	} // else: do not publish
+
+	return false;
+}
+
+void
+ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
+{
+	if (sub.orb_meta == ORB_ID(sensor_combined)) {
+		_sensor_combined_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(airspeed)) {
+		_airspeed_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(distance_sensor)) {
+		_distance_sensor_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(vehicle_gps_position)) {
+		if (sub.multi_id == 0) {
+			_gps_msg_id = msg_id;
+		}
+
+	} else if (sub.orb_meta == ORB_ID(optical_flow)) {
+		_optical_flow_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(vehicle_air_data)) {
+		_vehicle_air_data_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(vehicle_magnetometer)) {
+		_vehicle_magnetometer_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(vehicle_visual_odometry)) {
+		_vehicle_visual_odometry_msg_id = msg_id;
+	}
+
+	// the main loop should only handle publication of the following topics, the sensor topics are
+	// handled separately in publishEkf2Topics()
+	sub.ignored = sub.orb_meta != ORB_ID(ekf2_timestamps) && sub.orb_meta != ORB_ID(vehicle_status)
+		      && sub.orb_meta != ORB_ID(vehicle_land_detected) &&
+		      (sub.orb_meta != ORB_ID(vehicle_gps_position) || sub.multi_id == 0);
+}
+
+bool
+ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifstream &replay_file)
+{
+	auto handle_sensor_publication = [&](int16_t timestamp_relative, uint16_t msg_id) {
+		if (timestamp_relative != ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID) {
+			// timestamp_relative is already given in 0.1 ms
+			uint64_t t = timestamp_relative + ekf2_timestamps.timestamp / 100; // in 0.1 ms
+			findTimestampAndPublish(t, msg_id, replay_file);
+		}
+	};
+
+	handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id);
+	handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id);
+	handle_sensor_publication(ekf2_timestamps.gps_timestamp_rel, _gps_msg_id);
+	handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id);
+	handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id);
+	handle_sensor_publication(ekf2_timestamps.vehicle_magnetometer_timestamp_rel, _vehicle_magnetometer_msg_id);
+	handle_sensor_publication(ekf2_timestamps.visual_odometry_timestamp_rel, _vehicle_visual_odometry_msg_id);
+
+	// sensor_combined: publish last because ekf2 is polling on this
+	if (!findTimestampAndPublish(ekf2_timestamps.timestamp / 100, _sensor_combined_msg_id, replay_file)) {
+		if (_sensor_combined_msg_id == msg_id_invalid) {
+			// subscription not found yet or sensor_combined not contained in log
+			return false;
+
+		} else if (!_subscriptions[_sensor_combined_msg_id]->orb_meta) {
+			return false; // read past end of file
+
+		} else {
+			// we should publish a topic, just publish the same again
+			readTopicDataToBuffer(*_subscriptions[_sensor_combined_msg_id], replay_file);
+			publishTopic(*_subscriptions[_sensor_combined_msg_id], _read_buffer.data());
+		}
+	}
+
+	return true;
+}
+
+bool
+ReplayEkf2::findTimestampAndPublish(uint64_t timestamp, uint16_t msg_id, std::ifstream &replay_file)
+{
+	if (msg_id == msg_id_invalid) {
+		// could happen if a topic is not logged
+		return false;
+	}
+
+	Subscription &sub = *_subscriptions[msg_id];
+
+	while (sub.next_timestamp / 100 < timestamp && sub.orb_meta) {
+		nextDataMessage(replay_file, sub, msg_id);
+	}
+
+	if (!sub.orb_meta) { // no messages anymore
+		return false;
+	}
+
+	if (sub.next_timestamp / 100 != timestamp) {
+		// 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;
+	}
+
+	readTopicDataToBuffer(sub, replay_file);
+	publishTopic(sub, _read_buffer.data());
+	return true;
+}
+
+void
+ReplayEkf2::onEnterMainLoop()
+{
+	_vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+}
+
+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(_airspeed_msg_id, "airspeed");
+	print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
+	print_sensor_statistics(_gps_msg_id, "vehicle_gps_position");
+	print_sensor_statistics(_optical_flow_msg_id, "optical_flow");
+	print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined");
+	print_sensor_statistics(_vehicle_air_data_msg_id, "vehicle_air_data");
+	print_sensor_statistics(_vehicle_magnetometer_msg_id, "vehicle_magnetometer");
+	print_sensor_statistics(_vehicle_visual_odometry_msg_id, "vehicle_visual_odometry");
+
+	orb_unsubscribe(_vehicle_attitude_sub);
+	_vehicle_attitude_sub = -1;
+}
+
+uint64_t
+ReplayEkf2::handleTopicDelay(uint64_t next_file_time, uint64_t timestamp_offset)
+{
+	// no need for usleep
+	return next_file_time;
+}
+
+} // namespace px4

src/modules/replay/ReplayEkf2.hpp

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 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
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "Replay.hpp"
+
+namespace px4
+{
+
+/**
+ * @class ReplayEkf2
+ * replay specialization for Ekf2 replay
+ */
+class ReplayEkf2 : public Replay
+{
+public:
+protected:
+
+	void onEnterMainLoop() override;
+	void onExitMainLoop() override;
+
+	uint64_t handleTopicDelay(uint64_t next_file_time, uint64_t timestamp_offset) override;
+
+	/**
+	 * handle ekf2 topic publication in ekf2 replay mode
+	 * @param sub
+	 * @param data
+	 * @param replay_file file currently replayed (file seek position should be considered arbitrary after this call)
+	 * @return true if published, false otherwise
+	 */
+	bool handleTopicUpdate(Subscription &sub, void *data, std::ifstream &replay_file) override;
+
+	void onSubscriptionAdded(Subscription &sub, uint16_t msg_id) override;
+
+private:
+
+	bool publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifstream &replay_file);
+
+	/**
+	 * find the next message for a subscription that matches a given timestamp and publish it
+	 * @param timestamp in 0.1 ms
+	 * @param msg_id
+	 * @param replay_file file currently replayed (file seek position should be considered arbitrary after this call)
+	 * @return true if timestamp found and published
+	 */
+	bool findTimestampAndPublish(uint64_t timestamp, uint16_t msg_id, std::ifstream &replay_file);
+
+	int _vehicle_attitude_sub = -1;
+
+	static constexpr uint16_t msg_id_invalid = 0xffff;
+
+	uint16_t _airspeed_msg_id = msg_id_invalid;
+	uint16_t _distance_sensor_msg_id = msg_id_invalid;
+	uint16_t _gps_msg_id = msg_id_invalid;
+	uint16_t _optical_flow_msg_id = msg_id_invalid;
+	uint16_t _sensor_combined_msg_id = msg_id_invalid;
+	uint16_t _vehicle_air_data_msg_id = msg_id_invalid;
+	uint16_t _vehicle_magnetometer_msg_id = msg_id_invalid;
+	uint16_t _vehicle_visual_odometry_msg_id = msg_id_invalid;
+
+	int _topic_counter = 0;
+};
+
+} //namespace px4

src/modules/replay/definitions.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions