Sensor Replay (#717)

* Add primitive logging for Ekf

* Add python script to extract sensor data from ULog

* Add primitive sensor replay

* Add iris_gps data for sensor replay

* Add CI for functional change indication

* Update sensor replay flow data type

* update iris_gps_change indication

* test: Update EKF replay test documentation

Co-authored-by: Paul Riseborough <priseborough@users.noreply.github.com>

test/sensor_simulator/ekf_logger.h

@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Class to write EKF state to file
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+#pragma once
+
+#include "EKF/ekf.h"
+#include "EKF/estimator_interface.h"
+#include "ekf_wrapper.h"
+#include <fstream>
+#include <iostream>
+
+class EkfLogger
+{
+public:
+	EkfLogger(std::shared_ptr<Ekf> ekf);
+	~EkfLogger();
+	void setFilePath(std::string file_path);
+
+	void enableStateLogging(){ _state_logging_enabled = true; };
+	void disableStateLogging(){ _state_logging_enabled = false; };
+	void enableVarianceLogging(){ _variance_logging_enabled = true; };
+	void disableVarianceLogging(){ _variance_logging_enabled = false; };
+
+	void writeStateToFile();
+
+private:
+	std::shared_ptr<Ekf> _ekf;
+	EkfWrapper _ekf_wrapper;
+
+	std::string _file_path;
+	std::ofstream _file;
+
+	bool _file_opened {false};
+
+	bool _state_logging_enabled {true};
+	bool _variance_logging_enabled {true};
+
+	void writeState();
+
+};