/**************************************************************************** * * 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 #include #include // for ekf2 replay #include #include #include #include #include #include #include #include #include #include #include #include #include #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