ReplayEkf2.hpp

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#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