replay specialization for Ekf2 replay More...

#include <ReplayEkf2.hpp>

Inheritance diagram for px4::ReplayEkf2:

Collaboration diagram for px4::ReplayEkf2:

Protected Member Functions
void	onEnterMainLoop () override
	called when entering the main replay loop More...

void	onExitMainLoop () override
	called when exiting the main replay loop More...

uint64_t	handleTopicDelay (uint64_t next_file_time, uint64_t timestamp_offset) override
	handle delay until topic can be published. More...

bool	handleTopicUpdate (Subscription &sub, void *data, std::ifstream &replay_file) override
	handle ekf2 topic publication in ekf2 replay mode More...

void	onSubscriptionAdded (Subscription &sub, uint16_t msg_id) override
	called when a new subscription is added More...

Protected Member Functions inherited from px4::Replay
bool	publishTopic (Subscription &sub, void *data)
	publish an orb topic More...

void	readTopicDataToBuffer (const Subscription &sub, std::ifstream &replay_file)
	read a topic from the file (offset given by the subscription) into _read_buffer More...

bool	nextDataMessage (std::ifstream &file, Subscription &subscription, int msg_id)
	Find next data message for this subscription, starting with the stored file offset. More...

Private Member Functions
bool	publishEkf2Topics (const ekf2_timestamps_s &ekf2_timestamps, std::ifstream &replay_file)

bool	findTimestampAndPublish (uint64_t timestamp, uint16_t msg_id, std::ifstream &replay_file)
	find the next message for a subscription that matches a given timestamp and publish it More...

Private Attributes
int	_vehicle_attitude_sub = -1

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

Static Private Attributes
static constexpr uint16_t	msg_id_invalid = 0xffff

Additional Inherited Members
Public Member Functions inherited from px4::Replay
	Replay ()=default

virtual	~Replay ()

void	run () override

Static Public Member Functions inherited from px4::Replay
static int	task_spawn (int argc, char *argv[])

static Replay *	instantiate (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

static int	applyParams (bool quiet)
	Apply the parameters from the log. More...

static void	setupReplayFile (const char *file_name)
	Tell the replay module that we want to use replay mode. More...

static bool	isSetup ()

Static Protected Member Functions inherited from px4::Replay
static bool	findFieldOffset (const std::string &format, const std::string &field_name, int &offset, int &field_size)
	Find the offset & field size in bytes for a given field name. More...

Protected Attributes inherited from px4::Replay
std::vector< Subscription * >	_subscriptions

std::vector< uint8_t >	_read_buffer

Detailed Description

replay specialization for Ekf2 replay

Definition at line 45 of file ReplayEkf2.hpp.

Member Function Documentation

◆ findTimestampAndPublish()

bool px4::ReplayEkf2::findTimestampAndPublish	(	uint64_t	timestamp,
		uint16_t	msg_id,
		std::ifstream &	replay_file
	)

private

find the next message for a subscription that matches a given timestamp and publish it

Parameters

timestamp	in 0.1 ms
msg_id
replay_file	file currently replayed (file seek position should be considered arbitrary after this call)

Returns: true if timestamp found and published

Definition at line 182 of file ReplayEkf2.cpp.

References px4::Replay::_read_buffer, px4::Replay::_subscriptions, px4::Replay::Subscription::error_counter, msg_id_invalid, px4::Replay::Subscription::next_timestamp, px4::Replay::nextDataMessage(), orb_metadata::o_name, px4::Replay::Subscription::orb_meta, px4::Replay::publishTopic(), and px4::Replay::readTopicDataToBuffer().

Referenced by publishEkf2Topics().

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◆ handleTopicDelay()

uint64_t px4::ReplayEkf2::handleTopicDelay	(	uint64_t	next_file_time,
		uint64_t	timestamp_offset
	)

overrideprotectedvirtual

handle delay until topic can be published.

Parameters

next_file_timestamp	timestamp of next message to publish
timestamp_offset	offset between file start time and replay start time

Returns: timestamp that the message to publish should have

Reimplemented from px4::Replay.

Definition at line 249 of file ReplayEkf2.cpp.

◆ handleTopicUpdate()

bool px4::ReplayEkf2::handleTopicUpdate	(	Subscription &	sub,
		void *	data,
		std::ifstream &	replay_file
	)

overrideprotectedvirtual

handle ekf2 topic publication in ekf2 replay mode

Parameters

sub
data
replay_file	file currently replayed (file seek position should be considered arbitrary after this call)

Returns: true if published, false otherwise

Reimplemented from px4::Replay.

Definition at line 59 of file ReplayEkf2.cpp.

References _topic_counter, _vehicle_attitude_sub, orb_metadata::o_size, orb_copy(), ORB_ID, px4::Replay::Subscription::orb_meta, publishEkf2Topics(), px4::Replay::publishTopic(), and px4_poll().

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◆ onEnterMainLoop()

void px4::ReplayEkf2::onEnterMainLoop ( )

overrideprotectedvirtual

called when entering the main replay loop

Reimplemented from px4::Replay.

Definition at line 213 of file ReplayEkf2.cpp.

References _vehicle_attitude_sub, ORB_ID, and orb_subscribe().

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◆ onExitMainLoop()

void px4::ReplayEkf2::onExitMainLoop ( )

overrideprotectedvirtual

called when exiting the main replay loop

Reimplemented from px4::Replay.

Definition at line 219 of file ReplayEkf2.cpp.

References _airspeed_msg_id, _distance_sensor_msg_id, _gps_msg_id, _optical_flow_msg_id, _sensor_combined_msg_id, px4::Replay::_subscriptions, _vehicle_air_data_msg_id, _vehicle_attitude_sub, _vehicle_magnetometer_msg_id, _vehicle_visual_odometry_msg_id, px4::Replay::Subscription::error_counter, msg_id_invalid, name, orb_unsubscribe(), and px4::Replay::Subscription::publication_counter.

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◆ onSubscriptionAdded()

void px4::ReplayEkf2::onSubscriptionAdded	(	Subscription &	sub,
		uint16_t	msg_id
	)

overrideprotectedvirtual

called when a new subscription is added

Reimplemented from px4::Replay.

Definition at line 107 of file ReplayEkf2.cpp.

References _airspeed_msg_id, _distance_sensor_msg_id, _gps_msg_id, _optical_flow_msg_id, _sensor_combined_msg_id, _vehicle_air_data_msg_id, _vehicle_magnetometer_msg_id, _vehicle_visual_odometry_msg_id, px4::Replay::Subscription::ignored, px4::Replay::Subscription::multi_id, ORB_ID, and px4::Replay::Subscription::orb_meta.

◆ publishEkf2Topics()

bool px4::ReplayEkf2::publishEkf2Topics	(	const ekf2_timestamps_s &	ekf2_timestamps,
		std::ifstream &	replay_file
	)

private

Definition at line 144 of file ReplayEkf2.cpp.

References _airspeed_msg_id, _distance_sensor_msg_id, _gps_msg_id, _optical_flow_msg_id, px4::Replay::_read_buffer, _sensor_combined_msg_id, px4::Replay::_subscriptions, _vehicle_air_data_msg_id, _vehicle_magnetometer_msg_id, _vehicle_visual_odometry_msg_id, ekf2_timestamps_s::airspeed_timestamp_rel, ekf2_timestamps_s::distance_sensor_timestamp_rel, findTimestampAndPublish(), ekf2_timestamps_s::gps_timestamp_rel, msg_id_invalid, ekf2_timestamps_s::optical_flow_timestamp_rel, px4::Replay::publishTopic(), px4::Replay::readTopicDataToBuffer(), ekf2_timestamps_s::timestamp, ekf2_timestamps_s::vehicle_air_data_timestamp_rel, ekf2_timestamps_s::vehicle_magnetometer_timestamp_rel, and ekf2_timestamps_s::visual_odometry_timestamp_rel.

Referenced by handleTopicUpdate().

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Member Data Documentation

◆ _airspeed_msg_id

uint16_t px4::ReplayEkf2::_airspeed_msg_id = msg_id_invalid

private

Definition at line 83 of file ReplayEkf2.hpp.

Referenced by onExitMainLoop(), onSubscriptionAdded(), and publishEkf2Topics().

◆ _distance_sensor_msg_id

uint16_t px4::ReplayEkf2::_distance_sensor_msg_id = msg_id_invalid

private

Definition at line 84 of file ReplayEkf2.hpp.

Referenced by onExitMainLoop(), onSubscriptionAdded(), and publishEkf2Topics().

◆ _gps_msg_id

uint16_t px4::ReplayEkf2::_gps_msg_id = msg_id_invalid

private

Definition at line 85 of file ReplayEkf2.hpp.

Referenced by onExitMainLoop(), onSubscriptionAdded(), and publishEkf2Topics().

◆ _optical_flow_msg_id

uint16_t px4::ReplayEkf2::_optical_flow_msg_id = msg_id_invalid

private

Definition at line 86 of file ReplayEkf2.hpp.

Referenced by onExitMainLoop(), onSubscriptionAdded(), and publishEkf2Topics().

◆ _sensor_combined_msg_id

uint16_t px4::ReplayEkf2::_sensor_combined_msg_id = msg_id_invalid

private

Definition at line 87 of file ReplayEkf2.hpp.

Referenced by onExitMainLoop(), onSubscriptionAdded(), and publishEkf2Topics().

◆ _topic_counter

int px4::ReplayEkf2::_topic_counter = 0

private

Definition at line 92 of file ReplayEkf2.hpp.

Referenced by handleTopicUpdate().

◆ _vehicle_air_data_msg_id

uint16_t px4::ReplayEkf2::_vehicle_air_data_msg_id = msg_id_invalid

private

Definition at line 88 of file ReplayEkf2.hpp.

Referenced by onExitMainLoop(), onSubscriptionAdded(), and publishEkf2Topics().

◆ _vehicle_attitude_sub

int px4::ReplayEkf2::_vehicle_attitude_sub = -1

private

Definition at line 79 of file ReplayEkf2.hpp.

Referenced by handleTopicUpdate(), onEnterMainLoop(), and onExitMainLoop().

◆ _vehicle_magnetometer_msg_id

uint16_t px4::ReplayEkf2::_vehicle_magnetometer_msg_id = msg_id_invalid

private

Definition at line 89 of file ReplayEkf2.hpp.

Referenced by onExitMainLoop(), onSubscriptionAdded(), and publishEkf2Topics().

◆ _vehicle_visual_odometry_msg_id

uint16_t px4::ReplayEkf2::_vehicle_visual_odometry_msg_id = msg_id_invalid

private

Definition at line 90 of file ReplayEkf2.hpp.

Referenced by onExitMainLoop(), onSubscriptionAdded(), and publishEkf2Topics().

◆ msg_id_invalid

constexpr uint16_t px4::ReplayEkf2::msg_id_invalid = 0xffff

staticprivate

Definition at line 81 of file ReplayEkf2.hpp.

Referenced by findTimestampAndPublish(), onExitMainLoop(), and publishEkf2Topics().

The documentation for this class was generated from the following files:

src/modules/replay/ReplayEkf2.hpp
src/modules/replay/ReplayEkf2.cpp

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ findTimestampAndPublish()

◆ handleTopicDelay()

◆ handleTopicUpdate()

◆ onEnterMainLoop()

◆ onExitMainLoop()

◆ onSubscriptionAdded()

◆ publishEkf2Topics()

Member Data Documentation

◆ _airspeed_msg_id

◆ _distance_sensor_msg_id

◆ _gps_msg_id

◆ _optical_flow_msg_id

◆ _sensor_combined_msg_id

◆ _topic_counter

◆ _vehicle_air_data_msg_id

◆ _vehicle_attitude_sub

◆ _vehicle_magnetometer_msg_id

◆ _vehicle_visual_odometry_msg_id

◆ msg_id_invalid