ReplayEkf2.cpp

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#include <drivers/drv_hrt.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/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    } // else: do not publish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