Parses an ULog file and replays it in 'real-time'. More...

#include <Replay.hpp>

Inheritance diagram for px4::Replay:

Collaboration diagram for px4::Replay:

Classes
class	CompatBase

class	CompatSensorCombinedDtType

struct	Subscription

Public Member Functions
	Replay ()=default

virtual	~Replay ()

void	run () override

Static Public Member Functions
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 ()

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

virtual void	onEnterMainLoop ()
	called when entering the main replay loop More...

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

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

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

virtual bool	handleTopicUpdate (Subscription &sub, void *data, std::ifstream &replay_file)
	handle the publication of a topic update 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...

Static Protected Member Functions
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
std::vector< Subscription * >	_subscriptions

std::vector< uint8_t >	_read_buffer

Private Member Functions
bool	readFileHeader (std::ifstream &file)

bool	readFileDefinitions (std::ifstream &file)
	Read definitions section: check formats, apply parameters and store the start of the data section. More...

bool	readFormat (std::ifstream &file, uint16_t msg_size)
	file parsing methods. They return false, when further parsing should be aborted. More...

bool	readAndAddSubscription (std::ifstream &file, uint16_t msg_size)

bool	readFlagBits (std::ifstream &file, uint16_t msg_size)

bool	readDefinitionsAndApplyParams (std::ifstream &file)
	Read the file header and definitions sections. More...

bool	readAndHandleAdditionalMessages (std::ifstream &file, std::streampos end_position)
	Read and handle additional messages starting at current file position, while position < end_position. More...

bool	readDropout (std::ifstream &file, uint16_t msg_size)

bool	readAndApplyParameter (std::ifstream &file, uint16_t msg_size)

void	setUserParams (const char *filename)

Static Private Member Functions
static const orb_metadata *	findTopic (const std::string &name)

static std::string	extractArraySize (const std::string &type_name_full, int &array_size)
	get the array size from a type. More...

static size_t	sizeOfType (const std::string &type_name)
	get the size of a type that is not an array More...

static size_t	sizeOfFullType (const std::string &type_name_full)
	get the size of a type that can be an array More...

Private Attributes
std::set< std::string >	_overridden_params

std::map< std::string, std::string >	_file_formats
	all formats we read from the file More...

uint64_t	_file_start_time

uint64_t	_replay_start_time

std::streampos	_data_section_start
	first ADD_LOGGED_MSG message More...

std::streampos	_subscription_file_pos = 0
	keep track of file position to avoid adding a subscription multiple times. More...

int64_t	_read_until_file_position = 1ULL << 60
	read limit if log contains appended data More...

Static Private Attributes
static char *	_replay_file = nullptr

Detailed Description

Parses an ULog file and replays it in 'real-time'.

The timestamp of each replayed message is offset to match the starting time of replay. It keeps a stream for each subscription to find the next message to replay. This is necessary because data messages from different subscriptions don't need to be in monotonic increasing order.

Definition at line 58 of file Replay.hpp.

Constructor & Destructor Documentation

◆ Replay()

px4::Replay::Replay ( )

default

Referenced by applyParams(), and instantiate().

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◆ ~Replay()

px4::Replay::~Replay ( )

virtual

Definition at line 87 of file Replay.cpp.

References _subscriptions.

Member Function Documentation

◆ applyParams()

int px4::Replay::applyParams ( bool quiet )

static

Apply the parameters from the log.

Parameters

quiet do not print an error if true and no log file given via ENV

Returns: 0 on success

Definition at line 986 of file Replay.cpp.

References _replay_file, isSetup(), readDefinitionsAndApplyParams(), and Replay().

Referenced by custom_command().

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◆ custom_command()

int px4::Replay::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 944 of file Replay.cpp.

References applyParams(), print_usage(), and task_spawn().

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◆ extractArraySize()

std::string px4::Replay::extractArraySize	(	const std::string &	type_name_full,
		int &	array_size
	)

staticprivate

get the array size from a type.

eg. float[3] -> return float

Definition at line 656 of file Replay.cpp.

Referenced by sizeOfFullType().

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◆ findFieldOffset()

bool px4::Replay::findFieldOffset	(	const std::string &	format,
		const std::string &	field_name,
		int &	offset,
		int &	field_size
	)

staticprotected

Find the offset & field size in bytes for a given field name.

Parameters

format	format string, as specified by ULog
field_name	search for this field
offset	returned offset
field_size	returned field size

Returns: true if found, false otherwise

Definition at line 441 of file Replay.cpp.

References sizeOfFullType().

Referenced by readAndAddSubscription().

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◆ findTopic()

const orb_metadata * px4::Replay::findTopic ( const std::string & name )

staticprivate

Definition at line 642 of file Replay.cpp.

References orb_get_topics(), and orb_topics_count().

Referenced by readAndAddSubscription(), and sizeOfType().

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◆ handleTopicDelay()

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

protectedvirtual

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 in px4::ReplayEkf2.

Definition at line 878 of file Replay.cpp.

References _file_start_time, and hrt_absolute_time().

Referenced by onSubscriptionAdded(), and run().

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◆ handleTopicUpdate()

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

protectedvirtual

handle the publication of a topic update

Returns: true if published, false otherwise

Reimplemented in px4::ReplayEkf2.

Definition at line 872 of file Replay.cpp.

References publishTopic().

Referenced by onSubscriptionAdded(), and run().

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◆ instantiate()

Replay * px4::Replay::instantiate	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 1017 of file Replay.cpp.

References ll40ls::instance, and Replay().

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◆ isSetup()

static bool px4::Replay::isSetup ( )

inlinestatic

Definition at line 94 of file Replay.hpp.

References _replay_file.

Referenced by applyParams(), replay_main(), and task_spawn().

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◆ nextDataMessage()

bool px4::Replay::nextDataMessage	(	std::ifstream &	file,
		Subscription &	subscription,
		int	msg_id
	)

protected

Find next data message for this subscription, starting with the stored file offset.

Skip the first message, and if found, read the timestamp and store the new file offset. This also takes care of new subscriptions and parameter updates. When reaching EOF, the subscription is set to invalid. File seek position is arbitrary after this call.

Returns: false on file error

Definition at line 557 of file Replay.cpp.

References _read_until_file_position, ADD_LOGGED_MSG, DATA, DROPOUT, INFO, INFO_MULTIPLE, LOGGING, px4::Replay::Subscription::next_read_pos, px4::Replay::Subscription::next_timestamp, orb_metadata::o_name, orb_metadata::o_size_no_padding, px4::Replay::Subscription::orb_meta, PARAMETER, readAndAddSubscription(), REMOVE_LOGGED_MSG, SYNC, px4::Replay::Subscription::timestamp_offset, and ULOG_MSG_HEADER_LEN.

Referenced by px4::ReplayEkf2::findTimestampAndPublish(), onSubscriptionAdded(), readAndAddSubscription(), and run().

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◆ onEnterMainLoop()

virtual void px4::Replay::onEnterMainLoop ( )

inlineprotectedvirtual

called when entering the main replay loop

Reimplemented in px4::ReplayEkf2.

Definition at line 168 of file Replay.hpp.

Referenced by run().

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◆ onExitMainLoop()

virtual void px4::Replay::onExitMainLoop ( )

inlineprotectedvirtual

called when exiting the main replay loop

Reimplemented in px4::ReplayEkf2.

Definition at line 173 of file Replay.hpp.

Referenced by run().

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◆ onSubscriptionAdded()

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

inlineprotectedvirtual

called when a new subscription is added

Reimplemented in px4::ReplayEkf2.

Definition at line 178 of file Replay.hpp.

References data, file, handleTopicDelay(), handleTopicUpdate(), nextDataMessage(), and readTopicDataToBuffer().

Referenced by readAndAddSubscription().

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◆ print_usage()

int px4::Replay::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 1036 of file Replay.cpp.

Referenced by custom_command().

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◆ publishTopic()

bool px4::Replay::publishTopic	(	Subscription &	sub,
		void *	data
	)

protected

publish an orb topic

Parameters

sub
data

Returns: true if published, false otherwise

Definition at line 894 of file Replay.cpp.

References _subscriptions, px4::Replay::CompatBase::apply(), px4::Replay::Subscription::compat, ll40ls::instance, px4::Replay::Subscription::multi_id, orb_metadata::o_name, px4::Replay::Subscription::orb_advert, orb_advertise(), orb_advertise_multi(), px4::Replay::Subscription::orb_meta, ORB_PRIO_DEFAULT, orb_publish(), and px4::Replay::Subscription::publication_counter.

Referenced by px4::ReplayEkf2::findTimestampAndPublish(), px4::ReplayEkf2::handleTopicUpdate(), handleTopicUpdate(), and px4::ReplayEkf2::publishEkf2Topics().

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◆ readAndAddSubscription()

bool px4::Replay::readAndAddSubscription	(	std::ifstream &	file,
		uint16_t	msg_size
	)

private

Definition at line 324 of file Replay.cpp.

References _file_formats, _read_buffer, _subscription_file_pos, _subscriptions, px4::Replay::Subscription::compat, px4::Replay::CompatSensorCombinedDtType::CompatSensorCombinedDtType(), findFieldOffset(), findTopic(), px4::Replay::Subscription::multi_id, px4::Replay::Subscription::next_read_pos, nextDataMessage(), orb_metadata::o_fields, orb_metadata::o_name, onSubscriptionAdded(), px4::Replay::Subscription::orb_meta, px4::Replay::Subscription::timestamp_offset, and ULOG_MSG_HEADER_LEN.

Referenced by nextDataMessage(), and run().

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◆ readAndApplyParameter()

bool px4::Replay::readAndApplyParameter	(	std::ifstream &	file,
		uint16_t	msg_size
	)

private

Definition at line 505 of file Replay.cpp.

References _overridden_params, _read_buffer, param_find(), PARAM_INVALID, param_name(), and param_set().

Referenced by readAndHandleAdditionalMessages(), and readFileDefinitions().

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◆ readAndHandleAdditionalMessages()

bool px4::Replay::readAndHandleAdditionalMessages	(	std::ifstream &	file,
		std::streampos	end_position
	)

private

Read and handle additional messages starting at current file position, while position < end_position.

This handles dropout and parameter update messages. We need to handle these separately, because they have no timestamp. We look at the file position instead.

Returns: false on file error

Definition at line 472 of file Replay.cpp.

References DROPOUT, PARAMETER, readAndApplyParameter(), readDropout(), and ULOG_MSG_HEADER_LEN.

Referenced by run().

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◆ readDefinitionsAndApplyParams()

bool px4::Replay::readDefinitionsAndApplyParams ( std::ifstream & file )

private

Read the file header and definitions sections.

Apply the parameters from this section and apply user-defined overridden parameters.

Returns: true on success

Definition at line 714 of file Replay.cpp.

References PARAMS_OVERRIDE_FILE, readFileDefinitions(), readFileHeader(), and setUserParams().

Referenced by applyParams(), and run().

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◆ readDropout()

bool px4::Replay::readDropout	(	std::ifstream &	file,
		uint16_t	msg_size
	)

private

Definition at line 547 of file Replay.cpp.

Referenced by readAndHandleAdditionalMessages().

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◆ readFileDefinitions()

bool px4::Replay::readFileDefinitions ( std::ifstream & file )

private

Read definitions section: check formats, apply parameters and store the start of the data section.

Returns: true on success

Definition at line 194 of file Replay.cpp.

References _data_section_start, ADD_LOGGED_MSG, FLAG_BITS, FORMAT, INFO, INFO_MULTIPLE, PARAMETER, readAndApplyParameter(), readFlagBits(), readFormat(), and ULOG_MSG_HEADER_LEN.

Referenced by readDefinitionsAndApplyParams().

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◆ readFileHeader()

bool px4::Replay::readFileHeader ( std::ifstream & file )

private

Definition at line 170 of file Replay.cpp.

References _file_start_time.

Referenced by readDefinitionsAndApplyParams().

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◆ readFlagBits()

bool px4::Replay::readFlagBits	(	std::ifstream &	file,
		uint16_t	msg_size
	)

private

Definition at line 251 of file Replay.cpp.

References _read_buffer, _read_until_file_position, and ULOG_INCOMPAT_FLAG0_DATA_APPENDED_MASK.

Referenced by readFileDefinitions().

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◆ readFormat()

bool px4::Replay::readFormat	(	std::ifstream &	file,
		uint16_t	msg_size
	)

private

file parsing methods. They return false, when further parsing should be aborted.

Definition at line 298 of file Replay.cpp.

References _file_formats, _read_buffer, and name.

Referenced by readFileDefinitions().

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◆ readTopicDataToBuffer()

void px4::Replay::readTopicDataToBuffer	(	const Subscription &	sub,
		std::ifstream &	replay_file
	)

protected

read a topic from the file (offset given by the subscription) into _read_buffer

Definition at line 862 of file Replay.cpp.

References _read_buffer, px4::Replay::Subscription::next_read_pos, orb_metadata::o_size, orb_metadata::o_size_no_padding, px4::Replay::Subscription::orb_meta, and ULOG_MSG_HEADER_LEN.

Referenced by px4::ReplayEkf2::findTimestampAndPublish(), onSubscriptionAdded(), px4::ReplayEkf2::publishEkf2Topics(), and run().

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◆ run()

void px4::Replay::run ( )

override

See also: ModuleBase::run()

Definition at line 745 of file Replay.cpp.

References _data_section_start, _file_start_time, _read_buffer, _replay_file, _replay_start_time, _subscriptions, handleTopicDelay(), handleTopicUpdate(), hrt_absolute_time(), hrt_elapsed_time(), px4::Replay::Subscription::ignored, px4::Replay::Subscription::next_read_pos, px4::Replay::Subscription::next_timestamp, nextDataMessage(), onEnterMainLoop(), onExitMainLoop(), px4::Replay::Subscription::orb_meta, orb_unadvertise(), readAndAddSubscription(), readAndHandleAdditionalMessages(), readDefinitionsAndApplyParams(), readTopicDataToBuffer(), px4::Replay::Subscription::timestamp_offset, and ULOG_MSG_HEADER_LEN.

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◆ setupReplayFile()

void px4::Replay::setupReplayFile ( const char * file_name )

static

Tell the replay module that we want to use replay mode.

After that, only 'replay start' must be executed (typically the last step after startup).

Parameters

file_name file name of the used log replay file. Will be copied.

Definition at line 118 of file Replay.cpp.

References _replay_file.

Referenced by replay_main().

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◆ setUserParams()

void px4::Replay::setUserParams ( const char * filename )

private

Definition at line 128 of file Replay.cpp.

References _overridden_params, param_find(), param_name(), param_set(), param_type(), PARAM_TYPE_FLOAT, and PARAM_TYPE_INT32.

Referenced by readDefinitionsAndApplyParams().

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◆ sizeOfFullType()

size_t px4::Replay::sizeOfFullType ( const std::string & type_name_full )

staticprivate

get the size of a type that can be an array

Definition at line 706 of file Replay.cpp.

References extractArraySize(), and sizeOfType().

Referenced by findFieldOffset().

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◆ sizeOfType()

size_t px4::Replay::sizeOfType ( const std::string & type_name )

staticprivate

get the size of a type that is not an array

Definition at line 671 of file Replay.cpp.

References findTopic(), and orb_metadata::o_size.

Referenced by sizeOfFullType().

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◆ task_spawn()

int px4::Replay::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 958 of file Replay.cpp.

References isSetup().

Referenced by custom_command().

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Member Data Documentation

◆ _data_section_start

std::streampos px4::Replay::_data_section_start

private

first ADD_LOGGED_MSG message

Definition at line 218 of file Replay.hpp.

Referenced by readFileDefinitions(), and run().

◆ _file_formats

std::map<std::string, std::string> px4::Replay::_file_formats

private

all formats we read from the file

Definition at line 214 of file Replay.hpp.

Referenced by readAndAddSubscription(), and readFormat().

◆ _file_start_time

uint64_t px4::Replay::_file_start_time

private

Definition at line 216 of file Replay.hpp.

Referenced by handleTopicDelay(), readFileHeader(), and run().

◆ _overridden_params

std::set<std::string> px4::Replay::_overridden_params

private

Definition at line 213 of file Replay.hpp.

Referenced by readAndApplyParameter(), and setUserParams().

◆ _read_buffer

std::vector<uint8_t> px4::Replay::_read_buffer

protected

Definition at line 210 of file Replay.hpp.

Referenced by px4::ReplayEkf2::findTimestampAndPublish(), px4::ReplayEkf2::publishEkf2Topics(), readAndAddSubscription(), readAndApplyParameter(), readFlagBits(), readFormat(), readTopicDataToBuffer(), and run().

◆ _read_until_file_position

int64_t px4::Replay::_read_until_file_position = 1ULL << 60

private

read limit if log contains appended data

Definition at line 223 of file Replay.hpp.

Referenced by nextDataMessage(), and readFlagBits().

◆ _replay_file

char * px4::Replay::_replay_file = nullptr

staticprivate

Definition at line 269 of file Replay.hpp.

Referenced by applyParams(), isSetup(), run(), and setupReplayFile().

◆ _replay_start_time

uint64_t px4::Replay::_replay_start_time

private

Definition at line 217 of file Replay.hpp.

Referenced by run().

◆ _subscription_file_pos

std::streampos px4::Replay::_subscription_file_pos = 0

private

keep track of file position to avoid adding a subscription multiple times.

Definition at line 221 of file Replay.hpp.

Referenced by readAndAddSubscription().

◆ _subscriptions

std::vector<Subscription *> px4::Replay::_subscriptions

protected

Definition at line 209 of file Replay.hpp.

Referenced by px4::ReplayEkf2::findTimestampAndPublish(), px4::ReplayEkf2::onExitMainLoop(), px4::ReplayEkf2::publishEkf2Topics(), publishTopic(), readAndAddSubscription(), run(), and ~Replay().

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

src/modules/replay/Replay.hpp
src/modules/replay/Replay.cpp

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Replay()

◆ ~Replay()

Member Function Documentation

◆ applyParams()

◆ custom_command()

◆ extractArraySize()

◆ findFieldOffset()

◆ findTopic()

◆ handleTopicDelay()

◆ handleTopicUpdate()

◆ instantiate()

◆ isSetup()

◆ nextDataMessage()

◆ onEnterMainLoop()

◆ onExitMainLoop()

◆ onSubscriptionAdded()

◆ print_usage()

◆ publishTopic()

◆ readAndAddSubscription()

◆ readAndApplyParameter()

◆ readAndHandleAdditionalMessages()

◆ readDefinitionsAndApplyParams()

◆ readDropout()

◆ readFileDefinitions()

◆ readFileHeader()

◆ readFlagBits()

◆ readFormat()

◆ readTopicDataToBuffer()

◆ run()

◆ setupReplayFile()

◆ setUserParams()

◆ sizeOfFullType()

◆ sizeOfType()

◆ task_spawn()

Member Data Documentation

◆ _data_section_start

◆ _file_formats

◆ _file_start_time

◆ _overridden_params

◆ _read_buffer

◆ _read_until_file_position

◆ _replay_file

◆ _replay_start_time

◆ _subscription_file_pos

◆ _subscriptions