ReplayEkf2.hpp
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/****************************************************************************
*
* 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.
*
****************************************************************************/
#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;
/**
* 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;
uint64_t getTimestampOffset() override
{
// avoid offsetting timestamps as we use them to compare against the log
return 0;
}
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);
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 _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;
};
} //namespace px4