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replay: handle INFO_MULTIPLE & FLAG_BITS ULog messages

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This commit is contained in:
Beat Küng
2017-07-06 08:42:06 +02:00
committed by Lorenz Meier
parent c775b07b43
commit 9141bf8386
2 changed files with 63 additions and 0 deletions
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3
src/modules/replay/replay.hpp
View File

@@ -169,6 +169,8 @@ private:
/** keep track of file position to avoid adding a subscription multiple times. */
std::streampos _subscription_file_pos = 0;
uint64_t _read_until_file_position = 1ULL << 60; ///< read limit if log contains appended data
bool readFileHeader(std::ifstream &file);
/**
@@ -181,6 +183,7 @@ private:
///file parsing methods. They return false, when further parsing should be aborted.
bool readFormat(std::ifstream &file, uint16_t msg_size);
bool readAndAddSubscription(std::ifstream &file, uint16_t msg_size);
bool readFlagBits(std::ifstream &file, uint16_t msg_size);
/**
* Read the file header and definitions sections. Apply the parameters from this section

60
src/modules/replay/replay_main.cpp
View File

@@ -208,6 +208,13 @@ bool Replay::readFileDefinitions(std::ifstream &file)
}
switch (message_header.msg_type) {
case (int)ULogMessageType::FLAG_BITS:
if (!readFlagBits(file, message_header.msg_size)) {
return false;
}
break;
case (int)ULogMessageType::FORMAT:
if (!readFormat(file, message_header.msg_size)) {
return false;
@@ -227,6 +234,7 @@ bool Replay::readFileDefinitions(std::ifstream &file)
return true;
case (int)ULogMessageType::INFO: //skip
case (int)ULogMessageType::INFO_MULTIPLE: //skip
file.seekg(message_header.msg_size, ios::cur);
break;
@@ -241,6 +249,52 @@ bool Replay::readFileDefinitions(std::ifstream &file)
return true;
}
bool Replay::readFlagBits(std::ifstream &file, uint16_t msg_size)
{
if (msg_size != 40) {
PX4_ERR("unsupported message length for FLAG_BITS message (%i)", msg_size);
return false;
}
_read_buffer.reserve(msg_size);
uint8_t *message = (uint8_t *)_read_buffer.data();
file.read((char *)message, msg_size);
//uint8_t *compat_flags = message;
uint8_t *incompat_flags = message + 8;
// handle & validate the flags
bool contains_appended_data = incompat_flags[0] & ULOG_INCOMPAT_FLAG0_DATA_APPENDED_MASK;
bool has_unknown_incompat_bits = false;
if (incompat_flags[0] & ~0x1) {
has_unknown_incompat_bits = true;
}
for (int i = 1; i < 8; ++i) {
if (incompat_flags[i]) {
has_unknown_incompat_bits = true;
}
}
if (has_unknown_incompat_bits) {
PX4_ERR("Log contains unknown incompat bits set. Refusing to parse");
return false;
}
if (contains_appended_data) {
uint64_t appended_offsets[3];
memcpy(appended_offsets, message + 16, sizeof(appended_offsets));
if (appended_offsets[0] > 0) {
// the appended data is currently only used for hardfault dumps, so it's safe to ignore it.
PX4_INFO("Log contains appended data. Replay will ignore this data");
_read_until_file_position = appended_offsets[0];
}
}
return true;
}
bool Replay::readFormat(std::ifstream &file, uint16_t msg_size)
{
_read_buffer.reserve(msg_size + 1);
@@ -480,6 +534,11 @@ bool Replay::nextDataMessage(std::ifstream &file, Subscription &subscription, in
break;
}
if (((streamoff)cur_pos) + ULOG_MSG_HEADER_LEN + message_header.msg_size > _read_until_file_position) {
file.setstate(std::ios::eofbit);
break;
}
switch (message_header.msg_type) {
case (int)ULogMessageType::ADD_LOGGED_MSG:
readAndAddSubscription(file, message_header.msg_size);
@@ -514,6 +573,7 @@ bool Replay::nextDataMessage(std::ifstream &file, Subscription &subscription, in
case (int)ULogMessageType::PARAMETER:
case (int)ULogMessageType::DROPOUT:
case (int)ULogMessageType::INFO:
case (int)ULogMessageType::INFO_MULTIPLE:
case (int)ULogMessageType::SYNC:
case (int)ULogMessageType::LOGGING:
file.seekg(message_header.msg_size, ios::cur);