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refactor replay: split timestamp offset into separate method

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This commit is contained in:
Beat Küng
2017-07-14 09:52:11 +02:00
committed by Lorenz Meier
parent 950273dbcf
commit cef3a29ac9
2 changed files with 48 additions and 31 deletions
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10
src/modules/replay/replay.hpp
View File

@@ -112,6 +112,16 @@ protected:
int publication_counter = 0; int publication_counter = 0;
}; };
/**
* Find the offset & field size in bytes for a given field name
* @param format format string, as specified by ULog
* @param field_name search for this field
* @param offset returned offset
* @param field_size returned field size
* @return true if found, false otherwise
*/
static bool findFieldOffset(const std::string &format, const std::string &field_name, int &offset, int &field_size);
/** /**
* publish an orb topic * publish an orb topic
* @param sub * @param sub

69
src/modules/replay/replay_main.cpp
View File

@@ -332,42 +332,18 @@ bool Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
subscription.multi_id = multi_id; subscription.multi_id = multi_id;
//find the timestamp offset (not necessarily the first field) //find the timestamp offset
string fields = orb_meta->o_fields; int field_size;
size_t prev_field_end = 0; bool timestamp_found = findFieldOffset(orb_meta->o_fields, "timestamp", subscription.timestamp_offset, field_size);
size_t field_end = fields.find(';');
bool timestamp_found = false;
subscription.timestamp_offset = 0;
while (field_end != string::npos && !timestamp_found) {
size_t space_pos = fields.find(' ', prev_field_end);
if (space_pos != string::npos) {
string type_name_full = fields.substr(prev_field_end, space_pos - prev_field_end);
string field_name = fields.substr(space_pos + 1, field_end - space_pos - 1);
if (field_name == "timestamp") {
timestamp_found = true;
if (type_name_full != "uint64_t") {
PX4_ERR("Unsupported timestamp type %s, ignoring the topic %s", type_name_full.c_str(),
orb_meta->o_name);
return true;
}
} else {
subscription.timestamp_offset += sizeOfFullType(type_name_full);
}
}
prev_field_end = field_end + 1;
field_end = fields.find(';', prev_field_end);
}
if (!timestamp_found) { if (!timestamp_found) {
return true; return true;
} }
if (field_size != 8) {
PX4_ERR("Unsupported timestamp with size %i, ignoring the topic %s", field_size, orb_meta->o_name);
return true;
}
//find first data message (and the timestamp) //find first data message (and the timestamp)
streampos cur_pos = file.tellg(); streampos cur_pos = file.tellg();
@@ -398,6 +374,37 @@ bool Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
return true; return true;
} }
bool Replay::findFieldOffset(const string &format, const string &field_name, int &offset, int &field_size)
{
size_t prev_field_end = 0;
size_t field_end = format.find(';');
offset = 0;
field_size = 0;
while (field_end != string::npos) {
size_t space_pos = format.find(' ', prev_field_end);
if (space_pos != string::npos) {
string type_name_full = format.substr(prev_field_end, space_pos - prev_field_end);
string cur_field_name = format.substr(space_pos + 1, field_end - space_pos - 1);
if (cur_field_name == field_name) {
field_size = sizeOfFullType(type_name_full);
return true;
} else {
offset += sizeOfFullType(type_name_full);
}
}
prev_field_end = field_end + 1;
field_end = format.find(';', prev_field_end);
}
return false;
}
bool Replay::readAndHandleAdditionalMessages(std::ifstream &file, std::streampos end_position) bool Replay::readAndHandleAdditionalMessages(std::ifstream &file, std::streampos end_position)
{ {
ulog_message_header_s message_header; ulog_message_header_s message_header;