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95 lines
3.4 KiB
C++
95 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "Replay.hpp"
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namespace px4
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{
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/**
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* @class ReplayEkf2
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* replay specialization for Ekf2 replay
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*/
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class ReplayEkf2 : public Replay
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{
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public:
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protected:
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void onEnterMainLoop() override;
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void onExitMainLoop() override;
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uint64_t handleTopicDelay(uint64_t next_file_time, uint64_t timestamp_offset) override;
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/**
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* handle ekf2 topic publication in ekf2 replay mode
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* @param sub
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* @param data
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* @param replay_file file currently replayed (file seek position should be considered arbitrary after this call)
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* @return true if published, false otherwise
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*/
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bool handleTopicUpdate(Subscription &sub, void *data, std::ifstream &replay_file) override;
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void onSubscriptionAdded(Subscription &sub, uint16_t msg_id) override;
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private:
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bool publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifstream &replay_file);
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/**
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* find the next message for a subscription that matches a given timestamp and publish it
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* @param timestamp in 0.1 ms
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* @param msg_id
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* @param replay_file file currently replayed (file seek position should be considered arbitrary after this call)
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* @return true if timestamp found and published
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*/
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bool findTimestampAndPublish(uint64_t timestamp, uint16_t msg_id, std::ifstream &replay_file);
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int _vehicle_attitude_sub = -1;
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static constexpr uint16_t msg_id_invalid = 0xffff;
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uint16_t _airspeed_msg_id = msg_id_invalid;
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uint16_t _distance_sensor_msg_id = msg_id_invalid;
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uint16_t _optical_flow_msg_id = msg_id_invalid;
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uint16_t _sensor_combined_msg_id = msg_id_invalid;
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uint16_t _vehicle_air_data_msg_id = msg_id_invalid;
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uint16_t _vehicle_magnetometer_msg_id = msg_id_invalid;
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uint16_t _vehicle_visual_odometry_msg_id = msg_id_invalid;
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int _topic_counter = 0;
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};
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} //namespace px4
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