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Replay: allow replay to run on SITL instead of linux HAL

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This commit is contained in:
Andrew Tridgell 2020-11-09 07:45:44 +11:00
parent 0bc77a3baf
commit 85aa64780c
3 changed files with 21 additions and 16 deletions
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6
Tools/Replay/Makefile
View File

@ -1,12 +1,12 @@
# this is meant to make existing build instructions work with waf
all:
@cd ../../ && modules/waf/waf-light configure --board linux --debug --disable-scripting
@cd ../../ && modules/waf/waf-light configure --board sitl --debug --disable-scripting
@cd ../../ && modules/waf/waf-light --target tools/Replay
@cp ../../build/linux/tools/Replay Replay.elf
@cp ../../build/sitl/tools/Replay Replay.elf
@echo Built Replay.elf
clean:
@cd ../../ && modules/waf/waf-light configure --board linux clean
@cd ../../ && modules/waf/waf-light configure --board sitl clean
linux-debug: all

28
Tools/Replay/Replay.cpp
View File

@ -83,10 +83,11 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
void ReplayVehicle::load_parameters(void)
{
unlink("Replay.stg");
if (!AP_Param::check_var_info()) {
AP_HAL::panic("Bad parameter table");
}
StorageManager::erase();
AP_Param::erase_all();
// Load all auto-loaded EEPROM variables - also registers thread
// which saves parameters, which Compass now does in its init() routine
AP_Param::load_all();
@ -184,28 +185,35 @@ void Replay::setup()
hal.util->commandline_arguments(argc, argv);
_parse_command_line(argc, argv);
if (argc > 0) {
_parse_command_line(argc, argv);
}
_vehicle.setup();
set_user_parameters();
}
void Replay::loop()
{
if (filename == nullptr) {
::printf("You must supply a log filename\n");
exit(1);
}
// LogReader reader = LogReader(log_structure);
if (!reader.open_log(filename)) {
::fprintf(stderr, "open(%s): %m\n", filename);
exit(1);
}
while (reader.update()) {
}
}
void Replay::loop()
{
if (!reader.update()) {
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// If we don't tear down the threads then they continue to access
// global state during object destruction.
((Linux::Scheduler*)hal.scheduler)->teardown();
exit(0);
((Linux::Scheduler*)hal.scheduler)->teardown();
#endif
exit(0);
}
}
/*

3
Tools/Replay/wscript
View File

@ -4,9 +4,6 @@
import boards
def build(bld):
if not isinstance(bld.get_board(), boards.linux):
return
vehicle = bld.path.name
bld.ap_stlib(