From b5e206f72f16d14087a21e3e639f7884ad44a4f0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 25 Aug 2016 13:00:41 +1000
Subject: [PATCH] Replay: print some statistics on exit

---
 Tools/Replay/DataFlashFileReader.cpp | 35 +++++++++++++++++++++++++---
 Tools/Replay/DataFlashFileReader.h   | 12 ++++++++++
 Tools/Replay/LogReader.cpp           |  1 +
 3 files changed, 45 insertions(+), 3 deletions(-)

diff --git a/Tools/Replay/DataFlashFileReader.cpp b/Tools/Replay/DataFlashFileReader.cpp
index ae4317af2b..7203c2eabc 100644
--- a/Tools/Replay/DataFlashFileReader.cpp
+++ b/Tools/Replay/DataFlashFileReader.cpp
@@ -5,6 +5,26 @@
 #include <sys/types.h>
 #include <stdio.h>
 #include <unistd.h>
+#include <time.h>
+
+// flogged from AP_Hal_Linux/system.cpp; we don't want to use stopped clock here
+uint64_t now() {
+    struct timespec ts;
+    clock_gettime(CLOCK_MONOTONIC, &ts);
+    return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)));
+}
+
+DataFlashFileReader::DataFlashFileReader() :
+    start_micros(now())
+{}
+
+DataFlashFileReader::~DataFlashFileReader()
+{
+    const uint64_t micros = now();
+    const uint64_t delta = micros - start_micros;
+    ::printf("Replay counts: %ld bytes  %u entries\n", bytes_read, message_count);
+    ::printf("Replay rates: %ld bytes/second  %ld messages/second\n", bytes_read*1000000/delta, message_count*1000000/delta);
+}
 
 bool DataFlashFileReader::open_log(const char *logfile)
 {
@@ -15,10 +35,17 @@ bool DataFlashFileReader::open_log(const char *logfile)
     return true;
 }
 
+ssize_t DataFlashFileReader::read_input(void *buffer, const size_t count)
+{
+    uint64_t ret = ::read(fd, buffer, count);
+    bytes_read += ret;
+    return ret;
+}
+
 bool DataFlashFileReader::update(char type[5])
 {
     uint8_t hdr[3];
-    if (::read(fd, hdr, 3) != 3) {
+    if (read_input(hdr, 3) != 3) {
         return false;
     }
     if (hdr[0] != HEAD_BYTE1 || hdr[1] != HEAD_BYTE2) {
@@ -29,13 +56,14 @@ bool DataFlashFileReader::update(char type[5])
     if (hdr[2] == LOG_FORMAT_MSG) {
         struct log_Format f;
         memcpy(&f, hdr, 3);
-        if (::read(fd, &f.type, sizeof(f)-3) != sizeof(f)-3) {
+        if (read_input(&f.type, sizeof(f)-3) != sizeof(f)-3) {
             return false;
         }
         memcpy(&formats[f.type], &f, sizeof(formats[f.type]));
         strncpy(type, "FMT", 3);
         type[3] = 0;
 
+        message_count++;
         return handle_log_format_msg(f);
     }
 
@@ -55,12 +83,13 @@ bool DataFlashFileReader::update(char type[5])
     uint8_t msg[f.length];
 
     memcpy(msg, hdr, 3);
-    if (::read(fd, &msg[3], f.length-3) != f.length-3) {
+    if (read_input(&msg[3], f.length-3) != f.length-3) {
         return false;
     }
 
     strncpy(type, f.name, 4);
     type[4] = 0;
 
+    message_count++;
     return handle_msg(f,msg);
 }
diff --git a/Tools/Replay/DataFlashFileReader.h b/Tools/Replay/DataFlashFileReader.h
index 80c309c7a5..0bd2ffae0b 100644
--- a/Tools/Replay/DataFlashFileReader.h
+++ b/Tools/Replay/DataFlashFileReader.h
@@ -5,6 +5,10 @@
 class DataFlashFileReader
 {
 public:
+
+    DataFlashFileReader();
+    ~DataFlashFileReader();
+
     bool open_log(const char *logfile);
     bool update(char type[5]);
 
@@ -18,4 +22,12 @@ protected:
 
 #define LOGREADER_MAX_FORMATS 255 // must be >= highest MESSAGE
     struct log_Format formats[LOGREADER_MAX_FORMATS] {};
+
+private:
+    ssize_t read_input(void *buf, size_t count);
+
+    uint64_t bytes_read = 0;
+    uint32_t message_count = 0;
+    uint64_t start_micros;
+
 };
diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index 3918df0a6c..8ece938b93 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -37,6 +37,7 @@ const struct LogStructure log_structure[] = {
 
 LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, 
                      AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&_nottypes):
+    DataFlashFileReader(),
     vehicle(VehicleType::VEHICLE_UNKNOWN),
     ahrs(_ahrs),
     ins(_ins),