mirror of https://github.com/ArduPilot/ardupilot
Replay: print some statistics on exit
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parent
97b6ca218b
commit
b5e206f72f
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@ -5,6 +5,26 @@
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#include <sys/types.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <unistd.h>
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#include <time.h>
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// flogged from AP_Hal_Linux/system.cpp; we don't want to use stopped clock here
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uint64_t now() {
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)));
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}
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DataFlashFileReader::DataFlashFileReader() :
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start_micros(now())
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{}
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DataFlashFileReader::~DataFlashFileReader()
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{
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const uint64_t micros = now();
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const uint64_t delta = micros - start_micros;
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::printf("Replay counts: %ld bytes %u entries\n", bytes_read, message_count);
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::printf("Replay rates: %ld bytes/second %ld messages/second\n", bytes_read*1000000/delta, message_count*1000000/delta);
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}
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bool DataFlashFileReader::open_log(const char *logfile)
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bool DataFlashFileReader::open_log(const char *logfile)
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{
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{
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@ -15,10 +35,17 @@ bool DataFlashFileReader::open_log(const char *logfile)
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return true;
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return true;
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}
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}
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ssize_t DataFlashFileReader::read_input(void *buffer, const size_t count)
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{
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uint64_t ret = ::read(fd, buffer, count);
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bytes_read += ret;
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return ret;
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}
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bool DataFlashFileReader::update(char type[5])
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bool DataFlashFileReader::update(char type[5])
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{
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{
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uint8_t hdr[3];
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uint8_t hdr[3];
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if (::read(fd, hdr, 3) != 3) {
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if (read_input(hdr, 3) != 3) {
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return false;
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return false;
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}
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}
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if (hdr[0] != HEAD_BYTE1 || hdr[1] != HEAD_BYTE2) {
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if (hdr[0] != HEAD_BYTE1 || hdr[1] != HEAD_BYTE2) {
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@ -29,13 +56,14 @@ bool DataFlashFileReader::update(char type[5])
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if (hdr[2] == LOG_FORMAT_MSG) {
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if (hdr[2] == LOG_FORMAT_MSG) {
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struct log_Format f;
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struct log_Format f;
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memcpy(&f, hdr, 3);
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memcpy(&f, hdr, 3);
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if (::read(fd, &f.type, sizeof(f)-3) != sizeof(f)-3) {
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if (read_input(&f.type, sizeof(f)-3) != sizeof(f)-3) {
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return false;
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return false;
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}
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}
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memcpy(&formats[f.type], &f, sizeof(formats[f.type]));
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memcpy(&formats[f.type], &f, sizeof(formats[f.type]));
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strncpy(type, "FMT", 3);
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strncpy(type, "FMT", 3);
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type[3] = 0;
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type[3] = 0;
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message_count++;
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return handle_log_format_msg(f);
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return handle_log_format_msg(f);
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}
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}
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@ -55,12 +83,13 @@ bool DataFlashFileReader::update(char type[5])
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uint8_t msg[f.length];
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uint8_t msg[f.length];
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memcpy(msg, hdr, 3);
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memcpy(msg, hdr, 3);
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if (::read(fd, &msg[3], f.length-3) != f.length-3) {
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if (read_input(&msg[3], f.length-3) != f.length-3) {
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return false;
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return false;
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}
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}
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strncpy(type, f.name, 4);
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strncpy(type, f.name, 4);
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type[4] = 0;
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type[4] = 0;
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message_count++;
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return handle_msg(f,msg);
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return handle_msg(f,msg);
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}
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}
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@ -5,6 +5,10 @@
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class DataFlashFileReader
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class DataFlashFileReader
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{
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{
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public:
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public:
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DataFlashFileReader();
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~DataFlashFileReader();
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bool open_log(const char *logfile);
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bool open_log(const char *logfile);
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bool update(char type[5]);
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bool update(char type[5]);
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@ -18,4 +22,12 @@ protected:
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#define LOGREADER_MAX_FORMATS 255 // must be >= highest MESSAGE
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#define LOGREADER_MAX_FORMATS 255 // must be >= highest MESSAGE
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struct log_Format formats[LOGREADER_MAX_FORMATS] {};
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struct log_Format formats[LOGREADER_MAX_FORMATS] {};
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private:
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ssize_t read_input(void *buf, size_t count);
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uint64_t bytes_read = 0;
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uint32_t message_count = 0;
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uint64_t start_micros;
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};
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};
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@ -37,6 +37,7 @@ const struct LogStructure log_structure[] = {
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LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps,
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LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps,
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AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&_nottypes):
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AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&_nottypes):
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DataFlashFileReader(),
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vehicle(VehicleType::VEHICLE_UNKNOWN),
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vehicle(VehicleType::VEHICLE_UNKNOWN),
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ahrs(_ahrs),
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ahrs(_ahrs),
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ins(_ins),
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ins(_ins),
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