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Replay: command line option to disable FP exceptions

This commit is contained in:
Peter Barker 2016-03-11 09:54:00 +11:00
parent 037a7980d6
commit f6c7a73170
2 changed files with 27 additions and 7 deletions
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31
Tools/Replay/Replay.cpp
View File

@ -134,7 +134,6 @@ void ReplayVehicle::setup(void)
ins.set_hil_mode(); ins.set_hil_mode();
} }
Replay replay(replayvehicle); Replay replay(replayvehicle);
void Replay::usage(void) void Replay::usage(void)
@ -154,6 +153,7 @@ void Replay::usage(void)
::printf("\t--downsample downsampling rate for output\n"); ::printf("\t--downsample downsampling rate for output\n");
::printf("\t--logmatch match logging rate to source\n"); ::printf("\t--logmatch match logging rate to source\n");
::printf("\t--no-params don't use parameters from the log\n"); ::printf("\t--no-params don't use parameters from the log\n");
::printf("\t--no-fpe do not generate floating point exceptions\n");
} }
@ -167,7 +167,8 @@ enum {
OPT_DOWNSAMPLE, OPT_DOWNSAMPLE,
OPT_LOGMATCH, OPT_LOGMATCH,
OPT_NOPARAMS, OPT_NOPARAMS,
OPT_PARAM_FILE OPT_PARAM_FILE,
OPT_NO_FPE,
}; };
void Replay::flush_dataflash(void) { void Replay::flush_dataflash(void) {
@ -205,6 +206,7 @@ const char **Replay::parse_list_from_string(const char *str_in)
void Replay::_parse_command_line(uint8_t argc, char * const argv[]) void Replay::_parse_command_line(uint8_t argc, char * const argv[])
{ {
const struct GetOptLong::option options[] = { const struct GetOptLong::option options[] = {
// name has_arg flag val
{"parm", true, 0, 'p'}, {"parm", true, 0, 'p'},
{"param", true, 0, 'p'}, {"param", true, 0, 'p'},
{"param-file", true, 0, OPT_PARAM_FILE}, {"param-file", true, 0, OPT_PARAM_FILE},
@ -222,6 +224,7 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
{"downsample", true, 0, OPT_DOWNSAMPLE}, {"downsample", true, 0, OPT_DOWNSAMPLE},
{"logmatch", false, 0, OPT_LOGMATCH}, {"logmatch", false, 0, OPT_LOGMATCH},
{"no-params", false, 0, OPT_NOPARAMS}, {"no-params", false, 0, OPT_NOPARAMS},
{"no-fpe", false, 0, OPT_NO_FPE},
{0, false, 0, 0} {0, false, 0, 0}
}; };
@ -301,6 +304,10 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
load_param_file(gopt.optarg); load_param_file(gopt.optarg);
break; break;
case OPT_NO_FPE:
generate_fpe = false;
break;
case 'h': case 'h':
default: default:
usage(); usage();
@ -493,8 +500,23 @@ void Replay::setup()
logreader.set_save_chek_messages(true); logreader.set_save_chek_messages(true);
} }
// _parse_command_line sets up an FPE handler. We can do better: if (generate_fpe) {
// SITL_State::_parse_command_line sets up an FPE handler. We
// can do better:
feenableexcept(FE_INVALID | FE_OVERFLOW);
signal(SIGFPE, _replay_sig_fpe); signal(SIGFPE, _replay_sig_fpe);
} else {
// disable floating point exception generation:
int exceptions = FE_OVERFLOW | FE_DIVBYZERO;
#ifndef __i386__
// i386 with gcc doesn't work with FE_INVALID
exceptions |= FE_INVALID;
#endif
if (feclearexcept(exceptions)) {
::fprintf(stderr, "Failed to disable floating point exceptions: %s", strerror(errno));
}
signal(SIGFPE, SIG_IGN);
}
hal.console->printf("Processing log %s\n", filename); hal.console->printf("Processing log %s\n", filename);
@ -529,9 +551,6 @@ void Replay::setup()
set_ins_update_rate(log_info.update_rate); set_ins_update_rate(log_info.update_rate);
feenableexcept(FE_INVALID | FE_OVERFLOW);
plotf = fopen("plot.dat", "w"); plotf = fopen("plot.dat", "w");
plotf2 = fopen("plot2.dat", "w"); plotf2 = fopen("plot2.dat", "w");
ekf1f = fopen("EKF1.dat", "w"); ekf1f = fopen("EKF1.dat", "w");

1
Tools/Replay/Replay.h
View File

@ -97,6 +97,7 @@ public:
bool check_solution = false; bool check_solution = false;
const char *log_filename = NULL; const char *log_filename = NULL;
bool generate_fpe = true;
/* /*
information about a log from find_log_info information about a log from find_log_info