ardupilot/Tools/Replay/DataFlashFileReader.cpp

112 lines
2.7 KiB
C++

#include "DataFlashFileReader.h"
#include <fcntl.h>
#include <string.h>
#include <sys/types.h>
#include <stdio.h>
#include <unistd.h>
#include <time.h>
#include <cinttypes>
#ifndef PRIu64
#define PRIu64 "llu"
#endif
// 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)));
}
AP_LoggerFileReader::AP_LoggerFileReader() :
start_micros(now())
{}
AP_LoggerFileReader::~AP_LoggerFileReader()
{
const uint64_t micros = now();
const uint64_t delta = micros - start_micros;
::printf("Replay counts: %" PRIu64 " bytes %u entries\n", bytes_read, message_count);
::printf("Replay rates: %" PRIu64 " bytes/second %" PRIu64 " messages/second\n", bytes_read*1000000/delta, message_count*1000000/delta);
}
bool AP_LoggerFileReader::open_log(const char *logfile)
{
fd = ::open(logfile, O_RDONLY|O_CLOEXEC);
if (fd == -1) {
return false;
}
return true;
}
ssize_t AP_LoggerFileReader::read_input(void *buffer, const size_t count)
{
uint64_t ret = ::read(fd, buffer, count);
bytes_read += ret;
return ret;
}
void AP_LoggerFileReader::format_type(uint16_t type, char dest[5])
{
const struct log_Format &f = formats[type];
memset(dest,0,5);
if (f.length == 0) {
return;
}
strncpy(dest, f.name, 4);
}
void AP_LoggerFileReader::get_packet_counts(uint64_t dest[])
{
memcpy(dest, packet_counts, sizeof(packet_counts));
}
bool AP_LoggerFileReader::update(char type[5], uint8_t &core)
{
uint8_t hdr[3];
if (read_input(hdr, 3) != 3) {
return false;
}
if (hdr[0] != HEAD_BYTE1 || hdr[1] != HEAD_BYTE2) {
printf("bad log header\n");
return false;
}
packet_counts[hdr[2]]++;
if (hdr[2] == LOG_FORMAT_MSG) {
struct log_Format f;
memcpy(&f, hdr, 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);
}
const struct log_Format &f = formats[hdr[2]];
if (f.length == 0) {
// can't just throw these away as the format specifies the
// number of bytes in the message
::printf("No format defined for type (%d)\n", hdr[2]);
exit(1);
}
uint8_t msg[f.length];
memcpy(msg, hdr, 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, core);
}