ardupilot/Tools/Replay/MsgHandler.cpp

313 lines
8.7 KiB
C++

#include "MsgHandler.h"
#include <AP_AHRS/AP_AHRS.h>
void fatal(const char *msg) {
::printf("%s",msg);
::printf("\n");
exit(1);
}
char *xstrdup(const char *string)
{
char *ret = strdup(string);
if (ret == NULL) {
perror("strdup");
fatal("strdup failed");
}
return ret;
}
char *xcalloc(uint8_t count, uint32_t len)
{
char *ret = (char*)calloc(count, len);
if (ret == nullptr) {
perror("calloc");
fatal("calloc failed");
}
return ret;
}
void MsgHandler::add_field_type(char type, size_t size)
{
size_for_type_table[(type > 'A' ? (type-'A') : (type-'a'))] = size;
}
uint8_t MsgHandler::size_for_type(char type)
{
uint8_t ret = size_for_type_table[(uint8_t)(type > 'A' ? (type-'A') : (type-'a'))];
if (ret == 0) {
::fprintf(stderr, "Unknown type (%c)\n", type);
abort();
}
return ret;
}
void MsgHandler::init_field_types()
{
add_field_type('b', sizeof(int8_t));
add_field_type('c', sizeof(int16_t));
add_field_type('d', sizeof(double));
add_field_type('e', sizeof(int32_t));
add_field_type('f', sizeof(float));
add_field_type('h', sizeof(int16_t));
add_field_type('i', sizeof(int32_t));
add_field_type('n', sizeof(char[4]));
add_field_type('B', sizeof(uint8_t));
add_field_type('C', sizeof(uint16_t));
add_field_type('E', sizeof(uint32_t));
add_field_type('H', sizeof(uint16_t));
add_field_type('I', sizeof(uint32_t));
add_field_type('L', sizeof(int32_t));
add_field_type('M', sizeof(uint8_t));
add_field_type('N', sizeof(char[16]));
add_field_type('Z', sizeof(char[64]));
add_field_type('q', sizeof(int64_t));
add_field_type('Q', sizeof(uint64_t));
}
struct MsgHandler::format_field_info *MsgHandler::find_field_info(const char *label)
{
for(uint8_t i=0; i<next_field; i++) {
if (streq(field_info[i].label, label)) {
return &field_info[i];
}
}
return NULL;
}
MsgHandler::MsgHandler(const struct log_Format &_f) : next_field(0), f(_f)
{
init_field_types();
parse_format_fields();
}
void MsgHandler::add_field(const char *_label, uint8_t _type, uint8_t _offset,
uint8_t _length)
{
field_info[next_field].label = xstrdup(_label);
field_info[next_field].type = _type;
field_info[next_field].offset = _offset;
field_info[next_field].length = _length;
next_field++;
}
char *get_string_field(char *field, uint8_t fieldlen)
{
char *ret = xcalloc(1, fieldlen+1);
memcpy(ret, field, fieldlen);
return ret;
}
void MsgHandler::parse_format_fields()
{
char *labels = get_string_field(f.labels, sizeof(f.labels));
char * arg = labels;
uint8_t label_offset = 0;
char *next_label;
uint8_t msg_offset = 3; // 3 bytes for the header
char *format = get_string_field(f.format, ARRAY_SIZE(f.format));
while ((next_label = strtok(arg, ",")) != NULL) {
if (label_offset > strlen(format)) {
free(labels);
printf("too few field times for labels %s (format=%s) (labels=%s)\n",
f.name, format, labels);
exit(1);
}
uint8_t field_type = format[label_offset];
uint8_t length = size_for_type(field_type);
add_field(next_label, field_type, msg_offset, length);
arg = NULL;
msg_offset += length;
label_offset++;
}
if (label_offset != strlen(format)) {
printf("too few labels for format (format=%s) (labels=%s)\n",
format, labels);
}
free(labels);
free(format);
}
bool MsgHandler::field_value(uint8_t *msg, const char *label, char *ret, uint8_t retlen)
{
struct format_field_info *info = find_field_info(label);
if (info == NULL) {
::printf("No info for (%s)\n",label);
exit(1);
}
uint8_t offset = info->offset;
if (offset == 0) {
return false;
}
memset(ret, '\0', retlen);
memcpy(ret, &msg[offset], (retlen < info->length) ? retlen : info->length);
return true;
}
bool MsgHandler::field_value(uint8_t *msg, const char *label, Vector3f &ret)
{
const char *axes = "XYZ";
uint8_t i;
for(i=0; i<next_field; i++) {
if (!strncmp(field_info[i].label, label, strlen(label)) &&
strlen(field_info[i].label) == strlen(label)+1) {
for (uint8_t j=0; j<3; j++) {
if (field_info[i].label[strlen(label)] == axes[j]) {
field_value_for_type_at_offset(msg,
field_info[i].type,
field_info[i].offset,
ret[j]);
break; // break from finding-label loop
}
}
}
if (i == next_field) {
return 0; // not found
}
}
return true;
}
void MsgHandler::string_for_labels(char *buffer, uint32_t bufferlen)
{
memset(buffer, '\0', bufferlen);
bufferlen--;
char *pos = buffer;
for (uint8_t k=0; k<LOGREADER_MAX_FIELDS; k++) {
if (field_info[k].label != NULL) {
uint8_t remaining = bufferlen - (pos - buffer);
uint8_t label_length = strlen(field_info[k].label);
uint8_t required = label_length;
if (pos != buffer) { // room for a comma
required++;
}
if (required+1 > remaining) { // null termination
break;
}
if (pos != buffer) {
*pos++ = ',';
}
memcpy(pos, field_info[k].label, label_length);
pos += label_length;
}
}
}
MsgHandler::~MsgHandler()
{
for (uint8_t k=0; k<LOGREADER_MAX_FIELDS; k++) {
if (field_info[k].label != NULL) {
free(field_info[k].label);
}
}
}
void MsgHandler::location_from_msg(uint8_t *msg,
Location &loc,
const char *label_lat,
const char *label_long,
const char *label_alt)
{
loc.lat = require_field_int32_t(msg, label_lat);
loc.lng = require_field_int32_t(msg, label_long);
loc.set_alt_cm(require_field_int32_t(msg, label_alt), Location::AltFrame::ABSOLUTE);
}
void MsgHandler::ground_vel_from_msg(uint8_t *msg,
Vector3f &vel,
const char *label_speed,
const char *label_course,
const char *label_vz)
{
float ground_speed;
float ground_course;
// in older logs speed and course are integers
if (!field_value(msg, label_speed, ground_speed)) {
uint32_t speed_cms;
require_field(msg, label_speed, speed_cms);
ground_speed = speed_cms * 0.01f;
}
if (!field_value(msg, label_course, ground_course)) {
uint32_t course_cd;
require_field(msg, label_course, course_cd);
ground_course = course_cd * 0.01f;
}
require_field(msg, label_course, ground_course);
vel[0] = ground_speed*cosf(radians(ground_course));
vel[1] = ground_speed*sinf(radians(ground_course));
vel[2] = require_field_float(msg, label_vz);
}
void MsgHandler::attitude_from_msg(uint8_t *msg,
Vector3f &att,
const char *label_roll,
const char *label_pitch,
const char *label_yaw)
{
att[0] = require_field_int16_t(msg, label_roll) * 0.01f;
att[1] = require_field_int16_t(msg, label_pitch) * 0.01f;
att[2] = require_field_uint16_t(msg, label_yaw) * 0.01f;
}
void MsgHandler::field_not_found(uint8_t *msg, const char *label)
{
char all_labels[256];
uint8_t type = msg[2];
string_for_labels(all_labels, 256);
::printf("Field (%s) not found for id=%d; options are (%s)\n",
label, type, all_labels);
abort();
}
void MsgHandler::require_field(uint8_t *msg, const char *label, char *buffer, uint8_t bufferlen)
{
if (! field_value(msg, label, buffer, bufferlen)) {
field_not_found(msg,label);
}
}
float MsgHandler::require_field_float(uint8_t *msg, const char *label)
{
float ret;
require_field(msg, label, ret);
return ret;
}
uint8_t MsgHandler::require_field_uint8_t(uint8_t *msg, const char *label)
{
uint8_t ret;
require_field(msg, label, ret);
return ret;
}
int32_t MsgHandler::require_field_int32_t(uint8_t *msg, const char *label)
{
int32_t ret;
require_field(msg, label, ret);
return ret;
}
uint16_t MsgHandler::require_field_uint16_t(uint8_t *msg, const char *label)
{
uint16_t ret;
require_field(msg, label, ret);
return ret;
}
int16_t MsgHandler::require_field_int16_t(uint8_t *msg, const char *label)
{
int16_t ret;
require_field(msg, label, ret);
return ret;
}