ardupilot/Tools/Replay/LogReader.cpp

586 lines
17 KiB
C++

#include <AP_HAL.h>
#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_Airspeed.h>
#include <AP_Compass.h>
#include <AP_GPS.h>
#include <AP_Compass.h>
#include <AP_Baro.h>
#include <AP_InertialSensor.h>
#include <DataFlash.h>
#include "LogReader.h"
#include <stdio.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
extern const AP_HAL::HAL& hal;
LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, AP_Compass_HIL &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash) :
vehicle(VEHICLE_UNKNOWN),
fd(-1),
ahrs(_ahrs),
ins(_ins),
baro(_baro),
compass(_compass),
gps(_gps),
airspeed(_airspeed),
dataflash(_dataflash),
accel_mask(7),
gyro_mask(7)
{}
bool LogReader::open_log(const char *logfile)
{
fd = ::open(logfile, O_RDONLY);
if (fd == -1) {
return false;
}
return true;
}
struct PACKED log_Plane_Compass_old {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
};
struct PACKED log_Copter_Compass_old {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
};
struct PACKED log_Plane_Attitude_old {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t roll;
int16_t pitch;
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
};
struct PACKED log_Copter_Attitude_old {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t control_roll;
int16_t roll;
int16_t control_pitch;
int16_t pitch;
uint16_t control_yaw;
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
};
struct PACKED log_Copter_Nav_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
float desired_pos_x;
float desired_pos_y;
float pos_x;
float pos_y;
float desired_vel_x;
float desired_vel_y;
float vel_x;
float vel_y;
float desired_accel_x;
float desired_accel_y;
};
struct PACKED log_Rover_Attitude_old {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
struct PACKED log_Rover_Compass_old {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
};
void LogReader::process_plane(uint8_t type, uint8_t *data, uint16_t length)
{
switch (type) {
case LOG_PLANE_COMPASS_MSG: {
struct log_Plane_Compass_old msg;
if(sizeof(msg) != length) {
printf("Bad plane COMPASS_OLD length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
compass.setHIL(Vector3f(msg.mag_x - msg.offset_x, msg.mag_y - msg.offset_y, msg.mag_z - msg.offset_z));
compass.set_offsets(0, Vector3f(msg.offset_x, msg.offset_y, msg.offset_z));
break;
}
case LOG_PLANE_ATTITUDE_MSG: {
struct log_Plane_Attitude_old msg;
if(sizeof(msg) != length) {
printf("Bad ATTITUDE length %u should be %u\n", (unsigned)length, (unsigned)sizeof(msg));
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
attitude = Vector3f(msg.roll*0.01f, msg.pitch*0.01f, msg.yaw*0.01f);
break;
}
case LOG_PLANE_AIRSPEED_MSG:
case LOG_ARSP_MSG: {
struct log_AIRSPEED msg;
if (sizeof(msg) != length && length != sizeof(msg)+8) {
printf("Bad AIRSPEED length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.timestamp);
airspeed.setHIL(msg.airspeed, msg.diffpressure, msg.temperature);
dataflash.Log_Write_Airspeed(airspeed);
break;
}
}
}
void LogReader::process_rover(uint8_t type, uint8_t *data, uint16_t length)
{
switch (type) {
case LOG_ROVER_COMPASS_MSG: {
struct log_Rover_Compass_old msg;
if(sizeof(msg) != length) {
printf("Bad rover COMPASS length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
compass.setHIL(Vector3f(msg.mag_x - msg.offset_x, msg.mag_y - msg.offset_y, msg.mag_z - msg.offset_z));
compass.set_offsets(0, Vector3f(msg.offset_x, msg.offset_y, msg.offset_z));
break;
}
case LOG_ROVER_ATTITUDE_MSG: {
struct log_Rover_Attitude_old msg;
if(sizeof(msg) != length) {
printf("Bad ATTITUDE length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
attitude = Vector3f(msg.roll*0.01f, msg.pitch*0.01f, msg.yaw*0.01f);
break;
}
}
}
void LogReader::process_copter(uint8_t type, uint8_t *data, uint16_t length)
{
switch (type) {
case LOG_COPTER_COMPASS_MSG: {
struct log_Copter_Compass_old msg;
if(sizeof(msg) != length) {
printf("Bad copter COMPASS length %u expected %u\n", (unsigned)length, (unsigned)sizeof(msg));
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
compass.setHIL(Vector3f(msg.mag_x - msg.offset_x, msg.mag_y - msg.offset_y, msg.mag_z - msg.offset_z));
compass.set_offsets(0, Vector3f(msg.offset_x, msg.offset_y, msg.offset_z));
break;
}
case LOG_COPTER_ATTITUDE_MSG: {
struct log_Copter_Attitude_old msg;
if (sizeof(msg) == length+sizeof(uint16_t)*2) {
// old style, without errors
memset(&msg, 0, sizeof(msg));
memcpy(&msg, data, length);
} else if (sizeof(msg) == length) {
memcpy(&msg, data, sizeof(msg));
} else {
printf("Bad ATTITUDE length %u should be %u\n", (unsigned)length, (unsigned)sizeof(msg));
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
attitude = Vector3f(msg.roll*0.01f, msg.pitch*0.01f, msg.yaw*0.01f);
break;
}
case LOG_COPTER_NAV_TUNING_MSG: {
struct log_Copter_Nav_Tuning msg;
if(sizeof(msg) != length) {
printf("Bad copter NAV_TUNING length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
inavpos = Vector3f(msg.pos_x * 0.01f,
msg.pos_y * 0.01f,
0);
break;
}
}
}
bool LogReader::set_parameter(const char *name, float value)
{
const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_USE" };
for (uint8_t i=0; i<sizeof(ignore_parms)/sizeof(ignore_parms[0]); i++) {
if (strcmp(name, ignore_parms[i]) == 0) {
::printf("Ignoring set of %s to %f\n", name, value);
return true;
}
}
enum ap_var_type var_type;
AP_Param *vp = AP_Param::find(name, &var_type);
if (vp == NULL) {
return false;
}
if (var_type == AP_PARAM_FLOAT) {
((AP_Float *)vp)->set(value);
::printf("Set %s to %f\n", name, value);
} else if (var_type == AP_PARAM_INT32) {
((AP_Int32 *)vp)->set(value);
::printf("Set %s to %d\n", name, (int)value);
} else if (var_type == AP_PARAM_INT16) {
((AP_Int16 *)vp)->set(value);
::printf("Set %s to %d\n", name, (int)value);
} else if (var_type == AP_PARAM_INT8) {
((AP_Int8 *)vp)->set(value);
::printf("Set %s to %d\n", name, (int)value);
} else {
// we don't support mavlink set on this parameter
return false;
}
return true;
}
bool LogReader::update(uint8_t &type)
{
uint8_t hdr[3];
if (::read(fd, hdr, 3) != 3) {
return false;
}
if (hdr[0] != HEAD_BYTE1 || hdr[1] != HEAD_BYTE2) {
printf("bad log header\n");
return false;
}
if (hdr[2] == LOG_FORMAT_MSG) {
struct log_Format &f = formats[num_formats];
memcpy(&f, hdr, 3);
if (::read(fd, &f.type, sizeof(f)-3) != sizeof(f)-3) {
return false;
}
if (num_formats < LOGREADER_MAX_FORMATS-1) {
num_formats++;
}
type = f.type;
return true;
}
uint8_t i;
for (i=0; i<num_formats; i++) {
if (formats[i].type == hdr[2]) break;
}
if (i == num_formats) {
return false;
}
const struct log_Format &f = formats[i];
uint8_t data[f.length];
memcpy(data, hdr, 3);
if (::read(fd, &data[3], f.length-3) != f.length-3) {
return false;
}
switch (f.type) {
case LOG_MESSAGE_MSG: {
struct log_Message msg;
if(sizeof(msg) != f.length) {
printf("Bad MESSAGE length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
if (strncmp(msg.msg, "ArduPlane", strlen("ArduPlane")) == 0) {
vehicle = VEHICLE_PLANE;
::printf("Detected Plane\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
ahrs.set_fly_forward(true);
} else if (strncmp(msg.msg, "ArduCopter", strlen("ArduCopter")) == 0) {
vehicle = VEHICLE_COPTER;
::printf("Detected Copter\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_COPTER);
ahrs.set_fly_forward(false);
} else if (strncmp(msg.msg, "ArduRover", strlen("ArduRover")) == 0) {
vehicle = VEHICLE_ROVER;
::printf("Detected Rover\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
ahrs.set_fly_forward(true);
}
dataflash.Log_Write_Message(msg.msg);
break;
}
case LOG_IMU_MSG: {
struct log_IMU msg;
if (sizeof(msg) != f.length && sizeof(msg) != f.length+8) {
printf("Bad IMU length %u expected %u\n",
(unsigned)sizeof(msg), (unsigned)f.length);
exit(1);
}
memcpy(&msg, data, f.length);
wait_timestamp(msg.timestamp);
if (gyro_mask & 1) {
ins.set_gyro(0, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z));
}
if (accel_mask & 1) {
ins.set_accel(0, Vector3f(msg.accel_x, msg.accel_y, msg.accel_z));
}
dataflash.Log_Write_IMU(ins);
break;
}
case LOG_IMU2_MSG: {
struct log_IMU msg;
if (sizeof(msg) != f.length && sizeof(msg) != f.length+8) {
printf("Bad IMU2 length %u expected %u\n",
(unsigned)sizeof(msg), (unsigned)f.length);
exit(1);
}
memcpy(&msg, data, f.length);
wait_timestamp(msg.timestamp);
if (gyro_mask & 2) {
ins.set_gyro(1, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z));
}
if (accel_mask & 2) {
ins.set_accel(1, Vector3f(msg.accel_x, msg.accel_y, msg.accel_z));
}
dataflash.Log_Write_IMU(ins);
break;
}
case LOG_IMU3_MSG: {
struct log_IMU msg;
if(sizeof(msg) != f.length) {
printf("Bad IMU3 length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.timestamp);
if (gyro_mask & 4) {
ins.set_gyro(2, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z));
}
if (accel_mask & 4) {
ins.set_accel(2, Vector3f(msg.accel_x, msg.accel_y, msg.accel_z));
}
dataflash.Log_Write_IMU(ins);
break;
}
case LOG_GPS_MSG: {
struct log_GPS msg;
if(sizeof(msg) != f.length) {
printf("Bad GPS length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.apm_time);
Location loc;
loc.lat = msg.latitude;
loc.lng = msg.longitude;
loc.alt = msg.altitude;
loc.options = 0;
Vector3f vel(msg.ground_speed*0.01f*cosf(radians(msg.ground_course*0.01f)),
msg.ground_speed*0.01f*sinf(radians(msg.ground_course*0.01f)),
msg.vel_z);
gps.setHIL(0, (AP_GPS::GPS_Status)msg.status,
msg.apm_time,
loc,
vel,
msg.num_sats,
msg.hdop,
msg.vel_z != 0);
if (msg.status == 3 && ground_alt_cm == 0) {
ground_alt_cm = msg.altitude;
}
rel_altitude = msg.rel_altitude*0.01f;
dataflash.Log_Write_GPS(gps, 0, rel_altitude);
break;
}
case LOG_GPS2_MSG: {
struct log_GPS2 msg;
if(sizeof(msg) != f.length) {
printf("Bad GPS2 length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.apm_time);
Location loc;
loc.lat = msg.latitude;
loc.lng = msg.longitude;
loc.alt = msg.altitude;
loc.options = 0;
Vector3f vel(msg.ground_speed*0.01f*cosf(radians(msg.ground_course*0.01f)),
msg.ground_speed*0.01f*sinf(radians(msg.ground_course*0.01f)),
msg.vel_z);
gps.setHIL(1, (AP_GPS::GPS_Status)msg.status,
msg.apm_time,
loc,
vel,
msg.num_sats,
msg.hdop,
msg.vel_z != 0);
if (msg.status == 3 && ground_alt_cm == 0) {
ground_alt_cm = msg.altitude;
}
dataflash.Log_Write_GPS(gps, 1, rel_altitude);
break;
}
case LOG_SIMSTATE_MSG: {
struct log_AHRS msg;
if(sizeof(msg) != f.length) {
printf("Bad SIMSTATE length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
sim_attitude = Vector3f(msg.roll*0.01f, msg.pitch*0.01f, msg.yaw*0.01f);
break;
}
case LOG_BARO_MSG: {
struct log_BARO msg;
if (sizeof(msg) == f.length+sizeof(float)) {
// old style, without climbrate
memset(&msg, 0, sizeof(msg));
memcpy(&msg, data, f.length);
} else if (sizeof(msg) == f.length) {
memcpy(&msg, data, sizeof(msg));
} else {
printf("Bad LOG_BARO length %u expected %u\n",
(unsigned)f.length, (unsigned)sizeof(msg));
exit(1);
}
wait_timestamp(msg.timestamp);
baro.setHIL(0, msg.pressure, msg.temperature*0.01f);
dataflash.Log_Write_Baro(baro);
break;
}
case LOG_PARAMETER_MSG: {
struct log_Parameter msg;
if(sizeof(msg) != f.length) {
printf("Bad LOG_PARAMETER length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
set_parameter(msg.name, msg.value);
break;
}
case LOG_AHR2_MSG: {
struct log_AHRS msg;
if(sizeof(msg) != f.length) {
printf("Bad AHR2 length %u should be %u\n", (unsigned)f.length, (unsigned)sizeof(msg));
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
ahr2_attitude = Vector3f(msg.roll*0.01f, msg.pitch*0.01f, msg.yaw*0.01f);
break;
}
case LOG_ATTITUDE_MSG: {
struct log_Attitude msg;
if(sizeof(msg) != f.length) {
printf("Bad ATTITUDE length %u should be %u\n", (unsigned)f.length, (unsigned)sizeof(msg));
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
attitude = Vector3f(msg.roll*0.01f, msg.pitch*0.01f, msg.yaw*0.01f);
break;
}
case LOG_COMPASS_MSG: {
struct log_Compass msg;
if(sizeof(msg) != f.length) {
printf("Bad COMPASS length\n");
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.time_ms);
compass.setHIL(Vector3f(msg.mag_x - msg.offset_x, msg.mag_y - msg.offset_y, msg.mag_z - msg.offset_z));
compass.set_offsets(0, Vector3f(msg.offset_x, msg.offset_y, msg.offset_z));
break;
}
default:
if (vehicle == VEHICLE_PLANE) {
process_plane(f.type, data, f.length);
} else if (vehicle == VEHICLE_COPTER) {
process_copter(f.type, data, f.length);
} else if (vehicle == VEHICLE_ROVER) {
process_rover(f.type, data, f.length);
}
break;
}
type = f.type;
return true;
}
void LogReader::wait_timestamp(uint32_t timestamp)
{
hal.scheduler->stop_clock(timestamp*1000UL);
}
bool LogReader::wait_type(uint8_t wtype)
{
while (true) {
uint8_t type;
if (!update(type)) {
return false;
}
if (wtype == type) {
break;
}
}
return true;
}