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ardupilot/Tools/Replay/Replay.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Replay.h"
#include "LogReader.h"
#include <stdio.h>
#include <AP_HAL/utility/getopt_cpp.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS_Dummy.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include <AP_Filesystem/posix_compat.h>
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL_Linux/Scheduler.h>
#endif
#define streq(x, y) (!strcmp(x, y))
static ReplayVehicle replayvehicle;
// list of user parameters
user_parameter *user_parameters;
bool replay_force_ekf2;
bool replay_force_ekf3;
const AP_Param::Info ReplayVehicle::var_info[] = {
GSCALAR(dummy, "_DUMMY", 0),
// @Group: BARO
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(barometer, "BARO", AP_Baro),
// @Group: INS
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT(ins, "INS", AP_InertialSensor),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
#if AP_AIRSPEED_ENABLED
// @Group: ARSPD_
// @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
GOBJECT(airspeed, "ARSP_", AP_Airspeed),
#endif
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(ekf2, NavEKF2, "EK2_", NavEKF2),
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ekf3, NavEKF3, "EK3_", NavEKF3),
// @Group: GPS
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS", AP_GPS),
AP_VAREND
};
void ReplayVehicle::load_parameters(void)
{
AP_Param::check_var_info();
StorageManager::erase();
AP_Param::erase_all();
// Load all auto-loaded EEPROM variables - also registers thread
// which saves parameters, which Compass now does in its init() routine
AP_Param::load_all();
}
const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
AP_GROUPEND
};
GCS_Dummy _gcs;
#if AP_ADVANCEDFAILSAFE_ENABLED
AP_AdvancedFailsafe *AP::advancedfailsafe() { return nullptr; }
bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate, const char *reason) { return false; }
#endif
// dummy method to avoid linking AP_Avoidance
// AP_Avoidance *AP::ap_avoidance() { return nullptr; }
#if AP_LTM_TELEM_ENABLED
// avoid building/linking LTM:
void AP_LTM_Telem::init() {};
#endif
#if AP_DEVO_TELEM_ENABLED
// avoid building/linking Devo:
void AP_DEVO_Telem::init() {};
#endif
void ReplayVehicle::init_ardupilot(void)
{
// we pass an empty log structure, filling the structure in with
// either the format present in the log (if we do not emit the
// message as a product of Replay), or the format understood in
// the current code (if we do emit the message in the normal
// places in the EKF, for example)
logger.set_force_log_disarmed(true);
}
void Replay::usage(void)
{
::printf("Options:\n");
::printf("\t--parm NAME=VALUE set parameter NAME to VALUE\n");
::printf("\t--param-file FILENAME load parameters from a file\n");
::printf("\t--force-ekf2 force enable EKF2\n");
::printf("\t--force-ekf3 force enable EKF3\n");
}
enum param_key : uint8_t {
FORCE_EKF2 = 1,
FORCE_EKF3,
};
void Replay::_parse_command_line(uint8_t argc, char * const argv[])
{
const struct GetOptLong::option options[] = {
// name has_arg flag val
{"parm", true, 0, 'p'},
{"param", true, 0, 'p'},
{"param-file", true, 0, 'F'},
{"force-ekf2", false, 0, param_key::FORCE_EKF2},
{"force-ekf3", false, 0, param_key::FORCE_EKF3},
{"help", false, 0, 'h'},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "p:F:h", options);
int opt;
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'p': {
const char *eq = strchr(gopt.optarg, '=');
if (eq == NULL) {
::printf("Usage: -p NAME=VALUE\n");
exit(1);
}
struct user_parameter *u = NEW_NOTHROW user_parameter;
strncpy(u->name, gopt.optarg, eq-gopt.optarg);
u->value = atof(eq+1);
u->next = user_parameters;
user_parameters = u;
break;
}
case 'F':
load_param_file(gopt.optarg);
break;
case param_key::FORCE_EKF2:
replay_force_ekf2 = true;
break;
case param_key::FORCE_EKF3:
replay_force_ekf3 = true;
break;
case 'h':
default:
usage();
exit(0);
}
}
argv += gopt.optind;
argc -= gopt.optind;
if (argc > 0) {
filename = argv[0];
}
}
void Replay::setup()
{
::printf("Starting\n");
uint8_t argc;
char * const *argv;
hal.util->commandline_arguments(argc, argv);
if (argc > 0) {
_parse_command_line(argc, argv);
}
_vehicle.setup();
set_user_parameters();
if (replay_force_ekf2) {
reader.set_parameter("EK2_ENABLE", 1, true);
}
if (replay_force_ekf3) {
reader.set_parameter("EK3_ENABLE", 1, true);
}
if (replay_force_ekf2 && replay_force_ekf3) {
::printf("Cannot force both EKF types\n");
exit(1);
}
if (filename == nullptr) {
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// allow replay on stm32
filename = "APM/replayin.bin";
#else
::printf("You must supply a log filename\n");
exit(1);
#endif
}
// LogReader reader = LogReader(log_structure);
if (!reader.open_log(filename)) {
::printf("open(%s): %m\n", filename);
exit(1);
}
}
void Replay::loop()
{
if (!reader.update()) {
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// If we don't tear down the threads then they continue to access
// global state during object destruction.
((Linux::Scheduler*)hal.scheduler)->teardown();
#endif
exit(0);
}
}
/*
setup user -p parameters
*/
void Replay::set_user_parameters(void)
{
for (struct user_parameter *u=user_parameters; u; u=u->next) {
if (!reader.set_parameter(u->name, u->value, true)) {
::printf("Failed to set parameter %s to %f\n", u->name, u->value);
exit(1);
}
}
}
/*
parse a parameter file line
*/
bool Replay::parse_param_line(char *line, char **vname, float &value)
{
if (line[0] == '#') {
return false;
}
char *saveptr = NULL;
char *pname = strtok_r(line, ", =\t", &saveptr);
if (pname == NULL) {
return false;
}
if (strlen(pname) > AP_MAX_NAME_SIZE) {
return false;
}
const char *value_s = strtok_r(NULL, ", =\t", &saveptr);
if (value_s == NULL) {
return false;
}
value = atof(value_s);
*vname = pname;
return true;
}
/*
load a default set of parameters from a file
*/
void Replay::load_param_file(const char *pfilename)
{
auto &fs = AP::FS();
int fd = fs.open(pfilename, O_RDONLY, true);
if (fd == -1) {
printf("Failed to open parameter file: %s\n", pfilename);
exit(1);
}
char line[100];
while (fs.fgets(line, sizeof(line)-1, fd)) {
char *pname;
float value;
if (!parse_param_line(line, &pname, value)) {
continue;
}
struct user_parameter *u = NEW_NOTHROW user_parameter;
strncpy_noterm(u->name, pname, sizeof(u->name));
u->value = value;
u->next = user_parameters;
user_parameters = u;
}
fs.close(fd);
}
Replay replay(replayvehicle);
AP_Vehicle& vehicle = replayvehicle;
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
AP_HAL_MAIN_CALLBACKS(&replay);
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