mirror of https://github.com/ArduPilot/ardupilot
198 lines
6.6 KiB
C++
198 lines
6.6 KiB
C++
#include "LogReader.h"
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#include "MsgHandler.h"
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#include "Replay.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <signal.h>
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#define DEBUG 1
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#if DEBUG
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# define debug(fmt, args...) printf(fmt "\n", ##args)
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#else
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# define debug(fmt, args...)
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#endif
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#define streq(x, y) (!strcmp(x, y))
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extern struct user_parameter *user_parameters;
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LogReader::LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf2, NavEKF3 &_ekf3) :
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AP_LoggerFileReader(),
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_log_structure(log_structure),
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ekf2(_ekf2),
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ekf3(_ekf3)
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{
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}
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/*
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see if a type is in a list of types
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*/
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bool LogReader::in_list(const char *type, const char *list[])
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{
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if (list == NULL) {
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return false;
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}
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for (uint8_t i=0; list[i] != NULL; i++) {
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if (strcmp(type, list[i]) == 0) {
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return true;
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}
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}
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return false;
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}
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bool LogReader::handle_log_format_msg(const struct log_Format &f)
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{
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// emit the output as we receive it:
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AP::logger().WriteBlock((void*)&f, sizeof(f));
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char name[5];
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memset(name, '\0', 5);
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memcpy(name, f.name, 4);
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if (msgparser[f.type] != NULL) {
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return true;
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}
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// map from format name to a parser subclass:
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if (streq(name, "PARM")) {
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msgparser[f.type] = new LR_MsgHandler_PARM(formats[f.type]);
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} else if (streq(name, "RFRH")) {
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msgparser[f.type] = new LR_MsgHandler_RFRH(formats[f.type]);
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} else if (streq(name, "RFRF")) {
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msgparser[f.type] = new LR_MsgHandler_RFRF(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RFRN")) {
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msgparser[f.type] = new LR_MsgHandler_RFRN(formats[f.type]);
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} else if (streq(name, "REV2")) {
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msgparser[f.type] = new LR_MsgHandler_REV2(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RSO2")) {
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msgparser[f.type] = new LR_MsgHandler_RSO2(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RWA2")) {
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msgparser[f.type] = new LR_MsgHandler_RWA2(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "REV3")) {
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msgparser[f.type] = new LR_MsgHandler_REV3(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RSO3")) {
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msgparser[f.type] = new LR_MsgHandler_RSO3(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RWA3")) {
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msgparser[f.type] = new LR_MsgHandler_RWA3(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "REY3")) {
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msgparser[f.type] = new LR_MsgHandler_REY3(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RISH")) {
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msgparser[f.type] = new LR_MsgHandler_RISH(formats[f.type]);
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} else if (streq(name, "RISI")) {
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msgparser[f.type] = new LR_MsgHandler_RISI(formats[f.type]);
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} else if (streq(name, "RASH")) {
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msgparser[f.type] = new LR_MsgHandler_RASH(formats[f.type]);
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} else if (streq(name, "RASI")) {
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msgparser[f.type] = new LR_MsgHandler_RASI(formats[f.type]);
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} else if (streq(name, "RBRH")) {
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msgparser[f.type] = new LR_MsgHandler_RBRH(formats[f.type]);
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} else if (streq(name, "RBRI")) {
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msgparser[f.type] = new LR_MsgHandler_RBRI(formats[f.type]);
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} else if (streq(name, "RRNH")) {
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msgparser[f.type] = new LR_MsgHandler_RRNH(formats[f.type]);
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} else if (streq(name, "RRNI")) {
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msgparser[f.type] = new LR_MsgHandler_RRNI(formats[f.type]);
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} else if (streq(name, "RGPH")) {
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msgparser[f.type] = new LR_MsgHandler_RGPH(formats[f.type]);
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} else if (streq(name, "RGPI")) {
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msgparser[f.type] = new LR_MsgHandler_RGPI(formats[f.type]);
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} else if (streq(name, "RGPJ")) {
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msgparser[f.type] = new LR_MsgHandler_RGPJ(formats[f.type]);
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} else if (streq(name, "RMGH")) {
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msgparser[f.type] = new LR_MsgHandler_RMGH(formats[f.type]);
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} else if (streq(name, "RMGI")) {
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msgparser[f.type] = new LR_MsgHandler_RMGI(formats[f.type]);
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} else if (streq(name, "RBCH")) {
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msgparser[f.type] = new LR_MsgHandler_RBCH(formats[f.type]);
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} else if (streq(name, "RBCI")) {
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msgparser[f.type] = new LR_MsgHandler_RBCI(formats[f.type]);
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} else if (streq(name, "RVOH")) {
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msgparser[f.type] = new LR_MsgHandler_RVOH(formats[f.type]);
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} else if (streq(name, "ROFH")) {
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msgparser[f.type] = new LR_MsgHandler_ROFH(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "REPH")) {
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msgparser[f.type] = new LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RSLL")) {
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msgparser[f.type] = new LR_MsgHandler_RSLL(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "REVH")) {
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msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RWOH")) {
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msgparser[f.type] = new LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RBOH")) {
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msgparser[f.type] = new LR_MsgHandler_RBOH(formats[f.type], ekf2, ekf3);
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} else {
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// debug(" No parser for (%s)\n", name);
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}
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return true;
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}
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bool LogReader::handle_msg(const struct log_Format &f, uint8_t *msg) {
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// emit the output as we receive it:
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AP::logger().WriteBlock(msg, f.length);
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LR_MsgHandler *p = msgparser[f.type];
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if (p == NULL) {
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return true;
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}
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p->process_message(msg);
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return true;
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}
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/*
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see if a user parameter is set
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*/
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bool LogReader::check_user_param(const char *name)
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{
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for (struct user_parameter *u=user_parameters; u; u=u->next) {
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if (strcmp(name, u->name) == 0) {
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return true;
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}
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}
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return false;
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}
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bool LogReader::set_parameter(const char *name, float value, bool force)
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{
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if (!force && check_user_param(name)) {
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// ignore user set parameters
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return false;
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}
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enum ap_var_type var_type;
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AP_Param *vp = AP_Param::find(name, &var_type);
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if (vp == NULL) {
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// a lot of parameters will not be found - e.g. FORMAT_VERSION
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// and all of the vehicle-specific parameters, ....
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return false;
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}
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float old_value = 0;
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if (var_type == AP_PARAM_FLOAT) {
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old_value = ((AP_Float *)vp)->cast_to_float();
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((AP_Float *)vp)->set(value);
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} else if (var_type == AP_PARAM_INT32) {
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old_value = ((AP_Int32 *)vp)->cast_to_float();
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((AP_Int32 *)vp)->set(value);
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} else if (var_type == AP_PARAM_INT16) {
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old_value = ((AP_Int16 *)vp)->cast_to_float();
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((AP_Int16 *)vp)->set(value);
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} else if (var_type == AP_PARAM_INT8) {
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old_value = ((AP_Int8 *)vp)->cast_to_float();
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((AP_Int8 *)vp)->set(value);
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} else {
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AP_HAL::panic("What manner of evil is var_type=%u", var_type);
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}
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if (fabsf(old_value - value) > 1.0e-12) {
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::printf("Changed %s to %.8f from %.8f\n", name, value, old_value);
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}
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return true;
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}
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