aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Logger: allow for replay with both EKF enabled

Browse Source 
even when one is disabled in the original log
This commit is contained in:
Andrew Tridgell 2020-11-16 12:45:11 +11:00 committed by Peter Barker
parent bbc673c668
commit 019544ceb1
2 changed files with 28 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
libraries/AP_Logger/AP_Logger.cpp
View File

@ -911,7 +911,9 @@ void AP_Logger::WriteV(const char *name, const char *labels, const char *units,
if (f == nullptr) {
// unable to map name to a messagetype; could be out of
// msgtypes, could be out of slots, ...
#if !APM_BUILD_TYPE(APM_BUILD_Replay)
INTERNAL_ERROR(AP_InternalError::error_t::logger_mapfailure);
#endif
return;
}
@ -950,7 +952,7 @@ bool AP_Logger::allow_start_ekf() const
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
void AP_Logger::assert_same_fmt_for_name(const AP_Logger::log_write_fmt *f,
bool AP_Logger::assert_same_fmt_for_name(const AP_Logger::log_write_fmt *f,
const char *name,
const char *labels,
const char *units,
@ -967,6 +969,13 @@ void AP_Logger::assert_same_fmt_for_name(const AP_Logger::log_write_fmt *f,
Debug("format labels differ (%s) vs (%s)", f->labels, labels);
passed = false;
}
if (!streq(f->fmt, fmt)) {
Debug("format fmt differ (%s) vs (%s)",
(f->fmt ? f->fmt : "nullptr"),
(fmt ? fmt : "nullptr"));
passed = false;
}
#if !APM_BUILD_TYPE(APM_BUILD_Replay)
if ((f->units != nullptr && units == nullptr) ||
(f->units == nullptr && units != nullptr) ||
(units !=nullptr && !streq(f->units, units))) {
@ -983,15 +992,11 @@ void AP_Logger::assert_same_fmt_for_name(const AP_Logger::log_write_fmt *f,
(mults ? mults : "nullptr"));
passed = false;
}
if (!streq(f->fmt, fmt)) {
Debug("format fmt differ (%s) vs (%s)",
(f->fmt ? f->fmt : "nullptr"),
(fmt ? fmt : "nullptr"));
passed = false;
}
if (!passed) {
AP_BoardConfig::config_error("See console: Format definition must be consistent for every call of Write");
}
#endif
return passed;
}
#endif
@ -1003,8 +1008,10 @@ AP_Logger::log_write_fmt *AP_Logger::msg_fmt_for_name(const char *name, const ch
if (!direct_comp) {
if (f->name == name) { // ptr comparison
// already have an ID for this name:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !APM_BUILD_TYPE(APM_BUILD_Replay)
assert_same_fmt_for_name(f, name, labels, units, mults, fmt);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (!assert_same_fmt_for_name(f, name, labels, units, mults, fmt)) {
return nullptr;
}
#endif
return f;
}
@ -1012,13 +1019,22 @@ AP_Logger::log_write_fmt *AP_Logger::msg_fmt_for_name(const char *name, const ch
// direct comparison used from scripting where pointer is not maintained
if (strcmp(f->name,name) == 0) {
// already have an ID for this name:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !APM_BUILD_TYPE(APM_BUILD_Replay)
assert_same_fmt_for_name(f, name, labels, units, mults, fmt);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (!assert_same_fmt_for_name(f, name, labels, units, mults, fmt)) {
return nullptr;
}
#endif
return f;
}
}
}
#if APM_BUILD_TYPE(APM_BUILD_Replay)
// don't allow for new msg types during replay. We will be able to
// support these eventually, but for now they cause corruption
return nullptr;
#endif
f = (struct log_write_fmt *)calloc(1, sizeof(*f));
if (f == nullptr) {
// out of memory

2
libraries/AP_Logger/AP_Logger.h
View File

@ -472,7 +472,7 @@ private:
void validate_structures(const struct LogStructure *logstructures, const uint8_t num_types);
void dump_structure_field(const struct LogStructure *logstructure, const char *label, const uint8_t fieldnum);
void dump_structures(const struct LogStructure *logstructures, const uint8_t num_types);
void assert_same_fmt_for_name(const log_write_fmt *f,
bool assert_same_fmt_for_name(const log_write_fmt *f,
const char *name,
const char *labels,
const char *units,