Replay: added --nottypes option

Tools/Replay/LogReader.cpp

@@ -28,7 +28,7 @@
 
 extern const AP_HAL::HAL& hal;
 
-LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const struct LogStructure *_structure, uint8_t _num_types) :
+LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const struct LogStructure *_structure, uint8_t _num_types, const char **&_nottypes) :
     vehicle(VehicleType::VEHICLE_UNKNOWN),
     ahrs(_ahrs),
     ins(_ins),
@@ -42,7 +42,8 @@ LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Co
     accel_mask(7),
     gyro_mask(7),
     last_timestamp_usec(0),
-    installed_vehicle_specific_parsers(false)
+    installed_vehicle_specific_parsers(false),
+    nottypes(_nottypes)
 {
 }
 
@@ -90,6 +91,9 @@ static const char *generated_names[] = { "EKF1", "EKF2", "EKF3", "EKF4", "EKF5",
  */
 bool LogReader::in_list(const char *type, const char *list[])
 {
+    if (list == NULL) {
+        return false;
+    }
     for (uint8_t i=0; list[i] != NULL; i++) {
         if (strcmp(type, list[i]) == 0) {
             return true;
@@ -251,7 +255,9 @@ bool LogReader::handle_msg(const struct log_Format &f, uint8_t *msg) {
             exit(1);
         }
         msg[2] = mapped_msgid[msg[2]];
-        dataflash.WriteBlock(msg, f.length);        
+        if (!in_list(name, nottypes)) {
+            dataflash.WriteBlock(msg, f.length);        
+        }
         // a MsgHandler would probably have found a timestamp and
         // caled stop_clock.  This runs IO, clearing dataflash's
         // buffer.

Tools/Replay/LogReader.h

@@ -5,7 +5,7 @@
 class LogReader : public DataFlashFileReader
 {
 public:
-    LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const struct LogStructure *structure, uint8_t num_types);
+    LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const struct LogStructure *structure, uint8_t num_types, const char **&nottypes);
     bool wait_type(const char *type);
 
     const Vector3f &get_attitude(void) const { return attitude; }
@@ -27,6 +27,8 @@ public:
     virtual bool handle_log_format_msg(const struct log_Format &f);
     virtual bool handle_msg(const struct log_Format &f, uint8_t *msg);
 
+    static bool in_list(const char *type, const char *list[]);
+
 protected:
     virtual void end_format_msgs(void) override;
 
@@ -66,9 +68,9 @@ private:
     LR_MsgHandler::CheckState check_state;
 
     bool installed_vehicle_specific_parsers;
-    void maybe_install_vehicle_specific_parsers();
+    const char **&nottypes;
 
-    bool in_list(const char *type, const char *list[]);
+    void maybe_install_vehicle_specific_parsers();
 
     uint8_t map_fmt_type(const char *name, uint8_t intype);
 };

Tools/Replay/Replay.cpp

@@ -225,7 +225,7 @@ private:
     SITL sitl;
 #endif
 
-    LogReader logreader{_vehicle.ahrs, _vehicle.ins, _vehicle.barometer, _vehicle.compass, _vehicle.gps, _vehicle.airspeed, _vehicle.dataflash, log_structure, ARRAY_SIZE(log_structure)};
+    LogReader logreader{_vehicle.ahrs, _vehicle.ins, _vehicle.barometer, _vehicle.compass, _vehicle.gps, _vehicle.airspeed, _vehicle.dataflash, log_structure, ARRAY_SIZE(log_structure), nottypes};
 
     FILE *plotf;
     FILE *plotf2;
@@ -247,6 +247,7 @@ private:
     float tolerance_euler = 3;
     float tolerance_pos = 2;
     float tolerance_vel = 2;
+    const char **nottypes = NULL;
 
     struct {
         float max_roll_error;
@@ -275,6 +276,7 @@ private:
     bool show_error(const char *text, float max_error, float tolerance);
     void report_checks();
     bool find_log_info(struct log_information &info);
+    const char **parse_list_from_string(const char *str);
 };
 
 Replay replay(replayvehicle);
@@ -292,6 +294,7 @@ void Replay::usage(void)
     ::printf("\t--tolerance-euler  tolerance for euler angles in degrees\n");
     ::printf("\t--tolerance-pos    tolerance for position in meters\n");
     ::printf("\t--tolerance-vel    tolerance for velocity in meters/second\n");
+    ::printf("\t--nottypes         list of msg types not to output, comma separated\n");
 }
 
 
@@ -300,13 +303,42 @@ enum {
     OPT_CHECK_GENERATE,
     OPT_TOLERANCE_EULER,
     OPT_TOLERANCE_POS,
-    OPT_TOLERANCE_VEL
+    OPT_TOLERANCE_VEL,
+    OPT_NOTTYPES
 };
 
 void Replay::flush_dataflash(void) {
     _vehicle.dataflash.flush();
 }
 
+/*
+  create a list from a comma separated string
+ */
+const char **Replay::parse_list_from_string(const char *str_in)
+{
+    uint16_t comma_count=0;
+    const char *p;
+    for (p=str_in; *p; p++) {
+        if (*p == ',') comma_count++;
+    }
+
+    char *str = strdup(str_in);
+    if (str == NULL) {
+        return NULL;
+    }
+    const char **ret = (const char **)calloc(comma_count+2, sizeof(char *));
+    if (ret == NULL) {
+        free(str);
+        return NULL;
+    }
+    char *saveptr = NULL;
+    uint16_t idx = 0;
+    for (p=strtok_r(str, ",", &saveptr); p; p=strtok_r(NULL, ",", &saveptr)) {
+        ret[idx++] = p;
+    }
+    return ret;
+}
+
 void Replay::_parse_command_line(uint8_t argc, char * const argv[])
 {
     const struct GetOptLong::option options[] = {
@@ -322,6 +354,7 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
         {"tolerance-euler", true,   0, OPT_TOLERANCE_EULER},
         {"tolerance-pos",   true,   0, OPT_TOLERANCE_POS},
         {"tolerance-vel",   true,   0, OPT_TOLERANCE_VEL},
+        {"nottypes",        true,   0, OPT_NOTTYPES},
         {0, false, 0, 0}
     };
 
@@ -384,6 +417,10 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
             tolerance_vel = atof(gopt.optarg);
             break;
 
+        case OPT_NOTTYPES:
+            nottypes = parse_list_from_string(gopt.optarg);
+            break;
+
         case 'h':
         default:
             usage();
@@ -664,9 +701,15 @@ void Replay::read_sensors(const char *type)
         if (_vehicle.ahrs.get_home().lat != 0) {
             _vehicle.inertial_nav.update(_vehicle.ins.get_delta_time());
         }
-        _vehicle.dataflash.Log_Write_EKF(_vehicle.ahrs,false);
+        if (!LogReader::in_list("EKF", nottypes)) {
-        _vehicle.dataflash.Log_Write_AHRS2(_vehicle.ahrs);
+            _vehicle.dataflash.Log_Write_EKF(_vehicle.ahrs,false);
-        _vehicle.dataflash.Log_Write_POS(_vehicle.ahrs);
+        }
+        if (!LogReader::in_list("AHRS2", nottypes)) {
+            _vehicle.dataflash.Log_Write_AHRS2(_vehicle.ahrs);
+        }
+        if (!LogReader::in_list("POS", nottypes)) {
+            _vehicle.dataflash.Log_Write_POS(_vehicle.ahrs);
+        }
         if (_vehicle.ahrs.healthy() != ahrs_healthy) {
             ahrs_healthy = _vehicle.ahrs.healthy();
             printf("AHRS health: %u at %lu\n",