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replay: print parameter changes and error on mismatch

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This commit is contained in:
Daniel Agar
2020-11-02 19:47:38 -05:00
parent 03aa2dd46c
commit 142452f80c
1 changed files with 26 additions and 10 deletions
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src/modules/replay/Replay.cpp
+26 -10
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@@ -127,7 +127,9 @@ Replay::setupReplayFile(const char *file_name)
void void
Replay::setUserParams(const char *filename) Replay::setUserParams(const char *filename)
{ {
string line, param_name, value_string; string line;
string pname;
string value_string;
ifstream myfile(filename); ifstream myfile(filename);
if (!myfile.is_open()) { if (!myfile.is_open()) {
@@ -144,23 +146,37 @@ Replay::setUserParams(const char *filename)
} }
istringstream mystrstream(line); istringstream mystrstream(line);
mystrstream >> param_name; mystrstream >> pname;
mystrstream >> value_string; mystrstream >> value_string;
double param_value_double = stod(value_string); double param_value_double = stod(value_string);
param_t handle = param_find(param_name.c_str()); param_t handle = param_find(pname.c_str());
param_type_t param_format = param_type(handle); param_type_t param_format = param_type(handle);
_overridden_params.insert(param_name); _overridden_params.insert(pname);
if (param_format == PARAM_TYPE_INT32) { if (param_format == PARAM_TYPE_INT32) {
int32_t value = 0; int32_t orig_value = 0;
value = (int32_t)param_value_double; param_get(handle, &orig_value);
int32_t value = (int32_t)param_value_double;
if (orig_value != value) {
PX4_WARN("setting %s (INT32) %d -> %d", param_name(handle), orig_value, value);
}
param_set(handle, (const void *)&value); param_set(handle, (const void *)&value);
} else if (param_format == PARAM_TYPE_FLOAT) { } else if (param_format == PARAM_TYPE_FLOAT) {
float value = 0; float orig_value = 0;
value = (float)param_value_double; param_get(handle, &orig_value);
float value = (float)param_value_double;
if (fabsf(orig_value - value) > FLT_EPSILON) {
PX4_WARN("setting %s (FLOAT) %.3f -> %.3f", param_name(handle), (double)orig_value, (double)value);
}
param_set(handle, (const void *)&value); param_set(handle, (const void *)&value);
} }
} }
@@ -383,7 +399,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
} }
if (!compat) { if (!compat) {
PX4_WARN("Formats for %s don't match. Will ignore it.", topic_name.c_str()); PX4_ERR("Formats for %s don't match. Will ignore it.", topic_name.c_str());
PX4_WARN(" Internal format: %s", orb_meta->o_fields); PX4_WARN(" Internal format: %s", orb_meta->o_fields);
PX4_WARN(" File format : %s", file_format.c_str()); PX4_WARN(" File format : %s", file_format.c_str());
return true; // not a fatal error return true; // not a fatal error
@@ -549,7 +565,7 @@ Replay::readDropout(std::ifstream &file, uint16_t msg_size)
uint16_t duration; uint16_t duration;
file.read((char *)&duration, sizeof(duration)); file.read((char *)&duration, sizeof(duration));
PX4_INFO("Dropout in replayed log, %i ms", (int)duration); PX4_ERR("Dropout in replayed log, %i ms", (int)duration);
return file.good(); return file.good();
} }