File Reader for ULog files ('.ulg') More...

Data Structures
struct	Cpuload
	Px4 CPU status message. More...
struct	DataField
	Key-value pair of the message format. More...
struct	MeasurementData
	Combined (sensor-)message name with unique ID and data. More...
struct	SensorAccel
	Px4 acceleration sensor message. More...
struct	SensorGyro
	Px4 gyro sensor message. More...
struct	SensorMag
	Px4 magnetometer sensor message. More...
struct	SubscriptionData
	Combined (sensor-)message name with unique ID. More...
struct	VehicleAirData
	Px4 air data sensor message. More...
struct	VehicleAttitude
	Px4 GPS attitude message. More...
struct	VehicleControlMode
	Px4 control data message. More...
struct	VehicleGpsPosition
	Px4 GPS sensor message. More...
struct	VehicleStatus
	Px4 vehicle status message. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.
UlogFile &	operator= (const UlogFile &)=delete
	Copy assignment operator.
UlogFile &	operator= (UlogFile &&)=delete
	Move assignment operator.
bool	resetNode () override
	Resets the node. Moves the read cursor to the start.
void	restore (const json &j) override
	Restores the node from a json object.
json	save () const override
	Saves the node into a json object.
std::string	type () const override
	String representation of the Class Type.
	UlogFile ()
	Default constructor.
	UlogFile (const UlogFile &)=delete
	Copy constructor.
	UlogFile (UlogFile &&)=delete
	Move constructor.
	~UlogFile () override
	Destructor.
Public Member Functions inherited from NAV::Imu
	Imu (const Imu &)=delete
	Copy constructor.
	Imu (Imu &&)=delete
	Move constructor.
const ImuPos &	imuPosition () const
	Position and rotation information for conversion from platform to body frame.
Imu &	operator= (const Imu &)=delete
	Copy assignment operator.
Imu &	operator= (Imu &&)=delete
	Move assignment operator.
	~Imu () override=default
	Destructor.
Public Member Functions inherited from NAV::Node
virtual void	afterCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link was established.
virtual void	afterDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link was deleted.
bool	doDeinitialize (bool wait=false)
	Asks the node worker to deinitialize the node.
bool	doDisable (bool wait=false)
	Asks the node worker to disable the node.
bool	doEnable ()
	Enable the node.
bool	doInitialize (bool wait=false)
	Asks the node worker to initialize the node.
bool	doReinitialize (bool wait=false)
	Asks the node worker to reinitialize the node.
virtual void	flush ()
	Function called by the flow executer after finishing to flush out remaining data.
template<typename T>
std::optional< InputPin::IncomingLink::ValueWrapper< T > >	getInputValue (size_t portIndex) const
	Get Input Value connected on the pin. Only const data types.
Mode	getMode () const
	Get the current mode of the node.
const ImVec2 &	getSize () const
	Get the size of the node.
State	getState () const
	Get the current state of the node.
bool	hasInputPinWithSameTime (const InsTime &insTime) const
	Checks wether there is an input pin with the same time.
InputPin &	inputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	inputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data)
	Calls all registered callbacks on the specified output port.
bool	isDisabled () const
	Checks if the node is disabled.
bool	isInitialized () const
	Checks if the node is initialized.
bool	isOnlyRealtime () const
	Checks if the node is only working in real time (sensors, network interfaces, ...)
bool	isTransient () const
	Checks if the node is changing its state currently.
std::string	nameId () const
	Node name and id.
	Node (const Node &)=delete
	Copy constructor.
	Node (Node &&)=delete
	Move constructor.
	Node (std::string name)
	Constructor.
void	notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard)
	Notifies connected nodes about the change.
virtual bool	onCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link is to be established.
virtual void	onDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link is to be deleted.
Node &	operator= (const Node &)=delete
	Copy assignment operator.
Node &	operator= (Node &&)=delete
	Move assignment operator.
OutputPin &	outputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	outputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	releaseInputValue (size_t portIndex)
	Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.
std::scoped_lock< std::mutex >	requestOutputValueLock (size_t pinIdx)
	Blocks the thread till the output values was read by all connected nodes.
virtual void	restoreAtferLink (const json &j)
	Restores link related properties of the node from a json object.
void	wakeWorker ()
	Wakes the worker thread.
virtual	~Node ()
	Destructor.
Public Member Functions inherited from NAV::FileReader
	FileReader (const FileReader &)=delete
	Copy constructor.
	FileReader (FileReader &&)=delete
	Move constructor.
FileReader &	operator= (const FileReader &)=delete
	Copy assignment operator.
FileReader &	operator= (FileReader &&)=delete
	Move assignment operator.
virtual	~FileReader ()=default
	Destructor.

Static Public Member Functions
static std::string	category ()
	String representation of the Class Category.
static std::string	typeStatic ()
	String representation of the Class Type.
Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.

Private Member Functions
void	deinitialize () override
	Deinitialize the node.
FileType	determineFileType () override
	Determines the type of the file.
int8_t	enoughImuDataAvailable ()
	Checks '_epochData' whether there is enough data available to output one ImuObs.
std::array< std::multimap< uint64_t, NAV::UlogFile::MeasurementData >::iterator, 2 >	findPosVelAttData ()
	Checks '_epochData' whether there is enough data available to output one PosVelAtt.
bool	initialize () override
	Initialize the node.
std::shared_ptr< const NodeData >	pollData ()
	Polls data from the file.
void	readHeader () override
	Read the Header of the file.
void	readInformationMessage (uint16_t msgSize, char msgType)
	Read msg type 'I'.
void	readInformationMessageMulti (uint16_t msgSize, char msgType)
	Read msg type 'M'.
void	readParameterMessage (uint16_t msgSize, char msgType)
	Read msg type 'P'.
void	readParameterMessageDefault (uint16_t msgSize, char msgType)
	Read msg type 'Q'.

Private Attributes
std::multimap< uint64_t, MeasurementData >	_epochData
	Data message container. Key: [timestamp], Value: [0, "sensor_accel", SensorAccel{}].
std::unordered_map< std::string, std::vector< DataField > >	_messageFormats
	Key: message_name, e.g. "sensor_accel".
std::unordered_map< uint16_t, SubscriptionData >	_subscribedMessages
	Key: msg_id.
struct {
InsTime gnssTime
	Absolute timestamp. More...
uint64_t timeSinceStartup
	Relative timestamp. More...
}	lastGnssTime
	Stores GNSS timestamp of one epoch before the current one (relative or absolute)

Static Private Attributes
static constexpr size_t	OUTPUT_PORT_INDEX_IMUOBS_1
	Flow (ImuObs #1)
static constexpr size_t	OUTPUT_PORT_INDEX_IMUOBS_2
	Flow (ImuObs #2)
static constexpr size_t	OUTPUT_PORT_INDEX_POSVELATT
	Flow (PosVelAtt)

Additional Inherited Members
Public Types inherited from NAV::Node
enum class	Mode : uint8_t { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...
enum class	State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown }
	Possible states of the node. More...
Public Types inherited from NAV::FileReader
enum	FileType : uint8_t { NONE , BINARY , ASCII }
	File Type Enumeration. More...
enum	GuiResult : uint8_t { PATH_UNCHANGED , PATH_CHANGED , PATH_CHANGED_INVALID }
	Results enum for the gui config. More...
Data Fields inherited from NAV::Node
bool	callbacksEnabled
	Enables the callbacks.
ax::NodeEditor::NodeId	id
	Unique Id of the Node.
std::vector< InputPin >	inputPins
	List of input pins.
Kind	kind
	Kind of the Node.
std::string	name
	Name of the Node.
std::vector< OutputPin >	outputPins
	List of output pins.
std::multimap< InsTime, std::pair< OutputPin *, size_t > >	pollEvents
	Map with callback events (sorted by time)
Protected Member Functions inherited from NAV::Imu
	Imu (std::string name)
	Constructor.
Protected Member Functions inherited from NAV::FileReader
void	deinitialize ()
	Deinitialize the file reader.
auto	eof () const
	Check whether the end of file is reached.
	FileReader ()=default
	Default constructor.
size_t	getCurrentLineNumber () const
	Get the current line number.
std::filesystem::path	getFilepath ()
	Returns the path of the file.
auto &	getline (std::string &str)
	Reads a line from the filestream.
bool	good () const
	Fast error checking.
GuiResult	guiConfig (const char *vFilters, const std::vector< std::string > &extensions, size_t id, const std::string &nameId)
	ImGui config.
auto &	ignore (std::streamsize count, int delim)
	Extracts and discards characters from the input stream until and including delim.
bool	initialize ()
	Initialize the file reader.
auto	peek ()
	Looking ahead in the stream.
auto &	read (char *__s, std::streamsize __n)
	Extraction without delimiters.
auto	readsome (char *s, std::streamsize count)
	Extracts up to count immediately available characters from the input stream. The extracted characters are stored into the character array pointed to by s.
void	resetReader ()
	Moves the read cursor to the start.
void	restore (const json &j)
	Restores the node from a json object.
json	save () const
	Saves the node into a json object.
auto &	seekg (std::streamoff pos, std::ios_base::seekdir dir)
	Changing the current read position.
std::streampos	tellg ()
	Getting the current read position.
Protected Attributes inherited from NAV::Imu
ImuPos	_imuPos
	Position and rotation information for conversion from platform to body frame.
Protected Attributes inherited from NAV::Node
ImVec2	_guiConfigDefaultWindowSize
bool	_hasConfig
	Flag if the config window should be shown.
bool	_lockConfigDuringRun
	Lock the config when executing post-processing.
bool	_onlyRealTime
	Whether the node can run in post-processing or only real-time.
Protected Attributes inherited from NAV::FileReader
FileType	_fileType
	File Type.
std::vector< std::string >	_headerColumns
	Header Columns of a CSV file.
std::string	_path
	Path to the file.

Detailed Description

File Reader for ULog files ('.ulg')

Definition at line 30 of file UlogFile.hpp.

Constructor & Destructor Documentation

◆ UlogFile() [1/3]

NAV::UlogFile::UlogFile ( )

Default constructor.

Definition at line 30 of file UlogFile.cpp.

◆ ~UlogFile()

NAV::UlogFile::~UlogFile ( )

override

Destructor.

Definition at line 44 of file UlogFile.cpp.

◆ UlogFile() [2/3]

NAV::UlogFile::UlogFile ( const UlogFile & )

delete

Copy constructor.

◆ UlogFile() [3/3]

NAV::UlogFile::UlogFile ( UlogFile && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::UlogFile::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 59 of file UlogFile.cpp.

◆ deinitialize()

void NAV::UlogFile::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 116 of file UlogFile.cpp.

◆ determineFileType()

NAV::FileReader::FileType NAV::UlogFile::determineFileType ( )

nodiscardoverrideprivatevirtual

Determines the type of the file.

Returns: The file type

Reimplemented from NAV::FileReader.

Definition at line 138 of file UlogFile.cpp.

◆ enoughImuDataAvailable()

int8_t NAV::UlogFile::enoughImuDataAvailable ( )

private

Checks '_epochData' whether there is enough data available to output one ImuObs.

Returns: The multi id where enough data is available, or -1 if not enough info

Definition at line 1416 of file UlogFile.cpp.

◆ findPosVelAttData()

std::array< std::multimap< uint64_t, NAV::UlogFile::MeasurementData >::iterator, 2 > NAV::UlogFile::findPosVelAttData ( )

private

Checks '_epochData' whether there is enough data available to output one PosVelAtt.

Returns: Iterators to the oldest gps and attitude

Definition at line 1447 of file UlogFile.cpp.

◆ guiConfig()

void NAV::UlogFile::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set hasConfig to true in the constructor of the node

Reimplemented from NAV::Imu.

Definition at line 64 of file UlogFile.cpp.

◆ initialize()

bool NAV::UlogFile::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 109 of file UlogFile.cpp.

◆ operator=() [1/2]

UlogFile & NAV::UlogFile::operator= ( const UlogFile & )

delete

Copy assignment operator.

◆ operator=() [2/2]

UlogFile & NAV::UlogFile::operator= ( UlogFile && )

delete

Move assignment operator.

◆ pollData()

std::shared_ptr< const NAV::NodeData > NAV::UlogFile::pollData ( )

nodiscardprivate

Polls data from the file.

Returns: The read observation

Combines (sensor-)message name with an ID that indicates a possible multiple of a sensor

Definition at line 314 of file UlogFile.cpp.

◆ readHeader()

void NAV::UlogFile::readHeader ( )

overrideprivatevirtual

Read the Header of the file.

Reimplemented from NAV::FileReader.

Definition at line 162 of file UlogFile.cpp.

◆ readInformationMessage()

void NAV::UlogFile::readInformationMessage	(	uint16_t	msgSize,
		char	msgType )

private

Read msg type 'I'.

Parameters

[in]	msgSize	size of ulogMsgHeader
[in]	msgType	type of ulogMsgHeader

Definition at line 1325 of file UlogFile.cpp.

◆ readInformationMessageMulti()

void NAV::UlogFile::readInformationMessageMulti	(	uint16_t	msgSize,
		char	msgType )

private

Read msg type 'M'.

Parameters

[in]	msgSize	size of ulogMsgHeader
[in]	msgType	type of ulogMsgHeader

Definition at line 1347 of file UlogFile.cpp.

◆ readParameterMessage()

void NAV::UlogFile::readParameterMessage	(	uint16_t	msgSize,
		char	msgType )

private

Read msg type 'P'.

Parameters

[in]	msgSize	size of ulogMsgHeader
[in]	msgType	type of ulogMsgHeader

Definition at line 1368 of file UlogFile.cpp.

◆ readParameterMessageDefault()

void NAV::UlogFile::readParameterMessageDefault	(	uint16_t	msgSize,
		char	msgType )

private

Read msg type 'Q'.

Parameters

[in]	msgSize	size of ulogMsgHeader
[in]	msgType	type of ulogMsgHeader

Definition at line 1398 of file UlogFile.cpp.

◆ resetNode()

bool NAV::UlogFile::resetNode ( )

overridevirtual

Resets the node. Moves the read cursor to the start.

Reimplemented from NAV::Node.

Definition at line 123 of file UlogFile.cpp.

◆ restore()

void NAV::UlogFile::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Imu.

Definition at line 95 of file UlogFile.cpp.

◆ save()

json NAV::UlogFile::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Imu.

Definition at line 83 of file UlogFile.cpp.

◆ type()

std::string NAV::UlogFile::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 54 of file UlogFile.cpp.

◆ typeStatic()

std::string NAV::UlogFile::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 49 of file UlogFile.cpp.

Field Documentation

◆ _epochData

std::multimap<uint64_t, MeasurementData> NAV::UlogFile::_epochData

private

Data message container. Key: [timestamp], Value: [0, "sensor_accel", SensorAccel{}].

Definition at line 309 of file UlogFile.hpp.

◆ _messageFormats

std::unordered_map<std::string, std::vector<DataField> > NAV::UlogFile::_messageFormats

private

Key: message_name, e.g. "sensor_accel".

Definition at line 126 of file UlogFile.hpp.

◆ _subscribedMessages

std::unordered_map<uint16_t, SubscriptionData> NAV::UlogFile::_subscribedMessages

private

Key: msg_id.

Definition at line 298 of file UlogFile.hpp.

◆ gnssTime

InsTime NAV::UlogFile::gnssTime

Absolute timestamp.

Definition at line 323 of file UlogFile.hpp.

◆ [struct]

struct { ... } NAV::UlogFile::lastGnssTime

Stores GNSS timestamp of one epoch before the current one (relative or absolute)

◆ OUTPUT_PORT_INDEX_IMUOBS_1

size_t NAV::UlogFile::OUTPUT_PORT_INDEX_IMUOBS_1

staticconstexprprivate

Flow (ImuObs #1)

Definition at line 77 of file UlogFile.hpp.

◆ OUTPUT_PORT_INDEX_IMUOBS_2

size_t NAV::UlogFile::OUTPUT_PORT_INDEX_IMUOBS_2

staticconstexprprivate

Flow (ImuObs #2)

Definition at line 78 of file UlogFile.hpp.

◆ OUTPUT_PORT_INDEX_POSVELATT

size_t NAV::UlogFile::OUTPUT_PORT_INDEX_POSVELATT

staticconstexprprivate

Flow (PosVelAtt)

Definition at line 79 of file UlogFile.hpp.

◆ timeSinceStartup

uint64_t NAV::UlogFile::timeSinceStartup

Relative timestamp.

Definition at line 322 of file UlogFile.hpp.

The documentation for this class was generated from the following files:

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/FileReader/UlogFile.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/FileReader/UlogFile.cpp

Data Structures

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UlogFile() [1/3]

◆ ~UlogFile()

◆ UlogFile() [2/3]

◆ UlogFile() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ determineFileType()

◆ enoughImuDataAvailable()

◆ findPosVelAttData()

◆ guiConfig()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pollData()

◆ readHeader()

◆ readInformationMessage()

◆ readInformationMessageMulti()

◆ readParameterMessage()

◆ readParameterMessageDefault()

◆ resetNode()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

Field Documentation

◆ _epochData

◆ _messageFormats

◆ _subscribedMessages

◆ gnssTime

◆ [struct]

◆ OUTPUT_PORT_INDEX_IMUOBS_1

◆ OUTPUT_PORT_INDEX_IMUOBS_2

◆ OUTPUT_PORT_INDEX_POSVELATT

◆ timeSinceStartup