ulog_info.cpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/

#include <algorithm>
#include <cinttypes>
#include <fstream>
#include <iostream>
#include <numeric>
#include <string>
#include <ulog_cpp/data_container.hpp>
#include <ulog_cpp/reader.hpp>
#include <variant>

int main(int argc, char** argv)
{
  if (argc < 2) {
    printf("Usage: %s <file.ulg>\n", argv[0]);
    return -1;
  }
  FILE* file = fopen(argv[1], "rb");
  if (!file) {
    printf("opening file failed\n");
    return -1;
  }
  uint8_t buffer[4048];
  int bytes_read;
  const auto data_container =
      std::make_shared<ulog_cpp::DataContainer>(ulog_cpp::DataContainer::StorageConfig::FullLog);
  ulog_cpp::Reader reader{data_container};
  while ((bytes_read = fread(buffer, 1, sizeof(buffer), file)) > 0) {
    reader.readChunk(buffer, bytes_read);
  }
  fclose(file);

  // Check for errors
  if (!data_container->parsingErrors().empty()) {
    printf("###### File Parsing Errors ######\n");
    for (const auto& parsing_error : data_container->parsingErrors()) {
      printf("   %s\n", parsing_error.c_str());
    }
  }
  if (data_container->hadFatalError()) {
    printf("Fatal parsing error, exiting\n");
    return -1;
  }

  // Print info
  // Dropouts
  const auto& dropouts = data_container->dropouts();
  const int total_dropouts_ms = std::accumulate(
      dropouts.begin(), dropouts.end(), 0,
      [](int sum, const ulog_cpp::Dropout& curr) { return sum + curr.durationMs(); });
  printf("Dropouts: %zu, total duration: %i ms\n", dropouts.size(), total_dropouts_ms);

  auto print_value = [](const std::string& name, const ulog_cpp::Value& value) {
    std::visit(
        [&name](auto&& arg) {
          using T = std::decay_t<decltype(arg)>;
          if constexpr (std::is_same_v<T, std::string>) {
            printf(" %s: %s\n", name.c_str(), arg.c_str());
          } else if constexpr (std::is_same_v<T, int32_t>) {
            printf(" %s: %i\n", name.c_str(), arg);
          } else if constexpr (std::is_same_v<T, uint32_t>) {
            printf(" %s: %u\n", name.c_str(), arg);
          } else if constexpr (std::is_same_v<T, float>) {
            printf(" %s: %.3f\n", name.c_str(), static_cast<double>(arg));
          } else {
            printf(" %s: <data>\n", name.c_str());
          }
        },
        value.asNativeTypeVariant());
  };

  // Info messages
  printf("Info Messages:\n");
  for (const auto& info_msg : data_container->messageInfo()) {
    print_value(info_msg.second.field().name(), info_msg.second.value());
  }
  // Info multi messages
  printf("Info Multiple Messages:");
  for (const auto& info_msg : data_container->messageInfoMulti()) {
    printf(" [%s: %zu],", info_msg.first.c_str(), info_msg.second.size());
  }
  printf("\n");

  // Messages
  printf("\n");
  printf("Name (multi id)  - number of data points\n");
  for (const auto& item : data_container->subscriptionsByNameAndMultiId()) {
    printf(" %s (%i)   -  %zu\n", item.first.name.c_str(), item.first.multi_id,
           item.second->size());
  }

  printf("Formats:\n");
  for (const auto& msg_format : data_container->messageFormats()) {
    std::string format_fields;
    for (const auto& field : msg_format.second->fields()) {
      format_fields += field->encode() + ", ";
    }
    printf(" %s: %s\n", msg_format.second->name().c_str(), format_fields.c_str());
  }

  // logging
  printf("Logging:\n");
  for (const auto& logging : data_container->logging()) {
    std::string tag_str;
    if (logging.hasTag()) {
      tag_str = std::to_string(logging.tag()) + " ";
    }
    printf(" %s<%s> %" PRIu64 " %s\n", tag_str.c_str(), logging.logLevelStr().c_str(),
           logging.timestamp(), logging.message().c_str());
  }

  // Params (init, after, defaults)
  printf("Default Params:\n");
  for (const auto& default_param : data_container->defaultParameters()) {
    print_value(default_param.second.field().name(), default_param.second.value());
  }
  printf("Initial Params:\n");
  for (const auto& default_param : data_container->initialParameters()) {
    print_value(default_param.second.field().name(), default_param.second.value());
  }

  return 0;
}