Replay

Introduction

Logfiles typically belong to a plugin, and often describe data from an interface (a sensor or its like). These files may further be directly - or after removing a few introductary text lines - be importable into e.g. MATLAB or SCILAB.

AURS supports replay of such files and has the ability to synchronize replay of many logfiles across a ARUS server and across more servers.

Replay File format

A replay file is line oriented and the filename is related to the interface - often the plug-in name.

A file could look like this (in this case orientation relative to north in radians):

1299310465.928301 0.1 0.14 3.03
1299310465.944308 0.12 0.12 3.05
1299310465.964305 0.1 0.08 3.07
1299310465.984304 0.09 0.11 3.07
1299310466.004308 0.07 0.1 3.08
1299310466.028311 0.07 0.08 3.1
1299310466.052313 0.05 0.04 3.1
# crc-check error in communication with sensor 
1299310466.088313 0.07 0.05 3.12

The the timestamp must be the first value in all replay files, as it is read by the replay system, this should then be followed by any value relevant for the interface for this time - all on the same line.

Any line that starts with a text character - e.g. a '#' - will be ignored by the replay function.

Replay mode

When an interface is set in replay mode it will open the specified logfile (in the path specified by the (global) replay path.

The interface can then be stepped (one or more lines at a time)

The plug-in will then insert the data (typically as if it came from the interface)

All plug-in modules are connected, so that if one plug-in module is stepped one line. The replay time (the first element in any replay line) is advanced and all other plug-ins in replay mode are requested to advance to this time.

The other plug-ins then advance until the next replay line has a timestamp that is ahead of this replay time. All the lines up to this time (zero or many) will be send to the plug-in - in a decodeReplayLine(..) call.

How to use

To make a plugin with replay, you must handle two keywords options in the plugin.

>> myplugin replay=true
>> myplugin step=1

So add something like this to your on-line help part of handleCommand method:

bool myclass::handleCommand(UServerInMsg * msg, void * extra)
...
sendHelpStart( ...
...
sendText("replay=true|false   Start or stop replay mode for this plug-in\n");
sendText("step = N            replay N steps from replay file\n");
...
sendHelpDone();
 

And to handle these options in the same function, something like:

...
bool valueBool;
if (msg->tag.getAttBool("replay", &valueBool, true)
  setReplay(valueBool);
// replay ste
int valueInt;
if (msg->tag.getAttInteger("step", &valueInt, 1))
  replayStep(valueInt);

The setReplay(bool) and replayStep(int) is already available in the plug-in and resource classes.

The replay system will call decodeReplayLine(char * line) whenever it is time to replay a new line of data, triggered by a step command in this plugin or a step in any other plugin in replay mode, and the time passed exceeds the timestamp in this replay file.

So define a method to handle the decode of line to replay, this could look something like:

virtual bool decodeReplayLine(char * line)
{
  unsigned long int sec, usec;
  double x, y, z;
  UTime t;
  int n = sscanf(line, "%lu.%lu x y z", &sec, &usec, &x, &y, &z);
  // fake a sensor update, as if it came from the sensor itself
  t.setTimeU(sec, usec);
  sensorUpdate(t, x, y, z);
}

How it works

todo