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logger: poll sensor_combined if estimator replay enabled #14734

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logger: poll sensor_combined if estimator replay enabled #14734

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26 changes: 23 additions & 3 deletions src/modules/logger/logger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -486,7 +486,21 @@ bool Logger::initialize_topics()
}
}

if (!logged_topics.initialize_logged_topics(sdlog_profile)) {
if (logged_topics.initialize_logged_topics(sdlog_profile)) {

// if no polling configured then use sensor_combined if Estimator Replay profile is enabled
if (!_polling_topic_meta && (sdlog_profile & SDLogProfileMask::ESTIMATOR_REPLAY)) {
const auto &topics = orb_get_topics();

for (size_t i = 0; i < orb_topics_count(); i++) {
if (strcmp("sensor_combined", topics[i]->o_name) == 0) {
_polling_topic_meta = topics[i];
break;
}
}
}

} else {
return false;
}

Expand All @@ -503,8 +517,14 @@ bool Logger::initialize_topics()

for (int i = 0; i < logged_topics.subscriptions().count; ++i) {
const LoggedTopics::RequestedSubscription &sub = logged_topics.subscriptions().sub[i];
// if we poll on a topic, we don't use the interval and let the polled topic define the maximum interval
uint16_t interval_ms = _polling_topic_meta ? 0 : sub.interval_ms;

uint16_t interval_ms = sub.interval_ms;

if (_polling_topic_meta && (get_orb_meta(sub.id) == _polling_topic_meta)) {
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This still breaks replay.

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Could you expand on that? What would you suggest given the overall goal?

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The rate limitation of the topics uses the absolute time which does not match the replay time.
We need to use the time abstraction for replay to resolve this cleanly.
The quick-and-dirty way would be to check _replay_file_name.

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Ok, I'll put this on hold depending on the outcome of #14759.

// if we poll on a topic, we don't use the interval and let the polled topic define the maximum interval
interval_ms = 0;
}

_subscriptions[i] = LoggerSubscription(sub.id, interval_ms, sub.instance);
_subscriptions[i].subscribe();
}
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