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Playback and fusion of prerecorded data: gpsImuFusionPlayback.json
Data Playback [DEPRECATED, switch over to
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ReplayExecutable]
Data from a log file can played back and forwarded to a fusion filter using the fileReader block. An example of how to use this node we are showing below:
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Parameter name | Description | Unit |
|---|---|---|
filename | Name of the file to be played back | n/a |
playbackInterval | Time interval between each line of the playback file | s |
Replay Node [DEPRECATED, switch over to ReplayExecutable]
Replay data from disk file.
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Key | Description | Type | Example value |
|---|---|---|---|
filepath | Path to read in file | String | “log.json” |
replaySpeed | Speed to the actual recording | Double | 1 |
readMultipleLines | Number of lines to read each time | Integer | 10 |
Replay Executable
This is a separate executable that can be built from FusionHub project. In Visual Studio build target dropdown there will be an option to build ReplayExecutable.exe.
The replay executable will read in from file, push data to replay queue and send them to the network (tcp://localhost:9921 by default). To run the ReplayExecutable,
| Code Block |
|---|
ReplayExecutable.exe -r <path/to/file.json> [--replay-speed 1] [--queue-size 100] [--echo-data] [--verbose] |
Key | Description | Type | Example value |
|---|---|---|---|
-r | Path to read in file | String | “log.json” |
--replay-speed | Speed to the actual recording | Double | 1 |
--queue-size | The size of queue that file reader would stop pushing new data to the replay queue. Increase this value when you see lots of data is published at the same time when running with | Integer | 100 |
--echo-data | Listen to the publishing endpoint and display the replayed data | N/A | N/A |
--verbose | Print the debugging information, i.e., the timestamp a packet is added to the replay queue, replayed from the replay queue, and discarded from the replay queue. | N/A | N/A |
A normal FusionHub program can then receive the file data by having an endpoints source defined in the configuration file:
| Code Block | ||
|---|---|---|
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{
...,
"sources": {
"endpoints": ["tcp://localhost:9921"]
}
} |
Graphical User Interface
Map View
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