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Chong Yong Kin (Unlicensed)

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Data playback and recording works in the same way for all FusionHub versions. It has been described in the previous chapters, but I’ll add a recap here to give it its dedicated chapter, as it’s a very important feature for data analysis and serialization.

Data Recording

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Record node

You can record the output from FusionHub to a file by adding

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to the sink section of config.json.

File Logger

Code Block
"logger": {
    // "endpoints": ["inproc://file_reader_1"],  // from file reader
    "endpoints": ["tcp://localhost:9921"],  // from Replay executable
    "format": "json",
    "filename": "recTest" // this will become the postfix of the filename
}

Data Playback

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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Endpoint

Sample Requests

Sample Response / Description

getConfig

Code Block
languagejson
{
  "command": "getConfig"
}

Get in memory configurations.

getSavedConfig

Code Block
languagejson
{
  "command": "getSavedConfig"
}

Get on disk configurations.

saveConfig

Code Block
languagejson
{
  "command": "saveConfig"
}

Save the in-memory configurations to the disk.

setConfig

Code Block
languagejson
{
  "command": "setConfig",
  "data": {
    "sources": {
      "optical": {
        "settings": {
          "port": 5005
        }
      }
    }
  }
}

Update in-memory configurations. This api create new key-value pairs, or update the existing values.

It does not save configurations to the disk.

Note that in "data" you just need to specify the path to the json key to update: the exmaple on the right would change the port to 5005 while everything else is left unchanged.

overwriteConfig

Code Block
languagejson
{
  "command": "overwriteConfig",
  "data": {
    "settings": { ... },
    "sources": { ... },
    "sinks": { ... }
  }
}

Overwrite the in-memory configurations. This is suitable when user want to remove a key from the configuration.

getIntercalibrationStatus

Code Block
languagejson
{
  "command": "getIntercalibrationStatus"
}

Get the current intercalibration status. Useful for refetching current status when the frontnend accidentally disconnects.

applyIntercalibrationResults

Code Block
languagejson
{
  "command": "applyIntercalibrationResults"
}

Apply the current intercalibration quaternion to the in-memory copy of config. This does NOT save to disk.

restartBackend

Code Block
{
  "command": "restartBackend"
}

Restart the backend. Internally the while loop reset the DataBlock, causing all sources and sinks to be freed from memory, and instantiate them again.

startRecording

Code Block
{
    "command": "startRecording",
    "data": {
        "endpoints": ["inproc://imu_data_source_1"],
        "format": "json",
        "commentfile": "subaruDrive"
    }
}

Listen to data published to endpoints, and write to a file of YYYYMMDD-HHMMSS-{comment}.{format}

stopRecording

Code Block
{
    "command": "stopRecording",
}

Stop the current recording.

listRecording

Code Block
{
    "command": "listRecording",
}

List the recorded filenames since the FusionHub booted up.

getVersion

Code Block
languagejson
{
  "command": "getVersion"
}
Code Block
languagejson
{
  "command": "getVersion",
  "status": "ok",
  "data": {
    "version": "1.0.0"
  }
}

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