Replay: cleanup unused code

Tools/Replay/LR_MsgHandler.cpp

@@ -268,13 +268,6 @@ void LR_MsgHandler_REVH::process_message(uint8_t *msg)
 bool LR_MsgHandler_PARM::set_parameter(const char *name, const float value)
 {
     const char *ignore_parms[] = {
-        // "GPS_TYPE",
-        // "AHRS_EKF_TYPE",
-        // "EK2_ENABLE",
-        // "EK3_ENABLE",
-        // "COMPASS_ORIENT",
-        // "COMPASS_ORIENT2",
-        // "COMPASS_ORIENT3",
         "LOG_FILE_BUFSIZE",
         "LOG_DISARMED"
     };
@@ -307,9 +300,5 @@ void LR_MsgHandler_PARM::process_message(uint8_t *msg)
     require_field(msg, "Name", parameter_name, parameter_name_len);
 
     float value = require_field_float(msg, "Value");
-    // if (globals.no_params || replay.check_user_param(parameter_name)) {
-    //     printf("Not changing %s to %f\n", parameter_name, value);
-    // } else {
     set_parameter(parameter_name, value);
-    // }
 }

Tools/Replay/LR_MsgHandler.h

@@ -18,17 +18,6 @@ public:
         // like it.
         process_message(msg);
     }
-
-    // state for CHEK message
-    struct CheckState {
-        uint64_t time_us;
-        Vector3f euler;
-        Location pos;
-        Vector3f velocity;
-    };
-
-protected:
-
 };
 
 class LR_MsgHandler_RFRH : public LR_MsgHandler
@@ -274,7 +263,6 @@ class LR_MsgHandler_PARM : public LR_MsgHandler
 {
 public:
     LR_MsgHandler_PARM(log_Format &_f,
-                       uint64_t &_last_timestamp_usec,
                        const std::function<bool(const char *name, const float)>&set_parameter_callback) :
         LR_MsgHandler(_f),
         _set_parameter_callback(set_parameter_callback)

Tools/Replay/LogReader.cpp

@@ -7,6 +7,9 @@
 #include <unistd.h>
 #include <sys/types.h>
 #include <sys/stat.h>
+#include <sys/types.h>
+#include <signal.h>
+
 
 #define DEBUG 1
 #if DEBUG
@@ -17,6 +20,8 @@
 
 #define streq(x, y) (!strcmp(x, y))
 
+extern struct user_parameter *user_parameters;
+
 LogReader::LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf2, NavEKF3 &_ekf3) :
     AP_LoggerFileReader(),
     _log_structure(log_structure),
@@ -115,24 +120,7 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
     if (in_list(name, log_write_names)) {
         // debug("%s is a Log_Write-written message\n", name);
     } else {
-        if (in_list(name, generated_names)) {
-            // debug("Log format for type (%d) (%s) taken from running code\n",
-            //       f.type, name);
-            // bool found = false;
-            // for (uint8_t n=0; n<ARRAY_SIZE(running_codes_log_structure); n++) {
-            //     if (streq(name, running_codes_log_structure[n].name)) {
-            //         found = true;
-            //         memcpy(&s, &running_codes_log_structure[n], sizeof(LogStructure));
-            //         break;
-            //     }
-            // }
-            // if (!found) {
-            //     ::fprintf(stderr, "Expected to be able to emit an FMT for (%s), but no FMT message found in running code\n", name);
-            //     abort();
-            // }
-        } else {
-            // debug("Log format for type (%d) (%s) taken from log\n", f.type, name);
-            // generate a LogStructure entry for this FMT
+        if (!in_list(name, generated_names)) {
             s.msg_type = map_fmt_type(name, f.type);
             s.msg_len = f.length;
             s.name = f.name;
@@ -150,7 +138,6 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
         memcpy(pkt.name, s.name, sizeof(pkt.name));
         memcpy(pkt.format, s.format, sizeof(pkt.format));
         memcpy(pkt.labels, s.labels, sizeof(pkt.labels));
-        // AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
     }
 
     if (msgparser[f.type] != NULL) {
@@ -161,7 +148,6 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
 	if (streq(name, "PARM")) {
             msgparser[f.type] = new LR_MsgHandler_PARM
                 (formats[f.type],
-                 last_timestamp_usec,
                  [this](const char *xname, const float xvalue) {
                     return set_parameter(xname, xvalue);
                  });
@@ -238,10 +224,6 @@ bool LogReader::handle_msg(const struct log_Format &f, uint8_t *msg) {
     // emit the output as we receive it:
     AP::logger().WriteBlock(msg, f.length);
 
-    // char name[5];
-    // memset(name, '\0', 5);
-    // memcpy(name, f.name, 4);
-
     LR_MsgHandler *p = msgparser[f.type];
     if (p == NULL) {
         return true;
@@ -252,11 +234,6 @@ bool LogReader::handle_msg(const struct log_Format &f, uint8_t *msg) {
     return true;
 }
 
-#include <sys/types.h>
-#include <signal.h>
-
-extern struct user_parameter *user_parameters;
-
 /*
   see if a user parameter is set
  */

Tools/Replay/LogReader.h

@@ -10,24 +10,11 @@ class LogReader : public AP_LoggerFileReader
 public:
     LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf, NavEKF3 &_ekf3);
 
-    const Vector3f &get_attitude(void) const { return attitude; }
-    const Vector3f &get_ahr2_attitude(void) const { return ahr2_attitude; }
-    const Vector3f &get_inavpos(void) const { return inavpos; }
-    const Vector3f &get_sim_attitude(void) const { return sim_attitude; }
-    const float &get_relalt(void) const { return rel_altitude; }
-    const LR_MsgHandler::CheckState &get_check_state(void) const { return check_state; }
-
     VehicleType::vehicle_type vehicle;
 
     bool check_user_param(const char *name);
     bool set_parameter(const char *name, float value, bool force=false);
 
-    void set_accel_mask(uint8_t mask) { accel_mask = mask; }
-    void set_gyro_mask(uint8_t mask) { gyro_mask = mask; }
-    void set_use_imt(bool _use_imt) { use_imt = _use_imt; }
-    void set_save_chek_messages(bool _save_chek_messages) { save_chek_messages = _save_chek_messages; }
-
-    uint64_t last_timestamp_us(void) const { return last_timestamp_usec; }
     bool handle_log_format_msg(const struct log_Format &f) override;
     bool handle_msg(const struct log_Format &f, uint8_t *msg) override;
 
@@ -43,35 +30,14 @@ private:
     struct LogStructure *_log_structure;
     uint8_t _log_structure_count;
 
-    uint8_t accel_mask;
-    uint8_t gyro_mask;
-    bool use_imt = true;
-
-    uint32_t ground_alt_cm;
-
     class LR_MsgHandler *msgparser[LOGREADER_MAX_FORMATS] {};
 
-    Vector3f attitude;
-    Vector3f ahr2_attitude;
-    Vector3f sim_attitude;
-    Vector3f inavpos;
-    float rel_altitude;
-    uint64_t last_timestamp_usec;
-
     // mapping from original msgid to output msgid
     uint8_t mapped_msgid[256] {};
 
     // next available msgid for mapping
     uint8_t next_msgid = 1;
 
-    LR_MsgHandler::CheckState check_state;
-
-    bool installed_vehicle_specific_parsers;
-
-    bool save_chek_messages;
-
-    void maybe_install_vehicle_specific_parsers();
-
     void initialise_fmt_map();
     uint8_t map_fmt_type(const char *name, uint8_t intype);