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asv-soft-u03asv-soft-u05
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feat: add basic ulog file structure
Need to create all handlers Asana: https://app.asana.com/0/1203851531040615/1208409499620267/f
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‎src/Asv.ULog/Asv.ULog.csproj.DotSettings‎

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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=serializers/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=tokens/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=tokens_005Cfileheader/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogfile_005Cmodels/@EntryIndexedValue">False</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogfile_005Cprocessor/@EntryIndexedValue">False</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogfile_005Cprocessors_005Cfileelements/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogfile_005Cprocessors_005Chandlers/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogfile_005Cprocessors_005Cmodels/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogfile_005Cprocessor_005Chandlers/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogvalue_005Ccontainer/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogvalue_005Csimple/@EntryIndexedValue">True</s:Boolean>
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<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=ulogvalue/@EntryIndexedValue">True</s:Boolean>

‎src/Asv.ULog/ULogFile/Processors/FileElements/CompositeKey.cs‎

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namespace Asv.ULog.ULogFile.Processors;
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public sealed class CompositeKey
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{
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public required ULogTypeDefinition Type { get; init; }
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public required string Name { get; init; }
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}

‎src/Asv.ULog/ULogFile/Processors/FileElements/SubscriptionMessage.cs‎

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namespace Asv.ULog.ULogFile.Processors;
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public sealed class SubscriptionMessage
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{
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public required byte MultiId { get; init; }
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public required ushort MessageId { get; init; }
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public required string MessageName { get; init; }
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}

‎src/Asv.ULog/ULogFile/Processors/Handlers/EmptyTokenHandler.cs‎

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namespace Asv.ULog.ULogFile.Processors;
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public class EmptyTokenHandler : ITokenHandler
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{
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public void Handle(IULogToken token, ProcessorContext context) { }
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}

‎src/Asv.ULog/ULogFile/Processors/Handlers/FileHeaderTokenHandler.cs‎

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using System.Diagnostics;
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namespace Asv.ULog.ULogFile.Processors;
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public class FileHeaderTokenHandler : ITokenHandler
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{
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public void Handle(IULogToken token, ProcessorContext context)
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{
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Debug.Assert(context.File.ReadState == TokenPlaceFlags.Header);
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var header = token as ULogFileHeaderToken;
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context.File.Time = FromTimeStampToDateTime(header!.Timestamp).TimeOfDay;
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context.File.Version = header.Version;
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}
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private static DateTime FromTimeStampToDateTime(ulong timestamp)
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{
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var dt = new DateTime(); // DateTimeOffset
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dt = dt.AddSeconds(timestamp).ToLocalTime();
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return dt;
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}
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}

‎src/Asv.ULog/ULogFile/Processors/Handlers/FlagBitsTokenHandler.cs‎

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using System.Diagnostics;
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namespace Asv.ULog.ULogFile.Processors;
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public class FlagBitsTokenHandler : ITokenHandler
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{
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public void Handle(IULogToken token, ProcessorContext context)
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{
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Debug.Assert(context.File.ReadState == TokenPlaceFlags.Header);
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var flagBits = token as ULogFlagBitsMessageToken;
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context.File.Definition.FlagBits.CompatFlags = flagBits!.CompatFlags;
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context.File.Definition.FlagBits.CompatFlags = flagBits.IncompatFlags;
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context.File.Definition.FlagBits.AppendedOffsets = flagBits.AppendedOffsets;
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}
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}

‎src/Asv.ULog/ULogFile/Processors/Handlers/ITokenHandler.cs‎

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namespace Asv.ULog.ULogFile.Processors;
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public interface ITokenHandler
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{
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public void Handle(IULogToken token, ProcessorContext context);
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}

‎src/Asv.ULog/ULogFile/Processors/ProcessorContext.cs‎

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namespace Asv.ULog.ULogFile.Processors;
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public class ProcessorContext
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{
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public required ULogFile File { get; init; }
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}

‎src/Asv.ULog/ULogFile/Processors/TokenProcessor.cs‎

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namespace Asv.ULog.ULogFile.Processors;
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public class TokenProcessor
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{
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private readonly Dictionary<ULogToken, ITokenHandler> _handlers;
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private readonly ProcessorContext _context;
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public TokenProcessor(Dictionary<ULogToken, ITokenHandler> handlers, ProcessorContext context)
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{
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_handlers = handlers;
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_context = context;
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}
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public TokenPlaceFlags Process(IULogToken token)
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{
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if (_handlers.TryGetValue(token.TokenType, out var handler))
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{
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handler.Handle(token, _context);
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return token.TokenSection;
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}
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else
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{
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return _context.File.ReadState; // while not all tokens are handled
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throw new UnknownTokenException();
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}
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}
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}

‎src/Asv.ULog/ULogFile/ULogFile.cs‎

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using System.Buffers;
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using System.Collections.Immutable;
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using System.Diagnostics;
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using Asv.ULog.ULogFile.Processors;
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namespace Asv.ULog.ULogFile;
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public class Data
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{
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public IDictionary<ushort, SubscriptionMessage> SubscriptionMessages { get; } = new Dictionary<ushort, SubscriptionMessage>();
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public IDictionary<ushort, ULogArray> LoggedDataMessages { get; } = new Dictionary<ushort, ULogArray>();
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public ICollection<ULogObject> LoggedStringMessages { get; } = new List<ULogObject>();
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public IDictionary<ushort, ULogObject> TaggedLoggedStringMessages { get; } = new Dictionary<ushort, ULogObject>();
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public ICollection<ULogObject> SynchronizationMessages { get; } = new List<ULogObject>();
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public ICollection<ushort> DropoutMessages { get; } = new List<ushort>();
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public IDictionary<CompositeKey, string> InformationMessages { get; } = new Dictionary<CompositeKey, string>();
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public IDictionary<CompositeKey, ICollection<string>> MultiInformationMessages { get; } = new Dictionary<CompositeKey, ICollection<string>>();
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public IDictionary<CompositeKey, string> Parameters { get; } = new Dictionary<CompositeKey, string>();
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public IDictionary<CompositeKey, string> DefaultParameters { get; } = new Dictionary<CompositeKey, string>();
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}
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public class Definition
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{
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public ULogFlagBitsMessageToken FlagBits { get; } = new();
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public ICollection<IDictionary<string, ULogValue>> FormatMessages { get; } = new List<IDictionary<string, ULogValue>>();
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public IDictionary<CompositeKey, string> InformationMessages { get; } = new Dictionary<CompositeKey, string>();
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public IDictionary<CompositeKey, ICollection<string>> MultiInformationMessages { get; } = new Dictionary<CompositeKey, ICollection<string>>();
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public IDictionary<CompositeKey, string> Parameters { get; } = new Dictionary<CompositeKey, string>();
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public IDictionary<CompositeKey, string> DefaultParameters { get; } = new Dictionary<CompositeKey, string>();
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}
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public class ULogFile
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{
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private readonly IULogReader _reader;
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private readonly TokenProcessor _processor;
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/*
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Header
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*/
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public TimeSpan Time { get; set; }
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public byte Version { get; set; }
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public readonly Definition Definition = new();
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public readonly Data Data = new();
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public TokenPlaceFlags ReadState { get; private set; } = TokenPlaceFlags.None;
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public ULogFile(IULogReader reader)
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{
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_reader = reader;
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_processor = new TokenProcessor(new Dictionary<ULogToken, ITokenHandler>
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{
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{ ULogToken.FileHeader, new FileHeaderTokenHandler() },
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{ ULogToken.FlagBits, new FlagBitsTokenHandler() },
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{ ULogToken.Unsubscription, new EmptyTokenHandler() } // cause unsub is not used currently
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}, new ProcessorContext{ File = this });
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}
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public void Deserialize(ref ReadOnlySequence<byte> data)
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{
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ReadState = TokenPlaceFlags.Header;
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var rdr = new SequenceReader<byte>(data);
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while (_reader.TryRead(ref rdr, out var token))
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{
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Debug.Assert(token is not null);
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ReadState = _processor.Process(token);
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}
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}
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public void Serialize(ref Span<byte> buffer)
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{
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throw new NotImplementedException();
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}
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public static ULogValue Create(ULogLoggedDataMessageToken data,IReadOnlyDictionary<string, ULogFormatMessageToken> messages,
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IReadOnlyDictionary<ushort, ULogSubscriptionMessageToken> subscriptions, out string messageName)
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{
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var sub = subscriptions[data.MessageId];
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var message = messages[sub.MessageName];
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messageName = sub.MessageName;
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var obj = CreateReference(message.MessageName,messages);
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var span = new ReadOnlySpan<byte>(data.Data);
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obj.Deserialize(ref span);
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return obj;
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}
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private static ULogObject CreateReference(string name, IReadOnlyDictionary<string, ULogFormatMessageToken> messages)
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{
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var message = messages[name];
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var builder = ImmutableArray.CreateBuilder<ULogProperty>(message.Fields.Count);
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foreach (var field in message.Fields)
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{
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var prop = Create(field.Type, messages);
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builder.Add(new ULogProperty(field.Name,prop));
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}
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if (message.Fields[^1].Name.StartsWith("_padding"))
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{
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builder.RemoveAt(builder.Count - 1);
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}
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return new ULogObject(builder.ToImmutable());
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}
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private static ULogValue Create(ULogTypeDefinition fieldType, IReadOnlyDictionary<string, ULogFormatMessageToken> messages)
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{
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ULogValue value;
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if (fieldType.BaseType == ULogType.ReferenceType)
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{
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value = CreateReference(fieldType.TypeName, messages);
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}
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else
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{
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value = CreateSimple(fieldType);
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}
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if (!fieldType.IsArray) return value;
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var buidler = ImmutableArray.CreateBuilder<ULogValue>(fieldType.ArraySize);
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buidler.Add(value);
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for (var i = 1; i < fieldType.ArraySize; i++)
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{
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buidler.Add(value.CloneToken());
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}
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return new ULogArray(buidler.ToImmutable());
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}
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private static ULogSimple CreateSimple(ULogTypeDefinition type)
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{
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switch (type.BaseType)
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{
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case ULogType.Int8:
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return new ULogInt8();
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case ULogType.UInt8:
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return new ULogUInt8();
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case ULogType.Int16:
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return new ULogInt16();
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case ULogType.UInt16:
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return new ULogUInt16();
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case ULogType.Int32:
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return new ULogInt32();
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case ULogType.UInt32:
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return new ULogUInt32();
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case ULogType.Int64:
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return new ULogInt64();
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case ULogType.UInt64:
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return new ULogUInt64();
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case ULogType.Float:
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return new ULogFloat();
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case ULogType.Double:
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return new ULogDouble();
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case ULogType.Bool:
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return new ULogBool();
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case ULogType.Char:
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return new ULogChar();
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case ULogType.ReferenceType:
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default:
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throw new ArgumentOutOfRangeException();
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}
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}
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}

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