PX4ULogUtility.h

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#pragma once
 
#include <QtCore/QString>
 
#include <cstdint>
#include <functional>
#include <memory>
#include <set>
#include <string>
 
#include <ulog_cpp/data_handler_interface.hpp>
#include <ulog_cpp/messages.hpp>
#include <ulog_cpp/subscription.hpp>
 
namespace PX4ULogUtility
{
 
// ============================================================================
// Constants
// ============================================================================
 
constexpr char kMagicBytes[] = {'U', 'L', 'o', 'g'};
constexpr int kMagicSize = 4;
constexpr int kHeaderSize = 16;  // Full header size
 
// ============================================================================
// Header Validation
// ============================================================================
 
bool isValidHeader(const char *data, qint64 size);
 
int getVersion(const char *data, qint64 size);
 
uint64_t getHeaderTimestamp(const char *data, qint64 size);
 
// ============================================================================
// Message Iteration
// ============================================================================
 
using MessageCallback = std::function<bool(const ulog_cpp::TypedDataView &sample)>;
 
class MessageHandler : public ulog_cpp::DataHandlerInterface {
public:
    explicit MessageHandler(const std::string &messageName,
                           const MessageCallback &callback,
                           QString &errorMsg);
    virtual ~MessageHandler() = default;
 
    // DataHandlerInterface overrides
    void error(const std::string &msg, bool is_recoverable) override;
    void messageFormat(const ulog_cpp::MessageFormat &message_format) override;
    void addLoggedMessage(const ulog_cpp::AddLoggedMessage &add_logged_message) override;
    void headerComplete() override;
    void data(const ulog_cpp::Data &data) override;
 
    bool hadFatalError() const { return _hadFatalError; }
 
    bool isHeaderComplete() const { return _headerComplete; }
 
    int messageCount() const { return _messageCount; }
 
    bool hasMessageFormat() const { return _messageFormat != nullptr; }
 
private:
    std::string _targetMessageName;
    MessageCallback _callback;
    QString &_errorMessage;
    std::shared_ptr<ulog_cpp::MessageFormat> _messageFormat;
    std::set<uint16_t> _messageIds;
    bool _hadFatalError = false;
    bool _headerComplete = false;
    int _messageCount = 0;
};
 
bool iterateMessages(const char *data, qint64 size,
                     const std::string &messageName,
                     const MessageCallback &callback,
                     QString &errorMessage);
 
} // namespace PX4ULogUtility