Replay » History » Version 1
Rafael Bailon-Ruiz, 2020-10-15 10:51
| 1 | 1 | Rafael Bailon-Ruiz | h1. Replay |
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| 3 | This page shows how to do a replay (a rerun of a recorded flight or simulation). This can only be done with Paparazzi at the moment, but a standalone version is on work. |
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| 6 | h2. Replay with "Paparazzi":https://wiki.paparazziuav.org/wiki/Main_Page (BETA) |
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| 8 | To launch a replay with Paparazzi, you'll need : |
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| 9 | - An install of Paparazzi (following the install tutorial "here":https://redmine.laas.fr/projects/nephelae-devel/wiki/Installation gives you one) |
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| 10 | - An install of CAMS (the graphical interface, dedicated for mapping, again you can find the installation "here":https://redmine.laas.fr/projects/nephelae-devel/wiki/Installation) |
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| 11 | - A paparazzi log file |
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| 12 | - A YAML config correctly set up (set **replay**: true and **type**: pprz for each UAV) |
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| 15 | Once these requirements are met, follow these steps : |
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| 16 | 1. First launch the logalizer of paparazzi. It can be found at : $PAPARAZZI_HOME/sw/logalizer ($PAPARAZZI_HOME is where you installed your paparazzi). Once found, start ./play 'logfile' where logfile is the logfile you want to rerun. |
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| 17 | 2. Launch ./paparazzi |
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| 18 | 3. On the GCS, set the Session to Replay, and then hit Execute |
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| 19 | 4. Now that the replay is running on the GCS, start CAMS |
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| 22 | If you followed correctly these steps, you should now be able to see the replay on CAMS. |
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| 25 | It is possible to control the speed by using Gaia, the environment controller of Paparazzi. If you want to use it, go to the Paparazzi center, open the tools menu and hit **Environment Simulator**. |
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| 26 | You can increase or decrease the speed by changing the Time scale option of Gaia. |
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| 29 | If you want to pause the replay, you can send a SIGSTOP to the logalizer process (by doing a **CTRL-Z**). You can resume it by doing the **fg** command. |
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| 32 | h2. Standalone Replay |
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| 34 | To launch a replay with only CAMS and the base package, you'll need : |
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| 35 | - An install of CAMS (the graphical interface, dedicated for mapping, again you can find the installation "here":https://redmine.laas.fr/projects/nephelae-devel/wiki/Installation) |
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| 36 | - A YAML config correctly set up (set **replay**: true **type**: base for each UAV) |
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| 37 | - A nephelae database registered in ASCII (you can achieve this by instantiating your neph file as a NephelaeDataServer and then use its save_ascii function) |
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| 38 | - The nephelae_utils repositiory |
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| 41 | Once these requirements are met, follow these steps : |
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| 42 | 1. At this stage of the development, you'll have to set manually the target file in replay_neph.py (a patch is yet to come) |
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| 43 | 2. Launch the replay_neph file (located in nephelae_utils) in interpreted mode (use _ipython3 -i replay_neph_ command) |
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| 44 | 3. Write *rp = ReplayNeph()* |
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| 45 | 4. Write *rp.start()* |
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| 46 | 5. Now that the replay is running, start CAMS |
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| 49 | If you want to pause or speed up the replay, you can change the speed of the replay via the set_pacing method. In the interpreted command file, write *rp.set_pacing(<value>)*. (0.1 = normal speed, 0.0 = pause, > 0.1 = speed up). |
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| 52 | You can stop the streaming at any moment using *rp.stop()* |