commit bed2af0dfea3ef0aaab9b3cd59e2e2efc1229b22
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Jan 28 15:57:24 2023 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Jan 28 16:39:59 2023 -0800
tree d3ebf13c46a65ae230d6eab4bae9071e3074c1c5
parent 31ebde8b77388f2adb7fb4d0337c1682bf00fbbd

Fix handling of special channels in log_to_mcap

Because RegisterWithoutStarting starts the clocks at 0.0, and because
the various options for creating startup handlers didn't obviously help
in this situation, fix the special configuration and timestamp channels
to not produce messages at t=0.0.

Change-Id: Ifaab480c7f37a6b9fea0317d3a5a529bdb3c3c86
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

aos/util/mcap_logger.cc

diff --git a/aos/util/mcap_logger.cc b/aos/util/mcap_logger.cc
index 88476ed..96a9b60 100644
--- a/aos/util/mcap_logger.cc
+++ b/aos/util/mcap_logger.cc
@@ -229,17 +229,6 @@
   // Manually add in a special /configuration channel.
   if (register_handlers == RegisterHandlers::kYes) {
     configuration_id_ = ++id;
-    event_loop_->OnRun([this]() {
-      // TODO(james): Make it so that the timestamp for the configuration
-      // message is not 0.0.
-      Context config_context;
-      config_context.monotonic_event_time = event_loop_->monotonic_now();
-      config_context.queue_index = 0;
-      config_context.size = configuration_.span().size();
-      config_context.data = configuration_.span().data();
-      WriteMessage(configuration_id_, &configuration_channel_.message(),
-                   config_context, &current_chunks_[configuration_id_]);
-    });
   }
 
   std::vector<SummaryOffset> offsets;
@@ -276,6 +265,18 @@
   return offsets;
 }
 
+void McapLogger::WriteConfigurationMessage() {
+  Context config_context;
+  config_context.monotonic_event_time = event_loop_->monotonic_now();
+  config_context.queue_index = 0;
+  config_context.size = configuration_.span().size();
+  config_context.data = configuration_.span().data();
+  // Avoid infinite recursion...
+  wrote_configuration_ = true;
+  WriteMessage(configuration_id_, &configuration_channel_.message(),
+               config_context, &current_chunks_[configuration_id_]);
+}
+
 void McapLogger::WriteMagic() { output_ << "\x89MCAP0\r\n"; }
 
 void McapLogger::WriteHeader() {
@@ -390,6 +391,9 @@
 
 void McapLogger::WriteMessage(uint16_t channel_id, const Channel *channel,
                               const Context &context, ChunkStatus *chunk) {
+  if (!wrote_configuration_) {
+    WriteConfigurationMessage();
+  }
   CHECK_NOTNULL(context.data);
 
   message_counts_[channel_id]++;