Implement flatbuffer mode in log_to_mcap
This makes log_to_mcap output a flatbuffer-based MCAP format (if requested)
instead of a JSON format. This significantly speeds up conversion times
and reduces disk space used, and should at least put us in the ball-park
for working with images in foxglove (although we still need to do some
extra work to either use one of their pre-defined image formats or
support our existing image formats natively in studio).
Change-Id: Id1778c0b5b9ced90517ab34269511d78cd0c7e58
Signed-off-by: James Kuszmaul <james.kuszmaul@bluerivertech.com>
diff --git a/aos/util/log_to_mcap.cc b/aos/util/log_to_mcap.cc
index 49aca69..5330c60 100644
--- a/aos/util/log_to_mcap.cc
+++ b/aos/util/log_to_mcap.cc
@@ -5,6 +5,7 @@
DEFINE_string(node, "", "Node to replay from the perspective of.");
DEFINE_string(output_path, "/tmp/log.mcap", "Log to output.");
+DEFINE_string(mode, "json", "json or flatbuffer serialization.");
// Converts an AOS log to an MCAP log that can be fed into Foxglove. To try this
// out, run:
@@ -30,6 +31,9 @@
std::unique_ptr<aos::EventLoop> mcap_event_loop =
reader.event_loop_factory()->MakeEventLoop("mcap", node);
CHECK(!FLAGS_output_path.empty());
- aos::McapLogger relogger(mcap_event_loop.get(), FLAGS_output_path);
+ aos::McapLogger relogger(mcap_event_loop.get(), FLAGS_output_path,
+ FLAGS_mode == "flatbuffer"
+ ? aos::McapLogger::Serialization::kFlatbuffer
+ : aos::McapLogger::Serialization::kJson);
reader.event_loop_factory()->Run();
}