ReplayEkf: correctly add all subscriptions

Logged data and subscription messages can be mixed, so don't stop adding
subscriptions after finding the first logged message

Author: bresch

src/modules/replay/Replay.cpp

@@ -902,6 +902,7 @@ Replay::run()
 
 	PX4_INFO("Replay in progress...");
 
+	// Find and add all subscriptions
 	ulog_message_header_s message_header;
 	replay_file.seekg(_data_section_start);
 
@@ -910,22 +911,23 @@ Replay::run()
 		replay_file.read((char *)&message_header, ULOG_MSG_HEADER_LEN);
 
 		if (!replay_file) {
+			// end of file
 			break;
 		}
 
 		if (message_header.msg_type == (int)ULogMessageType::ADD_LOGGED_MSG) {
 			readAndAddSubscription(replay_file, message_header.msg_size);
 
-		} else if (message_header.msg_type == (int)ULogMessageType::DATA) {
-			// End of Definition & Data Section Message Header section
-			break;
-
 		} else {
 			// Not important for now, skip
 			replay_file.seekg(message_header.msg_size, ios::cur);
 		}
 	}
 
+	// Rewind back to the begining of the data section
+	replay_file.seekg(_data_section_start);
+	replay_file.clear();
+
 	const uint64_t timestamp_offset = getTimestampOffset();
 	uint32_t nr_published_messages = 0;
 	streampos last_additional_message_pos = _data_section_start;

src/modules/replay/Replay.hpp

@@ -201,8 +201,7 @@ class Replay : public ModuleBase<Replay>
 	/**
 	 * Find next data message for this subscription, starting with the stored file offset.
 	 * Skip the first message, and if found, read the timestamp and store the new file offset.
-	 * This also takes care of new subscriptions and parameter updates. When reaching EOF,
-	 * the subscription is set to invalid.
+	 * When reaching EOF, the subscription is set to invalid.
 	 * File seek position is arbitrary after this call.
 	 * @return false on file error
 	 */