'''
run Replay over a set of logs to check for code regressions
'''
import optparse, os, sys
parser = optparse.OptionParser("CheckLogs")
parser.add_option("--logdir", type='string', default='testlogs', help='directory of logs to use')
parser.add_option("--create-checked-logs", action='store_true', default=False, help="created logs with CHEK messages")
parser.add_option("--tolerance-euler", type=float, default=3, help="tolerance for euler angles in degrees");
parser.add_option("--tolerance-pos", type=float, default=2, help="tolerance for position angles in meters");
parser.add_option("--tolerance-vel", type=float, default=2, help="tolerance for velocity in meters/second");
opts, args = parser.parse_args()
def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
'''run a shell command'''
from subprocess import call, check_call,Popen, PIPE
if show:
print("Running: '%s' in '%s'" % (cmd, dir))
if output:
return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
elif checkfail:
return check_call(cmd, shell=True, cwd=dir)
else:
return call(cmd, shell=True, cwd=dir)
def run_replay(logfile):
'''run Replay on one logfile'''
print("Processing %s" % logfile)
cmd = "./Replay.elf -- --check %s --tolerance-euler=%f --tolerance-pos=%f --tolerance-vel=%f " % (
logfile,
opts.tolerance_euler,
opts.tolerance_pos,
opts.tolerance_vel)
run_cmd(cmd, checkfail=False)
def get_log_list():
'''get a list of log files to process'''
import glob, sys
pattern = os.path.join(opts.logdir, "*-checked.bin")
file_list = glob.glob(pattern)
print("Found %u logs to process" % len(file_list))
if len(file_list) == 0:
print("No logs to process matching %s" % pattern)
sys.exit(1)
return file_list
def create_html_results():
'''create a HTML file with results'''
error_count = 0
git_version = run_cmd('git log --pretty=oneline HEAD~1..HEAD', output=True)
f = open("replay_results.html", "w")
f.write(
'''<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html lang="en" xmlns="http://www.w3.org/1999/xhtml">
<head>
<title>Replay results</title>
<meta charset="utf-8"/>
</head>
<body>
<h1>Replay Results</h1>
Git version: %s
<p>
<table border="1">
<tr bgcolor="lightgrey">
<th>Filename</th>
<th>RollError(deg)</th>
<th>PitchError(deg)</th>
<th>YawError(deg)</th>
<th>PosError(m)</th>
<th>VelError(m/s)</th>
</tr>
''' % git_version)
infile = open("replay_results.txt", "r")
line_count = 0
line_errors = 0
for line in infile:
line = line.strip()
line_count += 1
a = line.split("\t")
if len(a) != 6:
print("Invalid line: %s" % line)
error_count += 1
continue
tolerances = [opts.tolerance_euler,
opts.tolerance_euler,
opts.tolerance_euler,
opts.tolerance_pos,
opts.tolerance_vel]
f.write('''<tr><td><a href="%s">%s</a></td>''' % (a[0],a[0]))
error_in_this_log = False
for i in range(1,6):
tol = tolerances[i-1]
if a[i] == "FPE":
bgcolor = "red"
error_count += 1
error_in_this_log = True
elif float(a[i]) > tol:
bgcolor = "red"
error_count += 1
error_in_this_log = True
else:
bgcolor = "white"
f.write('''<td bgcolor="%s" align="right">%s</td>\n''' % (bgcolor, a[i]))
if error_in_this_log:
line_errors += 1
f.write('''</tr>\n''')
f.write('''</table>\n''')
f.write(
'''<h2>Summary</h2>
<p>Processed %u logs<br/>
%u errors from %u logs<br/>
<hr>
<p>Tolerance Euler: %.3f degrees<br/>
Tolerance Position: %.3f meters<br/>
Tolerance Velocity: %.3f meters/second
''' % (line_count, error_count, line_errors,
opts.tolerance_euler,
opts.tolerance_pos,
opts.tolerance_vel))
f.write(
'''
</body>
</html>
''')
f.close()
infile.close()
def check_logs():
'''run log checking'''
log_list = get_log_list()
try:
os.unlink("replay_results.txt")
except Exception as ex:
print(ex)
for logfile in log_list:
run_replay(logfile)
create_html_results()
def create_checked_logs():
'''create a set of CHEK logs'''
import glob, sys
if os.path.isfile(opts.logdir):
full_file_list = [opts.logdir]
else:
pattern = os.path.join(opts.logdir, "*.bin")
full_file_list = glob.glob(pattern)
file_list = []
for f in full_file_list:
if not f.endswith("-checked.bin"):
file_list.append(f)
if len(file_list) == 0:
print("No files to process")
sys.exit(1)
for f in file_list:
print("Processing %s" % f)
log_list_current = set(glob.glob("logs/*.BIN"))
cmd = "./Replay.elf -- --check-generate %s" % f
run_cmd(cmd, checkfail=True)
log_list_after = set(glob.glob("logs/*.BIN"))
changed = log_list_after.difference(log_list_current)
if len(changed) != 1:
print("Failed to generate log for %s" % f)
sys.exit(1)
outlog = list(changed)[0]
name, ext = os.path.splitext(f)
newname = name + '-checked.bin'
os.rename(outlog, newname)
print("Created %s" % newname)
if opts.create_checked_logs:
create_checked_logs()
sys.exit(0)
check_logs()
