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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/Replay/CheckLogs.py
Views: 1798
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#!/usr/bin/env python

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'''

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run Replay over a set of logs to check for code regressions

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'''

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import optparse, os, sys

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parser = optparse.OptionParser("CheckLogs")

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parser.add_option("--logdir", type='string', default='testlogs', help='directory of logs to use')

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parser.add_option("--create-checked-logs", action='store_true', default=False, help="created logs with CHEK messages")

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parser.add_option("--tolerance-euler", type=float, default=3, help="tolerance for euler angles in degrees");

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parser.add_option("--tolerance-pos", type=float, default=2, help="tolerance for position angles in meters");

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parser.add_option("--tolerance-vel", type=float, default=2, help="tolerance for velocity in meters/second");

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opts, args = parser.parse_args()

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def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):

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    '''run a shell command'''

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    from subprocess import call, check_call,Popen, PIPE

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    if show:

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        print("Running: '%s' in '%s'" % (cmd, dir))

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    if output:

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        return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]

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    elif checkfail:

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        return check_call(cmd, shell=True, cwd=dir)

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    else:

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        return call(cmd, shell=True, cwd=dir)

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def run_replay(logfile):

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    '''run Replay on one logfile'''

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    print("Processing %s" % logfile)

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    cmd = "./Replay.elf -- --check %s --tolerance-euler=%f --tolerance-pos=%f --tolerance-vel=%f " % (

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        logfile,

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        opts.tolerance_euler,

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        opts.tolerance_pos,

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        opts.tolerance_vel)

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    run_cmd(cmd, checkfail=False)

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def get_log_list():

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    '''get a list of log files to process'''

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    import glob, sys

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    pattern = os.path.join(opts.logdir, "*-checked.bin")

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    file_list = glob.glob(pattern)

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    print("Found %u logs to processs" % len(file_list))

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    if len(file_list) == 0:

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        print("No logs to process matching %s" % pattern)

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        sys.exit(1)

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    return file_list

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def create_html_results():

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    '''create a HTML file with results'''

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    error_count = 0

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    git_version = run_cmd('git log --pretty=oneline HEAD~1..HEAD', output=True)

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    f = open("replay_results.html", "w")

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    f.write(

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'''<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"

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        "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">

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<html lang="en" xmlns="http://www.w3.org/1999/xhtml">

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<head>

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<title>Replay results</title>

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<meta charset="utf-8"/>

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</head>

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<body>

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<h1>Replay Results</h1>

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Git version: %s

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<p>

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<table border="1">

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<tr bgcolor="lightgrey">

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 <th>Filename</th>

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 <th>RollError(deg)</th>

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 <th>PitchError(deg)</th>

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 <th>YawError(deg)</th>

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 <th>PosError(m)</th>

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 <th>VelError(m/s)</th>

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</tr>

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''' % git_version)

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    infile = open("replay_results.txt", "r")

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    line_count = 0

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    line_errors = 0

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    for line in infile:

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        line = line.strip()

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        line_count += 1

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        a = line.split("\t")

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        if len(a) != 6:

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            print("Invalid line: %s" % line)

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            error_count += 1

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            continue

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        tolerances = [opts.tolerance_euler,

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                      opts.tolerance_euler,

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                      opts.tolerance_euler,

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                      opts.tolerance_pos,

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                      opts.tolerance_vel]

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        f.write('''<tr><td><a href="%s">%s</a></td>''' % (a[0],a[0]))

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        error_in_this_log = False

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        for i in range(1,6):

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            tol = tolerances[i-1]

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            if a[i] == "FPE":

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                bgcolor = "red"

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                error_count += 1

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                error_in_this_log = True

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            elif float(a[i]) > tol:

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                bgcolor = "red"

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                error_count += 1

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                error_in_this_log = True

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            else:

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                bgcolor = "white"

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            f.write('''<td bgcolor="%s" align="right">%s</td>\n''' % (bgcolor, a[i]))

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        if error_in_this_log:

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            line_errors += 1

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        f.write('''</tr>\n''')

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    f.write('''</table>\n''')

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    # write summary

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    f.write(

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'''<h2>Summary</h2>

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<p>Processed %u logs<br/>

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%u errors from %u logs<br/>

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<hr>

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<p>Tolerance Euler: %.3f degrees<br/>

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Tolerance Position: %.3f meters<br/>

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Tolerance Velocity: %.3f meters/second

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''' % (line_count, error_count, line_errors,

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       opts.tolerance_euler,

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       opts.tolerance_pos,

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       opts.tolerance_vel))

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    # add trailer

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    f.write(

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'''

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</body>

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</html>

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''')

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    f.close()

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    infile.close()

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def check_logs():

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    '''run log checking'''

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    log_list = get_log_list()

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    # remove old results file

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    try:

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        os.unlink("replay_results.txt")

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    except Exception as ex:

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        print(ex)

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    for logfile in log_list:

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        run_replay(logfile)

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    create_html_results()

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def create_checked_logs():

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    '''create a set of CHEK logs'''

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    import glob, sys

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    if os.path.isfile(opts.logdir):

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        full_file_list = [opts.logdir]

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    else:

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        pattern = os.path.join(opts.logdir, "*.bin")

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        full_file_list = glob.glob(pattern)

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    file_list = []

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    for f in full_file_list:

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        if not f.endswith("-checked.bin"):

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            file_list.append(f)

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    if len(file_list) == 0:

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        print("No files to process")

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        sys.exit(1)

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    for f in file_list:

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        print("Processing %s" % f)

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        log_list_current = set(glob.glob("logs/*.BIN"))

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        cmd = "./Replay.elf -- --check-generate %s" % f

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        run_cmd(cmd, checkfail=True)

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        log_list_after = set(glob.glob("logs/*.BIN"))

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        changed = log_list_after.difference(log_list_current)

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        if len(changed) != 1:

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            print("Failed to generate log for %s" % f)

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            sys.exit(1)

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        outlog = list(changed)[0]

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        name, ext = os.path.splitext(f)

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        newname = name + '-checked.bin'

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        os.rename(outlog, newname)

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        print("Created %s" % newname)

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if opts.create_checked_logs:

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    create_checked_logs()

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    sys.exit(0)

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check_logs()

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