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

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'''

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check that replay produced identical results

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'''

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from __future__ import print_function

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def check_log(logfile, progress=print, ekf2_only=False, ekf3_only=False, verbose=False, accuracy=0.0, ignores=set()):

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    '''check replay log for matching output'''

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    from pymavlink import mavutil

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    progress("Processing log %s" % logfile)

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    failure = 0

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    errors = 0

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    count = 0

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    base_count = 0

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    counts = {}

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    base_counts = {}

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    mlog = mavutil.mavlink_connection(logfile)

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    ek2_list = ['NKF1','NKF2','NKF3','NKF4','NKF5','NKF0','NKQ', 'NKY0', 'NKY1']

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    ek3_list = ['XKF1','XKF2','XKF3','XKF4','XKF0','XKFS','XKQ','XKFD','XKV1','XKV2','XKY0','XKY1']

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    if ekf2_only:

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        mlist = ek2_list

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    elif ekf3_only:

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        mlist = ek3_list

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    else:

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        mlist = ek2_list + ek3_list

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    base = {}

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    for m in mlist:

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        base[m] = {}

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    while True:

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        m = mlog.recv_match(type=mlist)

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        if m is None:

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            break

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        if not hasattr(m,'C'):

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            continue

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        mtype = m.get_type()

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        if mtype not in counts:

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            counts[mtype] = 0

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            base_counts[mtype] = 0

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        core = m.C

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        if core < 100:

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            base[mtype][core] = m

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            base_count += 1

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            base_counts[mtype] += 1

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            continue

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        mb = base[mtype][core-100]

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        count += 1

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        counts[mtype] += 1

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        mismatch = False

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        for f in m._fieldnames:

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            if f == 'C':

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                continue

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            if "%s.%s" % (mtype, f) in ignores:

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                continue

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            v1 = getattr(m,f)

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            v2 = getattr(mb,f)

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            ok = v1 == v2

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            if not ok and accuracy > 0:

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                avg = (v1+v2)*0.5

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                margin = accuracy*0.01*avg

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                if abs(v1-v2) <= abs(margin):

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                    ok = True

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            if not ok:

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                mismatch = True

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                errors += 1

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                progress("Mismatch in field %s.%s: %s %s" % (mtype, f, str(v1), str(v2)))

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        if mismatch:

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            progress(mb)

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            progress(m)

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    progress("Processed %u/%u messages, %u errors" % (count, base_count, errors))

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    if verbose:

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        for mtype in counts.keys():

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            progress("%s %u/%u %d" % (mtype, counts[mtype], base_counts[mtype], base_counts[mtype]-counts[mtype]))

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    count_delta = abs(count - base_count)

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    if count == 0 or count_delta > 100:

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        progress("count=%u count_delta=%u" % (count, count_delta))

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        failure += 1

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    if failure != 0 or errors != 0:

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        return False

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    return True

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if __name__ == '__main__':

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    import sys

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    from argparse import ArgumentParser

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    parser = ArgumentParser(description=__doc__)

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    parser.add_argument("--ekf2-only", action='store_true', help="only check EKF2")

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    parser.add_argument("--ekf3-only", action='store_true', help="only check EKF3")

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    parser.add_argument("--verbose", action='store_true', help="verbose output")

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    parser.add_argument("--accuracy", type=float, default=0.0, help="accuracy percentage for match")

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    parser.add_argument("--ignore-field", action='append', default=[], help="ignore message field when comparing")

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    parser.add_argument("logs", metavar="LOG", nargs="+")

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    args = parser.parse_args()

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    failed = False

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    for filename in args.logs:

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        if not check_log(filename, print, args.ekf2_only, args.ekf3_only, args.verbose, accuracy=args.accuracy, ignores=args.ignore_field):

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            failed = True

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    if failed:

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        print("FAILED")

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        sys.exit(1)

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    print("Passed")

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    sys.exit(0)

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