ardupilot/Tools/Replay/check_replay.py

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#!/usr/bin/env python
'''
check that replay produced identical results
'''
from __future__ import print_function
def check_log(logfile, progress=print, ekf2_only=False, ekf3_only=False, verbose=False):
'''check replay log for matching output'''
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from pymavlink import mavutil
progress("Processing log %s" % logfile)
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failure = 0
errors = 0
count = 0
base_count = 0
counts = {}
base_counts = {}
mlog = mavutil.mavlink_connection(logfile)
ek2_list = ['NKF1','NKF2','NKF3','NKF4','NKF5','NKF0','NKQ', 'NKY0', 'NKY1']
ek3_list = ['XKF1','XKF2','XKF3','XKF4','XKF0','XKFS','XKQ','XKFD','XKV1','XKV2','XKY0','XKY1']
if ekf2_only:
mlist = ek2_list
elif ekf3_only:
mlist = ek3_list
else:
mlist = ek2_list + ek3_list
base = {}
for m in mlist:
base[m] = {}
while True:
m = mlog.recv_match(type=mlist)
if m is None:
break
if not hasattr(m,'C'):
continue
mtype = m.get_type()
if not mtype in counts:
counts[mtype] = 0
base_counts[mtype] = 0
core = m.C
if core < 100:
base[mtype][core] = m
base_count += 1
base_counts[mtype] += 1
continue
mb = base[mtype][core-100]
count += 1
counts[mtype] += 1
mismatch = False
for f in m._fieldnames:
if f == 'C':
continue
v1 = getattr(m,f)
v2 = getattr(mb,f)
ok = v1 == v2
if not ok and args.accuracy > 0:
avg = (v1+v2)*0.5
margin = args.accuracy*0.01*avg
if abs(v1-v2) <= abs(margin):
ok = True
if not ok:
mismatch = True
errors += 1
progress("Mismatch in field %s.%s: %s %s" % (mtype, f, str(v1), str(v2)))
if mismatch:
progress(mb)
progress(m)
progress("Processed %u/%u messages, %u errors" % (count, base_count, errors))
if verbose:
for mtype in counts.keys():
progress("%s %u/%u %d" % (mtype, counts[mtype], base_counts[mtype], base_counts[mtype]-counts[mtype]))
if count == 0 or abs(count - base_count) > 100:
failure += 1
if failure != 0 or errors != 0:
return False
return True
if __name__ == '__main__':
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import sys
from argparse import ArgumentParser
parser = ArgumentParser(description=__doc__)
parser.add_argument("--ekf2-only", action='store_true', help="only check EKF2")
parser.add_argument("--ekf3-only", action='store_true', help="only check EKF3")
parser.add_argument("--verbose", action='store_true', help="verbose output")
parser.add_argument("--accuracy", type=float, default=0.0, help="accuracy percentage for match")
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parser.add_argument("logs", metavar="LOG", nargs="+")
args = parser.parse_args()
failed = False
for filename in args.logs:
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if not check_log(filename, print, args.ekf2_only, args.ekf3_only, args.verbose):
failed = True
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if failed:
print("FAILED")
sys.exit(1)
print("Passed")
sys.exit(0)