ardupilot/Tools/LogAnalyzer/LogAnalyzer.py

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#!/usr/bin/env python
#
# A module to analyze and identify any common problems which can be determined from log files
#
# Initial code by Andrew Chapman (amchapman@gmail.com), 16th Jan 2014
#
# some logging oddities noticed while doing this, to be followed up on:
# - tradheli MOT labels Mot1,Mot2,Mot3,Mot4,GGain
# - Pixhawk doesn't output one of the FMT labels... forget which one
# - MAG offsets seem to be constant (only seen data on Pixhawk)
# - MAG offsets seem to be cast to int before being output? (param is -84.67, logged as -84)
# - copter+plane use 'V' in their vehicle type/version/build line, rover uses lower case 'v'. Copter+Rover give a build number, plane does not
# - CTUN.ThrOut on copter is 0-1000, on plane+rover it is 0-100
# TODO: add test for noisy baro values
# TODO: support loading binary log files (use Tridge's mavlogdump?)
import DataflashLog
import pprint # temp
import imp
import glob
import inspect
import os, sys
import argparse
import datetime
import time
from xml.sax.saxutils import escape
class TestResult(object):
'''all tests return a standardized result type'''
class StatusType:
# NA means not applicable for this log (e.g. copter tests against a plane log), UNKNOWN means it is missing data required for the test
GOOD, FAIL, WARN, UNKNOWN, NA = range(5)
status = None
statusMessage = "" # can be multi-line
class Test(object):
'''base class to be inherited by log tests. Each test should be quite granular so we have lots of small tests with clear results'''
def __init__(self):
self.name = ""
self.result = None # will be an instance of TestResult after being run
self.execTime = None
self.enable = True
def run(self, logdata, verbose=False):
pass
class TestSuite(object):
'''registers test classes, loading using a basic plugin architecture, and can run them all in one run() operation'''
def __init__(self):
self.tests = []
self.logfile = None
self.logdata = None
# dynamically load in Test subclasses from the 'tests' folder
# to prevent one being loaded, move it out of that folder, or set that test's .enable attribute to False
dirName = os.path.dirname(os.path.abspath(__file__))
testScripts = glob.glob(dirName + '/tests/*.py')
testClasses = []
for script in testScripts:
m = imp.load_source("m",script)
for name, obj in inspect.getmembers(m, inspect.isclass):
if name not in testClasses and inspect.getsourcefile(obj) == script:
testClasses.append(name)
self.tests.append(obj())
# and here's an example of explicitly loading a Test class if you wanted to do that
# m = imp.load_source("m", dirName + '/tests/TestBadParams.py')
# self.tests.append(m.TestBadParams())
def run(self, logdata, verbose):
'''run all registered tests in a single call, gathering execution timing info'''
self.logdata = logdata
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if 'GPS' not in self.logdata.channels and 'GPS2' in self.logdata.channels:
# *cough*
self.logdata.channels['GPS'] = self.logdata.channels['GPS2']
self.logfile = logdata.filename
for test in self.tests:
# run each test in turn, gathering timing info
if test.enable:
startTime = time.time()
test.run(self.logdata, verbose) # RUN THE TEST
endTime = time.time()
test.execTime = 1000 * (endTime-startTime)
def outputPlainText(self, outputStats):
'''output test results in plain text'''
print 'Dataflash log analysis report for file: ' + self.logfile
print 'Log size: %.2fmb (%d lines)' % (self.logdata.filesizeKB / 1024.0, self.logdata.lineCount)
print 'Log duration: %s' % str(datetime.timedelta(seconds=self.logdata.durationSecs)) + '\n'
if self.logdata.vehicleType == "ArduCopter" and self.logdata.getCopterType():
print 'Vehicle Type: %s (%s)' % (self.logdata.vehicleType, self.logdata.getCopterType())
else:
print 'Vehicle Type: %s' % self.logdata.vehicleType
print 'Firmware Version: %s (%s)' % (self.logdata.firmwareVersion, self.logdata.firmwareHash)
print 'Hardware: %s' % self.logdata.hardwareType
print 'Free RAM: %s' % self.logdata.freeRAM
if self.logdata.skippedLines:
print "\nWARNING: %d malformed log lines skipped during read" % self.logdata.skippedLines
print '\n'
print "Test Results:"
for test in self.tests:
if not test.enable:
continue
statusMessageFirstLine = test.result.statusMessage.strip('\n\r').split('\n')[0]
statusMessageExtra = test.result.statusMessage.strip('\n\r').split('\n')[1:]
execTime = ""
if outputStats:
execTime = " (%6.2fms)" % (test.execTime)
if test.result.status == TestResult.StatusType.GOOD:
print " %20s: GOOD %-55s%s" % (test.name, statusMessageFirstLine, execTime)
elif test.result.status == TestResult.StatusType.FAIL:
print " %20s: FAIL %-55s%s [GRAPH]" % (test.name, statusMessageFirstLine, execTime)
elif test.result.status == TestResult.StatusType.WARN:
print " %20s: WARN %-55s%s [GRAPH]" % (test.name, statusMessageFirstLine, execTime)
elif test.result.status == TestResult.StatusType.NA:
# skip any that aren't relevant for this vehicle/hardware/etc
continue
else:
print " %20s: UNKNOWN %-55s%s" % (test.name, statusMessageFirstLine, execTime)
#if statusMessageExtra:
for line in statusMessageExtra:
print " %29s %s" % ("",line)
print '\n'
print 'The Log Analyzer is currently BETA code.\nFor any support or feedback on the log analyzer please email Andrew Chapman (amchapman@gmail.com)'
print '\n'
def outputXML(self, xmlFile):
'''output test results to an XML file'''
# open the file for writing
xml = None
try:
if xmlFile == '-':
xml = sys.stdout
else:
xml = open(xmlFile, 'w')
except:
sys.stderr.write("Error opening output xml file: %s" % xmlFile)
sys.exit(1)
# output header info
print >>xml, "<?xml version=\"1.0\" encoding=\"UTF-8\"?>"
print >>xml, "<loganalysis>"
print >>xml, "<header>"
print >>xml, " <logfile>" + escape(self.logfile) + "</logfile>"
print >>xml, " <sizekb>" + escape(`self.logdata.filesizeKB`) + "</sizekb>"
print >>xml, " <sizelines>" + escape(`self.logdata.lineCount`) + "</sizelines>"
print >>xml, " <duration>" + escape(str(datetime.timedelta(seconds=self.logdata.durationSecs))) + "</duration>"
print >>xml, " <vehicletype>" + escape(self.logdata.vehicleType) + "</vehicletype>"
if self.logdata.vehicleType == "ArduCopter" and self.logdata.getCopterType():
print >>xml, " <coptertype>" + escape(self.logdata.getCopterType()) + "</coptertype>"
print >>xml, " <firmwareversion>" + escape(self.logdata.firmwareVersion) + "</firmwareversion>"
print >>xml, " <firmwarehash>" + escape(self.logdata.firmwareHash) + "</firmwarehash>"
print >>xml, " <hardwaretype>" + escape(self.logdata.hardwareType) + "</hardwaretype>"
print >>xml, " <freemem>" + escape(`self.logdata.freeRAM`) + "</freemem>"
print >>xml, " <skippedlines>" + escape(`self.logdata.skippedLines`) + "</skippedlines>"
print >>xml, "</header>"
# output parameters
print >>xml, "<params>"
for param, value in self.logdata.parameters.items():
print >>xml, " <param name=\"%s\" value=\"%s\" />" % (param,escape(`value`))
print >>xml, "</params>"
# output test results
print >>xml, "<results>"
for test in self.tests:
if not test.enable:
continue
print >>xml, " <result>"
if test.result.status == TestResult.StatusType.GOOD:
print >>xml, " <name>" + escape(test.name) + "</name>"
print >>xml, " <status>GOOD</status>"
print >>xml, " <message>" + escape(test.result.statusMessage) + "</message>"
elif test.result.status == TestResult.StatusType.FAIL:
print >>xml, " <name>" + escape(test.name) + "</name>"
print >>xml, " <status>FAIL</status>"
print >>xml, " <message>" + escape(test.result.statusMessage) + "</message>"
print >>xml, " <data>(test data will be embeded here at some point)</data>"
elif test.result.status == TestResult.StatusType.WARN:
print >>xml, " <name>" + escape(test.name) + "</name>"
print >>xml, " <status>WARN</status>"
print >>xml, " <message>" + escape(test.result.statusMessage) + "</message>"
print >>xml, " <data>(test data will be embeded here at some point)</data>"
elif test.result.status == TestResult.StatusType.NA:
print >>xml, " <name>" + escape(test.name) + "</name>"
print >>xml, " <status>NA</status>"
else:
print >>xml, " <name>" + escape(test.name) + "</name>"
print >>xml, " <status>UNKNOWN</status>"
print >>xml, " <message>" + escape(test.result.statusMessage) + "</message>"
print >>xml, " </result>"
print >>xml, "</results>"
print >>xml, "</loganalysis>"
xml.close()
def main():
dirName = os.path.dirname(os.path.abspath(__file__))
# deal with command line arguments
parser = argparse.ArgumentParser(description='Analyze an APM Dataflash log for known issues')
parser.add_argument('logfile', type=argparse.FileType('r'), help='path to Dataflash log file (or - for stdin)')
parser.add_argument('-f', '--format', metavar='', type=str, action='store', choices=['bin','log','auto'], default='auto', help='log file format: \'bin\',\'log\' or \'auto\'')
parser.add_argument('-q', '--quiet', metavar='', action='store_const', const=True, help='quiet mode, do not print results')
parser.add_argument('-p', '--profile', metavar='', action='store_const', const=True, help='output performance profiling data')
parser.add_argument('-s', '--skip_bad', metavar='', action='store_const', const=True, help='skip over corrupt dataflash lines')
parser.add_argument('-e', '--empty', metavar='', action='store_const', const=True, help='run an initial check for an empty log')
parser.add_argument('-x', '--xml', type=str, metavar='XML file', nargs='?', const='', default='', help='write output to specified XML file (or - for stdout)')
parser.add_argument('-v', '--verbose', metavar='', action='store_const', const=True, help='verbose output')
args = parser.parse_args()
# load the log
startTime = time.time()
logdata = DataflashLog.DataflashLog(args.logfile.name, format=args.format, ignoreBadlines=args.skip_bad) # read log
endTime = time.time()
if args.profile:
print "Log file read time: %.2f seconds" % (endTime-startTime)
# check for empty log if requested
if args.empty:
emptyErr = DataflashLog.DataflashLogHelper.isLogEmpty(logdata)
if emptyErr:
sys.stderr.write("Empty log file: %s, %s" % (logdata.filename, emptyErr))
sys.exit(1)
#run the tests, and gather timings
testSuite = TestSuite()
startTime = time.time()
testSuite.run(logdata, args.verbose) # run tests
endTime = time.time()
if args.profile:
print "Test suite run time: %.2f seconds" % (endTime-startTime)
# deal with output
if not args.quiet:
testSuite.outputPlainText(args.profile)
if args.xml:
testSuite.outputXML(args.xml)
if not args.quiet:
print "XML output written to file: %s\n" % args.xml
if __name__ == "__main__":
main()