ardupilot/Tools/LogAnalyzer/LogAnalyzer.py

#!/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:
	'''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:
	'''base class to be inherited by log tests. Each test should be quite granular so we have lots of small tests with clear results'''
	name     = ""
	result   = None   # will be an instance of TestResult after being run
	execTime = None
	enable   = True
	def run(self, logdata, verbose=False):
		pass


class TestSuite:
	'''registers test classes, loading using a basic plugin architecture, and can run them all in one run() operation'''
	tests   = []
	logfile = None
	logdata = None

	def __init__(self):
		# 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
		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:
			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')
	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')
	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()
	logdata.read(args.logfile.name, 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()