Tools/LogAnalyzer: fix python2/3 compatibility

Tools/LogAnalyzer/DataflashLog.py

@@ -6,10 +6,9 @@
 
 # AP_FLAKE8_CLEAN
 
-from __future__ import print_function
+from __future__ import print_function, division
 
 import bisect
-import collections
 import ctypes
 import sys
 
@@ -161,9 +160,13 @@ class BinaryFormat(ctypes.LittleEndianStructure):
         )
 
     def to_class(self):
-        labels = self.labels.decode('ascii') if self.labels else ""
+        labels = self.labels.decode(encoding="utf-8") if self.labels else ""
         members = dict(
-            NAME=self.name.decode('ascii'), MSG=self.type, SIZE=self.length, labels=labels.split(","), _pack_=True
+            NAME=self.name.decode(encoding="utf-8"),
+            MSG=self.type,
+            SIZE=self.length,
+            labels=labels.split(","),
+            _pack_=True,
         )
 
         if type(self.types[0]) == str:
@@ -190,7 +193,7 @@ class BinaryFormat(ctypes.LittleEndianStructure):
                 def get_message_attribute(x):
                     ret = getattr(x, attributename)
                     if str(format) in ['Z', 'n', 'N']:
-                        ret = ret.decode('ascii')
+                        ret = ret.decode(encoding="utf-8")
                     return ret
 
                 p = property(get_message_attribute)
@@ -239,6 +242,7 @@ class Channel(object):
         '''returns a segment of this data (from startLine to endLine, inclusive) as a new Channel instance'''
         segment = Channel()
         segment.dictData = {k: v for k, v in self.dictData.items() if k >= startLine and k <= endLine}
+        segment.listData = [(k, v) for k, v in self.listData if k >= startLine and k <= endLine]
         return segment
 
     def min(self):
@@ -365,6 +369,8 @@ class LogIterator:
                 self.iterators[lineLabel] = (index, lineNumber)
         return self
 
+    __next__ = next
+
     def jump(self, lineNumber):
         '''jump iterator to specified log line'''
         self.currentLine = lineNumber
@@ -417,16 +423,15 @@ class DataflashLogHelper:
             else:
                 return 1
 
-        od = collections.OrderedDict(sorted(logdata.modeChanges.items(), key=lambda t: t[0]))
+        changes = [{"line": k, "modeName": v[0], "modeNum": v[1]} for k, v in sorted(logdata.modeChanges.items())]
         chunks = []
-        for i in range(len(od.keys())):
-            if od.values()[i][0] == "LOITER":
-                startLine = od.keys()[i]
-                endLine = None
-                if i == len(od.keys()) - 1:
+        for i in range(len(changes)):
+            if changes[i]["modeName"] == "LOITER":
+                startLine = changes[i]["line"]
+                try:
+                    endLine = changes[i + 1]["line"]
+                except IndexError:
                     endLine = logdata.lineCount
-                else:
-                    endLine = od.keys()[i + 1] - 1
                 chunkTimeSeconds = (
                     DataflashLogHelper.getTimeAtLine(logdata, endLine)
                     - DataflashLogHelper.getTimeAtLine(logdata, startLine)
@@ -711,6 +716,7 @@ class DataflashLog(object):
         for line in f:
             lineNumber = lineNumber + 1
             numBytes += len(line) + 1
+            line = line.decode(encoding="utf-8")
             try:
                 line = line.strip('\n\r')
                 tokens = line.split(', ')

Tools/LogAnalyzer/LogAnalyzer.py

@@ -24,8 +24,6 @@ from __future__ import print_function
 import argparse
 import datetime
 import glob
-import imp
-import inspect
 import os
 import sys
 import time
@@ -74,16 +72,34 @@ class TestSuite(object):
         # 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 = []
+
+        def getTests(module_path):
+            import inspect
+
+            tests = []
+            module_name = os.path.basename(module_path)[:-3]
+            if sys.version_info >= (3, 5):
+                from importlib.util import spec_from_file_location, module_from_spec
+
+                spec = spec_from_file_location(module_name, module_path)
+                m = module_from_spec(spec)
+                spec.loader.exec_module(m)
+            else:
+                from imp import load_source
+
+                m = load_source(module_name, module_path)
+            for _, _class in inspect.getmembers(m, inspect.isclass):
+                if _class.__module__ == m.__name__:
+                    tests.append(_class())
+            return tests
+
         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())
+            self.tests.extend(getTests(script))
 
         # 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')
+        # spec = importlib.util.spec_from_file_location("m", dirName + "/tests/TestBadParams.py")
+        # m = importlib.util.module_from_spec(spec)
+        # spec.loader.exec_module(m)
         # self.tests.append(m.TestBadParams())
 
     def run(self, logdata, verbose):

Tools/LogAnalyzer/UnitTest.py

@@ -70,7 +70,6 @@ try:
         'AHRS_ORIENTATION': 0.0,
         'SIMPLE': 0.0,
         'RC2_MAX': 1929.0,
-        'MNT_RC_RATE': 0.0,
         'RC8_FUNCTION': 0.0,
         'INS_ACCSCAL_X': 0.992788,
         'ACRO_P': 4.5,
@@ -220,7 +219,6 @@ try:
         'RATE_RLL_IMAX': 4500.0,
         'HLD_LAT_P': 1.0,
         'AHRS_GPS_MINSATS': 6.0,
-        'FLOW_TYPE': 0.0,
         'RC8_REV': 1.0,
         'SONAR_GAIN': 0.2,
         'RC2_TRIM': 1521.0,
@@ -315,6 +313,8 @@ try:
         'BATT_CURR_PIN': 12.0,
         'WPNAV_SPEED_UP': 250.0,
         'RC1_TRIM': 1524.0,
+        "MNT_JSTICK_SPD": 0.0,
+        "FLOW_ENABLE": 0.0,
     }
     assert logdata.messages == {}
     assert logdata.modeChanges == {
@@ -335,7 +335,7 @@ try:
     assert logdata.channels['CTUN']['CRate'].listData[51] == (421, 31)
     assert logdata.channels['CTUN']['CRate'].listData[115] == (563, -8)
     assert int(logdata.filesizeKB) == 307
-    assert logdata.durationSecs == 155
+    assert abs(logdata.durationSecs - 155.399) < 1e-9
     assert logdata.lineCount == 4750
 
     # test LogIterator class