Replay: check_replay_branch.py: inspect all logs for replayability

Tools/Replay/check_replay_branch.py

@@ -7,9 +7,13 @@ Run check_replay.py over the produced log
 '''
 
 import git
+import glob
 import os
 import subprocess
 import sys
+import re
+
+from pymavlink import DFReader
 
 import check_replay
 
@@ -38,11 +42,65 @@ class CheckReplayBranch(object):
         if self.repo.is_dirty():
             raise ValueError("Tree is dirty")
 
-    def run(self):
-        self.topdir = self.find_topdir()
-        self.repo = self.find_repo()
-        self.assert_tree_clean()
+    def is_replayable_log(self, logfile_path):
+        '''returns true if an XKF1 or NKF1 message appears in first 5000
+        messages'''
+        dfreader =  DFReader.DFReader_binary(logfile_path, zero_time_base=True);
+        seen_log_replay = False
+        seen_log_disarmed = False
+        while True:
+            m = dfreader.recv_match(type='PARM')
+            if m is None:
+                if not seen_log_replay:
+                    return False
+                if not seen_log_disarmed:
+                    return False
+                break
+            if m.Name == "LOG_REPLAY":
+                if seen_log_replay:
+                    return False
+                if m.Value != 1:
+                    return False
+                seen_log_replay = True
+            if m.Name == "LOG_DISARMED":
+                if seen_log_disarmed:
+                    return False
+                seen_log_disarmed = True
+                if m.Value != 1:
+                    return False
+        return False
 
+    def is_replay_log(self, logfile_path):
+        '''returns true if an XKF1 or NKF1 message appears in first 5000
+        messages'''
+        dfreader =  DFReader.DFReader_binary(logfile_path, zero_time_base=True);
+        count = 0
+        while True:
+            m = dfreader.recv_match()
+            if m is None:
+                break
+            if m.get_type() == 'XKF1' and m.C >= 100:
+                return True
+            if m.get_type() == 'NKF1' and m.C >= 100:
+                return True
+            count += 1
+            if count > 5000:
+                return False
+        return False
+
+    def progress(self, message):
+        print("CRB: %s" % message)
+
+    def build_replay(self):
+        subprocess.check_call(["./waf", "replay"])
+
+    def run_replay_on_log(self, logfile_path):
+        subprocess.check_call(["./build/sitl/tools/Replay", logfile_path])
+
+    def get_logs(self):
+        return sorted(glob.glob("logs/*.BIN"))
+
+    def run_autotest_replay_on_master(self):
         # remember where we were:
         old_branch = self.repo.active_branch
 
@@ -50,20 +108,73 @@ class CheckReplayBranch(object):
         self.repo.head.reference = self.master
         self.repo.head.reset(index=True, working_tree=True)
 
-        # generate a log:
-        os.chdir(self.topdir)
-        print("chdir (%s)" % str(self.topdir))
+        # generate logs:
         subprocess.check_call(["Tools/autotest/autotest.py", "--debug", "build.Copter", "test.Copter.Replay"])
 
-        logfile_name = "00000004.BIN"  # FIXME; parse output of subprocess?
-        logfile_path = os.path.join("logs", logfile_name)
-
         # check out the original branch:
         self.repo.head.reference = old_branch
         self.repo.head.reset(index=True, working_tree=True)
 
-        # run check_replay across Replay log
-        return check_replay.check_log(logfile_path)
+    def find_replayed_logs(self):
+        '''find logs which were replayed in the autotest'''
+        replayed_logs = set()
+        for logfile_path in self.get_logs():
+            self.progress("  Checking %s" % logfile_path)
+            dfreader =  DFReader.DFReader_binary(logfile_path, zero_time_base=True);
+            while True:
+                m = dfreader.recv_match(type='MSG')
+                if m is None:
+                    break
+                match = re.match(".*Running replay on \(([^)]+)\).*", m.Message)
+                if match is None:
+                    continue
+                replayed_logs.add(match.group(1))
+        return sorted(list(replayed_logs))
+
+    def run(self):
+        self.topdir = self.find_topdir()
+        self.repo = self.find_repo()
+        self.assert_tree_clean()
+
+        os.chdir(self.topdir)
+        self.progress("chdir (%s)" % str(self.topdir))
+
+        self.progress("Running autotest Replay on %s" % self.master)
+        self.run_autotest_replay_on_master()
+
+        self.progress("Building Replay")
+        self.build_replay()
+        self.progress("Build of Replay done")
+
+        # check all replayable logs
+        self.progress("Finding replayed logs")
+        replay_logs = self.find_replayed_logs()
+        success = True
+        if len(replay_logs) == 0:
+            raise ValueError("Found no Replay logs")
+        for log in replay_logs:
+            self.progress("Running Replay on (%s)" % log)
+            old_logs = self.get_logs()
+            self.run_replay_on_log(log)
+            new_logs = self.get_logs()
+            delta = [x for x in new_logs if x not in old_logs]
+            if len(delta) != 1:
+                raise ValueError("Expected a single new log")
+            new_log = delta[0]
+            self.progress("Running check_replay.py on Replay output log: %s" % new_log)
+
+            # run check_replay across Replay log
+            if check_replay.check_log(new_log, verbose=True):
+                self.progress("check_replay.py of (%s): OK" % new_log)
+            else:
+                self.progress("check_replay.py of (%s): FAILED" % new_log)
+                success = False
+        if success:
+            self.progress("All OK")
+        else:
+            self.progress("Failed")
+
+        return success
 
 if __name__ == '__main__':
     import sys