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LogAnalyzer: adjust for change in vehicle definition MSG string

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We changed from ArduCopter to APM:Copter, breaking parts of the LogAnalyzer

This change has LogAnalyzer canonicalise its output to Ardu{Plane,Rover,Copter}

Also account for change in MODE message - ThrCrs has gone away
This commit is contained in:
Peter Barker 2015-10-15 11:05:45 +11:00 committed by Randy Mackay
parent 0c61e09b70
commit e357be3d85
4 changed files with 59 additions and 18 deletions
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48
Tools/LogAnalyzer/DataflashLog.py
View File

@ -12,6 +12,8 @@ import bisect
import sys
import ctypes
from VehicleType import VehicleType, VehicleTypeString
class Format(object):
'''Data channel format as specified by the FMT lines in the log file'''
def __init__(self,msgType,msgLen,name,types,labels):
@ -383,7 +385,7 @@ class DataflashLogHelper:
'''returns an human readable error string if the log is essentially empty, otherwise returns None'''
# naive check for now, see if the throttle output was ever above 20%
throttleThreshold = 20
if logdata.vehicleType == "ArduCopter":
if logdata.vehicleType == VehicleType.Copter:
throttleThreshold = 200 # copter uses 0-1000, plane+rover use 0-100
if "CTUN" in logdata.channels:
maxThrottle = logdata.channels["CTUN"]["ThrOut"].max()
@ -403,7 +405,8 @@ class DataflashLog(object):
def __init__(self, logfile=None, format="auto", ignoreBadlines=False):
self.filename = None
self.vehicleType = "" # ArduCopter, ArduPlane, ArduRover, etc, verbatim as given by header
self.vehicleType = None # from VehicleType enumeration; value derived from header
self.vehicleTypeString = None # set at same time has the enum value
self.firmwareVersion = ""
self.firmwareHash = ""
self.freeRAM = 0
@ -425,7 +428,7 @@ class DataflashLog(object):
def getCopterType(self):
'''returns quad/hex/octo/tradheli if this is a copter log'''
if self.vehicleType != "ArduCopter":
if self.vehicleType != VehicleType.Copter:
return None
motLabels = []
if "MOT" in self.formats: # not listed in PX4 log header for some reason?
@ -492,6 +495,22 @@ class DataflashLog(object):
# TODO: calculate logging rate based on timestamps
# ...
msg_vehicle_to_vehicle_map = {
"ArduCopter": VehicleType.Copter,
"APM:Copter": VehicleType.Copter,
"ArduPlane": VehicleType.Plane,
"ArduRover": VehicleType.Rover
}
# takes the vehicle type supplied via "MSG" and sets vehicleType from
# the VehicleType enumeration
def set_vehicleType_from_MSG_vehicle(self, MSG_vehicle):
ret = self.msg_vehicle_to_vehicle_map.get(MSG_vehicle, None)
if ret is None:
raise ValueError("Unknown vehicle type (%s)" % (MSG_vehicle))
self.vehicleType = ret
self.vehicleTypeString = VehicleTypeString[ret]
def process(self, lineNumber, e):
if e.NAME == 'FMT':
cls = e.to_class()
@ -505,15 +524,14 @@ class DataflashLog(object):
elif e.NAME == "MSG":
if not self.vehicleType:
tokens = e.Message.split(' ')
vehicleTypes = ["ArduPlane", "ArduCopter", "ArduRover"]
self.vehicleType = tokens[0]
self.set_vehicleType_from_MSG_vehicle(tokens[0]);
self.firmwareVersion = tokens[1]
if len(tokens) == 3:
self.firmwareHash = tokens[2][1:-1]
else:
self.messages[lineNumber] = e.Message
elif e.NAME == "MODE":
if self.vehicleType in ["ArduCopter"]:
if self.vehicleType == VehicleType.Copter:
try:
modes = {0:'STABILIZE',
1:'ACRO',
@ -530,13 +548,21 @@ class DataflashLog(object):
14:'FLIP',
15:'AUTOTUNE',
16:'HYBRID',}
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ThrCrs)
if hasattr(e, 'ThrCrs'):
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ThrCrs)
else:
# assume it has ModeNum:
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ModeNum)
except:
self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
elif self.vehicleType in ["ArduPlane", "APM:Plane", "ArduRover", "APM:Rover", "APM:Copter"]:
if hasattr(e, 'ThrCrs'):
self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
else:
# assume it has ModeNum:
self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
elif self.vehicleType in [VehicleType.Plane, VehicleType.Copter, VehicleType.Rover]:
self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
else:
raise Exception("Unknown log type for MODE line vehicletype=({}) linw=({})".format(self.vehicleType, repr(e)))
raise Exception("Unknown log type for MODE line vehicletype=({}) linw=({})".format(self.vehicleTypeString, repr(e)))
# anything else must be the log data
else:
groupName = e.NAME
@ -583,7 +609,7 @@ class DataflashLog(object):
elif tokens2[0] in knownHardwareTypes:
self.hardwareType = line # not sure if we can parse this more usefully, for now only need to report it back verbatim
elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][0].lower() == "v": # e.g. ArduCopter V3.1 (5c6503e2)
self.vehicleType = tokens2[0]
self.set_vehicleType_from_MSG_vehicle(tokens2[0])
self.firmwareVersion = tokens2[1]
if len(tokens2) == 3:
self.firmwareHash = tokens2[2][1:-1]

11
Tools/LogAnalyzer/LogAnalyzer.py
View File

@ -30,6 +30,7 @@ import datetime
import time
from xml.sax.saxutils import escape
from VehicleType import VehicleType
class TestResult(object):
'''all tests return a standardized result type'''
@ -96,10 +97,10 @@ class TestSuite(object):
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())
if self.logdata.vehicleType == VehicleType.Copter and self.logdata.getCopterType():
print 'Vehicle Type: %s (%s)' % (self.logdata.vehicleTypeString, self.logdata.getCopterType())
else:
print 'Vehicle Type: %s' % self.logdata.vehicleType
print 'Vehicle Type: %s' % self.logdata.vehicleTypeString
print 'Firmware Version: %s (%s)' % (self.logdata.firmwareVersion, self.logdata.firmwareHash)
print 'Hardware: %s' % self.logdata.hardwareType
print 'Free RAM: %s' % self.logdata.freeRAM
@ -158,8 +159,8 @@ class TestSuite(object):
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, " <vehicletype>" + escape(self.logdata.vehicleTypeString) + "</vehicletype>"
if self.logdata.vehicleType == VehicleType.Copter 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>"

6
Tools/LogAnalyzer/UnitTest.py
View File

@ -9,6 +9,7 @@
import DataflashLog
import traceback
from VehicleType import VehicleType
try:
@ -16,7 +17,8 @@ try:
logdata = DataflashLog.DataflashLog()
logdata.read("examples/robert_lefebvre_octo_PM.log", ignoreBadlines=False)
assert(logdata.filename == "examples/robert_lefebvre_octo_PM.log")
assert(logdata.vehicleType == "ArduCopter")
assert(logdata.vehicleType == VehicleType.Copter)
assert(logdata.vehicleTypeString == "ArduCopter")
assert(logdata.firmwareVersion == "V3.0.1")
assert(logdata.firmwareHash == "5c6503e2")
assert(logdata.freeRAM == 1331)
@ -38,7 +40,7 @@ try:
assert(logdata.channels['CTUN']['CRate'].listData[3] == (317, 35))
assert(logdata.channels['CTUN']['CRate'].listData[51] == (421, 31))
assert(logdata.channels['CTUN']['CRate'].listData[115] == (563, -8))
assert(int(logdata.filesizeKB) == 302)
assert(int(logdata.filesizeKB) == 307)
assert(logdata.durationSecs == 155)
assert(logdata.lineCount == 4750)

12
Tools/LogAnalyzer/VehicleType.py Normal file
View File

@ -0,0 +1,12 @@
class VehicleType():
Plane = 17
Copter = 23
Rover = 37
# these should really be "Plane", "Copter" and "Rover", but many
# things use these values as triggers in their code:
VehicleTypeString = {
17: "ArduPlane",
23: "ArduCopter",
37: "ArduRover"
}