#!/usr/bin/env python ''' run Replay over a set of logs to check for code regressions ''' import optparse, os, sys parser = optparse.OptionParser("CheckLogs") parser.add_option("--logdir", type='string', default='testlogs', help='directory of logs to use') parser.add_option("--create-checked-logs", action='store_true', default=False, help="created logs with CHEK messages") parser.add_option("--tolerance-euler", type=float, default=3, help="tolerance for euler angles in degrees"); parser.add_option("--tolerance-pos", type=float, default=2, help="tolerance for position angles in meters"); parser.add_option("--tolerance-vel", type=float, default=2, help="tolerance for velocity in meters/second"); opts, args = parser.parse_args() def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True): '''run a shell command''' from subprocess import call, check_call,Popen, PIPE if show: print("Running: '%s' in '%s'" % (cmd, dir)) if output: return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0] elif checkfail: return check_call(cmd, shell=True, cwd=dir) else: return call(cmd, shell=True, cwd=dir) def run_replay(logfile): '''run Replay on one logfile''' print("Processing %s" % logfile) cmd = "./Replay.elf -- --check %s --tolerance-euler=%f --tolerance-pos=%f --tolerance-vel=%f " % ( logfile, opts.tolerance_euler, opts.tolerance_pos, opts.tolerance_vel) run_cmd(cmd, checkfail=False) def get_log_list(): '''get a list of log files to process''' import glob, os, sys pattern = os.path.join(opts.logdir, "*-checked.bin") file_list = glob.glob(pattern) print("Found %u logs to processs" % len(file_list)) if len(file_list) == 0: print("No logs to process matching %s" % pattern) sys.exit(1) return file_list def create_html_results(): '''create a HTML file with results''' error_count = 0 git_version = run_cmd('git log --pretty=oneline HEAD~1..HEAD', output=True) f = open("replay_results.html", "w") f.write( ''' Replay results

Replay Results

Git version: %s

''' % git_version) infile = open("replay_results.txt", "r") line_count = 0 line_errors = 0 for line in infile: line = line.strip() line_count += 1 a = line.split("\t") if len(a) != 6: print("Invalid line: %s" % line) error_count += 1 continue tolerances = [opts.tolerance_euler, opts.tolerance_euler, opts.tolerance_euler, opts.tolerance_pos, opts.tolerance_vel] f.write('''''' % (a[0],a[0])) error_in_this_log = False for i in range(1,6): tol = tolerances[i-1] if a[i] == "FPE": bgcolor = "red" error_count += 1 error_in_this_log = True elif float(a[i]) > tol: bgcolor = "red" error_count += 1 error_in_this_log = True else: bgcolor = "white" f.write('''\n''' % (bgcolor, a[i])) if error_in_this_log: line_errors += 1 f.write('''\n''') f.write('''
Filename RollError(deg) PitchError(deg) YawError(deg) PosError(m) VelError(m/s)
%s%s
\n''') # write summary f.write( '''

Summary

Processed %u logs
%u errors from %u logs

Tolerance Euler: %.3f degrees
Tolerance Position: %.3f meters
Tolerance Velocity: %.3f meters/second ''' % (line_count, error_count, line_errors, opts.tolerance_euler, opts.tolerance_pos, opts.tolerance_vel)) # add trailer f.write( ''' ''') f.close() infile.close() def check_logs(): '''run log checking''' log_list = get_log_list() # remove old results file try: os.unlink("replay_results.txt") except Exception as ex: print(ex) pass for logfile in log_list: run_replay(logfile) create_html_results() def create_checked_logs(): '''create a set of CHEK logs''' import glob, os, sys if os.path.isfile(opts.logdir): full_file_list = [opts.logdir] else: pattern = os.path.join(opts.logdir, "*.bin") full_file_list = glob.glob(pattern) file_list = [] for f in full_file_list: if not f.endswith("-checked.bin"): file_list.append(f) if len(file_list) == 0: print("No files to process") sys.exit(1) for f in file_list: print("Processing %s" % f) log_list_current = set(glob.glob("logs/*.BIN")) cmd = "./Replay.elf -- --check-generate %s" % f run_cmd(cmd, checkfail=True) log_list_after = set(glob.glob("logs/*.BIN")) changed = log_list_after.difference(log_list_current) if len(changed) != 1: print("Failed to generate log for %s" % f) sys.exit(1) outlog = list(changed)[0] name, ext = os.path.splitext(f) newname = name + '-checked.bin' os.rename(outlog, newname) print("Created %s" % newname) if opts.create_checked_logs: create_checked_logs() sys.exit(0) check_logs()