from LogAnalyzer import Test,TestResult
import DataflashLog


class TestPerformance(Test):
	'''check performance monitoring messages (PM) for issues with slow loops, etc'''

	def __init__(self):
		Test.__init__(self)
		self.name = "PM"

	def run(self, logdata, verbose):
		self.result = TestResult()
		self.result.status = TestResult.StatusType.GOOD

		# this test should be valid for all vehicle types, just need to figure out why PM logging data is different in each
		if logdata.vehicleType != "ArduCopter":
			self.result.status = TestResult.StatusType.NA
			return

		# NOTE: we'll ignore MaxT altogether for now, it seems there are quite regularly one or two high values in there, even ignoring the ones expected after arm/disarm events
		# gather info on arm/disarm lines, we will ignore the MaxT data from the first line found after each of these
		# armingLines = []
		# for line,ev in logdata.channels["EV"]["Id"].listData:
		# 	if (ev == 10) or (ev == 11):
		# 		armingLines.append(line)
		# ignoreMaxTLines = []
		# for maxT in logdata.channels["PM"]["MaxT"].listData:
		# 	if not armingLines:
		# 		break 
		# 	if maxT[0] > armingLines[0]:
		# 		#print "Ignoring maxT from line %d, as it is the first PM line after arming on line %d" % (maxT[0],armingLines[0])
		# 		ignoreMaxTLines.append(maxT[0])
		# 		armingLines.pop(0)

		if "PM" not in logdata.channels:
			self.result.status = TestResult.StatusType.UNKNOWN
			self.result.statusMessage = "No PM log data"
			return

		# check for slow loops, i.e. NLon greater than 6% of NLoop
		maxPercentSlow = 0
		maxPercentSlowLine = 0
		slowLoopLineCount = 0
		for i in range(len(logdata.channels["PM"]["NLon"].listData)):
			(line, nLon)  = logdata.channels["PM"]["NLon"].listData[i]
			(line, nLoop) = logdata.channels["PM"]["NLoop"].listData[i]
			(line, maxT)  = logdata.channels["PM"]["MaxT"].listData[i]
			percentSlow = (nLon / float(nLoop)) * 100
			if percentSlow > 6.0:
				slowLoopLineCount = slowLoopLineCount + 1
				if percentSlow > maxPercentSlow:
					maxPercentSlow = percentSlow
					maxPercentSlowLine = line
			#if (maxT > 13000) and line not in ignoreMaxTLines:
			#	print "MaxT of %d detected on line %d" % (maxT,line)
		if (maxPercentSlow > 10) or (slowLoopLineCount > 6):
			self.result.status = TestResult.StatusType.FAIL
			self.result.statusMessage = "%d slow loop lines found, max %.2f%% on line %d" % (slowLoopLineCount,maxPercentSlow,maxPercentSlowLine)
		elif (maxPercentSlow > 6):
			self.result.status = TestResult.StatusType.WARN
			self.result.statusMessage = "%d slow loop lines found, max %.2f%% on line %d" % (slowLoopLineCount,maxPercentSlow,maxPercentSlowLine)