mirror of https://github.com/ArduPilot/ardupilot
193 lines
5.6 KiB
Python
Executable File
193 lines
5.6 KiB
Python
Executable File
#!/usr/bin/env python
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'''
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run Replay over a set of logs to check for code regressions
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'''
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import optparse, os, sys
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parser = optparse.OptionParser("CheckLogs")
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parser.add_option("--logdir", type='string', default='testlogs', help='directory of logs to use')
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parser.add_option("--create-checked-logs", action='store_true', default=False, help="created logs with CHEK messages")
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parser.add_option("--tolerance-euler", type=float, default=3, help="tolerance for euler angles in degrees");
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parser.add_option("--tolerance-pos", type=float, default=2, help="tolerance for position angles in meters");
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parser.add_option("--tolerance-vel", type=float, default=2, help="tolerance for velocity in meters/second");
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opts, args = parser.parse_args()
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def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
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'''run a shell command'''
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from subprocess import call, check_call,Popen, PIPE
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if show:
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print("Running: '%s' in '%s'" % (cmd, dir))
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if output:
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return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
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elif checkfail:
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return check_call(cmd, shell=True, cwd=dir)
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else:
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return call(cmd, shell=True, cwd=dir)
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def run_replay(logfile):
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'''run Replay on one logfile'''
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print("Processing %s" % logfile)
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cmd = "./Replay.elf -- --check %s --tolerance-euler=%f --tolerance-pos=%f --tolerance-vel=%f " % (
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logfile,
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opts.tolerance_euler,
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opts.tolerance_pos,
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opts.tolerance_vel)
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run_cmd(cmd, checkfail=False)
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def get_log_list():
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'''get a list of log files to process'''
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import glob, sys
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pattern = os.path.join(opts.logdir, "*-checked.bin")
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file_list = glob.glob(pattern)
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print("Found %u logs to processs" % len(file_list))
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if len(file_list) == 0:
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print("No logs to process matching %s" % pattern)
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sys.exit(1)
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return file_list
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def create_html_results():
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'''create a HTML file with results'''
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error_count = 0
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git_version = run_cmd('git log --pretty=oneline HEAD~1..HEAD', output=True)
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f = open("replay_results.html", "w")
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f.write(
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'''<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html lang="en" xmlns="http://www.w3.org/1999/xhtml">
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<head>
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<title>Replay results</title>
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<meta charset="utf-8"/>
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</head>
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<body>
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<h1>Replay Results</h1>
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Git version: %s
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<p>
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<table border="1">
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<tr bgcolor="lightgrey">
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<th>Filename</th>
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<th>RollError(deg)</th>
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<th>PitchError(deg)</th>
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<th>YawError(deg)</th>
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<th>PosError(m)</th>
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<th>VelError(m/s)</th>
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</tr>
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''' % git_version)
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infile = open("replay_results.txt", "r")
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line_count = 0
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line_errors = 0
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for line in infile:
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line = line.strip()
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line_count += 1
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a = line.split("\t")
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if len(a) != 6:
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print("Invalid line: %s" % line)
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error_count += 1
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continue
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tolerances = [opts.tolerance_euler,
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opts.tolerance_euler,
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opts.tolerance_euler,
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opts.tolerance_pos,
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opts.tolerance_vel]
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f.write('''<tr><td><a href="%s">%s</a></td>''' % (a[0],a[0]))
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error_in_this_log = False
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for i in range(1,6):
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tol = tolerances[i-1]
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if a[i] == "FPE":
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bgcolor = "red"
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error_count += 1
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error_in_this_log = True
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elif float(a[i]) > tol:
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bgcolor = "red"
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error_count += 1
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error_in_this_log = True
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else:
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bgcolor = "white"
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f.write('''<td bgcolor="%s" align="right">%s</td>\n''' % (bgcolor, a[i]))
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if error_in_this_log:
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line_errors += 1
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f.write('''</tr>\n''')
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f.write('''</table>\n''')
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# write summary
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f.write(
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'''<h2>Summary</h2>
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<p>Processed %u logs<br/>
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%u errors from %u logs<br/>
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<hr>
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<p>Tolerance Euler: %.3f degrees<br/>
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Tolerance Position: %.3f meters<br/>
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Tolerance Velocity: %.3f meters/second
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''' % (line_count, error_count, line_errors,
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opts.tolerance_euler,
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opts.tolerance_pos,
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opts.tolerance_vel))
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# add trailer
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f.write(
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'''
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</body>
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</html>
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''')
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f.close()
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infile.close()
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def check_logs():
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'''run log checking'''
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log_list = get_log_list()
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# remove old results file
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try:
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os.unlink("replay_results.txt")
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except Exception as ex:
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print(ex)
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for logfile in log_list:
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run_replay(logfile)
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create_html_results()
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def create_checked_logs():
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'''create a set of CHEK logs'''
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import glob, sys
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if os.path.isfile(opts.logdir):
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full_file_list = [opts.logdir]
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else:
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pattern = os.path.join(opts.logdir, "*.bin")
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full_file_list = glob.glob(pattern)
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file_list = []
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for f in full_file_list:
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if not f.endswith("-checked.bin"):
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file_list.append(f)
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if len(file_list) == 0:
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print("No files to process")
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sys.exit(1)
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for f in file_list:
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print("Processing %s" % f)
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log_list_current = set(glob.glob("logs/*.BIN"))
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cmd = "./Replay.elf -- --check-generate %s" % f
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run_cmd(cmd, checkfail=True)
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log_list_after = set(glob.glob("logs/*.BIN"))
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changed = log_list_after.difference(log_list_current)
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if len(changed) != 1:
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print("Failed to generate log for %s" % f)
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sys.exit(1)
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outlog = list(changed)[0]
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name, ext = os.path.splitext(f)
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newname = name + '-checked.bin'
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os.rename(outlog, newname)
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print("Created %s" % newname)
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if opts.create_checked_logs:
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create_checked_logs()
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sys.exit(0)
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check_logs()
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