mirror of https://github.com/ArduPilot/ardupilot
263 lines
12 KiB
Python
Executable File
263 lines
12 KiB
Python
Executable File
#!/usr/bin/env python
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#
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# A module to analyze and identify any common problems which can be determined from log files
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#
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# Initial code by Andrew Chapman (amchapman@gmail.com), 16th Jan 2014
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#
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# some logging oddities noticed while doing this, to be followed up on:
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# - tradheli MOT labels Mot1,Mot2,Mot3,Mot4,GGain
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# - Pixhawk doesn't output one of the FMT labels... forget which one
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# - MAG offsets seem to be constant (only seen data on Pixhawk)
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# - MAG offsets seem to be cast to int before being output? (param is -84.67, logged as -84)
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# - copter+plane use 'V' in their vehicle type/version/build line, rover uses lower case 'v'. Copter+Rover give a build number, plane does not
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# - CTUN.ThrOut on copter is 0-1000, on plane+rover it is 0-100
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# TODO: add test for noisy baro values
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# TODO: support loading binary log files (use Tridge's mavlogdump?)
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from __future__ import print_function
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import DataflashLog
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import pprint # temp
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import imp
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import glob
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import inspect
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import os, sys
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import argparse
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import datetime
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import time
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from xml.sax.saxutils import escape
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from VehicleType import VehicleType
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class TestResult(object):
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'''all tests return a standardized result type'''
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class StatusType:
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# NA means not applicable for this log (e.g. copter tests against a plane log), UNKNOWN means it is missing data required for the test
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GOOD, FAIL, WARN, UNKNOWN, NA = range(5)
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status = None
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statusMessage = "" # can be multi-line
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class Test(object):
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'''base class to be inherited by log tests. Each test should be quite granular so we have lots of small tests with clear results'''
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def __init__(self):
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self.name = ""
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self.result = None # will be an instance of TestResult after being run
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self.execTime = None
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self.enable = True
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def run(self, logdata, verbose=False):
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pass
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class TestSuite(object):
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'''registers test classes, loading using a basic plugin architecture, and can run them all in one run() operation'''
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def __init__(self):
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self.tests = []
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self.logfile = None
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self.logdata = None
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# dynamically load in Test subclasses from the 'tests' folder
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# to prevent one being loaded, move it out of that folder, or set that test's .enable attribute to False
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dirName = os.path.dirname(os.path.abspath(__file__))
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testScripts = glob.glob(dirName + '/tests/*.py')
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testClasses = []
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for script in testScripts:
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m = imp.load_source("m",script)
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for name, obj in inspect.getmembers(m, inspect.isclass):
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if name not in testClasses and inspect.getsourcefile(obj) == script:
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testClasses.append(name)
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self.tests.append(obj())
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# and here's an example of explicitly loading a Test class if you wanted to do that
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# m = imp.load_source("m", dirName + '/tests/TestBadParams.py')
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# self.tests.append(m.TestBadParams())
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def run(self, logdata, verbose):
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'''run all registered tests in a single call, gathering execution timing info'''
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self.logdata = logdata
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if 'GPS' not in self.logdata.channels and 'GPS2' in self.logdata.channels:
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# *cough*
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self.logdata.channels['GPS'] = self.logdata.channels['GPS2']
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self.logfile = logdata.filename
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for test in self.tests:
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# run each test in turn, gathering timing info
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if test.enable:
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startTime = time.time()
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test.run(self.logdata, verbose) # RUN THE TEST
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endTime = time.time()
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test.execTime = 1000 * (endTime-startTime)
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def outputPlainText(self, outputStats):
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'''output test results in plain text'''
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print('Dataflash log analysis report for file: ' + self.logfile)
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print('Log size: %.2fmb (%d lines)' % (self.logdata.filesizeKB / 1024.0, self.logdata.lineCount))
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print('Log duration: %s' % str(datetime.timedelta(seconds=self.logdata.durationSecs)) + '\n')
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if self.logdata.vehicleType == VehicleType.Copter and self.logdata.getCopterType():
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print('Vehicle Type: %s (%s)' % (self.logdata.vehicleTypeString, self.logdata.getCopterType()))
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else:
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print('Vehicle Type: %s' % self.logdata.vehicleTypeString)
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print('Firmware Version: %s (%s)' % (self.logdata.firmwareVersion, self.logdata.firmwareHash))
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print('Hardware: %s' % self.logdata.hardwareType)
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print('Free RAM: %s' % self.logdata.freeRAM)
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if self.logdata.skippedLines:
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print("\nWARNING: %d malformed log lines skipped during read" % self.logdata.skippedLines)
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print('\n')
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print("Test Results:")
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for test in self.tests:
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if not test.enable:
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continue
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statusMessageFirstLine = test.result.statusMessage.strip('\n\r').split('\n')[0]
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statusMessageExtra = test.result.statusMessage.strip('\n\r').split('\n')[1:]
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execTime = ""
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if outputStats:
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execTime = " (%6.2fms)" % (test.execTime)
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if test.result.status == TestResult.StatusType.GOOD:
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print(" %20s: GOOD %-55s%s" % (test.name, statusMessageFirstLine, execTime))
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elif test.result.status == TestResult.StatusType.FAIL:
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print(" %20s: FAIL %-55s%s [GRAPH]" % (test.name, statusMessageFirstLine, execTime))
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elif test.result.status == TestResult.StatusType.WARN:
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print(" %20s: WARN %-55s%s [GRAPH]" % (test.name, statusMessageFirstLine, execTime))
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elif test.result.status == TestResult.StatusType.NA:
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# skip any that aren't relevant for this vehicle/hardware/etc
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continue
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else:
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print(" %20s: UNKNOWN %-55s%s" % (test.name, statusMessageFirstLine, execTime))
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#if statusMessageExtra:
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for line in statusMessageExtra:
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print(" %29s %s" % ("",line))
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print('\n')
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print('The Log Analyzer is currently BETA code.\nFor any support or feedback on the log analyzer please email Andrew Chapman (amchapman@gmail.com)')
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print('\n')
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def outputXML(self, xmlFile):
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'''output test results to an XML file'''
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# open the file for writing
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xml = None
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try:
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if xmlFile == '-':
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xml = sys.stdout
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else:
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xml = open(xmlFile, 'w')
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except:
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sys.stderr.write("Error opening output xml file: %s" % xmlFile)
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sys.exit(1)
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# output header info
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xml.write("<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n")
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xml.write("<loganalysis>\n")
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xml.write("<header>\n")
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xml.write(" <logfile>" + escape(self.logfile) + "</logfile>\n")
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xml.write(" <sizekb>" + escape(repr(self.logdata.filesizeKB)) + "</sizekb>\n")
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xml.write(" <sizelines>" + escape(repr(self.logdata.lineCount)) + "</sizelines>\n")
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xml.write(" <duration>" + escape(str(datetime.timedelta(seconds=self.logdata.durationSecs))) + "</duration>\n")
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xml.write(" <vehicletype>" + escape(self.logdata.vehicleTypeString) + "</vehicletype>\n")
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if self.logdata.vehicleType == VehicleType.Copter and self.logdata.getCopterType():
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xml.write(" <coptertype>" + escape(self.logdata.getCopterType()) + "</coptertype>\n")
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xml.write(" <firmwareversion>" + escape(self.logdata.firmwareVersion) + "</firmwareversion>\n")
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xml.write(" <firmwarehash>" + escape(self.logdata.firmwareHash) + "</firmwarehash>\n")
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xml.write(" <hardwaretype>" + escape(self.logdata.hardwareType) + "</hardwaretype>\n")
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xml.write(" <freemem>" + escape(repr(self.logdata.freeRAM)) + "</freemem>\n")
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xml.write(" <skippedlines>" + escape(repr(self.logdata.skippedLines)) + "</skippedlines>\n")
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xml.write("</header>\n")
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# output parameters
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xml.write("<params>\n")
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for param, value in self.logdata.parameters.items():
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xml.write(" <param name=\"%s\" value=\"%s\" />\n" % (param,escape(repr(value))))
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xml.write("</params>\n")
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# output test results
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xml.write("<results>\n")
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for test in self.tests:
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if not test.enable:
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continue
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xml.write(" <result>\n")
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if test.result.status == TestResult.StatusType.GOOD:
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xml.write(" <name>" + escape(test.name) + "</name>\n")
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xml.write(" <status>GOOD</status>\n")
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xml.write(" <message>" + escape(test.result.statusMessage) + "</message>\n")
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elif test.result.status == TestResult.StatusType.FAIL:
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xml.write(" <name>" + escape(test.name) + "</name>\n")
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xml.write(" <status>FAIL</status>\n")
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xml.write(" <message>" + escape(test.result.statusMessage) + "</message>\n")
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xml.write(" <data>(test data will be embedded here at some point)</data>\n")
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elif test.result.status == TestResult.StatusType.WARN:
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xml.write(" <name>" + escape(test.name) + "</name>\n")
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xml.write(" <status>WARN</status>\n")
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xml.write(" <message>" + escape(test.result.statusMessage) + "</message>\n")
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xml.write(" <data>(test data will be embedded here at some point)</data>\n")
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elif test.result.status == TestResult.StatusType.NA:
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xml.write(" <name>" + escape(test.name) + "</name>\n")
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xml.write(" <status>NA</status>\n")
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else:
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xml.write(" <name>" + escape(test.name) + "</name>\n")
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xml.write(" <status>UNKNOWN</status>\n")
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xml.write(" <message>" + escape(test.result.statusMessage) + "</message>\n")
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xml.write(" </result>\n")
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xml.write("</results>\n")
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xml.write("</loganalysis>\n")
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xml.close()
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def main():
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dirName = os.path.dirname(os.path.abspath(__file__))
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# deal with command line arguments
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parser = argparse.ArgumentParser(description='Analyze an APM Dataflash log for known issues')
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parser.add_argument('logfile', type=argparse.FileType('r'), help='path to Dataflash log file (or - for stdin)')
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parser.add_argument('-f', '--format', metavar='', type=str, action='store', choices=['bin','log','auto'], default='auto', help='log file format: \'bin\',\'log\' or \'auto\'')
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parser.add_argument('-q', '--quiet', metavar='', action='store_const', const=True, help='quiet mode, do not print results')
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parser.add_argument('-p', '--profile', metavar='', action='store_const', const=True, help='output performance profiling data')
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parser.add_argument('-s', '--skip_bad', metavar='', action='store_const', const=True, help='skip over corrupt dataflash lines')
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parser.add_argument('-e', '--empty', metavar='', action='store_const', const=True, help='run an initial check for an empty log')
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parser.add_argument('-x', '--xml', type=str, metavar='XML file', nargs='?', const='', default='', help='write output to specified XML file (or - for stdout)')
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parser.add_argument('-v', '--verbose', metavar='', action='store_const', const=True, help='verbose output')
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args = parser.parse_args()
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# load the log
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startTime = time.time()
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logdata = DataflashLog.DataflashLog(args.logfile.name, format=args.format, ignoreBadlines=args.skip_bad) # read log
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endTime = time.time()
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if args.profile:
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print("Log file read time: %.2f seconds" % (endTime-startTime))
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# check for empty log if requested
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if args.empty:
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emptyErr = DataflashLog.DataflashLogHelper.isLogEmpty(logdata)
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if emptyErr:
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sys.stderr.write("Empty log file: %s, %s" % (logdata.filename, emptyErr))
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sys.exit(1)
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#run the tests, and gather timings
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testSuite = TestSuite()
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startTime = time.time()
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testSuite.run(logdata, args.verbose) # run tests
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endTime = time.time()
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if args.profile:
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print("Test suite run time: %.2f seconds" % (endTime-startTime))
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# deal with output
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if not args.quiet:
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testSuite.outputPlainText(args.profile)
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if args.xml:
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testSuite.outputXML(args.xml)
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if not args.quiet:
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print("XML output written to file: %s\n" % args.xml)
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if __name__ == "__main__":
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main()
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