mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.5 KiB
Python
Executable File
111 lines
3.5 KiB
Python
Executable File
#!/usr/bin/env python
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'''
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check that replay produced identical results
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'''
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from __future__ import print_function
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def check_log(logfile, progress=print, ekf2_only=False, ekf3_only=False, verbose=False, accuracy=0.0, ignores=set()):
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'''check replay log for matching output'''
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from pymavlink import mavutil
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progress("Processing log %s" % logfile)
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failure = 0
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errors = 0
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count = 0
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base_count = 0
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counts = {}
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base_counts = {}
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mlog = mavutil.mavlink_connection(logfile)
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ek2_list = ['NKF1','NKF2','NKF3','NKF4','NKF5','NKF0','NKQ', 'NKY0', 'NKY1']
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ek3_list = ['XKF1','XKF2','XKF3','XKF4','XKF0','XKFS','XKQ','XKFD','XKV1','XKV2','XKY0','XKY1']
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if ekf2_only:
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mlist = ek2_list
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elif ekf3_only:
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mlist = ek3_list
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else:
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mlist = ek2_list + ek3_list
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base = {}
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for m in mlist:
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base[m] = {}
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while True:
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m = mlog.recv_match(type=mlist)
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if m is None:
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break
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if not hasattr(m,'C'):
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continue
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mtype = m.get_type()
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if mtype not in counts:
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counts[mtype] = 0
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base_counts[mtype] = 0
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core = m.C
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if core < 100:
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base[mtype][core] = m
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base_count += 1
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base_counts[mtype] += 1
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continue
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mb = base[mtype][core-100]
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count += 1
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counts[mtype] += 1
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mismatch = False
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for f in m._fieldnames:
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if f == 'C':
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continue
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if "%s.%s" % (mtype, f) in ignores:
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continue
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v1 = getattr(m,f)
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v2 = getattr(mb,f)
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ok = v1 == v2
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if not ok and accuracy > 0:
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avg = (v1+v2)*0.5
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margin = accuracy*0.01*avg
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if abs(v1-v2) <= abs(margin):
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ok = True
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if not ok:
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mismatch = True
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errors += 1
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progress("Mismatch in field %s.%s: %s %s" % (mtype, f, str(v1), str(v2)))
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if mismatch:
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progress(mb)
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progress(m)
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progress("Processed %u/%u messages, %u errors" % (count, base_count, errors))
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if verbose:
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for mtype in counts.keys():
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progress("%s %u/%u %d" % (mtype, counts[mtype], base_counts[mtype], base_counts[mtype]-counts[mtype]))
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count_delta = abs(count - base_count)
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if count == 0 or count_delta > 100:
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progress("count=%u count_delta=%u" % (count, count_delta))
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failure += 1
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if failure != 0 or errors != 0:
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return False
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return True
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if __name__ == '__main__':
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import sys
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("--ekf2-only", action='store_true', help="only check EKF2")
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parser.add_argument("--ekf3-only", action='store_true', help="only check EKF3")
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parser.add_argument("--verbose", action='store_true', help="verbose output")
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parser.add_argument("--accuracy", type=float, default=0.0, help="accuracy percentage for match")
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parser.add_argument("--ignore-field", action='append', default=[], help="ignore message field when comparing")
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parser.add_argument("logs", metavar="LOG", nargs="+")
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args = parser.parse_args()
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failed = False
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for filename in args.logs:
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if not check_log(filename, print, args.ekf2_only, args.ekf3_only, args.verbose, accuracy=args.accuracy, ignores=args.ignore_field):
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failed = True
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if failed:
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print("FAILED")
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sys.exit(1)
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print("Passed")
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sys.exit(0)
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