mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.6 KiB
Python
65 lines
2.6 KiB
Python
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)
|
|
|
|
|