mirror of
https://github.com/ArduPilot/ardupilot
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256 lines
10 KiB
Python
Executable File
256 lines
10 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 (chapman@skymount.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 - unify result statusMessage and extraOutput. simple tests set statusMessage, complex ones append to it with newlines
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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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class TestResult:
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'''all tests pass back a standardized result'''
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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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PASS, FAIL, WARN, UNKNOWN, NA = range(5)
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status = None
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statusMessage = ""
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extraFeedback = ""
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class Test:
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'''base class to be inherited by each specific log test. Each test should be quite granular so we have lots of small tests with clear results'''
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name = ""
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result = None # will be an instance of TestResult after being run
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execTime = None
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enable = True
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def run(self, logdata):
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pass
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class TestSuite:
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'''registers test classes'''
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tests = []
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logfile = None
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logdata = None
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def __init__(self):
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# dynamically load in Test subclasses from the 'tests' folder
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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):
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'''run all registered tests in a single call'''
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self.logdata = logdata
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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) # 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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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 == "ArduCopter" and self.logdata.getCopterType():
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print 'Vehicle Type: %s (%s)' % (self.logdata.vehicleType, self.logdata.getCopterType())
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else:
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print 'Vehicle Type: %s' % self.logdata.vehicleType
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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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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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execTime = ""
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if outputStats:
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execTime = " (%.2fms)" % (test.execTime)
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if test.result.status == TestResult.StatusType.PASS:
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print " %20s: PASS %-50s%s" % (test.name, test.result.statusMessage,execTime)
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elif test.result.status == TestResult.StatusType.FAIL:
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print " %20s: FAIL %-50s%s [GRAPH]" % (test.name, test.result.statusMessage,execTime)
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elif test.result.status == TestResult.StatusType.WARN:
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print " %20s: WARN %-50s%s [GRAPH]" % (test.name, test.result.statusMessage,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 %-50s%s" % (test.name, test.result.statusMessage,execTime)
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if test.result.extraFeedback:
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for line in test.result.extraFeedback.strip().split('\n'):
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print " %20s %s" % ("",line)
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print '\n'
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print 'The Log Analyzer is currently BETA code. For 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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# open the file for writing
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xml = None
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try:
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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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print >>xml, "<?xml version=\"1.0\" encoding=\"UTF-8\"?>"
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print >>xml, "<loganalysis>"
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print >>xml, "<header>"
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print >>xml, " <logfile>" + self.logfile + "</logfile>"
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print >>xml, " <sizekb>" + `self.logdata.filesizeKB` + "</sizekb>"
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print >>xml, " <sizelines>" + `self.logdata.lineCount` + "</sizelines>"
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print >>xml, " <duration>" + str(datetime.timedelta(seconds=self.logdata.durationSecs)) + "</duration>"
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print >>xml, " <vehicletype>" + self.logdata.vehicleType + "</vehicletype>"
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if self.logdata.vehicleType == "ArduCopter" and self.logdata.getCopterType():
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print >>xml, " <coptertype>" + self.logdata.getCopterType() + "</coptertype>"
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print >>xml, " <firmwareversion>" + self.logdata.firmwareVersion + "</firmwareversion>"
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print >>xml, " <firmwarehash>" + self.logdata.firmwareHash + "</firmwarehash>"
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print >>xml, " <hardwaretype>" + self.logdata.hardwareType + "</hardwaretype>"
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print >>xml, " <freemem>" + `self.logdata.freeRAM` + "</freemem>"
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print >>xml, "</header>"
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# output parameters
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print >>xml, "<params>"
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for param, value in self.logdata.parameters.items():
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print >>xml, " <param name=\"%s\" value=\"%s\" />" % (param,`value`)
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#print >>xml, " <paramname>" + param + "</paramname>"
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#print >>xml, " <paramvalue>" + `value` + "</paramvalue>"
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#print >>xml, " </param>"
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print >>xml, "</params>"
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# output test results
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print >>xml, "<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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print >>xml, " <result>"
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if test.result.status == TestResult.StatusType.PASS:
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print >>xml, " <name>" + test.name + "</name>"
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print >>xml, " <status>PASS</status>"
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print >>xml, " <message>" + test.result.statusMessage + "</message>"
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print >>xml, " <extrafeedback>" + test.result.extraFeedback + "</extrafeedback>"
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elif test.result.status == TestResult.StatusType.FAIL:
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print >>xml, " <name>" + test.name + "</name>"
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print >>xml, " <status>FAIL</status>"
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print >>xml, " <message>" + test.result.statusMessage + "</message>"
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print >>xml, " <extrafeedback>" + test.result.extraFeedback + "</extrafeedback>"
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print >>xml, " <data>(test data will be embeded here at some point)</data>"
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elif test.result.status == TestResult.StatusType.WARN:
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print >>xml, " <name>" + test.name + "</name>"
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print >>xml, " <status>WARN</status>"
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print >>xml, " <message>" + test.result.statusMessage + "</message>"
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print >>xml, " <extrafeedback>" + test.result.extraFeedback + "</extrafeedback>"
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print >>xml, " <data>(test data will be embeded here at some point)</data>"
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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 >>xml, " <name>" + test.name + "</name>"
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print >>xml, " <status>UNKNOWN</status>"
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print >>xml, " <message>" + test.result.statusMessage + "</message>"
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print >>xml, " <extrafeedback>" + test.result.extraFeedback + "</extrafeedback>"
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print >>xml, " </result>"
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print >>xml, "</results>"
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print >>xml, "</loganalysis>"
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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')
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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')
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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, 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) # 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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# temp - test some spot values - include a bunch of this in a unit test at some point
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#print "GPS abs alt on line 24126 is " + `self.logdata.channels["GPS"]["Alt"].dictData[24126]` # 52.03
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#print "ATT pitch on line 22153 is " + `self.logdata.channels["ATT"]["Pitch"].dictData[22153]` # -7.03
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#gpsAlt = self.logdata.channels["GPS"]["Alt"]
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#print "All GPS Alt data: %s\n\n" % gpsAlt.dictData
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#gpsAltSeg = gpsAlt.getSegment(426,711)
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#print "Segment of GPS Alt data from %d to %d: %s\n\n" % (426,711,gpsAltSeg.dictData)
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if __name__ == "__main__":
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main()
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