LogAnalyzer: added check for binary log files (can't parse yet)

Tools/LogAnalyzer/DataflashLog.py

@@ -1,10 +1,9 @@
 #
 # Code to abstract the parsing of APM Dataflash log files, currently only used by the LogAnalyzer
 #
-# Initial code by Andrew Chapman (chapman@skymount.com), 16th Jan 2014
+# Initial code by Andrew Chapman (amchapman@gmail.com), 16th Jan 2014
 #
 
-import pprint  # temp
 import collections
 import os
 import numpy
@@ -12,7 +11,7 @@ import bisect
 
 
 class Format:
-	'''Channel format as specified by the FMT lines in the log file'''
+	'''Data channel format as specified by the FMT lines in the log file'''
 	msgType = 0
 	msgLen  = 0
 	name    = ""
@@ -31,11 +30,10 @@ class Format:
 class Channel:
 	'''storage for a single stream of data, i.e. all GPS.RelAlt values'''
 	
-	# TODO: rethink data storage, but do regression test suite first before refactoring it
+	# TODO: rethink data storage, but do more thorough regression testing before refactoring it
 	# TODO: store data as a scipy spline curve so we can more easily interpolate and sample the slope?
-	
 	dictData = None #  dict of linenum->value      # store dupe data in dict and list for now, until we decide which is the better way to go
-	listData = None #  list of (linenum,value)
+	listData = None #  list of (linenum,value)     # store dupe data in dict and list for now, until we decide which is the better way to go
 
 	def __init__(self):
 		self.dictData = {}
@@ -134,6 +132,7 @@ class LogIterator:
 	def __getitem__(self, lineLabel):
 		return LogIterator.LogIteratorSubValue(self.logdata, self.iterators, lineLabel)
 	def next(self):
+		'''increment iterator to next log line'''
 		self.currentLine += 1
 		if self.currentLine > self.logdata.lineCount:
 			return self
@@ -148,16 +147,17 @@ class LogIterator:
 				self.iterators[lineLabel] = (index,lineNumber)
 		return self
 	def jump(self, lineNumber):
+		'''jump iterator to specified log line'''
 		self.currentLine = lineNumber
 		for lineLabel in self.iterators.keys():
 			dataLabel = self.logdata.formats[lineLabel].labels[0]
 			(value,lineNumber) = self.logdata.channels[lineLabel][dataLabel].getNearestValue(self.currentLine)
-			#print "  Found value: %.2f, lineNumber: %d" % (value,lineNumber)
-			#print "  Found index: %d" % self.logdata.channels[lineLabel][dataLabel].getIndexOf(lineNumber)
 			self.iterators[lineLabel] = (self.logdata.channels[lineLabel][dataLabel].getIndexOf(lineNumber), lineNumber)
 
 
 class DataflashLogHelper:
+	'''helper functions for dealing with log data, put here to keep DataflashLog class as a simple parser and data store'''
+
 	@staticmethod
 	def getTimeAtLine(logdata, lineNumber):
 		'''returns the nearest GPS timestamp in milliseconds after the given line number'''
@@ -242,6 +242,7 @@ class DataflashLog:
 	skippedLines = 0
 
 	def getCopterType(self):
+		'''returns quad/hex/octo/tradheli if this is a copter log'''
 		if self.vehicleType != "ArduCopter":
 			return None
 		motLabels = []
@@ -259,7 +260,7 @@ class DataflashLog:
 			return ""
 
 	def __castToFormatType(self,value,valueType):
-		'''using format characters from libraries/DataFlash/DataFlash.h to cast to basic python int/float/string types'''
+		'''using format characters from libraries/DataFlash/DataFlash.h to cast strings to basic python int/float/string types'''
 	  	intTypes   = "bBhHiIM"
 	  	floatTypes = "fcCeEL"
 	  	charTypes  = "nNZ"
@@ -277,9 +278,12 @@ class DataflashLog:
 
 	def read(self, logfile, ignoreBadlines=False):
 		'''returns on successful log read (including bad lines if ignoreBadlines==True), will throw an Exception otherwise'''
-		# TODO: dataflash log parsing code is *SUPER* hacky, should re-write more methodically
+		# TODO: dataflash log parsing code is pretty hacky, should re-write more methodically
 		self.filename = logfile
 		f = open(self.filename, 'r')
+		if f.read(4) == '\xa3\x95\x80\x80':
+			raise Exception("Unable to parse binary log files at this time, will be added soon")
+		f.seek(0)
 		lineNumber = 0
 		knownHardwareTypes = ["APM", "PX4", "MPNG"]
 		for line in f:
@@ -382,5 +386,6 @@ class DataflashLog:
 			self.durationSecs = (lastTimeGPS-firstTimeGPS) / 1000
 
 		# TODO: calculate logging rate based on timestamps
+		# ...
 
 

Tools/LogAnalyzer/LogAnalyzer.py

@@ -2,7 +2,7 @@
 #
 # A module to analyze and identify any common problems which can be determined from log files
 #
-# Initial code by Andrew Chapman (chapman@skymount.com), 16th Jan 2014
+# Initial code by Andrew Chapman (amchapman@gmail.com), 16th Jan 2014
 #
 
 
@@ -14,6 +14,8 @@
 #   - 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
 #   - CTUN.ThrOut on copter is 0-1000, on plane+rover it is 0-100
 
+# TODO: add test for noisy baro values
+
 
 import DataflashLog
 
@@ -33,27 +35,28 @@ class TestResult:
 		# 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
 		PASS, FAIL, WARN, UNKNOWN, NA = range(5)
 	status = None
-	statusMessage = ""
+	statusMessage = "" # can be multi-line
 
 
 class Test:
-	'''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'''
+	'''base class to be inherited by log tests. Each test should be quite granular so we have lots of small tests with clear results'''
-	name = ""
+	name     = ""
-	result = None   # will be an instance of TestResult after being run
+	result   = None   # will be an instance of TestResult after being run
 	execTime = None
-	enable = True
+	enable   = True
 	def run(self, logdata, verbose=False):
 		pass
 
 
 class TestSuite:
-	'''registers test classes'''
+	'''registers test classes, loading using a basic plugin architecture, and can run them all in one run() operation'''
 	tests   = []
 	logfile = None
 	logdata = None
 
 	def __init__(self):
 		# dynamically load in Test subclasses from the 'tests' folder
+		# to prevent one being loaded, move it out of that folder, or set that test's .enable attribute to False
 		dirName = os.path.dirname(os.path.abspath(__file__))
 		testScripts = glob.glob(dirName + '/tests/*.py')
 		testClasses = []
@@ -69,7 +72,7 @@ class TestSuite:
 		# self.tests.append(m.TestBadParams())
 
 	def run(self, logdata, verbose):
-		'''run all registered tests in a single call'''
+		'''run all registered tests in a single call, gathering execution timing info'''
 		self.logdata = logdata
 		self.logfile = logdata.filename
 		for test in self.tests:
@@ -81,6 +84,7 @@ class TestSuite:
 				test.execTime = 1000 * (endTime-startTime)
 
 	def outputPlainText(self, outputStats):
+		'''output test results in plain text'''
 		print 'Dataflash log analysis report for file: ' + self.logfile
 		print 'Log size: %.2fmb (%d lines)' % (self.logdata.filesizeKB / 1024.0, self.logdata.lineCount)
 		print 'Log duration: %s' % str(datetime.timedelta(seconds=self.logdata.durationSecs)) + '\n'
@@ -125,6 +129,8 @@ class TestSuite:
 		print '\n'
 
 	def outputXML(self, xmlFile):
+		'''output test results to an XML file'''
+
 		# open the file for writing
 		xml = None
 		try:
@@ -156,9 +162,6 @@ class TestSuite:
 		print >>xml, "<params>"
 		for param, value in self.logdata.parameters.items():
 			print >>xml, "  <param name=\"%s\" value=\"%s\" />" % (param,`value`)
-			#print >>xml, "    <paramname>"  + param + "</paramname>"
-			#print >>xml, "    <paramvalue>" + `value` + "</paramvalue>"
-			#print >>xml, "  </param>"
 		print >>xml, "</params>"
 
 		# output test results
@@ -241,13 +244,6 @@ def main():
 		if not args.quiet:
 			print "XML output written to file: %s\n" % args.xml
 
-	# temp - test some spot values - include a bunch of this in a unit test at some point
-	#print "GPS abs alt on line 24126 is " + `self.logdata.channels["GPS"]["Alt"].dictData[24126]`   # 52.03
-	#print "ATT pitch on line 22153 is " + `self.logdata.channels["ATT"]["Pitch"].dictData[22153]`   # -7.03
-	#gpsAlt = self.logdata.channels["GPS"]["Alt"]
-	#print "All GPS Alt data: %s\n\n" % gpsAlt.dictData
-	#gpsAltSeg = gpsAlt.getSegment(426,711)
-	#print "Segment of GPS Alt data from %d to %d: %s\n\n" % (426,711,gpsAltSeg.dictData)
 
 if __name__ == "__main__":
 	main()

Tools/LogAnalyzer/tests/TestEvents.py

@@ -4,6 +4,7 @@ import DataflashLog
 
 class TestEvents(Test):
 	'''test for erroneous events and failsafes'''
+	# TODO: need to check for vehicle-specific codes
 
 	def __init__(self):
 		self.name = "Event/Failsafe"

Tools/LogAnalyzer/tests/TestGPSGlitch.py

@@ -51,3 +51,5 @@ class TestGPSGlitch(Test):
 			if not gpsGlitchCount:
 				self.result.status = TestResult.StatusType.WARN
 				self.result.statusMessage = satsMsg
+
+

Tools/LogAnalyzer/tests/TestPitchRollCoupling.py

@@ -39,32 +39,26 @@ class TestPitchRollCoupling(Test):
 			if mode in autoModes:
 				if not isAuto:
 					manualSegments.append((prevLine,line-1))
-					#print "Adding manual segment: %d,%d" % (prevLine,line-1)
 					prevLine = line
 				isAuto = True
 			elif mode in manualModes:
 				if isAuto:
 					autoSegments.append((prevLine,line-1))
-					#print "Adding auto segment: %d,%d" % (prevLine,line-1)
 					prevLine = line
 				isAuto = False
 			elif mode in ignoreModes:
 				if isAuto:
 					autoSegments.append((prevLine,line-1))
-					#print "Adding auto segment: %d,%d" % (prevLine,line-1)
 				else:
 					manualSegments.append((prevLine,line-1))
-					#print "Adding manual segment: %d,%d" % (prevLine,line-1)
 				prevLine = 0
 			else:
 				raise Exception("Unknown mode in TestPitchRollCoupling: %s" % mode)
 		# and handle the last segment, which doesn't have an ending
 		if mode in autoModes:
 			autoSegments.append((prevLine,logdata.lineCount))
-			#print "Adding final auto segment: %d,%d" % (prevLine,logdata.lineCount)
 		elif mode in manualModes:
 			manualSegments.append((prevLine,logdata.lineCount))
-			#print "Adding final manual segment: %d,%d" % (prevLine,logdata.lineCount)
 
 		# figure out max lean angle, the ANGLE_MAX param was added in AC3.1
 		maxLeanAngle = 45.0
@@ -80,7 +74,6 @@ class TestPitchRollCoupling(Test):
 		(maxRoll, maxRollLine)   = (0.0, 0)
 		(maxPitch, maxPitchLine) = (0.0, 0)
 		for (startLine,endLine) in manualSegments+autoSegments:
-			#print "Checking segment %d,%d" % (startLine,endLine)
 			# quick up-front test, only fallover into more complex line-by-line check if max()>threshold
 			rollSeg  = logdata.channels["ATT"]["Roll"].getSegment(startLine,endLine)
 			pitchSeg = logdata.channels["ATT"]["Pitch"].getSegment(startLine,endLine)

Tools/LogAnalyzer/tests/TestUnderpowered.py

@@ -61,7 +61,6 @@ class TestUnderpowered(Test):
 			(startLine,endLine) = (data[seg[0]][0], data[seg[1]][0])
 			avgClimbRate = logdata.channels["CTUN"]["CRate"].getSegment(startLine,endLine).avg()
 			avgThrOut    = logdata.channels["CTUN"]["ThrOut"].getSegment(startLine,endLine).avg()
-			#print "    Average CRate for this chunk is %.2f" % avgClimbRate
 			if avgClimbRate < climbThresholdFAIL:
 				self.result.status = TestResult.StatusType.FAIL
 				self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)