Replay: initial version of CheckLogs.py

2015-07-02 15:31:33 +10:00 · 2015-07-02 15:31:33 +10:00 · c74d39558c
commit c74d39558c
parent 4f9ccf727a
1 changed files with 155 additions and 0 deletions
--- a/Tools/Replay/CheckLogs.py
+++ b/Tools/Replay/CheckLogs.py
@ -0,0 +1,155 @@
+#!/usr/bin/env python
+
+import optparse, os
+
+parser = optparse.OptionParser("CheckLogs")
+parser.add_option("--logdir", type='string', default='testlogs', help='directory of logs to use')
+parser.add_option("--tolerance-euler", type=float, default=3, help="tolerance for euler angles in degrees");
+parser.add_option("--tolerance-pos", type=float, default=2, help="tolerance for position angles in meters");
+parser.add_option("--tolerance-vel", type=float, default=2, help="tolerance for velocity in meters/second");
+
+opts, args = parser.parse_args()
+
+'''
+gather results and create html file
+
+'''
+
+def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
+    '''run a shell command'''
+    from subprocess import call, check_call,Popen, PIPE
+    if show:
+        print("Running: '%s' in '%s'" % (cmd, dir))
+    if output:
+        return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
+    elif checkfail:
+        return check_call(cmd, shell=True, cwd=dir)
+    else:
+        return call(cmd, shell=True, cwd=dir)
+
+def run_replay(logfile):
+    '''run Replay on one logfile'''
+    print("Processing %s" % logfile)
+    cmd = "./Replay.elf -- --check %s --tolerance-euler=%f --tolerance-pos=%f --tolerance-vel=%f " % (
+        logfile,
+        opts.tolerance_euler,
+        opts.tolerance_pos,
+        opts.tolerance_vel)
+    run_cmd(cmd, checkfail=True)
+
+def get_log_list():
+    '''get a list of log files to process'''
+    import glob, os, sys
+    pattern = os.path.join(opts.logdir, "*-checked.bin")
+    file_list = glob.glob(pattern)
+    print("Found %u logs to processs" % len(file_list))
+    if len(file_list) == 0:
+        print("No logs to process matching %s" % pattern)
+        sys.exit(1)
+    return file_list
+
+def create_html_results():
+    '''create a HTML file with results'''
+    error_count = 0
+
+    git_version = run_cmd('git log --pretty=oneline HEAD~1..HEAD', output=True)
+    
+    f = open("replay_results.html", "w")
+    f.write(
+'''<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
+        "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<html lang="en" xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<title>Replay results</title>
+<meta charset="utf-8"/>
+</head>
+<body>
+<h1>Replay Results</h1>
+Git version: %s
+<p>
+<table border="1">
+<tr bgcolor="lightgrey">
+ <th>Filename</th>
+ <th>RollError(deg)</th>
+ <th>PitchError(deg)</th>
+ <th>YawError(deg)</th>
+ <th>PosError(m)</th>
+ <th>VelError(m/s)</th>
+</tr>
+''' % git_version)
+    infile = open("replay_results.txt", "r")
+
+    line_count = 0
+    line_errors = 0
+    
+    for line in infile:
+        line = line.strip()
+        line_count += 1
+        a = line.split("\t")
+        if len(a) != 6:
+            print("Invalid line: %s" % line)
+            error_count += 1
+            continue
+        tolerances = [opts.tolerance_euler,
+                      opts.tolerance_euler,
+                      opts.tolerance_euler,
+                      opts.tolerance_pos,
+                      opts.tolerance_vel]
+        f.write('''<tr><td><a href="%s">%s</a></td>''' % (a[0],a[0]))
+        error_in_this_log = False
+        for i in range(1,6):
+            tol = tolerances[i-1]
+            if a[i] == "FPE":
+                bgcolor = "red"
+                error_count += 1
+                error_in_this_log = True
+            elif float(a[i]) > tol:
+                bgcolor = "red"
+                error_count += 1
+                error_in_this_log = True
+            else:
+                bgcolor = "white"
+            f.write('''<td bgcolor="%s" align="right">%s</td>\n''' % (bgcolor, a[i]))
+
+        if error_in_this_log:
+            line_errors += 1
+        f.write('''</tr>\n''')
+
+    f.write('''</table>\n''')
+
+    # write summary
+    f.write(
+'''<h2>Summary</h2>
+<p>Processed %u logs<br/>
+%u errors from %u logs<br/>
+<hr>
+<p>Tolerance Euler: %.3f degrees<br/>
+Tolerance Position: %.3f meters<br/>
+Tolerance Velocity: %.3f meters/second
+''' % (line_count, error_count, line_errors,
+       opts.tolerance_euler,
+       opts.tolerance_pos,
+       opts.tolerance_vel))
+
+    # add trailer
+    f.write(
+'''
+</body>
+</html>
+''')
+    f.close()
+    infile.close()
+
+log_list = get_log_list()
+
+# remove old results file
+try:
+    os.unlink("replay_results.txt")
+except Exception as ex:
+    print(ex)
+    pass
+
+for logfile in log_list:
+    run_replay(logfile)
+
+create_html_results()