From c74d39558c89df2023578ede9dc21317250df90f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 2 Jul 2015 15:31:33 +1000 Subject: [PATCH] Replay: initial version of CheckLogs.py --- Tools/Replay/CheckLogs.py | 155 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 155 insertions(+) create mode 100755 Tools/Replay/CheckLogs.py diff --git a/Tools/Replay/CheckLogs.py b/Tools/Replay/CheckLogs.py new file mode 100755 index 0000000000..ce529b8bb6 --- /dev/null +++ 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( +''' + + +Replay results + + + +

Replay Results

+Git version: %s +

+ + + + + + + + + +''' % 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('''''' % (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('''\n''' % (bgcolor, a[i])) + + if error_in_this_log: + line_errors += 1 + f.write('''\n''') + + f.write('''
FilenameRollError(deg)PitchError(deg)YawError(deg)PosError(m)VelError(m/s)
%s%s
\n''') + + # write summary + f.write( +'''

Summary

+

Processed %u logs
+%u errors from %u logs
+

+

Tolerance Euler: %.3f degrees
+Tolerance Position: %.3f meters
+Tolerance Velocity: %.3f meters/second +''' % (line_count, error_count, line_errors, + opts.tolerance_euler, + opts.tolerance_pos, + opts.tolerance_vel)) + + # add trailer + f.write( +''' + + +''') + 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()