Tools: decode_watchdog.py: tool to decode watchdog information

Tools/scripts/decode_watchdog.py

@@ -0,0 +1,252 @@
+#!/usr/bin/env python
+'''
+decode an watchdog message
+'''
+
+import re
+import sys
+import optparse
+from collections import OrderedDict
+
+import decode_ICSR
+
+
+class DecodeWatchDog(object):
+
+    class Component(object):
+        def __init__(self, value):
+            self.value = value
+
+        def prefix(self):
+            m = re.match(".*Component([A-Z]+)", str(type(self)))
+            return m.group(1)
+
+        def decode(self):
+            return "?????"
+
+        def string_value(self):
+            return str(self.value)
+
+        def print_decoded(self):
+            print("%5s %25s: %12s: %s" % (
+                self.prefix(),
+                self.expansion(),
+                self.string_value(),
+                self.decode()
+            ))
+
+    class ComponentT(Component):
+
+        def expansion(self):
+            return "Scheduler Task"
+
+        def decode(self):
+            if int(self.value) == -3:
+                return "Waiting for sample"
+            if int(self.value) == -1:
+                return "Pre-loop"
+            if int(self.value) == -2:
+                return "Fast loop"
+            return self.value
+
+    class ComponentSL(Component):
+
+        def expansion(self):
+            return "Semaphore Line"
+
+        def decode(self):
+            if int(self.value) == 0:
+                return "Not waiting on semaphore"
+            return self.value
+
+    class ComponentFL(Component):
+        def expansion(self):
+            return "Fault Line"
+
+    class ComponentFT(Component):
+
+        def expansion(self):
+            return "Fault Type"
+
+        def decode(self):
+            x = int(self.value)
+            # this list taken from AP_HAL_ChibiOS/system.cpp
+            fault_types = {
+                1: "Reset",
+                2: "NMI",
+                3: "HardFault",
+                4: "MemManage",
+                5: "BusFault",
+                6: "UsageFault",
+            }
+            if x in fault_types:
+                return fault_types[x]
+            return super(DecodeWatchDog.ComponentFT, self).decode()
+
+    class ComponentFA(Component):
+
+        def expansion(self):
+            return "Fault Address"
+
+        def string_value(self):
+            return hex(int(self.value))
+
+    class ComponentFTP(Component):
+
+        def expansion(self):
+            return "Fault Thread Priority"
+
+    class ComponentFLR(Component):
+
+        def expansion(self):
+            return "Fault Long Return Address"  # ?? FIXME: is this really what LR stands for?
+
+        def string_value(self):
+            return "0x" + self.value
+
+    class ComponentFICSR(Component):
+
+        def expansion(self):
+            return "Fault ICS Register"   # ?? FIXME: expand further
+
+        def string_value(self):
+            return hex(int(self.value))
+
+        def decode(self):
+            return "[Below]"
+
+        def print_decoded(self):
+            super(DecodeWatchDog.ComponentFICSR, self).print_decoded()
+            decoder = decode_ICSR.DecodeICSR()
+            text = decoder.string(int(self.value))
+            sys.stdout.write(re.sub("^", "        ", text, flags=re.M))
+
+    class ComponentMM(Component):
+
+        def expansion(self):
+            return "MAVLink Message"
+
+        def decode(self):
+            if int(self.value) == 0:
+                return "[None]"
+            return super(DecodeWatchDog.ComponentMM, self).decode()
+
+    class ComponentMC(Component):
+
+        def expansion(self):
+            return "MAVLink Command"
+
+        def decode(self):
+            if int(self.value) == 0:
+                return "[None]"
+            return super(DecodeWatchDog.ComponentMC, self).decode()
+
+    class ComponentIE(Component):
+
+        def expansion(self):
+            return "Internal Error Mask"
+
+        def string_value(self):
+            return hex(int(self.value))
+
+    class ComponentIEC(Component):
+
+        def expansion(self):
+            return "Internal Error Count"
+
+        def decode(self):
+            return self.value
+
+    class ComponentTN(Component):
+
+        def expansion(self):
+            return "Thread name"
+
+    def __init__(self):
+        self.components = OrderedDict()
+        self.components["T"] = DecodeWatchDog.ComponentT
+        self.components["SL"] = DecodeWatchDog.ComponentSL
+        self.components["FL"] = DecodeWatchDog.ComponentFL
+        self.components["FT"] = DecodeWatchDog.ComponentFT
+        self.components["FA"] = DecodeWatchDog.ComponentFA
+        self.components["FTP"] = DecodeWatchDog.ComponentFTP
+        self.components["FLR"] = DecodeWatchDog.ComponentFLR
+        self.components["FICSR"] = DecodeWatchDog.ComponentFICSR
+        self.components["MM"] = DecodeWatchDog.ComponentMM
+        self.components["MC"] = DecodeWatchDog.ComponentMC
+        self.components["IE"] = DecodeWatchDog.ComponentIE
+        self.components["IEC"] = DecodeWatchDog.ComponentIEC
+        self.components["TN"] = DecodeWatchDog.ComponentTN
+
+        self.df_components = {}
+        self.df_components["Task"] = DecodeWatchDog.ComponentT
+        self.df_components["IErr"] = DecodeWatchDog.ComponentIE
+        self.df_components["IErrCnt"] = DecodeWatchDog.ComponentIEC
+        self.df_components["MavMsg"] = DecodeWatchDog.ComponentMM
+        self.df_components["MavCmd"] = DecodeWatchDog.ComponentMC
+        self.df_components["SemLine"] = DecodeWatchDog.ComponentSL
+        self.df_components["FL"] = DecodeWatchDog.ComponentFL
+        self.df_components["FT"] = DecodeWatchDog.ComponentFT
+        self.df_components["FA"] = DecodeWatchDog.ComponentFA
+        self.df_components["FP"] = DecodeWatchDog.ComponentFTP
+        self.df_components["ICSR"] = DecodeWatchDog.ComponentFICSR
+
+    def run(self, text):
+
+        # see if the supplied string is a statustext message:
+        re_string = "(?:APM: )?WDG:"
+        for component in self.components.keys():
+            re_string += " %s(?P<%s>[^ ]+)" % (component, component)
+
+        # print("string: %s" % text)
+        # print("re_string: %s" % re_string)
+
+        wdg_re = re.compile(re_string)
+
+        m = wdg_re.match(text)
+        if m is not None:
+            comp = []
+            for group in m.groupdict():
+                comp.append(self.components[group](m.group(group)))
+            for c in comp:
+                c.print_decoded()
+            return
+
+        # not a statustext message; see if it a WDOG dataflash message
+        df_re = re.compile("WDOG {(.*)}")
+        m = df_re.match(text)
+        if m is not None:
+            pairs = m.group(1).split(",")
+            for pair in pairs:
+                (name, value) = pair.split(":")
+                name = name.strip()
+                if name == "TimeUS":
+                    continue
+                value = value.strip()
+#                print("(%s)=(%s)" % (name, value))
+                if name not in self.df_components:
+                    raise KeyError(name)
+                self.df_components[name](value).print_decoded()
+            return
+
+        raise ValueError("Text not recognised")
+
+# 2020-06-10 17:20:08.45: WDOG {TimeUS : 949568, Task : -2, IErr : 0, IErrCnt : 0, MavMsg : 0, MavCmd : 0, SemLine : 0, FL : 100, FT : 3, FA : 404947019, FP : 183, ICSR : 4196355}
+
+# APM: WDG: T-3 SL0 FL122 FT3 FA0 FTP177 FLR80CBB35 FICSR4196355 MM0 MC0 IE67108864 IEC12353 TN:rcin
+
+
+if __name__ == '__main__':
+
+    parser = optparse.OptionParser(__file__)
+
+    opts, args = parser.parse_args()
+
+    if len(args) == 0:
+        print("Usage: %s" % parser.usage)
+        sys.exit(0)
+
+    text = args[0]
+
+    decoder = DecodeWatchDog()
+    decoder.run(text)