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