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250 lines
10 KiB
250 lines
10 KiB
#!/usr/bin/env python |
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# |
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# A module to analyze and identify any common problems which can be determined from log files |
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# |
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# Initial code by Andrew Chapman (chapman@skymount.com), 16th Jan 2014 |
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# |
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# some logging oddities noticed while doing this, to be followed up on: |
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# - tradheli MOT labels Mot1,Mot2,Mot3,Mot4,GGain |
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# - Pixhawk doesn't output one of the FMT labels... forget which one |
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# - MAG offsets seem to be constant (only seen data on Pixhawk) |
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# - MAG offsets seem to be cast to int before being output? (param is -84.67, logged as -84) |
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# TODO - unify result statusMessage and extraOutput. simple tests set statusMessage, complex ones append to it with newlines |
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import DataflashLog |
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import pprint # temp |
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import imp |
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import glob |
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import inspect |
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import os, sys |
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import argparse |
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import datetime |
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import time |
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class TestResult: |
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'''all tests pass back a standardized result''' |
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class StatusType: |
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# 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 |
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PASS, FAIL, WARN, UNKNOWN, NA = range(5) |
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status = None |
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statusMessage = "" |
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extraFeedback = "" |
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class Test: |
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'''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''' |
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name = "" |
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result = None # will be an instance of TestResult after being run |
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execTime = None |
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enable = True |
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def run(self, logdata): |
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pass |
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class TestSuite: |
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'''registers test classes''' |
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tests = [] |
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logfile = None |
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logdata = None |
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def __init__(self): |
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# dynamically load in Test subclasses from the 'tests' folder |
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dirName = os.path.dirname(os.path.abspath(__file__)) |
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testScripts = glob.glob(dirName + '/tests/*.py') |
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testClasses = [] |
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for script in testScripts: |
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m = imp.load_source("m",script) |
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for name, obj in inspect.getmembers(m, inspect.isclass): |
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if name not in testClasses and inspect.getsourcefile(obj) == script: |
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testClasses.append(name) |
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self.tests.append(obj()) |
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# and here's an example of explicitly loading a Test class if you wanted to do that |
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# m = imp.load_source("m", dirName + '/tests/TestBadParams.py') |
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# self.tests.append(m.TestBadParams()) |
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def run(self, logdata): |
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'''run all registered tests in a single call''' |
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self.logdata = logdata |
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self.logfile = logdata.filename |
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for test in self.tests: |
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# run each test in turn, gathering timing info |
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if test.enable: |
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startTime = time.time() |
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test.run(self.logdata) # RUN THE TEST |
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endTime = time.time() |
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test.execTime = 1000 * (endTime-startTime) |
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def outputPlainText(self, outputStats): |
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print 'Dataflash log analysis report for file: ' + self.logfile |
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print 'Log size: %.2fmb (%d lines)' % (self.logdata.filesizeKB / 1024.0, self.logdata.lineCount) |
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print 'Log duration: %s' % str(datetime.timedelta(seconds=self.logdata.durationSecs)) + '\n' |
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if self.logdata.vehicleType == "ArduCopter" and self.logdata.getCopterType(): |
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print 'Vehicle Type: %s (%s)' % (self.logdata.vehicleType, self.logdata.getCopterType()) |
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else: |
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print 'Vehicle Type: %s' % self.logdata.vehicleType |
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print 'Firmware Version: %s (%s)' % (self.logdata.firmwareVersion, self.logdata.firmwareHash) |
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print 'Hardware: %s' % self.logdata.hardwareType |
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print 'Free RAM: %s' % self.logdata.freeRAM |
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print '\n' |
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print "Test Results:" |
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for test in self.tests: |
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if not test.enable: |
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continue |
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execTime = "" |
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if outputStats: |
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execTime = " (%.2fms)" % (test.execTime) |
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if test.result.status == TestResult.StatusType.PASS: |
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print " %20s: PASS %-50s%s" % (test.name, test.result.statusMessage,execTime) |
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elif test.result.status == TestResult.StatusType.FAIL: |
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print " %20s: FAIL %-50s%s [GRAPH]" % (test.name, test.result.statusMessage,execTime) |
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elif test.result.status == TestResult.StatusType.WARN: |
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print " %20s: WARN %-50s%s [GRAPH]" % (test.name, test.result.statusMessage,execTime) |
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elif test.result.status == TestResult.StatusType.NA: |
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# skip any that aren't relevant for this vehicle/hardware/etc |
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continue |
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else: |
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print " %20s: UNKNOWN %-50s%s" % (test.name, test.result.statusMessage,execTime) |
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if test.result.extraFeedback: |
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for line in test.result.extraFeedback.strip().split('\n'): |
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print " %20s %s" % ("",line) |
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print '\n' |
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def outputXML(self, xmlFile): |
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# open the file for writing |
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xml = None |
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try: |
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xml = open(xmlFile, 'w') |
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except: |
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sys.stderr.write("Error opening output xml file: %s" % xmlFile) |
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sys.exit(1) |
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# output header info |
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print >>xml, "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" |
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print >>xml, "<loganalysis>" |
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print >>xml, "<header>" |
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print >>xml, " <logfile>" + self.logfile + "</logfile>" |
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print >>xml, " <sizekb>" + `self.logdata.filesizeKB` + "</sizekb>" |
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print >>xml, " <sizelines>" + `self.logdata.lineCount` + "</sizelines>" |
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print >>xml, " <duration>" + str(datetime.timedelta(seconds=self.logdata.durationSecs)) + "</duration>" |
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print >>xml, " <vehicletype>" + self.logdata.vehicleType + "</vehicletype>" |
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if self.logdata.vehicleType == "ArduCopter" and self.logdata.getCopterType(): |
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print >>xml, " <coptertype>" + self.logdata.getCopterType() + "</coptertype>" |
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print >>xml, " <firmwareversion>" + self.logdata.firmwareVersion + "</firmwareversion>" |
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print >>xml, " <firmwarehash>" + self.logdata.firmwareHash + "</firmwarehash>" |
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print >>xml, " <hardwaretype>" + self.logdata.hardwareType + "</hardwaretype>" |
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print >>xml, " <freemem>" + `self.logdata.freeRAM` + "</freemem>" |
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print >>xml, "</header>" |
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# output parameters |
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print >>xml, "<params>" |
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for param, value in self.logdata.parameters.items(): |
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print >>xml, " <param name=\"%s\" value=\"%s\" />" % (param,`value`) |
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#print >>xml, " <paramname>" + param + "</paramname>" |
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#print >>xml, " <paramvalue>" + `value` + "</paramvalue>" |
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#print >>xml, " </param>" |
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print >>xml, "</params>" |
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# output test results |
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print >>xml, "<results>" |
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for test in self.tests: |
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if not test.enable: |
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continue |
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print >>xml, " <result>" |
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if test.result.status == TestResult.StatusType.PASS: |
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print >>xml, " <name>" + test.name + "</name>" |
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print >>xml, " <status>PASS</status>" |
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print >>xml, " <message>" + test.result.statusMessage + "</message>" |
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print >>xml, " <extrafeedback>" + test.result.extraFeedback + "</extrafeedback>" |
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elif test.result.status == TestResult.StatusType.FAIL: |
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print >>xml, " <name>" + test.name + "</name>" |
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print >>xml, " <status>FAIL</status>" |
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print >>xml, " <message>" + test.result.statusMessage + "</message>" |
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print >>xml, " <extrafeedback>" + test.result.extraFeedback + "</extrafeedback>" |
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print >>xml, " <data>(test data will be embeded here at some point)</data>" |
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elif test.result.status == TestResult.StatusType.WARN: |
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print >>xml, " <name>" + test.name + "</name>" |
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print >>xml, " <status>WARN</status>" |
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print >>xml, " <message>" + test.result.statusMessage + "</message>" |
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print >>xml, " <extrafeedback>" + test.result.extraFeedback + "</extrafeedback>" |
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print >>xml, " <data>(test data will be embeded here at some point)</data>" |
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elif test.result.status == TestResult.StatusType.NA: |
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# skip any that aren't relevant for this vehicle/hardware/etc |
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continue |
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else: |
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print >>xml, " <name>" + test.name + "</name>" |
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print >>xml, " <status>UNKNOWN</status>" |
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print >>xml, " <message>" + test.result.statusMessage + "</message>" |
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print >>xml, " <extrafeedback>" + test.result.extraFeedback + "</extrafeedback>" |
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print >>xml, " </result>" |
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print >>xml, "</results>" |
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print >>xml, "</loganalysis>" |
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xml.close() |
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def main(): |
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dirName = os.path.dirname(os.path.abspath(__file__)) |
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# deal with command line arguments |
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parser = argparse.ArgumentParser(description='Analyze an APM Dataflash log for known issues') |
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parser.add_argument('logfile', type=argparse.FileType('r'), help='path to Dataflash log file') |
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parser.add_argument('-q', '--quiet', metavar='', action='store_const', const=True, help='quiet mode, do not print results') |
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parser.add_argument('-p', '--profile', metavar='', action='store_const', const=True, help='output performance profiling data') |
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parser.add_argument('-s', '--skip_bad', metavar='', action='store_const', const=True, help='skip over corrupt dataflash lines') |
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parser.add_argument('-e', '--empty', metavar='', action='store_const', const=True, help='run an initial check for an empty log') |
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parser.add_argument('-x', '--xml', type=str, metavar='XML file', nargs='?', const='', default='', help='write output to specified XML file') |
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args = parser.parse_args() |
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# load the log |
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startTime = time.time() |
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logdata = DataflashLog.DataflashLog(args.logfile.name, ignoreBadlines=args.skip_bad) # read log |
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endTime = time.time() |
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if args.profile: |
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print "Log file read time: %.2f seconds" % (endTime-startTime) |
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# check for empty log if requested |
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if args.empty: |
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emptyErr = DataflashLog.DataflashLogHelper.isLogEmpty(logdata) |
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if emptyErr: |
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sys.stderr.write("Empty log file: %s, %s" % (logdata.filename, emptyErr)) |
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sys.exit(1) |
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#run the tests, and gather timings |
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testSuite = TestSuite() |
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startTime = time.time() |
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testSuite.run(logdata) # run tests |
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endTime = time.time() |
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if args.profile: |
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print "Test suite run time: %.2f seconds" % (endTime-startTime) |
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# deal with output |
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if not args.quiet: |
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testSuite.outputPlainText(args.profile) |
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if args.xml: |
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testSuite.outputXML(args.xml) |
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if not args.quiet: |
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print "XML output written to file: %s\n" % args.xml |
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# temp - test some spot values - include a bunch of this in a unit test at some point |
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#print "GPS abs alt on line 24126 is " + `self.logdata.channels["GPS"]["Alt"].dictData[24126]` # 52.03 |
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#print "ATT pitch on line 22153 is " + `self.logdata.channels["ATT"]["Pitch"].dictData[22153]` # -7.03 |
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#gpsAlt = self.logdata.channels["GPS"]["Alt"] |
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#print "All GPS Alt data: %s\n\n" % gpsAlt.dictData |
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#gpsAltSeg = gpsAlt.getSegment(426,711) |
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#print "Segment of GPS Alt data from %d to %d: %s\n\n" % (426,711,gpsAltSeg.dictData) |
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if __name__ == "__main__": |
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main() |
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