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ardupilot/Tools/LogAnalyzer/UnitTest.py

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#!/usr/bin/env python
#
#
# Unit and regression tests for the LogAnalyzer code
#
#
# AP_FLAKE8_CLEAN
# TODO: implement more unit+regression tests
from __future__ import print_function
import traceback
import DataflashLog
from VehicleType import VehicleType
try:
# test DataflashLog reading 1
logdata = DataflashLog.DataflashLog()
logdata.read("examples/robert_lefebvre_octo_PM.log", ignoreBadlines=False)
assert logdata.filename == "examples/robert_lefebvre_octo_PM.log"
assert logdata.vehicleType == VehicleType.Copter
assert logdata.vehicleTypeString == "ArduCopter"
assert logdata.firmwareVersion == "V3.0.1"
assert logdata.firmwareHash == "5c6503e2"
assert logdata.freeRAM == 1331
assert logdata.hardwareType == "APM 2"
assert len(logdata.formats) == 27
assert logdata.formats['GPS'].labels == [
'Status',
'Time',
'NSats',
'HDop',
'Lat',
'Lng',
'RelAlt',
'Alt',
'Spd',
'GCrs',
]
assert logdata.formats['ATT'].labels == ['RollIn', 'Roll', 'PitchIn', 'Pitch', 'YawIn', 'Yaw', 'NavYaw']
assert logdata.parameters == {
'RC7_REV': 1.0,
'MNT_MODE': 3.0,
'LOITER_LON_P': 1.0,
'FLTMODE1': 1.0,
'FLTMODE3': 0.0,
'FLTMODE2': 6.0,
'TUNE_HIGH': 10000.0,
'FLTMODE4': 5.0,
'FLTMODE6': 2.0,
'SYSID_SW_TYPE': 10.0,
'LOITER_LON_D': 0.0,
'RC5_REV': 1.0,
'THR_RATE_IMAX': 300.0,
'MNT_RC_IN_PAN': 0.0,
'RC2_MIN': 1110.0,
'LOITER_LON_I': 0.5,
'HLD_LON_P': 1.0,
'STB_RLL_I': 0.0,
'LOW_VOLT': 10.5,
'MNT_CONTROL_Y': 0.0,
'MNT_CONTROL_X': 0.0,
'FRAME': 1.0,
'MNT_CONTROL_Z': 0.0,
'OF_PIT_IMAX': 100.0,
'AHRS_ORIENTATION': 0.0,
'SIMPLE': 0.0,
'RC2_MAX': 1929.0,
'RC8_FUNCTION': 0.0,
'INS_ACCSCAL_X': 0.992788,
'ACRO_P': 4.5,
'MNT_ANGMIN_ROL': -4500.0,
'OF_RLL_P': 2.5,
'STB_RLL_P': 3.5,
'STB_YAW_P': 3.0,
'SR0_RAW_SENS': 2.0,
'FLTMODE5': 0.0,
'RATE_YAW_I': 0.02,
'MAG_ENABLE': 1.0,
'MNT_RETRACT_Y': 0.0,
'MNT_RETRACT_X': 0.0,
'RATE_YAW_IMAX': 800.0,
'WPNAV_SPEED_DN': 150.0,
'WP_YAW_BEHAVIOR': 2.0,
'RC11_REV': 1.0,
'SYSID_THISMAV': 1.0,
'SR0_EXTRA1': 10.0,
'SR0_EXTRA2': 10.0,
'ACRO_BAL_PITCH': 200.0,
'STB_YAW_I': 0.0,
'INS_ACCSCAL_Z': 0.97621,
'INS_ACCSCAL_Y': 1.00147,
'LED_MODE': 9.0,
'FS_GCS_ENABLE': 0.0,
'MNT_RC_IN_ROLL': 0.0,
'INAV_TC_Z': 8.0,
'RATE_PIT_IMAX': 4500.0,
'HLD_LON_IMAX': 3000.0,
'THR_RATE_I': 0.0,
'SR3_EXTRA1': 0.0,
'STB_PIT_IMAX': 800.0,
'AHRS_TRIM_Z': 0.0,
'RC2_REV': 1.0,
'INS_MPU6K_FILTER': 20.0,
'THR_MIN': 130.0,
'AHRS_TRIM_Y': 0.021683,
'RC11_DZ': 0.0,
'THR_MAX': 1000.0,
'SR3_EXTRA2': 0.0,
'MNT_NEUTRAL_Z': 0.0,
'THR_MID': 300.0,
'MNT_NEUTRAL_X': 0.0,
'AMP_PER_VOLT': 18.002001,
'SR0_POSITION': 3.0,
'MNT_STAB_PAN': 0.0,
'FS_BATT_ENABLE': 0.0,
'LAND_SPEED': 50.0,
'OF_PIT_D': 0.12,
'SR0_PARAMS': 50.0,
'COMPASS_ORIENT': 0.0,
'WPNAV_ACCEL': 200.0,
'THR_ACCEL_IMAX': 5000.0,
'SR3_POSITION': 0.0,
'WPNAV_RADIUS': 100.0,
'WP_TOTAL': 14.0,
'RC8_MAX': 1856.0,
'OF_PIT_P': 2.5,
'SR3_RAW_SENS': 0.0,
'RTL_ALT_FINAL': 0.0,
'SR3_PARAMS': 0.0,
'SR0_EXTRA3': 2.0,
'LOITER_LAT_I': 0.5,
'RC6_DZ': 0.0,
'RC4_TRIM': 1524.0,
'RATE_RLL_P': 0.07,
'LOITER_LAT_D': 0.0,
'STB_PIT_P': 3.5,
'OF_PIT_I': 0.5,
'RATE_RLL_I': 1.0,
'AHRS_TRIM_X': 0.003997,
'RC3_REV': 1.0,
'STB_PIT_I': 0.0,
'FS_THR_ENABLE': 0.0,
'LOITER_LAT_P': 1.0,
'AHRS_RP_P': 0.1,
'FENCE_ACTION': 1.0,
'TOY_RATE': 1.0,
'RATE_RLL_D': 0.006,
'RC5_MIN': 1151.0,
'RC5_TRIM': 1676.0,
'STB_RLL_IMAX': 800.0,
'RC4_DZ': 40.0,
'AHRS_YAW_P': 0.1,
'RC11_TRIM': 1500.0,
'MOT_TCRV_ENABLE': 1.0,
'CAM_TRIGG_TYPE': 1.0,
'STB_YAW_IMAX': 800.0,
'RC4_MAX': 1942.0,
'LOITER_LAT_IMAX': 400.0,
'CH7_OPT': 9.0,
'RC11_FUNCTION': 7.0,
'SR0_EXT_STAT': 2.0,
'SONAR_TYPE': 0.0,
'RC3_MAX': 1930.0,
'RATE_YAW_D': 0.0,
'FENCE_ALT_MAX': 30.0,
'COMPASS_MOT_Y': 0.0,
'AXIS_ENABLE': 1.0,
'FENCE_ENABLE': 0.0,
'RC10_DZ': 0.0,
'PILOT_VELZ_MAX': 250.0,
'BATT_CAPACITY': 1760.0,
'FS_THR_VALUE': 975.0,
'RC4_MIN': 1115.0,
'MNT_ANGMAX_TIL': 4500.0,
'RTL_LOIT_TIME': 5000.0,
'ARMING_CHECK': 1.0,
'THR_RATE_P': 6.0,
'OF_RLL_IMAX': 100.0,
'RC6_MIN': 971.0,
'SR0_RAW_CTRL': 0.0,
'RC6_MAX': 2078.0,
'RC5_MAX': 1829.0,
'LOITER_LON_IMAX': 400.0,
'MNT_STAB_TILT': 0.0,
'MOT_TCRV_MIDPCT': 52.0,
'COMPASS_OFS_Z': -5.120774,
'COMPASS_OFS_Y': 46.709824,
'COMPASS_OFS_X': -20.490345,
'THR_ALT_I': 0.0,
'RC10_TRIM': 1500.0,
'INS_PRODUCT_ID': 88.0,
'RC11_MIN': 1100.0,
'FS_GPS_ENABLE': 1.0,
'HLD_LAT_IMAX': 3000.0,
'RC3_TRIM': 1476.0,
'RC6_FUNCTION': 0.0,
'TRIM_THROTTLE': 260.0,
'MNT_STAB_ROLL': 0.0,
'INAV_TC_XY': 2.5,
'RC1_DZ': 30.0,
'MNT_RETRACT_Z': 0.0,
'THR_ACC_ENABLE': 1.0,
'LOG_BITMASK': 830.0,
'TUNE_LOW': 0.0,
'CIRCLE_RATE': 5.0,
'CAM_DURATION': 10.0,
'MNT_NEUTRAL_Y': 0.0,
'RC10_MIN': 1100.0,
'INS_ACCOFFS_X': -0.019376,
'THR_RATE_D': 0.0,
'INS_ACCOFFS_Z': 1.370947,
'RC4_REV': 1.0,
'CIRCLE_RADIUS': 10.0,
'RATE_RLL_IMAX': 4500.0,
'HLD_LAT_P': 1.0,
'AHRS_GPS_MINSATS': 6.0,
'RC8_REV': 1.0,
'SONAR_GAIN': 0.2,
'RC2_TRIM': 1521.0,
'WP_INDEX': 0.0,
'RC1_REV': 1.0,
'RC7_DZ': 0.0,
'AHRS_GPS_USE': 1.0,
'MNT_ANGMIN_PAN': -4500.0,
'SR3_RC_CHAN': 0.0,
'COMPASS_LEARN': 0.0,
'ACRO_TRAINER': 1.0,
'CAM_SERVO_OFF': 1100.0,
'RC5_DZ': 0.0,
'SCHED_DEBUG': 0.0,
'RC11_MAX': 1900.0,
'AHRS_WIND_MAX': 0.0,
'SR3_EXT_STAT': 0.0,
'MNT_ANGMAX_PAN': 4500.0,
'MNT_ANGMAX_ROL': 4500.0,
'RC_SPEED': 490.0,
'SUPER_SIMPLE': 0.0,
'VOLT_DIVIDER': 10.0,
'COMPASS_MOTCT': 0.0,
'SR3_RAW_CTRL': 0.0,
'SONAR_ENABLE': 0.0,
'INS_ACCOFFS_Y': 0.362242,
'SYSID_SW_MREV': 120.0,
'WPNAV_LOIT_SPEED': 1000.0,
'BATT_MONITOR': 4.0,
'MNT_RC_IN_TILT': 8.0,
'CH8_OPT': 0.0,
'RTL_ALT': 1000.0,
'SR0_RC_CHAN': 2.0,
'RC1_MIN': 1111.0,
'RSSI_PIN': -1.0,
'MOT_TCRV_MAXPCT': 93.0,
'GND_ABS_PRESS': 101566.97,
'RC1_MAX': 1936.0,
'FENCE_TYPE': 3.0,
'RC5_FUNCTION': 0.0,
'OF_RLL_D': 0.12,
'BATT_VOLT_PIN': 13.0,
'WPNAV_SPEED': 1000.0,
'RC7_MAX': 1884.0,
'CAM_SERVO_ON': 1300.0,
'RATE_PIT_I': 1.0,
'RC7_MIN': 969.0,
'AHRS_COMP_BETA': 0.1,
'OF_RLL_I': 0.5,
'COMPASS_DEC': 0.0,
'RC3_MIN': 1113.0,
'RC2_DZ': 30.0,
'FENCE_RADIUS': 30.0,
'HLD_LON_I': 0.0,
'ACRO_BAL_ROLL': 200.0,
'COMPASS_AUTODEC': 1.0,
'SR3_EXTRA3': 0.0,
'COMPASS_USE': 1.0,
'RC10_MAX': 1900.0,
'RATE_PIT_P': 0.07,
'GND_TEMP': 21.610104,
'RC7_TRIM': 970.0,
'RC10_REV': 1.0,
'RATE_YAW_P': 0.2,
'THR_ALT_P': 1.0,
'RATE_PIT_D': 0.006,
'ESC': 0.0,
'MNT_ANGMIN_TIL': -4500.0,
'SERIAL3_BAUD': 57.0,
'RC8_MIN': 968.0,
'THR_ALT_IMAX': 300.0,
'SYSID_MYGCS': 255.0,
'INS_GYROFFS_Y': 0.581989,
'TUNE': 0.0,
'RC8_TRIM': 970.0,
'RC3_DZ': 30.0,
'AHRS_GPS_GAIN': 1.0,
'THR_ACCEL_D': 0.0,
'TELEM_DELAY': 0.0,
'THR_ACCEL_I': 0.5,
'COMPASS_MOT_X': 0.0,
'COMPASS_MOT_Z': 0.0,
'RC10_FUNCTION': 0.0,
'INS_GYROFFS_X': -0.001698,
'INS_GYROFFS_Z': 0.01517,
'RC6_TRIM': 1473.0,
'THR_ACCEL_P': 1.2,
'RC8_DZ': 0.0,
'HLD_LAT_I': 0.0,
'RC7_FUNCTION': 0.0,
'RC6_REV': 1.0,
'BATT_CURR_PIN': 12.0,
'WPNAV_SPEED_UP': 250.0,
'RC1_TRIM': 1524.0,
"MNT_JSTICK_SPD": 0.0,
"FLOW_ENABLE": 0.0,
}
assert logdata.messages == {}
assert logdata.modeChanges == {
2204: ('LOITER', 269),
4594: ('STABILIZE', 269),
644: ('ALT_HOLD', 269),
4404: ('ALT_HOLD', 269),
}
assert logdata.channels['GPS']['NSats'].min() == 6
assert logdata.channels['GPS']['NSats'].max() == 8
assert logdata.channels['GPS']['HDop'].listData[0] == (552, 4.68)
assert logdata.channels['GPS']['HDop'].listData[44] == (768, 4.67)
assert logdata.channels['GPS']['HDop'].listData[157] == (1288, 2.28)
assert logdata.channels['CTUN']['ThrOut'].listData[5] == (321, 139)
assert logdata.channels['CTUN']['ThrOut'].listData[45] == (409, 242)
assert logdata.channels['CTUN']['ThrOut'].listData[125] == (589, 266)
assert logdata.channels['CTUN']['CRate'].listData[3] == (317, 35)
assert logdata.channels['CTUN']['CRate'].listData[51] == (421, 31)
assert logdata.channels['CTUN']['CRate'].listData[115] == (563, -8)
assert int(logdata.filesizeKB) == 307
assert abs(logdata.durationSecs - 155.399) < 1e-9
assert logdata.lineCount == 4750
# test LogIterator class
lit = DataflashLog.LogIterator(logdata)
assert lit.currentLine == 0
assert lit.iterators == {
'CURR': (0, 310),
'ERR': (0, 307),
'NTUN': (0, 2206),
'CTUN': (0, 308),
'GPS': (0, 552),
'CMD': (0, 607),
'D32': (0, 305),
'ATT': (0, 311),
'EV': (0, 306),
'DU32': (0, 309),
'PM': (0, 479),
}
lit.jump(500)
assert lit.iterators == {
'CURR': (9, 514),
'ERR': (1, 553),
'NTUN': (0, 2206),
'CTUN': (87, 500),
'GPS': (0, 552),
'CMD': (0, 607),
'D32': (0, 305),
'ATT': (83, 501),
'EV': (4, 606),
'DU32': (9, 513),
'PM': (1, 719),
}
assert lit['CTUN']['ThrIn'] == 450
assert lit['ATT']['RollIn'] == 11.19
assert lit['CURR']['CurrTot'] == 25.827288
assert lit['D32']['Value'] == 11122
next(lit)
assert lit.iterators == {
'CURR': (9, 514),
'ERR': (1, 553),
'NTUN': (0, 2206),
'CTUN': (88, 502),
'GPS': (0, 552),
'CMD': (0, 607),
'D32': (0, 305),
'ATT': (83, 501),
'EV': (4, 606),
'DU32': (9, 513),
'PM': (1, 719),
}
lit.jump(4750)
next(lit)
assert lit.currentLine == 4751
assert lit['ATT']['Roll'] == 2.99
# TODO: unit test DataflashLog reading 2
# ...
# TODO: unit test the log test classes
# ...
print("All unit/regression tests GOOD\n")
except Exception:
print("Error found: " + traceback.format_exc())
print("UNIT TEST FAILED\n")