LogAnalyzer: adjust for change in vehicle definition MSG string

We changed from ArduCopter to APM:Copter, breaking parts of the LogAnalyzer

This change has LogAnalyzer canonicalise its output to Ardu{Plane,Rover,Copter}

Also account for change in MODE message - ThrCrs has gone away

Tools/LogAnalyzer/DataflashLog.py

@@ -12,6 +12,8 @@ import bisect
 import sys
 import ctypes
 
+from VehicleType import VehicleType, VehicleTypeString
+
 class Format(object):
     '''Data channel format as specified by the FMT lines in the log file'''
     def __init__(self,msgType,msgLen,name,types,labels):
@@ -383,7 +385,7 @@ class DataflashLogHelper:
         '''returns an human readable error string if the log is essentially empty, otherwise returns None'''
         # naive check for now, see if the throttle output was ever above 20%
         throttleThreshold = 20
-        if logdata.vehicleType == "ArduCopter":
+        if logdata.vehicleType == VehicleType.Copter:
             throttleThreshold = 200 # copter uses 0-1000, plane+rover use 0-100
         if "CTUN" in logdata.channels:
             maxThrottle = logdata.channels["CTUN"]["ThrOut"].max()
@@ -403,7 +405,8 @@ class DataflashLog(object):
     def __init__(self, logfile=None, format="auto", ignoreBadlines=False):
         self.filename = None
 
-        self.vehicleType     = "" # ArduCopter, ArduPlane, ArduRover, etc, verbatim as given by header
+        self.vehicleType     = None # from VehicleType enumeration; value derived from header
+        self.vehicleTypeString = None # set at same time has the enum value
         self.firmwareVersion = ""
         self.firmwareHash    = ""
         self.freeRAM         = 0
@@ -425,7 +428,7 @@ class DataflashLog(object):
 
     def getCopterType(self):
         '''returns quad/hex/octo/tradheli if this is a copter log'''
-        if self.vehicleType != "ArduCopter":
+        if self.vehicleType != VehicleType.Copter:
             return None
         motLabels = []
         if "MOT" in self.formats: # not listed in PX4 log header for some reason?
@@ -492,6 +495,22 @@ class DataflashLog(object):
         # TODO: calculate logging rate based on timestamps
         # ...
 
+    msg_vehicle_to_vehicle_map = {
+        "ArduCopter": VehicleType.Copter,
+        "APM:Copter": VehicleType.Copter,
+        "ArduPlane": VehicleType.Plane,
+        "ArduRover": VehicleType.Rover
+    }
+
+    # takes the vehicle type supplied via "MSG" and sets vehicleType from
+    # the VehicleType enumeration
+    def set_vehicleType_from_MSG_vehicle(self, MSG_vehicle):
+        ret = self.msg_vehicle_to_vehicle_map.get(MSG_vehicle, None)
+        if ret is None:
+            raise ValueError("Unknown vehicle type (%s)" % (MSG_vehicle))
+        self.vehicleType = ret
+        self.vehicleTypeString = VehicleTypeString[ret]
+
     def process(self, lineNumber, e):
         if e.NAME == 'FMT':
             cls = e.to_class()
@@ -505,15 +524,14 @@ class DataflashLog(object):
         elif e.NAME == "MSG":
             if not self.vehicleType:
                 tokens = e.Message.split(' ')
-                vehicleTypes = ["ArduPlane", "ArduCopter", "ArduRover"]
-                self.vehicleType = tokens[0]
+                self.set_vehicleType_from_MSG_vehicle(tokens[0]);
                 self.firmwareVersion = tokens[1]
                 if len(tokens) == 3:
                     self.firmwareHash = tokens[2][1:-1]
             else:
                 self.messages[lineNumber] = e.Message
         elif e.NAME == "MODE":
-            if self.vehicleType in ["ArduCopter"]:
+            if self.vehicleType == VehicleType.Copter:
                 try:
                     modes = {0:'STABILIZE',
                         1:'ACRO',
@@ -530,13 +548,21 @@ class DataflashLog(object):
                         14:'FLIP',
                         15:'AUTOTUNE',
                         16:'HYBRID',}
-                    self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ThrCrs)
+                    if hasattr(e, 'ThrCrs'):
+                        self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ThrCrs)
+                    else:
+                        # assume it has ModeNum:
+                        self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ModeNum)
                 except:
-                    self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
-            elif self.vehicleType in ["ArduPlane", "APM:Plane", "ArduRover", "APM:Rover", "APM:Copter"]:
+                    if hasattr(e, 'ThrCrs'):
+                        self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
+                    else:
+                        # assume it has ModeNum:
+                        self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
+            elif self.vehicleType in [VehicleType.Plane, VehicleType.Copter, VehicleType.Rover]:
                 self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
             else:
-                raise Exception("Unknown log type for MODE line vehicletype=({}) linw=({})".format(self.vehicleType, repr(e)))
+                raise Exception("Unknown log type for MODE line vehicletype=({}) linw=({})".format(self.vehicleTypeString, repr(e)))
         # anything else must be the log data
         else:
             groupName = e.NAME
@@ -583,7 +609,7 @@ class DataflashLog(object):
                     elif tokens2[0] in knownHardwareTypes:
                         self.hardwareType = line      # not sure if we can parse this more usefully, for now only need to report it back verbatim
                     elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][0].lower() == "v":  # e.g. ArduCopter V3.1 (5c6503e2)
-                        self.vehicleType     = tokens2[0]
+                        self.set_vehicleType_from_MSG_vehicle(tokens2[0])
                         self.firmwareVersion = tokens2[1]
                         if len(tokens2) == 3:
                             self.firmwareHash    = tokens2[2][1:-1]

Tools/LogAnalyzer/LogAnalyzer.py

@@ -30,6 +30,7 @@ import datetime
 import time
 from xml.sax.saxutils import escape
 
+from VehicleType import VehicleType
 
 class TestResult(object):
     '''all tests return a standardized result type'''
@@ -96,10 +97,10 @@ class TestSuite(object):
         print 'Log size: %.2fmb (%d lines)' % (self.logdata.filesizeKB / 1024.0, self.logdata.lineCount)
         print 'Log duration: %s' % str(datetime.timedelta(seconds=self.logdata.durationSecs)) + '\n'
 
-        if self.logdata.vehicleType == "ArduCopter" and self.logdata.getCopterType():
-            print 'Vehicle Type: %s (%s)' % (self.logdata.vehicleType, self.logdata.getCopterType())
+        if self.logdata.vehicleType == VehicleType.Copter and self.logdata.getCopterType():
+            print 'Vehicle Type: %s (%s)' % (self.logdata.vehicleTypeString, self.logdata.getCopterType())
         else:
-            print 'Vehicle Type: %s' % self.logdata.vehicleType
+            print 'Vehicle Type: %s' % self.logdata.vehicleTypeString
         print 'Firmware Version: %s (%s)' % (self.logdata.firmwareVersion, self.logdata.firmwareHash)
         print 'Hardware: %s' % self.logdata.hardwareType
         print 'Free RAM: %s' % self.logdata.freeRAM
@@ -158,8 +159,8 @@ class TestSuite(object):
         print >>xml, "  <sizekb>"    + escape(`self.logdata.filesizeKB`) + "</sizekb>"
         print >>xml, "  <sizelines>" + escape(`self.logdata.lineCount`) + "</sizelines>"
         print >>xml, "  <duration>"  + escape(str(datetime.timedelta(seconds=self.logdata.durationSecs))) + "</duration>"
-        print >>xml, "  <vehicletype>" + escape(self.logdata.vehicleType) + "</vehicletype>"
-        if self.logdata.vehicleType == "ArduCopter" and self.logdata.getCopterType():
+        print >>xml, "  <vehicletype>" + escape(self.logdata.vehicleTypeString) + "</vehicletype>"
+        if self.logdata.vehicleType == VehicleType.Copter and self.logdata.getCopterType():
             print >>xml, "  <coptertype>"  + escape(self.logdata.getCopterType()) + "</coptertype>"
         print >>xml, "  <firmwareversion>" + escape(self.logdata.firmwareVersion) + "</firmwareversion>"
         print >>xml, "  <firmwarehash>" + escape(self.logdata.firmwareHash) + "</firmwarehash>"

Tools/LogAnalyzer/UnitTest.py

@@ -9,6 +9,7 @@
 
 import DataflashLog
 import traceback
+from VehicleType import VehicleType
 
 try:
 
@@ -16,7 +17,8 @@ try:
 	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     == "ArduCopter")
+	assert(logdata.vehicleType     == VehicleType.Copter)
+	assert(logdata.vehicleTypeString     == "ArduCopter")
 	assert(logdata.firmwareVersion == "V3.0.1")
 	assert(logdata.firmwareHash    == "5c6503e2")
 	assert(logdata.freeRAM         == 1331)
@@ -38,7 +40,7 @@ try:
 	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) == 302)
+	assert(int(logdata.filesizeKB) == 307)
 	assert(logdata.durationSecs    == 155)
 	assert(logdata.lineCount       == 4750)
 

Tools/LogAnalyzer/VehicleType.py

@@ -0,0 +1,12 @@
+class VehicleType():
+    Plane = 17
+    Copter = 23
+    Rover = 37
+
+# these should really be "Plane", "Copter" and "Rover", but many
+# things use these values as triggers in their code:
+VehicleTypeString = {
+    17: "ArduPlane",
+    23: "ArduCopter",
+    37: "ArduRover"
+}