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98 lines
2.8 KiB
98 lines
2.8 KiB
#!/usr/bin/env python |
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''' |
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check that replay produced identical results |
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''' |
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from __future__ import print_function |
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def check_log(logfile, progress=print, ekf2_only=False, ekf3_only=False, verbose=False): |
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'''check replay log for matching output''' |
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from pymavlink import mavutil |
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progress("Processing log %s" % logfile) |
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failure = 0 |
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errors = 0 |
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count = 0 |
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base_count = 0 |
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counts = {} |
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base_counts = {} |
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mlog = mavutil.mavlink_connection(logfile) |
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ek2_list = ['NKF1','NKF2','NKF3','NKF4','NKF5','NKF0','NKQ', 'NKY0', 'NKY1'] |
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ek3_list = ['XKF1','XKF2','XKF3','XKF4','XKF0','XKFS','XKQ','XKFD','XKV1','XKV2','XKY0','XKY1'] |
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if ekf2_only: |
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mlist = ek2_list |
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elif ekf3_only: |
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mlist = ek3_list |
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else: |
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mlist = ek2_list + ek3_list |
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base = {} |
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for m in mlist: |
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base[m] = {} |
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while True: |
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m = mlog.recv_match(type=mlist) |
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if m is None: |
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break |
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if not hasattr(m,'C'): |
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continue |
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mtype = m.get_type() |
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if not mtype in counts: |
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counts[mtype] = 0 |
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base_counts[mtype] = 0 |
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core = m.C |
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if core < 100: |
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base[mtype][core] = m |
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base_count += 1 |
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base_counts[mtype] += 1 |
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continue |
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mb = base[mtype][core-100] |
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count += 1 |
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counts[mtype] += 1 |
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mismatch = False |
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for f in m._fieldnames: |
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if f == 'C': |
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continue |
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v1 = getattr(m,f) |
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v2 = getattr(mb,f) |
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if v1 != v2: |
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mismatch = True |
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errors += 1 |
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progress("Mismatch in field %s.%s: %s %s" % (mtype, f, str(v1), str(v2))) |
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if mismatch: |
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progress(mb) |
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progress(m) |
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progress("Processed %u/%u messages, %u errors" % (count, base_count, errors)) |
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if verbose: |
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for mtype in counts.keys(): |
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progress("%s %u/%u %d" % (mtype, counts[mtype], base_counts[mtype], base_counts[mtype]-counts[mtype])) |
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if count == 0 or abs(count - base_count) > 100: |
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failure += 1 |
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if failure != 0 or errors != 0: |
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return False |
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return True |
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if __name__ == '__main__': |
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import sys |
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from argparse import ArgumentParser |
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parser = ArgumentParser(description=__doc__) |
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parser.add_argument("--ekf2-only", action='store_true', help="only check EKF2") |
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parser.add_argument("--ekf3-only", action='store_true', help="only check EKF3") |
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parser.add_argument("--verbose", action='store_true', help="verbose output") |
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parser.add_argument("logs", metavar="LOG", nargs="+") |
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args = parser.parse_args() |
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failed = False |
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for filename in args.logs: |
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if not check_log(filename, print, args.ekf2_only, args.ekf3_only, args.verbose): |
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failed = True |
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if failed: |
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print("FAILED") |
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sys.exit(1) |
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print("Passed") |
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sys.exit(0)
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