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refactor ecl ekf analysis (#11412)

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* refactor ekf analysis part 1: move plotting to functions

* add plot_check_flags plot function

* put plots in seperate file

* use object-oriented programming for plotting

* move functions for post processing and pdf report creation to new files

* add in_air_detector and description as a csv file

* refactor metrics and checks into separate functions

* refactor metrics into seperate file, seperate plotting

* ecl-ekf tools: re-structure folder and move results table generation

* ecl-ekf-tool: fix imports and test_results_table

* ecl-ekf tools: bugfix output observer tracking error plot

* ecl-ekf-tools: update batch processing to new api, fix exception handling

* ecl-ekf-tools: use correct in_air_detector

* ecl-ekf-tools: rename csv file containing the bare test results table

* ecl-tools: refactor for improving readability

* ecl-ekf tools: small plotting bugfixes

* ecl-ekf tools: small bugfixes in_air time, on_ground_trans, filenames

* ecl-ekf-tools: fix amber metric bug

* ecl-ekf-tools: remove custom function in inairdetector

* ecl-ekf-tools: remove import of pandas

* ecl-ekf-tools: add python interpreter to the script start

* ecl-ekf-tools pdf_report: fix python interpreter line

* px4-dev-ros-kinetic: update container tag to 2019-02-13

* ecl-ekf-tools python interpreter line: call python3 bin directly

* ecl-ekf-tools: change airtime from namedtuple to class for python 3.5

* ecl-ekf-tools: update docker image px4-dev-ros-kinetic

* ecl-ekf-tools: fix memory leak by correctly closing matplotlib figures
This commit is contained in:
JohannesBrand
2019-02-18 16:52:02 +01:00
committed by GitHub
parent 77b5c47d7f
commit b01e470ff9
19 changed files with 1826 additions and 1495 deletions
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Tools/ecl_ekf/batch_process_logdata_ekf.py
+78 -38
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@@ -1,47 +1,87 @@
#!/usr/bin/env python
#! /usr/bin/env python3
"""
Runs process_logdata_ekf.py on the .ulg files in the supplied directory. ulog files are skipped from the analysis, if a
corresponding .pdf file already exists (unless the overwrite flag was set).
"""
# -*- coding: utf-8 -*-
import argparse
import os, glob
"""
Runs process_logdata_ekf.py on the .ulg files in the supplied directory. ulog files are skipped from the analysis, if a
corresponding .pdf file already exists (unless the overwrite flag was set).
"""
from process_logdata_ekf import process_logdata_ekf
parser = argparse.ArgumentParser(description='Analyse the estimator_status and ekf2_innovation message data for the'
' .ulg files in the specified directory')
parser.add_argument("directory_path")
parser.add_argument('-o', '--overwrite', action='store_true',
help='Whether to overwrite an already analysed file. If a file with .pdf extension exists for a .ulg'
'file, the log file will be skipped from analysis unless this flag has been set.')
parser.add_argument('--no-sensor-safety-margin', action='store_true',
help='Whether to not cut-off 5s after take-off and 5s before landing '
'(for certain sensors that might be influence by proximity to ground).')
def get_arguments():
parser = argparse.ArgumentParser(description='Analyse the estimator_status and ekf2_innovation message data for the'
' .ulg files in the specified directory')
parser.add_argument("directory_path")
parser.add_argument('-o', '--overwrite', action='store_true',
help='Whether to overwrite an already analysed file. If a file with .pdf extension exists for a .ulg'
'file, the log file will be skipped from analysis unless this flag has been set.')
parser.add_argument('--no-plots', action='store_true',
help='Whether to only analyse and not plot the summaries for developers.')
parser.add_argument('--check-level-thresholds', type=str, default=None,
help='The csv file of fail and warning test thresholds for analysis.')
parser.add_argument('--check-table', type=str, default=None,
help='The csv file with descriptions of the checks.')
parser.add_argument('--no-sensor-safety-margin', action='store_true',
help='Whether to not cut-off 5s after take-off and 5s before landing '
'(for certain sensors that might be influence by proximity to ground).')
return parser.parse_args()
def is_valid_directory(parser, arg):
if os.path.isdir(arg):
# Directory exists so return the directory
return arg
def main() -> None:
args = get_arguments()
if args.check_level_thresholds is not None:
check_level_dict_filename = args.check_level_thresholds
else:
parser.error('The directory {} does not exist'.format(arg))
file_dir = os.path.realpath(os.path.join(os.getcwd(), os.path.dirname(__file__)))
check_level_dict_filename = os.path.join(file_dir, "check_level_dict.csv")
args = parser.parse_args()
ulog_directory = args.directory_path
print("\n"+"analysing the .ulg files in "+ulog_directory)
# get all the ulog files found in the specified directory and in subdirectories
ulog_files = glob.glob(os.path.join(ulog_directory, '**/*.ulg'), recursive=True)
# remove the files already analysed unless the overwrite flag was specified. A ulog file is consired to be analysed if
# a corresponding .pdf file exists.'
if not args.overwrite:
print("skipping already analysed ulg files.")
ulog_files = [ulog_file for ulog_file in ulog_files if not os.path.exists('{}.pdf'.format(ulog_file))]
# analyse all ulog files
for ulog_file in ulog_files:
print("\n"+"loading " + ulog_file + " for analysis")
if args.no_sensor_safety_margin:
os.system("python process_logdata_ekf.py {} --no-sensor-safety-margin".format(ulog_file))
if args.check_table is not None:
check_table_filename = args.check_table
else:
os.system("python process_logdata_ekf.py {}".format(ulog_file))
file_dir = os.path.realpath(os.path.join(os.getcwd(), os.path.dirname(__file__)))
check_table_filename = os.path.join(file_dir, "check_table.csv")
ulog_directory = args.directory_path
# get all the ulog files found in the specified directory and in subdirectories
ulog_files = glob.glob(os.path.join(ulog_directory, '**/*.ulg'), recursive=True)
print("found {:d} .ulg files in {:s}".format(len(ulog_files), ulog_directory))
# remove the files already analysed unless the overwrite flag was specified. A ulog file is consired to be analysed if
# a corresponding .pdf file exists.'
if not args.overwrite:
print("skipping already analysed ulg files.")
ulog_files = [ulog_file for ulog_file in ulog_files if
not os.path.exists('{}.pdf'.format(ulog_file))]
n_files = len(ulog_files)
print("analysing the {:d} .ulg files".format(n_files))
i = 1
n_skipped = 0
# analyse all ulog files
for ulog_file in ulog_files:
print('analysing file {:d}/{:d}: {:s}'.format(i, n_files, ulog_file))
try:
_ = process_logdata_ekf(
ulog_file, check_level_dict_filename, check_table_filename,
plot=not args.no_plots, sensor_safety_margins=not args.no_sensor_safety_margin)
except Exception as e:
print(str(e))
print('an exception occurred, skipping file {:s}'.format(ulog_file))
n_skipped = n_skipped + 1
i = i + 1
print('{:d}/{:d} files analysed, {:d} skipped.'.format(n_files-n_skipped, n_files, n_skipped))
if __name__ == '__main__':
main()