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Merge pull request #6 from peterbarker/la-enhancements
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La enhancements
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@mrpollo
mrpollo committed Aug 28, 2015
2 parents 67319fe + 3934c9c commit 46ac3a7
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Showing 30 changed files with 1,042 additions and 360 deletions.
8 changes: 6 additions & 2 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -17,12 +17,13 @@ INCS = -I./util -I./ini -I./ini/cpp

STD=-std=c++11
CFLAGS += -Wall $(INCS) -DGIT_VERSION=\"$(GIT_VERSION)\"
CXXFLAGS += -Wall $(INCS) $(STD) -g -fpermissive -DGIT_VERSION=\"$(GIT_VERSION)\"
CXXFLAGS += -Wall $(INCS) $(STD) -g -DGIT_VERSION=\"$(GIT_VERSION)\"

DLIBS += -ljsoncpp

SRCS_CPP = dataflash_logger.cpp
SRCS_CPP += INIReader.cpp
SRCS_CPP += analyzer_util.cpp
SRCS_CPP += mavlink_message_handler.cpp
SRCS_CPP += mavlink_reader.cpp
SRCS_CPP += analyze.cpp
Expand All @@ -34,7 +35,10 @@ SRCS_CPP += analyzer_ever_flew.cpp
SRCS_CPP += analyzer_good_ekf.cpp
SRCS_CPP += analyzer_battery.cpp
SRCS_CPP += analyzer_brownout.cpp
SRCS_CPP += analyzer_crashed.cpp
SRCS_CPP += analyzer_notcrashed.cpp
SRCS_CPP += analyzer_attitude_control.cpp
SRCS_CPP += analyzervehicle_copter.cpp
SRCS_CPP += analyzervehicle.cpp
SRCS_CPP += la-log.cpp
SRCS_C = util.c ini.c

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84 changes: 73 additions & 11 deletions analyze.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,10 @@
#include "analyzer_ever_armed.h"
#include "analyzer_ever_flew.h"
#include "analyzer_good_ekf.h"
#include "analyzer_attitude_control.h"
#include "analyzer_battery.h"
#include "analyzer_brownout.h"
#include "analyzer_crashed.h"
#include "analyzer_notcrashed.h"

void Analyze::instantiate_analyzers(INIReader *config)
{
Expand All @@ -18,55 +19,62 @@ void Analyze::instantiate_analyzers(INIReader *config)
exit(1); // FIXME - throw exception
}

Analyzer_Compass_Offsets *analyzer_compass_offsets = new Analyzer_Compass_Offsets(_fd_telem_forwarder, _sa_telemetry_forwarder);
Analyzer_Compass_Offsets *analyzer_compass_offsets = new Analyzer_Compass_Offsets(_fd_telem_forwarder, _sa_telemetry_forwarder, vehicle);
if (analyzer_compass_offsets != NULL) {
configure_analyzer(config, analyzer_compass_offsets, "Analyzer_Compass_Offsets");
} else {
syslog(LOG_INFO, "Failed to create analyzer_compass_offsets");
}

Analyzer_Ever_Armed *analyzer_ever_armed = new Analyzer_Ever_Armed(_fd_telem_forwarder, _sa_telemetry_forwarder);
Analyzer_Ever_Armed *analyzer_ever_armed = new Analyzer_Ever_Armed(_fd_telem_forwarder, _sa_telemetry_forwarder, vehicle);
if (analyzer_ever_armed != NULL) {
configure_analyzer(config, analyzer_ever_armed, "Analyzer_Ever_Armed");
} else {
syslog(LOG_INFO, "Failed to create analyzer_ever_armed");
}

Analyzer_Ever_Flew *analyzer_ever_flew = new Analyzer_Ever_Flew(_fd_telem_forwarder, _sa_telemetry_forwarder);
Analyzer_Ever_Flew *analyzer_ever_flew = new Analyzer_Ever_Flew(_fd_telem_forwarder, _sa_telemetry_forwarder, vehicle);
if (analyzer_ever_flew != NULL) {
configure_analyzer(config, analyzer_ever_flew, "Analyzer_Ever_Flew");
} else {
syslog(LOG_INFO, "Failed to create analyzer_ever_flew");
}


Analyzer_Good_EKF *analyzer_good_ekf = new Analyzer_Good_EKF(_fd_telem_forwarder, _sa_telemetry_forwarder);
Analyzer_Good_EKF *analyzer_good_ekf = new Analyzer_Good_EKF(_fd_telem_forwarder, _sa_telemetry_forwarder, vehicle);
if (analyzer_good_ekf != NULL) {
configure_analyzer(config, analyzer_good_ekf, "Analyzer_Good_EKF");
} else {
syslog(LOG_INFO, "Failed to create analyzer_good_ekf");
}

Analyzer_Battery *analyzer_battery = new Analyzer_Battery(_fd_telem_forwarder, _sa_telemetry_forwarder);
Analyzer_Attitude_Control *analyzer_attitude_control = new Analyzer_Attitude_Control(_fd_telem_forwarder, _sa_telemetry_forwarder, vehicle);
if (analyzer_attitude_control != NULL) {
configure_analyzer(config, analyzer_attitude_control, "Analyzer_Attitude_Control");
} else {
syslog(LOG_INFO, "Failed to create analyzer_attitude_control");
}

Analyzer_Battery *analyzer_battery = new Analyzer_Battery(_fd_telem_forwarder, _sa_telemetry_forwarder, vehicle);
if (analyzer_battery != NULL) {
configure_analyzer(config, analyzer_battery, "Analyzer_Battery");
} else {
syslog(LOG_INFO, "Failed to create analyzer_battery");
}

Analyzer_Brownout *analyzer_brownout = new Analyzer_Brownout(_fd_telem_forwarder, _sa_telemetry_forwarder);
Analyzer_Brownout *analyzer_brownout = new Analyzer_Brownout(_fd_telem_forwarder, _sa_telemetry_forwarder, vehicle);
if (analyzer_brownout != NULL) {
configure_analyzer(config, analyzer_brownout, "Analyzer_Brownout");
} else {
syslog(LOG_INFO, "Failed to create analyzer_brownout");
}


Analyzer_Crashed *analyzer_crashed = new Analyzer_Crashed(_fd_telem_forwarder, _sa_telemetry_forwarder);
if (analyzer_crashed != NULL) {
configure_analyzer(config, analyzer_crashed, "Analyzer_Crashed");
Analyzer_NotCrashed *analyzer_notcrashed = new Analyzer_NotCrashed(_fd_telem_forwarder, _sa_telemetry_forwarder, vehicle);
if (analyzer_notcrashed != NULL) {
configure_analyzer(config, analyzer_notcrashed, "Analyzer_NotCrashed");
} else {
syslog(LOG_INFO, "Failed to create analyzer_crashed");
syslog(LOG_INFO, "Failed to create analyzer_not_crashed");
}
}

Expand Down Expand Up @@ -342,6 +350,9 @@ void Analyze::end_of_log(uint32_t packet_count) {
}

Json::Value root;
root["format-version"] = "0.1";
root["timestamp"] = (Json::UInt64)start_time;
root["duration"] = (Json::UInt64)(now() - start_time);

results_json(root);

Expand All @@ -364,41 +375,92 @@ void Analyze::end_of_log(uint32_t packet_count) {
}

void Analyze::handle_decoded_message(uint64_t T, mavlink_ahrs2_t &msg) {
if (!vehicle) {
return;
}
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_attitude_t &msg) {
if (!vehicle) {
return;
}
vehicle->handle_decoded_message(T, msg);
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_heartbeat_t &msg) {
if (!vehicle) {
return;
}
vehicle->handle_decoded_message(T, msg);
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_nav_controller_output_t &msg) {
if (!vehicle) {
return;
}
vehicle->handle_decoded_message(T, msg);
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_param_value_t &msg) {
if (!vehicle) {
return;
}
vehicle->handle_decoded_message(T, msg);
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_servo_output_raw_t &msg) {
if (!vehicle) {
return;
}
vehicle->handle_decoded_message(T, msg);
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_ekf_status_report_t &msg) {
if (!vehicle) {
return;
}
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_sys_status_t &msg) {
if (!vehicle) {
return;
}
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_vfr_hud_t &msg) {
if (!vehicle) {
return;
}
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
}
void Analyze::handle_decoded_message(uint64_t T, mavlink_statustext_t &msg) {
if (!vehicle) {
if (strstr(msg.text, "APM:Copter")) {
vehicle = new AnalyzerVehicle::Copter();
}
}
if (!vehicle) {
return;
}
vehicle->handle_decoded_message(T, msg);
for(int i=0; i<next_analyzer; i++) {
analyzer[i]->handle_decoded_message(T, msg);
}
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11 changes: 11 additions & 0 deletions analyze.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,15 +3,20 @@

#include "mavlink_message_handler.h"
#include "analyzer.h"
#include "analyzervehicle_copter.h"

#include "analyzer_util.h"

class Analyze : public MAVLink_Message_Handler {

public:
Analyze(int fd, struct sockaddr_in &sa) :
MAVLink_Message_Handler(fd, sa),
vehicle(NULL),
_output_style(OUTPUT_JSON),
next_analyzer(0)
{
start_time = now();
}
void instantiate_analyzers(INIReader *config);

Expand All @@ -26,6 +31,10 @@ class Analyze : public MAVLink_Message_Handler {
void set_output_style(output_style_option option) { _output_style = option;}

private:
uint64_t start_time;

AnalyzerVehicle::Base *vehicle;

output_style_option _output_style;
#define MAX_ANALYZERS 10
uint8_t next_analyzer;
Expand All @@ -43,8 +52,10 @@ class Analyze : public MAVLink_Message_Handler {
virtual void handle_decoded_message(uint64_t T, mavlink_attitude_t &msg);
virtual void handle_decoded_message(uint64_t T, mavlink_ekf_status_report_t &msg);
virtual void handle_decoded_message(uint64_t T, mavlink_heartbeat_t &msg);
virtual void handle_decoded_message(uint64_t T, mavlink_nav_controller_output_t &msg);
virtual void handle_decoded_message(uint64_t T, mavlink_param_value_t &msg);
virtual void handle_decoded_message(uint64_t T, mavlink_servo_output_raw_t &msg);
virtual void handle_decoded_message(uint64_t T, mavlink_statustext_t &msg);
virtual void handle_decoded_message(uint64_t T, mavlink_sys_status_t &msg);
virtual void handle_decoded_message(uint64_t T, mavlink_vfr_hud_t &msg);

Expand Down
47 changes: 44 additions & 3 deletions analyzer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,42 @@
#include <jsoncpp/json/json.h> // libjsoncpp0 and libjsoncpp-dev on debian
#include <jsoncpp/json/writer.h> // libjsoncpp0 and libjsoncpp-dev on debian

#include "analyzervehicle.h"

enum analyzer_status {
analyzer_status_warn = 17,
analyzer_status_fail,
analyzer_status_ok,
};

class analyzer_result {
public:
analyzer_status status;
const char *status_as_string() const {
switch(status) {
case analyzer_status_fail:
return "FAIL";
case analyzer_status_warn:
return "WARN";
case analyzer_status_ok:
return "OK";
}
return "STRANGE";
}
// std::string reason_as_string() const {
// return string_format("Desired attitude not achieved");
// }
};


class Analyzer : public MAVLink_Message_Handler {

public:
Analyzer(int fd, struct sockaddr_in &sa) :
Analyzer(int fd, struct sockaddr_in &sa, AnalyzerVehicle::Base *&vehicle) :
MAVLink_Message_Handler(fd, sa),
evilness(0)
evilness(0),
_vehicle(vehicle),
_status(analyzer_status_ok)
{ }

virtual const char *name() = 0;
Expand All @@ -22,14 +52,25 @@ class Analyzer : public MAVLink_Message_Handler {
void add_evilness(uint8_t sin_points) {
evilness += sin_points;
}
uint16_t get_evilness() { return evilness; }
uint16_t get_evilness() const { return evilness; }

analyzer_status status() const { return _status; }

protected:

std::string to_string(double x);
uint16_t evilness;
AnalyzerVehicle::Base *&_vehicle;
void set_status(analyzer_status status) { _status = status; }

private:
analyzer_status _status;
};

#endif



// - two fundamental types of test
// - is the software working correctly (EKF issues)
// - is the vehicle doing sensible things (attitude etc)
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