supernpp.py

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#!/usr/bin/python3

import os
import re
from subprocess import Popen
from os.path import normpath, basename
from threading import Thread
import time
from pathlib import Path
import sys
import threading

sys.path.insert(1, '../logInspector')
sys.path.insert(1, '..')

from logReader import Log

class SuperNPP():
        def __init__(self, directory, config_serials, startMode=0, computeRMS=0):               # start mode 0=hot, 1=cold, 2=factory
                self.config_serials = config_serials
                self.directory = Path(directory)
                self.startMode = startMode
                self.computeRMS = computeRMS
                self.subdirs = []
                self.log = Log()
                self.rmsPassResults = []
                self.rmsFailResults = []
                self._key_lock = threading.Lock()

                print("=====================  Init SuperNPP  =====================")
                print("  Directory: ", self.directory)
                print("  config_serials:", self.config_serials)
                print("  startMode:", self.startMode)
                self.findLogFiles(self.directory)
                print("  subdirs:", self.subdirs)


        def exitHack(self):
                self.log.exitHack()

        def findLogFiles(self, directory):
                # print("findLogFiles: ", directory)
                for file in os.listdir(directory):
                        if ".sdat" in file or ".dat" in file:
                                self.subdirs.append(directory)
                                break
                # Recursively search for data in sub directories
                for subdir in os.listdir(directory):
                        subdir2 = os.path.join(directory, subdir)
                        if not os.path.isdir(subdir2):
                                continue
                        if "post_processed" in subdir:
                                continue
                        self.findLogFiles(subdir2)

        def run(self):
                print('\nDirectories to reprocess:')
                print(self.subdirs)
                print('\n' + str(len(self.subdirs)) + ' directories')
                time.sleep(2)   # seconds
                self.rmsFailResults = []
                self.rmsPassResults = []

                # Start threads
                threads = [Thread(target=self.run_log_folder, args=(folder, self.config_serials)) for folder in self.subdirs]
                for thread in threads:
                        thread.start()
                for thread in threads:
                        thread.join()

                
                if self.computeRMS:
                        for subdir in self.subdirs:
                                sdir = subdir + "/post_processed"
                                self.log.load(sdir)

                                # Compute and output RMS Report
                                self.log.calculateRMS()
                                passRMS = self.log.printRMSReport()
                                if passRMS == 1:
                                        self.rmsPassResults.append(sdir)
                                        print("RMS Test PASSED: " + sdir)
                                else:
                                        self.rmsFailResults.append(sdir)
                                        print("RMS Test FAILED: " + sdir)
                

        def run_log_folder(self, folder, config_serials):
                # Find the serial numbers in the log
                # subdir = os.path.basename(os.path.normpath(folder))
                (folder, subdir) = os.path.split(folder)

                if config_serials == ["ALL"]:
                        serials = []
                        for file in os.listdir(os.path.join(folder,subdir)):
                                if ".sdat" in file or ".dat" in file:
                                        ser = int(re.sub('[^0-9]','', file.split("_")[1]))
                                        if ser not in serials:
                                                serials.append(ser)
                else:
                        serials = config_serials

                print("serial numbers")
                print(serials)

                if os.name == 'posix':
                        cmds = ['./navpp -d ' + folder + ' -s ' + str(s) + " -sd " + subdir for s in serials]
                        npp_build_folder = "../../../cpp/NavPostProcess/build"
                else:
                        cmds = [r'.\NavPostProcess.exe -d "' + folder + r'" -s ' + str(s) + " -sd " + subdir for s in serials]
                        npp_build_folder = "../../../cpp/NavPostProcess/VS_project/Release"

                if self.startMode == 1:
                        for i in range(len(cmds)):
                                cmds[i] += ' -mode COLD -kml'   # Cold init, enable KML output

                if self.startMode == 2:
                        for i in range(len(cmds)):
                                cmds[i] += ' -mode FACTORY -kml'        # Factory init, enable KML output

                for i in range(len(cmds)):
                        cmds[i] += ' --outputoff'       # disable INS display output

                print("Running NPP...")

                for cmd in cmds:
                        print(cmd)

                processes = [Popen(cmd, shell=True, cwd=npp_build_folder) for cmd in cmds]
                for p in processes:
                        p.wait()

                

                print("All processes done!")

def buildNPP(npp_build_folder):
        if not os.path.exists(npp_build_folder):
                os.makedirs(npp_build_folder)

        print("building NPP")
        cmd = ['cmake .. -DCMAKE_BUILD_TYPE=Debug && make -j12 -l12']
        process = Popen(cmd, shell=True, cwd=npp_build_folder)
        process.wait()

if __name__ == "__main__":

        print("Running SuperNPP")
        npp_build_folder = "../../../cpp/NavPostProcess/build"
        # buildNPP(npp_build_folder)

        # import yaml
        # file = open(os.path.expanduser("~/Documents/Inertial_Sense/config.yaml"), 'r')
        # config = yaml.load(file, Loader=yaml.FullLoader)
        # directory = config["directory"]
        # serials = config["serials"]

        # 2nd argument: Log Directory
        if len(sys.argv) >= 2:
                directory = sys.argv[1]

        # Debug
        # directory = '/home/walt/src/IS-src/scripts/../../goldenlogs/AHRS'
        # directory = os.path.join('C:/','_IS','goldenlogs','AHRS')
        # directory = os.path.join('C:/','_IS','goldenlogs')
        # directory = 'C:/_IS/goldenlogs'

        if 'directory' not in locals():
                print("First parameter must be directory!")
                exit()

        # 3rd argument: Serial #s
        if len(sys.argv) >= 3:
                serials = sys.argv[2]
        else:
                serials = ['ALL']
                print("Using default value for serials: ", serials)

        # 4th argument: Compute RMS Comparison Report
        if len(sys.argv) >= 4:
                computeRMS = sys.argv[3]
        else:
                computeRMS = 1

        # Run Super NPP
        snpp = SuperNPP(directory, serials, computeRMS=computeRMS)
        snpp.run()

        print("====================  Super NPP Results  ====================")
        rmsPassFilename = directory+"/rms_pass.txt"
        rmsFailFilename = directory+"/rms_fail.txt"
        # print(rmsPassFilename)
        # print(rmsFailFilename)

        # Remove old files
        try:
                os.remove(rmsPassFilename)
        except OSError:
                pass
        try:
                os.remove(rmsFailFilename)
        except OSError:
                pass

        if snpp.rmsPassResults != []:
                print("  RMS Tests PASSED")
                f = open(rmsPassFilename, "w")
                for val in snpp.rmsPassResults:
                        print("   ", val)
                        f.write(val+"\n")
                f.close()

        if snpp.rmsFailResults != []:
                print("  RMS Tests FAILED:")
                f = open(rmsFailFilename, "w")
                for val in snpp.rmsFailResults:
                        print("  ", val)
                        f.write(val+"\n")
                f.close()

        snpp.exitHack()
        print("=============================================================")