frc971/analysis/analysis.py - RealtimeRoboticsGroup/test - Gitiles

 #!/usr/bin/python3

 class LogEntry:
   """This class provides a way to parse log entries."""

   def __init__(self, line):
     """Creates a LogEntry from a line."""
     name_index = line.find('(')
     self.name = line[0:name_index]

     pid_index = line.find(')', name_index + 1)
     self.pid = int(line[name_index + 1:pid_index])

     msg_index_index = line.find(')', pid_index + 1)
     self.msg_index = int(line[pid_index + 2:msg_index_index])

     level_index = line.find(' ', msg_index_index + 3)
     self.level = line[msg_index_index + 3:level_index]

     time_index_start = line.find(' at ', level_index) + 4
     time_index_end = line.find('s:', level_index)
     self.time = float(line[time_index_start:time_index_end])

     filename_end = line.find(':', time_index_end + 3)
     self.filename = line[time_index_end + 3:filename_end]

     linenumber_end = line.find(':', filename_end + 2)
     self.linenumber = int(line[filename_end + 2:linenumber_end])

     self.msg = line[linenumber_end+2:]

   def __str__(self):
     """Formats the data cleanly."""
     return '%s(%d)(%d): %s at %fs: %s: %d: %s' % (self.name, self.pid, self.msg_index, self.level, self.time, self.filename, self.linenumber, self.msg)

   def __JsonizeTokenArray(self, sub_array, tokens, token_index):
     """Parses an array from the provided tokens.

     Args:
       sub_array: list, The list to stick the elements in.
       tokens: list of strings, The list with all the tokens in it.
       token_index: int, Where to start in the token list.

     Returns:
       int, The last token used.
     """
     # Make sure the data starts with a '['
     if tokens[token_index] != '[':
       print(tokens)
       print('Expected [ at beginning, found', tokens[token_index + 1])
       return None

     # Eat the '['
     token_index += 1

     # Loop through the tokens.
     while token_index < len(tokens):
       if tokens[token_index + 1] == ',':
         # Next item is a comma, so we should just add the element.
         sub_array.append(tokens[token_index])
         token_index += 2
       elif tokens[token_index + 1] == ']':
         # Next item is a ']', so we should just add the element and finish.
         sub_array.append(tokens[token_index])
         token_index += 1
         return token_index
       else:
         # Otherwise, it must be a sub-message.
         sub_json = dict()
         token_index = self.JsonizeTokens(sub_json, tokens, token_index + 1)
         sub_array.append(sub_json)
         if tokens[token_index] == ',':
           # Handle there either being another data element.
           token_index += 1
         elif tokens[token_index] == ']':
           # Handle the end of the array.
           return token_index
         else:
           print('Unexpected ', tokens[token_index])
           return None

     print('Unexpected end')
     return None

   def JsonizeTokens(self, json, tokens, token_index):
     """Creates a json-like dictionary from the provided tokens.

     Args:
       json: dict, The dict to stick the elements in.
       tokens: list of strings, The list with all the tokens in it.
       token_index: int, Where to start in the token list.

     Returns:
       int, The last token used.
     """
     # Check that the message starts with a {
     if tokens[token_index] != '{':
       print(tokens)
       print('Expected { at beginning, found', tokens[token_index])
       return None

     # Eat the {
     token_index += 1

     # States and state variable for parsing elements.
     STATE_INIT = 'init'
     STATE_HAS_NAME = 'name'
     STATE_HAS_COLON = 'colon'
     STATE_EXPECTING_SUBMSG = 'submsg'
     STATE_EXPECTING_COMMA = 'comma'
     parser_state = STATE_INIT

     while token_index < len(tokens):
       if tokens[token_index] == '}':
         # Finish if there is a }
         return token_index + 1
       elif tokens[token_index] == '{':
         if parser_state != STATE_EXPECTING_SUBMSG:
           print(tokens)
           print(parser_state)
           print('Bad input, was not expecting {')
           return None
         # Found a submessage, parse it.
         sub_json = dict()
         token_index = self.JsonizeTokens(sub_json, tokens, token_index)
         json[token_name] = sub_json
         parser_state = STATE_EXPECTING_COMMA
       else:
         if parser_state == STATE_INIT:
           # This token is the name.
           token_name = tokens[token_index]
           parser_state = STATE_HAS_NAME
         elif parser_state == STATE_HAS_NAME:
           if tokens[token_index] != ':':
             print(tokens)
             print(parser_state)
             print('Bad input, found', tokens[token_index], 'expected :')
             return None
           # After a name, comes a :
           parser_state = STATE_HAS_COLON
         elif parser_state == STATE_HAS_COLON:
           # After the colon, figure out what is next.
           if tokens[token_index] == '[':
             # Found a sub-array!
             sub_array = []
             token_index = self.__JsonizeTokenArray(sub_array, tokens, token_index)
             json[token_name] = sub_array
             parser_state = STATE_EXPECTING_COMMA
           elif tokens[token_index + 1] == '{':
             # Found a sub-message, trigger parsing it.
             parser_state = STATE_EXPECTING_SUBMSG
           else:
             # This is just an element, move on.
             json[token_name] = tokens[token_index]
             parser_state = STATE_EXPECTING_COMMA
         elif parser_state == STATE_EXPECTING_COMMA:
           # Complain if there isn't a comma here.
           if tokens[token_index] != ',':
             print(tokens)
             print(parser_state)
             print('Bad input, found', tokens[token_index], 'expected ,')
             return None
           parser_state = STATE_INIT
         else:
           print('Bad parser state')
           return None
         token_index += 1

     print('Unexpected end')
     return None

   def ParseStruct(self):
     """Parses the message as a structure.

     Returns:
       struct_name, struct_type, json dict.
     """
     struct_name_index = self.msg.find(':')
     struct_name = self.msg[0:struct_name_index]

     struct_body = self.msg[struct_name_index+2:]
     tokens = []
     this_token = ''
     # For the various deliminators, append what we have found so far to the
     # list and the token.
     for char in struct_body:
       if char == '{':
         if this_token:
           tokens.append(this_token)
           this_token = ''
         tokens.append('{')
       elif char == '}':
         if this_token:
           tokens.append(this_token)
           this_token = ''
         tokens.append('}')
       elif char == '[':
         if this_token:
           tokens.append(this_token)
           this_token = ''
         tokens.append('[')
       elif char == ']':
         if this_token:
           tokens.append(this_token)
           this_token = ''
         tokens.append(']')
       elif char == ':':
         if this_token:
           tokens.append(this_token)
           this_token = ''
         tokens.append(':')
       elif char == ',':
         if this_token:
           tokens.append(this_token)
           this_token = ''
         tokens.append(',')
       elif char == ' ':
         if this_token:
           tokens.append(this_token)
           this_token = ''
       else:
         this_token += char
     if this_token:
       tokens.append(this_token)

     struct_type = tokens[0]
     json = dict()
     # Now that we have tokens, parse them.
     self.JsonizeTokens(json, tokens, 1)

     return (struct_name, struct_type, json)


 def ParseLine(line):
   return LogEntry(line)

 if __name__ == '__main__':
   print('motor_writer(2240)(07421): DEBUG   at 0000000819.99620s: ../../frc971/output/motor_writer.cc: 105: sending: .aos.controls.OutputCheck{pwm_value:221, pulse_length:2.233333}')
   line = ParseLine('motor_writer(2240)(07421): DEBUG   at 0000000819.99620s: ../../frc971/output/motor_writer.cc: 105: sending: .aos.controls.OutputCheck{pwm_value:221, pulse_length:2.233333}')
   if '.aos.controls.OutputCheck' in line.msg:
     print(line)
     print(line.ParseStruct())

   line = ParseLine('claw(2263)(19404): DEBUG   at 0000000820.00000s: ../../aos/common/controls/control_loop-tmpl.h: 104: position: .frc971.control_loops.ClawGroup.Position{top:.frc971.control_loops.HalfClawPosition{position:1.672153, front:.frc971.HallEffectStruct{current:f, posedge_count:0, negedge_count:52}, calibration:.frc971.HallEffectStruct{current:f, posedge_count:6, negedge_count:13}, back:.frc971.HallEffectStruct{current:f, posedge_count:0, negedge_count:62}, posedge_value:0.642681, negedge_value:0.922207}, bottom:.frc971.control_loops.HalfClawPosition{position:1.353539, front:.frc971.HallEffectStruct{current:f, posedge_count:2, negedge_count:150}, calibration:.frc971.HallEffectStruct{current:f, posedge_count:8, negedge_count:18}, back:.frc971.HallEffectStruct{current:f, posedge_count:0, negedge_count:6}, posedge_value:0.434514, negedge_value:0.759491}}')
   print(line.ParseStruct())

   line = ParseLine('joystick_proxy(2255)(39560): DEBUG   at 0000000820.00730s: ../../aos/prime/input/joystick_input.cc: 61: sending: .aos.RobotState{joysticks:[.aos.Joystick{buttons:0, axis:[0.000000, 1.000000, 1.000000, 0.000000]}, .aos.Joystick{buttons:0, axis:[-0.401575, 1.000000, -1.007874, 0.000000]}, .aos.Joystick{buttons:0, axis:[0.007874, 0.000000, 1.000000, -1.007874]}, .aos.Joystick{buttons:0, axis:[0.000000, 0.000000, 0.000000, 0.000000]}], test_mode:f, fms_attached:f, enabled:T, autonomous:f, team_id:971, fake:f}')
   print(line.ParseStruct())
	#!/usr/bin/python3

	class LogEntry:
	"""This class provides a way to parse log entries."""

	def __init__(self, line):
	"""Creates a LogEntry from a line."""
	name_index = line.find('(')
	self.name = line[0:name_index]

	pid_index = line.find(')', name_index + 1)
	self.pid = int(line[name_index + 1:pid_index])

	msg_index_index = line.find(')', pid_index + 1)
	self.msg_index = int(line[pid_index + 2:msg_index_index])

	level_index = line.find(' ', msg_index_index + 3)
	self.level = line[msg_index_index + 3:level_index]

	time_index_start = line.find(' at ', level_index) + 4
	time_index_end = line.find('s:', level_index)
	self.time = float(line[time_index_start:time_index_end])

	filename_end = line.find(':', time_index_end + 3)
	self.filename = line[time_index_end + 3:filename_end]

	linenumber_end = line.find(':', filename_end + 2)
	self.linenumber = int(line[filename_end + 2:linenumber_end])

	self.msg = line[linenumber_end+2:]

	def __str__(self):
	"""Formats the data cleanly."""
	return '%s(%d)(%d): %s at %fs: %s: %d: %s' % (self.name, self.pid, self.msg_index, self.level, self.time, self.filename, self.linenumber, self.msg)

	def __JsonizeTokenArray(self, sub_array, tokens, token_index):
	"""Parses an array from the provided tokens.

	Args:
	sub_array: list, The list to stick the elements in.
	tokens: list of strings, The list with all the tokens in it.
	token_index: int, Where to start in the token list.

	Returns:
	int, The last token used.
	"""
	# Make sure the data starts with a '['
	if tokens[token_index] != '[':
	print(tokens)
	print('Expected [ at beginning, found', tokens[token_index + 1])
	return None

	# Eat the '['
	token_index += 1

	# Loop through the tokens.
	while token_index < len(tokens):
	if tokens[token_index + 1] == ',':
	# Next item is a comma, so we should just add the element.
	sub_array.append(tokens[token_index])
	token_index += 2
	elif tokens[token_index + 1] == ']':
	# Next item is a ']', so we should just add the element and finish.
	sub_array.append(tokens[token_index])
	token_index += 1
	return token_index
	else:
	# Otherwise, it must be a sub-message.
	sub_json = dict()
	token_index = self.JsonizeTokens(sub_json, tokens, token_index + 1)
	sub_array.append(sub_json)
	if tokens[token_index] == ',':
	# Handle there either being another data element.
	token_index += 1
	elif tokens[token_index] == ']':
	# Handle the end of the array.
	return token_index
	else:
	print('Unexpected ', tokens[token_index])
	return None

	print('Unexpected end')
	return None

	def JsonizeTokens(self, json, tokens, token_index):
	"""Creates a json-like dictionary from the provided tokens.

	Args:
	json: dict, The dict to stick the elements in.
	tokens: list of strings, The list with all the tokens in it.
	token_index: int, Where to start in the token list.

	Returns:
	int, The last token used.
	"""
	# Check that the message starts with a {
	if tokens[token_index] != '{':
	print(tokens)
	print('Expected { at beginning, found', tokens[token_index])
	return None

	# Eat the {
	token_index += 1

	# States and state variable for parsing elements.
	STATE_INIT = 'init'
	STATE_HAS_NAME = 'name'
	STATE_HAS_COLON = 'colon'
	STATE_EXPECTING_SUBMSG = 'submsg'
	STATE_EXPECTING_COMMA = 'comma'
	parser_state = STATE_INIT

	while token_index < len(tokens):
	if tokens[token_index] == '}':
	# Finish if there is a }
	return token_index + 1
	elif tokens[token_index] == '{':
	if parser_state != STATE_EXPECTING_SUBMSG:
	print(tokens)
	print(parser_state)
	print('Bad input, was not expecting {')
	return None
	# Found a submessage, parse it.
	sub_json = dict()
	token_index = self.JsonizeTokens(sub_json, tokens, token_index)
	json[token_name] = sub_json
	parser_state = STATE_EXPECTING_COMMA
	else:
	if parser_state == STATE_INIT:
	# This token is the name.
	token_name = tokens[token_index]
	parser_state = STATE_HAS_NAME
	elif parser_state == STATE_HAS_NAME:
	if tokens[token_index] != ':':
	print(tokens)
	print(parser_state)
	print('Bad input, found', tokens[token_index], 'expected :')
	return None
	# After a name, comes a :
	parser_state = STATE_HAS_COLON
	elif parser_state == STATE_HAS_COLON:
	# After the colon, figure out what is next.
	if tokens[token_index] == '[':
	# Found a sub-array!
	sub_array = []
	token_index = self.__JsonizeTokenArray(sub_array, tokens, token_index)
	json[token_name] = sub_array
	parser_state = STATE_EXPECTING_COMMA
	elif tokens[token_index + 1] == '{':
	# Found a sub-message, trigger parsing it.
	parser_state = STATE_EXPECTING_SUBMSG
	else:
	# This is just an element, move on.
	json[token_name] = tokens[token_index]
	parser_state = STATE_EXPECTING_COMMA
	elif parser_state == STATE_EXPECTING_COMMA:
	# Complain if there isn't a comma here.
	if tokens[token_index] != ',':
	print(tokens)
	print(parser_state)
	print('Bad input, found', tokens[token_index], 'expected ,')
	return None
	parser_state = STATE_INIT
	else:
	print('Bad parser state')
	return None
	token_index += 1

	print('Unexpected end')
	return None

	def ParseStruct(self):
	"""Parses the message as a structure.

	Returns:
	struct_name, struct_type, json dict.
	"""
	struct_name_index = self.msg.find(':')
	struct_name = self.msg[0:struct_name_index]

	struct_body = self.msg[struct_name_index+2:]
	tokens = []
	this_token = ''
	# For the various deliminators, append what we have found so far to the
	# list and the token.
	for char in struct_body:
	if char == '{':
	if this_token:
	tokens.append(this_token)
	this_token = ''
	tokens.append('{')
	elif char == '}':
	if this_token:
	tokens.append(this_token)
	this_token = ''
	tokens.append('}')
	elif char == '[':
	if this_token:
	tokens.append(this_token)
	this_token = ''
	tokens.append('[')
	elif char == ']':
	if this_token:
	tokens.append(this_token)
	this_token = ''
	tokens.append(']')
	elif char == ':':
	if this_token:
	tokens.append(this_token)
	this_token = ''
	tokens.append(':')
	elif char == ',':
	if this_token:
	tokens.append(this_token)
	this_token = ''
	tokens.append(',')
	elif char == ' ':
	if this_token:
	tokens.append(this_token)
	this_token = ''
	else:
	this_token += char
	if this_token:
	tokens.append(this_token)

	struct_type = tokens[0]
	json = dict()
	# Now that we have tokens, parse them.
	self.JsonizeTokens(json, tokens, 1)

	return (struct_name, struct_type, json)


	def ParseLine(line):
	return LogEntry(line)

	if __name__ == '__main__':
	print('motor_writer(2240)(07421): DEBUG at 0000000819.99620s: ../../frc971/output/motor_writer.cc: 105: sending: .aos.controls.OutputCheck{pwm_value:221, pulse_length:2.233333}')
	line = ParseLine('motor_writer(2240)(07421): DEBUG at 0000000819.99620s: ../../frc971/output/motor_writer.cc: 105: sending: .aos.controls.OutputCheck{pwm_value:221, pulse_length:2.233333}')
	if '.aos.controls.OutputCheck' in line.msg:
	print(line)
	print(line.ParseStruct())

	line = ParseLine('claw(2263)(19404): DEBUG at 0000000820.00000s: ../../aos/common/controls/control_loop-tmpl.h: 104: position: .frc971.control_loops.ClawGroup.Position{top:.frc971.control_loops.HalfClawPosition{position:1.672153, front:.frc971.HallEffectStruct{current:f, posedge_count:0, negedge_count:52}, calibration:.frc971.HallEffectStruct{current:f, posedge_count:6, negedge_count:13}, back:.frc971.HallEffectStruct{current:f, posedge_count:0, negedge_count:62}, posedge_value:0.642681, negedge_value:0.922207}, bottom:.frc971.control_loops.HalfClawPosition{position:1.353539, front:.frc971.HallEffectStruct{current:f, posedge_count:2, negedge_count:150}, calibration:.frc971.HallEffectStruct{current:f, posedge_count:8, negedge_count:18}, back:.frc971.HallEffectStruct{current:f, posedge_count:0, negedge_count:6}, posedge_value:0.434514, negedge_value:0.759491}}')
	print(line.ParseStruct())

	line = ParseLine('joystick_proxy(2255)(39560): DEBUG at 0000000820.00730s: ../../aos/prime/input/joystick_input.cc: 61: sending: .aos.RobotState{joysticks:[.aos.Joystick{buttons:0, axis:[0.000000, 1.000000, 1.000000, 0.000000]}, .aos.Joystick{buttons:0, axis:[-0.401575, 1.000000, -1.007874, 0.000000]}, .aos.Joystick{buttons:0, axis:[0.007874, 0.000000, 1.000000, -1.007874]}, .aos.Joystick{buttons:0, axis:[0.000000, 0.000000, 0.000000, 0.000000]}], test_mode:f, fms_attached:f, enabled:T, autonomous:f, team_id:971, fake:f}')
	print(line.ParseStruct())