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96 lines
3.6 KiB
96 lines
3.6 KiB
#!/usr/bin/env python3
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import os
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import sys
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import argparse
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from cereal import log
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from common.basedir import BASEDIR
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os.environ['BASEDIR'] = BASEDIR
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def get_arg_parser():
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parser = argparse.ArgumentParser(
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description="Compare two result files",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("dir1", nargs='?', default='/data/ubloxdc',
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help="Directory path 1 from which events are loaded")
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parser.add_argument("dir2", nargs='?', default='/data/ubloxdpy',
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help="Directory path 2 from which msgs are loaded")
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return parser
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def read_file(fn):
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with open(fn, 'rb') as f:
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return f.read()
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def compare_results(dir1, dir2):
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onlyfiles1 = [f for f in os.listdir(dir1) if os.path.isfile(os.path.join(dir1, f))]
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onlyfiles1.sort()
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onlyfiles2 = [f for f in os.listdir(dir2) if os.path.isfile(os.path.join(dir2, f))]
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onlyfiles2.sort()
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if len(onlyfiles1) != len(onlyfiles2):
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print('len mismatch: {} != {}'.format(len(onlyfiles1), len(onlyfiles2)))
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return -1
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events1 = [log.Event.from_bytes(read_file(os.path.join(dir1, f))) for f in onlyfiles1]
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events2 = [log.Event.from_bytes(read_file(os.path.join(dir2, f))) for f in onlyfiles2]
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for i in range(len(events1)):
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if events1[i].which() != events2[i].which():
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print('event {} type mismatch: {} != {}'.format(i, events1[i].which(), events2[i].which()))
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return -2
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if events1[i].which() == 'gpsLocationExternal':
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old_gps = events1[i].gpsLocationExternal
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gps = events2[i].gpsLocationExternal
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# print(gps, old_gps)
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attrs = ['flags', 'latitude', 'longitude', 'altitude', 'speed', 'bearing',
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'accuracy', 'timestamp', 'source', 'vNED', 'verticalAccuracy', 'bearingAccuracy', 'speedAccuracy']
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for attr in attrs:
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o = getattr(old_gps, attr)
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n = getattr(gps, attr)
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if attr == 'vNED':
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if len(o) != len(n):
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print('Gps vNED len mismatch', o, n)
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return -3
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else:
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for i in range(len(o)):
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if abs(o[i] - n[i]) > 1e-3:
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print('Gps vNED mismatch', o, n)
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return
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elif o != n:
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print('Gps mismatch', attr, o, n)
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return -4
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elif events1[i].which() == 'ubloxGnss':
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old_gnss = events1[i].ubloxGnss
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gnss = events2[i].ubloxGnss
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if old_gnss.which() == 'measurementReport' and gnss.which() == 'measurementReport':
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attrs = ['gpsWeek', 'leapSeconds', 'measurements', 'numMeas', 'rcvTow', 'receiverStatus', 'schema']
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for attr in attrs:
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o = getattr(old_gnss.measurementReport, attr)
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n = getattr(gnss.measurementReport, attr)
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if str(o) != str(n):
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print('measurementReport {} mismatched'.format(attr))
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return -5
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if not (str(old_gnss.measurementReport) == str(gnss.measurementReport)):
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print('Gnss measurementReport mismatched!')
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print('gnss measurementReport old', old_gnss.measurementReport.measurements)
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print('gnss measurementReport new', gnss.measurementReport.measurements)
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return -6
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elif old_gnss.which() == 'ephemeris' and gnss.which() == 'ephemeris':
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if not (str(old_gnss.ephemeris) == str(gnss.ephemeris)):
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print('Gnss ephemeris mismatched!')
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print('gnss ephemeris old', old_gnss.ephemeris)
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print('gnss ephemeris new', gnss.ephemeris)
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return -7
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print('All {} events matched!'.format(len(events1)))
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return 0
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if __name__ == "__main__":
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args = get_arg_parser().parse_args(sys.argv[1:])
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compare_results(args.dir1, args.dir2)
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