debug.py

from config import *
import platform

validation_log = None
msgs_log = None

def open_logs():
    if not DEBUG:
        return
    global validation_log, msgs_log

    # log for validation for messages
    validation_log_file_name = \
        datetime.datetime.now().strftime(VALIDATION_LOG_FILENAME)
    validation_log = open(validation_log_file_name, 'w')
    validation_log.write("This log contains messages with values which don't " +
                      "pass validation\n")
                      
    # log for messages received             
    msgs_log_filename = datetime.datetime.now().strftime(MESSAGES_LOG_FILENAME)
    msgs_log = open(msgs_log_filename, 'w')

def clear_screen():
    if clear_screen.platform == 'Windows':
        os.system('cls')
    else:
        os.system('clear')
clear_screen.platform = platform.system()


def message_header(message_id, length, timestamp):
    if DEBUG and not BAD_DEBUG_ONLY:
        print "  %s %2d %.3f" % (message_id, length, float(timestamp) / 1e9),


def print_char(char):
    # ============================== debug output =============================
    print_char.time_str = datetime.datetime.now().strftime("%H:%M:%S")
    if print_char.time_str_prev <> print_char.time_str:
        if print_char.total > 0:
            print "(%d)" % print_char.total
        print_char.total = 0
        print print_char.time_str, "",
    sys.stdout.write(char)
    print_char.total += 1
    print_char.time_str_prev = print_char.time_str
    # =========================================================================
print_char.total = 0
print_char.time_str = ""
print_char.time_str_prev = ""


def parsing_message(string):
    if validation_log is None:
        return
    validation_log.write(string + '\n')


def print_raw_data(data, bytes_per_line):
    counter = 0
    for byte in data:
        if counter % bytes_per_line == 0:
            print ""
            print "%4d:" % (counter / bytes_per_line),
        counter += 1
        print byte.encode("hex"),
    print ""


def ADIS_conversion(data, parsed_data, obj):
    if validation_log is None:
        return

    validation_log.write(
        "========================== ADIS ==========================\n")
    validation_log.write(
        "FIELD            RAW        RAW       CONVERTED      UNITS\n")
    validation_log.write(
        "description      hex      short        floating           \n")
    validation_log.write(
        "----------------------------------------------------------\n")

    #print "  fieldID:        %15s %15s %10s" % \
    #    (message_id, obj['fieldID'], "" )
    #print "  timestamp:      %15d %15d %10s" % \
    #    (timestamp, obj['timestamp'], "ns")

    validation_log.write("PowerSupply:    %s %10d %15.3f %10s\n" %
                     (data[0:2].encode("hex"), parsed_data[0], obj['PowerSupply'], "V"))

    validation_log.write("GyroscopeX:     %s %10d %15.3f %10s\n" %
                     (data[2:4].encode("hex"), parsed_data[1], obj['GyroscopeX'], 'deg/sec'))
    validation_log.write("GyroscopeY:     %s %10d %15.3f %10s\n" %
                     (data[4:6].encode("hex"), parsed_data[2], obj['GyroscopeY'], "deg/sec"))
    validation_log.write("GyroscopeZ:     %s %10d %15.3f %10s\n" %
                     (data[6:8].encode("hex"), parsed_data[3], obj['GyroscopeZ'], "deg/sec"))

    validation_log.write("AccelerometerX: %s %10d %15.3f %10s\n" %
                     (data[8:10].encode("hex"), parsed_data[4], obj['AccelerometerX'], "m/s^2"))
    validation_log.write("AccelerometerY: %s %10d %15.3f %10s\n" %
                     (data[10:12].encode("hex"), parsed_data[5], obj['AccelerometerY'], "m/s^2"))
    validation_log.write("AccelerometerZ: %s %10d %15.3f %10s\n" %
                     (data[12:14].encode("hex"), parsed_data[6], obj['AccelerometerZ'], "m/s^2"))

    validation_log.write("MagnetometerX:  %s %10d %15.9f %10s\n" %
                     (data[14:16].encode("hex"), parsed_data[7], obj['MagnetometerX'], "teslas"))
    validation_log.write("MagnetometerY:  %s %10d %15.9f %10s\n" %
                     (data[16:18].encode("hex"), parsed_data[8], obj['MagnetometerY'], "teslas"))
    validation_log.write("MagnetometerZ:  %s %10d %15.9f %10s\n" %
                     (data[18:20].encode("hex"), parsed_data[9], obj['MagnetometerZ'], "teslas"))

    validation_log.write("Temperature:    %s %10d %15.3f %10s\n" %
                     (data[20:22].encode("hex"), parsed_data[10], obj['Temperature'], "deg K"))

    validation_log.write("AuxiliaryADC:   %s %10d %15.9f %10s\n" %
                     (data[22:24].encode("hex"), parsed_data[11], obj['AuxiliaryADC'], "V"))

    validation_log.write(
        "----------------------------------------------------------\n")


def valid_ADIS(json_obj):
    global validation_log
    valid = True
    if not DEBUG or validation_log is None:
        return True

    #if json_obj['fieldID'] <> 'ADIS':
    #    validation_log.write("ADIS validation: ")
    #    validation_log.write("%s is not an ADIS id!\n" % \
    #                      json_obj['fieldID'])
    #    valid = False

    if json_obj['PowerSupply'] < valid_ADIS.MIN_POWER_SUPPLY:
        validation_log.write("ADIS validation: ")
        validation_log.write("PowerSupply = %.3f V is too low!\n" %
                          json_obj['PowerSupply'])
        valid = False
    if json_obj['PowerSupply'] > valid_ADIS.MAX_POWER_SUPPLY:
        validation_log.write("ADIS validation: ")
        validation_log.write("PowerSupply = %.3f V is too high!\n" %
                          json_obj['PowerSupply'])
        valid = False

    for i in ['X', 'Y', 'Z']:
        identifier = 'Gyroscope' + i
        if json_obj[identifier] < valid_ADIS.MIN_GYROSCOPE:
            validation_log.write("ADIS validation: ")
            validation_log.write("%s = %.3f deg/sec is too low!\n" %
                              (identifier, json_obj[identifier]))
            valid = False
        if json_obj[identifier] > valid_ADIS.MAX_GYROSCOPE:
            validation_log.write("ADIS validation: ")
            validation_log.write("%s = %.3f deg/sec is too high!\n" %
                              (identifier, json_obj[identifier]))
            valid = False

    for i in ['X', 'Y', 'Z']:
        identifier = 'Accelerometer' + i
        if json_obj[identifier] < valid_ADIS.MIN_ACCELEROMETER:
            validation_log.write("ADIS validation: ")
            validation_log.write("%s = %.3f m/s^2 is too low!\n" %
                              (identifier, json_obj[identifier]))
            valid = False
        if json_obj[identifier] > valid_ADIS.MAX_ACCELEROMETER:
            validation_log.write("ADIS validation: ")
            validation_log.write("%s = %.3f m/s^2 is too high!\n" %
                              (identifier, json_obj[identifier]))
            valid = False

    for i in ['X', 'Y', 'Z']:
        identifier = 'Magnetometer' + i
        if json_obj[identifier] < valid_ADIS.MIN_MAGNETOMETER:
            validation_log.write("ADIS validation: ")
            validation_log.write("%s = %.3f T is too low!\n" %
                              (identifier, json_obj[identifier]))
            valid = False
        if json_obj[identifier] > valid_ADIS.MAX_MAGNETOMETER:
            validation_log.write("ADIS validation: ")
            validation_log.write("%s = %.3f T is too high!\n" %
                              (identifier, json_obj[identifier]))
            valid = False

    if json_obj['Temperature'] < valid_ADIS.MIN_TEMPERATURE:
        validation_log.write("ADIS validation: ")
        validation_log.write("Temperature = %.3f K is too low!\n" %
                          json_obj['Temperature'])
        valid = False
    if json_obj['Temperature'] > valid_ADIS.MAX_TEMPERATURE:
        validation_log.write("ADIS validation: ")
        validation_log.write("Temperature = %.3f K is too high!\n" %
                          json_obj['Temperature'])
        valid = False

    if json_obj['AuxiliaryADC'] < valid_ADIS.MIN_AUX_ADC:
        validation_log.write("ADIS validation: ")
        validation_log.write("AuxiliaryADC = %.9f V is too low!\n" %
                          json_obj['AuxiliaryADC'])
        valid = False
    if json_obj['AuxiliaryADC'] > valid_ADIS.MAX_AUX_ADC:
        validation_log.write("ADIS validation: ")
        validation_log.write("AuxiliaryADC = %.9f V is too high!\n" %
                          json_obj['AuxiliaryADC'])
        valid = False

    if not valid:
        return False
    return True

import os

# These values were taken from:
# http://www.analog.com/static/imported-files/data_sheets/ADIS16400_16405.pdf
valid_ADIS.MIN_POWER_SUPPLY  = 4.75    # Volts
valid_ADIS.MAX_POWER_SUPPLY  = 5.25    # Volts
valid_ADIS.MIN_GYROSCOPE     = -300.0  # deg/sec
valid_ADIS.MAX_GYROSCOPE     = 300.0   # deg/sec
valid_ADIS.MIN_ACCELEROMETER = -18.0 * GFORCE_EQ_X_MPS2  # g-force to m/s^2
valid_ADIS.MAX_ACCELEROMETER = 18.0 * GFORCE_EQ_X_MPS2   # g-force to m/s^2
valid_ADIS.MIN_MAGNETOMETER  = -2.5 * GAUSS_EQ_X_TESLA # gauss to tesla (T)
valid_ADIS.MAX_MAGNETOMETER  = 2.5 * GAUSS_EQ_X_TESLA  # gauss to tesla (T)
valid_ADIS.MIN_TEMPERATURE   = -40.0 + KELVIN_MINUS_CELSIUS  # C to K
valid_ADIS.MAX_TEMPERATURE   = 85.0 + KELVIN_MINUS_CELSIUS   # C to K
valid_ADIS.MIN_AUX_ADC       = 0.0     # Volts
valid_ADIS.MAX_AUX_ADC       = 3.3     # Volts


def print_ADIS(obj):
    print ("ADIS:  PowerSupply   %.1f V\n" +
           "       Temperature   %.1f K\n" +
           "       AuxiliaryADC  %.9f V\n" +
           "       Gyroscope     %8.3f (%6.3f %6.3f %6.3f) deg/sec\n" +
           "       Accelerometer %8.3f (%6.3f %6.3f %6.3f) m/s^2\n" +
           "       Magnetometer  %8.6f (%9.6f %9.6f %9.6f) teslas") % \
          (obj['PowerSupply'], obj['Temperature'], obj['AuxiliaryADC'],
           obj['GyroscopeMagn'],
           obj['GyroscopeX'], obj['GyroscopeY'], obj['GyroscopeZ'],
           obj['AccelerometerMagn'],
           obj['AccelerometerX'], obj['AccelerometerY'], obj['AccelerometerZ'],
           obj['MagnetometerMagn'],
           obj['MagnetometerX'], obj['MagnetometerY'], obj['MagnetometerZ'])


def print_ROLL(obj):
    print ("ROLL:  finPosition      %6.3f sec\n" +
           "       rollServoDisable %6.3f of truth") % \
          (obj['finPosition'], obj['rollServoDisable'])


def print_stats(obj):
    print ("Stats: PacketsReceivedTotal     %d\n" +
           "       PacketsLostTotal         %d\n" +
           "       PacketsReceivedRecently  %d\n" +
           "       PacketsLostRecently      %d\n" +
           "       MostRecentTimestamp      %d ns\n" +
           "       TimeLastPacketReceived   %s") % \
          (obj['PacketsReceivedTotal'],
           obj['PacketsLostTotal'],
           obj['PacketsReceivedRecently'],
           obj['PacketsLostRecently'],
           obj['MostRecentTimestamp'],
           obj['TimeLastPacketReceived'])

def print_GPS1(obj):
    print("GPS1:  AgeOfDiff           %d sec\n" +
          "       NumOfSats           %d\n" +
          "       GPSWeek             %d\n" +
          "       GPSTimeOfWeek       %.3f sec\n" +
          "       Latitude, Longitude (%11f, %11f) deg\n"+
          "       Height              %.3f m\n" +
          "       VNorth, VEast, Vup  (%9.6f, %9.6f, %9.6f) m/s\n" +
          "       StdDevResid         %11f m\n" +
          "       NavMode             0x%.2x\n" +
          "       ExtendedAgeOfDiff': %d sec") % \
         (obj['AgeOfDiff'],
          obj['NumOfSats'],
          obj['GPSWeek'],
          obj['GPSTimeOfWeek'],
          obj['Latitude'], obj['Longitude'],
          obj['Height'],
          obj['VNorth'], obj['VEast'], obj['Vup'],
          obj['StdDevResid'],
          obj['NavMode'] & 0xffff,
          obj['ExtendedAgeOfDiff'])

def print_json_log(obj, message_id):
    global msgs_log
    if msgs_log == None:
        return
    obj['fieldID'] = message_id
    ##dict_str = str(obj).replace("\'", "\"") + "\n"
    json_str = json.dumps(obj, sort_keys=True, separators=(',',':'))
    msgs_log.write(json_str)
    msgs_log.write("\n")