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Commit 33921f6b authored by Roman's avatar Roman
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added roslog repo

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roslog/README.md 0 → 100755
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# roslog2html
## Утилита для просмотра ROS логов с Nano PI
Позволяет просматривать rosout.log файлы в html формате с синхронизацией времени записей с временем GPS.
## Как работает синхронизация по времени
Phoros подписывается на топик `sensor_msgs::TimeReference`. Когда он впервые получает time reference, он записывает в лог полученное время, и в начале этой же записи указано локальное (nano pi) время получения. Вычисляется offset и применяется ко всем записям в rosout.log. Если записи о получении не найдено, в выходном html-файле будет указано, что время не синхронизировано.
roslog/css/fa.min.css 0 → 100755
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roslog/css/main.css 0 → 100755
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a.nav-link {
cursor: pointer;
}
.clickable {
cursor: pointer;
}
.modal-full {
min-width: 100%;
height: 100%;
margin: 0;
}
.modal-full > .modal-content {
height: 100%;
}
/* drag-and-drop */
.upload-drop-zone {
height: 200px;
border-width: 2px;
margin-bottom: 20px;
}
.upload-drop-zone {
/*color: #ccc;*/
border-style: dashed;
border-color: #ccc;
line-height: 200px;
text-align: center
}
.upload-drop-zone.drop {
color: #222;
border-color: #222;
}
.logline {
font-size: 12px;
font-family: "Lucida Console", Monaco, monospace;
}
/* severity */
.sDEBUG {
color: #777;
}
.sINFO {
color: #333;
}
.sWARN {
color: #B27A09;
font-weight: bold;
}
.sERROR {
color: #FF0000;
font-weight: bold;
}
.sFATAL {
color: #7C0000;
font-weight: bold;
}
.sUNKNOWN {
color: #FF00FF;
font-weight: bold;
}
.sSTATUS {
color: #999;
}
roslog/data/example-log-6.log 0 → 100755
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roslog/index.html 0 → 100755
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<!DOCTYPE html>
<html>
<head>
<meta http-equiv="content-type" content="text/html; charset=utf-8" />
<meta name="description" content="" />
<meta name="keywords" content="" />
<meta name="author" content="Roman Strakhov">
<meta name="theme-color" content="#eee" id='metaBarColor'>
<!-- Required meta tags -->
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no"/>
<!-- Bootstrap CSS -->
<link rel="stylesheet" href="js/3rd_party/bootstrap.min.css"/>
<!-- Font Awesome -->
<link rel="stylesheet" type="text/css" href="css/fa.min.css">
<!-- jQuery first, then Popper.js, then Bootstrap JS -->
<script src="js/3rd_party/jquery-3.3.1.min.js" ></script>
<script src="js/3rd_party/popper.min.js"></script>
<script src="js/3rd_party/bootstrap.min.js"></script>
<!-- 3rd party js -->
<script src='js/3rd_party/bootstrap-input-spinner.js'> </script>
<script src='js/3rd_party/darkreader.js'> </script>
<!-- custom scripts and styles -->
<link rel="stylesheet" type="text/css" href="css/main.css?v01">
<script src='js/init.js?v01'> </script>
<script src='js/layouts.js?v01'> </script>
<script src='js/glob.js?v01'> </script>
<script src='js/helpers.js?v01'> </script>
<script src='js/log.js?v01'> </script>
<title>ROS log</title>
</head>
<body>
<!-- navbar -->
<nav class="navbar navbar-dark bg-dark">
<a class="navbar-brand" href='#'>
<img src="img/logo.png" width="30" height="30" class="d-inline-block align-top" alt="">
ROS log
</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarNav" aria-controls="navbarNav" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbarNav">
<ul class="navbar-nav">
<li class="nav-item">
<a class="nav-link" id='' onclick='loDropFile()'>Загрузить новый rosout.log</a>
</li>
</ul>
</div>
</nav>
<div id="mainLayWrap" class='container'>
<div id='mainLayout' class='centered'>
</div>
</div>
<input id='logFile' accept='.log' type='file' onchange='onUploadFileChange(null)' hidden/>
</body>
</html>
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roslog/js/3rd_party/jquery-3.3.1.min.js 0 → 100755
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roslog/js/glob.js 0 → 100755
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Glob = function () {}
// log file lines
Glob.lines = null;
roslog/js/helpers.js 0 → 100755
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// returns loading spinner to show "Loading..."
function jqLoadingSpinner() {
return $('<div class="text-center"> <div class="spinner-border" role="status" style="width: 4em; height: 4em;"> <span class="sr-only">Loading...</span> </div> </div>');
}
// places loading spinner to show "Loading..."
function showLoadingSpinner() {
$("#mainLayout").html('<br><div class="text-center"> <div class="spinner-border" role="status" style="width: 4rem; height: 4rem;"> <span class="sr-only">Loading...</span> </div> </div>');
}
// download file with plain text in it
function downloadPlainText(text, fileName) {
var element = document.createElement('a');
element.setAttribute('href', 'data:text/plain;charset=utf-8,' + encodeURIComponent(text));
element.setAttribute('download', fileName);
element.style.display = 'none';
document.body.appendChild(element);
element.click();
document.body.removeChild(element);
}
// converts file size in bytes to human readable string
function humanFileSize(bytes, si = true) {
var thresh = si ? 1000 : 1024;
if(Math.abs(bytes) < thresh) {
return bytes + ' B';
}
var units = si
? ['kB','MB','GB','TB','PB','EB','ZB','YB']
: ['KiB','MiB','GiB','TiB','PiB','EiB','ZiB','YiB'];
var u = -1;
do {
bytes /= thresh;
++u;
} while(Math.abs(bytes) >= thresh && u < units.length - 1);
return bytes.toFixed(1)+' '+units[u];
}
roslog/js/init.js 0 → 100755
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$(document).ready(function() {
initMenu();
loDropFile();
initDropAccepting();
});
function initMenu() {
$("#navbarNav").find("li.nav-item a.nav-link").attr('data-toggle', 'collapse').attr("data-target", "#navbarNav");
}
function initDropAccepting() {
$("html")
.on('dragover', function (event) {
event.preventDefault();
event.stopPropagation();
$("#dropZone").addClass('drop');
return false;
})
.on('dragleave', function (event) {
event.preventDefault();
event.stopPropagation();
$("#dropZone").removeClass('drop');
return false;
})
.on('drop', function (event) {
event.preventDefault();
event.stopPropagation();
if (event.originalEvent.dataTransfer && event.originalEvent.dataTransfer.files.length) {
onUploadFileChange(event.originalEvent.dataTransfer.files[0]);
} else {
$("#dropLabel").html('oops, something went wrong. Please use the button to upload files');
}
return false;
});
}
// on file uploaded
function onUploadFileChange(file = null) {
$("#dropZone").removeClass('drop');
if (file == null)
file = $('#logFile')[0].files[0];
if (!file || !file.size)
return;
let maxFilesize = 999 * 1e6;
if (file.size > maxFilesize) {
$("#dropLabel").html(' ' + file.name + ' is too big ('+humanFileSize(file.size)+') &#128546;');
$("#chooseFileBtn").html('Upload image (max. ' + humanFileSize(maxFilesize) + ')');
return;
}
if (file.name.indexOf(".log") == -1)
return $("#dropLabel").html(file.name + ' is not a roslog');
showLoadingSpinner();
var reader = new FileReader();
reader.addEventListener("load", function () {
onLogLoaded(reader.result);
}, false);
reader.readAsText(file);
}
// 'upload image' button clicked
function uploadFileClicked() {
$('#logFile').val(null).trigger("click");
}
roslog/js/layouts.js 0 → 100755
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// main layout with "drop image" thing
function loDropFile() {
let chooseFileBtn = $("<button class='btn btn-primary' id='chooseFileBtn'></button>")
.html("Загрузить rosout.log <i class='fa fa-upload'></i>")
.click(uploadFileClicked);
let h1 = $("<h1></h1>").html("roslog2html");
let subtitle = $("<h4></h4>").html("Утилита для просмотра rosout.log логов с Nano PI");
let dropZone = $('<div class="upload-drop-zone" id="dropZone"></div>')
.append(chooseFileBtn, "<span id='dropLabel'> или перетащите сюда</span>");
let div = $("<div class='container'></div>").append(h1, subtitle, dropZone);
$("#mainLayout").html(div);
}
// log file lines
function loDisplayLogLines(timeOffset, logLines) {
$("#mainLayout").empty().append(logLines);
}
roslog/js/log.js 0 → 100755
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function onLogLoaded(txt) {
Glob.lines = txt.split('\n');
let timeOffset = getTimeOffset(Glob.lines);
let logLines = jqLogLines(timeOffset, Glob.lines);
loDisplayLogLines(timeOffset, logLines);
}
// returns diff between FCU time and rosout.log time (ros-fcu)
function getTimeOffset(lines) {
for (let i = 0; i < lines.length; ++i) {
let line = lines[i];
let index = line.indexOf('fcu_time ');
if (index !== -1) {
let fcu_time = line.substr(index + 'fcu_time '.length);
let ros_time = line.substr(0, line.indexOf(' '));
if (/^\d+\.\d{2}$/.test(fcu_time) && /^\d+\.\d+$/.test(ros_time)) { // xxxxxxx.yy
let fcuTimeFloat = Number.parseFloat(fcu_time);
let rosTimeFloat = Number.parseFloat(ros_time);
return (rosTimeFloat - fcuTimeFloat);
}
}
}
return null; // no fcu time ref found
}
// returns jquery dif with log lines
function jqLogLines(timeOffset, textLines) {
let mainDiv = $("<div></div>");
let gpsDate = "?";
let h2 = $("<h2></h2>")
mainDiv.append(h2);
for (let i = 0; i < textLines.length; ++i) {
let line = textLines[i];
if (line.trim() == "")
continue;
let severityClass='sUNKNOWN';
// time
let ros_time = line.substr(0, line.indexOf(' '));
let timeSpan = $("<span></span>");
if (/^\d+\.\d+$/.test(ros_time)) {
if (null !== timeOffset) {
let fcuTime = new Date((Number.parseFloat(ros_time) - timeOffset) * 1000);
let dateString = fcuTime.getHours() + ":" + fcuTime.getMinutes() + ":" + fcuTime.getSeconds()
+ "." + fcuTime.getMilliseconds();
timeSpan.html(dateString);
gpsDate = fcuTime.toLocaleDateString();
} else {
timeSpan.html(ros_time);
}
} else {
timeSpan.html("time?").addClass('logAnalyzeError');
}
// severity
let severityMatch = line.match(/^\d+\.\d+ (DEBUG|INFO|WARN|ERROR|FATAL) /);
if (severityMatch !== null && severityMatch.length >= 2) {
let severity = severityMatch[1];
severityClass = 's' + severity;
}
// text message
let msgSpan = $("<span></span>");
let msgIndex = line.indexOf('] ');
let msg = line.substr(msgIndex + '] '.length);
msgSpan.html(msg);
// handle status messages
let isStatus = (line.indexOf('fix:') !== -1 && line.indexOf('sat:') !== -1 && line.indexOf('state=') !== -1);
if (isStatus)
severityClass = "sSTATUS";
//div
let div = $("<div class='logline'></div>").append(timeSpan, " ", msgSpan).addClass(severityClass);
mainDiv.append(div);
}
h2.html(null===timeOffset ? 'Время не синхронизировано' : 'Время с GPS, дата ' + gpsDate);
return mainDiv;
}
roslog/js/saveload.js 0 → 100755
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/// \value stringified json object or standard type
/// \returns true if succeed
function saveLocal(name, value) {
// If the platform supports localStorage, then save the value
try {
localStorage.setItem(name, value);
return true;
}
catch(e) {
// Most likely cause of errors is a very old browser that doesn't support localStorage (fail silently)
console.warn("saving error");
return false;
}
}
/// \returns loaded value or specified defaultValue in case of error
function loadLocal(name, defaultValue = null) {
// If the platform supports localStorage, then load the selection
try {
let val = localStorage.getItem(name);
return (val === null) ? defaultValue : val;
}
catch(e) {
// Either no selection in localStorage or browser does not support localStorage (fail silently)
console.warn("can\'t load from localstorage");
return defaultValue;
}
}
function getSelectionStringFromZBLLMap() {
// Gets a string that represents the current selection
var selection = {};
for (var oll in zbllMap) {
selection[oll] = {};
for (var coll in zbllMap[oll]) {
selection[oll][coll] = {};
for (var zbll in zbllMap[oll][coll]) {
selection[oll][coll][zbll] = zbllMap[oll][coll][zbll].c;
}
}
}
return JSON.stringify(selection);
}
function setZBLLMapFromSelectionString(string) {
// Applies the selection in the given string to zbllMap
var selection = JSON.parse(string);
for (var oll in selection) if (zbllMap.hasOwnProperty(oll)) {
for (var coll in selection[oll]) if (zbllMap[oll].hasOwnProperty(coll)) {
for (var zbll in selection[oll][coll]) if (zbllMap[oll][coll].hasOwnProperty(zbll)) {
zbllMap[oll][coll][zbll].c = selection[oll][coll][zbll];
}
}
}
}
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