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#!/usr/bin/env python
# Tool to subscribe to motion data and log it to a disk file
#
# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, optparse, socket, select, json, errno, time, zlib
INDEX_UPDATE_TIME = 5.0
ClientInfo = {"program": "motan_data_logger", "version": "v0.1"}
def webhook_socket_create(uds_filename):
sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
sock.setblocking(0)
sys.stderr.write("Waiting for connect to %s\n" % (uds_filename,))
while 1:
try:
sock.connect(uds_filename)
except socket.error as e:
if e.errno == errno.ECONNREFUSED:
time.sleep(0.1)
continue
sys.stderr.write(
"Unable to connect socket %s [%d,%s]\n"
% (uds_filename, e.errno, errno.errorcode[e.errno])
)
sys.exit(-1)
break
sys.stderr.write("Connection.\n")
return sock
class LogWriter:
def __init__(self, filename):
self.file = open(filename, "wb")
self.comp = zlib.compressobj(zlib.Z_DEFAULT_COMPRESSION, zlib.DEFLATED, 31)
self.raw_pos = self.file_pos = 0
def add_data(self, data):
d = self.comp.compress(data + b"\x03")
self.file.write(d)
self.file_pos += len(d)
self.raw_pos += len(data) + 1
def flush(self, flag=zlib.Z_FULL_FLUSH):
if not self.raw_pos:
return self.file_pos
d = self.comp.flush(flag)
self.file.write(d)
self.file_pos += len(d)
return self.file_pos
def close(self):
self.flush(zlib.Z_FINISH)
self.file.close()
self.file = None
self.comp = None
class DataLogger:
def __init__(self, uds_filename, log_prefix):
# IO
self.webhook_socket = webhook_socket_create(uds_filename)
self.poll = select.poll()
self.poll.register(self.webhook_socket, select.POLLIN | select.POLLHUP)
self.socket_data = b""
# Data log
self.logger = LogWriter(log_prefix + ".json.gz")
self.index = LogWriter(log_prefix + ".index.gz")
# Handlers
self.query_handlers = {}
self.async_handlers = {}
# get_status databasing
self.db = {}
self.next_index_time = 0.0
# Start login process
self.send_query("info", "info", {"client_info": ClientInfo}, self.handle_info)
def error(self, msg):
sys.stderr.write(msg + "\n")
def finish(self, msg):
self.error(msg)
self.logger.close()
self.index.close()
sys.exit(0)
# Unix Domain Socket IO
def send_query(self, msg_id, method, params, cb):
self.query_handlers[msg_id] = cb
msg = {"id": msg_id, "method": method, "params": params}
cm = json.dumps(msg, separators=(",", ":")).encode()
self.webhook_socket.send(cm + b"\x03")
def process_socket(self):
data = self.webhook_socket.recv(4096)
if not data:
self.finish("Socket closed")
parts = data.split(b"\x03")
parts[0] = self.socket_data + parts[0]
self.socket_data = parts.pop()
for part in parts:
try:
msg = json.loads(part)
except:
self.error("ERROR: Unable to parse line")
continue
self.logger.add_data(part)
msg_q = msg.get("q")
if msg_q is not None:
hdl = self.async_handlers.get(msg_q)
if hdl is not None:
hdl(msg, part)
continue
msg_id = msg.get("id")
hdl = self.query_handlers.get(msg_id)
if hdl is not None:
del self.query_handlers[msg_id]
hdl(msg, part)
if not self.query_handlers:
self.flush_index()
continue
self.error("ERROR: Message with unknown id")
def run(self):
try:
while 1:
res = self.poll.poll(1000.0)
for fd, event in res:
if fd == self.webhook_socket.fileno():
self.process_socket()
except KeyboardInterrupt as e:
self.finish("Keyboard Interrupt")
# Query response handlers
def send_subscribe(self, msg_id, method, params, cb=None, async_cb=None):
if cb is None:
cb = self.handle_dump
if async_cb is not None:
self.async_handlers[msg_id] = async_cb
params["response_template"] = {"q": msg_id}
self.send_query(msg_id, method, params, cb)
def handle_info(self, msg, raw_msg):
if msg["result"]["state"] != "ready":
self.finish("Klipper not in ready state")
self.send_query("list", "objects/list", {}, self.handle_list)
def handle_list(self, msg, raw_msg):
subreq = {o: None for o in msg["result"]["objects"]}
self.send_subscribe(
"status",
"objects/subscribe",
{"objects": subreq},
self.handle_subscribe,
self.handle_async_db,
)
def handle_subscribe(self, msg, raw_msg):
result = msg["result"]
self.next_index_time = result["eventtime"] + INDEX_UPDATE_TIME
self.db["status"] = status = result["status"]
# Subscribe to trapq and stepper queue updates
motion_report = status.get("motion_report", {})
for trapq in motion_report.get("trapq", []):
self.send_subscribe(
"trapq:" + trapq, "motion_report/dump_trapq", {"name": trapq}
)
for stepper in motion_report.get("steppers", []):
self.send_subscribe(
"stepq:" + stepper, "motion_report/dump_stepper", {"name": stepper}
)
# Subscribe to additional sensor data
stypes = ["adxl345", "lis2dw", "mpu9250", "angle"]
stypes = {st: st for st in stypes}
stypes["probe_eddy_current"] = "ldc1612"
config = status["configfile"]["settings"]
for cfgname in config.keys():
for capprefix, st in sorted(stypes.items()):
if cfgname == capprefix or cfgname.startswith(capprefix + " "):
aname = cfgname.split()[-1]
lname = "%s:%s" % (st, aname)
qcmd = "%s/dump_%s" % (st, st)
self.send_subscribe(lname, qcmd, {"sensor": aname})
if cfgname.startswith("tmc"):
driver = " ".join(cfgname.split()[1:])
self.send_subscribe(
"stallguard:" + driver, "tmc/stallguard_dump", {"name": driver}
)
def handle_dump(self, msg, raw_msg):
msg_id = msg["id"]
if "result" not in msg:
self.error(
"Unable to subscribe to '%s': %s"
% (msg_id, msg.get("error", {}).get("message", ""))
)
return
self.db.setdefault("subscriptions", {})[msg_id] = msg["result"]
def flush_index(self):
self.db["file_position"] = self.logger.flush()
self.index.add_data(json.dumps(self.db, separators=(",", ":")).encode())
self.db = {"status": {}}
def handle_async_db(self, msg, raw_msg):
params = msg["params"]
db_status = self.db["status"]
for k, v in params.get("status", {}).items():
db_status.setdefault(k, {}).update(v)
eventtime = params["eventtime"]
if eventtime >= self.next_index_time:
self.next_index_time = eventtime + INDEX_UPDATE_TIME
self.flush_index()
def nice():
try:
# Try to re-nice writing process
os.nice(10)
except:
pass
def main():
usage = "%prog [options] <socket filename> <log name>"
opts = optparse.OptionParser(usage)
options, args = opts.parse_args()
if len(args) != 2:
opts.error("Incorrect number of arguments")
nice()
dl = DataLogger(args[0], args[1])
dl.run()
if __name__ == "__main__":
main()
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