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motan: Pass dataset parameters in parenthesis

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Replace names like "trapq:toolhead:x" with "trapq(toolhead,x)".

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-08-24 13:40:47 -04:00
parent 5fd1c9853d
commit 1e4041a96b
4 changed files with 97 additions and 70 deletions
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100
scripts/motan/readlog.py
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@ -18,20 +18,21 @@ LogHandlers = {}
# Extract requested position, velocity, and accel from a trapq log
class HandleTrapQ:
ParametersSubscriptionId = 2
ParametersMin = ParametersMax = 3
SubscriptionIdParts = 2
ParametersMin = ParametersMax = 2
DataSets = [
('trapq:<name>:velocity', 'Requested velocity for the given trapq'),
('trapq:<name>:<axis>', 'Requested axis (x, y, or z) position'),
('trapq:<name>:<axis>_velocity', 'Requested axis velocity'),
('trapq:<name>:<axis>_accel', 'Requested axis acceleration'),
('trapq(<name>,velocity)', 'Requested velocity for the given trapq'),
('trapq(<name>,accel)', 'Requested acceleration for the given trapq'),
('trapq(<name>,<axis>)', 'Requested axis (x, y, or z) position'),
('trapq(<name>,<axis>_velocity)', 'Requested axis velocity'),
('trapq(<name>,<axis>_accel)', 'Requested axis acceleration'),
]
def __init__(self, lmanager, name):
def __init__(self, lmanager, name, name_parts):
self.name = name
self.jdispatch = lmanager.get_jdispatch()
self.cur_data = [(0., 0., 0., 0., (0., 0., 0.), (0., 0., 0.))]
self.data_pos = 0
tq, trapq_name, datasel = name.split(':')
tq, trapq_name, datasel = name_parts
ptypes = {}
ptypes['velocity'] = {
'label': '%s velocity' % (trapq_name,),
@ -113,26 +114,27 @@ LogHandlers["trapq"] = HandleTrapQ
# Extract positions from queue_step log
class HandleStepQ:
ParametersSubscriptionId = 2
ParametersMin = 2
ParametersMax = 3
SubscriptionIdParts = 2
ParametersMin = 1
ParametersMax = 2
DataSets = [
('stepq:<stepper>', 'Commanded position of the given stepper'),
('stepq:<stepper>:raw', 'Commanded position without smoothing'),
('stepq(<stepper>)', 'Commanded position of the given stepper'),
('stepq(<stepper>,<time>)', 'Commanded position with smooth time'),
]
def __init__(self, lmanager, name):
def __init__(self, lmanager, name, name_parts):
self.name = name
self.stepper_name = name_parts[1]
self.jdispatch = lmanager.get_jdispatch()
self.step_data = [(0., 0., 0.), (0., 0., 0.)] # [(time, half_pos, pos)]
self.data_pos = 0
self.smooth_time = 0.010
name_parts = name.split(':')
if len(name_parts) == 3:
if name_parts[2] != 'raw':
raise error("Unknown stepq data selection '%s'" % (name,))
self.smooth_time = 0.
try:
self.smooth_time = float(name_parts[2])
except ValueError:
raise error("Invalid stepq smooth time '%s'" % (name_parts[2],))
def get_label(self):
label = '%s position' % (self.name.split(':')[1],)
label = '%s position' % (self.stepper_name,)
return {'label': label, 'units': 'Position\n(mm)'}
def pull_data(self, req_time):
smooth_time = self.smooth_time
@ -204,17 +206,6 @@ class HandleStepQ:
LogHandlers["stepq"] = HandleStepQ
######################################################################
# List datasets
######################################################################
def list_datasets():
datasets = []
for lh in sorted(LogHandlers.keys()):
datasets += LogHandlers[lh].DataSets
return datasets
######################################################################
# Log reading
######################################################################
@ -279,6 +270,40 @@ class JsonDispatcher:
for mq in self.queues.get(qid, []):
mq.append(json_msg['params'])
######################################################################
# Dataset and log tracking
######################################################################
# Split a string by commas while keeping parenthesis intact
def param_split(line):
out = []
level = prev = 0
for i, c in enumerate(line):
if not level and c == ',':
out.append(line[prev:i])
prev = i+1
elif c == '(':
level += 1
elif level and c== ')':
level -= 1
out.append(line[prev:])
return out
# Split a dataset name (eg, "abc(def,ghi)") into parts
def name_split(name):
if '(' not in name or not name.endswith(')'):
raise error("Malformed dataset name '%s'" % (name,))
aname, aparams = name.split('(', 1)
return [aname] + param_split(aparams[:-1])
# Return a description of possible datasets
def list_datasets():
datasets = []
for lh in sorted(LogHandlers.keys()):
datasets += LogHandlers[lh].DataSets
return datasets
# Main log access management
class LogManager:
error = error
@ -325,15 +350,16 @@ class LogManager:
def setup_dataset(self, name):
if name in self.datasets:
return self.datasets[name]
parts = name.split(':')
cls = LogHandlers.get(parts[0])
name_parts = name_split(name)
cls = LogHandlers.get(name_parts[0])
if cls is None:
raise error("Unknown dataset '%s'" % (parts[0],))
if len(parts) < cls.ParametersMin or len(parts) > cls.ParametersMax:
raise error("Invalid number of parameters for %s" % (parts[0],))
subscription_id = ":".join(parts[:cls.ParametersSubscriptionId])
raise error("Unknown dataset '%s'" % (name_parts[0],))
len_pp = len(name_parts) - 1
if len_pp < cls.ParametersMin or len_pp > cls.ParametersMax:
raise error("Invalid number of parameters for '%s'" % (name,))
subscription_id = ":".join(name_parts[:cls.SubscriptionIdParts])
if subscription_id not in self.log_subscriptions:
raise error("Dataset '%s' not in capture" % (subscription_id,))
self.datasets[name] = hdl = cls(self, name)
self.datasets[name] = hdl = cls(self, name, name_parts)
self.jdispatch.add_handler(name, subscription_id)
return hdl