From 1e4041a96badaf29533879a2c353981da60cbc67 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Tue, 24 Aug 2021 13:40:47 -0400
Subject: [PATCH] motan: Pass dataset parameters in parenthesis

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

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
 docs/Debugging.md            |   4 +-
 scripts/motan/analyzers.py   |  57 ++++++++++----------
 scripts/motan/motan_graph.py |   6 +--
 scripts/motan/readlog.py     | 100 ++++++++++++++++++++++-------------
 4 files changed, 97 insertions(+), 70 deletions(-)

diff --git a/docs/Debugging.md b/docs/Debugging.md
index a0e15322..a9d35383 100644
--- a/docs/Debugging.md
+++ b/docs/Debugging.md
@@ -122,7 +122,7 @@ Graphs can be generated with a command like the following:
 One can use the `-g` option to specify the datasets to graph (it takes
 a Python literal containing a list of lists). For example:
 ```
-~/klipper/scripts/motan/motan_graph.py mylog -g '[["trapq:toolhead:velocity"], ["trapq:toolhead:accel"]]'
+~/klipper/scripts/motan/motan_graph.py mylog -g '[["trapq(toolhead,velocity)"], ["trapq(toolhead,accel)"]]'
 ```
 
 The list of available datasets can be found using the `-l` option -
@@ -134,7 +134,7 @@ for example:
 It is also possible to specify matplotlib plot options for each
 dataset:
 ```
-~/klipper/scripts/motan/motan_graph.py mylog -g '[["trapq:toolhead:velocity?color=red"]]'
+~/klipper/scripts/motan/motan_graph.py mylog -g '[["trapq(toolhead,velocity)?color=red&alpha=0.4"]]'
 ```
 Many matplotlib options are available; some examples are "color",
 "label", "alpha", and "linestyle".
diff --git a/scripts/motan/analyzers.py b/scripts/motan/analyzers.py
index 9e3f3b57..bdb70011 100644
--- a/scripts/motan/analyzers.py
+++ b/scripts/motan/analyzers.py
@@ -4,6 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import collections
+import readlog
 
 
 ######################################################################
@@ -15,12 +16,13 @@ AHandlers = {}
 
 # Calculate a derivative (position to velocity, or velocity to accel)
 class GenDerivative:
+    ParametersMin = ParametersMax = 1
     DataSets = [
-        ('derivative:<dataset>', 'Derivative of the given dataset'),
+        ('derivative(<dataset>)', 'Derivative of the given dataset'),
     ]
-    def __init__(self, amanager, params):
+    def __init__(self, amanager, name_parts):
         self.amanager = amanager
-        self.source = params
+        self.source = name_parts[1]
         amanager.setup_dataset(self.source)
     def get_label(self):
         label = self.amanager.get_label(self.source)
@@ -46,28 +48,30 @@ AHandlers["derivative"] = GenDerivative
 
 # Calculate a kinematic stepper position from the toolhead requested position
 class GenKinematicPosition:
+    ParametersMin = ParametersMax = 1
     DataSets = [
-        ('kin:<stepper>', 'Stepper position derived from toolhead kinematics'),
+        ('kin(<stepper>)', 'Stepper position derived from toolhead kinematics'),
     ]
-    def __init__(self, amanager, params):
+    def __init__(self, amanager, name_parts):
         self.amanager = amanager
+        stepper = name_parts[1]
         status = self.amanager.get_initial_status()
         kin = status['configfile']['settings']['printer']['kinematics']
         if kin not in ['cartesian', 'corexy']:
             raise amanager.error("Unsupported kinematics '%s'" % (kin,))
-        if params not in ['stepper_x', 'stepper_y', 'stepper_z']:
-            raise amanager.error("Unknown stepper '%s'" % (params,))
-        if kin == 'corexy' and params in ['stepper_x', 'stepper_y']:
-            self.source1 = 'trapq:toolhead:x'
-            self.source2 = 'trapq:toolhead:y'
-            if params == 'stepper_x':
+        if stepper not in ['stepper_x', 'stepper_y', 'stepper_z']:
+            raise amanager.error("Unknown stepper '%s'" % (stepper,))
+        if kin == 'corexy' and stepper in ['stepper_x', 'stepper_y']:
+            self.source1 = 'trapq(toolhead,x)'
+            self.source2 = 'trapq(toolhead,y)'
+            if stepper == 'stepper_x':
                 self.generate_data = self.generate_data_corexy_plus
             else:
                 self.generate_data = self.generate_data_corexy_minus
             amanager.setup_dataset(self.source1)
             amanager.setup_dataset(self.source2)
         else:
-            self.source1 = 'trapq:toolhead:' + params[-1:]
+            self.source1 = 'trapq(toolhead,%s)' % (stepper[-1:],)
             self.source2 = None
             self.generate_data = self.generate_data_passthrough
             amanager.setup_dataset(self.source1)
@@ -89,15 +93,13 @@ AHandlers["kin"] = GenKinematicPosition
 
 # Calculate a position deviation
 class GenDeviation:
+    ParametersMin = ParametersMax = 2
     DataSets = [
-        ('deviation:<dataset1>-<dataset2>', 'Difference between datasets'),
+        ('deviation(<dataset1>,<dataset2>)', 'Difference between datasets'),
     ]
-    def __init__(self, amanager, params):
+    def __init__(self, amanager, name_parts):
         self.amanager = amanager
-        parts = params.split('-')
-        if len(parts) != 2:
-            raise amanager.error("Invalid deviation '%s'" % (params,))
-        self.source1, self.source2 = parts
+        self.source1, self.source2 = name_parts[1:]
         amanager.setup_dataset(self.source1)
         amanager.setup_dataset(self.source2)
     def get_label(self):
@@ -117,20 +119,16 @@ AHandlers["deviation"] = GenDeviation
 
 
 ######################################################################
-# List datasets
+# Analyzer management and data generation
 ######################################################################
 
+# Return a description of available analyzers
 def list_datasets():
     datasets = []
     for ah in sorted(AHandlers.keys()):
         datasets += AHandlers[ah].DataSets
     return datasets
 
-
-######################################################################
-# Data generation
-######################################################################
-
 # Manage raw and generated data samples
 class AnalyzerManager:
     error = None
@@ -159,15 +157,18 @@ class AnalyzerManager:
             return self.raw_datasets[name]
         if name in self.gen_datasets:
             return self.gen_datasets[name]
-        nparts = name.split(':')
-        if nparts[0] in self.lmanager.available_dataset_types():
+        name_parts = readlog.name_split(name)
+        if name_parts[0] in self.lmanager.available_dataset_types():
             hdl = self.lmanager.setup_dataset(name)
             self.raw_datasets[name] = hdl
         else:
-            cls = AHandlers.get(nparts[0])
+            cls = AHandlers.get(name_parts[0])
             if cls is None:
                 raise self.error("Unknown dataset '%s'" % (name,))
-            hdl = cls(self, ':'.join(nparts[1:]))
+            num_param = len(name_parts) - 1
+            if num_param < cls.ParametersMin or num_param > cls.ParametersMax:
+                raise self.error("Invalid parameters to dataset '%s'" % (name,))
+            hdl = cls(self, name_parts)
             self.gen_datasets[name] = hdl
         self.datasets[name] = []
         return hdl
diff --git a/scripts/motan/motan_graph.py b/scripts/motan/motan_graph.py
index 9826f1a2..6571a201 100755
--- a/scripts/motan/motan_graph.py
+++ b/scripts/motan/motan_graph.py
@@ -125,9 +125,9 @@ def main():
 
     # Default graphs to draw
     graph_descs = [
-        ["trapq:toolhead:velocity?color=green"],
-        ["trapq:toolhead:accel?color=green"],
-        ["deviation:stepq:stepper_x-kin:stepper_x?color=blue"],
+        ["trapq(toolhead,velocity)?color=green"],
+        ["trapq(toolhead,accel)?color=green"],
+        ["deviation(stepq(stepper_x),kin(stepper_x))?color=blue"],
     ]
     if options.graph is not None:
         graph_descs = ast.literal_eval(options.graph)
diff --git a/scripts/motan/readlog.py b/scripts/motan/readlog.py
index 7cd2fbd5..e47e9e7f 100644
--- a/scripts/motan/readlog.py
+++ b/scripts/motan/readlog.py
@@ -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