Add MetricsLogging

compLib/Encoder.py

@@ -2,6 +2,7 @@ import atexit
 from enum import Enum
 
 from compLib.LogstashLogging import Logging
+from compLib.MetricsLogging import MetricsLogging
 from compLib.Spi import Spi, Register
 
 MOTOR_COUNT = 4
@@ -47,7 +48,8 @@ class Encoder(object):
         diff = Encoder.read_raw(port) - encoder_start_values[port]
         if diff > 2 ** 31:
             diff -= 2 ** 32
-
+        
+        MetricsLogging.put("Encoder", diff, port)
         return diff
 
     @staticmethod

compLib/IRSensor.py

@@ -1,6 +1,6 @@
 from compLib.LogstashLogging import Logging
+from compLib.MetricsLogging import MetricsLogging
 from compLib.Spi import Spi, Register
-import spidev
 
 SENSOR_COUNT = 5
 
@@ -14,18 +14,20 @@ class IRSensor(object):
         if sensor <= 0 or sensor > SENSOR_COUNT:
             raise IndexError("Invalid sensor specified!")
 
+        result = 0
         if sensor == 1:
-            return Spi.read(Register.IR_1_H, 2)
+            result = Spi.read(Register.IR_1_H, 2)
         elif sensor == 2:
-            return Spi.read(Register.IR_2_H, 2)
+            esult = Spi.read(Register.IR_2_H, 2)
         elif sensor == 3:
-            return Spi.read(Register.IR_3_H, 2)
+            esult = Spi.read(Register.IR_3_H, 2)
         elif sensor == 4:
-            return Spi.read(Register.IR_4_H, 2)
+            esult = Spi.read(Register.IR_4_H, 2)
         elif sensor == 5:
-            return Spi.read(Register.IR_5_H, 2)
+            esult = Spi.read(Register.IR_5_H, 2)
-        else:
+
-            return 0
+        MetricsLogging.put("Infrared", result, sensor)
+        return result
 
     @staticmethod
     def set(sensor: int, on: bool):

compLib/MetricsLogging.py

@@ -0,0 +1,84 @@
+from influxdb_client import InfluxDBClient, Point, WritePrecision
+import socket
+import uuid
+import os
+import queue
+import datetime
+import threading
+import requests
+
+CONCURRENCY = 2
+
+HOSTNAME = socket.gethostname()
+RUN_TRACE = str(uuid.uuid4())
+
+TOKEN = "aCdxnntw-Zp3agci8Z32lQAR_ep6MhdmWOJG7ObnoikYqe7nKAhFYx1jVGBpipQuId79SC4Jl0J6IBYVqauJyw=="
+ORG = "robo4you"
+BUCKET = "compAIR"
+
+INFLUX_HOST = "https://influxdb.comp-air.at"
+
+EXTENSIVE_LOGGING = os.getenv("EXTENSIVE_LOGGING", "True")
+if EXTENSIVE_LOGGING == "True":
+    EXTENSIVE_LOGGING = True
+else:
+    EXTENSIVE_LOGGING = False
+
+
+influx_client = InfluxDBClient(url=INFLUX_HOST, token=TOKEN)
+write_api = influx_client.write_api()
+
+point_queue = queue.Queue()
+workers = []
+
+class MetricsLogging():
+
+    @staticmethod
+    def is_influx_reachable():
+        try:
+            r = requests.get(INFLUX_HOST)
+            if r.status_code == 200:
+                return True
+            else:
+                print(f"Could not connect to {INFLUX_HOST} -> ERROR CODE: {r.status_code}!")
+                return False
+        except requests.exceptions.RequestException as identifier:
+            print(f"Could not connect to {INFLUX_HOST}!")
+
+    @staticmethod
+    def put(sensorType, value, port):
+        if EXTENSIVE_LOGGING:
+            point = Point(sensorType) \
+                .tag("host", HOSTNAME) \
+                .tag("runID", RUN_TRACE) \
+                .tag("port", port) \
+                .field("value", value) \
+                .time(datetime.datetime.utcnow(), WritePrecision.MS)
+            point_queue.put_nowait(point)
+
+    @staticmethod
+    def worker():
+        while True:
+            point = point_queue.get()
+            if point is None: # Kill signal
+                return
+
+            try:
+                write_api.write(BUCKET, ORG, point)
+
+            finally:
+                point_queue.task_done()
+    
+    @staticmethod
+    def start_workers():
+        global EXTENSIVE_LOGGING
+        if EXTENSIVE_LOGGING:
+            if MetricsLogging.is_influx_reachable():
+                EXTENSIVE_LOGGING = False
+                for i in range(CONCURRENCY):
+                    worker = threading.Thread(target=MetricsLogging.worker, daemon=True)
+                    worker.start()
+                    workers.append(worker)
+
+
+MetricsLogging.start_workers()

compLib/Motor.py

@@ -2,6 +2,7 @@ import atexit
 from enum import IntEnum
 
 from compLib.LogstashLogging import Logging
+from compLib.MetricsLogging import MetricsLogging
 from compLib.Spi import Spi, Register
 
 MOTOR_COUNT = 4
@@ -45,14 +46,13 @@ class Motor(object):
             Spi.write(Register.PWM_4_CTRL, 1, int(mode))
 
     @staticmethod
-    def power_raw(port: int, percent: float):
+    def power_raw(port: int, percent: float, log_metric = True):
         """Set specified motor to percentage power
 
         :param port: Port, which the motor is connected to. 1-4
         :param percent: Percentage of max speed. between -100 and 100
         :raises: IndexError
         """
-        Logging.get_logger().debug(f"Motor.power {port} {percent}")
 
         if port <= 0 or port > MOTOR_COUNT:
             raise IndexError("Invalid Motor port specified!")
@@ -60,6 +60,9 @@ class Motor(object):
         if percent < -100 or percent > 100:
             raise IndexError("Invalid Motor speed specified! Speed is between -100 and 100 percent!")
 
+        if log_metric:
+            MetricsLogging.put("MotorRaw", percent, port)
+
         mode = MotorMode.COAST
         if percent < 0:
             percent = abs(percent)
@@ -80,12 +83,14 @@ class Motor(object):
         :param percent: Percentage of max speed. between -100 and 100
         :raises: IndexError
         """
+        raw_power = 0
         if percent > 0:
-            Motor.power_raw(port, Motor.__linearizePower(MOTOR_CURVE, percent))
+            raw_power = Motor.__linearizePower(MOTOR_CURVE, percent)
         elif percent < 0:
-            Motor.power_raw(port, -Motor.__linearizePower(MOTOR_CURVE, -percent))
+            raw_power =  -Motor.__linearizePower(MOTOR_CURVE, -percent)
-        else:
+
-            Motor.power_raw(port, 0)
+        MetricsLogging.put("Motor", percent, port, False)
+        Motor.power_raw(port, raw_power)
 
     @staticmethod
     def all_off():

compLib/Servo.py

@@ -1,36 +1,36 @@
-from compLib.PCA9685 import PCA9685
+# from compLib.PCA9685 import PCA9685
 
-SERVO_COUNT = 10
+# SERVO_COUNT = 10
 
-pwm = PCA9685(0x40, debug=True)
+# pwm = PCA9685(0x40, debug=True)
-pwm.setPWMFreq(50)
+# pwm.setPWMFreq(50)
 
-MIN_ANGLE = -90.0
+# MIN_ANGLE = -90.0
-MAX_ANGLE = 90.0
+# MAX_ANGLE = 90.0
 
 
-class Servo:
+# class Servo:
-    """Control the servo ports on the robot
+#     """Control the servo ports on the robot
-    """
+#     """
 
-    @staticmethod
+#     @staticmethod
-    def set_position(channel: int, angle: int, offset: float =90):
+#     def set_position(channel: int, angle: int, offset: float =90):
-        """Set position of servo connected to port
+#         """Set position of servo connected to port
 
-        :param channel: channel between 0 and 7
+#         :param channel: channel between 0 and 7
-        :param angle: Angle of servo
+#         :param angle: Angle of servo
-        """
+#         """
-        if channel < 0 or channel >= SERVO_COUNT:
+#         if channel < 0 or channel >= SERVO_COUNT:
-            raise IndexError("Invalid Servo channel specified!")
+#             raise IndexError("Invalid Servo channel specified!")
         
-        angle = max(min(angle, MAX_ANGLE), MIN_ANGLE)
+#         angle = max(min(angle, MAX_ANGLE), MIN_ANGLE)
         
-        pwm.setServoPulse(channel + 8, 500+int((angle+offset)/0.09))
+#         pwm.setServoPulse(channel + 8, 500+int((angle+offset)/0.09))
 
-    @staticmethod
+#     @staticmethod
-    def setup_position():
+#     def setup_position():
-        """Set position of servos to the position used during the setup process
+#         """Set position of servos to the position used during the setup process
-        """
+#         """
         
-        Servo.set_position(0, 0)
+#         Servo.set_position(0, 0)
-        Servo.set_position(1, 0)
+#         Servo.set_position(1, 0)

compLib/__init__.py

@@ -1,26 +1,40 @@
 __version__ = "0.1.5-1"
 
+import importlib
 import compLib.LogstashLogging
-import compLib.Spi
-import compLib.Reset
-import compLib.Encoder
-import logging
-import apt
 
-try:
-    __versions = apt.Cache()["python3-complib"].versions
-    if len(__versions) != 1:
-        print(f"Starting compLib! \033[91mVersion: {__version__} is outdated\033[0m\n"
-              f"\033[92m[!] run the command 'sudo apt update && sudo apt install python3-complib' to install the newest version\033[0m")
-    else:
-        print(f"Starting compLib! \033[92mVersion: {__version__} is up to date\033[0m")
-except Exception as e:
-    compLib.LogstashLogging.Logging.get_logger().error(f"error during checking apt package version -> {str(e)}")
-    print(f"\033[91merror during checking apt package version -> {str(e)}\033[0m\n")
 
-print(f"\033[34mInitializing chipmunk board...\033[0m")
+apt_found = importlib.util.find_spec("apt") is not None
-compLib.Reset.Reset.reset_bot()
+spi_found = importlib.util.find_spec("spidev") is not None
-compLib.Spi.Spi.health_check()
+
-compLib.Spi.Spi.start_health_check_loop()
+
-compLib.Encoder.Encoder.clear_all()
+if apt_found:
-print(f"\033[34mReady\033[0m\n")
+    import apt
+
+    try:
+        __versions = apt.Cache()["python3-complib"].versions
+        if len(__versions) != 1:
+            print(f"Starting compLib! \033[91mVersion: {__version__} is outdated\033[0m\n"
+                f"\033[92m[!] run the command 'sudo apt update && sudo apt install python3-complib' to install the newest version\033[0m")
+        else:
+            print(f"Starting compLib! \033[92mVersion: {__version__} is up to date\033[0m")
+    except Exception as e:
+        compLib.LogstashLogging.Logging.get_logger().error(f"error during checking apt package version -> {str(e)}")
+        print(f"\033[91merror during checking apt package version -> {str(e)}\033[0m\n")
+else:
+    print("apt is not installed! This is for local development only!")
+    
+if spi_found:
+    import compLib.Spi
+    import compLib.Reset
+    import compLib.Encoder
+    import logging
+
+    print(f"\033[34mInitializing chipmunk board...\033[0m")
+    compLib.Reset.Reset.reset_bot()
+    compLib.Spi.Spi.health_check()
+    compLib.Spi.Spi.start_health_check_loop()
+    compLib.Encoder.Encoder.clear_all()
+    print(f"\033[34mReady\033[0m\n")
+else:
+    print("spidev is not installed! This is for local development only!")