Merge branch 'master' into WT-MM-patch-1

.gitignore

@@ -31,3 +31,7 @@ build/
 dist/
 *.so
 out*/
+
+# Dev
+*.patch
+robstridev2/

MANIFEST.in

@@ -1 +1 @@
-recursive-include kos_protos/ *.py *.txt py.typed MANIFEST.in py.typed Makefile
+recursive-include kos_protos/ *.py *.txt py.typed MANIFEST.in py.typed Makefile pykos/Makefile

README.md

@@ -42,6 +42,12 @@ Reference the existing platforms / features in [platforms](platforms).
 
 You essentially create another package (Cargo.toml, lib.rs, etc) with the necessary actuator and imu implementations according to the specifications in [kos-core](kos-core/src/services)
 
+
+To save trace logs to a file, pass the `--log` flag:
+```bash
+cargo run --features stub -- --log
+
+
 ## Contributing
 - Use `cargo fmt --all` to format the code.
 - Use `cargo clippy` to check for lint errors.

daemon/Cargo.toml

@@ -20,6 +20,11 @@ tower = "0.5"
 gstreamer = "0.23"
 gstreamer-base = "0.23"
 glib = "0.17"
+tracing-appender = "0.2"
+clap = { version = "4.0", features = ["derive"] }
+chrono = "0.4"
+directories = "5.0"
+flate2 = "1.0"
 
 kos-sim = { version = "0.1.0", path = "../platforms/sim", optional = true }
 kos-stub = { version = "0.1.0", path = "../platforms/stub", optional = true }

daemon/src/file_logging.rs

@@ -0,0 +1,176 @@
+use chrono::Local;
+use directories::BaseDirs;
+use eyre::Result;
+use flate2::write::GzEncoder;
+use flate2::Compression;
+use std::fs::File;
+use std::io::{self, BufWriter, Write};
+use std::path::PathBuf;
+use tracing::{info, error};
+use tracing_subscriber::prelude::*;
+use tracing_subscriber::{filter::EnvFilter, Layer};
+
+pub struct CompressedWriter {
+    encoder: Option<GzEncoder<BufWriter<File>>>,
+    path: PathBuf,
+}
+
+impl CompressedWriter {
+    pub fn new(path: impl AsRef<std::path::Path>) -> io::Result<Self> {
+        let file = File::create(path.as_ref())?;
+        let buffered = BufWriter::new(file);
+        Ok(Self {
+            encoder: Some(GzEncoder::new(buffered, Compression::new(6))),
+            path: path.as_ref().to_path_buf(),
+        })
+    }
+
+    fn sync(&mut self) -> io::Result<()> {
+        if let Some(encoder) = &mut self.encoder {
+            encoder.flush()?;
+            let buf_writer = encoder.get_mut();
+            buf_writer.flush()?;
+            let file = buf_writer.get_mut();
+            file.sync_all()?;
+        }
+        Ok(())
+    }
+
+    pub fn finalize(&mut self) -> io::Result<()> {
+        if let Some(encoder) = self.encoder.take() {
+            info!("Finalizing compressed log {}", self.path.display());
+            // Finish the compression and get the BufWriter back
+            let mut buf_writer = encoder.finish()?;
+            // Flush the buffer
+            buf_writer.flush()?;
+            // Sync to disk
+            buf_writer.get_mut().sync_all()?;
+            info!("Successfully finalized log {}", self.path.display());
+        }
+        Ok(())
+    }
+}
+
+impl Write for CompressedWriter {
+    fn write(&mut self, buf: &[u8]) -> io::Result<usize> {
+        if let Some(encoder) = &mut self.encoder {
+            match encoder.write(buf) {
+                Ok(size) => {
+                    if size > 0 && buf.contains(&b'\n') {
+                        self.sync()?;
+                    }
+                    Ok(size)
+                }
+                Err(e) => {
+                    error!(
+                        "Failed to write to compressed log {}: {}",
+                        self.path.display(),
+                        e
+                    );
+                    Err(e)
+                }
+            }
+        } else {
+            error!(
+                "Attempted to write to finalized log {}",
+                self.path.display()
+            );
+            Err(io::Error::new(
+                io::ErrorKind::Other,
+                "Writer has been finalized",
+            ))
+        }
+    }
+
+    fn flush(&mut self) -> io::Result<()> {
+        self.sync()
+    }
+}
+
+impl Drop for CompressedWriter {
+    fn drop(&mut self) {
+        if let Err(e) = self.finalize() {
+            error!(
+                "Failed to finalize compressed log {}: {}",
+                self.path.display(),
+                e
+            );
+        }
+    }
+}
+
+pub fn setup_logging(
+    enable_file_logging: bool,
+    log_level: &str,
+) -> Result<Option<tracing_appender::non_blocking::WorkerGuard>> {
+    let level_filter = match log_level.to_lowercase().as_str() {
+        "trace" => tracing_subscriber::filter::LevelFilter::TRACE,
+        "debug" => tracing_subscriber::filter::LevelFilter::DEBUG,
+        "info" => tracing_subscriber::filter::LevelFilter::INFO,
+        "warn" => tracing_subscriber::filter::LevelFilter::WARN,
+        "error" => tracing_subscriber::filter::LevelFilter::ERROR,
+        _ => {
+            eprintln!("Invalid log level '{}', defaulting to 'info'", log_level);
+            tracing_subscriber::filter::LevelFilter::INFO
+        }
+    };
+
+    let subscriber = tracing_subscriber::registry();
+
+    // Update stdout layer to use the specified level
+    let stdout_layer = tracing_subscriber::fmt::layer()
+        .with_writer(std::io::stdout)
+        .with_filter(
+            EnvFilter::from_default_env()
+                .add_directive(format!("kos={}", log_level).parse().unwrap())
+                .add_directive("h2=error".parse().unwrap())
+                .add_directive("grpc=error".parse().unwrap())
+                .add_directive("rumqttc=error".parse().unwrap())
+                .add_directive("kos_core::telemetry=error".parse().unwrap())
+                .add_directive("polling=error".parse().unwrap())
+                .add_directive("async_io=error".parse().unwrap())
+                .add_directive("krec=error".parse().unwrap()),
+        );
+
+    let subscriber = subscriber.with(stdout_layer);
+
+    if enable_file_logging {
+        let log_dir = if let Some(base_dirs) = BaseDirs::new() {
+            base_dirs.data_local_dir().join("kos").join("logs")
+        } else {
+            PathBuf::from("~/.local/share/kos/logs")
+        };
+
+        std::fs::create_dir_all(&log_dir)?;
+
+        let timestamp = Local::now().format("%Y%m%d_%H%M%S");
+        let final_name = format!("kos-daemon_{}.log.gz", timestamp);
+        let log_path = log_dir.join(&final_name);
+
+        let compressed_writer = CompressedWriter::new(&log_path)?;
+        let (non_blocking, guard) = tracing_appender::non_blocking(compressed_writer);
+
+        let file_layer = tracing_subscriber::fmt::layer()
+            .with_thread_ids(true)
+            .with_target(true)
+            .with_file(true)
+            .with_line_number(true)
+            .with_writer(non_blocking)
+            .with_filter(level_filter);
+
+        subscriber.with(file_layer).init();
+        Ok(Some(guard))
+    } else {
+        subscriber.init();
+        Ok(None)
+    }
+}
+
+pub fn cleanup_logging(guard: Option<tracing_appender::non_blocking::WorkerGuard>) {
+    if let Some(guard) = guard {
+        // Ensure we flush any pending writes before dropping
+        drop(guard);
+        // Give a small amount of time for the worker to finish
+        std::thread::sleep(std::time::Duration::from_millis(100));
+    }
+}

daemon/src/main.rs

@@ -2,6 +2,7 @@
 // This will run the gRPC server and, if applicable, a runtime loop
 // (e.g., actuator polling, loaded model inference).
 
+use clap::Parser;
 use eyre::Result;
 use kos_core::google_proto::longrunning::operations_server::OperationsServer;
 use kos_core::services::OperationsServiceImpl;
@@ -10,10 +11,13 @@ use kos_core::Platform;
 use kos_core::ServiceEnum;
 use std::collections::HashMap;
 use std::sync::Arc;
+use tokio::signal;
 use tokio::sync::Mutex;
 use tonic::transport::Server;
 use tracing::{debug, error, info};
 use tracing_subscriber::filter::EnvFilter;
+use tracing_subscriber::prelude::*;
+use tracing_subscriber::Layer;
 
 #[cfg(not(any(feature = "kos-sim", feature = "kos-zeroth-01", feature = "kos-kbot")))]
 use kos_stub::StubPlatform as PlatformImpl;
@@ -27,6 +31,21 @@ use kos_zeroth_01::Zeroth01Platform as PlatformImpl;
 #[cfg(feature = "kos-kbot")]
 use kos_kbot::KbotPlatform as PlatformImpl;
 
+mod file_logging;
+use file_logging::{setup_logging, cleanup_logging};
+
+#[derive(Parser, Debug)]
+#[command(author, version, about, long_about = None)]
+struct Args {
+    /// Enable file logging
+    #[arg(long, default_value_t = false)]
+    log: bool,
+
+    /// Log level (trace, debug, info, warn, error)
+    #[arg(long, default_value = "info")]
+    log_level: String,
+}
+
 fn add_service_to_router(
     router: tonic::transport::server::Router,
     service: ServiceEnum,
@@ -46,7 +65,7 @@ async fn run_server(
     let addr = "0.0.0.0:50051".parse()?;
     let mut server_builder = Server::builder();
 
-    let services = platform.create_services(operations_service.clone())?;
+    let services = platform.create_services(operations_service.clone()).await?;
 
     let operations_service = OperationsServer::new(operations_service);
 
@@ -63,24 +82,53 @@ async fn run_server(
     Ok(())
 }
 
+struct DaemonState {
+    _guard: Option<tracing_appender::non_blocking::WorkerGuard>,
+    platform: PlatformImpl,
+}
+
 #[tokio::main]
 async fn main() -> Result<()> {
-    // logging
-    tracing_subscriber::fmt()
-        .with_env_filter(
+    let args = Args::parse();
+
+    // tracing
+    let subscriber = tracing_subscriber::registry();
+
+    // Always add stdout layer
+    let stdout_layer = tracing_subscriber::fmt::layer()
+        .with_writer(std::io::stdout)
+        .with_filter(
             EnvFilter::from_default_env()
                 .add_directive("h2=error".parse().unwrap())
                 .add_directive("grpc=error".parse().unwrap())
                 .add_directive("rumqttc=error".parse().unwrap())
-                .add_directive("kos_core::telemetry=error".parse().unwrap()),
-        )
-        .init();
+                .add_directive("kos_core::telemetry=error".parse().unwrap())
+                .add_directive("polling=error".parse().unwrap())
+                .add_directive("async_io=error".parse().unwrap())
+                .add_directive("krec=error".parse().unwrap()),
+        );
+
+    let _subscriber = subscriber.with(stdout_layer);
+
+    let guard = setup_logging(args.log, &args.log_level)?;
 
-    let mut platform = PlatformImpl::new();
+    let mut state = DaemonState {
+        _guard: guard,
+        platform: PlatformImpl::new(),
+    };
+
+    // Setup signal handler
+    let (shutdown_tx, shutdown_rx) = tokio::sync::oneshot::channel();
+
+    tokio::spawn(async move {
+        if let Ok(()) = signal::ctrl_c().await {
+            let _ = shutdown_tx.send(());
+        }
+    });
 
     // telemetry
     Telemetry::initialize(
-        format!("{}-{}", platform.name(), platform.serial()).as_str(),
+        format!("{}-{}", state.platform.name(), state.platform.serial()).as_str(),
         "localhost",
         1883,
     )
@@ -89,11 +137,19 @@ async fn main() -> Result<()> {
     let operations_store = Arc::new(Mutex::new(HashMap::new()));
     let operations_service = Arc::new(OperationsServiceImpl::new(operations_store));
 
-    platform.initialize(operations_service.clone())?;
-
-    if let Err(e) = run_server(&platform, operations_service).await {
-        error!("Server error: {:?}", e);
-        std::process::exit(1);
+    state.platform.initialize(operations_service.clone())?;
+
+    tokio::select! {
+        res = run_server(&state.platform, operations_service) => {
+            if let Err(e) = res {
+                error!("Server error: {:?}", e);
+                std::process::exit(1);
+            }
+        }
+        _ = shutdown_rx => {
+            info!("Received shutdown signal, cleaning up...");
+            cleanup_logging(state._guard.take());
+        }
     }
 
     Ok(())

kos_core/Cargo.toml

@@ -26,7 +26,7 @@ eyre = "0.6"
 hyper = "0.14"
 tracing = "0.1"
 lazy_static = "1.4"
-krec = "0.1"
+krec = "0.2"
 
 [build-dependencies]
 tonic-build = "0.12"

kos_core/proto/kos/actuator.proto

@@ -59,6 +59,7 @@ message ConfigureActuatorRequest {
     optional float protection_time = 7;    // Protection time in seconds
     optional bool torque_enabled = 8;      // Torque enabled flag
     optional uint32 new_actuator_id = 9;   // New actuator ID
+    optional bool zero_position = 10;      // Instant zero position
 }
 
 // Request message for CalibrateActuator.