CreatBotMoonraker/moonraker/klippy_connection.py
Eric Callahan 480ebfac8e file_manager: add support for new "data_path"
The config and logs paths are no longer configurable,
they all exist as folders or symbolic links within the primary
data folder.  The gcode path no longer relies on Klipper to
specify the location, instead Klipper's virtual_sdcard path
shold be configured to the location of the "gcodes" folder
in the data path.

Signed-off-by:  Eric Callahan <arksine.code@gmail.com>
2022-10-14 15:15:41 -04:00

616 lines
24 KiB
Python

# KlippyConnection - manage unix socket connection to Klipper
#
# Copyright (C) 2022 Eric Callahan <arksine.code@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license
from __future__ import annotations
import os
import time
import logging
import json
import getpass
import confighelper
import asyncio
import socket
import struct
from utils import ServerError
# Annotation imports
from typing import (
TYPE_CHECKING,
Any,
Awaitable,
Optional,
Callable,
Coroutine,
Dict,
List,
Set,
)
if TYPE_CHECKING:
from app import MoonrakerApp
from websockets import WebRequest, Subscribable
from components.klippy_apis import KlippyAPI
from components.file_manager.file_manager import FileManager
from asyncio.trsock import TransportSocket
FlexCallback = Callable[..., Optional[Coroutine]]
INIT_TIME = .25
LOG_ATTEMPT_INTERVAL = int(2. / INIT_TIME + .5)
MAX_LOG_ATTEMPTS = 10 * LOG_ATTEMPT_INTERVAL
UNIX_BUFFER_LIMIT = 20 * 1024 * 1024
class KlippyConnection:
def __init__(self, config: confighelper.ConfigHelper) -> None:
self.server = config.get_server()
self.uds_address: str = config.get(
'klippy_uds_address', "/tmp/klippy_uds")
self.writer: Optional[asyncio.StreamWriter] = None
self.connection_mutex: asyncio.Lock = asyncio.Lock()
self.event_loop = self.server.get_event_loop()
self.log_no_access = True
# Connection State
self.connection_task: Optional[asyncio.Task] = None
self.closing: bool = False
self._klippy_info: Dict[str, Any] = {}
self.init_list: List[str] = []
self._klipper_version: str = ""
self._missing_reqs: Set[str] = set()
self._peer_cred: Dict[str, int] = {}
self.init_attempts: int = 0
self._state: str = "disconnected"
self._state_message: str = "Klippy Disconnected"
self.subscriptions: Dict[Subscribable, Dict[str, Any]] = {}
# Setup remote methods accessable to Klippy. Note that all
# registered remote methods should be of the notification type,
# they do not return a response to Klippy after execution
self.pending_requests: Dict[int, KlippyRequest] = {}
self.remote_methods: Dict[str, FlexCallback] = {}
self.klippy_reg_methods: List[str] = []
self.register_remote_method(
'process_gcode_response', self._process_gcode_response,
need_klippy_reg=False)
self.register_remote_method(
'process_status_update', self._process_status_update,
need_klippy_reg=False)
self.server.register_component("klippy_connection", self)
@property
def klippy_apis(self) -> KlippyAPI:
return self.server.lookup_component("klippy_apis")
@property
def state(self) -> str:
return self._state
@property
def state_message(self) -> str:
return self._state_message
@property
def klippy_info(self) -> Dict[str, Any]:
return self._klippy_info
@property
def missing_requirements(self) -> List[str]:
return list(self._missing_reqs)
@property
def peer_credentials(self) -> Dict[str, int]:
return dict(self._peer_cred)
async def wait_connected(self) -> bool:
if (
self.connection_task is None or
self.connection_task.done()
):
return self.is_connected()
try:
await self.connection_task
except Exception:
pass
return self.is_connected()
async def wait_started(self, timeout: float = 20.) -> bool:
if self.connection_task is None or not self.is_connected():
return False
if not self.connection_task.done():
await asyncio.wait_for(
asyncio.shield(self.connection_task), timeout=timeout)
return self.is_connected()
async def _read_stream(self, reader: asyncio.StreamReader) -> None:
errors_remaining: int = 10
while not reader.at_eof():
try:
data = await reader.readuntil(b'\x03')
except (ConnectionError, asyncio.IncompleteReadError):
break
except asyncio.CancelledError:
logging.exception("Klippy Stream Read Cancelled")
raise
except Exception:
logging.exception("Klippy Stream Read Error")
errors_remaining -= 1
if not errors_remaining or not self.is_connected():
break
continue
errors_remaining = 10
try:
decoded_cmd = json.loads(data[:-1])
self._process_command(decoded_cmd)
except Exception:
logging.exception(
f"Error processing Klippy Host Response: {data.decode()}")
if not self.closing:
logging.debug("Klippy Disconnection From _read_stream()")
await self.close()
async def _write_request(self, request: KlippyRequest) -> None:
if self.writer is None or self.closing:
self.pending_requests.pop(request.id, None)
request.notify(ServerError("Klippy Host not connected", 503))
return
data = json.dumps(request.to_dict()).encode() + b"\x03"
try:
self.writer.write(data)
await self.writer.drain()
except asyncio.CancelledError:
self.pending_requests.pop(request.id, None)
request.notify(ServerError("Klippy Write Request Cancelled", 503))
raise
except Exception:
self.pending_requests.pop(request.id, None)
request.notify(ServerError("Klippy Write Request Error", 503))
if not self.closing:
logging.debug("Klippy Disconnection From _write_request()")
await self.close()
def register_remote_method(self,
method_name: str,
cb: FlexCallback,
need_klippy_reg: bool = True
) -> None:
if method_name in self.remote_methods:
raise self.server.error(
f"Remote method ({method_name}) already registered")
if self.server.is_running():
raise self.server.error(
f"Failed to register remote method {method_name}, "
"methods must be registered during initialization")
self.remote_methods[method_name] = cb
if need_klippy_reg:
# These methods need to be registered with Klippy
self.klippy_reg_methods.append(method_name)
def connect(self) -> Awaitable[bool]:
if (
self.is_connected() or
not self.server.is_running() or
(self.connection_task is not None and
not self.connection_task.done())
):
# already connecting
fut = self.event_loop.create_future()
fut.set_result(self.is_connected())
return fut
self.connection_task = self.event_loop.create_task(self._do_connect())
return self.connection_task
async def _do_connect(self) -> bool:
async with self.connection_mutex:
while self.writer is None:
await asyncio.sleep(INIT_TIME)
if self.closing or not self.server.is_running():
return False
if not os.path.exists(self.uds_address):
continue
if not os.access(self.uds_address, os.R_OK | os.W_OK):
if self.log_no_access:
user = getpass.getuser()
logging.info(
f"Cannot connect to Klippy, Linux user '{user}' "
"lacks permission to open Unix Domain Socket: "
f"{self.uds_address}")
self.log_no_access = False
continue
self.log_no_access = True
try:
reader, writer = await asyncio.open_unix_connection(
self.uds_address, limit=UNIX_BUFFER_LIMIT)
except asyncio.CancelledError:
raise
except Exception:
continue
logging.info("Klippy Connection Established")
self.writer = writer
self._get_peer_credentials(writer)
self.event_loop.create_task(self._read_stream(reader))
return await self._init_klippy_connection()
def _get_peer_credentials(self, writer: asyncio.StreamWriter) -> None:
sock: TransportSocket
sock = writer.get_extra_info("socket", None)
if sock is None:
logging.debug(
"Unable to get Unix Socket, cant fetch peer credentials"
)
return
data: bytes = b""
try:
size = struct.calcsize("3I")
data = sock.getsockopt(socket.SOL_SOCKET, socket.SO_PEERCRED, size)
pid, uid, gid = struct.unpack("3I", data)
except asyncio.CancelledError:
raise
except Exception:
logging.exception(
f"Failed to get Klippy Peer Credentials, raw: 0x{data.hex()}"
)
return
self._peer_cred = {
"process_id": pid,
"user_id": uid,
"group_id": gid
}
logging.debug(
f"Klippy Connection: Received Peer Credentials: {self._peer_cred}"
)
async def _init_klippy_connection(self) -> bool:
self.init_list = []
self._missing_reqs.clear()
self.init_attempts = 0
self._state = "initializing"
webhooks_err_logged = False
gcout_err_logged = False
while self.server.is_running():
await asyncio.sleep(INIT_TIME)
# Subscribe to "webhooks"
# Register "webhooks" subscription
if "webhooks_sub" not in self.init_list:
try:
await self.klippy_apis.subscribe_objects(
{'webhooks': None})
except ServerError as e:
if not webhooks_err_logged:
webhooks_err_logged = True
logging.info(
f"{e}\nUnable to subscribe to webhooks object")
else:
logging.info("Webhooks Subscribed")
self.init_list.append("webhooks_sub")
# Subscribe to Gcode Output
if "gcode_output_sub" not in self.init_list:
try:
await self.klippy_apis.subscribe_gcode_output()
except ServerError as e:
if not gcout_err_logged:
gcout_err_logged = True
logging.info(
f"{e}\nUnable to register gcode output "
"subscription")
else:
logging.info("GCode Output Subscribed")
self.init_list.append("gcode_output_sub")
if "startup_complete" not in self.init_list:
await self._check_ready()
if len(self.init_list) == 5:
logging.debug("Klippy Connection Initialized")
return True
elif not self.is_connected():
break
else:
self.init_attempts += 1
logging.debug("Klippy Connection Failed to Init")
return False
async def _request_endpoints(self) -> None:
result = await self.klippy_apis.list_endpoints(default=None)
if result is None:
return
endpoints = result.get('endpoints', [])
app: MoonrakerApp = self.server.lookup_component("application")
for ep in endpoints:
app.register_remote_handler(ep)
async def _check_ready(self) -> None:
send_id = "identified" not in self.init_list
result: Dict[str, Any]
try:
result = await self.klippy_apis.get_klippy_info(send_id)
except ServerError as e:
if self.init_attempts % LOG_ATTEMPT_INTERVAL == 0 and \
self.init_attempts <= MAX_LOG_ATTEMPTS:
logging.info(
f"{e}\nKlippy info request error. This indicates that\n"
f"Klippy may have experienced an error during startup.\n"
f"Please check klippy.log for more information")
return
version = result.get("software_version", "")
if version != self._klipper_version:
self._klipper_version = version
msg = f"Klipper Version: {version}"
self.server.add_log_rollover_item("klipper_version", msg)
self._klippy_info = dict(result)
if "state_message" in self._klippy_info:
self._state_message = self._klippy_info["state_message"]
state = result.get('state', "unknown")
if state != "startup" and "endpoints_requested" not in self.init_list:
await self._request_endpoints()
self.init_list.append("endpoints_requested")
self._state = state
if send_id:
self.init_list.append("identified")
await self.server.send_event("server:klippy_identified")
if self._state != "startup":
self.init_list.append('startup_complete')
await self.server.send_event("server:klippy_started",
self._state)
if self._state != "ready":
logging.info("\n" + self._state_message)
else:
await self._verify_klippy_requirements()
# register methods with klippy
for method in self.klippy_reg_methods:
try:
await self.klippy_apis.register_method(method)
except ServerError:
logging.exception(
f"Unable to register method '{method}'")
logging.info("Klippy ready")
await self.server.send_event("server:klippy_ready")
async def _verify_klippy_requirements(self) -> None:
result = await self.klippy_apis.get_object_list(default=None)
if result is None:
logging.info(
f"Unable to retrieve Klipper Object List")
return
req_objs = set(["virtual_sdcard", "display_status", "pause_resume"])
self._missing_reqs = req_objs - set(result)
if self._missing_reqs:
err_str = ", ".join([f"[{o}]" for o in self._missing_reqs])
logging.info(
f"\nWarning, unable to detect the following printer "
f"objects:\n{err_str}\nPlease add the the above sections "
f"to printer.cfg for full Moonraker functionality.")
if "virtual_sdcard" not in self._missing_reqs:
# Update the gcode path
query_res = await self.klippy_apis.query_objects(
{'configfile': None}, default=None)
if query_res is None:
logging.info(f"Unable to set SD Card path")
else:
config = query_res.get('configfile', {}).get('config', {})
vsd_config = config.get('virtual_sdcard', {})
vsd_path = vsd_config.get('path', None)
if vsd_path is not None:
file_manager: FileManager = self.server.lookup_component(
'file_manager')
file_manager.validate_gcode_path(vsd_path)
else:
logging.info(
"Configuration for [virtual_sdcard] not found,"
" unable to set SD Card path")
def _process_command(self, cmd: Dict[str, Any]) -> None:
method = cmd.get('method', None)
if method is not None:
# This is a remote method called from klippy
if method in self.remote_methods:
params = cmd.get('params', {})
self.event_loop.register_callback(
self._execute_method, method, **params)
else:
logging.info(f"Unknown method received: {method}")
return
# This is a response to a request, process
req_id = cmd.get('id', None)
request: Optional[KlippyRequest]
request = self.pending_requests.pop(req_id, None)
if request is None:
logging.info(
f"No request matching request ID: {req_id}, "
f"response: {cmd}")
return
if 'result' in cmd:
result = cmd['result']
if not result:
result = "ok"
else:
err = cmd.get('error', "Malformed Klippy Response")
result = ServerError(err, 400)
request.notify(result)
async def _execute_method(self, method_name: str, **kwargs) -> None:
try:
ret = self.remote_methods[method_name](**kwargs)
if ret is not None:
await ret
except Exception:
logging.exception(f"Error running remote method: {method_name}")
def _process_gcode_response(self, response: str) -> None:
self.server.send_event("server:gcode_response", response)
def _process_status_update(self,
eventtime: float,
status: Dict[str, Any]
) -> None:
if 'webhooks' in status:
wh: Dict[str, str] = status['webhooks']
if "state_message" in wh:
self._state_message = wh["state_message"]
# XXX - process other states (startup, ready, error, etc)?
if "state" in wh:
state = wh["state"]
if state == "shutdown":
logging.info("Klippy has shutdown")
self.server.send_event("server:klippy_shutdown")
self._state = state
for conn, sub in self.subscriptions.items():
conn_status: Dict[str, Any] = {}
for name, fields in sub.items():
if name in status:
val: Dict[str, Any] = dict(status[name])
if fields is not None:
val = {k: v for k, v in val.items() if k in fields}
if val:
conn_status[name] = val
conn.send_status(conn_status, eventtime)
async def request(self, web_request: WebRequest) -> Any:
if not self.is_connected():
raise ServerError("Klippy Host not connected", 503)
rpc_method = web_request.get_endpoint()
if rpc_method == "objects/subscribe":
return await self._request_subscripton(web_request)
else:
if rpc_method == "gcode/script":
script = web_request.get_str('script', "")
if script:
self.server.send_event(
"klippy_connection:gcode_received", script)
return await self._request_standard(web_request)
async def _request_subscripton(self,
web_request: WebRequest
) -> Dict[str, Any]:
args = web_request.get_args()
conn = web_request.get_connection()
# Build the subscription request from a superset of all client
# subscriptions
sub = args.get('objects', {})
if conn is None:
raise self.server.error(
"No connection associated with subscription request")
self.subscriptions[conn] = sub
all_subs: Dict[str, Any] = {}
# request superset of all client subscriptions
for sub in self.subscriptions.values():
for obj, items in sub.items():
if obj in all_subs:
pi = all_subs[obj]
if items is None or pi is None:
all_subs[obj] = None
else:
uitems = list(set(pi) | set(items))
all_subs[obj] = uitems
else:
all_subs[obj] = items
args['objects'] = all_subs
args['response_template'] = {'method': "process_status_update"}
result = await self._request_standard(web_request)
# prune the status response
pruned_status = {}
all_status = result['status']
sub = self.subscriptions.get(conn, {})
for obj, fields in all_status.items():
if obj in sub:
valid_fields = sub[obj]
if valid_fields is None:
pruned_status[obj] = fields
else:
pruned_status[obj] = {k: v for k, v in fields.items()
if k in valid_fields}
result['status'] = pruned_status
return result
async def _request_standard(self, web_request: WebRequest) -> Any:
rpc_method = web_request.get_endpoint()
args = web_request.get_args()
# Create a base klippy request
base_request = KlippyRequest(rpc_method, args)
self.pending_requests[base_request.id] = base_request
self.event_loop.register_callback(self._write_request, base_request)
return await base_request.wait()
def remove_subscription(self, conn: Subscribable) -> None:
self.subscriptions.pop(conn, None)
def is_connected(self) -> bool:
return self.writer is not None and not self.closing
async def _on_connection_closed(self) -> None:
self.init_list = []
self._state = "disconnected"
self._state_message = "Klippy Disconnected"
for request in self.pending_requests.values():
request.notify(ServerError("Klippy Disconnected", 503))
self.pending_requests = {}
self.subscriptions = {}
self._peer_cred = {}
self._missing_reqs.clear()
logging.info("Klippy Connection Removed")
await self.server.send_event("server:klippy_disconnect")
if self.server.is_running():
# Reconnect if server is running
loop = self.event_loop
self.connection_task = loop.create_task(self._do_connect())
async def close(self, wait_closed: bool = False) -> None:
if self.closing:
if wait_closed:
await self.connection_mutex.acquire()
self.connection_mutex.release()
return
self.closing = True
if (
self.connection_task is not None and
not self.connection_task.done()
):
self.connection_task.cancel()
async with self.connection_mutex:
if self.writer is not None:
try:
self.writer.close()
await self.writer.wait_closed()
except Exception:
logging.exception("Error closing Klippy Unix Socket")
self.writer = None
await self._on_connection_closed()
self.closing = False
# Basic KlippyRequest class, easily converted to dict for json encoding
class KlippyRequest:
def __init__(self, rpc_method: str, params: Dict[str, Any]) -> None:
self.id = id(self)
self.rpc_method = rpc_method
self.params = params
self._event = asyncio.Event()
self.response: Any = None
async def wait(self) -> Any:
# Log pending requests every 60 seconds
start_time = time.time()
while True:
try:
await asyncio.wait_for(self._event.wait(), 60.)
except asyncio.TimeoutError:
pending_time = time.time() - start_time
logging.info(
f"Request '{self.rpc_method}' pending: "
f"{pending_time:.2f} seconds")
self._event.clear()
continue
break
if isinstance(self.response, ServerError):
raise self.response
return self.response
def notify(self, response: Any) -> None:
if self._event.is_set():
return
self.response = response
self._event.set()
def to_dict(self) -> Dict[str, Any]:
return {'id': self.id, 'method': self.rpc_method,
'params': self.params}