#
#  Multi-stream logging with timestamps
#
# This is a simple logger for storing several independent data streams. It was
# developed during Naio competition (see https://github.com/robotika/naio) as
# an alternative to multiple log files. The concept is similar to ADTF (Automotive
# Data and Time-Triggered Framework) DAT files.
#
#   The file is using a hand made serialization of Python timedelta structures
# for timestamps.
# Each data block has header of form:
#   <timestamp>, <streamID>, <size of data>, <data>
# where "timestamp" is 32bit unsigned integer in microseconds, "streamID" is
# 16bit unsigned integer defining stream (0 is reserved for info, input and
# output have different ID), and "size" is 16bit unsigned integer defining
# the size of followed data.
#
#   The choice of microseconds was compromise between necessary number of bytes
# for timestamp and available resolution. 32bit corresponds to 4294 seconds, i.e.
# more than an hour of recording. The file contains absolute time and date in
# the overall file header allowing splitting the file and getting absolute time
# from deltas if necessary.
#
#   The stream ID is currently just integer without detailed description. There
# is planned extra info stored in "info channel/stream" ID = 0.
#
#   Finally limiting the block size to 65kB can be overcome by pre-reserved value
# 0 and 0xFFFF. The big block could be then split into several smaller once. This
# part is not defined yet.
#

import datetime
import struct
import os
import logging
import time
from threading import RLock
from ast import literal_eval
import mmap
import pathlib

g_logger = logging.getLogger(__name__)

INFO_STREAM_ID = 0
ENV_OSGAR_LOGS = 'OSGAR_LOGS'

TIMESTAMP_OVERFLOW_STEP = (1 << 32)  # in microseconds resolution
TIMESTAMP_MASK = TIMESTAMP_OVERFLOW_STEP - 1


def format_header(start_time):
    t = start_time
    ret = []
    ret.append(b'Pyr\x00')
    ret.append(struct.pack('HBBBBBI', t.year, t.month, t.day, t.hour, t.minute, t.second, t.microsecond))
    return ret


def format_packet(stream_id, data, dt):
    ret = []
    assert dt.days == 0, dt  # multiple days not supported yet
    time_frac = (dt.seconds * 1000000 + dt.microseconds) & TIMESTAMP_MASK
    index = 0
    while index + 0xFFFF <= len(data):
        ret.append(struct.pack('IHH', time_frac, stream_id, 0xFFFF))  # header
        ret.append(data[index:index + 0xFFFF]) # partial data
        index += 0xFFFF
    ret.append(struct.pack('IHH', time_frac, stream_id, len(data) - index))  # header
    ret.append(data[index:])
    return ret


class LogWriter:
    def __init__(self, prefix='', note='', filename=None, start_time=None):
        self.lock = RLock()
        if start_time is None:
            self.start_time = datetime.datetime.now(datetime.timezone.utc)
        else:
            self.start_time = start_time
        if filename is None:
            self.filename = prefix + self.start_time.strftime("%y%m%d_%H%M%S.log")
        else:
            self.filename = filename

        if not pathlib.Path(self.filename).is_absolute():
            if ENV_OSGAR_LOGS in os.environ:
                os.makedirs(os.environ[ENV_OSGAR_LOGS], exist_ok=True)
                self.filename = os.path.join(os.environ[ENV_OSGAR_LOGS], self.filename)
            else:
                logging.warning('Environment variable %s is not set - using working directory' % ENV_OSGAR_LOGS)
            self.filename = str(pathlib.Path(self.filename).absolute())

        self.f = open(self.filename, 'wb')

        self.f.write(b"".join(format_header(self.start_time)))
        self.f.flush()
        if len(note) > 0:
            self.write(stream_id=INFO_STREAM_ID, data=bytes(note, encoding='utf-8'))
        self.names = []

    def register(self, name):
        with self.lock:
            assert name not in self.names, (name, self.names)
            self.names.append(name)
            self.write(stream_id=INFO_STREAM_ID, data=bytes(str({'names': self.names}), encoding='ascii'))
            return len(self.names)

    def write(self, stream_id, data, dt=None):
        with self.lock:
            if dt is None:
                # by defaut generate timestamps automatically
                dt = datetime.datetime.now(datetime.timezone.utc) - self.start_time
            packet = format_packet(stream_id, data, dt)
            self.f.write(b"".join(packet))
            self.f.flush()
        return dt

    def close(self):
        self.f.close()
        self.f = None


    # context manager functions
    def __enter__(self):
        return self

    def __exit__(self, exc_type, exc_val, exc_tb):
        self.close()


class LogReader:
    def __init__(self, filename, follow=False, only_stream_id=None):
        self.filename = filename
        self.follow = follow
        self.f = open(self.filename, 'rb')
        data = self._read(4)
        assert data == b'Pyr\x00', data

        data = self._read(12)
        self.start_time = datetime.datetime(*struct.unpack('HBBBBBI', data), datetime.timezone.utc)
        self.us_offset = 0  # increase after overflow
        self.prev_microseconds = 0

        if only_stream_id is None:
            self.multiple_streams = set()
        else:
            try:
                self.multiple_streams = set(only_stream_id)
            except TypeError:
                self.multiple_streams = set([only_stream_id])

        self.gen = self._read_gen()

    def _read(self, size):
        buf = self.f.read(size)
        if self.follow:
            while len(buf) < size:
                time.sleep(0.1)
                buf += self.f.read(size - len(buf))
        return buf

    def _read_gen(self, only_stream_id=None):
        "packed generator - yields (time, stream, data)"
        while True:
            start = self.f.tell()
            header = self._read(8)
            if len(header) < 8:
                break
            microseconds, stream_id, size = struct.unpack('IHH', header)
            if self.prev_microseconds > microseconds:
                self.us_offset += TIMESTAMP_OVERFLOW_STEP
            self.prev_microseconds = microseconds
            microseconds += self.us_offset
            dt = datetime.timedelta(microseconds=microseconds)
            data = self._read(size)
            if len(data) != size:
                g_logger.error(f"Incomplete log file {self.f.name} from position {start}")
                return
            while size == 0xFFFF:
                header = self._read(8)
                if len(header) < 8:
                    break
                ref_microseconds, ref_stream_id, size = struct.unpack('IHH', header)
                if not (microseconds & TIMESTAMP_MASK == ref_microseconds) or not (stream_id == ref_stream_id):
                    g_logger.error(f"Corrupted log file {self.f.name} from position {start}")
                    return
                part = self._read(size)
                assert len(part) == size, (len(part), size)
                data += part

            if len(self.multiple_streams) == 0 or stream_id in self.multiple_streams:
                yield dt, stream_id, data

    def close(self):
        self.f.close()
        self.f = None


    # context manager functions
    def __enter__(self):
        return self

    def __exit__(self, exc_type, exc_val, exc_tb):
        self.close()

    def __next__(self):
        return next(self.gen)

    def __iter__(self):
        return self


class LogAsserter(LogReader):
    def __init__(self, filename, only_stream_id=None):
        LogReader.__init__(self, filename, only_stream_id=only_stream_id)
        self.assert_stream_id = None

    def write(self, stream_id, data):
        if self.assert_stream_id is not None:
            pass


def _create_index(data, pos, start_time=datetime.timedelta()):
    """index is list of (pos,timestamp) where the last item
       `pos` points just past the last valid packet
       `timestamp` is last valid timestamp
       this marker says where and when the next parsing
       should continue when growing the file
    """
    index = []
    end = len(data)
    times, prev = divmod(start_time, datetime.timedelta(microseconds=TIMESTAMP_OVERFLOW_STEP))
    us_offset = times * TIMESTAMP_OVERFLOW_STEP
    prev_micros = prev.microseconds + prev.seconds * 10**6 + prev.days * 24 * 3600 * 10**6
    dt = start_time
    while pos + 8 <= end:
        start = pos
        header = data[pos:pos+8]
        micros, channel, size = struct.unpack('IHH', header)
        if prev_micros > micros:
            us_offset += TIMESTAMP_OVERFLOW_STEP
        prev_micros = micros
        dt = datetime.timedelta(microseconds=micros+us_offset)
        index.append((start, dt))
        pos += 8 + size
        while size == 0xFFFF and pos + 8 <= end:
            header = data[pos:pos+8]
            micros_, channel_, size = struct.unpack('IHH', header)
            if micros_ != micros_ or channel_ != channel:
                g_logger.error(f"Corrupted log file from position {start}")
                return index  # packet invalid
            pos += 8 + size
        if pos > end: # current packet is not complete
            return index
    index.append((pos, dt))  # eof marker - index of nonexisting packet
    return index


class LogIndexedReader:
    def __init__(self, filepath):
        self.filepath = filepath

    def __enter__(self):
        self.fd = os.open(self.filepath, os.O_RDONLY)
        self.data = mmap.mmap(self.fd, 0, access=mmap.ACCESS_READ)
        assert self.data[0:4] == b'Pyr\x00', self.data[0:4]
        start_time = datetime.datetime(*struct.unpack('HBBBBBI', self.data[4:4+12]))
        self.index = _create_index(self.data, 4+12)
        assert self.index[-1][0] <= len(self.data), (self.index[-1][0], len(self.data))
        return self

    def __exit__(self, *args):
        self.data.close()
        os.close(self.fd)

    def __getitem__(self, index):
        if abs(index) >= len(self):
            raise IndexError("log index {} out of range".format(index))
        assert index < len(self)
        a = self.data[self.index[index][0]:self.index[index+1][0]]
        pos = 0
        data = bytes()
        while True:
            micros, channel, size = struct.unpack('IHH', a[pos:pos+8])
            pos += 8
            data += a[pos:pos+size]
            pos += size
            if size < 0xFFFF:
                break
        dt = self.index[index][1]
        return dt, channel, data

    def grow(self):
        if (len(self.data) < self.data.size()):
            self.data.close()
            self.data = mmap.mmap(self.fd, 0, access=mmap.ACCESS_READ)
            index = _create_index(self.data, self.index[-1][0], self.index[-1][1])
            self.index[-1:] = index
        return len(self.index)-1

    def __len__(self):
        return len(self.index)-1


def lookup_stream_names(filename):
    names = []
    with LogReader(filename) as log:
        for __, channel, line in log:
            # optimization - all names are defined BEFORE other data on other channels
            if channel != 0:
                break
            if b'Errno' in line:
                continue
            d = literal_eval(line.decode('ascii'))
            if 'names' in d:
                names = d['names']
    return names


def lookup_stream_id(filename, stream_name):
    if stream_name is None:
        return None
    try:
        return int(stream_name)
    except ValueError:
        pass
    names = lookup_stream_names(filename)
    return names.index(stream_name) + 1

def calculate_stat(filename):
    names = ['sys'] + lookup_stream_names(filename)
    sizes = [0] * len(names)
    counts = [0] * len(names)
    with LogReader(filename) as log:
        for timestamp, stream_id, data in log:
            sizes[stream_id] += len(data)
            counts[stream_id] += 1
    return names, sizes, counts, timestamp


def main():
    import argparse
    import sys

    from osgar.lib.serialize import deserialize

    parser = argparse.ArgumentParser(description='Extract data from log')
    parser.add_argument('logfile', help='filename of stored file')
    parser.add_argument('--stream', help='stream ID or name', default=None, nargs='*')
    parser.add_argument('--list-names', '-l', help='list stream names', action='store_true')
    parser.add_argument('--sec', help='display timestamps in seconds', action='store_true')
    parser.add_argument('--format', help='use python format - available fields sec, timestamp, stream_id, data')
    parser.add_argument('--all', help='dump all messages', action='store_true')
    parser.add_argument('--raw', help='dump raw data', action='store_true')
    args = parser.parse_args()

    if args.list_names:
        print(lookup_stream_names(args.logfile))
        sys.exit()

    if args.stream is None and not args.all:
        names, sizes, counts, timestamp = calculate_stat(args.logfile)
        seconds = timestamp.total_seconds()
        sizes_s = [str(v) for v in sizes]
        counts_s = [str(v) for v in counts]
        name_w = max([len(v) for v in names])
        sizes_w = max([len(v) for v in sizes_s])
        counts_w = max([len(v) for v in counts_s])

        header = f' k {"name":>{name_w}} {"bytes":>{sizes_w}} | {"count":>{counts_w}} | {"freq"} Hz'
        print(header)
        print('-' * len(header))
        for k in range(len(names)):
            print(f'{k:2d} {names[k]:>{name_w}} {sizes_s[k]:>{sizes_w}} | {counts_s[k]:>{counts_w}} | {counts[k]/seconds:5.1f}Hz')
        print('\nTotal time', timestamp)
        sys.exit()

    if args.stream is None:
        only_stream = None
    else:
        only_stream = []
        for name in args.stream:
            only_stream.append(lookup_stream_id(args.logfile, name))

    with LogReader(args.logfile, only_stream_id=only_stream) as log:
        for timestamp, stream_id, data in log:
            if stream_id != 0:
                data = deserialize(data)
            if args.sec:
                print(timestamp.total_seconds(), stream_id, data)
            elif args.format:
                kw = dict(sec=timestamp.total_seconds(),
                          timestamp=timestamp,
                          walltime=log.start_time+timestamp,
                          stream_id=stream_id,
                          data=data,
                          )
                print(eval(f"f'{args.format}'", kw))
            elif args.raw:
                sys.stdout.buffer.write(data)
            else:
                print(timestamp, stream_id, data)

if __name__ == "__main__":
    main()

# vim: expandtab sw=4 ts=4

#
#  Multi-stream logging with timestamps
#
# This is a simple logger for storing several independent data streams. It was
# developed during Naio competition (see https://github.com/robotika/naio) as
# an alternative to multiple log files. The concept is similar to ADTF (Automotive
# Data and Time-Triggered Framework) DAT files.
#
#   The file is using a hand made serialization of Python timedelta structures
# for timestamps.
# Each data block has header of form:
#   <timestamp>, <streamID>, <size of data>, <data>
# where "timestamp" is 32bit unsigned integer in microseconds, "streamID" is
# 16bit unsigned integer defining stream (0 is reserved for info, input and
# output have different ID), and "size" is 16bit unsigned integer defining
# the size of followed data.
#
#   The choice of microseconds was compromise between necessary number of bytes
# for timestamp and available resolution. 32bit corresponds to 4294 seconds, i.e.
# more than an hour of recording. The file contains absolute time and date in
# the overall file header allowing splitting the file and getting absolute time
# from deltas if necessary.
#
#   The stream ID is currently just integer without detailed description. There
# is planned extra info stored in "info channel/stream" ID = 0.
#
#   Finally limiting the block size to 65kB can be overcome by pre-reserved value
# 0 and 0xFFFF. The big block could be then split into several smaller once. This
# part is not defined yet.
#

import datetime
import struct
import os
import logging
import time
from threading import RLock
from ast import literal_eval
import mmap
import pathlib

g_logger = logging.getLogger(__name__)

INFO_STREAM_ID = 0
ENV_OSGAR_LOGS = 'OSGAR_LOGS'

TIMESTAMP_OVERFLOW_STEP = (1 << 32)  # in microseconds resolution
TIMESTAMP_MASK = TIMESTAMP_OVERFLOW_STEP - 1


def format_header(start_time):
    t = start_time
    ret = []
    ret.append(b'Pyr\x00')
    ret.append(struct.pack('HBBBBBI', t.year, t.month, t.day, t.hour, t.minute, t.second, t.microsecond))
    return ret


def format_packet(stream_id, data, dt):
    ret = []
    assert dt.days == 0, dt  # multiple days not supported yet
    time_frac = (dt.seconds * 1000000 + dt.microseconds) & TIMESTAMP_MASK
    index = 0
    while index + 0xFFFF <= len(data):
        ret.append(struct.pack('IHH', time_frac, stream_id, 0xFFFF))  # header
        ret.append(data[index:index + 0xFFFF]) # partial data
        index += 0xFFFF
    ret.append(struct.pack('IHH', time_frac, stream_id, len(data) - index))  # header
    ret.append(data[index:])
    return ret


class LogWriter:
    def __init__(self, prefix='', note='', filename=None, start_time=None):
        self.lock = RLock()
        if start_time is None:
            self.start_time = datetime.datetime.now(datetime.timezone.utc)
        else:
            self.start_time = start_time
        if filename is None:
            self.filename = prefix + self.start_time.strftime("%y%m%d_%H%M%S.log")
        else:
            self.filename = filename

        if not pathlib.Path(self.filename).is_absolute():
            if ENV_OSGAR_LOGS in os.environ:
                os.makedirs(os.environ[ENV_OSGAR_LOGS], exist_ok=True)
                self.filename = os.path.join(os.environ[ENV_OSGAR_LOGS], self.filename)
            else:
                logging.warning('Environment variable %s is not set - using working directory' % ENV_OSGAR_LOGS)
            self.filename = str(pathlib.Path(self.filename).absolute())

        self.f = open(self.filename, 'wb')

        self.f.write(b"".join(format_header(self.start_time)))
        self.f.flush()
        if len(note) > 0:
            self.write(stream_id=INFO_STREAM_ID, data=bytes(note, encoding='utf-8'))
        self.names = []

    def register(self, name):
        with self.lock:
            assert name not in self.names, (name, self.names)
            self.names.append(name)
            self.write(stream_id=INFO_STREAM_ID, data=bytes(str({'names': self.names}), encoding='ascii'))
            return len(self.names)

    def write(self, stream_id, data, dt=None):
        with self.lock:
            if dt is None:
                # by defaut generate timestamps automatically
                dt = datetime.datetime.now(datetime.timezone.utc) - self.start_time
            packet = format_packet(stream_id, data, dt)
            self.f.write(b"".join(packet))
            self.f.flush()
        return dt

    def close(self):
        self.f.close()
        self.f = None


    # context manager functions
    def __enter__(self):
        return self

    def __exit__(self, exc_type, exc_val, exc_tb):
        self.close()


class LogReader:
    def __init__(self, filename, follow=False, only_stream_id=None):
        self.filename = filename
        self.follow = follow
        self.f = open(self.filename, 'rb')
        data = self._read(4)
        assert data == b'Pyr\x00', data

        data = self._read(12)
        self.start_time = datetime.datetime(*struct.unpack('HBBBBBI', data), datetime.timezone.utc)
        self.us_offset = 0  # increase after overflow
        self.prev_microseconds = 0

        if only_stream_id is None:
            self.multiple_streams = set()
        else:
            try:
                self.multiple_streams = set(only_stream_id)
            except TypeError:
                self.multiple_streams = set([only_stream_id])

        self.gen = self._read_gen()

    def _read(self, size):
        buf = self.f.read(size)
        if self.follow:
            while len(buf) < size:
                time.sleep(0.1)
                buf += self.f.read(size - len(buf))
        return buf

    def _read_gen(self, only_stream_id=None):
        "packed generator - yields (time, stream, data)"
        while True:
            start = self.f.tell()
            header = self._read(8)
            if len(header) < 8:
                break
            microseconds, stream_id, size = struct.unpack('IHH', header)
            if self.prev_microseconds > microseconds:
                self.us_offset += TIMESTAMP_OVERFLOW_STEP
            self.prev_microseconds = microseconds
            microseconds += self.us_offset
            dt = datetime.timedelta(microseconds=microseconds)
            data = self._read(size)
            if len(data) != size:
                g_logger.error(f"Incomplete log file {self.f.name} from position {start}")
                return
            while size == 0xFFFF:
                header = self._read(8)
                if len(header) < 8:
                    break
                ref_microseconds, ref_stream_id, size = struct.unpack('IHH', header)
                if not (microseconds & TIMESTAMP_MASK == ref_microseconds) or not (stream_id == ref_stream_id):
                    g_logger.error(f"Corrupted log file {self.f.name} from position {start}")
                    return
                part = self._read(size)
                assert len(part) == size, (len(part), size)
                data += part

            if len(self.multiple_streams) == 0 or stream_id in self.multiple_streams:
                yield dt, stream_id, data

    def close(self):
        self.f.close()
        self.f = None


    # context manager functions
    def __enter__(self):
        return self

    def __exit__(self, exc_type, exc_val, exc_tb):
        self.close()

    def __next__(self):
        return next(self.gen)

    def __iter__(self):
        return self


class LogAsserter(LogReader):
    def __init__(self, filename, only_stream_id=None):
        LogReader.__init__(self, filename, only_stream_id=only_stream_id)
        self.assert_stream_id = None

    def write(self, stream_id, data):
        if self.assert_stream_id is not None:
            pass


def _create_index(data, pos, start_time=datetime.timedelta()):
    """index is list of (pos,timestamp) where the last item
       `pos` points just past the last valid packet
       `timestamp` is last valid timestamp
       this marker says where and when the next parsing
       should continue when growing the file
    """
    index = []
    end = len(data)
    times, prev = divmod(start_time, datetime.timedelta(microseconds=TIMESTAMP_OVERFLOW_STEP))
    us_offset = times * TIMESTAMP_OVERFLOW_STEP
    prev_micros = prev.microseconds + prev.seconds * 10**6 + prev.days * 24 * 3600 * 10**6
    dt = start_time
    while pos + 8 <= end:
        start = pos
        header = data[pos:pos+8]
        micros, channel, size = struct.unpack('IHH', header)
        if prev_micros > micros:
            us_offset += TIMESTAMP_OVERFLOW_STEP
        prev_micros = micros
        dt = datetime.timedelta(microseconds=micros+us_offset)
        index.append((start, dt))
        pos += 8 + size
        while size == 0xFFFF and pos + 8 <= end:
            header = data[pos:pos+8]
            micros_, channel_, size = struct.unpack('IHH', header)
            if micros_ != micros_ or channel_ != channel:
                g_logger.error(f"Corrupted log file from position {start}")
                return index  # packet invalid
            pos += 8 + size
        if pos > end: # current packet is not complete
            return index
    index.append((pos, dt))  # eof marker - index of nonexisting packet
    return index


class LogIndexedReader:
    def __init__(self, filepath):
        self.filepath = filepath

    def __enter__(self):
        self.fd = os.open(self.filepath, os.O_RDONLY)
        self.data = mmap.mmap(self.fd, 0, access=mmap.ACCESS_READ)
        assert self.data[0:4] == b'Pyr\x00', self.data[0:4]
        start_time = datetime.datetime(*struct.unpack('HBBBBBI', self.data[4:4+12]))
        self.index = _create_index(self.data, 4+12)
        assert self.index[-1][0] <= len(self.data), (self.index[-1][0], len(self.data))
        return self

    def __exit__(self, *args):
        self.data.close()
        os.close(self.fd)

    def __getitem__(self, index):
        if abs(index) >= len(self):
            raise IndexError("log index {} out of range".format(index))
        assert index < len(self)
        a = self.data[self.index[index][0]:self.index[index+1][0]]
        pos = 0
        data = bytes()
        while True:
            micros, channel, size = struct.unpack('IHH', a[pos:pos+8])
            pos += 8
            data += a[pos:pos+size]
            pos += size
            if size < 0xFFFF:
                break
        dt = self.index[index][1]
        return dt, channel, data

    def grow(self):
        if (len(self.data) < self.data.size()):
            self.data.close()
            self.data = mmap.mmap(self.fd, 0, access=mmap.ACCESS_READ)
            index = _create_index(self.data, self.index[-1][0], self.index[-1][1])
            self.index[-1:] = index
        return len(self.index)-1

    def __len__(self):
        return len(self.index)-1


def lookup_stream_names(filename):
    names = []
    with LogReader(filename) as log:
        for __, channel, line in log:
            # optimization - all names are defined BEFORE other data on other channels
            if channel != 0:
                break
            if b'Errno' in line:
                continue
            d = literal_eval(line.decode('ascii'))
            if 'names' in d:
                names = d['names']
    return names


def lookup_stream_id(filename, stream_name):
    if stream_name is None:
        return None
    try:
        return int(stream_name)
    except ValueError:
        pass
    names = lookup_stream_names(filename)
    return names.index(stream_name) + 1

def calculate_stat(filename):
    names = ['sys'] + lookup_stream_names(filename)
    sizes = [0] * len(names)
    counts = [0] * len(names)
    with LogReader(filename) as log:
        for timestamp, stream_id, data in log:
            sizes[stream_id] += len(data)
            counts[stream_id] += 1
    return names, sizes, counts, timestamp


def main():
    import argparse
    import sys

    from osgar.lib.serialize import deserialize

    parser = argparse.ArgumentParser(description='Extract data from log')
    parser.add_argument('logfile', help='filename of stored file')
    parser.add_argument('--stream', help='stream ID or name', default=None, nargs='*')
    parser.add_argument('--list-names', '-l', help='list stream names', action='store_true')
    parser.add_argument('--sec', help='display timestamps in seconds', action='store_true')
    parser.add_argument('--format', help='use python format - available fields sec, timestamp, stream_id, data')
    parser.add_argument('--all', help='dump all messages', action='store_true')
    parser.add_argument('--raw', help='dump raw data', action='store_true')
    args = parser.parse_args()

    if args.list_names:
        print(lookup_stream_names(args.logfile))
        sys.exit()

    if args.stream is None and not args.all:
        names, sizes, counts, timestamp = calculate_stat(args.logfile)
        seconds = timestamp.total_seconds()
        sizes_s = [str(v) for v in sizes]
        counts_s = [str(v) for v in counts]
        name_w = max([len(v) for v in names])
        sizes_w = max([len(v) for v in sizes_s])
        counts_w = max([len(v) for v in counts_s])

        header = f' k {"name":>{name_w}} {"bytes":>{sizes_w}} | {"count":>{counts_w}} | {"freq"} Hz'
        print(header)
        print('-' * len(header))
        for k in range(len(names)):
            print(f'{k:2d} {names[k]:>{name_w}} {sizes_s[k]:>{sizes_w}} | {counts_s[k]:>{counts_w}} | {counts[k]/seconds:5.1f}Hz')
        print('\nTotal time', timestamp)
        sys.exit()

    if args.stream is None:
        only_stream = None
    else:
        only_stream = []
        for name in args.stream:
            only_stream.append(lookup_stream_id(args.logfile, name))

    with LogReader(args.logfile, only_stream_id=only_stream) as log:
        for timestamp, stream_id, data in log:
            if stream_id != 0:
                data = deserialize(data)
            if args.sec:
                print(timestamp.total_seconds(), stream_id, data)
            elif args.format:
                kw = dict(sec=timestamp.total_seconds(),
                          timestamp=timestamp,
                          walltime=log.start_time+timestamp,
                          stream_id=stream_id,
                          data=data,
                          )
                print(eval(f"f'{args.format}'", kw))
            elif args.raw:
                sys.stdout.buffer.write(data)
            else:
                print(timestamp, stream_id, data)

if __name__ == "__main__":
    main()

# vim: expandtab sw=4 ts=4

# #  Multi-stream logging with timestamps # # This is a simple logger for storing several independent data streams. It was # developed during Naio competition (see https://github.com/robotika/naio) as # an alternative to multiple log files. The concept is similar to ADTF (Automotive # Data and Time-Triggered Framework) DAT files. # #   The file is using a hand made serialization of Python timedelta structures # for timestamps. # Each data block has header of form: #   <timestamp>, <streamID>, <size of data>, <data> # where "timestamp" is 32bit unsigned integer in microseconds, "streamID" is # 16bit unsigned integer defining stream (0 is reserved for info, input and # output have different ID), and "size" is 16bit unsigned integer defining # the size of followed data. # #   The choice of microseconds was compromise between necessary number of bytes # for timestamp and available resolution. 32bit corresponds to 4294 seconds, i.e. # more than an hour of recording. The file contains absolute time and date in # the overall file header allowing splitting the file and getting absolute time # from deltas if necessary. # #   The stream ID is currently just integer without detailed description. There # is planned extra info stored in "info channel/stream" ID = 0. # #   Finally limiting the block size to 65kB can be overcome by pre-reserved value # 0 and 0xFFFF. The big block could be then split into several smaller once. This # part is not defined yet. # # in microseconds resolution # multiple days not supported yet # header # partial data # header # by defaut generate timestamps automatically # context manager functions # increase after overflow # context manager functions index is list of (pos,timestamp) where the last item        `pos` points just past the last valid packet        `timestamp` is last valid timestamp        this marker says where and when the next parsing        should continue when growing the file # packet invalid # current packet is not complete # eof marker - index of nonexisting packet # optimization - all names are defined BEFORE other data on other channels # vim: expandtab sw=4 ts=4