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annotate service/piNode/piNode.py @ 408:0787cd64ecf8

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cmdline flag on piNode to pick hub host Ignore-this: e88b7bc860b040e6952ddf3723f26a23
author drewp@bigasterisk.com
date Tue, 12 Mar 2019 00:14:12 -0700
parents 61f1c529a9b7
children 1122016d16eb
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
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1 from __future__ import division
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2 import sys, logging, socket, json, time
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3 import cyclone.web
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4 from cyclone.httpclient import fetch
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5 from rdflib import Namespace, URIRef, Literal, Graph, RDF, ConjunctiveGraph
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6 from rdflib.parser import StringInputSource
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7 from twisted.internet import reactor, task
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8 from twisted.internet.threads import deferToThread
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9 from docopt import docopt
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10 import etcd3
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11
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12 logging.basicConfig(level=logging.DEBUG)
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13
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14 sys.path.append("../../lib")
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15 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler
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16
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17 from rdfdb.rdflibpatch import inContext
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18 from rdfdb.patch import Patch
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19
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20 try:
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21 import pigpio
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22 except ImportError:
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23 class pigpio(object):
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24 @staticmethod
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25 def pi():
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26 return None
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27
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28 import devices
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29 from export_to_influxdb import InfluxExporter
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30
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31 log = logging.getLogger()
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32 logging.getLogger('serial').setLevel(logging.WARN)
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33
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34 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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35 HOST = Namespace('http://bigasterisk.com/ruler/host/')
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36
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37 hostname = socket.gethostname()
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38 CTX = ROOM['pi/%s' % hostname]
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39
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40 def patchRandid():
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41 """
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42 I'm concerned urandom is slow on raspberry pi, and I'm adding to
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43 graphs a lot. Unclear what the ordered return values might do to
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44 the balancing of the graph.
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45 """
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46 _id_serial = [1000]
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47 def randid():
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48 _id_serial[0] += 1
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49 return _id_serial[0]
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50 import rdflib.plugins.memory
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51 rdflib.plugins.memory.randid = randid
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52 patchRandid()
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53
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54 class Config(object):
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55 def __init__(self, masterGraph, hubHost):
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56 self.etcd = etcd3.client(host=hubHost, port=9022)
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57
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58 self.masterGraph = masterGraph
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59 self.hubHost = hubHost
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60 self.configGraph = ConjunctiveGraph()
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61 self.boards = []
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62 self.etcPrefix = 'pi/'
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63
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64 self.reread()
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65
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66 deferToThread(self.watchEtcd)
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67
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68 def watchEtcd(self):
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69 events, cancel = self.etcd.watch_prefix(self.etcPrefix)
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70 reactor.addSystemEventTrigger('before', 'shutdown', cancel)
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71 for ev in events:
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72 log.info('%s changed', ev.key)
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73 reactor.callFromThread(self.configChanged)
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74
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75 def configChanged(self):
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76 self.cancelRead()
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77 self.rereadLater = reactor.callLater(.1, self.reread)
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78
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79 def cancelRead(self):
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80 if getattr(self, 'rereadLater', None):
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81 self.rereadLater.cancel()
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82 self.rereadLater = None
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83
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84 def reread(self):
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85 self.rereadLater = None
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86 log.info('read config')
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87 self.configGraph = ConjunctiveGraph()
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88 for v, md in self.etcd.get_prefix(self.etcPrefix):
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89 log.info(' read file %r', md.key)
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90 self.configGraph.parse(StringInputSource(v), format='n3')
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91 self.configGraph.bind('', ROOM)
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92 self.configGraph.bind('rdf', RDF)
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93 # config graph is too noisy; maybe make it a separate resource
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94 #masterGraph.patch(Patch(addGraph=self.configGraph))
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95 self.setupBoards()
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96
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97 def setupBoards(self):
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98 thisHost = Literal(hostname)
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99 for row in self.configGraph.query(
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100 'SELECT ?board WHERE { ?board a :PiBoard; :hostname ?h }',
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101 initBindings=dict(h=thisHost)):
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102 thisBoard = row.board
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103 break
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104 else:
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105 log.warn("config had no board for :hostname %s. Waiting for config update." %
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106 thisHost)
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107 self.boards = []
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108 return
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109
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110 log.info("found config for board %r" % thisBoard)
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111 self.boards = [Board(self.configGraph, self.masterGraph, thisBoard, self.hubHost)]
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112 self.boards[0].startPolling()
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113
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114
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115 class Board(object):
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116 """similar to arduinoNode.Board but without the communications stuff"""
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117 def __init__(self, graph, masterGraph, uri, hubHost):
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118 self.graph, self.uri = graph, uri
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119 self.hubHost = hubHost
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120 self.masterGraph = masterGraph
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121 self.masterGraph.setToGraph(self.staticStmts())
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122 self.pi = pigpio.pi()
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123 self._devs = devices.makeDevices(graph, self.uri, self.pi)
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124 log.debug('found %s devices', len(self._devs))
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125 self._statementsFromInputs = {} # input device uri: latest statements
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126 self._lastPollTime = {} # input device uri: time()
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127 self._influx = InfluxExporter(self.graph)
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128 for d in self._devs:
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129 self.syncMasterGraphToHostStatements(d)
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130
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131 def startPolling(self):
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132 task.LoopingCall(self._poll).start(.05)
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133
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134 def _poll(self):
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135 try:
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136 self._pollMaybeError()
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137 except Exception:
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138 log.exception("During poll:")
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139
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140 def _pollMaybeError(self):
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141 pollTime = {} # uri: sec
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142 for i in self._devs:
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143 now = time.time()
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144 if (hasattr(i, 'pollPeriod') and
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145 self._lastPollTime.get(i.uri, 0) + i.pollPeriod > now):
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146 continue
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147 new = i.poll()
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148 pollTime[i.uri] = time.time() - now
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149 if isinstance(new, dict): # new style
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150 oneshot = new['oneshot']
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151 new = new['latest']
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152 else:
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153 oneshot = None
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154
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155 self._updateMasterWithNewPollStatements(i.uri, new)
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156
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157 if oneshot:
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158 self._sendOneshot(oneshot)
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159 self._lastPollTime[i.uri] = now
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diff changeset
160 if log.isEnabledFor(logging.DEBUG):
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161 log.debug('poll times:')
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diff changeset
162 for u, s in sorted(pollTime.items()):
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163 log.debug(" %.4f ms %s", s * 1000, u)
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164 log.debug('total poll time: %f ms', sum(pollTime.values()) * 1000)
338
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165
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166 pollResults = map(set, self._statementsFromInputs.values())
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167 if pollResults:
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168 self._influx.exportToInflux(set.union(*pollResults))
221
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169
349
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170 def _updateMasterWithNewPollStatements(self, dev, new):
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171 prev = self._statementsFromInputs.get(dev, set())
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172
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173 # it's important that quads from different devices
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174 # don't clash, since that can lead to inconsistent
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175 # patches (e.g.
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176 # dev1 changes value from 1 to 2;
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177 # dev2 changes value from 2 to 3;
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178 # dev1 changes from 2 to 4 but this patch will
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179 # fail since the '2' statement is gone)
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180 self.masterGraph.patch(Patch.fromDiff(inContext(prev, dev),
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181 inContext(new, dev)))
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182 self._statementsFromInputs[dev] = new
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183
251
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184 def _sendOneshot(self, oneshot):
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185 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3())
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186 for s,p,o in oneshot)).encode('utf8')
408
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187 url = 'http://%s:9071/oneShot' % self.hubHost
271
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188 d = fetch(method='POST',
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189 url=url,
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190 headers={'Content-Type': ['text/n3']},
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191 postdata=body,
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192 timeout=5)
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193 def err(e):
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194 log.info('oneshot post to %r failed: %s',
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195 url, e.getErrorMessage())
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196 d.addErrback(err)
251
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197
233
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198 def outputStatements(self, stmts):
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199 unused = set(stmts)
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200 for dev in self._devs:
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201 stmtsForDev = []
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202 for pat in dev.outputPatterns():
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203 if [term is None for term in pat] != [False, False, True]:
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204 raise NotImplementedError
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205 for stmt in stmts:
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206 if stmt[:2] == pat[:2]:
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207 stmtsForDev.append(stmt)
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208 unused.discard(stmt)
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209 if stmtsForDev:
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210 log.info("output goes to action handler for %s" % dev.uri)
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211 dev.sendOutput(stmtsForDev)
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212
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213 # Dev *could* change hostStatements at any time, and
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214 # we're not currently tracking that, but the usual is
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215 # to change them in response to sendOutput so this
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216 # should be good enough. The right answer is to give
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217 # each dev the masterGraph for it to write to.
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diff changeset
218 self.syncMasterGraphToHostStatements(dev)
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219 log.info("output and masterGraph sync complete")
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220 if unused:
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221 log.info("Board %s doesn't care about these statements:", self.uri)
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222 for s in unused:
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223 log.warn("%r", s)
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224
4ebb5cc30002 server/browser graph sync. cut dependency on the WS version. merge some changes between arduino/pi code.
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diff changeset
225 def syncMasterGraphToHostStatements(self, dev):
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226 hostStmtCtx = URIRef(dev.uri + '/host')
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diff changeset
227 newQuads = inContext(dev.hostStatements(), hostStmtCtx)
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diff changeset
228 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads)
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diff changeset
229 log.debug("patch master with these host stmts %s", p)
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diff changeset
230
226
1e8ef0daf0f8 piNode uses new graph SSE code
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parents: 225
diff changeset
231 def staticStmts(self):
233
4ebb5cc30002 server/browser graph sync. cut dependency on the WS version. merge some changes between arduino/pi code.
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diff changeset
232 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)]
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233
183
634d6e477953 get piNode working, for motionsensor at least
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234 def description(self):
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235 """for web page"""
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236 return {
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237 'uri': self.uri,
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238 'devices': [d.description() for d in self._devs],
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239 'graph': 'http://sticker:9059/graph', #todo
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240 }
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diff changeset
241
233
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diff changeset
242 class Dot(cyclone.web.RequestHandler):
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diff changeset
243 def get(self):
347
97f5cbcac00b pi read config over etcd
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diff changeset
244 configGraph = self.settings.config.configGraph
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diff changeset
245 dot = dotrender.render(configGraph, self.settings.config.boards)
233
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diff changeset
246 self.write(dot)
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diff changeset
247
184
e052416a2290 piNode allow nt graphs as the body of a PUT /output
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diff changeset
248 def rdfGraphBody(body, headers):
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diff changeset
249 g = Graph()
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diff changeset
250 g.parse(StringInputSource(body), format='nt')
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diff changeset
251 return g
183
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diff changeset
252
182
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253 class OutputPage(cyclone.web.RequestHandler):
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254 def put(self):
184
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diff changeset
255 arg = self.request.arguments
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diff changeset
256 if arg.get('s') and arg.get('p'):
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parents: 183
diff changeset
257 subj = URIRef(arg['s'][-1])
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diff changeset
258 pred = URIRef(arg['p'][-1])
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diff changeset
259 turtleLiteral = self.request.body
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parents: 183
diff changeset
260 try:
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diff changeset
261 obj = Literal(float(turtleLiteral))
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diff changeset
262 except ValueError:
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diff changeset
263 obj = Literal(turtleLiteral)
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diff changeset
264 stmt = (subj, pred, obj)
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diff changeset
265 else:
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diff changeset
266 g = rdfGraphBody(self.request.body, self.request.headers)
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diff changeset
267 assert len(g) == 1, len(g)
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diff changeset
268 stmt = g.triples((None, None, None)).next()
182
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269
347
97f5cbcac00b pi read config over etcd
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diff changeset
270 for b in self.settings.config.boards:
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diff changeset
271 b.outputStatements([stmt])
182
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272
183
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diff changeset
273 class Boards(cyclone.web.RequestHandler):
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diff changeset
274 def get(self):
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diff changeset
275 self.set_header('Content-type', 'application/json')
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diff changeset
276 self.write(json.dumps({
233
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diff changeset
277 'host': hostname,
347
97f5cbcac00b pi read config over etcd
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diff changeset
278 'boards': [b.description() for b in self.settings.config.boards]
183
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parents: 182
diff changeset
279 }, indent=2))
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280
182
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281 def main():
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282 arg = docopt("""
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283 Usage: piNode.py [options]
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284
408
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diff changeset
285 -v Verbose
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diff changeset
286 --ow Just report onewire device URIs and readings, then exit.
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diff changeset
287 --hub=HOST Hostname for etc3 and oneshot posts. [default: bang.vpn-home.bigasterisk.com]
182
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288 """)
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289 log.setLevel(logging.WARN)
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290 if arg['-v']:
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291 from twisted.python import log as twlog
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292 twlog.startLogging(sys.stdout)
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293
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294 log.setLevel(logging.DEBUG)
233
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diff changeset
295
408
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diff changeset
296 if arg['--ow']:
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diff changeset
297 log.setLevel(logging.INFO)
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diff changeset
298 for stmt in devices.OneWire().poll():
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diff changeset
299 print stmt
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diff changeset
300 return
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diff changeset
301
226
1e8ef0daf0f8 piNode uses new graph SSE code
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parents: 225
diff changeset
302 masterGraph = PatchableGraph()
408
0787cd64ecf8 cmdline flag on piNode to pick hub host
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diff changeset
303 config = Config(masterGraph, arg['--hub'])
182
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304
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diff changeset
305 reactor.listenTCP(9059, cyclone.web.Application([
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diff changeset
306 (r"/()", cyclone.web.StaticFileHandler, {
338
f64e20d3407e RgbPixelsAnimation and docker build updates
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307 "path": "static", "default_filename": "index.html"}),
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308 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}),
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309 (r'/boards', Boards),
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310 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}),
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311 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}),
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312 (r'/output', OutputPage),
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313 (r'/dot', Dot),
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314 ], config=config, debug=arg['-v']), interface='::')
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315 log.warn('serving on 9059')
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316 reactor.run()
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317
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318 main()