Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 229:07ee72a042db
refactor to write_arduino_node
Ignore-this: 7b613fe7aa1cef2c88f190db1fcc1c4a
| author | drewp@bigasterisk.com |
|---|---|
| date | Thu, 28 Jan 2016 00:21:31 -0800 |
| parents | e606f1d89d89 |
| children | 0aa54404df19 |
| rev | line source |
|---|---|
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1 """ |
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2 depends on packages: |
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3 arduino-mk |
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4 indent |
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5 """ |
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6 from __future__ import division |
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7 import glob, sys, logging, subprocess, socket, os, hashlib, time, tempfile |
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8 import shutil, json |
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9 import serial |
| 164 | 10 import cyclone.web |
| 11 from rdflib import Graph, Namespace, URIRef, Literal, RDF | |
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12 from rdflib.parser import StringInputSource |
| 164 | 13 from twisted.internet import reactor, task |
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14 from docopt import docopt |
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15 |
| 164 | 16 import devices |
| 229 | 17 import write_arduino_code |
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18 import dotrender |
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19 import rdflib_patch |
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20 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 21 |
| 22 logging.basicConfig(level=logging.DEBUG) | |
| 23 | |
| 24 from loggingserial import LoggingSerial | |
| 25 | |
| 26 sys.path.append("/my/site/magma") | |
| 27 from stategraph import StateGraph | |
| 28 | |
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29 sys.path.append("/my/proj/room") |
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30 from carbondata import CarbonClient |
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31 |
| 164 | 32 log = logging.getLogger() |
| 33 logging.getLogger('serial').setLevel(logging.WARN) | |
| 34 | |
| 35 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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36 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 37 |
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38 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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39 |
| 164 | 40 class Config(object): |
| 41 def __init__(self): | |
| 42 self.graph = Graph() | |
| 43 log.info('read config') | |
| 214 | 44 for f in os.listdir('config'): |
| 45 if f.startswith('.'): continue | |
| 46 self.graph.parse('config/%s' % f, format='n3') | |
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47 self.graph.bind('', ROOM) # not working |
| 164 | 48 self.graph.bind('rdf', RDF) |
| 49 | |
| 50 def serialDevices(self): | |
| 51 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 52 """SELECT ?board ?dev WHERE { | |
| 53 ?board :device ?dev; | |
| 54 a :ArduinoBoard . | |
| 55 }""", initNs={'': ROOM})]) | |
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56 |
| 164 | 57 class Board(object): |
| 58 """an arduino connected to this computer""" | |
| 59 baudrate = 115200 | |
| 60 def __init__(self, dev, graph, uri, onChange): | |
| 61 """ | |
| 62 each connected thing has some pins. | |
| 63 | |
| 64 We'll call onChange when we know the currentGraph() has | |
| 65 changed (and not just in creation time). | |
| 66 """ | |
| 67 self.uri = uri | |
| 68 self.graph = graph | |
| 69 self.dev = dev | |
| 70 | |
| 71 # The order of this list needs to be consistent between the | |
| 72 # deployToArduino call and the poll call. | |
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73 self._devs = devices.makeDevices(graph, self.uri) |
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74 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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75 for devIndex, dev in enumerate(self._devs)) |
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76 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 77 |
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78 self._statementsFromInputs = {} # input device uri: latest statements |
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79 self._carbon = CarbonClient(serverHost='bang') |
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80 self.open() |
| 164 | 81 |
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82 def description(self): |
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83 """for web page""" |
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84 return { |
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85 'uri': self.uri, |
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86 'dev': self.dev, |
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87 'baudrate': self.baudrate, |
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88 'devices': [d.description() for d in self._devs], |
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89 'graph': 'http://%s6:9059/graph' % socket.gethostname(), #todo |
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90 } |
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91 |
| 164 | 92 def open(self): |
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93 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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94 timeout=2) |
| 164 | 95 |
| 96 def startPolling(self): | |
| 97 task.LoopingCall(self._poll).start(.5) | |
| 98 | |
| 99 def _poll(self): | |
| 100 """ | |
| 101 even boards with no inputs need some polling to see if they're | |
| 102 still ok | |
| 103 """ | |
| 104 try: | |
| 105 self._pollWork() | |
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106 except serial.SerialException: |
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107 reactor.crash() |
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108 raise |
| 164 | 109 except Exception as e: |
| 110 log.warn("poll: %r" % e) | |
| 111 | |
| 112 def _pollWork(self): | |
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113 t1 = time.time() |
| 164 | 114 self.ser.write("\x60\x00") |
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115 for i in self._polledDevs: |
| 164 | 116 self._statementsFromInputs[i.uri] = i.readFromPoll(self.ser.read) |
| 117 #plus statements about succeeding or erroring on the last poll | |
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118 byte = self.ser.read(1) |
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119 if byte != 'x': |
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120 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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121 elapsed = time.time() - t1 |
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122 if elapsed > 1.0: |
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123 log.warn('poll took %.1f seconds' % elapsed) |
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124 self._exportToGraphite() |
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125 |
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126 def _exportToGraphite(self): |
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127 # note this is writing way too often- graphite is storing at a lower res |
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128 now = time.time() |
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129 # objects of these statements are suitable as graphite values. |
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130 graphitePredicates = {ROOM['temperatureF']} |
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131 for s, graphiteName in self.graph.subject_objects(ROOM['graphiteName']): |
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132 for group in self._statementsFromInputs.values(): |
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133 for stmt in group: |
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134 if stmt[0] == s and stmt[1] in graphitePredicates: |
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135 self._carbon.send(graphiteName, stmt[2].toPython(), now) |
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136 |
| 164 | 137 def currentGraph(self): |
| 138 g = Graph() | |
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139 |
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140 g.add((HOST[socket.gethostname()], ROOM['connectedTo'], self.uri)) |
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141 |
| 164 | 142 for si in self._statementsFromInputs.values(): |
| 143 for s in si: | |
| 144 g.add(s) | |
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145 for dev in self._devs: |
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146 for stmt in dev.hostStatements(): |
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147 g.add(stmt) |
| 164 | 148 return g |
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149 |
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150 def outputStatements(self, stmts): |
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151 unused = set(stmts) |
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152 for dev in self._devs: |
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153 stmtsForDev = [] |
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154 for pat in dev.outputPatterns(): |
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155 if [term is None for term in pat] != [False, False, True]: |
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156 raise NotImplementedError |
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157 for stmt in stmts: |
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158 if stmt[:2] == pat[:2]: |
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159 stmtsForDev.append(stmt) |
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160 unused.discard(stmt) |
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161 if stmtsForDev: |
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162 log.info("output goes to action handler for %s" % dev.uri) |
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163 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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164 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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165 if self.ser.read(1) != 'k': |
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166 raise ValueError( |
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167 "%s sendOutput/generateActionCode didn't use " |
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168 "matching output bytes" % dev.__class__) |
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169 log.info("success") |
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170 if unused: |
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171 log.info("Board %s doesn't care about these statements:", self.uri) |
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172 for s in unused: |
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173 log.info("%r", s) |
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174 |
| 164 | 175 def generateArduinoCode(self): |
| 229 | 176 code = write_arduino_code.writeCode(self.baudrate, self._devs, self._devCommandNum) |
| 177 code = write_arduino_code.indent(code) | |
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178 cksum = hashlib.sha1(code).hexdigest() |
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179 code = code.replace('CODE_CHECKSUM', cksum) |
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180 return code, cksum |
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181 |
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182 def _readBoardChecksum(self, length): |
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183 # this is likely right after reset, so it might take 2 seconds |
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184 for tries in range(6): |
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185 self.ser.write("\x60\x01") |
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186 try: |
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187 return self.ser.read(length) |
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188 except ValueError: |
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189 if tries == 5: |
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190 raise |
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191 time.sleep(.5) |
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192 raise ValueError |
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193 |
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194 def _boardIsCurrent(self, currentChecksum): |
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195 try: |
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196 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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197 if boardCksum == currentChecksum: |
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198 log.info("board has current code (%s)" % currentChecksum) |
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199 return True |
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200 else: |
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201 log.info("board responds with incorrect code version") |
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202 except Exception as e: |
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203 log.info("can't get code version from board: %r" % e) |
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204 return False |
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205 |
| 164 | 206 def deployToArduino(self): |
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207 code, cksum = self.generateArduinoCode() |
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208 |
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209 if self._boardIsCurrent(cksum): |
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210 return |
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211 |
| 164 | 212 try: |
| 213 if hasattr(self, 'ser'): | |
| 214 self.ser.close() | |
| 215 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 216 try: | |
| 217 self._arduinoMake(workDir, code) | |
| 218 finally: | |
| 219 shutil.rmtree(workDir) | |
| 220 finally: | |
| 221 self.open() | |
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222 |
| 164 | 223 def _arduinoMake(self, workDir, code): |
| 224 with open(workDir + '/makefile', 'w') as makefile: | |
| 229 | 225 makefile.write(write_arduino_code.writeMakefile( |
| 226 dev=self.dev, | |
| 227 tag=self.graph.value(self.uri, ROOM['boardTag']), | |
| 228 allLibs=sum((d.generateArduinoLibs() for d in self._devs), []))) | |
| 164 | 229 |
| 230 with open(workDir + '/main.ino', 'w') as main: | |
| 231 main.write(code) | |
| 232 | |
| 233 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 234 | |
| 235 | |
| 236 class GraphPage(cyclone.web.RequestHandler): | |
| 237 def get(self): | |
| 238 g = StateGraph(ctx=ROOM['arduinosOn%s' % 'host']) | |
| 239 | |
| 240 for b in self.settings.boards: | |
| 241 for stmt in b.currentGraph(): | |
| 242 g.add(stmt) | |
| 243 | |
| 244 if self.get_argument('config', 'no') == 'yes': | |
| 245 for stmt in self.settings.config.graph: | |
| 246 g.add(stmt) | |
|
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247 |
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248 if self.request.headers.get('accept') == 'application/ld+json': |
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249 self.set_header('Content-type', 'application/ld+json') |
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250 self.write(g.asJsonLd()) |
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251 return |
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252 |
| 164 | 253 self.set_header('Content-type', 'application/x-trig') |
| 254 self.write(g.asTrig()) | |
| 255 | |
| 256 class Dot(cyclone.web.RequestHandler): | |
| 257 def get(self): | |
|
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258 configGraph = self.settings.config.graph |
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259 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 260 self.write(dot) |
| 261 | |
| 262 class ArduinoCode(cyclone.web.RequestHandler): | |
| 263 def get(self): | |
| 264 board = [b for b in self.settings.boards if | |
| 265 b.uri == URIRef(self.get_argument('board'))][0] | |
|
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266 self.set_header('Content-Type', 'text/plain') |
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267 code, cksum = board.generateArduinoCode() |
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268 self.write(code) |
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269 |
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270 def rdfGraphBody(body, headers): |
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271 g = Graph() |
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272 g.parse(StringInputSource(body), format='nt') |
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273 return g |
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274 |
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275 class OutputPage(cyclone.web.RequestHandler): |
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276 def post(self): |
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277 # for old ui; use PUT instead |
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278 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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279 for b in self.settings.boards: |
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280 b.outputStatements(stmts) |
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281 |
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282 def put(self): |
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283 subj = URIRef(self.get_argument('s')) |
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284 pred = URIRef(self.get_argument('p')) |
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285 |
|
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286 turtleLiteral = self.request.body |
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287 try: |
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288 obj = Literal(float(turtleLiteral)) |
|
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289 except ValueError: |
|
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290 obj = Literal(turtleLiteral) |
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291 |
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292 stmt = (subj, pred, obj) |
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293 for b in self.settings.boards: |
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294 b.outputStatements([stmt]) |
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295 |
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296 |
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297 class Boards(cyclone.web.RequestHandler): |
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298 def get(self): |
| 164 | 299 |
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300 self.set_header('Content-type', 'application/json') |
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301 self.write(json.dumps({ |
| 222 | 302 'host': socket.gethostname(), |
|
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303 'boards': [b.description() for b in self.settings.boards] |
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304 }, indent=2)) |
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305 |
| 164 | 306 def currentSerialDevices(): |
| 307 log.info('find connected boards') | |
| 308 return glob.glob('/dev/serial/by-id/*') | |
| 309 | |
| 310 def main(): | |
|
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311 arg = docopt(""" |
|
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312 Usage: arduinoNode.py [options] |
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313 |
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314 -v Verbose |
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315 """) |
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316 log.setLevel(logging.WARN) |
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317 if arg['-v']: |
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318 from twisted.python import log as twlog |
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319 twlog.startLogging(sys.stdout) |
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320 |
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321 log.setLevel(logging.DEBUG) |
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322 |
| 164 | 323 config = Config() |
| 324 current = currentSerialDevices() | |
| 325 | |
| 326 def onChange(): | |
| 327 # notify reasoning | |
| 328 pass | |
| 329 | |
| 330 boards = [] | |
| 331 for dev, board in config.serialDevices().items(): | |
| 332 if str(dev) not in current: | |
| 333 continue | |
| 334 log.info("we have board %s connected at %s" % (board, dev)) | |
| 335 b = Board(dev, config.graph, board, onChange) | |
| 336 boards.append(b) | |
| 337 | |
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338 for b in boards: |
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339 b.deployToArduino() |
| 164 | 340 |
| 341 log.info('open boards') | |
| 342 for b in boards: | |
| 343 b.startPolling() | |
| 344 | |
|
190
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345 |
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346 app = cyclone.web.Application([ |
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347 (r"/()", cyclone.web.StaticFileHandler, { |
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parents:
169
diff
changeset
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348 "path": "static", "default_filename": "index.html"}), |
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376599552a4c
polymer board debug page with working output widgets
drewp@bigasterisk.com
parents:
169
diff
changeset
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349 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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376599552a4c
polymer board debug page with working output widgets
drewp@bigasterisk.com
parents:
169
diff
changeset
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350 (r'/boards', Boards), |
| 164 | 351 (r"/graph", GraphPage), |
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169
d228105749ac
new /output to post statements which devices can handle. led and lcd output working
drewp@bigasterisk.com
parents:
166
diff
changeset
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352 (r'/output', OutputPage), |
| 164 | 353 (r'/arduinoCode', ArduinoCode), |
| 354 (r'/dot', Dot), | |
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190
ad20e5cb4feb
serve ipv6 and use localhost's ipv6 name for getting updates
drewp@bigasterisk.com
parents:
185
diff
changeset
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355 ], config=config, boards=boards) |
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ad20e5cb4feb
serve ipv6 and use localhost's ipv6 name for getting updates
drewp@bigasterisk.com
parents:
185
diff
changeset
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356 reactor.listenTCP(9059, app, interface='::') |
| 164 | 357 reactor.run() |
| 358 | |
| 359 main() |