Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 230:0aa54404df19
update arduinoNode to support streamed graph output
Ignore-this: fa35d1fae5b0e411b167650550c3e77d
| author | drewp@bigasterisk.com |
|---|---|
| date | Thu, 28 Jan 2016 02:24:32 -0800 |
| parents | 07ee72a042db |
| children | 4ebb5cc30002 |
| 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 |
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11 from rdflib import Graph, Namespace, URIRef, Literal, RDF, ConjunctiveGraph |
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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 | |
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26 sys.path.append("../../lib") |
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27 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler |
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28 |
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29 sys.path.append("/my/proj/light9") |
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30 from light9.rdfdb.patch import Patch |
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31 from light9.rdfdb.rdflibpatch import inContext |
| 164 | 32 |
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33 sys.path.append("/my/proj/room") |
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34 from carbondata import CarbonClient |
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35 |
| 164 | 36 log = logging.getLogger() |
| 37 logging.getLogger('serial').setLevel(logging.WARN) | |
| 38 | |
| 39 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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40 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 41 |
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42 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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43 |
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44 CTX = ROOM['arduinosOn%s' % socket.gethostname()] |
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45 |
| 164 | 46 class Config(object): |
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47 def __init__(self, masterGraph): |
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48 self.graph = ConjunctiveGraph() |
| 164 | 49 log.info('read config') |
| 214 | 50 for f in os.listdir('config'): |
| 51 if f.startswith('.'): continue | |
| 52 self.graph.parse('config/%s' % f, format='n3') | |
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53 self.graph.bind('', ROOM) # not working |
| 164 | 54 self.graph.bind('rdf', RDF) |
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55 # config graph is too noisy; maybe make it a separate resource |
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56 #masterGraph.patch(Patch(addGraph=self.graph)) |
| 164 | 57 |
| 58 def serialDevices(self): | |
| 59 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 60 """SELECT ?board ?dev WHERE { | |
| 61 ?board :device ?dev; | |
| 62 a :ArduinoBoard . | |
| 63 }""", initNs={'': ROOM})]) | |
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64 |
| 164 | 65 class Board(object): |
| 66 """an arduino connected to this computer""" | |
| 67 baudrate = 115200 | |
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68 def __init__(self, dev, configGraph, masterGraph, uri): |
| 164 | 69 """ |
| 70 each connected thing has some pins. | |
| 71 """ | |
| 72 self.uri = uri | |
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73 self.configGraph = configGraph |
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74 self.masterGraph = masterGraph |
| 164 | 75 self.dev = dev |
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76 |
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77 self.masterGraph.patch(Patch(addQuads=[ |
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78 (HOST[socket.gethostname()], ROOM['connectedTo'], self.uri, CTX), |
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79 ])) |
| 164 | 80 |
| 81 # The order of this list needs to be consistent between the | |
| 82 # deployToArduino call and the poll call. | |
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83 self._devs = devices.makeDevices(configGraph, self.uri) |
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84 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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85 for devIndex, dev in enumerate(self._devs)) |
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86 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 87 |
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88 self._statementsFromInputs = {} # input device uri: latest statements |
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89 self._carbon = CarbonClient(serverHost='bang') |
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90 self.open() |
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91 for d in self._devs: |
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92 self.syncMasterGraphToHostStatements(d) |
| 164 | 93 |
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94 def description(self): |
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95 """for web page""" |
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96 return { |
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97 'uri': self.uri, |
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98 'dev': self.dev, |
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99 'baudrate': self.baudrate, |
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100 'devices': [d.description() for d in self._devs], |
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101 'graph': 'http://%s6:9059/graph' % socket.gethostname(), #todo |
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102 } |
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103 |
| 164 | 104 def open(self): |
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105 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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106 timeout=2) |
| 164 | 107 |
| 108 def startPolling(self): | |
| 109 task.LoopingCall(self._poll).start(.5) | |
| 110 | |
| 111 def _poll(self): | |
| 112 """ | |
| 113 even boards with no inputs need some polling to see if they're | |
| 114 still ok | |
| 115 """ | |
| 116 try: | |
| 117 self._pollWork() | |
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118 except serial.SerialException: |
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119 reactor.crash() |
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120 raise |
| 164 | 121 except Exception as e: |
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122 import traceback; traceback.print_exc() |
| 164 | 123 log.warn("poll: %r" % e) |
| 124 | |
| 125 def _pollWork(self): | |
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126 t1 = time.time() |
| 164 | 127 self.ser.write("\x60\x00") |
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128 for i in self._polledDevs: |
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129 prev = self._statementsFromInputs.get(i.uri, []) |
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130 new = self._statementsFromInputs[i.uri] = inContext( |
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131 i.readFromPoll(self.ser.read), i.uri) |
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132 self.masterGraph.patch(Patch.fromDiff(prev, new)) |
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133 |
| 164 | 134 #plus statements about succeeding or erroring on the last poll |
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135 byte = self.ser.read(1) |
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136 if byte != 'x': |
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137 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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138 elapsed = time.time() - t1 |
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139 if elapsed > 1.0: |
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140 log.warn('poll took %.1f seconds' % elapsed) |
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141 self._exportToGraphite() |
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142 |
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143 def _exportToGraphite(self): |
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144 # note this is writing way too often- graphite is storing at a lower res |
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145 now = time.time() |
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146 # objects of these statements are suitable as graphite values. |
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147 graphitePredicates = {ROOM['temperatureF']} |
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148 for s, graphiteName in self.configGraph.subject_objects(ROOM['graphiteName']): |
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149 for group in self._statementsFromInputs.values(): |
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150 for stmt in group: |
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151 if stmt[0] == s and stmt[1] in graphitePredicates: |
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152 self._carbon.send(graphiteName, stmt[2].toPython(), now) |
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153 |
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154 def outputStatements(self, stmts): |
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155 unused = set(stmts) |
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156 for dev in self._devs: |
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157 stmtsForDev = [] |
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158 for pat in dev.outputPatterns(): |
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159 if [term is None for term in pat] != [False, False, True]: |
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160 raise NotImplementedError |
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161 for stmt in stmts: |
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162 if stmt[:2] == pat[:2]: |
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163 stmtsForDev.append(stmt) |
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164 unused.discard(stmt) |
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165 if stmtsForDev: |
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166 log.info("output goes to action handler for %s" % dev.uri) |
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167 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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168 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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169 if self.ser.read(1) != 'k': |
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170 raise ValueError( |
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171 "%s sendOutput/generateActionCode didn't use " |
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172 "matching output bytes" % dev.__class__) |
|
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173 # Dev *could* change hostStatements at any time, and |
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174 # we're not currently tracking that, but the usual is |
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175 # to change them in response to sendOutput so this |
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176 # should be good enough. The right answer is to give |
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177 # each dev the masterGraph for it to write to. |
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178 self.syncMasterGraphToHostStatements(dev) |
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179 log.info("success") |
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180 if unused: |
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181 log.info("Board %s doesn't care about these statements:", self.uri) |
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182 for s in unused: |
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218
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183 log.info("%r", s) |
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184 |
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185 def syncMasterGraphToHostStatements(self, dev): |
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186 hostStmtCtx = URIRef(dev.uri + '/host') |
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187 newQuads = inContext(dev.hostStatements(), hostStmtCtx) |
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188 self.masterGraph.patchSubgraph(hostStmtCtx, newQuads) |
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189 |
| 164 | 190 def generateArduinoCode(self): |
| 229 | 191 code = write_arduino_code.writeCode(self.baudrate, self._devs, self._devCommandNum) |
| 192 code = write_arduino_code.indent(code) | |
|
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193 cksum = hashlib.sha1(code).hexdigest() |
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194 code = code.replace('CODE_CHECKSUM', cksum) |
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195 return code, cksum |
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196 |
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197 def _readBoardChecksum(self, length): |
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198 # this is likely right after reset, so it might take 2 seconds |
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199 for tries in range(6): |
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200 self.ser.write("\x60\x01") |
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201 try: |
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202 return self.ser.read(length) |
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203 except ValueError: |
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204 if tries == 5: |
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205 raise |
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206 time.sleep(.5) |
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207 raise ValueError |
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208 |
|
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209 def _boardIsCurrent(self, currentChecksum): |
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210 try: |
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211 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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212 if boardCksum == currentChecksum: |
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213 log.info("board has current code (%s)" % currentChecksum) |
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214 return True |
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215 else: |
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216 log.info("board responds with incorrect code version") |
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217 except Exception as e: |
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218 log.info("can't get code version from board: %r" % e) |
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219 return False |
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220 |
| 164 | 221 def deployToArduino(self): |
|
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222 code, cksum = self.generateArduinoCode() |
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223 |
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224 if self._boardIsCurrent(cksum): |
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225 return |
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226 |
| 164 | 227 try: |
| 228 if hasattr(self, 'ser'): | |
| 229 self.ser.close() | |
| 230 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 231 try: | |
| 232 self._arduinoMake(workDir, code) | |
| 233 finally: | |
| 234 shutil.rmtree(workDir) | |
| 235 finally: | |
| 236 self.open() | |
|
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237 |
| 164 | 238 def _arduinoMake(self, workDir, code): |
| 239 with open(workDir + '/makefile', 'w') as makefile: | |
| 229 | 240 makefile.write(write_arduino_code.writeMakefile( |
| 241 dev=self.dev, | |
|
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242 tag=self.configGraph.value(self.uri, ROOM['boardTag']), |
| 229 | 243 allLibs=sum((d.generateArduinoLibs() for d in self._devs), []))) |
| 164 | 244 |
| 245 with open(workDir + '/main.ino', 'w') as main: | |
| 246 main.write(code) | |
| 247 | |
| 248 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 249 | |
|
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250 |
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251 def currentGraph(self): |
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252 g = Graph() |
| 164 | 253 |
| 254 | |
|
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255 for dev in self._devs: |
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256 for stmt in dev.hostStatements(): |
| 164 | 257 g.add(stmt) |
|
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258 return g |
| 164 | 259 |
| 260 class Dot(cyclone.web.RequestHandler): | |
| 261 def get(self): | |
|
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262 configGraph = self.settings.config.graph |
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263 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 264 self.write(dot) |
| 265 | |
| 266 class ArduinoCode(cyclone.web.RequestHandler): | |
| 267 def get(self): | |
| 268 board = [b for b in self.settings.boards if | |
| 269 b.uri == URIRef(self.get_argument('board'))][0] | |
|
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270 self.set_header('Content-Type', 'text/plain') |
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271 code, cksum = board.generateArduinoCode() |
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272 self.write(code) |
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273 |
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274 def rdfGraphBody(body, headers): |
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275 g = Graph() |
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276 g.parse(StringInputSource(body), format='nt') |
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277 return g |
|
176
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278 |
|
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279 class OutputPage(cyclone.web.RequestHandler): |
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280 def post(self): |
|
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281 # for old ui; use PUT instead |
|
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282 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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283 for b in self.settings.boards: |
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284 b.outputStatements(stmts) |
|
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285 |
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286 def put(self): |
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287 subj = URIRef(self.get_argument('s')) |
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288 pred = URIRef(self.get_argument('p')) |
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289 |
|
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290 turtleLiteral = self.request.body |
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291 try: |
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292 obj = Literal(float(turtleLiteral)) |
|
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293 except ValueError: |
|
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294 obj = Literal(turtleLiteral) |
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295 |
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296 stmt = (subj, pred, obj) |
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297 for b in self.settings.boards: |
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298 b.outputStatements([stmt]) |
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299 |
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300 |
|
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301 class Boards(cyclone.web.RequestHandler): |
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302 def get(self): |
| 164 | 303 |
|
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304 self.set_header('Content-type', 'application/json') |
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305 self.write(json.dumps({ |
| 222 | 306 'host': socket.gethostname(), |
|
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307 'boards': [b.description() for b in self.settings.boards] |
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308 }, indent=2)) |
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309 |
| 164 | 310 def currentSerialDevices(): |
| 311 log.info('find connected boards') | |
| 312 return glob.glob('/dev/serial/by-id/*') | |
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313 |
| 164 | 314 def main(): |
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315 arg = docopt(""" |
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316 Usage: arduinoNode.py [options] |
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317 |
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318 -v Verbose |
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319 """) |
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320 log.setLevel(logging.WARN) |
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321 if arg['-v']: |
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322 from twisted.python import log as twlog |
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323 twlog.startLogging(sys.stdout) |
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324 |
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325 log.setLevel(logging.DEBUG) |
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326 |
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327 masterGraph = PatchableGraph() |
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328 config = Config(masterGraph) |
| 164 | 329 current = currentSerialDevices() |
| 330 | |
| 331 boards = [] | |
| 332 for dev, board in config.serialDevices().items(): | |
| 333 if str(dev) not in current: | |
| 334 continue | |
| 335 log.info("we have board %s connected at %s" % (board, dev)) | |
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336 b = Board(dev, config.graph, masterGraph, board) |
| 164 | 337 boards.append(b) |
| 338 | |
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339 for b in boards: |
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340 b.deployToArduino() |
| 164 | 341 |
| 342 log.info('open boards') | |
| 343 for b in boards: | |
| 344 b.startPolling() | |
| 345 | |
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346 |
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347 app = cyclone.web.Application([ |
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348 (r"/()", cyclone.web.StaticFileHandler, { |
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349 "path": "static", "default_filename": "index.html"}), |
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350 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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351 (r'/boards', Boards), |
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352 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}), |
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353 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}), |
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354 (r'/output', OutputPage), |
| 164 | 355 (r'/arduinoCode', ArduinoCode), |
| 356 (r'/dot', Dot), | |
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357 ], config=config, boards=boards) |
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358 reactor.listenTCP(9059, app, interface='::') |
| 164 | 359 reactor.run() |
| 360 | |
| 361 main() |