Mercurial > code > home > repos > homeauto
annotate service/piNode/devices.py @ 266:1ae78fe6f36e
neopixel lib change. factor out pwm setup and try another pwm rate
Ignore-this: 870f68d8297c6387be35b452058f0b97
| author | drewp@bigasterisk.com |
|---|---|
| date | Thu, 14 Apr 2016 00:13:06 -0700 |
| parents | 9e388c3f032c |
| children | 4685fbd208d1 |
| rev | line source |
|---|---|
| 182 | 1 from __future__ import division |
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2 |
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3 import time, logging, os |
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4 from rdflib import Namespace, URIRef, Literal |
| 182 | 5 |
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6 try: |
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7 import pigpio |
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8 except ImportError: |
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9 pigpio = None |
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10 import w1thermsensor |
| 259 | 11 try: |
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12 import neopixel |
| 259 | 13 except ImportError: |
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14 neopixel = None |
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15 |
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16 def setupPwm(pi, pinNumber, hz=8000): |
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17 pi.set_mode(pinNumber, pigpio.OUTPUT) |
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18 # see http://abyz.co.uk/rpi/pigpio/cif.html#gpioCfgClock |
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19 # and http://abyz.co.uk/rpi/pigpio/cif.html#gpioSetPWMfrequency |
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20 actual = pi.set_PWM_frequency(pinNumber, hz) |
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21 if actual != hz: |
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22 raise ValueError('pwm actual=%s' % actual) |
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23 pi.set_PWM_dutycycle(pinNumber, 0) |
| 259 | 24 |
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25 import sys |
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26 |
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27 log = logging.getLogger() |
| 182 | 28 ROOM = Namespace('http://projects.bigasterisk.com/room/') |
| 209 | 29 XSD = Namespace('http://www.w3.org/2001/XMLSchema#') |
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30 RDFS = Namespace('http://www.w3.org/2000/01/rdf-schema#') |
| 182 | 31 |
| 32 class DeviceType(object): | |
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33 deviceType = NotImplementedError |
| 182 | 34 @classmethod |
| 35 def findInstances(cls, graph, board, pi): | |
| 36 """ | |
| 37 return any number of instances of this class for all the separately | |
| 38 controlled devices on the board. Two LEDS makes two instances, | |
| 39 but two sensors on the same onewire bus makes only one device | |
| 40 (which yields more statements). | |
| 41 """ | |
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42 log.debug("graph has any connected devices of type %s?", cls.deviceType) |
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43 for row in graph.query("""SELECT ?dev ?gpioNumber WHERE { |
| 182 | 44 ?board :hasPin ?pin . |
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45 ?pin :gpioNumber ?gpioNumber; |
| 182 | 46 :connectedTo ?dev . |
| 47 ?dev a ?thisType . | |
| 48 } ORDER BY ?dev""", | |
| 49 initBindings=dict(board=board, | |
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50 thisType=cls.deviceType)): |
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51 yield cls(graph, row.dev, pi, int(row.gpioNumber)) |
| 182 | 52 |
| 53 def __init__(self, graph, uri, pi, pinNumber): | |
| 54 self.graph, self.uri, self.pi = graph, uri, pi | |
| 55 self.pinNumber = pinNumber | |
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56 self.hostStateInit() |
| 182 | 57 |
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58 def hostStateInit(self): |
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59 """ |
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60 If you don't want to use __init__, you can use this to set up |
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61 whatever storage you might need for hostStatements |
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62 """ |
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63 |
| 182 | 64 def description(self): |
| 65 return { | |
| 66 'uri': self.uri, | |
| 67 'className': self.__class__.__name__, | |
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68 'pinNumber': getattr(self, 'pinNumber', None), |
| 182 | 69 'outputPatterns': self.outputPatterns(), |
| 70 'watchPrefixes': self.watchPrefixes(), | |
| 71 'outputWidgets': self.outputWidgets(), | |
| 72 } | |
| 73 | |
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74 def hostStatements(self): |
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75 """ |
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76 Like readFromPoll but these statements come from the host-side |
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77 python code, not the connected device. Include output state |
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78 (e.g. light brightness) if its master version is in this |
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79 object. This method is called on /graph requests so it should |
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80 be fast. |
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81 """ |
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82 return [] |
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83 |
| 182 | 84 def watchPrefixes(self): |
| 85 """ | |
| 86 subj,pred pairs of the statements that might be returned from | |
| 87 readFromPoll, so the dashboard knows what it should | |
| 88 watch. This should be eliminated, as the dashboard should just | |
| 89 always watch the whole tree of statements starting self.uri | |
| 90 """ | |
| 91 return [] | |
| 92 | |
| 93 def poll(self): | |
| 94 return [] # statements | |
| 95 | |
| 96 def outputPatterns(self): | |
| 97 """ | |
| 98 Triple patterns, using None as a wildcard, that should be routed | |
| 99 to sendOutput | |
| 100 """ | |
| 101 return [] | |
| 102 | |
| 103 def outputWidgets(self): | |
| 104 """ | |
| 105 structs to make output widgets on the dashboard. ~1 of these per | |
| 106 handler you have in sendOutput | |
| 107 """ | |
| 108 return [] | |
| 109 | |
| 110 def sendOutput(self, statements): | |
| 111 """ | |
| 112 If we got statements that match this class's outputPatterns, this | |
| 113 will be called with the statements that matched. | |
| 114 | |
| 115 Todo: it would be fine to read back confirmations or | |
| 116 whatever. Just need a way to collect them into graph statements. | |
| 117 """ | |
| 118 raise NotImplementedError | |
| 119 | |
| 120 _knownTypes = set() | |
| 121 def register(deviceType): | |
| 122 _knownTypes.add(deviceType) | |
| 123 return deviceType | |
| 124 | |
| 125 @register | |
| 126 class MotionSensorInput(DeviceType): | |
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127 # compare motion sensor lib at http://pythonhosted.org/gpiozero/inputs/ |
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128 # which is a bit fancier |
| 182 | 129 deviceType = ROOM['MotionSensor'] |
| 130 | |
| 131 def setup(self): | |
| 132 self.pi.set_mode(17, pigpio.INPUT) | |
| 133 self.pi.set_pull_up_down(17, pigpio.PUD_DOWN) | |
| 134 | |
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135 def hostStateInit(self): |
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136 self.lastRead = None |
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137 |
| 182 | 138 def poll(self): |
| 139 motion = self.pi.read(17) | |
| 140 | |
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141 oneshot = [] |
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142 if self.lastRead is not None and motion != self.lastRead: |
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143 oneshot = [(self.uri, ROOM['sees'], ROOM['motionStart'])] |
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144 self.lastRead = motion |
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145 |
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146 return {'latest': [ |
| 182 | 147 (self.uri, ROOM['sees'], |
| 148 ROOM['motion'] if motion else ROOM['noMotion']), | |
| 149 self.recentMotionStatement(motion), | |
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150 ], 'oneshot': oneshot} |
| 182 | 151 |
| 152 def recentMotionStatement(self, motion): | |
| 153 if not hasattr(self, 'lastMotionTime'): | |
| 154 self.lastMotionTime = 0 | |
| 155 now = time.time() | |
| 156 if motion: | |
| 157 self.lastMotionTime = now | |
| 158 recentMotion = now - self.lastMotionTime < 60 * 10 | |
| 159 return (self.uri, ROOM['seesRecently'], | |
| 160 ROOM['motion'] if recentMotion else ROOM['noMotion']) | |
| 161 | |
| 162 def watchPrefixes(self): | |
| 163 return [ | |
| 164 (self.uri, ROOM['sees']), | |
| 165 (self.uri, ROOM['seesRecently']), | |
| 166 ] | |
| 167 | |
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168 |
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169 @register |
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170 class RgbStrip(DeviceType): |
| 220 | 171 """3 PWMs for r/g/b on a strip""" |
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172 # pigpio daemon is working fine, but |
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173 # https://github.com/RPi-Distro/python-gpiozero/blob/59ba7154c5918745ac894ea03503667d6473c760/gpiozero/output_devices.py#L213 |
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174 # can also apparently do PWM |
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175 deviceType = ROOM['RgbStrip'] |
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176 |
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177 @classmethod |
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178 def findInstances(cls, graph, board, pi): |
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179 for row in graph.query("""SELECT DISTINCT ?dev ?r ?g ?b WHERE { |
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180 ?board |
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181 :hasPin ?rpin; |
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182 :hasPin ?gpin; |
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183 :hasPin ?bpin . |
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184 ?dev a :RgbStrip; |
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185 :redChannel ?rpin; |
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186 :greenChannel ?gpin; |
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187 :blueChannel ?bpin . |
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188 ?rpin :gpioNumber ?r . |
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189 ?gpin :gpioNumber ?g . |
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190 ?bpin :gpioNumber ?b . |
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191 } ORDER BY ?dev""", |
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192 initBindings=dict(board=board), |
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193 initNs={'': ROOM}): |
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194 log.debug('found rgb %r', row) |
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195 yield cls(graph, row.dev, pi, row.r, row.g, row.b) |
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196 |
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197 def __init__(self, graph, uri, pi, r, g, b): |
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198 self.graph, self.uri, self.pi = graph, uri, pi |
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199 self.rgb = map(int, [r, g, b]) |
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200 self.value = '#000000' |
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201 |
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202 def setup(self): |
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203 for i in self.rgb: |
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204 setupPwm(self.pi, i) |
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205 |
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206 def hostStatements(self): |
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207 return [(self.uri, ROOM['color'], Literal(self.value))] |
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208 |
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209 def outputPatterns(self): |
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210 return [(self.uri, ROOM['color'], None)] |
| 220 | 211 |
| 212 def _rgbFromHex(self, h): | |
| 213 rrggbb = h.lstrip('#') | |
| 214 return [int(x, 16) for x in [rrggbb[0:2], rrggbb[2:4], rrggbb[4:6]]] | |
|
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215 |
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216 def sendOutput(self, statements): |
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217 assert len(statements) == 1 |
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218 assert statements[0][:2] == (self.uri, ROOM['color']) |
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219 |
| 220 | 220 rgb = self._rgbFromHex(statements[0][2]) |
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221 self.value = statements[0][2] |
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222 |
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223 for (i, v) in zip(self.rgb, rgb): |
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224 self.pi.set_PWM_dutycycle(i, v) |
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225 |
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226 def outputWidgets(self): |
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227 return [{ |
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228 'element': 'output-rgb', |
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229 'subj': self.uri, |
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230 'pred': ROOM['color'], |
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231 }] |
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232 |
| 210 | 233 |
| 234 @register | |
|
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235 class TempHumidSensor(DeviceType): |
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236 deviceType = ROOM['TempHumidSensor'] |
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237 |
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238 def __init__(self, *a, **kw): |
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239 DeviceType.__init__(self, *a, **kw) |
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240 sys.path.append('/opt/pigpio/EXAMPLES/Python/DHT22_AM2302_SENSOR') |
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241 import DHT22 |
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242 self.sensor = DHT22.sensor(self.pi, self.pinNumber) |
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243 |
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244 def poll(self): |
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245 self.sensor.trigger() |
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246 humid, tempC = self.sensor.humidity(), self.sensor.temperature() |
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247 |
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248 stmts = set() |
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249 if humid is not None: |
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250 stmts.add((self.uri, ROOM['humidity'], Literal(round(humid, 2)))) |
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251 else: |
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252 stmts.add((self.uri, RDFS['comment'], |
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253 Literal('DHT read returned None'))) |
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254 if tempC is not None: |
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255 stmts.add((self.uri, ROOM['temperatureF'], |
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256 # see round() note in arduinoNode/devices.py |
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257 Literal(round(tempC * 9 / 5 + 32, 2)))) |
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258 else: |
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259 stmts.add((self.uri, RDFS['comment'], |
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260 Literal('DHT read returned None'))) |
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261 return stmts |
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262 |
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263 def watchPrefixes(self): |
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264 return [ |
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265 (self.uri, ROOM['temperatureF']), |
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266 (self.uri, ROOM['humidity']), |
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267 ] |
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268 |
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269 @register |
| 244 | 270 class PushbuttonInput(DeviceType): |
| 271 """add a switch to ground; we'll turn on pullup""" | |
| 272 deviceType = ROOM['Pushbutton'] | |
| 273 | |
| 274 def __init__(self, *a, **kw): | |
| 275 DeviceType.__init__(self, *a, **kw) | |
| 276 log.debug("setup switch on %r", self.pinNumber) | |
| 277 self.pi.set_mode(self.pinNumber, pigpio.INPUT) | |
| 278 self.pi.set_pull_up_down(self.pinNumber, pigpio.PUD_UP) | |
|
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279 self.lastClosed = None |
| 262 | 280 self.invert = (self.uri, ROOM['style'], |
| 281 ROOM['inverted']) in self.graph | |
| 244 | 282 |
| 283 def poll(self): | |
| 284 closed = not self.pi.read(self.pinNumber) | |
| 262 | 285 if self.invert: |
| 286 closed = not closed | |
|
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287 |
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288 if self.lastClosed is not None and closed != self.lastClosed: |
| 262 | 289 log.debug('%s changed to %s', self.uri, closed) |
|
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290 oneshot = [ |
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291 (self.uri, ROOM['buttonState'], |
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292 ROOM['press'] if closed else ROOM['release']), |
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293 ] |
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294 else: |
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295 oneshot = [] |
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296 self.lastClosed = closed |
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297 |
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298 return {'latest': [ |
| 244 | 299 (self.uri, ROOM['buttonState'], |
| 300 ROOM['pressed'] if closed else ROOM['notPressed']), | |
|
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301 ], |
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302 'oneshot':oneshot} |
| 244 | 303 |
| 304 def watchPrefixes(self): | |
| 305 return [ | |
| 306 (self.uri, ROOM['buttonState']), | |
| 307 ] | |
| 308 | |
| 309 @register | |
|
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310 class OneWire(DeviceType): |
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311 """ |
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312 Also see /my/proj/ansible/roles/raspi_io_node/tasks/main.yml for |
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313 some system config that contains the pin number that you want to |
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314 use for onewire. The pin number in this config is currently ignored. |
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315 """ |
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316 deviceType = ROOM['OneWire'] |
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317 # deliberately written like arduinoNode's one for an easier merge. |
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318 def __init__(self, *a, **kw): |
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319 DeviceType.__init__(self, *a, **kw) |
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320 log.info("scan for w1 devices") |
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321 self._sensors = w1thermsensor.W1ThermSensor.get_available_sensors() |
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322 for s in self._sensors: |
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323 # Something looks different about these ids |
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324 # ('000003a5a94c') vs the ones I get from arduino |
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325 # ('2813bea50300003d'). Not sure if I'm parsing them |
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326 # differently or what. |
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327 s.uri = URIRef(os.path.join(self.uri, 'dev-%s' % s.id)) |
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328 log.info(' found temperature sensor %s' % s.uri) |
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329 |
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330 def poll(self): |
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331 try: |
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332 stmts = [] |
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333 for sensor in self._sensors: |
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334 stmts.append((self.uri, ROOM['connectedTo'], sensor.uri)) |
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335 try: |
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336 tempF = sensor.get_temperature(sensor.DEGREES_F) |
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337 stmts.append((sensor.uri, ROOM['temperatureF'], |
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338 # see round() note in arduinoNode/devices.py |
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339 Literal(round(tempF, 2)))) |
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340 except w1thermsensor.core.SensorNotReadyError as e: |
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341 log.warning(e) |
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342 |
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343 return stmts |
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344 except Exception as e: |
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345 log.error(e) |
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346 os.abort() |
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347 |
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348 def watchPrefixes(self): |
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349 return [(s.uri, ROOM['temperatureF']) for s in self._sensors] |
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350 |
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351 |
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352 @register |
| 210 | 353 class LedOutput(DeviceType): |
| 354 deviceType = ROOM['LedOutput'] | |
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355 |
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356 def hostStateInit(self): |
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357 self.value = 0 |
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358 |
| 210 | 359 def setup(self): |
|
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360 setupPwm(self.pi, self.pinNumber) |
| 210 | 361 |
| 362 def outputPatterns(self): | |
| 363 return [(self.uri, ROOM['brightness'], None)] | |
| 364 | |
| 365 def sendOutput(self, statements): | |
| 366 assert len(statements) == 1 | |
| 367 assert statements[0][:2] == (self.uri, ROOM['brightness']) | |
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368 self.value = float(statements[0][2]) |
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369 v = int(self.value * 255) |
| 210 | 370 self.pi.set_PWM_dutycycle(self.pinNumber, v) |
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371 |
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372 def hostStatements(self): |
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373 return [(self.uri, ROOM['brightness'], Literal(self.value))] |
| 210 | 374 |
| 375 def outputWidgets(self): | |
| 376 return [{ | |
| 377 'element': 'output-slider', | |
| 378 'min': 0, | |
| 379 'max': 1, | |
| 380 'step': 1 / 255, | |
| 381 'subj': self.uri, | |
| 382 'pred': ROOM['brightness'], | |
| 383 }] | |
| 384 | |
| 385 | |
| 205 | 386 @register |
| 387 class OnboardTemperature(DeviceType): | |
| 388 deviceType = ROOM['OnboardTemperature'] | |
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389 pollPeriod = 10 |
| 205 | 390 @classmethod |
| 391 def findInstances(cls, graph, board, pi): | |
| 259 | 392 log.debug('graph has any connected devices of type OnboardTemperature on %r?', board) |
| 207 | 393 for row in graph.query('''SELECT DISTINCT ?uri WHERE { |
| 205 | 394 ?board :onboardDevice ?uri . |
| 395 ?uri a :OnboardTemperature . | |
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396 }''', initBindings=dict(board=board)): |
| 259 | 397 log.debug(' found %s', row.uri) |
| 205 | 398 yield cls(graph, row.uri, pi, pinNumber=None) |
| 399 | |
| 208 | 400 def poll(self): |
| 205 | 401 milliC = open('/sys/class/thermal/thermal_zone0/temp').read().strip() |
| 402 c = float(milliC) / 1000. | |
| 403 f = c * 1.8 + 32 | |
| 404 return [ | |
| 405 (self.uri, ROOM['temperatureF'], Literal(f, datatype=XSD['decimal'])), | |
| 406 ] | |
| 407 | |
| 408 def watchPrefixes(self): | |
| 409 # these uris will become dynamic! see note on watchPrefixes | |
| 410 # about eliminating it. | |
| 411 return [(self.uri, ROOM['temperatureF']), | |
| 412 ] | |
| 259 | 413 |
| 414 @register | |
| 415 class RgbPixels(DeviceType): | |
| 416 """chain of ws2812 rgb pixels on pin GPIO18""" | |
| 417 deviceType = ROOM['RgbPixels'] | |
| 418 | |
| 419 def hostStateInit(self): | |
| 420 px = self.graph.value(self.uri, ROOM['pixels']) | |
| 421 self.pixelUris = list(self.graph.items(px)) | |
| 422 self.values = dict((uri, Literal('#000000')) for uri in self.pixelUris) | |
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423 colorOrder, stripType = self.getColorOrder(self.graph, self.uri) |
| 259 | 424 self.replace = {'ledArray': 'leds_%s' % self.pinNumber, |
| 425 'ledCount': len(self.pixelUris), | |
| 426 'pin': self.pinNumber, | |
| 427 'ledType': 'WS2812', | |
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428 'colorOrder': colorOrder |
| 259 | 429 } |
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430 self.neo = neopixel.Adafruit_NeoPixel(len(self.values), pin=18, strip_type=stripType) |
| 259 | 431 self.neo.begin() |
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432 |
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433 def getColorOrder(self, graph, uri): |
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434 colorOrder = graph.value(uri, ROOM['colorOrder'], |
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435 default=ROOM['ledColorOrder/RGB']) |
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436 head, tail = str(colorOrder).rsplit('/', 1) |
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437 if head != str(ROOM['ledColorOrder']): |
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438 raise NotImplementedError('%r colorOrder %r' % (uri, colorOrder)) |
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439 stripType = getattr(neopixel.ws, 'WS2811_STRIP_%s' % tail) |
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440 return colorOrder, stripType |
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441 |
| 259 | 442 def _rgbFromHex(self, h): |
| 443 rrggbb = h.lstrip('#') | |
| 444 return [int(x, 16) for x in [rrggbb[0:2], rrggbb[2:4], rrggbb[4:6]]] | |
| 445 | |
| 446 def sendOutput(self, statements): | |
| 447 px, pred, color = statements[0] | |
| 448 if pred != ROOM['color']: | |
| 449 raise ValueError(pred) | |
| 450 rgb = self._rgbFromHex(color) | |
| 451 if px not in self.values: | |
| 452 raise ValueError(px) | |
| 453 self.values[px] = Literal(color) | |
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454 self.neo.setPixelColorRGB(self.pixelUris.index(px), rgb[0], rgb[1], rgb[2]) |
| 259 | 455 self.neo.show() |
| 456 | |
| 457 def hostStatements(self): | |
| 458 return [(uri, ROOM['color'], hexCol) | |
| 459 for uri, hexCol in self.values.items()] | |
| 460 | |
| 461 def outputPatterns(self): | |
| 462 return [(px, ROOM['color'], None) for px in self.pixelUris] | |
| 463 | |
| 464 def outputWidgets(self): | |
| 465 return [{ | |
| 466 'element': 'output-rgb', | |
| 467 'subj': px, | |
| 468 'pred': ROOM['color'], | |
| 469 } for px in self.pixelUris] | |
| 470 | |
| 205 | 471 |
| 182 | 472 def makeDevices(graph, board, pi): |
| 473 out = [] | |
| 474 for dt in sorted(_knownTypes, key=lambda cls: cls.__name__): | |
| 475 out.extend(dt.findInstances(graph, board, pi)) | |
| 476 return out | |
| 477 |