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annotate service/arduinoNode/devices.py @ 185:2161c71c7b02

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support for device code in the idle loop Ignore-this: 7454ba4c9bab3c5393707af7ac91547
author drewp@bigasterisk.com
date Wed, 08 Jul 2015 01:19:21 -0700
parents f81c4d3d774b
children 57e6d328d45b
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 from __future__ import division
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2 import itertools
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3 from rdflib import Namespace, RDF, URIRef, Literal
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4 import time
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5
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6 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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7 XSD = Namespace('http://www.w3.org/2001/XMLSchema#')
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8
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9 def readLine(read):
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10 buf = ''
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11 for c in iter(lambda: read(1), '\n'):
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12 buf += c
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13 return buf
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14
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15 class DeviceType(object):
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16 deviceType = None
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17 @classmethod
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18 def findInstances(cls, graph, board):
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19 """
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20 return any number of instances of this class for all the separately
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21 controlled devices on the board. Two LEDS makes two instances,
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22 but two sensors on the same onewire bus makes only one device
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23 (which yields more statements).
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24 """
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25 for row in graph.query("""SELECT ?dev ?pinNumber WHERE {
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26 ?board :hasPin ?pin .
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27 ?pin :pinNumber ?pinNumber;
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28 :connectedTo ?dev .
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29 ?dev a ?thisType .
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30 } ORDER BY ?dev""",
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31 initBindings=dict(board=board,
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32 thisType=cls.deviceType),
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33 initNs={'': ROOM}):
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34 yield cls(graph, row.dev, int(row.pinNumber))
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35
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36 # subclasses may add args to this
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37 def __init__(self, graph, uri, pinNumber):
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38 self.graph, self.uri = graph, uri
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39 self.pinNumber = pinNumber
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40
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41 def description(self):
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42 return {
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43 'uri': self.uri,
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44 'className': self.__class__.__name__,
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45 'pinNumber': self.pinNumber,
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46 'outputPatterns': self.outputPatterns(),
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47 'watchPrefixes': self.watchPrefixes(),
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48 'outputWidgets': self.outputWidgets(),
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49 }
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50
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51 def readFromPoll(self, read):
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52 """
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53 read an update message returned as part of a poll bundle. This may
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54 consume a varying number of bytes depending on the type of
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55 input (e.g. IR receiver).
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56 Returns rdf statements.
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57 """
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58 raise NotImplementedError('readFromPoll in %s' % self.__class__)
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59
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60 def watchPrefixes(self):
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61 """
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62 subj,pred pairs of the statements that might be returned from
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63 readFromPoll, so the dashboard knows what it should
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64 watch. This should be eliminated, as the dashboard should just
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65 always watch the whole tree of statements starting self.uri
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66 """
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67 return []
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68
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69 def generateIncludes(self):
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70 """filenames of .h files to #include"""
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71 return []
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72
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73 def generateArduinoLibs(self):
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74 """names of libraries for the ARDUINO_LIBS line in the makefile"""
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75 return []
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76
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77 def generateGlobalCode(self):
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78 """C code to emit in the global section.
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79
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80 Note that 'frame' (uint8) is available and increments each frame.
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81 """
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82 return ''
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83
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84 def generateSetupCode(self):
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85 """C code to emit in setup()"""
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86 return ''
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87
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88 def generateIdleCode(self):
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89 """C code to emit in the serial-read loop"""
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90 return ''
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91
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92 def generatePollCode(self):
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93 """
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94 C code to run a poll update. This should Serial.write its output
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95 for readFromPoll to consume. If this returns nothing, we don't
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96 try to poll this device.
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97 """
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98 return ''
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99
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100 def generateActionCode(self):
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101 """
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102 If the host side runs sendOutput, this C code will be run on the
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103 board to receive whatever sendOutput writes. Each sendOutput
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104 write(buf) call should be matched with len(buf) Serial.read()
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105 calls in here.
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106 """
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107 return ''
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108
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109 def outputPatterns(self):
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110 """
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111 Triple patterns, using None as a wildcard, that should be routed
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112 to sendOutput
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113 """
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114 return []
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115
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116 def outputWidgets(self):
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117 """
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118 structs to make output widgets on the dashboard. ~1 of these per
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119 handler you have in sendOutput
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120 """
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121 return []
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122
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123 def sendOutput(self, statements, write, read):
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124 """
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125 If we got statements that match this class's outputPatterns, this
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126 will be called with the statements that matched, and a serial
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127 write method. What you write here will be available as
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128 Serial.read in the generateActionCode C code.
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129
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130 Todo: it would be fine to read back confirmations or
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131 whatever. Just need a way to collect them into graph statements.
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132 """
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133 raise NotImplementedError
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134
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135 _knownTypes = set()
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136 def register(deviceType):
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137 _knownTypes.add(deviceType)
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138 return deviceType
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139
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140 @register
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141 class PingInput(DeviceType):
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142 @classmethod
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143 def findInstances(cls, graph, board):
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144 return [cls(graph, board, None)]
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145
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146 def generatePollCode(self):
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147 return "Serial.write('k');"
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148
164
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149 def readFromPoll(self, read):
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150 if read(1) != 'k':
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151 raise ValueError('invalid ping response')
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152 return [(self.uri, ROOM['ping'], ROOM['ok'])]
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153
170
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154 def watchPrefixes(self):
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155 return [(self.uri, ROOM['ping'])]
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156
166
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157 @register
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158 class MotionSensorInput(DeviceType):
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159 deviceType = ROOM['MotionSensor']
164
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160 def generateSetupCode(self):
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161 return 'pinMode(%(pin)d, INPUT); digitalWrite(%(pin)d, LOW);' % {
169
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162 'pin': self.pinNumber,
164
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163 }
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164
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165 def generatePollCode(self):
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166 return "Serial.write(digitalRead(%(pin)d) ? 'y' : 'n');" % {
169
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167 'pin': self.pinNumber
164
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168 }
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169
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170 def readFromPoll(self, read):
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171 b = read(1)
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172 if b not in 'yn':
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173 raise ValueError('unexpected response %r' % b)
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174 motion = b == 'y'
176
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175
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176 return [
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177 (self.uri, ROOM['sees'],
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178 ROOM['motion'] if motion else ROOM['noMotion']),
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179 self.recentMotionStatement(motion),
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180 ]
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181
176
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182 def recentMotionStatement(self, motion):
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183 if not hasattr(self, 'lastMotionTime'):
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184 self.lastMotionTime = 0
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185 now = time.time()
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186 if motion:
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187 self.lastMotionTime = now
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188 recentMotion = now - self.lastMotionTime < 60 * 10
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189 return (self.uri, ROOM['seesRecently'],
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190 ROOM['motion'] if recentMotion else ROOM['noMotion'])
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191
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192 def watchPrefixes(self):
176
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193 return [
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194 (self.uri, ROOM['sees']),
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195 (self.uri, ROOM['seesRecently']),
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196 ]
170
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197
166
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198 @register
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199 class OneWire(DeviceType):
170
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200 """
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201 A OW bus with temperature sensors (and maybe other devices, which
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202 are also to be handled under this object)
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203 """
166
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204 deviceType = ROOM['OneWire']
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205
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206 def generateIncludes(self):
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207 return ['OneWire.h', 'DallasTemperature.h']
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208
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209 def generateArduinoLibs(self):
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210 return ['OneWire', 'DallasTemperature']
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211
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212 def generateGlobalCode(self):
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213 # not yet isolated to support multiple OW buses
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214 return '''
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215 OneWire oneWire(%(pinNumber)s);
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216 DallasTemperature sensors(&oneWire);
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217 DeviceAddress tempSensorAddress;
169
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218 #define NUM_TEMPERATURE_RETRIES 2
166
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219
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220 void initSensors() {
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221 sensors.begin();
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222 sensors.getAddress(tempSensorAddress, 0);
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223 sensors.setResolution(tempSensorAddress, 12);
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224 }
169
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225 ''' % dict(pinNumber=self.pinNumber)
164
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226
166
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227 def generatePollCode(self):
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228 return r'''
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229 for (int i=0; i<NUM_TEMPERATURE_RETRIES; i++) {
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230 sensors.requestTemperatures();
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231 float newTemp = sensors.getTempF(tempSensorAddress);
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232 if (i < NUM_TEMPERATURE_RETRIES-1 &&
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233 (newTemp < -100 || newTemp > 180)) {
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234 // too many errors that were fixed by restarting arduino.
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235 // trying repeating this much init
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236 initSensors();
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237 continue;
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238 }
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239 Serial.print(newTemp);
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240 Serial.print('\n');
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241 Serial.print((char)i);
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242 break;
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243 }
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244 '''
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245
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246 def readFromPoll(self, read):
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247 newTemp = readLine(read)
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248 retries = ord(read(1))
170
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249 # uri will change; there could (likely) be multiple connected sensors
166
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250 return [
169
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251 (self.uri, ROOM['temperatureF'],
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252 Literal(newTemp, datatype=XSD['decimal'])),
166
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253 (self.uri, ROOM['temperatureRetries'], Literal(retries)),
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254 ]
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255
170
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256 def watchPrefixes(self):
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257 # these uris will become dynamic! see note on watchPrefixes
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258 # about eliminating it.
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259 return [(self.uri, ROOM['temperatureF']),
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260 (self.uri, ROOM['temperatureRetries']),
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261 ]
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262
169
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263 def byteFromFloat(f):
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264 return chr(int(min(255, max(0, f * 255))))
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265
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266 @register
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267 class LedOutput(DeviceType):
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268 deviceType = ROOM['LedOutput']
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269 def generateSetupCode(self):
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270 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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271 'pin': self.pinNumber,
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272 }
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273
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274 def outputPatterns(self):
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275 return [(self.uri, ROOM['brightness'], None)]
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276
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277 def sendOutput(self, statements, write, read):
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278 assert len(statements) == 1
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279 assert statements[0][:2] == (self.uri, ROOM['brightness'])
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280 value = float(statements[0][2])
172
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281 if (self.uri, RDF.type, ROOM['ActiveLowOutput']) in self.graph:
169
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282 value = 1 - value
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283 write(byteFromFloat(value))
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284
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285 def generateActionCode(self):
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286 return r'''
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287 while(Serial.available() < 1) NULL;
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288 analogWrite(%(pin)d, Serial.read());
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289 ''' % dict(pin=self.pinNumber)
170
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290
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291 def outputWidgets(self):
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292 return [{
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293 'element': 'output-slider',
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294 'min': 0,
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295 'max': 1,
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296 'step': 1 / 255,
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297 'subj': self.uri,
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298 'pred': ROOM['brightness'],
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299 }]
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300
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301 @register
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302 class DigitalOutput(DeviceType):
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303 deviceType = ROOM['DigitalOutput']
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304 def generateSetupCode(self):
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305 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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306 'pin': self.pinNumber,
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307 }
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308
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309 def outputPatterns(self):
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310 return [(self.uri, ROOM['level'], None)]
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311
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312 def sendOutput(self, statements, write, read):
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313 assert len(statements) == 1
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314 assert statements[0][:2] == (self.uri, ROOM['level'])
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315 value = {"high": 1, "low": 0}[str(statements[0][2])]
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316 write(chr(value))
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317
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318 def generateActionCode(self):
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319 return r'''
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320 while(Serial.available() < 1) NULL;
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321 digitalWrite(%(pin)d, Serial.read());
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322 ''' % dict(pin=self.pinNumber)
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323
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324 def outputWidgets(self):
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325 return [{
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326 'element': 'output-switch',
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327 'subj': self.uri,
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328 'pred': ROOM['level'],
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329 }]
169
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330
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331 @register
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332 class ST7576Lcd(DeviceType):
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333 deviceType = ROOM['ST7565Lcd']
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334 @classmethod
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335 def findInstances(cls, graph, board):
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336 grouped = itertools.groupby(
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337 graph.query("""SELECT DISTINCT ?dev ?pred ?pinNumber WHERE {
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338 ?board :hasPin ?pin .
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339 ?pin :pinNumber ?pinNumber;
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340 :connectedTo ?devPin .
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341 ?dev a :ST7565Lcd .
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342 ?dev ?pred ?devPin .
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343 } ORDER BY ?dev""",
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344 initBindings=dict(board=board,
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345 thisType=cls.deviceType),
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346 initNs={'': ROOM}),
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347 lambda row: row.dev)
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348 for dev, connections in grouped:
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349 connections = dict((role, int(num)) for unused_dev, role, num
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350 in connections)
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351 yield cls(graph, dev, connections=connections)
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352
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353 def __init__(self, graph, dev, connections):
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354 super(ST7576Lcd, self).__init__(graph, dev, pinNumber=None)
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355 self.connections = connections
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356
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357 def generateIncludes(self):
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358 return ['ST7565.h']
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359
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360 def generateArduinoLibs(self):
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361 return ['ST7565']
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362
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363 def generateGlobalCode(self):
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364 return '''
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365 ST7565 glcd(%(SID)d, %(SCLK)d, %(A0)d, %(RST)d, %(CS)d);
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366 char newtxt[21*8+1];
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367 unsigned int written;
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368 ''' % dict(SID=self.connections[ROOM['lcdSID']],
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369 SCLK=self.connections[ROOM['lcdSCLK']],
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370 A0=self.connections[ROOM['lcdA0']],
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371 RST=self.connections[ROOM['lcdRST']],
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372 CS=self.connections[ROOM['lcdCS']])
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373
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374 def generateSetupCode(self):
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375 return '''
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376 glcd.st7565_init();
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377 glcd.st7565_command(CMD_DISPLAY_ON);
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378 glcd.st7565_command(CMD_SET_ALLPTS_NORMAL);
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379 glcd.st7565_set_brightness(0x18);
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380
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381 glcd.display(); // show splashscreen
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382 '''
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383
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384 def outputPatterns(self):
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385 return [(self.uri, ROOM['text'], None)]
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386
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387 def sendOutput(self, statements, write, read):
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388 assert len(statements) == 1
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389 assert statements[0][:2] == (self.uri, ROOM['text'])
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390 value = str(statements[0][2])
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391 assert len(value) < 254, repr(value)
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392 write(chr(len(value)) + value)
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393
170
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394 def outputWidgets(self):
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395 return [{
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396 'element': 'output-fixed-text',
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397 'cols': 21,
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398 'rows': 8,
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399 'subj': self.uri,
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400 'pred': ROOM['text'],
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401 }]
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402
169
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403 def generateActionCode(self):
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404 return '''
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405 while(Serial.available() < 1) NULL;
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406 byte bufSize = Serial.read();
170
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407 for (byte i = 0; i < bufSize; ++i) {
169
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408 while(Serial.available() < 1) NULL;
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409 newtxt[i] = Serial.read();
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410 }
170
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411 for (byte i = bufSize; i < sizeof(newtxt); ++i) {
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412 newtxt[i] = 0;
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413 }
169
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414 glcd.clear();
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415 glcd.drawstring(0,0, newtxt);
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416 glcd.display();
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417 '''
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418
166
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419 def makeDevices(graph, board):
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420 out = []
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421 for dt in sorted(_knownTypes, key=lambda cls: cls.__name__):
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422 out.extend(dt.findInstances(graph, board))
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423 return out
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424