Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 214:254d656af72e
support a dir of config files
Ignore-this: 729d0aea065af5a0fac6b07653b1d3d2
| author | drewp@bigasterisk.com |
|---|---|
| date | Sun, 03 Jan 2016 02:27:17 -0800 |
| parents | 9c8674329a13 |
| children | f8ffb9d8d982 |
| 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 |
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17 import dotrender |
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18 import rdflib_patch |
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19 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 20 |
| 21 logging.basicConfig(level=logging.DEBUG) | |
| 22 | |
| 23 from loggingserial import LoggingSerial | |
| 24 | |
| 25 sys.path.append("/my/site/magma") | |
| 26 from stategraph import StateGraph | |
| 27 | |
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28 sys.path.append("/my/proj/room") |
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29 from carbondata import CarbonClient |
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30 |
| 164 | 31 log = logging.getLogger() |
| 32 logging.getLogger('serial').setLevel(logging.WARN) | |
| 33 | |
| 34 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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35 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 36 |
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37 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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38 |
| 164 | 39 class Config(object): |
| 40 def __init__(self): | |
| 41 self.graph = Graph() | |
| 42 log.info('read config') | |
| 214 | 43 for f in os.listdir('config'): |
| 44 if f.startswith('.'): continue | |
| 45 self.graph.parse('config/%s' % f, format='n3') | |
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46 self.graph.bind('', ROOM) # not working |
| 164 | 47 self.graph.bind('rdf', RDF) |
| 48 | |
| 49 def serialDevices(self): | |
| 50 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 51 """SELECT ?board ?dev WHERE { | |
| 52 ?board :device ?dev; | |
| 53 a :ArduinoBoard . | |
| 54 }""", initNs={'': ROOM})]) | |
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55 |
| 164 | 56 class Board(object): |
| 57 """an arduino connected to this computer""" | |
| 58 baudrate = 115200 | |
| 59 def __init__(self, dev, graph, uri, onChange): | |
| 60 """ | |
| 61 each connected thing has some pins. | |
| 62 | |
| 63 We'll call onChange when we know the currentGraph() has | |
| 64 changed (and not just in creation time). | |
| 65 """ | |
| 66 self.uri = uri | |
| 67 self.graph = graph | |
| 68 self.dev = dev | |
| 69 | |
| 70 # The order of this list needs to be consistent between the | |
| 71 # deployToArduino call and the poll call. | |
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72 self._devs = devices.makeDevices(graph, self.uri) |
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73 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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74 for devIndex, dev in enumerate(self._devs)) |
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75 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 76 |
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77 self._statementsFromInputs = {} # input device uri: latest statements |
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78 self._carbon = CarbonClient(serverHost='bang') |
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79 self.open() |
| 164 | 80 |
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81 def description(self): |
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82 """for web page""" |
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83 return { |
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84 'uri': self.uri, |
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85 'dev': self.dev, |
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86 'baudrate': self.baudrate, |
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87 'devices': [d.description() for d in self._devs], |
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88 'graph': 'http://%s6:9059/graph' % socket.gethostname(), #todo |
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89 } |
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90 |
| 164 | 91 def open(self): |
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92 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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93 timeout=2) |
| 164 | 94 |
| 95 def startPolling(self): | |
| 96 task.LoopingCall(self._poll).start(.5) | |
| 97 | |
| 98 def _poll(self): | |
| 99 """ | |
| 100 even boards with no inputs need some polling to see if they're | |
| 101 still ok | |
| 102 """ | |
| 103 try: | |
| 104 self._pollWork() | |
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105 except serial.SerialException: |
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106 reactor.crash() |
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107 raise |
| 164 | 108 except Exception as e: |
| 109 log.warn("poll: %r" % e) | |
| 110 | |
| 111 def _pollWork(self): | |
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112 t1 = time.time() |
| 164 | 113 self.ser.write("\x60\x00") |
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114 for i in self._polledDevs: |
| 164 | 115 self._statementsFromInputs[i.uri] = i.readFromPoll(self.ser.read) |
| 116 #plus statements about succeeding or erroring on the last poll | |
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117 byte = self.ser.read(1) |
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118 if byte != 'x': |
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119 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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120 elapsed = time.time() - t1 |
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121 if elapsed > 1.0: |
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122 log.warn('poll took %.1f seconds' % elapsed) |
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123 self._exportToGraphite() |
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124 |
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125 def _exportToGraphite(self): |
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126 # note this is writing way too often- graphite is storing at a lower res |
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127 now = time.time() |
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128 # objects of these statements are suitable as graphite values. |
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129 graphitePredicates = {ROOM['temperatureF']} |
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130 for s, graphiteName in self.graph.subject_objects(ROOM['graphiteName']): |
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131 for group in self._statementsFromInputs.values(): |
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132 for stmt in group: |
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133 if stmt[0] == s and stmt[1] in graphitePredicates: |
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134 self._carbon.send(graphiteName, stmt[2].toPython(), now) |
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135 |
| 164 | 136 |
| 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) | |
| 145 return g | |
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146 |
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147 def outputStatements(self, stmts): |
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148 unused = set(stmts) |
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149 for dev in self._devs: |
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150 stmtsForDev = [] |
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151 for pat in dev.outputPatterns(): |
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152 if [term is None for term in pat] != [False, False, True]: |
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153 raise NotImplementedError |
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154 for stmt in stmts: |
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155 if stmt[:2] == pat[:2]: |
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156 stmtsForDev.append(stmt) |
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157 unused.discard(stmt) |
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158 if stmtsForDev: |
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159 log.info("output goes to action handler for %s" % dev.uri) |
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160 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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161 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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162 if self.ser.read(1) != 'k': |
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163 raise ValueError( |
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164 "%s sendOutput/generateActionCode didn't use " |
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165 "matching output bytes" % dev.__class__) |
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166 log.info("success") |
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167 if unused: |
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168 log.warn("No devices cared about these statements:") |
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169 for s in unused: |
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170 log.warn(repr(s)) |
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171 |
| 164 | 172 def generateArduinoCode(self): |
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173 generated = { |
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174 'baudrate': self.baudrate, |
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175 'includes': '', |
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176 'global': '', |
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177 'setups': '', |
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178 'polls': '', |
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185
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179 'idles': '', |
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180 'actions': '', |
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181 } |
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182 for attr in ['includes', 'global', 'setups', 'polls', 'idles', |
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183 'actions']: |
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184 for dev in self._devs: |
|
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185 if attr == 'includes': |
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186 gen = '\n'.join('#include "%s"\n' % inc |
|
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187 for inc in dev.generateIncludes()) |
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188 elif attr == 'global': gen = dev.generateGlobalCode() |
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189 elif attr == 'setups': gen = dev.generateSetupCode() |
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190 elif attr == 'polls': gen = dev.generatePollCode() |
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191 elif attr == 'idles': gen = dev.generateIdleCode() |
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192 elif attr == 'actions': |
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193 code = dev.generateActionCode() |
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194 if code: |
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195 gen = '''else if (cmd == %(cmdNum)s) { |
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196 %(code)s |
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197 Serial.write('k'); |
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198 } |
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199 ''' % dict(cmdNum=self._devCommandNum[dev.uri], |
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200 code=code) |
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201 else: |
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202 gen = '' |
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203 else: |
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204 raise NotImplementedError |
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205 |
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206 if gen: |
| 192 | 207 generated[attr] += '// for %s\n%s\n' % (dev.uri, gen.strip()) |
| 164 | 208 |
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209 code = ''' |
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210 %(includes)s |
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211 |
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212 %(global)s |
|
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213 byte frame=0; |
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214 unsigned long lastFrame=0; |
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215 |
| 164 | 216 void setup() { |
| 217 Serial.begin(%(baudrate)d); | |
| 218 Serial.flush(); | |
|
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219 %(setups)s |
| 164 | 220 } |
| 221 | |
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222 void idle() { |
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223 // this slowdown is to spend somewhat less time PWMing, to reduce |
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224 // leaking from on channels to off ones (my shift register has no |
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225 // latching) |
| 192 | 226 if (micros() < lastFrame + 80) { |
|
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227 return; |
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228 } |
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229 lastFrame = micros(); |
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230 frame++; |
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231 %(idles)s |
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232 } |
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233 |
| 164 | 234 void loop() { |
| 235 byte head, cmd; | |
|
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236 idle(); |
| 164 | 237 if (Serial.available() >= 2) { |
| 238 head = Serial.read(); | |
| 239 if (head != 0x60) { | |
| 240 Serial.flush(); | |
| 241 return; | |
| 242 } | |
| 243 cmd = Serial.read(); | |
|
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244 if (cmd == 0x00) { // poll |
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245 %(polls)s |
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246 Serial.write('x'); |
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247 } else if (cmd == 0x01) { // get code checksum |
|
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248 Serial.write("CODE_CHECKSUM"); |
| 164 | 249 } |
|
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250 %(actions)s |
| 164 | 251 } |
| 252 } | |
| 253 ''' % generated | |
|
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254 try: |
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255 with tempfile.SpooledTemporaryFile() as codeFile: |
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256 codeFile.write(code) |
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257 codeFile.seek(0) |
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258 code = subprocess.check_output([ |
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259 'indent', |
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260 '-linux', |
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261 '-fc1', # ok to indent comments |
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262 '-i4', # 4-space indent |
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263 '-sob' # swallow blanks (not working) |
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264 ], stdin=codeFile) |
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265 except OSError as e: |
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266 log.warn("indent failed (%r)", e) |
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267 cksum = hashlib.sha1(code).hexdigest() |
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268 code = code.replace('CODE_CHECKSUM', cksum) |
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269 return code, cksum |
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270 |
|
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271 def _readBoardChecksum(self, length): |
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272 # this is likely right after reset, so it might take 2 seconds |
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273 for tries in range(6): |
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274 self.ser.write("\x60\x01") |
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275 try: |
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276 return self.ser.read(length) |
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277 except ValueError: |
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278 if tries == 5: |
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279 raise |
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280 time.sleep(.5) |
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281 raise ValueError |
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282 |
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283 def _boardIsCurrent(self, currentChecksum): |
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284 try: |
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285 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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286 if boardCksum == currentChecksum: |
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287 log.info("board has current code (%s)" % currentChecksum) |
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288 return True |
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289 else: |
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290 log.info("board responds with incorrect code version") |
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291 except Exception as e: |
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292 log.info("can't get code version from board: %r" % e) |
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293 return False |
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294 |
| 164 | 295 def deployToArduino(self): |
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296 code, cksum = self.generateArduinoCode() |
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297 |
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298 if self._boardIsCurrent(cksum): |
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299 return |
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300 |
| 164 | 301 try: |
| 302 if hasattr(self, 'ser'): | |
| 303 self.ser.close() | |
| 304 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 305 try: | |
| 306 self._arduinoMake(workDir, code) | |
| 307 finally: | |
| 308 shutil.rmtree(workDir) | |
| 309 finally: | |
| 310 self.open() | |
|
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311 |
| 164 | 312 def _arduinoMake(self, workDir, code): |
| 313 with open(workDir + '/makefile', 'w') as makefile: | |
| 314 makefile.write(''' | |
| 315 BOARD_TAG = %(tag)s | |
|
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316 USER_LIB_PATH := %(libs)s |
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317 ARDUINO_LIBS = %(arduinoLibs)s |
| 164 | 318 MONITOR_PORT = %(dev)s |
| 319 | |
| 320 include /usr/share/arduino/Arduino.mk | |
| 321 ''' % { | |
| 322 'dev': self.dev, | |
| 323 'tag': self.graph.value(self.uri, ROOM['boardTag']), | |
|
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324 'libs': os.path.abspath('arduino-libraries'), |
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325 'arduinoLibs': ' '.join(sum((d.generateArduinoLibs() |
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326 for d in self._devs), [])), |
| 164 | 327 }) |
| 328 | |
| 329 with open(workDir + '/main.ino', 'w') as main: | |
| 330 main.write(code) | |
| 331 | |
| 332 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 333 | |
| 334 | |
| 335 class GraphPage(cyclone.web.RequestHandler): | |
| 336 def get(self): | |
| 337 g = StateGraph(ctx=ROOM['arduinosOn%s' % 'host']) | |
| 338 | |
| 339 for b in self.settings.boards: | |
| 340 for stmt in b.currentGraph(): | |
| 341 g.add(stmt) | |
| 342 | |
| 343 if self.get_argument('config', 'no') == 'yes': | |
| 344 for stmt in self.settings.config.graph: | |
| 345 g.add(stmt) | |
| 346 | |
| 347 self.set_header('Content-type', 'application/x-trig') | |
| 348 self.write(g.asTrig()) | |
| 349 | |
| 350 class Dot(cyclone.web.RequestHandler): | |
| 351 def get(self): | |
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352 configGraph = self.settings.config.graph |
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353 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 354 self.write(dot) |
| 355 | |
| 356 class ArduinoCode(cyclone.web.RequestHandler): | |
| 357 def get(self): | |
| 358 board = [b for b in self.settings.boards if | |
| 359 b.uri == URIRef(self.get_argument('board'))][0] | |
| 360 self.set_header('Content-type', 'text/plain') | |
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361 code, cksum = board.generateArduinoCode() |
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362 self.write(code) |
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363 |
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364 def rdfGraphBody(body, headers): |
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365 g = Graph() |
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366 g.parse(StringInputSource(body), format='nt') |
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367 return g |
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368 |
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369 class OutputPage(cyclone.web.RequestHandler): |
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370 def post(self): |
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371 # for old ui; use PUT instead |
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372 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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373 for b in self.settings.boards: |
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374 b.outputStatements(stmts) |
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375 |
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376 def put(self): |
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377 subj = URIRef(self.get_argument('s')) |
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378 pred = URIRef(self.get_argument('p')) |
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379 |
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380 turtleLiteral = self.request.body |
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381 try: |
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382 obj = Literal(float(turtleLiteral)) |
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383 except ValueError: |
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384 obj = Literal(turtleLiteral) |
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385 |
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386 stmt = (subj, pred, obj) |
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387 for b in self.settings.boards: |
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388 b.outputStatements([stmt]) |
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389 |
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390 |
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391 class Boards(cyclone.web.RequestHandler): |
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392 def get(self): |
| 164 | 393 |
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394 self.set_header('Content-type', 'application/json') |
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395 self.write(json.dumps({ |
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396 'boards': [b.description() for b in self.settings.boards] |
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397 }, indent=2)) |
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398 |
| 164 | 399 def currentSerialDevices(): |
| 400 log.info('find connected boards') | |
| 401 return glob.glob('/dev/serial/by-id/*') | |
| 402 | |
| 403 def main(): | |
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404 arg = docopt(""" |
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405 Usage: reasoning.py [options] |
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406 |
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407 -v Verbose |
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408 """) |
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409 log.setLevel(logging.WARN) |
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410 if arg['-v']: |
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411 from twisted.python import log as twlog |
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412 twlog.startLogging(sys.stdout) |
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413 |
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414 log.setLevel(logging.DEBUG) |
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415 |
| 164 | 416 config = Config() |
| 417 current = currentSerialDevices() | |
| 418 | |
| 419 def onChange(): | |
| 420 # notify reasoning | |
| 421 pass | |
| 422 | |
| 423 boards = [] | |
| 424 for dev, board in config.serialDevices().items(): | |
| 425 if str(dev) not in current: | |
| 426 continue | |
| 427 log.info("we have board %s connected at %s" % (board, dev)) | |
| 428 b = Board(dev, config.graph, board, onChange) | |
| 429 boards.append(b) | |
| 430 | |
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431 boards[0].deployToArduino() |
| 164 | 432 |
| 433 log.info('open boards') | |
| 434 for b in boards: | |
| 435 b.startPolling() | |
| 436 | |
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437 |
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438 app = cyclone.web.Application([ |
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439 (r"/()", cyclone.web.StaticFileHandler, { |
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440 "path": "static", "default_filename": "index.html"}), |
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441 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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442 (r'/boards', Boards), |
| 164 | 443 (r"/graph", GraphPage), |
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444 (r'/output', OutputPage), |
| 164 | 445 (r'/arduinoCode', ArduinoCode), |
| 446 (r'/dot', Dot), | |
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447 ], config=config, boards=boards) |
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448 reactor.listenTCP(9059, app, interface='::') |
| 164 | 449 reactor.run() |
| 450 | |
| 451 main() |