Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 170:376599552a4c
polymer board debug page with working output widgets
Ignore-this: 3157d0c47a91afe47b30a5f182629d93
| author | drewp@bigasterisk.com |
|---|---|
| date | Mon, 13 Apr 2015 23:30:12 -0700 |
| parents | d228105749ac |
| children | f81c4d3d774b |
| 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 |
| 164 | 15 import devices |
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16 import dotrender |
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17 import rdflib_patch |
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18 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 19 |
| 20 logging.basicConfig(level=logging.DEBUG) | |
| 21 | |
| 22 from loggingserial import LoggingSerial | |
| 23 | |
| 24 sys.path.append("/my/site/magma") | |
| 25 from stategraph import StateGraph | |
| 26 | |
| 27 log = logging.getLogger() | |
| 28 logging.getLogger('serial').setLevel(logging.WARN) | |
| 29 | |
| 30 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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31 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 32 |
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33 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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34 |
| 164 | 35 class Config(object): |
| 36 def __init__(self): | |
| 37 self.graph = Graph() | |
| 38 log.info('read config') | |
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39 self.graph.parse('config.n3', format='n3') |
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40 self.graph.bind('', ROOM) # not working |
| 164 | 41 self.graph.bind('rdf', RDF) |
| 42 | |
| 43 def serialDevices(self): | |
| 44 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 45 """SELECT ?board ?dev WHERE { | |
| 46 ?board :device ?dev; | |
| 47 a :ArduinoBoard . | |
| 48 }""", initNs={'': ROOM})]) | |
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49 |
| 164 | 50 class Board(object): |
| 51 """an arduino connected to this computer""" | |
| 52 baudrate = 115200 | |
| 53 def __init__(self, dev, graph, uri, onChange): | |
| 54 """ | |
| 55 each connected thing has some pins. | |
| 56 | |
| 57 We'll call onChange when we know the currentGraph() has | |
| 58 changed (and not just in creation time). | |
| 59 """ | |
| 60 self.uri = uri | |
| 61 self.graph = graph | |
| 62 self.dev = dev | |
| 63 | |
| 64 # The order of this list needs to be consistent between the | |
| 65 # deployToArduino call and the poll call. | |
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66 self._devs = devices.makeDevices(graph, self.uri) |
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67 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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68 for devIndex, dev in enumerate(self._devs)) |
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69 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 70 |
| 71 self._statementsFromInputs = {} # input uri: latest statements | |
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72 |
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73 self.open() |
| 164 | 74 |
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75 def description(self): |
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76 """for web page""" |
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77 return { |
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78 'uri': self.uri, |
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79 'dev': self.dev, |
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80 'baudrate': self.baudrate, |
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81 'devices': [d.description() for d in self._devs], |
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82 } |
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83 |
| 164 | 84 def open(self): |
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85 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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86 timeout=2) |
| 164 | 87 |
| 88 def startPolling(self): | |
| 89 task.LoopingCall(self._poll).start(.5) | |
| 90 | |
| 91 def _poll(self): | |
| 92 """ | |
| 93 even boards with no inputs need some polling to see if they're | |
| 94 still ok | |
| 95 """ | |
| 96 try: | |
| 97 self._pollWork() | |
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98 except serial.SerialException: |
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99 reactor.crash() |
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100 raise |
| 164 | 101 except Exception as e: |
| 102 log.warn("poll: %r" % e) | |
| 103 | |
| 104 def _pollWork(self): | |
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105 t1 = time.time() |
| 164 | 106 self.ser.write("\x60\x00") |
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107 for i in self._polledDevs: |
| 164 | 108 self._statementsFromInputs[i.uri] = i.readFromPoll(self.ser.read) |
| 109 #plus statements about succeeding or erroring on the last poll | |
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110 byte = self.ser.read(1) |
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111 if byte != 'x': |
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112 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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113 elapsed = time.time() - t1 |
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114 if elapsed > 1.0: |
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115 log.warn('poll took %.1f seconds' % elapsed) |
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116 |
| 164 | 117 |
| 118 def currentGraph(self): | |
| 119 g = Graph() | |
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120 |
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121 g.add((HOST[socket.gethostname()], ROOM['connectedTo'], self.uri)) |
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122 |
| 164 | 123 for si in self._statementsFromInputs.values(): |
| 124 for s in si: | |
| 125 g.add(s) | |
| 126 return g | |
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127 |
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128 def outputStatements(self, stmts): |
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129 unused = set(stmts) |
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130 for dev in self._devs: |
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131 stmtsForDev = [] |
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132 for pat in dev.outputPatterns(): |
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133 if [term is None for term in pat] != [False, False, True]: |
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134 raise NotImplementedError |
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135 for stmt in stmts: |
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136 if stmt[:2] == pat[:2]: |
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137 stmtsForDev.append(stmt) |
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138 unused.discard(stmt) |
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139 if stmtsForDev: |
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140 log.info("output goes to action handler for %s" % dev.uri) |
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141 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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142 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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143 if self.ser.read(1) != 'k': |
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144 raise ValueError( |
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145 "%s sendOutput/generateActionCode didn't use " |
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146 "matching output bytes" % dev.__class__) |
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147 log.info("success") |
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148 if unused: |
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149 log.warn("No devices cared about these statements:") |
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150 for s in unused: |
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151 log.warn(repr(s)) |
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152 |
| 164 | 153 def generateArduinoCode(self): |
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154 generated = { |
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155 'baudrate': self.baudrate, |
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156 'includes': '', |
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157 'global': '', |
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158 'setups': '', |
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159 'polls': '', |
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160 'actions': '', |
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161 } |
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162 for attr in ['includes', 'global', 'setups', 'polls', 'actions']: |
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163 for dev in self._devs: |
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164 if attr == 'includes': |
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165 gen = '\n'.join('#include "%s"\n' % inc |
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166 for inc in dev.generateIncludes()) |
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167 elif attr == 'global': gen = dev.generateGlobalCode() |
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168 elif attr == 'setups': gen = dev.generateSetupCode() |
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169 elif attr == 'polls': gen = dev.generatePollCode() |
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170 elif attr == 'actions': |
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171 code = dev.generateActionCode() |
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172 if code: |
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173 gen = '''else if (cmd == %(cmdNum)s) { |
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174 %(code)s |
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175 Serial.write('k'); |
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176 } |
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177 ''' % dict(cmdNum=self._devCommandNum[dev.uri], |
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178 code=code) |
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179 else: |
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180 gen = '' |
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181 else: |
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182 raise NotImplementedError |
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183 |
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184 if gen: |
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185 generated[attr] += '// for %s\n%s\n' % (dev.uri, gen) |
| 164 | 186 |
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187 code = ''' |
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188 %(includes)s |
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189 |
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190 %(global)s |
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191 |
| 164 | 192 void setup() { |
| 193 Serial.begin(%(baudrate)d); | |
| 194 Serial.flush(); | |
|
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195 %(setups)s |
| 164 | 196 } |
| 197 | |
| 198 void loop() { | |
| 199 byte head, cmd; | |
| 200 if (Serial.available() >= 2) { | |
| 201 head = Serial.read(); | |
| 202 if (head != 0x60) { | |
| 203 Serial.flush(); | |
| 204 return; | |
| 205 } | |
| 206 cmd = Serial.read(); | |
|
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207 if (cmd == 0x00) { // poll |
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208 %(polls)s |
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209 Serial.write('x'); |
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210 } else if (cmd == 0x01) { // get code checksum |
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211 Serial.write("CODE_CHECKSUM"); |
| 164 | 212 } |
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213 %(actions)s |
| 164 | 214 } |
| 215 } | |
| 216 ''' % generated | |
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217 try: |
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218 with tempfile.SpooledTemporaryFile() as codeFile: |
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219 codeFile.write(code) |
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220 codeFile.seek(0) |
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221 code = subprocess.check_output([ |
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222 'indent', |
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223 '-linux', |
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224 '-fc1', # ok to indent comments |
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225 '-i4', # 4-space indent |
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226 '-sob' # swallow blanks (not working) |
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227 ], stdin=codeFile) |
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228 except OSError as e: |
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229 log.warn("indent failed (%r)", e) |
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230 cksum = hashlib.sha1(code).hexdigest() |
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231 code = code.replace('CODE_CHECKSUM', cksum) |
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232 return code, cksum |
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233 |
|
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234 def _readBoardChecksum(self, length): |
|
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235 # this is likely right after reset, so it might take 2 seconds |
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236 for tries in range(6): |
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237 self.ser.write("\x60\x01") |
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238 try: |
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239 return self.ser.read(length) |
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240 except ValueError: |
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241 if tries == 5: |
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242 raise |
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243 time.sleep(.5) |
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244 raise ValueError |
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245 |
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246 def _boardIsCurrent(self, currentChecksum): |
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247 try: |
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248 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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249 if boardCksum == currentChecksum: |
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250 log.info("board has current code (%s)" % currentChecksum) |
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251 return True |
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252 else: |
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253 log.info("board responds with incorrect code version") |
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254 except Exception as e: |
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255 log.info("can't get code version from board: %r" % e) |
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256 return False |
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257 |
| 164 | 258 def deployToArduino(self): |
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259 code, cksum = self.generateArduinoCode() |
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260 |
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261 if self._boardIsCurrent(cksum): |
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262 return |
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263 |
| 164 | 264 try: |
| 265 if hasattr(self, 'ser'): | |
| 266 self.ser.close() | |
| 267 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 268 try: | |
| 269 self._arduinoMake(workDir, code) | |
| 270 finally: | |
| 271 shutil.rmtree(workDir) | |
| 272 finally: | |
| 273 self.open() | |
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274 |
| 164 | 275 def _arduinoMake(self, workDir, code): |
| 276 with open(workDir + '/makefile', 'w') as makefile: | |
| 277 makefile.write(''' | |
| 278 BOARD_TAG = %(tag)s | |
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279 USER_LIB_PATH := %(libs)s |
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280 ARDUINO_LIBS = %(arduinoLibs)s |
| 164 | 281 MONITOR_PORT = %(dev)s |
| 282 | |
| 283 include /usr/share/arduino/Arduino.mk | |
| 284 ''' % { | |
| 285 'dev': self.dev, | |
| 286 'tag': self.graph.value(self.uri, ROOM['boardTag']), | |
|
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287 'libs': os.path.abspath('arduino-libraries'), |
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288 'arduinoLibs': ' '.join(sum((d.generateArduinoLibs() |
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289 for d in self._devs), [])), |
| 164 | 290 }) |
| 291 | |
| 292 with open(workDir + '/main.ino', 'w') as main: | |
| 293 main.write(code) | |
| 294 | |
| 295 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 296 | |
| 297 | |
| 298 class GraphPage(cyclone.web.RequestHandler): | |
| 299 def get(self): | |
| 300 g = StateGraph(ctx=ROOM['arduinosOn%s' % 'host']) | |
| 301 | |
| 302 for b in self.settings.boards: | |
| 303 for stmt in b.currentGraph(): | |
| 304 g.add(stmt) | |
| 305 | |
| 306 if self.get_argument('config', 'no') == 'yes': | |
| 307 for stmt in self.settings.config.graph: | |
| 308 g.add(stmt) | |
| 309 | |
| 310 self.set_header('Content-type', 'application/x-trig') | |
| 311 self.write(g.asTrig()) | |
| 312 | |
| 313 class Dot(cyclone.web.RequestHandler): | |
| 314 def get(self): | |
|
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315 configGraph = self.settings.config.graph |
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316 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 317 self.write(dot) |
| 318 | |
| 319 class ArduinoCode(cyclone.web.RequestHandler): | |
| 320 def get(self): | |
| 321 board = [b for b in self.settings.boards if | |
| 322 b.uri == URIRef(self.get_argument('board'))][0] | |
| 323 self.set_header('Content-type', 'text/plain') | |
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324 code, cksum = board.generateArduinoCode() |
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325 self.write(code) |
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326 |
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327 def rdfGraphBody(body, headers): |
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328 g = Graph() |
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329 g.parse(StringInputSource(body), format='nt') |
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330 return g |
| 164 | 331 |
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332 class OutputPage(cyclone.web.RequestHandler): |
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333 def post(self): |
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334 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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335 for b in self.settings.boards: |
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336 b.outputStatements(stmts) |
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337 |
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338 class Boards(cyclone.web.RequestHandler): |
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339 def get(self): |
| 164 | 340 |
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341 self.set_header('Content-type', 'application/json') |
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342 self.write(json.dumps({ |
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343 'boards': [b.description() for b in self.settings.boards] |
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344 }, indent=2)) |
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345 |
| 164 | 346 def currentSerialDevices(): |
| 347 log.info('find connected boards') | |
| 348 return glob.glob('/dev/serial/by-id/*') | |
| 349 | |
| 350 def main(): | |
| 351 config = Config() | |
| 352 current = currentSerialDevices() | |
| 353 | |
| 354 def onChange(): | |
| 355 # notify reasoning | |
| 356 pass | |
| 357 | |
| 358 boards = [] | |
| 359 for dev, board in config.serialDevices().items(): | |
| 360 if str(dev) not in current: | |
| 361 continue | |
| 362 log.info("we have board %s connected at %s" % (board, dev)) | |
| 363 b = Board(dev, config.graph, board, onChange) | |
| 364 boards.append(b) | |
| 365 | |
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366 boards[0].deployToArduino() |
| 164 | 367 |
| 368 log.info('open boards') | |
| 369 for b in boards: | |
| 370 b.startPolling() | |
| 371 | |
| 372 from twisted.python import log as twlog | |
| 373 twlog.startLogging(sys.stdout) | |
| 374 | |
| 375 log.setLevel(logging.DEBUG) | |
| 376 reactor.listenTCP(9059, cyclone.web.Application([ | |
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376599552a4c
polymer board debug page with working output widgets
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377 (r"/()", cyclone.web.StaticFileHandler, { |
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376599552a4c
polymer board debug page with working output widgets
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378 "path": "static", "default_filename": "index.html"}), |
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376599552a4c
polymer board debug page with working output widgets
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parents:
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379 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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376599552a4c
polymer board debug page with working output widgets
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parents:
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380 (r'/boards', Boards), |
| 164 | 381 (r"/graph", GraphPage), |
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169
d228105749ac
new /output to post statements which devices can handle. led and lcd output working
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382 (r'/output', OutputPage), |
| 164 | 383 (r'/arduinoCode', ArduinoCode), |
| 384 (r'/dot', Dot), | |
| 385 ], config=config, boards=boards)) | |
| 386 reactor.run() | |
| 387 | |
| 388 main() |