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annotate service/arduinoNode/devices.py @ 170:376599552a4c

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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 715c1c42185e
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
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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
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5 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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6 XSD = Namespace('http://www.w3.org/2001/XMLSchema#')
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7
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8 def readLine(read):
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9 buf = ''
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10 for c in iter(lambda: read(1), '\n'):
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11 buf += c
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12 return buf
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13
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14 class DeviceType(object):
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15 deviceType = None
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16 @classmethod
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17 def findInstances(cls, graph, board):
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18 """
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19 return any number of instances of this class for all the separately
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20 controlled devices on the board. Two LEDS makes two instances,
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21 but two sensors on the same onewire bus makes only one device
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22 (which yields more statements).
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23 """
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24 for row in graph.query("""SELECT ?dev ?pinNumber WHERE {
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25 ?board :hasPin ?pin .
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26 ?pin :pinNumber ?pinNumber;
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27 :connectedTo ?dev .
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28 ?dev a ?thisType .
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29 } ORDER BY ?dev""",
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30 initBindings=dict(board=board,
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31 thisType=cls.deviceType),
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32 initNs={'': ROOM}):
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33 yield cls(graph, row.dev, int(row.pinNumber))
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34
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35 # subclasses may add args to this
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36 def __init__(self, graph, uri, pinNumber):
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37 self.graph, self.uri = graph, uri
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38 self.pinNumber = pinNumber
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39
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40 def description(self):
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41 return {
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42 'uri': self.uri,
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43 'className': self.__class__.__name__,
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44 'pinNumber': self.pinNumber,
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45 'outputPatterns': self.outputPatterns(),
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46 'watchPrefixes': self.watchPrefixes(),
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47 'outputWidgets': self.outputWidgets(),
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48 }
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49
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50 def readFromPoll(self, read):
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51 """
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52 read an update message returned as part of a poll bundle. This may
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53 consume a varying number of bytes depending on the type of
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54 input (e.g. IR receiver).
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55 Returns rdf statements.
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56 """
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57 raise NotImplementedError('readFromPoll in %s' % self.__class__)
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58
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59 def watchPrefixes(self):
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60 """
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61 subj,pred pairs of the statements that might be returned from
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62 readFromPoll, so the dashboard knows what it should
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63 watch. This should be eliminated, as the dashboard should just
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64 always watch the whole tree of statements starting self.uri
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65 """
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66 return []
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67
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68 def generateIncludes(self):
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69 """filenames of .h files to #include"""
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70 return []
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71
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72 def generateArduinoLibs(self):
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73 """names of libraries for the ARDUINO_LIBS line in the makefile"""
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74 return []
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75
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76 def generateGlobalCode(self):
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77 """C code to emit in the global section"""
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78 return ''
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79
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80 def generateSetupCode(self):
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81 """C code to emit in setup()"""
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82 return ''
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83
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84 def generatePollCode(self):
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85 """
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86 C code to run a poll update. This should Serial.write its output
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87 for readFromPoll to consume. If this returns nothing, we don't
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88 try to poll this device.
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89 """
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90 return ''
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91
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92 def generateActionCode(self):
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93 """
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94 If the host side runs sendOutput, this C code will be run on the
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95 board to receive whatever sendOutput writes. Each sendOutput
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96 write(buf) call should be matched with len(buf) Serial.read()
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97 calls in here.
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98 """
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99 return ''
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100
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101 def outputPatterns(self):
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102 """
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103 Triple patterns, using None as a wildcard, that should be routed
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104 to sendOutput
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105 """
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106 return []
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107
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108 def outputWidgets(self):
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109 """
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110 structs to make output widgets on the dashboard. ~1 of these per
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111 handler you have in sendOutput
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112 """
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113 return []
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114
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115 def sendOutput(self, statements, write, read):
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116 """
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117 If we got statements that match this class's outputPatterns, this
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118 will be called with the statements that matched, and a serial
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119 write method. What you write here will be available as
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120 Serial.read in the generateActionCode C code.
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121
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122 Todo: it would be fine to read back confirmations or
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123 whatever. Just need a way to collect them into graph statements.
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124 """
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125 raise NotImplementedError
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126
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127 _knownTypes = set()
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128 def register(deviceType):
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129 _knownTypes.add(deviceType)
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130 return deviceType
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131
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132 @register
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133 class PingInput(DeviceType):
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134 @classmethod
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135 def findInstances(cls, graph, board):
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136 return [cls(graph, board, None)]
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137
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138 def generatePollCode(self):
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139 return "Serial.write('k');"
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140
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141 def readFromPoll(self, read):
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142 if read(1) != 'k':
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143 raise ValueError('invalid ping response')
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144 return [(self.uri, ROOM['ping'], ROOM['ok'])]
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145
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146 def watchPrefixes(self):
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147 return [(self.uri, ROOM['ping'])]
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148
166
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149 @register
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150 class MotionSensorInput(DeviceType):
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151 deviceType = ROOM['MotionSensor']
164
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152 def generateSetupCode(self):
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153 return 'pinMode(%(pin)d, INPUT); digitalWrite(%(pin)d, LOW);' % {
169
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154 'pin': self.pinNumber,
164
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155 }
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156
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157 def generatePollCode(self):
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158 return "Serial.write(digitalRead(%(pin)d) ? 'y' : 'n');" % {
169
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159 'pin': self.pinNumber
164
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160 }
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161
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162 def readFromPoll(self, read):
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163 b = read(1)
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164 if b not in 'yn':
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165 raise ValueError('unexpected response %r' % b)
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166 motion = b == 'y'
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167 return [(self.uri, ROOM['sees'],
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168 ROOM['motion'] if motion else ROOM['noMotion'])]
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169
170
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170 def watchPrefixes(self):
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171 return [(self.uri, ROOM['sees'])]
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172
166
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173 @register
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174 class OneWire(DeviceType):
170
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175 """
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176 A OW bus with temperature sensors (and maybe other devices, which
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177 are also to be handled under this object)
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178 """
166
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179 deviceType = ROOM['OneWire']
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180
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181 def generateIncludes(self):
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182 return ['OneWire.h', 'DallasTemperature.h']
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183
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184 def generateArduinoLibs(self):
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185 return ['OneWire', 'DallasTemperature']
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186
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187 def generateGlobalCode(self):
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188 # not yet isolated to support multiple OW buses
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189 return '''
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190 OneWire oneWire(%(pinNumber)s);
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191 DallasTemperature sensors(&oneWire);
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192 DeviceAddress tempSensorAddress;
169
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193 #define NUM_TEMPERATURE_RETRIES 2
166
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194
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195 void initSensors() {
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196 sensors.begin();
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197 sensors.getAddress(tempSensorAddress, 0);
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198 sensors.setResolution(tempSensorAddress, 12);
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199 }
169
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200 ''' % dict(pinNumber=self.pinNumber)
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201
166
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202 def generatePollCode(self):
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203 return r'''
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204 for (int i=0; i<NUM_TEMPERATURE_RETRIES; i++) {
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205 sensors.requestTemperatures();
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206 float newTemp = sensors.getTempF(tempSensorAddress);
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207 if (i < NUM_TEMPERATURE_RETRIES-1 &&
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208 (newTemp < -100 || newTemp > 180)) {
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209 // too many errors that were fixed by restarting arduino.
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210 // trying repeating this much init
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211 initSensors();
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212 continue;
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213 }
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214 Serial.print(newTemp);
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215 Serial.print('\n');
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216 Serial.print((char)i);
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217 break;
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218 }
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219 '''
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220
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221 def readFromPoll(self, read):
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222 newTemp = readLine(read)
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223 retries = ord(read(1))
170
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224 # uri will change; there could (likely) be multiple connected sensors
166
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225 return [
169
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226 (self.uri, ROOM['temperatureF'],
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227 Literal(newTemp, datatype=XSD['decimal'])),
166
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228 (self.uri, ROOM['temperatureRetries'], Literal(retries)),
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229 ]
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230
170
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231 def watchPrefixes(self):
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232 # these uris will become dynamic! see note on watchPrefixes
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233 # about eliminating it.
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234 return [(self.uri, ROOM['temperatureF']),
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235 (self.uri, ROOM['temperatureRetries']),
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236 ]
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237
169
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238 def byteFromFloat(f):
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239 return chr(int(min(255, max(0, f * 255))))
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240
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241 @register
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242 class LedOutput(DeviceType):
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243 deviceType = ROOM['LedOutput']
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244 def generateSetupCode(self):
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245 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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246 'pin': self.pinNumber,
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247 }
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248
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249 def outputPatterns(self):
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250 return [(self.uri, ROOM['brightness'], None)]
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251
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252 def sendOutput(self, statements, write, read):
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253 assert len(statements) == 1
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254 assert statements[0][:2] == (self.uri, ROOM['brightness'])
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255 value = float(statements[0][2])
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256 if (self.uri, RDF.type, ROOM['ActiveLowOutput']):
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257 value = 1 - value
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258 write(byteFromFloat(value))
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259
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260 def generateActionCode(self):
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261 return r'''
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262 while(Serial.available() < 1) NULL;
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263 analogWrite(%(pin)d, Serial.read());
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264 ''' % dict(pin=self.pinNumber)
170
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265
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266 def outputWidgets(self):
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267 return [{
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268 'element': 'output-slider',
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269 'min': 0,
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270 'max': 1,
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271 'step': 1 / 255,
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272 'subj': self.uri,
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273 'pred': ROOM['brightness'],
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274 }]
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275
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276 @register
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277 class DigitalOutput(DeviceType):
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278 deviceType = ROOM['DigitalOutput']
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279 def generateSetupCode(self):
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280 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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281 'pin': self.pinNumber,
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282 }
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283
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284 def outputPatterns(self):
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285 return [(self.uri, ROOM['level'], None)]
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286
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287 def sendOutput(self, statements, write, read):
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288 assert len(statements) == 1
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289 assert statements[0][:2] == (self.uri, ROOM['level'])
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290 value = {"high": 1, "low": 0}[str(statements[0][2])]
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291 write(chr(value))
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292
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293 def generateActionCode(self):
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294 return r'''
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295 while(Serial.available() < 1) NULL;
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296 digitalWrite(%(pin)d, Serial.read());
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297 ''' % dict(pin=self.pinNumber)
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298
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299 def outputWidgets(self):
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300 return [{
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301 'element': 'output-switch',
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302 'subj': self.uri,
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303 'pred': ROOM['level'],
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304 }]
169
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305
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306 @register
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307 class ST7576Lcd(DeviceType):
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308 deviceType = ROOM['ST7565Lcd']
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309 @classmethod
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310 def findInstances(cls, graph, board):
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311 grouped = itertools.groupby(
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312 graph.query("""SELECT DISTINCT ?dev ?pred ?pinNumber WHERE {
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313 ?board :hasPin ?pin .
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314 ?pin :pinNumber ?pinNumber;
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315 :connectedTo ?devPin .
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316 ?dev a :ST7565Lcd .
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317 ?dev ?pred ?devPin .
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318 } ORDER BY ?dev""",
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319 initBindings=dict(board=board,
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320 thisType=cls.deviceType),
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321 initNs={'': ROOM}),
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322 lambda row: row.dev)
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323 for dev, connections in grouped:
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324 connections = dict((role, int(num)) for unused_dev, role, num
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325 in connections)
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326 yield cls(graph, dev, connections=connections)
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327
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328 def __init__(self, graph, dev, connections):
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329 super(ST7576Lcd, self).__init__(graph, dev, pinNumber=None)
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330 self.connections = connections
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331
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332 def generateIncludes(self):
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333 return ['ST7565.h']
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334
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335 def generateArduinoLibs(self):
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336 return ['ST7565']
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337
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338 def generateGlobalCode(self):
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339 return '''
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340 ST7565 glcd(%(SID)d, %(SCLK)d, %(A0)d, %(RST)d, %(CS)d);
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341 char newtxt[21*8+1];
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342 unsigned int written;
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343 ''' % dict(SID=self.connections[ROOM['lcdSID']],
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344 SCLK=self.connections[ROOM['lcdSCLK']],
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345 A0=self.connections[ROOM['lcdA0']],
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346 RST=self.connections[ROOM['lcdRST']],
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347 CS=self.connections[ROOM['lcdCS']])
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348
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349 def generateSetupCode(self):
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350 return '''
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351 glcd.st7565_init();
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352 glcd.st7565_command(CMD_DISPLAY_ON);
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353 glcd.st7565_command(CMD_SET_ALLPTS_NORMAL);
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354 glcd.st7565_set_brightness(0x18);
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355
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356 glcd.display(); // show splashscreen
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357 '''
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358
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359 def outputPatterns(self):
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360 return [(self.uri, ROOM['text'], None)]
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361
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362 def sendOutput(self, statements, write, read):
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363 assert len(statements) == 1
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364 assert statements[0][:2] == (self.uri, ROOM['text'])
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365 value = str(statements[0][2])
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366 assert len(value) < 254, repr(value)
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367 write(chr(len(value)) + value)
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368
170
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369 def outputWidgets(self):
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370 return [{
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371 'element': 'output-fixed-text',
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372 'cols': 21,
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373 'rows': 8,
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374 'subj': self.uri,
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375 'pred': ROOM['text'],
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376 }]
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377
169
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378 def generateActionCode(self):
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379 return '''
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380 while(Serial.available() < 1) NULL;
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381 byte bufSize = Serial.read();
170
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382 for (byte i = 0; i < bufSize; ++i) {
169
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383 while(Serial.available() < 1) NULL;
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384 newtxt[i] = Serial.read();
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385 }
170
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386 for (byte i = bufSize; i < sizeof(newtxt); ++i) {
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387 newtxt[i] = 0;
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388 }
169
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389 glcd.clear();
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390 glcd.drawstring(0,0, newtxt);
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391 glcd.display();
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392 '''
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393
166
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394 def makeDevices(graph, board):
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395 out = []
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396 for dt in sorted(_knownTypes, key=lambda cls: cls.__name__):
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397 out.extend(dt.findInstances(graph, board))
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398 return out
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399