Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 972:5f1bbec24d45
config: new arduino board with temp and lcd
Ignore-this: 7b3143060e68e46a42f3ed56839c5a46
darcs-hash:20150411084551-312f9-0a8ac83f96de3ced042de539a3a36b2ecd33ddb7
| author | drewp <drewp@bigasterisk.com> |
|---|---|
| date | Sat, 11 Apr 2015 01:45:51 -0700 |
| parents | fbe72d44f15a |
| children | d228105749ac |
| rev | line source |
|---|---|
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1 """ |
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2 depends on arduino-mk |
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3 """ |
| 969 | 4 import shutil |
| 5 import tempfile | |
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6 import glob, sys, logging, subprocess, socket, os, hashlib, time |
| 969 | 7 import cyclone.web |
| 8 from rdflib import Graph, Namespace, URIRef, Literal, RDF | |
| 9 from twisted.internet import reactor, task | |
| 10 import devices | |
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11 import dotrender |
| 969 | 12 |
| 13 logging.basicConfig(level=logging.DEBUG) | |
| 14 | |
| 15 from loggingserial import LoggingSerial | |
| 16 | |
| 17 sys.path.append("/my/site/magma") | |
| 18 from stategraph import StateGraph | |
| 19 | |
| 20 log = logging.getLogger() | |
| 21 logging.getLogger('serial').setLevel(logging.WARN) | |
| 22 | |
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23 import rdflib.namespace |
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24 old_split = rdflib.namespace.split_uri |
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25 def new_split(uri): |
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26 try: |
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27 return old_split(uri) |
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28 except Exception: |
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29 return uri, '' |
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30 rdflib.namespace.split_uri = new_split |
| 969 | 31 |
| 32 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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33 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 969 | 34 |
| 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 |
| 969 | 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 |
| 969 | 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._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 969 | 68 |
| 69 self._statementsFromInputs = {} # input uri: latest statements | |
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70 |
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71 self.open() |
| 969 | 72 |
| 73 def open(self): | |
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74 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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75 timeout=2) |
| 969 | 76 |
| 77 def startPolling(self): | |
| 78 task.LoopingCall(self._poll).start(.5) | |
| 79 | |
| 80 def _poll(self): | |
| 81 """ | |
| 82 even boards with no inputs need some polling to see if they're | |
| 83 still ok | |
| 84 """ | |
| 85 try: | |
| 86 self._pollWork() | |
| 87 except Exception as e: | |
| 88 log.warn("poll: %r" % e) | |
| 89 | |
| 90 def _pollWork(self): | |
| 91 self.ser.write("\x60\x00") | |
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92 for i in self._polledDevs: |
| 969 | 93 self._statementsFromInputs[i.uri] = i.readFromPoll(self.ser.read) |
| 94 #plus statements about succeeding or erroring on the last poll | |
| 95 | |
| 96 def currentGraph(self): | |
| 97 g = Graph() | |
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98 |
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99 g.add((HOST[socket.gethostname()], ROOM['connectedTo'], self.uri)) |
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100 |
| 969 | 101 for si in self._statementsFromInputs.values(): |
| 102 for s in si: | |
| 103 g.add(s) | |
| 104 return g | |
| 105 | |
| 106 def generateArduinoCode(self): | |
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107 generated = { |
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108 'baudrate': self.baudrate, |
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109 'includes': '', |
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110 'global': '', |
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111 'setups': '', |
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112 'polls': '' |
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113 } |
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114 for attr in ['includes', 'global', 'setups', 'polls']: |
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115 for i in self._devs: |
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116 if attr == 'includes': |
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117 gen = '\n'.join('#include "%s"\n' % inc |
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118 for inc in i.generateIncludes()) |
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119 elif attr == 'global': gen = i.generateGlobalCode() |
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120 elif attr == 'setups': gen = i.generateSetupCode() |
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121 elif attr == 'polls': gen = i.generatePollCode() |
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122 else: raise NotImplementedError |
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123 |
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124 if gen: |
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125 generated[attr] += '// for %s\n%s\n' % (i.uri, gen) |
| 969 | 126 |
| 127 return ''' | |
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128 %(includes)s |
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129 |
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130 %(global)s |
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131 |
| 969 | 132 void setup() { |
| 133 Serial.begin(%(baudrate)d); | |
| 134 Serial.flush(); | |
| 135 %(setups)s | |
| 136 } | |
| 137 | |
| 138 void loop() { | |
| 139 byte head, cmd; | |
| 140 if (Serial.available() >= 2) { | |
| 141 head = Serial.read(); | |
| 142 if (head != 0x60) { | |
| 143 Serial.flush(); | |
| 144 return; | |
| 145 } | |
| 146 cmd = Serial.read(); | |
| 147 if (cmd == 0x00) { | |
| 148 %(polls)s; | |
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149 } else if (cmd == 0x01) { |
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150 Serial.write("CODE_CHECKSUM"); |
| 969 | 151 } |
| 152 } | |
| 153 } | |
| 154 ''' % generated | |
| 155 | |
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156 |
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157 def codeChecksum(self, code): |
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158 # this is run on the code without CODE_CHECKSUM replaced yet |
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159 return hashlib.sha1(code).hexdigest() |
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160 |
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161 def readBoardChecksum(self, length): |
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162 # this is likely right after reset, so it might take 2 seconds |
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163 for tries in range(6): |
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164 self.ser.write("\x60\x01") |
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165 try: |
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166 return self.ser.read(length) |
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167 except ValueError: |
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168 if tries == 5: |
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169 raise |
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170 time.sleep(.5) |
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171 raise ValueError |
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172 |
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173 def boardIsCurrent(self, currentChecksum): |
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174 try: |
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175 boardCksum = self.readBoardChecksum(len(currentChecksum)) |
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176 if boardCksum == currentChecksum: |
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177 log.info("board has current code (%s)" % currentChecksum) |
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178 return True |
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179 else: |
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180 log.info("board responds with incorrect code version") |
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181 except Exception as e: |
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182 log.info("can't get code version from board: %r" % e) |
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183 return False |
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184 |
| 969 | 185 def deployToArduino(self): |
| 186 code = self.generateArduinoCode() | |
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187 cksum = self.codeChecksum(code) |
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188 code = code.replace('CODE_CHECKSUM', cksum) |
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189 |
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190 if self.boardIsCurrent(cksum): |
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191 return |
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192 |
| 969 | 193 try: |
| 194 if hasattr(self, 'ser'): | |
| 195 self.ser.close() | |
| 196 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 197 try: | |
| 198 self._arduinoMake(workDir, code) | |
| 199 finally: | |
| 200 shutil.rmtree(workDir) | |
| 201 finally: | |
| 202 self.open() | |
| 203 | |
| 204 def _arduinoMake(self, workDir, code): | |
| 205 with open(workDir + '/makefile', 'w') as makefile: | |
| 206 makefile.write(''' | |
| 207 BOARD_TAG = %(tag)s | |
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208 USER_LIB_PATH := %(libs)s |
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209 ARDUINO_LIBS = %(arduinoLibs)s |
| 969 | 210 MONITOR_PORT = %(dev)s |
| 211 | |
| 212 include /usr/share/arduino/Arduino.mk | |
| 213 ''' % { | |
| 214 'dev': self.dev, | |
| 215 'tag': self.graph.value(self.uri, ROOM['boardTag']), | |
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216 'libs': os.path.abspath('arduino-libraries'), |
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217 'arduinoLibs': ' '.join(sum((d.generateArduinoLibs() |
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218 for d in self._devs), [])), |
| 969 | 219 }) |
| 220 | |
| 221 with open(workDir + '/main.ino', 'w') as main: | |
| 222 main.write(code) | |
| 223 | |
| 224 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 225 | |
| 226 | |
| 227 class Index(cyclone.web.RequestHandler): | |
| 228 def get(self): | |
| 229 self.set_header("Content-Type", "text/html") | |
| 230 self.write(open("index.html").read()) | |
| 231 | |
| 232 class GraphPage(cyclone.web.RequestHandler): | |
| 233 def get(self): | |
| 234 g = StateGraph(ctx=ROOM['arduinosOn%s' % 'host']) | |
| 235 | |
| 236 for b in self.settings.boards: | |
| 237 for stmt in b.currentGraph(): | |
| 238 g.add(stmt) | |
| 239 | |
| 240 if self.get_argument('config', 'no') == 'yes': | |
| 241 for stmt in self.settings.config.graph: | |
| 242 g.add(stmt) | |
| 243 | |
| 244 self.set_header('Content-type', 'application/x-trig') | |
| 245 self.write(g.asTrig()) | |
| 246 | |
| 247 class Dot(cyclone.web.RequestHandler): | |
| 248 def get(self): | |
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249 configGraph = self.settings.config.graph |
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250 dot = dotrender.render(configGraph, self.settings.boards) |
| 969 | 251 self.write(dot) |
| 252 | |
| 253 class ArduinoCode(cyclone.web.RequestHandler): | |
| 254 def get(self): | |
| 255 board = [b for b in self.settings.boards if | |
| 256 b.uri == URIRef(self.get_argument('board'))][0] | |
| 257 self.set_header('Content-type', 'text/plain') | |
| 258 self.write(board.generateArduinoCode()) | |
| 259 | |
| 260 | |
| 261 def currentSerialDevices(): | |
| 262 log.info('find connected boards') | |
| 263 return glob.glob('/dev/serial/by-id/*') | |
| 264 | |
| 265 def main(): | |
| 266 config = Config() | |
| 267 current = currentSerialDevices() | |
| 268 | |
| 269 def onChange(): | |
| 270 # notify reasoning | |
| 271 pass | |
| 272 | |
| 273 boards = [] | |
| 274 for dev, board in config.serialDevices().items(): | |
| 275 if str(dev) not in current: | |
| 276 continue | |
| 277 log.info("we have board %s connected at %s" % (board, dev)) | |
| 278 b = Board(dev, config.graph, board, onChange) | |
| 279 boards.append(b) | |
| 280 | |
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281 boards[0].deployToArduino() |
| 969 | 282 |
| 283 log.info('open boards') | |
| 284 for b in boards: | |
| 285 b.startPolling() | |
| 286 | |
| 287 from twisted.python import log as twlog | |
| 288 twlog.startLogging(sys.stdout) | |
| 289 | |
| 290 log.setLevel(logging.DEBUG) | |
| 291 reactor.listenTCP(9059, cyclone.web.Application([ | |
| 292 (r"/", Index), | |
| 293 (r"/graph", GraphPage), | |
| 294 (r'/arduinoCode', ArduinoCode), | |
| 295 (r'/dot', Dot), | |
| 296 ], config=config, boards=boards)) | |
| 297 reactor.run() | |
| 298 | |
| 299 main() |