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annotate service/piNode/piNode.py @ 382:61f1c529a9b7

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etcd port change; pigpio download link change Ignore-this: cf0ce00b51c41c7d897bf5dbefab7480
author drewp@bigasterisk.com
date Fri, 28 Dec 2018 01:56:52 -0800
parents 88bd46f4e28c
children 0787cd64ecf8
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1 from __future__ import division
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2 import sys, logging, socket, json, time
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3 import cyclone.web
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4 from cyclone.httpclient import fetch
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5 from rdflib import Namespace, URIRef, Literal, Graph, RDF, ConjunctiveGraph
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6 from rdflib.parser import StringInputSource
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7 from twisted.internet import reactor, task
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8 from twisted.internet.threads import deferToThread
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9 from docopt import docopt
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10 import etcd3
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11
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12 logging.basicConfig(level=logging.DEBUG)
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13
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14 sys.path.append("../../lib")
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15 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler
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16
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17 from rdfdb.rdflibpatch import inContext
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18 from rdfdb.patch import Patch
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19
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20 try:
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21 import pigpio
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22 except ImportError:
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23 class pigpio(object):
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24 @staticmethod
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25 def pi():
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26 return None
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27
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28 import devices
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29 from export_to_influxdb import InfluxExporter
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30
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31 log = logging.getLogger()
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32 logging.getLogger('serial').setLevel(logging.WARN)
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33
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34 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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35 HOST = Namespace('http://bigasterisk.com/ruler/host/')
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36
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37 hostname = socket.gethostname()
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38 CTX = ROOM['pi/%s' % hostname]
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39 etcd = etcd3.client(host='bang6', port=9022)
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40
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41 def patchRandid():
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42 """
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43 I'm concerned urandom is slow on raspberry pi, and I'm adding to
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44 graphs a lot. Unclear what the ordered return values might do to
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45 the balancing of the graph.
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46 """
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47 _id_serial = [1000]
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48 def randid():
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49 _id_serial[0] += 1
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50 return _id_serial[0]
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51 import rdflib.plugins.memory
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52 rdflib.plugins.memory.randid = randid
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53 patchRandid()
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54
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55 class Config(object):
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56 def __init__(self, masterGraph):
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57 self.masterGraph = masterGraph
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58 self.configGraph = ConjunctiveGraph()
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59 self.boards = []
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60 self.etcPrefix = 'pi/'
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61
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62 self.reread()
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63
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64 deferToThread(self.watchEtcd)
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65
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66 def watchEtcd(self):
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67 events, cancel = etcd.watch_prefix(self.etcPrefix)
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68 reactor.addSystemEventTrigger('before', 'shutdown', cancel)
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69 for ev in events:
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70 log.info('%s changed', ev.key)
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71 reactor.callFromThread(self.configChanged)
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72
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73 def configChanged(self):
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74 self.cancelRead()
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75 self.rereadLater = reactor.callLater(.1, self.reread)
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76
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77 def cancelRead(self):
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78 if getattr(self, 'rereadLater', None):
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79 self.rereadLater.cancel()
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80 self.rereadLater = None
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81
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82 def reread(self):
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83 self.rereadLater = None
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84 log.info('read config')
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85 self.configGraph = ConjunctiveGraph()
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86 for v, md in etcd.get_prefix(self.etcPrefix):
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87 log.info(' read file %r', md.key)
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88 self.configGraph.parse(StringInputSource(v), format='n3')
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89 self.configGraph.bind('', ROOM)
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90 self.configGraph.bind('rdf', RDF)
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91 # config graph is too noisy; maybe make it a separate resource
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92 #masterGraph.patch(Patch(addGraph=self.configGraph))
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93 self.setupBoards()
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94
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95 def setupBoards(self):
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96 thisHost = Literal(hostname)
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97 for row in self.configGraph.query(
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98 'SELECT ?board WHERE { ?board a :PiBoard; :hostname ?h }',
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99 initBindings=dict(h=thisHost)):
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100 thisBoard = row.board
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101 break
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102 else:
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103 log.warn("config had no board for :hostname %s. Waiting for config update." %
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104 thisHost)
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105 self.boards = []
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106 return
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107
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108 log.info("found config for board %r" % thisBoard)
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109 self.boards = [Board(self.configGraph, self.masterGraph, thisBoard)]
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110 self.boards[0].startPolling()
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111
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112
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113 class Board(object):
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114 """similar to arduinoNode.Board but without the communications stuff"""
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115 def __init__(self, graph, masterGraph, uri):
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116 self.graph, self.uri = graph, uri
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117 self.masterGraph = masterGraph
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118 self.masterGraph.setToGraph(self.staticStmts())
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119 self.pi = pigpio.pi()
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120 self._devs = devices.makeDevices(graph, self.uri, self.pi)
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121 log.debug('found %s devices', len(self._devs))
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122 self._statementsFromInputs = {} # input device uri: latest statements
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123 self._lastPollTime = {} # input device uri: time()
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124 self._influx = InfluxExporter(self.graph)
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125 for d in self._devs:
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126 self.syncMasterGraphToHostStatements(d)
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127
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128 def startPolling(self):
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129 task.LoopingCall(self._poll).start(.05)
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130
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131 def _poll(self):
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132 try:
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133 self._pollMaybeError()
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134 except Exception:
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135 log.exception("During poll:")
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136
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137 def _pollMaybeError(self):
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138 pollTime = {} # uri: sec
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139 for i in self._devs:
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140 now = time.time()
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141 if (hasattr(i, 'pollPeriod') and
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142 self._lastPollTime.get(i.uri, 0) + i.pollPeriod > now):
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143 continue
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144 new = i.poll()
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145 pollTime[i.uri] = time.time() - now
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146 if isinstance(new, dict): # new style
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147 oneshot = new['oneshot']
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148 new = new['latest']
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149 else:
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150 oneshot = None
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151
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152 self._updateMasterWithNewPollStatements(i.uri, new)
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153
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154 if oneshot:
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155 self._sendOneshot(oneshot)
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156 self._lastPollTime[i.uri] = now
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157 if log.isEnabledFor(logging.DEBUG):
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158 log.debug('poll times:')
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159 for u, s in sorted(pollTime.items()):
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160 log.debug(" %.4f ms %s", s * 1000, u)
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161 log.debug('total poll time: %f ms', sum(pollTime.values()) * 1000)
338
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162
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163 pollResults = map(set, self._statementsFromInputs.values())
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164 if pollResults:
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165 self._influx.exportToInflux(set.union(*pollResults))
221
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166
349
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167 def _updateMasterWithNewPollStatements(self, dev, new):
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168 prev = self._statementsFromInputs.get(dev, set())
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169
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170 # it's important that quads from different devices
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171 # don't clash, since that can lead to inconsistent
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172 # patches (e.g.
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173 # dev1 changes value from 1 to 2;
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174 # dev2 changes value from 2 to 3;
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175 # dev1 changes from 2 to 4 but this patch will
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176 # fail since the '2' statement is gone)
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177 self.masterGraph.patch(Patch.fromDiff(inContext(prev, dev),
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178 inContext(new, dev)))
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179 self._statementsFromInputs[dev] = new
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180
251
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181 def _sendOneshot(self, oneshot):
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182 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3())
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183 for s,p,o in oneshot)).encode('utf8')
347
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184 url = 'http://bang6:9071/oneShot'
271
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185 d = fetch(method='POST',
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186 url=url,
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187 headers={'Content-Type': ['text/n3']},
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188 postdata=body,
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189 timeout=5)
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190 def err(e):
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191 log.info('oneshot post to %r failed: %s',
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192 url, e.getErrorMessage())
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193 d.addErrback(err)
251
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194
233
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195 def outputStatements(self, stmts):
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196 unused = set(stmts)
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197 for dev in self._devs:
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198 stmtsForDev = []
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199 for pat in dev.outputPatterns():
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200 if [term is None for term in pat] != [False, False, True]:
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201 raise NotImplementedError
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202 for stmt in stmts:
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203 if stmt[:2] == pat[:2]:
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204 stmtsForDev.append(stmt)
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205 unused.discard(stmt)
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206 if stmtsForDev:
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207 log.info("output goes to action handler for %s" % dev.uri)
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208 dev.sendOutput(stmtsForDev)
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209
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210 # Dev *could* change hostStatements at any time, and
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211 # we're not currently tracking that, but the usual is
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212 # to change them in response to sendOutput so this
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213 # should be good enough. The right answer is to give
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214 # each dev the masterGraph for it to write to.
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215 self.syncMasterGraphToHostStatements(dev)
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216 log.info("output and masterGraph sync complete")
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217 if unused:
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218 log.info("Board %s doesn't care about these statements:", self.uri)
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219 for s in unused:
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220 log.warn("%r", s)
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221
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222 def syncMasterGraphToHostStatements(self, dev):
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223 hostStmtCtx = URIRef(dev.uri + '/host')
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224 newQuads = inContext(dev.hostStatements(), hostStmtCtx)
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diff changeset
225 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads)
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226 log.debug("patch master with these host stmts %s", p)
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227
226
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diff changeset
228 def staticStmts(self):
233
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229 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)]
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230
183
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231 def description(self):
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232 """for web page"""
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233 return {
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234 'uri': self.uri,
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235 'devices': [d.description() for d in self._devs],
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236 'graph': 'http://sticker:9059/graph', #todo
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237 }
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238
233
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diff changeset
239 class Dot(cyclone.web.RequestHandler):
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240 def get(self):
347
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241 configGraph = self.settings.config.configGraph
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242 dot = dotrender.render(configGraph, self.settings.config.boards)
233
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diff changeset
243 self.write(dot)
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244
184
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diff changeset
245 def rdfGraphBody(body, headers):
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246 g = Graph()
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247 g.parse(StringInputSource(body), format='nt')
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248 return g
183
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249
182
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250 class OutputPage(cyclone.web.RequestHandler):
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251 def put(self):
184
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diff changeset
252 arg = self.request.arguments
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253 if arg.get('s') and arg.get('p'):
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254 subj = URIRef(arg['s'][-1])
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diff changeset
255 pred = URIRef(arg['p'][-1])
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256 turtleLiteral = self.request.body
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diff changeset
257 try:
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diff changeset
258 obj = Literal(float(turtleLiteral))
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diff changeset
259 except ValueError:
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260 obj = Literal(turtleLiteral)
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261 stmt = (subj, pred, obj)
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diff changeset
262 else:
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diff changeset
263 g = rdfGraphBody(self.request.body, self.request.headers)
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diff changeset
264 assert len(g) == 1, len(g)
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265 stmt = g.triples((None, None, None)).next()
182
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266
347
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267 for b in self.settings.config.boards:
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268 b.outputStatements([stmt])
182
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269
183
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diff changeset
270 class Boards(cyclone.web.RequestHandler):
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271 def get(self):
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272 self.set_header('Content-type', 'application/json')
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273 self.write(json.dumps({
233
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274 'host': hostname,
347
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275 'boards': [b.description() for b in self.settings.config.boards]
183
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diff changeset
276 }, indent=2))
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277
182
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278 def main():
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279 arg = docopt("""
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280 Usage: piNode.py [options]
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281
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282 -v Verbose
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283 """)
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284 log.setLevel(logging.WARN)
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285 if arg['-v']:
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286 from twisted.python import log as twlog
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287 twlog.startLogging(sys.stdout)
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288
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289 log.setLevel(logging.DEBUG)
233
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290
226
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diff changeset
291 masterGraph = PatchableGraph()
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diff changeset
292 config = Config(masterGraph)
182
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293
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294 reactor.listenTCP(9059, cyclone.web.Application([
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295 (r"/()", cyclone.web.StaticFileHandler, {
338
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diff changeset
296 "path": "static", "default_filename": "index.html"}),
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297 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}),
233
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298 (r'/boards', Boards),
226
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299 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}),
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300 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}),
182
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301 (r'/output', OutputPage),
233
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diff changeset
302 (r'/dot', Dot),
347
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diff changeset
303 ], config=config, debug=arg['-v']), interface='::')
258
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diff changeset
304 log.warn('serving on 9059')
182
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305 reactor.run()
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306
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307 main()