Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 1685:6b80a6c58907
minor changes to several services
| author | drewp@bigasterisk.com |
|---|---|
| date | Mon, 27 Sep 2021 23:12:43 -0700 |
| parents | 686079900c20 |
| children |
| rev | line source |
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1 from __future__ import division |
| 620 | 2 import glob, sys, logging, subprocess, socket, hashlib, time, tempfile, pkg_resources |
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3 import shutil, json |
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4 import serial |
| 164 | 5 import cyclone.web |
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6 from cyclone.httpclient import fetch |
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7 from rdflib import Graph, Namespace, URIRef, Literal, RDF, ConjunctiveGraph |
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8 from rdflib.parser import StringInputSource |
| 164 | 9 from twisted.internet import reactor, task |
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10 from twisted.internet.defer import inlineCallbacks |
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11 from twisted.internet.threads import deferToThread |
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12 from docopt import docopt |
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13 import etcd3 |
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14 from greplin import scales |
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15 from greplin.scales.cyclonehandler import StatsHandler |
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16 |
| 164 | 17 import devices |
| 229 | 18 import write_arduino_code |
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19 import dotrender |
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20 import rdflib_patch |
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21 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 22 |
| 23 logging.basicConfig(level=logging.DEBUG) | |
| 24 | |
| 25 from loggingserial import LoggingSerial | |
| 26 | |
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27 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler |
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28 from export_to_influxdb import InfluxExporter |
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29 |
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30 from rdfdb.patch import Patch |
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31 from rdfdb.rdflibpatch import inContext |
| 164 | 32 |
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33 |
| 164 | 34 log = logging.getLogger() |
| 35 logging.getLogger('serial').setLevel(logging.WARN) | |
| 36 | |
| 37 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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38 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 39 |
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40 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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41 |
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42 hostname = socket.gethostname() |
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43 CTX = ROOM['arduinosOn%s' % hostname] |
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44 |
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45 STATS = scales.collection('/root', |
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46 ) |
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47 |
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48 |
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49 etcd = etcd3.client(host='bang6', port=9022) |
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50 |
| 164 | 51 class Config(object): |
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52 def __init__(self, masterGraph, slowMode=False): |
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53 self.masterGraph = masterGraph |
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54 self.slowMode = slowMode |
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55 self.configGraph = ConjunctiveGraph() |
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56 |
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57 self.etcPrefix = 'arduino/' |
| 620 | 58 |
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59 self.boards = [] |
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60 self.reread() |
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61 |
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62 deferToThread(self.watchEtcd) |
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63 |
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64 def watchEtcd(self): |
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65 events, cancel = etcd.watch_prefix(self.etcPrefix) |
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66 reactor.addSystemEventTrigger('before', 'shutdown', cancel) |
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67 for ev in events: |
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68 log.info('%s changed', ev.key) |
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69 reactor.callFromThread(self.configChanged) |
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70 |
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71 def configChanged(self): |
| 343 | 72 self.cancelRead() |
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73 self.rereadLater = reactor.callLater(.1, self.reread) |
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74 |
| 343 | 75 def cancelRead(self): |
| 76 if getattr(self, 'rereadLater', None): | |
| 77 self.rereadLater.cancel() | |
| 78 self.rereadLater = None | |
| 620 | 79 |
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80 def reread(self): |
| 343 | 81 self.cancelRead() |
| 164 | 82 log.info('read config') |
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83 self.configGraph = ConjunctiveGraph() |
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84 for v, md in etcd.get_prefix(self.etcPrefix): |
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85 log.info(' read file %r', md.key) |
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86 self.configGraph.parse(StringInputSource(v), format='n3') |
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87 self.configGraph.bind('', ROOM) # not working |
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88 self.configGraph.bind('rdf', RDF) |
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89 # config graph is too noisy; maybe make it a separate resource |
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90 #masterGraph.patch(Patch(addGraph=self.configGraph)) |
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91 self.setupBoards() |
| 164 | 92 |
| 93 def serialDevices(self): | |
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94 return dict([(row.dev, row.board) for row in self.configGraph.query( |
| 164 | 95 """SELECT ?board ?dev WHERE { |
| 96 ?board :device ?dev; | |
| 97 a :ArduinoBoard . | |
| 98 }""", initNs={'': ROOM})]) | |
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99 |
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100 def setupBoards(self): |
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101 current = currentSerialDevices() |
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102 |
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103 self.boards = [] |
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104 for dev, board in self.serialDevices().items(): |
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105 if str(dev) not in current: |
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106 continue |
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107 log.info("we have board %s connected at %s" % (board, dev)) |
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108 b = Board(dev, self.configGraph, self.masterGraph, board) |
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109 self.boards.append(b) |
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110 |
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111 for b in self.boards: |
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112 b.deployToArduino() |
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113 |
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114 log.info('open boards') |
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115 for b in self.boards: |
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116 b.startPolling(period=.1 if not self.slowMode else 10) |
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117 |
| 620 | 118 |
| 164 | 119 class Board(object): |
| 120 """an arduino connected to this computer""" | |
| 121 baudrate = 115200 | |
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122 def __init__(self, dev, configGraph, masterGraph, uri): |
| 164 | 123 """ |
| 124 each connected thing has some pins. | |
| 125 """ | |
| 126 self.uri = uri | |
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127 self.configGraph = configGraph |
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128 self.masterGraph = masterGraph |
| 164 | 129 self.dev = dev |
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130 |
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131 self.masterGraph.setToGraph(self.staticStmts()) |
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132 |
| 164 | 133 # The order of this list needs to be consistent between the |
| 134 # deployToArduino call and the poll call. | |
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135 self._devs = devices.makeDevices(configGraph, self.uri) |
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136 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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137 for devIndex, dev in enumerate(self._devs)) |
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138 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 620 | 139 |
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140 self._statementsFromInputs = {} # input device uri: latest statements |
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141 self._lastPollTime = {} # input device uri: time() |
| 293 | 142 self._influx = InfluxExporter(self.configGraph) |
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143 self.open() |
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144 for d in self._devs: |
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145 self.syncMasterGraphToHostStatements(d) |
| 164 | 146 |
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147 def description(self): |
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148 """for web page""" |
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149 return { |
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150 'uri': self.uri, |
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151 'dev': self.dev, |
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152 'baudrate': self.baudrate, |
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153 'devices': [d.description() for d in self._devs], |
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154 } |
| 620 | 155 |
| 164 | 156 def open(self): |
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157 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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158 timeout=2) |
| 620 | 159 |
| 256 | 160 def startPolling(self, period=.5): |
| 161 task.LoopingCall(self._poll).start(period) | |
| 620 | 162 |
| 164 | 163 def _poll(self): |
| 164 """ | |
| 165 even boards with no inputs need some polling to see if they're | |
| 166 still ok | |
| 167 """ | |
| 168 try: | |
| 169 self._pollWork() | |
|
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170 except serial.SerialException: |
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171 reactor.crash() |
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172 raise |
| 164 | 173 except Exception as e: |
|
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174 import traceback; traceback.print_exc() |
| 164 | 175 log.warn("poll: %r" % e) |
| 620 | 176 |
| 164 | 177 def _pollWork(self): |
|
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178 t1 = time.time() |
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243
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179 self.ser.write("\x60\x00") # "poll everything" |
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180 for i in self._polledDevs: |
| 1685 | 181 with i.stats.poll.time(): |
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182 try: |
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183 now = time.time() |
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184 new = i.readFromPoll(self.ser.read) |
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185 if isinstance(new, dict): # new style |
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186 oneshot = new['oneshot'] |
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187 new = new['latest'] |
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188 else: |
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189 oneshot = None |
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190 |
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191 self._updateMasterWithNewPollStatements(i.uri, new) |
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192 |
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193 if oneshot: |
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194 self._sendOneshot(oneshot) |
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195 self._lastPollTime[i.uri] = now |
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196 except: |
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197 log.warn('while polling %r:', i.uri) |
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198 raise |
| 164 | 199 #plus statements about succeeding or erroring on the last poll |
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200 byte = self.ser.read(1) |
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201 if byte != 'x': |
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202 raise ValueError("after poll, got %x instead of 'x'" % byte) |
|
335
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203 for i in self._devs: |
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204 if i.wantIdleOutput(): |
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205 self.ser.write("\x60" + chr(self._devCommandNum[i.uri])) |
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206 i.outputIdle(self.ser.write) |
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207 if self.ser.read(1) != 'k': |
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208 raise ValueError('no ack after outputIdle') |
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209 elapsed = time.time() - t1 |
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210 if elapsed > 1.0: |
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211 log.warn('poll took %.1f seconds' % elapsed) |
| 293 | 212 |
|
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213 stmts = set() |
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214 for v in self._statementsFromInputs.values(): |
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215 stmts.update(v) |
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216 self._influx.exportToInflux(stmts) |
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213
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217 |
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218 def _updateMasterWithNewPollStatements(self, dev, new): |
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219 prev = self._statementsFromInputs.get(dev, set()) |
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220 |
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221 # it's important that quads from different devices |
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222 # don't clash, since that can lead to inconsistent |
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223 # patches (e.g. |
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224 # dev1 changes value from 1 to 2; |
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225 # dev2 changes value from 2 to 3; |
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226 # dev1 changes from 2 to 4 but this patch will |
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227 # fail since the '2' statement is gone) |
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228 self.masterGraph.patch(Patch.fromDiff(inContext(prev, dev), |
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229 inContext(new, dev))) |
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230 self._statementsFromInputs[dev] = new |
| 620 | 231 |
|
251
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232 def _sendOneshot(self, oneshot): |
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233 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3()) |
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234 for s,p,o in oneshot)).encode('utf8') |
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235 fetch(method='POST', |
|
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236 url='http://bang6:9071/oneShot', |
|
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237 headers={'Content-Type': ['text/n3']}, postdata=body, |
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238 timeout=5) |
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239 |
|
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240 def outputStatements(self, stmts): |
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241 unused = set(stmts) |
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242 for dev in self._devs: |
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243 stmtsForDev = [] |
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244 for pat in dev.outputPatterns(): |
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245 if [term is None for term in pat] != [False, False, True]: |
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246 raise NotImplementedError |
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247 for stmt in stmts: |
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248 if stmt[:2] == pat[:2]: |
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249 stmtsForDev.append(stmt) |
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250 unused.discard(stmt) |
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251 if stmtsForDev: |
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252 log.info("output goes to action handler for %s" % dev.uri) |
| 1685 | 253 with dev.stats.output.time(): |
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254 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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255 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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256 if self.ser.read(1) != 'k': |
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257 raise ValueError( |
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258 "%s sendOutput/generateActionCode didn't use " |
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259 "matching output bytes" % dev.__class__) |
|
230
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260 # Dev *could* change hostStatements at any time, and |
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261 # we're not currently tracking that, but the usual is |
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262 # to change them in response to sendOutput so this |
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263 # should be good enough. The right answer is to give |
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264 # each dev the masterGraph for it to write to. |
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265 self.syncMasterGraphToHostStatements(dev) |
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266 log.info("output and masterGraph sync complete") |
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267 if unused: |
|
218
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268 log.info("Board %s doesn't care about these statements:", self.uri) |
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269 for s in unused: |
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270 log.info("%r", s) |
|
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271 |
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272 def syncMasterGraphToHostStatements(self, dev): |
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273 hostStmtCtx = URIRef(dev.uri + '/host') |
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274 newQuads = inContext(dev.hostStatements(), hostStmtCtx) |
|
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275 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads) |
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276 log.debug("patch master with these host stmts %s", p) |
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277 |
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278 def staticStmts(self): |
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279 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)] |
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280 |
| 164 | 281 def generateArduinoCode(self): |
|
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282 code = write_arduino_code.writeCode(self.baudrate, self._devs, |
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283 self._devCommandNum) |
| 229 | 284 code = write_arduino_code.indent(code) |
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285 cksum = hashlib.sha1(code).hexdigest() |
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286 code = code.replace('CODE_CHECKSUM', cksum) |
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287 return code, cksum |
|
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288 |
|
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289 def _readBoardChecksum(self, length): |
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290 # this is likely right after reset, so it might take 2 seconds |
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291 for tries in range(6): |
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292 self.ser.write("\x60\x01") |
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293 try: |
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294 return self.ser.read(length) |
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295 except ValueError: |
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296 if tries == 5: |
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297 raise |
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298 time.sleep(.5) |
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299 raise ValueError |
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300 |
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301 def _boardIsCurrent(self, currentChecksum): |
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302 try: |
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303 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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304 if boardCksum == currentChecksum: |
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305 log.info("board has current code (%s)" % currentChecksum) |
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306 return True |
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307 else: |
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308 log.info("board responds with incorrect code version") |
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309 except Exception as e: |
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310 log.info("can't get code version from board: %r" % e) |
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311 return False |
| 620 | 312 |
| 164 | 313 def deployToArduino(self): |
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314 code, cksum = self.generateArduinoCode() |
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315 |
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316 if self._boardIsCurrent(cksum): |
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317 return |
| 620 | 318 |
| 164 | 319 try: |
| 320 if hasattr(self, 'ser'): | |
| 321 self.ser.close() | |
| 322 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 323 try: | |
| 324 self._arduinoMake(workDir, code) | |
| 325 finally: | |
| 326 shutil.rmtree(workDir) | |
| 327 finally: | |
| 328 self.open() | |
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329 |
| 164 | 330 def _arduinoMake(self, workDir, code): |
| 331 with open(workDir + '/makefile', 'w') as makefile: | |
| 229 | 332 makefile.write(write_arduino_code.writeMakefile( |
| 333 dev=self.dev, | |
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334 tag=self.configGraph.value(self.uri, ROOM['boardTag']), |
| 229 | 335 allLibs=sum((d.generateArduinoLibs() for d in self._devs), []))) |
| 164 | 336 |
| 337 with open(workDir + '/main.ino', 'w') as main: | |
| 338 main.write(code) | |
| 339 | |
| 340 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 620 | 341 |
|
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342 |
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343 def currentGraph(self): |
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344 g = Graph() |
| 620 | 345 |
| 164 | 346 |
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347 for dev in self._devs: |
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348 for stmt in dev.hostStatements(): |
| 164 | 349 g.add(stmt) |
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350 return g |
| 164 | 351 |
| 352 class Dot(cyclone.web.RequestHandler): | |
| 353 def get(self): | |
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354 configGraph = self.settings.config.graph |
|
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355 dot = dotrender.render(configGraph, self.settings.config.boards) |
| 164 | 356 self.write(dot) |
| 620 | 357 |
| 164 | 358 class ArduinoCode(cyclone.web.RequestHandler): |
| 359 def get(self): | |
|
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360 board = [b for b in self.settings.config.boards if |
| 164 | 361 b.uri == URIRef(self.get_argument('board'))][0] |
|
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362 self.set_header('Content-Type', 'text/plain') |
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363 code, cksum = board.generateArduinoCode() |
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364 self.write(code) |
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365 |
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366 def rdfGraphBody(body, headers): |
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367 g = Graph() |
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368 g.parse(StringInputSource(body), format='nt') |
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369 return g |
|
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370 |
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371 class OutputPage(cyclone.web.RequestHandler): |
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372 def post(self): |
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373 # for old ui; use PUT instead |
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374 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
|
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375 for b in self.settings.config.boards: |
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376 b.outputStatements(stmts) |
| 620 | 377 |
|
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378 def put(self): |
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379 subj = URIRef(self.get_argument('s')) |
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380 pred = URIRef(self.get_argument('p')) |
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381 |
|
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382 turtleLiteral = self.request.body |
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383 try: |
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384 obj = Literal(float(turtleLiteral)) |
|
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385 except ValueError: |
|
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386 obj = Literal(turtleLiteral) |
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387 |
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388 stmt = (subj, pred, obj) |
|
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389 for b in self.settings.config.boards: |
|
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390 b.outputStatements([stmt]) |
| 620 | 391 |
| 392 | |
|
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393 class Boards(cyclone.web.RequestHandler): |
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394 def get(self): |
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395 self.set_header('Content-type', 'application/json') |
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396 self.write(json.dumps({ |
|
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397 'host': hostname, |
|
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398 'boards': [b.description() for b in self.settings.config.boards] |
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399 }, indent=2)) |
| 620 | 400 |
| 164 | 401 def currentSerialDevices(): |
| 402 log.info('find connected boards') | |
| 403 return glob.glob('/dev/serial/by-id/*') | |
| 620 | 404 |
| 164 | 405 def main(): |
|
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406 arg = docopt(""" |
|
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407 Usage: arduinoNode.py [options] |
|
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408 |
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409 -v Verbose |
|
334
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410 -s serial logging |
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411 -l slow polling |
|
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412 """) |
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413 log.setLevel(logging.WARN) |
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414 if arg['-v']: |
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415 from twisted.python import log as twlog |
|
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416 twlog.startLogging(sys.stdout) |
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417 |
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418 log.setLevel(logging.DEBUG) |
|
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419 if arg['-s']: |
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420 logging.getLogger('serial').setLevel(logging.INFO) |
|
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421 |
|
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422 masterGraph = PatchableGraph() |
|
334
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423 config = Config(masterGraph, slowMode=arg['-l']) |
| 620 | 424 static = pkg_resources.resource_filename('homeauto_anynode', 'static/') |
|
190
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425 |
|
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426 reactor.listenTCP(9059, cyclone.web.Application([ |
| 620 | 427 (r"/(|output-widgets.html)", cyclone.web.StaticFileHandler, { |
| 428 "path": static, "default_filename": "index.html"}), | |
|
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429 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
|
456
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diff
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430 (r'/stats/(.*)', StatsHandler, {'serverName': 'arduinoNode'}), |
|
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431 (r'/boards', Boards), |
|
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432 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}), |
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433 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}), |
|
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434 (r'/output', OutputPage), |
| 164 | 435 (r'/arduinoCode', ArduinoCode), |
| 436 (r'/dot', Dot), | |
|
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437 ], config=config), interface='::') |
| 164 | 438 reactor.run() |
| 439 | |
| 440 main() |