Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 192:6c6897a139da
support for pwm board
Ignore-this: 4bf59699c590c75c79e6ae72d719343a
| author | drewp@bigasterisk.com |
|---|---|
| date | Sun, 30 Aug 2015 01:19:29 -0700 |
| parents | ad20e5cb4feb |
| children | 9c8674329a13 |
| rev | line source |
|---|---|
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1 """ |
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2 depends on packages: |
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3 arduino-mk |
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4 indent |
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5 """ |
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6 from __future__ import division |
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7 import glob, sys, logging, subprocess, socket, os, hashlib, time, tempfile |
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8 import shutil, json |
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9 import serial |
| 164 | 10 import cyclone.web |
| 11 from rdflib import Graph, Namespace, URIRef, Literal, RDF | |
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12 from rdflib.parser import StringInputSource |
| 164 | 13 from twisted.internet import reactor, task |
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14 from docopt import docopt |
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15 |
| 164 | 16 import devices |
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17 import dotrender |
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18 import rdflib_patch |
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19 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 20 |
| 21 logging.basicConfig(level=logging.DEBUG) | |
| 22 | |
| 23 from loggingserial import LoggingSerial | |
| 24 | |
| 25 sys.path.append("/my/site/magma") | |
| 26 from stategraph import StateGraph | |
| 27 | |
| 28 log = logging.getLogger() | |
| 29 logging.getLogger('serial').setLevel(logging.WARN) | |
| 30 | |
| 31 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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32 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 33 |
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34 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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35 |
| 164 | 36 class Config(object): |
| 37 def __init__(self): | |
| 38 self.graph = Graph() | |
| 39 log.info('read config') | |
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40 self.graph.parse('config.n3', format='n3') |
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41 self.graph.bind('', ROOM) # not working |
| 164 | 42 self.graph.bind('rdf', RDF) |
| 43 | |
| 44 def serialDevices(self): | |
| 45 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 46 """SELECT ?board ?dev WHERE { | |
| 47 ?board :device ?dev; | |
| 48 a :ArduinoBoard . | |
| 49 }""", initNs={'': ROOM})]) | |
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50 |
| 164 | 51 class Board(object): |
| 52 """an arduino connected to this computer""" | |
| 53 baudrate = 115200 | |
| 54 def __init__(self, dev, graph, uri, onChange): | |
| 55 """ | |
| 56 each connected thing has some pins. | |
| 57 | |
| 58 We'll call onChange when we know the currentGraph() has | |
| 59 changed (and not just in creation time). | |
| 60 """ | |
| 61 self.uri = uri | |
| 62 self.graph = graph | |
| 63 self.dev = dev | |
| 64 | |
| 65 # The order of this list needs to be consistent between the | |
| 66 # deployToArduino call and the poll call. | |
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67 self._devs = devices.makeDevices(graph, self.uri) |
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68 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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69 for devIndex, dev in enumerate(self._devs)) |
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70 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 71 |
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72 self._statementsFromInputs = {} # input device uri: latest statements |
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73 |
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74 self.open() |
| 164 | 75 |
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76 def description(self): |
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77 """for web page""" |
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78 return { |
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79 'uri': self.uri, |
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80 'dev': self.dev, |
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81 'baudrate': self.baudrate, |
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82 'devices': [d.description() for d in self._devs], |
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83 'graph': 'http://%s6:9059/graph' % socket.gethostname(), #todo |
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84 } |
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85 |
| 164 | 86 def open(self): |
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87 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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88 timeout=2) |
| 164 | 89 |
| 90 def startPolling(self): | |
| 91 task.LoopingCall(self._poll).start(.5) | |
| 92 | |
| 93 def _poll(self): | |
| 94 """ | |
| 95 even boards with no inputs need some polling to see if they're | |
| 96 still ok | |
| 97 """ | |
| 98 try: | |
| 99 self._pollWork() | |
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100 except serial.SerialException: |
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101 reactor.crash() |
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102 raise |
| 164 | 103 except Exception as e: |
| 104 log.warn("poll: %r" % e) | |
| 105 | |
| 106 def _pollWork(self): | |
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107 t1 = time.time() |
| 164 | 108 self.ser.write("\x60\x00") |
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109 for i in self._polledDevs: |
| 164 | 110 self._statementsFromInputs[i.uri] = i.readFromPoll(self.ser.read) |
| 111 #plus statements about succeeding or erroring on the last poll | |
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112 byte = self.ser.read(1) |
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113 if byte != 'x': |
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114 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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115 elapsed = time.time() - t1 |
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116 if elapsed > 1.0: |
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117 log.warn('poll took %.1f seconds' % elapsed) |
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118 |
| 164 | 119 |
| 120 def currentGraph(self): | |
| 121 g = Graph() | |
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122 |
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123 g.add((HOST[socket.gethostname()], ROOM['connectedTo'], self.uri)) |
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124 |
| 164 | 125 for si in self._statementsFromInputs.values(): |
| 126 for s in si: | |
| 127 g.add(s) | |
| 128 return g | |
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129 |
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130 def outputStatements(self, stmts): |
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131 unused = set(stmts) |
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132 for dev in self._devs: |
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133 stmtsForDev = [] |
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134 for pat in dev.outputPatterns(): |
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135 if [term is None for term in pat] != [False, False, True]: |
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136 raise NotImplementedError |
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137 for stmt in stmts: |
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138 if stmt[:2] == pat[:2]: |
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139 stmtsForDev.append(stmt) |
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140 unused.discard(stmt) |
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141 if stmtsForDev: |
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142 log.info("output goes to action handler for %s" % dev.uri) |
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143 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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144 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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145 if self.ser.read(1) != 'k': |
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146 raise ValueError( |
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147 "%s sendOutput/generateActionCode didn't use " |
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148 "matching output bytes" % dev.__class__) |
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149 log.info("success") |
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150 if unused: |
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151 log.warn("No devices cared about these statements:") |
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152 for s in unused: |
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153 log.warn(repr(s)) |
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154 |
| 164 | 155 def generateArduinoCode(self): |
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156 generated = { |
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157 'baudrate': self.baudrate, |
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158 'includes': '', |
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159 'global': '', |
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160 'setups': '', |
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161 'polls': '', |
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162 'idles': '', |
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163 'actions': '', |
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164 } |
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165 for attr in ['includes', 'global', 'setups', 'polls', 'idles', |
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166 'actions']: |
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167 for dev in self._devs: |
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168 if attr == 'includes': |
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169 gen = '\n'.join('#include "%s"\n' % inc |
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170 for inc in dev.generateIncludes()) |
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171 elif attr == 'global': gen = dev.generateGlobalCode() |
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172 elif attr == 'setups': gen = dev.generateSetupCode() |
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173 elif attr == 'polls': gen = dev.generatePollCode() |
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185
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174 elif attr == 'idles': gen = dev.generateIdleCode() |
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175 elif attr == 'actions': |
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176 code = dev.generateActionCode() |
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177 if code: |
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178 gen = '''else if (cmd == %(cmdNum)s) { |
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179 %(code)s |
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180 Serial.write('k'); |
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181 } |
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182 ''' % dict(cmdNum=self._devCommandNum[dev.uri], |
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183 code=code) |
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184 else: |
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185 gen = '' |
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186 else: |
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187 raise NotImplementedError |
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188 |
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189 if gen: |
| 192 | 190 generated[attr] += '// for %s\n%s\n' % (dev.uri, gen.strip()) |
| 164 | 191 |
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192 code = ''' |
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193 %(includes)s |
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194 |
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195 %(global)s |
|
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196 byte frame=0; |
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197 unsigned long lastFrame=0; |
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198 |
| 164 | 199 void setup() { |
| 200 Serial.begin(%(baudrate)d); | |
| 201 Serial.flush(); | |
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202 %(setups)s |
| 164 | 203 } |
| 204 | |
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205 void idle() { |
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206 // this slowdown is to spend somewhat less time PWMing, to reduce |
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207 // leaking from on channels to off ones (my shift register has no |
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208 // latching) |
| 192 | 209 if (micros() < lastFrame + 80) { |
|
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210 return; |
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211 } |
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212 lastFrame = micros(); |
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213 frame++; |
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214 %(idles)s |
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215 } |
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216 |
| 164 | 217 void loop() { |
| 218 byte head, cmd; | |
|
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219 idle(); |
| 164 | 220 if (Serial.available() >= 2) { |
| 221 head = Serial.read(); | |
| 222 if (head != 0x60) { | |
| 223 Serial.flush(); | |
| 224 return; | |
| 225 } | |
| 226 cmd = Serial.read(); | |
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227 if (cmd == 0x00) { // poll |
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228 %(polls)s |
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229 Serial.write('x'); |
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230 } else if (cmd == 0x01) { // get code checksum |
|
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231 Serial.write("CODE_CHECKSUM"); |
| 164 | 232 } |
|
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233 %(actions)s |
| 164 | 234 } |
| 235 } | |
| 236 ''' % generated | |
|
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237 try: |
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238 with tempfile.SpooledTemporaryFile() as codeFile: |
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239 codeFile.write(code) |
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240 codeFile.seek(0) |
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241 code = subprocess.check_output([ |
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242 'indent', |
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243 '-linux', |
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244 '-fc1', # ok to indent comments |
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245 '-i4', # 4-space indent |
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246 '-sob' # swallow blanks (not working) |
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247 ], stdin=codeFile) |
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248 except OSError as e: |
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249 log.warn("indent failed (%r)", e) |
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250 cksum = hashlib.sha1(code).hexdigest() |
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251 code = code.replace('CODE_CHECKSUM', cksum) |
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252 return code, cksum |
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253 |
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254 def _readBoardChecksum(self, length): |
|
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255 # this is likely right after reset, so it might take 2 seconds |
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256 for tries in range(6): |
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257 self.ser.write("\x60\x01") |
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258 try: |
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259 return self.ser.read(length) |
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260 except ValueError: |
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261 if tries == 5: |
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262 raise |
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263 time.sleep(.5) |
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264 raise ValueError |
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265 |
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266 def _boardIsCurrent(self, currentChecksum): |
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267 try: |
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268 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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269 if boardCksum == currentChecksum: |
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270 log.info("board has current code (%s)" % currentChecksum) |
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271 return True |
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272 else: |
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273 log.info("board responds with incorrect code version") |
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274 except Exception as e: |
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275 log.info("can't get code version from board: %r" % e) |
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276 return False |
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277 |
| 164 | 278 def deployToArduino(self): |
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279 code, cksum = self.generateArduinoCode() |
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280 |
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281 if self._boardIsCurrent(cksum): |
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282 return |
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283 |
| 164 | 284 try: |
| 285 if hasattr(self, 'ser'): | |
| 286 self.ser.close() | |
| 287 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 288 try: | |
| 289 self._arduinoMake(workDir, code) | |
| 290 finally: | |
| 291 shutil.rmtree(workDir) | |
| 292 finally: | |
| 293 self.open() | |
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294 |
| 164 | 295 def _arduinoMake(self, workDir, code): |
| 296 with open(workDir + '/makefile', 'w') as makefile: | |
| 297 makefile.write(''' | |
| 298 BOARD_TAG = %(tag)s | |
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299 USER_LIB_PATH := %(libs)s |
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300 ARDUINO_LIBS = %(arduinoLibs)s |
| 164 | 301 MONITOR_PORT = %(dev)s |
| 302 | |
| 303 include /usr/share/arduino/Arduino.mk | |
| 304 ''' % { | |
| 305 'dev': self.dev, | |
| 306 'tag': self.graph.value(self.uri, ROOM['boardTag']), | |
|
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307 'libs': os.path.abspath('arduino-libraries'), |
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308 'arduinoLibs': ' '.join(sum((d.generateArduinoLibs() |
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309 for d in self._devs), [])), |
| 164 | 310 }) |
| 311 | |
| 312 with open(workDir + '/main.ino', 'w') as main: | |
| 313 main.write(code) | |
| 314 | |
| 315 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 316 | |
| 317 | |
| 318 class GraphPage(cyclone.web.RequestHandler): | |
| 319 def get(self): | |
| 320 g = StateGraph(ctx=ROOM['arduinosOn%s' % 'host']) | |
| 321 | |
| 322 for b in self.settings.boards: | |
| 323 for stmt in b.currentGraph(): | |
| 324 g.add(stmt) | |
| 325 | |
| 326 if self.get_argument('config', 'no') == 'yes': | |
| 327 for stmt in self.settings.config.graph: | |
| 328 g.add(stmt) | |
| 329 | |
| 330 self.set_header('Content-type', 'application/x-trig') | |
| 331 self.write(g.asTrig()) | |
| 332 | |
| 333 class Dot(cyclone.web.RequestHandler): | |
| 334 def get(self): | |
|
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335 configGraph = self.settings.config.graph |
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336 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 337 self.write(dot) |
| 338 | |
| 339 class ArduinoCode(cyclone.web.RequestHandler): | |
| 340 def get(self): | |
| 341 board = [b for b in self.settings.boards if | |
| 342 b.uri == URIRef(self.get_argument('board'))][0] | |
| 343 self.set_header('Content-type', 'text/plain') | |
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344 code, cksum = board.generateArduinoCode() |
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345 self.write(code) |
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346 |
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347 def rdfGraphBody(body, headers): |
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348 g = Graph() |
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349 g.parse(StringInputSource(body), format='nt') |
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350 return g |
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351 |
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352 class OutputPage(cyclone.web.RequestHandler): |
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353 def post(self): |
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354 # for old ui; use PUT instead |
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355 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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356 for b in self.settings.boards: |
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357 b.outputStatements(stmts) |
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358 |
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359 def put(self): |
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360 subj = URIRef(self.get_argument('s')) |
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361 pred = URIRef(self.get_argument('p')) |
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362 |
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363 turtleLiteral = self.request.body |
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364 try: |
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365 obj = Literal(float(turtleLiteral)) |
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366 except ValueError: |
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367 obj = Literal(turtleLiteral) |
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368 |
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369 stmt = (subj, pred, obj) |
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370 for b in self.settings.boards: |
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371 b.outputStatements([stmt]) |
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372 |
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373 |
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374 class Boards(cyclone.web.RequestHandler): |
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375 def get(self): |
| 164 | 376 |
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377 self.set_header('Content-type', 'application/json') |
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378 self.write(json.dumps({ |
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379 'boards': [b.description() for b in self.settings.boards] |
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380 }, indent=2)) |
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381 |
| 164 | 382 def currentSerialDevices(): |
| 383 log.info('find connected boards') | |
| 384 return glob.glob('/dev/serial/by-id/*') | |
| 385 | |
| 386 def main(): | |
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387 arg = docopt(""" |
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388 Usage: reasoning.py [options] |
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389 |
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390 -v Verbose |
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391 """) |
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392 log.setLevel(logging.WARN) |
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393 if arg['-v']: |
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394 from twisted.python import log as twlog |
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395 twlog.startLogging(sys.stdout) |
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396 |
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397 log.setLevel(logging.DEBUG) |
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398 |
| 164 | 399 config = Config() |
| 400 current = currentSerialDevices() | |
| 401 | |
| 402 def onChange(): | |
| 403 # notify reasoning | |
| 404 pass | |
| 405 | |
| 406 boards = [] | |
| 407 for dev, board in config.serialDevices().items(): | |
| 408 if str(dev) not in current: | |
| 409 continue | |
| 410 log.info("we have board %s connected at %s" % (board, dev)) | |
| 411 b = Board(dev, config.graph, board, onChange) | |
| 412 boards.append(b) | |
| 413 | |
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414 boards[0].deployToArduino() |
| 164 | 415 |
| 416 log.info('open boards') | |
| 417 for b in boards: | |
| 418 b.startPolling() | |
| 419 | |
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420 |
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421 app = cyclone.web.Application([ |
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422 (r"/()", cyclone.web.StaticFileHandler, { |
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423 "path": "static", "default_filename": "index.html"}), |
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424 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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425 (r'/boards', Boards), |
| 164 | 426 (r"/graph", GraphPage), |
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427 (r'/output', OutputPage), |
| 164 | 428 (r'/arduinoCode', ArduinoCode), |
| 429 (r'/dot', Dot), | |
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430 ], config=config, boards=boards) |
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431 reactor.listenTCP(9059, app, interface='::') |
| 164 | 432 reactor.run() |
| 433 | |
| 434 main() |