Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 333:90b469f43944
twisted pushConfig
Ignore-this: b2dc9fbdc8652d4ba7afebf51d2e0319
| author | drewp@bigasterisk.com |
|---|---|
| date | Sat, 03 Mar 2018 16:18:47 -0800 |
| parents | a94f2a522d41 |
| children | bb80182195c0 |
| 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 |
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11 from cyclone.httpclient import fetch |
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12 from rdflib import Graph, Namespace, URIRef, Literal, RDF, ConjunctiveGraph |
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13 from rdflib.parser import StringInputSource |
| 164 | 14 from twisted.internet import reactor, task |
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15 from docopt import docopt |
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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 sys.path.append("../../lib") |
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28 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler |
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29 from export_to_influxdb import InfluxExporter |
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30 |
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31 sys.path.append("/my/proj/rdfdb") |
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32 from rdfdb.patch import Patch |
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33 from rdfdb.rdflibpatch import inContext |
| 164 | 34 |
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35 |
| 164 | 36 log = logging.getLogger() |
| 37 logging.getLogger('serial').setLevel(logging.WARN) | |
| 38 | |
| 39 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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40 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 41 |
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42 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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43 |
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44 hostname = socket.gethostname() |
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45 CTX = ROOM['arduinosOn%s' % hostname] |
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46 |
| 164 | 47 class Config(object): |
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48 def __init__(self, masterGraph): |
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49 self.graph = ConjunctiveGraph() |
| 164 | 50 log.info('read config') |
| 214 | 51 for f in os.listdir('config'): |
| 52 if f.startswith('.'): continue | |
| 53 self.graph.parse('config/%s' % f, format='n3') | |
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54 self.graph.bind('', ROOM) # not working |
| 164 | 55 self.graph.bind('rdf', RDF) |
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56 # config graph is too noisy; maybe make it a separate resource |
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57 #masterGraph.patch(Patch(addGraph=self.graph)) |
| 164 | 58 |
| 59 def serialDevices(self): | |
| 60 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 61 """SELECT ?board ?dev WHERE { | |
| 62 ?board :device ?dev; | |
| 63 a :ArduinoBoard . | |
| 64 }""", initNs={'': ROOM})]) | |
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65 |
| 164 | 66 class Board(object): |
| 67 """an arduino connected to this computer""" | |
| 68 baudrate = 115200 | |
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69 def __init__(self, dev, configGraph, masterGraph, uri): |
| 164 | 70 """ |
| 71 each connected thing has some pins. | |
| 72 """ | |
| 73 self.uri = uri | |
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74 self.configGraph = configGraph |
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75 self.masterGraph = masterGraph |
| 164 | 76 self.dev = dev |
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77 |
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78 self.masterGraph.patch(Patch(addQuads=self.staticStmts())) |
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79 |
| 164 | 80 # The order of this list needs to be consistent between the |
| 81 # deployToArduino call and the poll call. | |
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82 self._devs = devices.makeDevices(configGraph, self.uri) |
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83 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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84 for devIndex, dev in enumerate(self._devs)) |
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85 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 86 |
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87 self._statementsFromInputs = {} # input device uri: latest statements |
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88 self._lastPollTime = {} # input device uri: time() |
| 293 | 89 self._influx = InfluxExporter(self.configGraph) |
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90 self.open() |
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91 for d in self._devs: |
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92 self.syncMasterGraphToHostStatements(d) |
| 164 | 93 |
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94 def description(self): |
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95 """for web page""" |
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96 return { |
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97 'uri': self.uri, |
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98 'dev': self.dev, |
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99 'baudrate': self.baudrate, |
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100 'devices': [d.description() for d in self._devs], |
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101 } |
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102 |
| 164 | 103 def open(self): |
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104 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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105 timeout=2) |
| 164 | 106 |
| 256 | 107 def startPolling(self, period=.5): |
| 108 task.LoopingCall(self._poll).start(period) | |
| 164 | 109 |
| 110 def _poll(self): | |
| 111 """ | |
| 112 even boards with no inputs need some polling to see if they're | |
| 113 still ok | |
| 114 """ | |
| 115 try: | |
| 116 self._pollWork() | |
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117 except serial.SerialException: |
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118 reactor.crash() |
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119 raise |
| 164 | 120 except Exception as e: |
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121 import traceback; traceback.print_exc() |
| 164 | 122 log.warn("poll: %r" % e) |
| 123 | |
| 124 def _pollWork(self): | |
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125 t1 = time.time() |
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126 self.ser.write("\x60\x00") # "poll everything" |
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127 for i in self._polledDevs: |
| 256 | 128 try: |
| 129 now = time.time() | |
| 130 new = i.readFromPoll(self.ser.read) | |
| 131 if isinstance(new, dict): # new style | |
| 132 oneshot = new['oneshot'] | |
| 133 new = new['latest'] | |
| 134 else: | |
| 135 oneshot = None | |
| 136 prev = self._statementsFromInputs.get(i.uri, []) | |
| 137 if new or prev: | |
| 138 self._statementsFromInputs[i.uri] = new | |
| 139 # it's important that quads from different devices | |
| 140 # don't clash, since that can lead to inconsistent | |
| 141 # patches (e.g. | |
| 142 # dev1 changes value from 1 to 2; | |
| 143 # dev2 changes value from 2 to 3; | |
| 144 # dev1 changes from 2 to 4 but this patch will | |
| 145 # fail since the '2' statement is gone) | |
| 146 self.masterGraph.patch(Patch.fromDiff(inContext(prev, i.uri), | |
| 147 inContext(new, i.uri))) | |
| 148 if oneshot: | |
| 149 self._sendOneshot(oneshot) | |
| 150 self._lastPollTime[i.uri] = now | |
| 151 except: | |
| 152 log.warn('while polling %r:', i.uri) | |
| 153 raise | |
| 164 | 154 #plus statements about succeeding or erroring on the last poll |
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155 byte = self.ser.read(1) |
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156 if byte != 'x': |
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157 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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158 elapsed = time.time() - t1 |
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159 if elapsed > 1.0: |
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160 log.warn('poll took %.1f seconds' % elapsed) |
| 293 | 161 |
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162 stmts = set() |
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163 for v in self._statementsFromInputs.values(): |
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164 stmts.update(v) |
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165 self._influx.exportToInflux(stmts) |
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166 |
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167 def _sendOneshot(self, oneshot): |
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168 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3()) |
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169 for s,p,o in oneshot)).encode('utf8') |
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170 bang6 = 'fcb8:4119:fb46:96f8:8b07:1260:0f50:fcfa' |
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171 fetch(method='POST', |
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172 url='http://[%s]:9071/oneShot' % bang6, |
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173 headers={'Content-Type': ['text/n3']}, postdata=body, |
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174 timeout=5) |
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175 |
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176 def outputStatements(self, stmts): |
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177 unused = set(stmts) |
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178 for dev in self._devs: |
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179 stmtsForDev = [] |
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180 for pat in dev.outputPatterns(): |
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181 if [term is None for term in pat] != [False, False, True]: |
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182 raise NotImplementedError |
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183 for stmt in stmts: |
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184 if stmt[:2] == pat[:2]: |
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185 stmtsForDev.append(stmt) |
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186 unused.discard(stmt) |
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187 if stmtsForDev: |
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188 log.info("output goes to action handler for %s" % dev.uri) |
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189 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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190 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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191 if self.ser.read(1) != 'k': |
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192 raise ValueError( |
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193 "%s sendOutput/generateActionCode didn't use " |
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194 "matching output bytes" % dev.__class__) |
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195 # Dev *could* change hostStatements at any time, and |
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196 # we're not currently tracking that, but the usual is |
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197 # to change them in response to sendOutput so this |
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198 # should be good enough. The right answer is to give |
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199 # each dev the masterGraph for it to write to. |
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200 self.syncMasterGraphToHostStatements(dev) |
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201 log.info("output and masterGraph sync complete") |
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202 if unused: |
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203 log.info("Board %s doesn't care about these statements:", self.uri) |
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204 for s in unused: |
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205 log.warn("%r", s) |
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206 |
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207 def syncMasterGraphToHostStatements(self, dev): |
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208 hostStmtCtx = URIRef(dev.uri + '/host') |
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209 newQuads = inContext(dev.hostStatements(), hostStmtCtx) |
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210 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads) |
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211 log.debug("patch master with these host stmts %s", p) |
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212 |
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213 def staticStmts(self): |
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214 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)] |
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215 |
| 164 | 216 def generateArduinoCode(self): |
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217 code = write_arduino_code.writeCode(self.baudrate, self._devs, |
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218 self._devCommandNum) |
| 229 | 219 code = write_arduino_code.indent(code) |
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220 cksum = hashlib.sha1(code).hexdigest() |
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221 code = code.replace('CODE_CHECKSUM', cksum) |
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222 return code, cksum |
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223 |
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224 def _readBoardChecksum(self, length): |
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225 # this is likely right after reset, so it might take 2 seconds |
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226 for tries in range(6): |
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227 self.ser.write("\x60\x01") |
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228 try: |
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229 return self.ser.read(length) |
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230 except ValueError: |
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231 if tries == 5: |
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232 raise |
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233 time.sleep(.5) |
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234 raise ValueError |
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235 |
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236 def _boardIsCurrent(self, currentChecksum): |
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237 try: |
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238 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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239 if boardCksum == currentChecksum: |
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240 log.info("board has current code (%s)" % currentChecksum) |
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241 return True |
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242 else: |
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243 log.info("board responds with incorrect code version") |
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244 except Exception as e: |
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245 log.info("can't get code version from board: %r" % e) |
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246 return False |
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247 |
| 164 | 248 def deployToArduino(self): |
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249 code, cksum = self.generateArduinoCode() |
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250 |
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251 if self._boardIsCurrent(cksum): |
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252 return |
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253 |
| 164 | 254 try: |
| 255 if hasattr(self, 'ser'): | |
| 256 self.ser.close() | |
| 257 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 258 try: | |
| 259 self._arduinoMake(workDir, code) | |
| 260 finally: | |
| 261 shutil.rmtree(workDir) | |
| 262 finally: | |
| 263 self.open() | |
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264 |
| 164 | 265 def _arduinoMake(self, workDir, code): |
| 266 with open(workDir + '/makefile', 'w') as makefile: | |
| 229 | 267 makefile.write(write_arduino_code.writeMakefile( |
| 268 dev=self.dev, | |
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269 tag=self.configGraph.value(self.uri, ROOM['boardTag']), |
| 229 | 270 allLibs=sum((d.generateArduinoLibs() for d in self._devs), []))) |
| 164 | 271 |
| 272 with open(workDir + '/main.ino', 'w') as main: | |
| 273 main.write(code) | |
| 274 | |
| 275 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 276 | |
|
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277 |
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278 def currentGraph(self): |
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279 g = Graph() |
| 164 | 280 |
| 281 | |
|
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282 for dev in self._devs: |
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283 for stmt in dev.hostStatements(): |
| 164 | 284 g.add(stmt) |
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285 return g |
| 164 | 286 |
| 287 class Dot(cyclone.web.RequestHandler): | |
| 288 def get(self): | |
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289 configGraph = self.settings.config.graph |
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290 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 291 self.write(dot) |
| 292 | |
| 293 class ArduinoCode(cyclone.web.RequestHandler): | |
| 294 def get(self): | |
| 295 board = [b for b in self.settings.boards if | |
| 296 b.uri == URIRef(self.get_argument('board'))][0] | |
|
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297 self.set_header('Content-Type', 'text/plain') |
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298 code, cksum = board.generateArduinoCode() |
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299 self.write(code) |
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300 |
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301 def rdfGraphBody(body, headers): |
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302 g = Graph() |
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303 g.parse(StringInputSource(body), format='nt') |
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304 return g |
|
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305 |
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306 class OutputPage(cyclone.web.RequestHandler): |
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307 def post(self): |
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308 # for old ui; use PUT instead |
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309 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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310 for b in self.settings.boards: |
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311 b.outputStatements(stmts) |
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312 |
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313 def put(self): |
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314 subj = URIRef(self.get_argument('s')) |
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315 pred = URIRef(self.get_argument('p')) |
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316 |
|
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317 turtleLiteral = self.request.body |
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318 try: |
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319 obj = Literal(float(turtleLiteral)) |
|
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320 except ValueError: |
|
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321 obj = Literal(turtleLiteral) |
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322 |
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323 stmt = (subj, pred, obj) |
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324 for b in self.settings.boards: |
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325 b.outputStatements([stmt]) |
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326 |
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327 |
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328 class Boards(cyclone.web.RequestHandler): |
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329 def get(self): |
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330 self.set_header('Content-type', 'application/json') |
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331 self.write(json.dumps({ |
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332 'host': hostname, |
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333 'boards': [b.description() for b in self.settings.boards] |
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334 }, indent=2)) |
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335 |
| 164 | 336 def currentSerialDevices(): |
| 337 log.info('find connected boards') | |
| 338 return glob.glob('/dev/serial/by-id/*') | |
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339 |
| 164 | 340 def main(): |
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341 arg = docopt(""" |
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342 Usage: arduinoNode.py [options] |
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343 |
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344 -v Verbose |
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345 """) |
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346 log.setLevel(logging.WARN) |
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347 if arg['-v']: |
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348 from twisted.python import log as twlog |
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349 twlog.startLogging(sys.stdout) |
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350 |
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351 log.setLevel(logging.DEBUG) |
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352 |
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353 masterGraph = PatchableGraph() |
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354 config = Config(masterGraph) |
| 164 | 355 current = currentSerialDevices() |
| 356 | |
| 357 boards = [] | |
| 358 for dev, board in config.serialDevices().items(): | |
| 359 if str(dev) not in current: | |
| 360 continue | |
| 361 log.info("we have board %s connected at %s" % (board, dev)) | |
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362 b = Board(dev, config.graph, masterGraph, board) |
| 164 | 363 boards.append(b) |
| 364 | |
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365 for b in boards: |
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366 b.deployToArduino() |
| 164 | 367 |
| 368 log.info('open boards') | |
| 369 for b in boards: | |
| 256 | 370 b.startPolling(period=.1 if not arg['-v'] else 10) |
| 164 | 371 |
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372 |
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373 reactor.listenTCP(9059, cyclone.web.Application([ |
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374 (r"/()", cyclone.web.StaticFileHandler, { |
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375 "path": "static", "default_filename": "index.html"}), |
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376 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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377 (r'/boards', Boards), |
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378 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}), |
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379 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}), |
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380 (r'/output', OutputPage), |
| 164 | 381 (r'/arduinoCode', ArduinoCode), |
| 382 (r'/dot', Dot), | |
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383 ], config=config, boards=boards), interface='::') |
| 164 | 384 reactor.run() |
| 385 | |
| 386 main() |