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annotate service/piNode/piNode.py @ 331:a94f2a522d41

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build and import updates for rdfdb, etc Ignore-this: 233cb2b31f03be51695f0fff40eecca7
author drewp@bigasterisk.com
date Mon, 19 Feb 2018 04:21:28 -0800
parents 8c89cd70d0e3
children f64e20d3407e
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1 from __future__ import division
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2 import sys, logging, socket, json, time, os
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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 docopt import docopt
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9
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10 logging.basicConfig(level=logging.DEBUG)
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11
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12 sys.path.append("../../lib")
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13 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler
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14 from light9.rdfdb.rdflibpatch import inContext
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15 from light9.rdfdb.patch import Patch
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16 sys.path.append('/opt/pigpio')
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17 try:
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18 import pigpio
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19 except ImportError:
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20 class pigpio(object):
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21 @staticmethod
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22 def pi():
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23 return None
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24
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25 import devices
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26 from export_to_influxdb import InfluxExporter
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27
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28 log = logging.getLogger()
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29 logging.getLogger('serial').setLevel(logging.WARN)
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30
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31 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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32 HOST = Namespace('http://bigasterisk.com/ruler/host/')
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33
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34 hostname = socket.gethostname()
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35 CTX = ROOM['pi/%s' % hostname]
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36 bang6 = 'fcb8:4119:fb46:96f8:8b07:1260:0f50:fcfa'
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37
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38 def patchRandid():
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39 """
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40 I'm concerned urandom is slow on raspberry pi, and I'm adding to
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41 graphs a lot. Unclear what the ordered return values might do to
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42 the balancing of the graph.
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43 """
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44 _id_serial = [1000]
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45 def randid():
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46 _id_serial[0] += 1
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47 return _id_serial[0]
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48 import rdflib.plugins.memory
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49 rdflib.plugins.memory.randid = randid
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50 patchRandid()
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51
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52 class Config(object):
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53 def __init__(self, masterGraph):
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54 self.graph = ConjunctiveGraph()
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55 log.info('read config')
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56 for f in os.listdir('config'):
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57 if f.startswith('.') or not f.endswith('.n3'): continue
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58 self.graph.parse('config/%s' % f, format='n3')
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59 log.info(' parsed %s', f)
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60 self.graph.bind('', ROOM)
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61 self.graph.bind('rdf', RDF)
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62 # config graph is too noisy; maybe make it a separate resource
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63 #masterGraph.patch(Patch(addGraph=self.graph))
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64
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65 class Board(object):
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66 """similar to arduinoNode.Board but without the communications stuff"""
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67 def __init__(self, graph, masterGraph, uri):
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68 self.graph, self.uri = graph, uri
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69 self.masterGraph = masterGraph
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70 self.masterGraph.patch(Patch(addQuads=self.staticStmts()))
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71 self.pi = pigpio.pi()
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72 self._devs = devices.makeDevices(graph, self.uri, self.pi)
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73 log.debug('found %s devices', len(self._devs))
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74 self._statementsFromInputs = {} # input device uri: latest statements
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75 self._lastPollTime = {} # input device uri: time()
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76 self._influx = InfluxExporter(self.graph)
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77 for d in self._devs:
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78 self.syncMasterGraphToHostStatements(d)
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79
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80 def startPolling(self):
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81 task.LoopingCall(self._poll).start(.05)
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82
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83 def _poll(self):
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84 try:
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85 self._pollMaybeError()
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86 except Exception:
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87 log.exception("During poll:")
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88
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89 def _pollMaybeError(self):
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90 pollTime = {} # uri: sec
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91 for i in self._devs:
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92 now = time.time()
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93 if (hasattr(i, 'pollPeriod') and
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94 self._lastPollTime.get(i.uri, 0) + i.pollPeriod > now):
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95 continue
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96 new = i.poll()
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97 pollTime[i.uri] = time.time() - now
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98 if isinstance(new, dict): # new style
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99 oneshot = new['oneshot']
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100 new = new['latest']
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101 else:
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102 oneshot = None
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103 prev = self._statementsFromInputs.get(i.uri, set())
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104
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105 if new or prev:
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106 self._statementsFromInputs[i.uri] = new
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107 # it's important that quads from different devices
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108 # don't clash, since that can lead to inconsistent
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109 # patches (e.g.
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110 # dev1 changes value from 1 to 2;
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111 # dev2 changes value from 2 to 3;
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112 # dev1 changes from 2 to 4 but this patch will
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113 # fail since the '2' statement is gone)
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114 self.masterGraph.patch(Patch.fromDiff(inContext(prev, i.uri),
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115 inContext(new, i.uri)))
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116
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117 if oneshot:
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118 self._sendOneshot(oneshot)
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119 self._lastPollTime[i.uri] = now
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120 if log.isEnabledFor(logging.DEBUG):
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121 log.debug('poll times:')
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122 for u, s in sorted(pollTime.items()):
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123 log.debug(" %.4f ms %s", s * 1000, u)
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124 log.debug('total poll time: %f ms', sum(pollTime.values()) * 1000)
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125 self._influx.exportToInflux(
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126 set.union(*[set(v) for v in self._statementsFromInputs.values()]))
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127
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128 def _sendOneshot(self, oneshot):
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129 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3())
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130 for s,p,o in oneshot)).encode('utf8')
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131 url = 'http://[%s]:9071/oneShot' % bang6
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132 d = fetch(method='POST',
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133 url=url,
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134 headers={'Content-Type': ['text/n3']},
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135 postdata=body,
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136 timeout=5)
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137 def err(e):
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138 log.info('oneshot post to %r failed: %s',
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139 url, e.getErrorMessage())
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140 d.addErrback(err)
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141
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142 def outputStatements(self, stmts):
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143 unused = set(stmts)
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144 for dev in self._devs:
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145 stmtsForDev = []
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146 for pat in dev.outputPatterns():
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147 if [term is None for term in pat] != [False, False, True]:
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148 raise NotImplementedError
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149 for stmt in stmts:
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150 if stmt[:2] == pat[:2]:
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151 stmtsForDev.append(stmt)
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152 unused.discard(stmt)
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153 if stmtsForDev:
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154 log.info("output goes to action handler for %s" % dev.uri)
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155 dev.sendOutput(stmtsForDev)
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156
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157 # Dev *could* change hostStatements at any time, and
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158 # we're not currently tracking that, but the usual is
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159 # to change them in response to sendOutput so this
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160 # should be good enough. The right answer is to give
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161 # each dev the masterGraph for it to write to.
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162 self.syncMasterGraphToHostStatements(dev)
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163 log.info("output and masterGraph sync complete")
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164 if unused:
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165 log.info("Board %s doesn't care about these statements:", self.uri)
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166 for s in unused:
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167 log.warn("%r", s)
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168
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169 def syncMasterGraphToHostStatements(self, dev):
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170 hostStmtCtx = URIRef(dev.uri + '/host')
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171 newQuads = inContext(dev.hostStatements(), hostStmtCtx)
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172 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads)
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173 log.debug("patch master with these host stmts %s", p)
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174
226
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175 def staticStmts(self):
233
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176 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)]
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177
183
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178 def description(self):
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179 """for web page"""
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180 return {
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181 'uri': self.uri,
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182 'devices': [d.description() for d in self._devs],
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183 'graph': 'http://sticker:9059/graph', #todo
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184 }
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185
233
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186 class Dot(cyclone.web.RequestHandler):
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187 def get(self):
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188 configGraph = self.settings.config.graph
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189 dot = dotrender.render(configGraph, self.settings.boards)
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190 self.write(dot)
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191
184
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192 def rdfGraphBody(body, headers):
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193 g = Graph()
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194 g.parse(StringInputSource(body), format='nt')
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195 return g
183
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196
182
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197 class OutputPage(cyclone.web.RequestHandler):
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198 def put(self):
184
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199 arg = self.request.arguments
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200 if arg.get('s') and arg.get('p'):
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201 subj = URIRef(arg['s'][-1])
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202 pred = URIRef(arg['p'][-1])
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203 turtleLiteral = self.request.body
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204 try:
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205 obj = Literal(float(turtleLiteral))
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206 except ValueError:
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207 obj = Literal(turtleLiteral)
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208 stmt = (subj, pred, obj)
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209 else:
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210 g = rdfGraphBody(self.request.body, self.request.headers)
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211 assert len(g) == 1, len(g)
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212 stmt = g.triples((None, None, None)).next()
182
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213
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214 self.settings.board.outputStatements([stmt])
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215
183
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216 class Boards(cyclone.web.RequestHandler):
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217 def get(self):
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218 self.set_header('Content-type', 'application/json')
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219 self.write(json.dumps({
233
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220 'host': hostname,
183
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221 'boards': [self.settings.board.description()]
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222 }, indent=2))
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223
182
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224 def main():
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225 arg = docopt("""
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226 Usage: piNode.py [options]
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227
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228 -v Verbose
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229 """)
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230 log.setLevel(logging.WARN)
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231 if arg['-v']:
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232 from twisted.python import log as twlog
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233 twlog.startLogging(sys.stdout)
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234
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235 log.setLevel(logging.DEBUG)
233
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236
226
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237 masterGraph = PatchableGraph()
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238 config = Config(masterGraph)
182
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239
233
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240 thisHost = Literal(hostname)
221
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241 for row in config.graph.query(
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242 'SELECT ?board WHERE { ?board a :PiBoard; :hostname ?h }',
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243 initBindings=dict(h=thisHost)):
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244 thisBoard = row.board
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245 break
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246 else:
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247 raise ValueError("config had no board for :hostname %r" % thisHost)
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248
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249 log.info("found config for board %r" % thisBoard)
226
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250 board = Board(config.graph, masterGraph, thisBoard)
183
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251 board.startPolling()
182
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252
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253 reactor.listenTCP(9059, cyclone.web.Application([
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254 (r"/()", cyclone.web.StaticFileHandler, {
183
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255 "path": "../arduinoNode/static", "default_filename": "index.html"}),
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256 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "../arduinoNode/static"}),
233
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257 (r'/boards', Boards),
226
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258 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}),
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259 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}),
182
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260 (r'/output', OutputPage),
233
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261 (r'/dot', Dot),
220
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diff changeset
262 ], config=config, board=board, debug=arg['-v']), interface='::')
258
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diff changeset
263 log.warn('serving on 9059')
182
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264 reactor.run()
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265
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266 main()