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annotate service/piNode/piNode.py @ 1431:af2d0249a2cc

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wip for pytype support and separate device run loops on piNode Ignore-this: 9aa9a3a7e715afefbc858050e02c4c62 darcs-hash:998d048d88b8cbc9e5fcd7576dec8687a9960e8c
author drewp <drewp@bigasterisk.com>
date Sat, 10 Aug 2019 23:33:50 -0700
parents 445e24e8c8bb
children 7c04b4f675ec
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1 from __future__ import division
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2 import sys, logging, socket, json, time, pkg_resources
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3 import cyclone.web
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4 from cyclone.httpclient import fetch
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5 from rdflib import Namespace, URIRef, Literal, Graph, RDF, ConjunctiveGraph
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6 from rdflib.parser import StringInputSource
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7 from twisted.internet import reactor, task
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8 from twisted.internet.defer import inlineCallbacks, maybeDeferred, gatherResults, returnValue
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9 from twisted.internet.threads import deferToThread
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10 from docopt import docopt
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11 from typing import Any
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12 import etcd3 # type: Any
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13 from greplin import scales
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14 from greplin.scales.cyclonehandler import StatsHandler
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15
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16 logging.basicConfig(level=logging.DEBUG)
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17
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18 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler
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19 from cycloneerr import PrettyErrorHandler
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20
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21 from rdfdb.rdflibpatch import inContext
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22 from rdfdb.patch import Patch
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23
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24 try:
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25 import pigpio
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26 except ImportError:
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27 class pigpio(object):
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28 @staticmethod
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29 def pi():
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30 return None
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31
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32 import devices
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33 from export_to_influxdb import InfluxExporter
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34
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35 log = logging.getLogger()
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36 logging.getLogger('serial').setLevel(logging.WARN)
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37
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38 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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39 HOST = Namespace('http://bigasterisk.com/ruler/host/')
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40
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41 hostname = socket.gethostname()
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42 CTX = ROOM['pi/%s' % hostname]
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43
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44 STATS = scales.collection('/root',
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45 scales.PmfStat('configReread'),
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46 scales.IntStat('pollException'),
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47 scales.PmfStat('pollAll'),
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48 scales.PmfStat('boardPoll'),
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49 scales.PmfStat('sendOneshot'),
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50 scales.PmfStat('outputStatements'),
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51
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52 )
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53 def patchRandid():
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54 """
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55 I'm concerned urandom is slow on raspberry pi, and I'm adding to
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56 graphs a lot. Unclear what the ordered return values might do to
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57 the balancing of the graph.
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58 """
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59 _id_serial = [1000]
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60 def randid():
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61 _id_serial[0] += 1
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62 return _id_serial[0]
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63 import rdflib.plugins.memory
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64 rdflib.plugins.memory.randid = randid
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65 patchRandid()
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66
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67 class Config(object):
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68 def __init__(self, masterGraph, hubHost):
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69 self.etcd = etcd3.client(host=hubHost, port=9022)
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70
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71 self.masterGraph = masterGraph
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72 self.hubHost = hubHost
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73 self.configGraph = ConjunctiveGraph()
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74 self.boards = []
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75 self.etcPrefix = 'pi/'
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76 self.rereadLater = None
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77
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78 self.reread()
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79
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80 deferToThread(self.watchEtcd)
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81
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82 def watchEtcd(self):
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83 events, cancel = self.etcd.watch_prefix(self.etcPrefix)
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84 reactor.addSystemEventTrigger('before', 'shutdown', cancel)
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85 for ev in events:
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86 log.info('%s changed', ev.key)
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87 reactor.callFromThread(self.configChanged)
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88
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89 def configChanged(self):
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90 self.cancelRead()
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91 self.rereadLater = reactor.callLater(.1, self.reread)
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92
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93 def cancelRead(self):
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94 if self.rereadLater:
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95 self.rereadLater.cancel()
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96 self.rereadLater = None
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97
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98 @STATS.configReread.time()
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99 def reread(self):
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100 self.rereadLater = None
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101 log.info('read config')
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102 self.configGraph = ConjunctiveGraph()
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103 for v, md in self.etcd.get_prefix(self.etcPrefix):
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104 log.info(' read file %r', md.key)
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105 self.configGraph.parse(StringInputSource(v), format='n3')
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106 self.configGraph.bind('', ROOM)
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107 self.configGraph.bind('rdf', RDF)
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108 # config graph is too noisy; maybe make it a separate resource
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109 #masterGraph.patch(Patch(addGraph=self.configGraph))
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110 self.setupBoards()
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111
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112 def setupBoards(self):
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113 thisHost = Literal(hostname)
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114 for row in self.configGraph.query(
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115 'SELECT ?board WHERE { ?board a :PiBoard; :hostname ?h }',
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116 initBindings=dict(h=thisHost)):
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117 thisBoard = row.board
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118 break
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119 else:
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120 log.warn("config had no board for :hostname %s. Waiting for config update." %
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121 thisHost)
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122 self.boards = []
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123 return
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124
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125 log.info("found config for board %r" % thisBoard)
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126 self.boards = [Board(self.configGraph, self.masterGraph, thisBoard, self.hubHost)]
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127 self.boards[0].startPolling()
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128
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129
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130 class DeviceRunner(object):
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131 def __init__(self, dev):
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132 self.dev = dev
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133 self.period = getattr(self.dev, 'pollPeriod', .05)
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134 #self._lastPollTime.get(i.uri, 0) + self.pollPeriod > now):
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135
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136 reactor.callLater(0, self.poll)
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137
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138 @inlineCallbacks
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139 def poll(self):
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140 now = time.time()
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141 try:
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142 with self.dev.stats.poll.time():
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143 new = yield maybeDeferred(self.dev.poll)
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144 finally:
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145 reactor.callLater(max(0, time.time() - (now + self.period)), self.poll)
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146 returnValue(new)
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147
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148 class Board(object):
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149 """similar to arduinoNode.Board but without the communications stuff"""
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150 def __init__(self, graph, masterGraph, uri, hubHost):
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151 self.graph, self.uri = graph, uri
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152 self.hubHost = hubHost
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153 self.masterGraph = masterGraph
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154 self.masterGraph.setToGraph(self.staticStmts())
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155 self.pi = pigpio.pi()
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156 self._devs = [DeviceRunner(d) for d in devices.makeDevices(graph, self.uri, self.pi)]
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157 log.debug('found %s devices', len(self._devs))
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158 self._statementsFromInputs = {} # input device uri: latest statements
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159 self._lastPollTime = {} # input device uri: time()
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160 self._influx = InfluxExporter(self.graph)
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161 for d in self._devs:
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162 self.syncMasterGraphToHostStatements(d.dev)
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163
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164 def startPolling(self):
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165 task.LoopingCall(self._poll).start(.05)
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166
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167 @STATS.boardPoll.time() # not differentiating multiple boards here
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168 def _poll(self):
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169 try:
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170 self._pollMaybeError()
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171 except Exception:
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172 STATS.pollException += 1
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173 log.exception("During poll:")
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174
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175
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176 @inlineCallbacks
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177 def _pollOneDev(self, i):
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178 now = time.time()
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179
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180 new = i.poll()
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181 if isinstance(new, dict): # new style
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182 oneshot = new['oneshot']
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183 new = new['latest']
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184 else:
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185 oneshot = None
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186
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187 self._updateMasterWithNewPollStatements(i.uri, new)
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188
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189 if oneshot:
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190 self._sendOneshot(oneshot)
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191 self._lastPollTime[i.uri] = now
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192
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193 @inlineCallbacks
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194 def _pollMaybeError(self):
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195 pollTime = {} # uri: sec
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196 yield gatherResults([self._pollOneDev(i.dev, pollTime)
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197 for i in self._devs], consumeErrors=True)
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198
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199 pollResults = map(set, self._statementsFromInputs.values())
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diff changeset
200 if pollResults:
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201 self._influx.exportToInflux(set.union(*pollResults))
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diff changeset
202
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203 def _updateMasterWithNewPollStatements(self, dev, new):
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204 prev = self._statementsFromInputs.get(dev, set())
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205
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206 # it's important that quads from different devices
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207 # don't clash, since that can lead to inconsistent
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208 # patches (e.g.
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209 # dev1 changes value from 1 to 2;
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210 # dev2 changes value from 2 to 3;
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211 # dev1 changes from 2 to 4 but this patch will
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212 # fail since the '2' statement is gone)
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213 self.masterGraph.patch(Patch.fromDiff(inContext(prev, dev),
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diff changeset
214 inContext(new, dev)))
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215 self._statementsFromInputs[dev] = new
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216
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217 @STATS.sendOneshot.time()
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218 def _sendOneshot(self, oneshot):
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219 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3())
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220 for s,p,o in oneshot)).encode('utf8')
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221 url = 'http://%s:9071/oneShot' % self.hubHost
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diff changeset
222 d = fetch(method='POST',
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diff changeset
223 url=url,
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diff changeset
224 headers={'Content-Type': ['text/n3']},
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diff changeset
225 postdata=body,
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diff changeset
226 timeout=5)
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227 def err(e):
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diff changeset
228 log.info('oneshot post to %r failed: %s',
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diff changeset
229 url, e.getErrorMessage())
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diff changeset
230 d.addErrback(err)
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231
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232 @STATS.outputStatements.time()
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233 def outputStatements(self, stmts):
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234 unused = set(stmts)
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235 for devRunner in self._devs:
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236 dev = devRunner.dev
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237 stmtsForDev = []
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238 for pat in dev.outputPatterns():
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239 if [term is None for term in pat] != [False, False, True]:
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240 raise NotImplementedError
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241 for stmt in stmts:
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242 if stmt[:2] == pat[:2]:
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243 stmtsForDev.append(stmt)
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244 unused.discard(stmt)
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245 if stmtsForDev:
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246 log.info("output goes to action handler for %s" % dev.uri)
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diff changeset
247 with dev.stats.output.time():
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diff changeset
248 dev.sendOutput(stmtsForDev)
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249
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250 # Dev *could* change hostStatements at any time, and
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251 # we're not currently tracking that, but the usual is
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252 # to change them in response to sendOutput so this
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diff changeset
253 # should be good enough. The right answer is to give
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254 # each dev the masterGraph for it to write to.
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255 self.syncMasterGraphToHostStatements(dev)
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256 log.info("output and masterGraph sync complete")
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diff changeset
257 if unused:
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diff changeset
258 log.info("Board %s doesn't care about these statements:", self.uri)
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diff changeset
259 for s in unused:
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diff changeset
260 log.warn("%r", s)
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diff changeset
261
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diff changeset
262 def syncMasterGraphToHostStatements(self, dev):
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263 hostStmtCtx = URIRef(dev.uri + '/host')
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diff changeset
264 newQuads = inContext(dev.hostStatements(), hostStmtCtx)
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diff changeset
265 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads)
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diff changeset
266 log.debug("patch master with these host stmts %s", p)
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diff changeset
267
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diff changeset
268 def staticStmts(self):
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diff changeset
269 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)]
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diff changeset
270
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271 def description(self):
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272 """for web page"""
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273 return {
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274 'uri': self.uri,
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275 'devices': [d.dev.description() for d in self._devs],
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276 'graph': 'http://sticker:9059/graph', #todo
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277 }
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278
989
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279 def rdfGraphBody(body, headers):
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280 g = Graph()
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281 g.parse(StringInputSource(body), format='nt')
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282 return g
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283
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284 class OutputPage(PrettyErrorHandler, cyclone.web.RequestHandler):
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285 def put(self):
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286 arg = self.request.arguments
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287 if arg.get('s') and arg.get('p'):
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288 subj = URIRef(arg['s'][-1])
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289 pred = URIRef(arg['p'][-1])
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290 turtleLiteral = self.request.body
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291 try:
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292 obj = Literal(float(turtleLiteral))
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293 except ValueError:
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294 obj = Literal(turtleLiteral)
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295 stmt = (subj, pred, obj)
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296 else:
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297 g = rdfGraphBody(self.request.body, self.request.headers)
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298 assert len(g) == 1, len(g)
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299 stmt = g.triples((None, None, None)).next()
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300
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301 for b in self.settings.config.boards:
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302 b.outputStatements([stmt])
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303
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304 class Boards(PrettyErrorHandler, cyclone.web.RequestHandler):
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305 def get(self):
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306 self.set_header('Content-type', 'application/json')
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307 self.write(json.dumps({
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308 'host': hostname,
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309 'boards': [b.description() for b in self.settings.config.boards]
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310 }, indent=2))
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311
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312 def main():
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313 arg = docopt("""
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314 Usage: piNode.py [options]
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315
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316 -v Verbose
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317 --ow Just report onewire device URIs and readings, then exit.
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318 --hub=HOST Hostname for etc3 and oneshot posts. [default: bang.vpn-home.bigasterisk.com]
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319 """)
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320 log.setLevel(logging.WARN)
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321 if arg['-v']:
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322 from twisted.python import log as twlog
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323 twlog.startLogging(sys.stdout)
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324
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325 log.setLevel(logging.DEBUG)
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326
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327 if arg['--ow']:
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328 log.setLevel(logging.INFO)
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329 for stmt in devices.OneWire().poll():
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330 print stmt
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331 return
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332
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333 masterGraph = PatchableGraph()
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334 config = Config(masterGraph, arg['--hub'])
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diff changeset
335
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336 static = pkg_resources.resource_filename('homeauto_anynode', 'static/')
f2159312b0e7 update build and deps to use invoke and to use new lib layout, plus more stats collection
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diff changeset
337
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338 reactor.listenTCP(9059, cyclone.web.Application([
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339 (r"/(|output-widgets.html)", cyclone.web.StaticFileHandler, {
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diff changeset
340 "path": static, "default_filename": "index.html"}),
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35090659d414 fix /static path dir
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diff changeset
341 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": static}),
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342 (r'/stats/(.*)', StatsHandler, {'serverName': 'piNode'}),
1038
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343 (r'/boards', Boards),
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344 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}),
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diff changeset
345 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}),
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diff changeset
346 (r'/output', OutputPage),
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diff changeset
347 ], config=config, debug=arg['-v']), interface='::')
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diff changeset
348 log.warn('serving on 9059')
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diff changeset
349 reactor.run()
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350
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diff changeset
351 main()