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annotate service/arduinoNode/devices.py @ 991:c6989dcf1f4f

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temp sensor try to work with idle loop (but there are still stutters) Ignore-this: d3d33548db6ce6c329f8aef2cd83403a darcs-hash:20150708082102-312f9-ea553ff8ce011065b93ed3dae5dbc8fa057ca0d8
author drewp <drewp@bigasterisk.com>
date Wed, 08 Jul 2015 01:21:02 -0700
parents 11fff6301027
children 6c6897a139da
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
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1 from __future__ import division
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2 import itertools
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3 from rdflib import Namespace, RDF, URIRef, Literal
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4 import time
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5
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6 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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7 XSD = Namespace('http://www.w3.org/2001/XMLSchema#')
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8
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9 def readLine(read):
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10 buf = ''
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11 for c in iter(lambda: read(1), '\n'):
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12 buf += c
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13 return buf
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14
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15 class DeviceType(object):
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16 deviceType = None
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17 @classmethod
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18 def findInstances(cls, graph, board):
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19 """
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20 return any number of instances of this class for all the separately
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21 controlled devices on the board. Two LEDS makes two instances,
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22 but two sensors on the same onewire bus makes only one device
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23 (which yields more statements).
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24 """
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25 for row in graph.query("""SELECT ?dev ?pinNumber WHERE {
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26 ?board :hasPin ?pin .
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27 ?pin :pinNumber ?pinNumber;
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28 :connectedTo ?dev .
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29 ?dev a ?thisType .
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30 } ORDER BY ?dev""",
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31 initBindings=dict(board=board,
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32 thisType=cls.deviceType),
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33 initNs={'': ROOM}):
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34 yield cls(graph, row.dev, int(row.pinNumber))
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35
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36 # subclasses may add args to this
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37 def __init__(self, graph, uri, pinNumber):
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38 self.graph, self.uri = graph, uri
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39 self.pinNumber = pinNumber
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40
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41 def description(self):
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42 return {
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43 'uri': self.uri,
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44 'className': self.__class__.__name__,
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45 'pinNumber': self.pinNumber,
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46 'outputPatterns': self.outputPatterns(),
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47 'watchPrefixes': self.watchPrefixes(),
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48 'outputWidgets': self.outputWidgets(),
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49 }
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50
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51 def readFromPoll(self, read):
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52 """
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53 read an update message returned as part of a poll bundle. This may
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54 consume a varying number of bytes depending on the type of
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55 input (e.g. IR receiver).
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56 Returns rdf statements.
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57 """
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58 raise NotImplementedError('readFromPoll in %s' % self.__class__)
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59
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60 def watchPrefixes(self):
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61 """
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62 subj,pred pairs of the statements that might be returned from
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63 readFromPoll, so the dashboard knows what it should
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64 watch. This should be eliminated, as the dashboard should just
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65 always watch the whole tree of statements starting self.uri
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66 """
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67 return []
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68
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69 def generateIncludes(self):
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70 """filenames of .h files to #include"""
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71 return []
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72
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73 def generateArduinoLibs(self):
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74 """names of libraries for the ARDUINO_LIBS line in the makefile"""
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75 return []
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76
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77 def generateGlobalCode(self):
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78 """C code to emit in the global section.
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79
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80 Note that 'frame' (uint8) is available and increments each frame.
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81 """
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82 return ''
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83
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84 def generateSetupCode(self):
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85 """C code to emit in setup()"""
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86 return ''
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87
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88 def generateIdleCode(self):
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89 """C code to emit in the serial-read loop"""
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90 return ''
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91
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92 def generatePollCode(self):
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93 """
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94 C code to run a poll update. This should Serial.write its output
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95 for readFromPoll to consume. If this returns nothing, we don't
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96 try to poll this device.
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97 """
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98 return ''
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99
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100 def generateActionCode(self):
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101 """
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102 If the host side runs sendOutput, this C code will be run on the
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103 board to receive whatever sendOutput writes. Each sendOutput
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104 write(buf) call should be matched with len(buf) Serial.read()
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105 calls in here.
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106 """
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107 return ''
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108
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109 def outputPatterns(self):
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110 """
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111 Triple patterns, using None as a wildcard, that should be routed
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112 to sendOutput
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113 """
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114 return []
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115
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116 def outputWidgets(self):
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117 """
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118 structs to make output widgets on the dashboard. ~1 of these per
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119 handler you have in sendOutput
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120 """
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121 return []
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122
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123 def sendOutput(self, statements, write, read):
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124 """
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125 If we got statements that match this class's outputPatterns, this
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126 will be called with the statements that matched, and a serial
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127 write method. What you write here will be available as
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128 Serial.read in the generateActionCode C code.
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129
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130 Todo: it would be fine to read back confirmations or
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131 whatever. Just need a way to collect them into graph statements.
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132 """
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133 raise NotImplementedError
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134
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135 _knownTypes = set()
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136 def register(deviceType):
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137 _knownTypes.add(deviceType)
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138 return deviceType
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139
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140 @register
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141 class PingInput(DeviceType):
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142 @classmethod
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143 def findInstances(cls, graph, board):
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144 return [cls(graph, board, None)]
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145
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146 def generatePollCode(self):
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147 return "Serial.write('k');"
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148
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149 def readFromPoll(self, read):
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150 if read(1) != 'k':
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151 raise ValueError('invalid ping response')
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152 return [(self.uri, ROOM['ping'], ROOM['ok'])]
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153
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154 def watchPrefixes(self):
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155 return [(self.uri, ROOM['ping'])]
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156
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157 @register
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158 class MotionSensorInput(DeviceType):
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159 deviceType = ROOM['MotionSensor']
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160 def generateSetupCode(self):
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161 return 'pinMode(%(pin)d, INPUT); digitalWrite(%(pin)d, LOW);' % {
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162 'pin': self.pinNumber,
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163 }
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164
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165 def generatePollCode(self):
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166 return "Serial.write(digitalRead(%(pin)d) ? 'y' : 'n');" % {
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167 'pin': self.pinNumber
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168 }
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169
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170 def readFromPoll(self, read):
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171 b = read(1)
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172 if b not in 'yn':
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173 raise ValueError('unexpected response %r' % b)
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174 motion = b == 'y'
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175
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176 return [
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177 (self.uri, ROOM['sees'],
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178 ROOM['motion'] if motion else ROOM['noMotion']),
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179 self.recentMotionStatement(motion),
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180 ]
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181
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182 def recentMotionStatement(self, motion):
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183 if not hasattr(self, 'lastMotionTime'):
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184 self.lastMotionTime = 0
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185 now = time.time()
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186 if motion:
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187 self.lastMotionTime = now
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188 recentMotion = now - self.lastMotionTime < 60 * 10
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189 return (self.uri, ROOM['seesRecently'],
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190 ROOM['motion'] if recentMotion else ROOM['noMotion'])
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191
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192 def watchPrefixes(self):
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193 return [
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194 (self.uri, ROOM['sees']),
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195 (self.uri, ROOM['seesRecently']),
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196 ]
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197
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198 @register
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199 class OneWire(DeviceType):
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200 """
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201 A OW bus with temperature sensors (and maybe other devices, which
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202 are also to be handled under this object)
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203 """
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204 deviceType = ROOM['OneWire']
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205
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206 def generateIncludes(self):
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207 return ['OneWire.h', 'DallasTemperature.h']
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208
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209 def generateArduinoLibs(self):
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210 return ['OneWire', 'DallasTemperature']
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211
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212 def generateGlobalCode(self):
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213 # not yet isolated to support multiple OW buses
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214 return '''
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215 OneWire oneWire(%(pinNumber)s);
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diff changeset
216 DallasTemperature sensors(&oneWire);
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diff changeset
217 DeviceAddress tempSensorAddress;
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218 #define NUM_TEMPERATURE_RETRIES 2
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219
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diff changeset
220 void initSensors() {
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diff changeset
221 sensors.begin();
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diff changeset
222 sensors.setWaitForConversion(false);
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223 sensors.getAddress(tempSensorAddress, 0);
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224 sensors.setResolution(tempSensorAddress, 9); // down from 12 to avoid flicker
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225 }
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diff changeset
226 ''' % dict(pinNumber=self.pinNumber)
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diff changeset
227
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228 def generateSetupCode(self):
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229 return 'initSensors();'
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230
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diff changeset
231 def generatePollCode(self):
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232 return r'''
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diff changeset
233 for (int i=0; i<NUM_TEMPERATURE_RETRIES; i++) {
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diff changeset
234 sensors.requestTemperatures();
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diff changeset
235 // not waiting for conversion at all is fine- the temps will update soon
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diff changeset
236 //unsigned long until = millis() + 750; while(millis() < until) {idle();}
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diff changeset
237 float newTemp = sensors.getTempF(tempSensorAddress);
991
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diff changeset
238 idle();
971
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diff changeset
239 if (i < NUM_TEMPERATURE_RETRIES-1 &&
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240 (newTemp < -100 || newTemp > 180)) {
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diff changeset
241 // too many errors that were fixed by restarting arduino.
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diff changeset
242 // trying repeating this much init
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diff changeset
243 initSensors();
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diff changeset
244 continue;
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diff changeset
245 }
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diff changeset
246 Serial.print(newTemp);
991
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diff changeset
247 idle();
971
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diff changeset
248 Serial.print('\n');
991
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diff changeset
249 idle();
971
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diff changeset
250 Serial.print((char)i);
991
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diff changeset
251 idle();
971
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diff changeset
252 break;
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diff changeset
253 }
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diff changeset
254 '''
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diff changeset
255
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diff changeset
256 def readFromPoll(self, read):
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diff changeset
257 newTemp = readLine(read)
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diff changeset
258 retries = ord(read(1))
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diff changeset
259 # uri will change; there could (likely) be multiple connected sensors
971
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diff changeset
260 return [
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diff changeset
261 (self.uri, ROOM['temperatureF'],
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diff changeset
262 Literal(newTemp, datatype=XSD['decimal'])),
971
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diff changeset
263 (self.uri, ROOM['temperatureRetries'], Literal(retries)),
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264 ]
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265
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266 def watchPrefixes(self):
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267 # these uris will become dynamic! see note on watchPrefixes
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268 # about eliminating it.
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269 return [(self.uri, ROOM['temperatureF']),
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270 (self.uri, ROOM['temperatureRetries']),
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271 ]
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272
974
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273 def byteFromFloat(f):
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274 return chr(int(min(255, max(0, f * 255))))
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275
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276 @register
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277 class LedOutput(DeviceType):
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278 deviceType = ROOM['LedOutput']
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279 def generateSetupCode(self):
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280 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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281 'pin': self.pinNumber,
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282 }
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283
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284 def outputPatterns(self):
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285 return [(self.uri, ROOM['brightness'], None)]
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286
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287 def sendOutput(self, statements, write, read):
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288 assert len(statements) == 1
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289 assert statements[0][:2] == (self.uri, ROOM['brightness'])
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290 value = float(statements[0][2])
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291 if (self.uri, RDF.type, ROOM['ActiveLowOutput']) in self.graph:
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292 value = 1 - value
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293 write(byteFromFloat(value))
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294
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295 def generateActionCode(self):
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296 return r'''
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297 while(Serial.available() < 1) NULL;
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298 analogWrite(%(pin)d, Serial.read());
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299 ''' % dict(pin=self.pinNumber)
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300
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301 def outputWidgets(self):
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302 return [{
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303 'element': 'output-slider',
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304 'min': 0,
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305 'max': 1,
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306 'step': 1 / 255,
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307 'subj': self.uri,
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308 'pred': ROOM['brightness'],
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309 }]
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310
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311 @register
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312 class DigitalOutput(DeviceType):
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313 deviceType = ROOM['DigitalOutput']
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314 def generateSetupCode(self):
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315 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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316 'pin': self.pinNumber,
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317 }
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318
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319 def outputPatterns(self):
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320 return [(self.uri, ROOM['level'], None)]
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321
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322 def sendOutput(self, statements, write, read):
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323 assert len(statements) == 1
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324 assert statements[0][:2] == (self.uri, ROOM['level'])
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325 value = {"high": 1, "low": 0}[str(statements[0][2])]
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326 write(chr(value))
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327
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328 def generateActionCode(self):
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329 return r'''
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330 while(Serial.available() < 1) NULL;
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331 digitalWrite(%(pin)d, Serial.read());
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332 ''' % dict(pin=self.pinNumber)
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333
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334 def outputWidgets(self):
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335 return [{
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336 'element': 'output-switch',
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337 'subj': self.uri,
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338 'pred': ROOM['level'],
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339 }]
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340
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341 @register
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342 class ST7576Lcd(DeviceType):
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343 deviceType = ROOM['ST7565Lcd']
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344 @classmethod
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345 def findInstances(cls, graph, board):
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346 grouped = itertools.groupby(
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347 graph.query("""SELECT DISTINCT ?dev ?pred ?pinNumber WHERE {
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348 ?board :hasPin ?pin .
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349 ?pin :pinNumber ?pinNumber;
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diff changeset
350 :connectedTo ?devPin .
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351 ?dev a :ST7565Lcd .
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352 ?dev ?pred ?devPin .
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353 } ORDER BY ?dev""",
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354 initBindings=dict(board=board,
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diff changeset
355 thisType=cls.deviceType),
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diff changeset
356 initNs={'': ROOM}),
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diff changeset
357 lambda row: row.dev)
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diff changeset
358 for dev, connections in grouped:
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diff changeset
359 connections = dict((role, int(num)) for unused_dev, role, num
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diff changeset
360 in connections)
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diff changeset
361 yield cls(graph, dev, connections=connections)
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362
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
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diff changeset
363 def __init__(self, graph, dev, connections):
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364 super(ST7576Lcd, self).__init__(graph, dev, pinNumber=None)
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365 self.connections = connections
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366
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367 def generateIncludes(self):
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368 return ['ST7565.h']
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369
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diff changeset
370 def generateArduinoLibs(self):
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371 return ['ST7565']
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372
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373 def generateGlobalCode(self):
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diff changeset
374 return '''
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375 ST7565 glcd(%(SID)d, %(SCLK)d, %(A0)d, %(RST)d, %(CS)d);
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376 char newtxt[21*8+1];
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diff changeset
377 unsigned int written;
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diff changeset
378 ''' % dict(SID=self.connections[ROOM['lcdSID']],
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379 SCLK=self.connections[ROOM['lcdSCLK']],
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diff changeset
380 A0=self.connections[ROOM['lcdA0']],
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diff changeset
381 RST=self.connections[ROOM['lcdRST']],
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diff changeset
382 CS=self.connections[ROOM['lcdCS']])
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diff changeset
383
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diff changeset
384 def generateSetupCode(self):
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diff changeset
385 return '''
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diff changeset
386 glcd.st7565_init();
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diff changeset
387 glcd.st7565_command(CMD_DISPLAY_ON);
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388 glcd.st7565_command(CMD_SET_ALLPTS_NORMAL);
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389 glcd.st7565_set_brightness(0x18);
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diff changeset
390
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diff changeset
391 glcd.display(); // show splashscreen
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diff changeset
392 '''
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393
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diff changeset
394 def outputPatterns(self):
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diff changeset
395 return [(self.uri, ROOM['text'], None)]
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diff changeset
396
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diff changeset
397 def sendOutput(self, statements, write, read):
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diff changeset
398 assert len(statements) == 1
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diff changeset
399 assert statements[0][:2] == (self.uri, ROOM['text'])
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diff changeset
400 value = str(statements[0][2])
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diff changeset
401 assert len(value) < 254, repr(value)
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
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diff changeset
402 write(chr(len(value)) + value)
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
403
975
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
404 def outputWidgets(self):
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
405 return [{
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
parents: 974
diff changeset
406 'element': 'output-fixed-text',
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
parents: 974
diff changeset
407 'cols': 21,
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
parents: 974
diff changeset
408 'rows': 8,
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
409 'subj': self.uri,
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
410 'pred': ROOM['text'],
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
411 }]
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
parents: 974
diff changeset
412
974
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
413 def generateActionCode(self):
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
414 return '''
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
415 while(Serial.available() < 1) NULL;
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
416 byte bufSize = Serial.read();
975
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
417 for (byte i = 0; i < bufSize; ++i) {
974
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
418 while(Serial.available() < 1) NULL;
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
419 newtxt[i] = Serial.read();
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
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420 }
975
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
421 for (byte i = bufSize; i < sizeof(newtxt); ++i) {
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
422 newtxt[i] = 0;
f3023410d875 polymer board debug page with working output widgets
drewp <drewp@bigasterisk.com>
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diff changeset
423 }
974
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
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diff changeset
424 glcd.clear();
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
425 glcd.drawstring(0,0, newtxt);
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
426 glcd.display();
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
427 '''
f707210c13bd new /output to post statements which devices can handle. led and lcd output working
drewp <drewp@bigasterisk.com>
parents: 971
diff changeset
428
971
fbe72d44f15a only recompile if the C code is new. redo Device class api. single temperature sensor is working
drewp <drewp@bigasterisk.com>
parents: 969
diff changeset
429 def makeDevices(graph, board):
fbe72d44f15a only recompile if the C code is new. redo Device class api. single temperature sensor is working
drewp <drewp@bigasterisk.com>
parents: 969
diff changeset
430 out = []
fbe72d44f15a only recompile if the C code is new. redo Device class api. single temperature sensor is working
drewp <drewp@bigasterisk.com>
parents: 969
diff changeset
431 for dt in sorted(_knownTypes, key=lambda cls: cls.__name__):
fbe72d44f15a only recompile if the C code is new. redo Device class api. single temperature sensor is working
drewp <drewp@bigasterisk.com>
parents: 969
diff changeset
432 out.extend(dt.findInstances(graph, board))
fbe72d44f15a only recompile if the C code is new. redo Device class api. single temperature sensor is working
drewp <drewp@bigasterisk.com>
parents: 969
diff changeset
433 return out
fbe72d44f15a only recompile if the C code is new. redo Device class api. single temperature sensor is working
drewp <drewp@bigasterisk.com>
parents: 969
diff changeset
434