Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 169:d228105749ac
new /output to post statements which devices can handle. led and lcd output working
Ignore-this: afa16b081869a52380b04271a35c53c7
| author | drewp@bigasterisk.com |
|---|---|
| date | Sun, 12 Apr 2015 03:44:14 -0700 |
| parents | c0180bd2b33a |
| children | 376599552a4c |
| rev | line source |
|---|---|
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1 """ |
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2 depends on packages: |
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3 arduino-mk |
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4 indent |
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5 """ |
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6 from __future__ import division |
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7 import glob, sys, logging, subprocess, socket, os, hashlib, time, tempfile |
| 164 | 8 import shutil |
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9 import serial |
| 164 | 10 import cyclone.web |
| 11 from rdflib import Graph, Namespace, URIRef, Literal, RDF | |
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12 from rdflib.parser import StringInputSource |
| 164 | 13 from twisted.internet import reactor, task |
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14 |
| 164 | 15 import devices |
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16 import dotrender |
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17 import rdflib_patch |
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18 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 19 |
| 20 logging.basicConfig(level=logging.DEBUG) | |
| 21 | |
| 22 from loggingserial import LoggingSerial | |
| 23 | |
| 24 sys.path.append("/my/site/magma") | |
| 25 from stategraph import StateGraph | |
| 26 | |
| 27 log = logging.getLogger() | |
| 28 logging.getLogger('serial').setLevel(logging.WARN) | |
| 29 | |
| 30 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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31 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 32 |
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33 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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34 |
| 164 | 35 class Config(object): |
| 36 def __init__(self): | |
| 37 self.graph = Graph() | |
| 38 log.info('read config') | |
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39 self.graph.parse('config.n3', format='n3') |
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40 self.graph.bind('', ROOM) # not working |
| 164 | 41 self.graph.bind('rdf', RDF) |
| 42 | |
| 43 def serialDevices(self): | |
| 44 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 45 """SELECT ?board ?dev WHERE { | |
| 46 ?board :device ?dev; | |
| 47 a :ArduinoBoard . | |
| 48 }""", initNs={'': ROOM})]) | |
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49 |
| 164 | 50 class Board(object): |
| 51 """an arduino connected to this computer""" | |
| 52 baudrate = 115200 | |
| 53 def __init__(self, dev, graph, uri, onChange): | |
| 54 """ | |
| 55 each connected thing has some pins. | |
| 56 | |
| 57 We'll call onChange when we know the currentGraph() has | |
| 58 changed (and not just in creation time). | |
| 59 """ | |
| 60 self.uri = uri | |
| 61 self.graph = graph | |
| 62 self.dev = dev | |
| 63 | |
| 64 # The order of this list needs to be consistent between the | |
| 65 # deployToArduino call and the poll call. | |
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66 self._devs = devices.makeDevices(graph, self.uri) |
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67 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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68 for devIndex, dev in enumerate(self._devs)) |
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69 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 70 |
| 71 self._statementsFromInputs = {} # input uri: latest statements | |
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72 |
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73 self.open() |
| 164 | 74 |
| 75 def open(self): | |
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76 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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77 timeout=2) |
| 164 | 78 |
| 79 def startPolling(self): | |
| 80 task.LoopingCall(self._poll).start(.5) | |
| 81 | |
| 82 def _poll(self): | |
| 83 """ | |
| 84 even boards with no inputs need some polling to see if they're | |
| 85 still ok | |
| 86 """ | |
| 87 try: | |
| 88 self._pollWork() | |
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89 except serial.SerialException: |
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90 reactor.crash() |
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91 raise |
| 164 | 92 except Exception as e: |
| 93 log.warn("poll: %r" % e) | |
| 94 | |
| 95 def _pollWork(self): | |
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96 t1 = time.time() |
| 164 | 97 self.ser.write("\x60\x00") |
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98 for i in self._polledDevs: |
| 164 | 99 self._statementsFromInputs[i.uri] = i.readFromPoll(self.ser.read) |
| 100 #plus statements about succeeding or erroring on the last poll | |
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101 byte = self.ser.read(1) |
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102 if byte != 'x': |
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103 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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104 elapsed = time.time() - t1 |
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105 if elapsed > 1.0: |
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106 log.warn('poll took %.1f seconds' % elapsed) |
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107 |
| 164 | 108 |
| 109 def currentGraph(self): | |
| 110 g = Graph() | |
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111 |
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112 g.add((HOST[socket.gethostname()], ROOM['connectedTo'], self.uri)) |
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113 |
| 164 | 114 for si in self._statementsFromInputs.values(): |
| 115 for s in si: | |
| 116 g.add(s) | |
| 117 return g | |
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118 |
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119 def outputStatements(self, stmts): |
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120 unused = set(stmts) |
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121 for dev in self._devs: |
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122 stmtsForDev = [] |
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123 for pat in dev.outputPatterns(): |
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124 if [term is None for term in pat] != [False, False, True]: |
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125 raise NotImplementedError |
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126 for stmt in stmts: |
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127 if stmt[:2] == pat[:2]: |
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128 stmtsForDev.append(stmt) |
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129 unused.discard(stmt) |
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130 if stmtsForDev: |
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131 log.info("output goes to action handler for %s" % dev.uri) |
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132 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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133 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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134 if self.ser.read(1) != 'k': |
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135 raise ValueError( |
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136 "%s sendOutput/generateActionCode didn't use " |
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137 "matching output bytes" % dev.__class__) |
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138 log.info("success") |
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139 if unused: |
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140 log.warn("No devices cared about these statements:") |
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141 for s in unused: |
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142 log.warn(repr(s)) |
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143 |
| 164 | 144 def generateArduinoCode(self): |
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145 generated = { |
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146 'baudrate': self.baudrate, |
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147 'includes': '', |
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148 'global': '', |
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149 'setups': '', |
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150 'polls': '', |
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151 'actions': '', |
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152 } |
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153 for attr in ['includes', 'global', 'setups', 'polls', 'actions']: |
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154 for dev in self._devs: |
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155 if attr == 'includes': |
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156 gen = '\n'.join('#include "%s"\n' % inc |
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157 for inc in dev.generateIncludes()) |
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158 elif attr == 'global': gen = dev.generateGlobalCode() |
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159 elif attr == 'setups': gen = dev.generateSetupCode() |
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160 elif attr == 'polls': gen = dev.generatePollCode() |
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161 elif attr == 'actions': |
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162 code = dev.generateActionCode() |
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163 if code: |
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164 gen = '''else if (cmd == %(cmdNum)s) { |
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165 %(code)s |
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166 Serial.write('k'); |
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167 } |
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168 ''' % dict(cmdNum=self._devCommandNum[dev.uri], |
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169 code=code) |
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170 else: |
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171 gen = '' |
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172 else: |
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173 raise NotImplementedError |
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174 |
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175 if gen: |
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176 generated[attr] += '// for %s\n%s\n' % (dev.uri, gen) |
| 164 | 177 |
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178 code = ''' |
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179 %(includes)s |
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180 |
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181 %(global)s |
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182 |
| 164 | 183 void setup() { |
| 184 Serial.begin(%(baudrate)d); | |
| 185 Serial.flush(); | |
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186 %(setups)s |
| 164 | 187 } |
| 188 | |
| 189 void loop() { | |
| 190 byte head, cmd; | |
| 191 if (Serial.available() >= 2) { | |
| 192 head = Serial.read(); | |
| 193 if (head != 0x60) { | |
| 194 Serial.flush(); | |
| 195 return; | |
| 196 } | |
| 197 cmd = Serial.read(); | |
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198 if (cmd == 0x00) { // poll |
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199 %(polls)s |
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200 Serial.write('x'); |
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201 } else if (cmd == 0x01) { // get code checksum |
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202 Serial.write("CODE_CHECKSUM"); |
| 164 | 203 } |
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204 %(actions)s |
| 164 | 205 } |
| 206 } | |
| 207 ''' % generated | |
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208 try: |
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209 with tempfile.SpooledTemporaryFile() as codeFile: |
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210 codeFile.write(code) |
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211 codeFile.seek(0) |
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212 code = subprocess.check_output([ |
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213 'indent', |
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214 '-linux', |
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215 '-fc1', # ok to indent comments |
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216 '-i4', # 4-space indent |
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217 '-sob' # swallow blanks (not working) |
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218 ], stdin=codeFile) |
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219 except OSError as e: |
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220 log.warn("indent failed (%r)", e) |
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221 cksum = hashlib.sha1(code).hexdigest() |
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222 code = code.replace('CODE_CHECKSUM', cksum) |
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223 return code, cksum |
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224 |
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225 def _readBoardChecksum(self, length): |
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226 # this is likely right after reset, so it might take 2 seconds |
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227 for tries in range(6): |
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228 self.ser.write("\x60\x01") |
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229 try: |
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230 return self.ser.read(length) |
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231 except ValueError: |
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232 if tries == 5: |
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233 raise |
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234 time.sleep(.5) |
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235 raise ValueError |
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236 |
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237 def _boardIsCurrent(self, currentChecksum): |
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238 try: |
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239 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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240 if boardCksum == currentChecksum: |
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241 log.info("board has current code (%s)" % currentChecksum) |
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242 return True |
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243 else: |
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244 log.info("board responds with incorrect code version") |
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245 except Exception as e: |
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246 log.info("can't get code version from board: %r" % e) |
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247 return False |
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248 |
| 164 | 249 def deployToArduino(self): |
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250 code, cksum = self.generateArduinoCode() |
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251 |
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252 if self._boardIsCurrent(cksum): |
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253 return |
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254 |
| 164 | 255 try: |
| 256 if hasattr(self, 'ser'): | |
| 257 self.ser.close() | |
| 258 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 259 try: | |
| 260 self._arduinoMake(workDir, code) | |
| 261 finally: | |
| 262 shutil.rmtree(workDir) | |
| 263 finally: | |
| 264 self.open() | |
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265 |
| 164 | 266 def _arduinoMake(self, workDir, code): |
| 267 with open(workDir + '/makefile', 'w') as makefile: | |
| 268 makefile.write(''' | |
| 269 BOARD_TAG = %(tag)s | |
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270 USER_LIB_PATH := %(libs)s |
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271 ARDUINO_LIBS = %(arduinoLibs)s |
| 164 | 272 MONITOR_PORT = %(dev)s |
| 273 | |
| 274 include /usr/share/arduino/Arduino.mk | |
| 275 ''' % { | |
| 276 'dev': self.dev, | |
| 277 'tag': self.graph.value(self.uri, ROOM['boardTag']), | |
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278 'libs': os.path.abspath('arduino-libraries'), |
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279 'arduinoLibs': ' '.join(sum((d.generateArduinoLibs() |
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280 for d in self._devs), [])), |
| 164 | 281 }) |
| 282 | |
| 283 with open(workDir + '/main.ino', 'w') as main: | |
| 284 main.write(code) | |
| 285 | |
| 286 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 287 | |
| 288 | |
| 289 class Index(cyclone.web.RequestHandler): | |
| 290 def get(self): | |
| 291 self.set_header("Content-Type", "text/html") | |
| 292 self.write(open("index.html").read()) | |
| 293 | |
| 294 class GraphPage(cyclone.web.RequestHandler): | |
| 295 def get(self): | |
| 296 g = StateGraph(ctx=ROOM['arduinosOn%s' % 'host']) | |
| 297 | |
| 298 for b in self.settings.boards: | |
| 299 for stmt in b.currentGraph(): | |
| 300 g.add(stmt) | |
| 301 | |
| 302 if self.get_argument('config', 'no') == 'yes': | |
| 303 for stmt in self.settings.config.graph: | |
| 304 g.add(stmt) | |
| 305 | |
| 306 self.set_header('Content-type', 'application/x-trig') | |
| 307 self.write(g.asTrig()) | |
| 308 | |
| 309 class Dot(cyclone.web.RequestHandler): | |
| 310 def get(self): | |
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311 configGraph = self.settings.config.graph |
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312 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 313 self.write(dot) |
| 314 | |
| 315 class ArduinoCode(cyclone.web.RequestHandler): | |
| 316 def get(self): | |
| 317 board = [b for b in self.settings.boards if | |
| 318 b.uri == URIRef(self.get_argument('board'))][0] | |
| 319 self.set_header('Content-type', 'text/plain') | |
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320 code, cksum = board.generateArduinoCode() |
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321 self.write(code) |
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322 |
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323 def rdfGraphBody(body, headers): |
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324 g = Graph() |
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325 g.parse(StringInputSource(body), format='nt') |
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326 return g |
| 164 | 327 |
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328 class OutputPage(cyclone.web.RequestHandler): |
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329 def post(self): |
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330 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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331 for b in self.settings.boards: |
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332 b.outputStatements(stmts) |
| 164 | 333 |
| 334 def currentSerialDevices(): | |
| 335 log.info('find connected boards') | |
| 336 return glob.glob('/dev/serial/by-id/*') | |
| 337 | |
| 338 def main(): | |
| 339 config = Config() | |
| 340 current = currentSerialDevices() | |
| 341 | |
| 342 def onChange(): | |
| 343 # notify reasoning | |
| 344 pass | |
| 345 | |
| 346 boards = [] | |
| 347 for dev, board in config.serialDevices().items(): | |
| 348 if str(dev) not in current: | |
| 349 continue | |
| 350 log.info("we have board %s connected at %s" % (board, dev)) | |
| 351 b = Board(dev, config.graph, board, onChange) | |
| 352 boards.append(b) | |
| 353 | |
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354 boards[0].deployToArduino() |
| 164 | 355 |
| 356 log.info('open boards') | |
| 357 for b in boards: | |
| 358 b.startPolling() | |
| 359 | |
| 360 from twisted.python import log as twlog | |
| 361 twlog.startLogging(sys.stdout) | |
| 362 | |
| 363 log.setLevel(logging.DEBUG) | |
| 364 reactor.listenTCP(9059, cyclone.web.Application([ | |
| 365 (r"/", Index), | |
| 366 (r"/graph", GraphPage), | |
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367 (r'/output', OutputPage), |
| 164 | 368 (r'/arduinoCode', ArduinoCode), |
| 369 (r'/dot', Dot), | |
| 370 ], config=config, boards=boards)) | |
| 371 reactor.run() | |
| 372 | |
| 373 main() |