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annotate service/arduinoNode/devices.py @ 169:d228105749ac

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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
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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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
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5 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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6 XSD = Namespace('http://www.w3.org/2001/XMLSchema#')
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7
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8 def readLine(read):
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9 buf = ''
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10 for c in iter(lambda: read(1), '\n'):
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11 buf += c
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12 return buf
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13
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14 class DeviceType(object):
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15 deviceType = None
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16 @classmethod
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17 def findInstances(cls, graph, board):
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18 """
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19 return any number of instances of this class for all the separately
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20 controlled devices on the board. Two LEDS makes two instances,
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21 but two sensors on the same onewire bus makes only one device
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22 (which yields more statements).
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23 """
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24 for row in graph.query("""SELECT ?dev ?pinNumber WHERE {
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25 ?board :hasPin ?pin .
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26 ?pin :pinNumber ?pinNumber;
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27 :connectedTo ?dev .
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28 ?dev a ?thisType .
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29 } ORDER BY ?dev""",
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30 initBindings=dict(board=board,
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31 thisType=cls.deviceType),
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32 initNs={'': ROOM}):
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33 yield cls(graph, row.dev, int(row.pinNumber))
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34
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35 # subclasses may add args to this
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36 def __init__(self, graph, uri, pinNumber):
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37 self.graph, self.uri = graph, uri
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38 self.pinNumber = pinNumber
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39
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40 def readFromPoll(self, read):
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41 """
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42 read an update message returned as part of a poll bundle. This may
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43 consume a varying number of bytes depending on the type of
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44 input (e.g. IR receiver).
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45 Returns rdf statements.
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46 """
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47 raise NotImplementedError('readFromPoll in %s' % self.__class__)
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48
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49 def generateIncludes(self):
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50 return []
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51
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52 def generateArduinoLibs(self):
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53 return []
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54
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55 def generateGlobalCode(self):
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56 return ''
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57
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58 def generateSetupCode(self):
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59 return ''
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60
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61 def generatePollCode(self):
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62 """if this returns nothing, we don't try to poll this device"""
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63 return ''
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64
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65 def generateActionCode(self):
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66 """
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67 If the host side runs sendOutput, this C code will be run on the
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68 board to receive whatever sendOutput writes. Each sendOutput
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69 write(buf) call should be matched with len(buf) Serial.read()
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70 calls in here.
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71 """
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72 return ''
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73
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74 def outputPatterns(self):
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75 """
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76 Triple patterns, using None as a wildcard, that should be routed
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77 to sendOutput
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78 """
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79 return []
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80
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81 def sendOutput(self, statements, write, read):
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82 """
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83 If we got statements that match this class's outputPatterns, this
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84 will be called with the statements that matched, and a serial
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85 write method. What you write here will be available as
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86 Serial.read in the generateActionCode C code.
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87
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88 Todo: it would be fine to read back confirmations or
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89 whatever. Just need a way to collect them into graph statements.
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90 """
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91 raise NotImplementedError
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92
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93 _knownTypes = set()
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94 def register(deviceType):
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95 _knownTypes.add(deviceType)
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96 return deviceType
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97
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98 @register
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99 class PingInput(DeviceType):
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100 @classmethod
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101 def findInstances(cls, graph, board):
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102 return [cls(graph, board, None)]
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103
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104 def generatePollCode(self):
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105 return "Serial.write('k');"
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106 def readFromPoll(self, read):
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107 if read(1) != 'k':
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108 raise ValueError('invalid ping response')
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109 return [(self.uri, ROOM['ping'], ROOM['ok'])]
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110
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111 @register
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112 class MotionSensorInput(DeviceType):
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113 deviceType = ROOM['MotionSensor']
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114 def generateSetupCode(self):
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115 return 'pinMode(%(pin)d, INPUT); digitalWrite(%(pin)d, LOW);' % {
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116 'pin': self.pinNumber,
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117 }
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118
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119 def generatePollCode(self):
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120 return "Serial.write(digitalRead(%(pin)d) ? 'y' : 'n');" % {
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121 'pin': self.pinNumber
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122 }
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123
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124 def readFromPoll(self, read):
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125 b = read(1)
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126 if b not in 'yn':
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127 raise ValueError('unexpected response %r' % b)
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128 motion = b == 'y'
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129 return [(self.uri, ROOM['sees'],
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130 ROOM['motion'] if motion else ROOM['noMotion'])]
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131
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132 @register
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133 class OneWire(DeviceType):
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134 deviceType = ROOM['OneWire']
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135
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136 def generateIncludes(self):
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137 return ['OneWire.h', 'DallasTemperature.h']
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138
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139 def generateArduinoLibs(self):
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140 return ['OneWire', 'DallasTemperature']
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141
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142 def generateGlobalCode(self):
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143 # not yet isolated to support multiple OW buses
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144 return '''
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145 OneWire oneWire(%(pinNumber)s);
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146 DallasTemperature sensors(&oneWire);
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147 DeviceAddress tempSensorAddress;
169
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148 #define NUM_TEMPERATURE_RETRIES 2
166
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149
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150 void initSensors() {
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151 sensors.begin();
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152 sensors.getAddress(tempSensorAddress, 0);
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153 sensors.setResolution(tempSensorAddress, 12);
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154 }
169
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155 ''' % dict(pinNumber=self.pinNumber)
164
49c1756b2edb start arduinonode
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156
166
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157 def generatePollCode(self):
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158 return r'''
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159 for (int i=0; i<NUM_TEMPERATURE_RETRIES; i++) {
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160 sensors.requestTemperatures();
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161 float newTemp = sensors.getTempF(tempSensorAddress);
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162 if (i < NUM_TEMPERATURE_RETRIES-1 &&
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163 (newTemp < -100 || newTemp > 180)) {
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164 // too many errors that were fixed by restarting arduino.
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165 // trying repeating this much init
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166 initSensors();
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167 continue;
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168 }
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169 Serial.print(newTemp);
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170 Serial.print('\n');
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171 Serial.print((char)i);
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172 break;
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173 }
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174 '''
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175
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176 def readFromPoll(self, read):
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177 newTemp = readLine(read)
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178 retries = ord(read(1))
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179 return [
169
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180 (self.uri, ROOM['temperatureF'],
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181 Literal(newTemp, datatype=XSD['decimal'])),
166
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182 (self.uri, ROOM['temperatureRetries'], Literal(retries)),
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183 ]
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184
169
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185 def byteFromFloat(f):
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186 return chr(int(min(255, max(0, f * 255))))
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187
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188 @register
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189 class LedOutput(DeviceType):
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190 deviceType = ROOM['LedOutput']
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191 def generateSetupCode(self):
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192 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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193 'pin': self.pinNumber,
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194 }
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195
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196 def outputPatterns(self):
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197 return [(self.uri, ROOM['brightness'], None)]
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198
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199 def sendOutput(self, statements, write, read):
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200 assert len(statements) == 1
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201 assert statements[0][:2] == (self.uri, ROOM['brightness'])
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202 value = float(statements[0][2])
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203 if (self.uri, RDF.type, ROOM['ActiveLowOutput']):
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204 value = 1 - value
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205 write(byteFromFloat(value))
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206
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207 def generateActionCode(self):
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208 return r'''
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209 while(Serial.available() < 1) NULL;
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210 analogWrite(%(pin)d, Serial.read());
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211 ''' % dict(pin=self.pinNumber)
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212
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213 @register
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214 class ST7576Lcd(DeviceType):
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215 deviceType = ROOM['ST7565Lcd']
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216 @classmethod
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217 def findInstances(cls, graph, board):
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218 grouped = itertools.groupby(
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219 graph.query("""SELECT DISTINCT ?dev ?pred ?pinNumber WHERE {
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220 ?board :hasPin ?pin .
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221 ?pin :pinNumber ?pinNumber;
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222 :connectedTo ?devPin .
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223 ?dev a :ST7565Lcd .
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224 ?dev ?pred ?devPin .
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225 } ORDER BY ?dev""",
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226 initBindings=dict(board=board,
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227 thisType=cls.deviceType),
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228 initNs={'': ROOM}),
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229 lambda row: row.dev)
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230 for dev, connections in grouped:
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231 connections = dict((role, int(num)) for unused_dev, role, num
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232 in connections)
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233 yield cls(graph, dev, connections=connections)
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234
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235 def __init__(self, graph, dev, connections):
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236 super(ST7576Lcd, self).__init__(graph, dev, pinNumber=None)
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237 self.connections = connections
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238
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239 def generateIncludes(self):
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240 return ['ST7565.h']
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241
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242 def generateArduinoLibs(self):
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243 return ['ST7565']
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244
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245 def generateGlobalCode(self):
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246 return '''
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247 ST7565 glcd(%(SID)d, %(SCLK)d, %(A0)d, %(RST)d, %(CS)d);
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248 char newtxt[21*8+1];
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249 unsigned int written;
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250 ''' % dict(SID=self.connections[ROOM['lcdSID']],
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251 SCLK=self.connections[ROOM['lcdSCLK']],
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252 A0=self.connections[ROOM['lcdA0']],
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253 RST=self.connections[ROOM['lcdRST']],
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254 CS=self.connections[ROOM['lcdCS']])
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255
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256 def generateSetupCode(self):
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257 return '''
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258 glcd.st7565_init();
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259 glcd.st7565_command(CMD_DISPLAY_ON);
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260 glcd.st7565_command(CMD_SET_ALLPTS_NORMAL);
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261 glcd.st7565_set_brightness(0x18);
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262
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263 glcd.display(); // show splashscreen
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264 '''
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265
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266 def outputPatterns(self):
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267 return [(self.uri, ROOM['text'], None)]
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268
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269 def sendOutput(self, statements, write, read):
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270 assert len(statements) == 1
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271 assert statements[0][:2] == (self.uri, ROOM['text'])
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272 value = str(statements[0][2])
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273 assert len(value) < 254, repr(value)
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diff changeset
274 write(chr(len(value)) + value)
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275
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276 def generateActionCode(self):
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277 return '''
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278 while(Serial.available() < 1) NULL;
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diff changeset
279 byte bufSize = Serial.read();
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280 for (byte i = 0; i < bufSize; i++) {
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281 while(Serial.available() < 1) NULL;
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282 newtxt[i] = Serial.read();
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283 }
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284 glcd.clear();
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285 glcd.drawstring(0,0, newtxt);
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286 glcd.display();
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287 '''
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288
166
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289 def makeDevices(graph, board):
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290 out = []
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291 for dt in sorted(_knownTypes, key=lambda cls: cls.__name__):
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292 out.extend(dt.findInstances(graph, board))
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293 return out
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294