Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 256:d2c60552fb13
polling timing and error catching
Ignore-this: 2d78d67d367c3286aec4e990a396eee7
| author | drewp@bigasterisk.com |
|---|---|
| date | Mon, 21 Mar 2016 04:21:35 -0700 |
| parents | 254df9f881a6 |
| children | fc0e42933baa |
| 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 |
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8 import shutil, json |
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9 import serial |
| 164 | 10 import cyclone.web |
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11 from cyclone.httpclient import fetch |
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12 from rdflib import Graph, Namespace, URIRef, Literal, RDF, ConjunctiveGraph |
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13 from rdflib.parser import StringInputSource |
| 164 | 14 from twisted.internet import reactor, task |
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15 from docopt import docopt |
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16 |
| 164 | 17 import devices |
| 229 | 18 import write_arduino_code |
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19 import dotrender |
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20 import rdflib_patch |
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21 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 22 |
| 23 logging.basicConfig(level=logging.DEBUG) | |
| 24 | |
| 25 from loggingserial import LoggingSerial | |
| 26 | |
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27 sys.path.append("../../lib") |
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28 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler |
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29 |
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30 sys.path.append("/my/proj/light9") |
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31 from light9.rdfdb.patch import Patch |
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32 from light9.rdfdb.rdflibpatch import inContext |
| 164 | 33 |
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34 sys.path.append("/my/proj/room") |
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35 from carbondata import CarbonClient |
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36 |
| 164 | 37 log = logging.getLogger() |
| 38 logging.getLogger('serial').setLevel(logging.WARN) | |
| 39 | |
| 40 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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41 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 42 |
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43 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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44 |
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45 hostname = socket.gethostname() |
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46 CTX = ROOM['arduinosOn%s' % hostname] |
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47 |
| 164 | 48 class Config(object): |
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49 def __init__(self, masterGraph): |
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50 self.graph = ConjunctiveGraph() |
| 164 | 51 log.info('read config') |
| 214 | 52 for f in os.listdir('config'): |
| 53 if f.startswith('.'): continue | |
| 54 self.graph.parse('config/%s' % f, format='n3') | |
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55 self.graph.bind('', ROOM) # not working |
| 164 | 56 self.graph.bind('rdf', RDF) |
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57 # config graph is too noisy; maybe make it a separate resource |
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58 #masterGraph.patch(Patch(addGraph=self.graph)) |
| 164 | 59 |
| 60 def serialDevices(self): | |
| 61 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 62 """SELECT ?board ?dev WHERE { | |
| 63 ?board :device ?dev; | |
| 64 a :ArduinoBoard . | |
| 65 }""", initNs={'': ROOM})]) | |
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66 |
| 164 | 67 class Board(object): |
| 68 """an arduino connected to this computer""" | |
| 69 baudrate = 115200 | |
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70 def __init__(self, dev, configGraph, masterGraph, uri): |
| 164 | 71 """ |
| 72 each connected thing has some pins. | |
| 73 """ | |
| 74 self.uri = uri | |
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75 self.configGraph = configGraph |
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76 self.masterGraph = masterGraph |
| 164 | 77 self.dev = dev |
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78 |
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79 self.masterGraph.patch(Patch(addQuads=self.staticStmts())) |
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80 |
| 164 | 81 # The order of this list needs to be consistent between the |
| 82 # deployToArduino call and the poll call. | |
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83 self._devs = devices.makeDevices(configGraph, self.uri) |
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84 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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85 for devIndex, dev in enumerate(self._devs)) |
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86 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 87 |
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88 self._statementsFromInputs = {} # input device uri: latest statements |
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89 self._lastPollTime = {} # input device uri: time() |
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90 self._carbon = CarbonClient(serverHost='bang') |
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91 self.open() |
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92 for d in self._devs: |
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93 self.syncMasterGraphToHostStatements(d) |
| 164 | 94 |
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95 def description(self): |
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96 """for web page""" |
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97 return { |
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98 'uri': self.uri, |
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99 'dev': self.dev, |
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100 'baudrate': self.baudrate, |
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101 'devices': [d.description() for d in self._devs], |
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102 } |
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103 |
| 164 | 104 def open(self): |
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105 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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106 timeout=2) |
| 164 | 107 |
| 256 | 108 def startPolling(self, period=.5): |
| 109 task.LoopingCall(self._poll).start(period) | |
| 164 | 110 |
| 111 def _poll(self): | |
| 112 """ | |
| 113 even boards with no inputs need some polling to see if they're | |
| 114 still ok | |
| 115 """ | |
| 116 try: | |
| 117 self._pollWork() | |
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118 except serial.SerialException: |
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119 reactor.crash() |
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120 raise |
| 164 | 121 except Exception as e: |
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122 import traceback; traceback.print_exc() |
| 164 | 123 log.warn("poll: %r" % e) |
| 124 | |
| 125 def _pollWork(self): | |
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126 t1 = time.time() |
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127 self.ser.write("\x60\x00") # "poll everything" |
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128 for i in self._polledDevs: |
| 256 | 129 try: |
| 130 now = time.time() | |
| 131 new = i.readFromPoll(self.ser.read) | |
| 132 if isinstance(new, dict): # new style | |
| 133 oneshot = new['oneshot'] | |
| 134 new = new['latest'] | |
| 135 else: | |
| 136 oneshot = None | |
| 137 prev = self._statementsFromInputs.get(i.uri, []) | |
| 138 if new or prev: | |
| 139 self._statementsFromInputs[i.uri] = new | |
| 140 # it's important that quads from different devices | |
| 141 # don't clash, since that can lead to inconsistent | |
| 142 # patches (e.g. | |
| 143 # dev1 changes value from 1 to 2; | |
| 144 # dev2 changes value from 2 to 3; | |
| 145 # dev1 changes from 2 to 4 but this patch will | |
| 146 # fail since the '2' statement is gone) | |
| 147 self.masterGraph.patch(Patch.fromDiff(inContext(prev, i.uri), | |
| 148 inContext(new, i.uri))) | |
| 149 if oneshot: | |
| 150 self._sendOneshot(oneshot) | |
| 151 self._lastPollTime[i.uri] = now | |
| 152 except: | |
| 153 log.warn('while polling %r:', i.uri) | |
| 154 raise | |
| 164 | 155 #plus statements about succeeding or erroring on the last poll |
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156 byte = self.ser.read(1) |
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157 if byte != 'x': |
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158 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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159 elapsed = time.time() - t1 |
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160 if elapsed > 1.0: |
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161 log.warn('poll took %.1f seconds' % elapsed) |
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162 self._exportToGraphite() |
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163 |
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164 def _sendOneshot(self, oneshot): |
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165 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3()) |
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166 for s,p,o in oneshot)).encode('utf8') |
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167 bang6 = 'fcb8:4119:fb46:96f8:8b07:1260:0f50:fcfa' |
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168 fetch(method='POST', |
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169 url='http://[%s]:9071/oneShot' % bang6, |
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170 headers={'Content-Type': ['text/n3']}, postdata=body, |
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171 timeout=5) |
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172 |
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173 def _exportToGraphite(self): |
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174 # note this is writing way too often- graphite is storing at a lower res |
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175 now = time.time() |
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176 # 20 sec is not precise; just trying to reduce wifi traffic |
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177 if getattr(self, 'lastGraphiteExport', 0) + 20 > now: |
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178 return |
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179 self.lastGraphiteExport = now |
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180 log.debug('graphite export:') |
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181 # objects of these statements are suitable as graphite values. |
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182 graphitePredicates = {ROOM['temperatureF']} |
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183 # bug: one sensor can have temp and humid- this will be ambiguous |
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184 for s, graphiteName in self.configGraph.subject_objects(ROOM['graphiteName']): |
|
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185 for group in self._statementsFromInputs.values(): |
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186 for stmt in group: |
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187 if stmt[0] == s and stmt[1] in graphitePredicates: |
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188 log.debug(' sending %s -> %s', stmt[0], graphiteName) |
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189 self._carbon.send(graphiteName, stmt[2].toPython(), now) |
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190 |
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191 def outputStatements(self, stmts): |
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192 unused = set(stmts) |
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193 for dev in self._devs: |
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194 stmtsForDev = [] |
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195 for pat in dev.outputPatterns(): |
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196 if [term is None for term in pat] != [False, False, True]: |
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197 raise NotImplementedError |
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198 for stmt in stmts: |
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199 if stmt[:2] == pat[:2]: |
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200 stmtsForDev.append(stmt) |
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201 unused.discard(stmt) |
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202 if stmtsForDev: |
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203 log.info("output goes to action handler for %s" % dev.uri) |
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204 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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205 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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206 if self.ser.read(1) != 'k': |
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207 raise ValueError( |
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208 "%s sendOutput/generateActionCode didn't use " |
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209 "matching output bytes" % dev.__class__) |
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210 # Dev *could* change hostStatements at any time, and |
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211 # we're not currently tracking that, but the usual is |
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212 # to change them in response to sendOutput so this |
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213 # should be good enough. The right answer is to give |
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214 # each dev the masterGraph for it to write to. |
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215 self.syncMasterGraphToHostStatements(dev) |
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216 log.info("output and masterGraph sync complete") |
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217 if unused: |
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218
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218 log.info("Board %s doesn't care about these statements:", self.uri) |
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219 for s in unused: |
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220 log.warn("%r", s) |
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221 |
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222 def syncMasterGraphToHostStatements(self, dev): |
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223 hostStmtCtx = URIRef(dev.uri + '/host') |
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224 newQuads = inContext(dev.hostStatements(), hostStmtCtx) |
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225 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads) |
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226 log.debug("patch master with these host stmts %s", p) |
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227 |
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228 def staticStmts(self): |
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229 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)] |
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230 |
| 164 | 231 def generateArduinoCode(self): |
|
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232 code = write_arduino_code.writeCode(self.baudrate, self._devs, |
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233 self._devCommandNum) |
| 229 | 234 code = write_arduino_code.indent(code) |
|
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235 cksum = hashlib.sha1(code).hexdigest() |
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236 code = code.replace('CODE_CHECKSUM', cksum) |
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237 return code, cksum |
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238 |
|
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239 def _readBoardChecksum(self, length): |
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240 # this is likely right after reset, so it might take 2 seconds |
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241 for tries in range(6): |
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242 self.ser.write("\x60\x01") |
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243 try: |
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244 return self.ser.read(length) |
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245 except ValueError: |
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246 if tries == 5: |
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247 raise |
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248 time.sleep(.5) |
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249 raise ValueError |
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250 |
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251 def _boardIsCurrent(self, currentChecksum): |
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252 try: |
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253 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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254 if boardCksum == currentChecksum: |
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255 log.info("board has current code (%s)" % currentChecksum) |
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256 return True |
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257 else: |
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258 log.info("board responds with incorrect code version") |
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259 except Exception as e: |
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260 log.info("can't get code version from board: %r" % e) |
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261 return False |
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262 |
| 164 | 263 def deployToArduino(self): |
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264 code, cksum = self.generateArduinoCode() |
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265 |
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266 if self._boardIsCurrent(cksum): |
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267 return |
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268 |
| 164 | 269 try: |
| 270 if hasattr(self, 'ser'): | |
| 271 self.ser.close() | |
| 272 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 273 try: | |
| 274 self._arduinoMake(workDir, code) | |
| 275 finally: | |
| 276 shutil.rmtree(workDir) | |
| 277 finally: | |
| 278 self.open() | |
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279 |
| 164 | 280 def _arduinoMake(self, workDir, code): |
| 281 with open(workDir + '/makefile', 'w') as makefile: | |
| 229 | 282 makefile.write(write_arduino_code.writeMakefile( |
| 283 dev=self.dev, | |
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284 tag=self.configGraph.value(self.uri, ROOM['boardTag']), |
| 229 | 285 allLibs=sum((d.generateArduinoLibs() for d in self._devs), []))) |
| 164 | 286 |
| 287 with open(workDir + '/main.ino', 'w') as main: | |
| 288 main.write(code) | |
| 289 | |
| 290 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 291 | |
|
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292 |
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293 def currentGraph(self): |
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294 g = Graph() |
| 164 | 295 |
| 296 | |
|
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297 for dev in self._devs: |
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298 for stmt in dev.hostStatements(): |
| 164 | 299 g.add(stmt) |
|
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300 return g |
| 164 | 301 |
| 302 class Dot(cyclone.web.RequestHandler): | |
| 303 def get(self): | |
|
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304 configGraph = self.settings.config.graph |
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305 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 306 self.write(dot) |
| 307 | |
| 308 class ArduinoCode(cyclone.web.RequestHandler): | |
| 309 def get(self): | |
| 310 board = [b for b in self.settings.boards if | |
| 311 b.uri == URIRef(self.get_argument('board'))][0] | |
|
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312 self.set_header('Content-Type', 'text/plain') |
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313 code, cksum = board.generateArduinoCode() |
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314 self.write(code) |
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315 |
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316 def rdfGraphBody(body, headers): |
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317 g = Graph() |
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318 g.parse(StringInputSource(body), format='nt') |
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319 return g |
|
176
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320 |
|
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321 class OutputPage(cyclone.web.RequestHandler): |
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322 def post(self): |
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323 # for old ui; use PUT instead |
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324 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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325 for b in self.settings.boards: |
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326 b.outputStatements(stmts) |
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327 |
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328 def put(self): |
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329 subj = URIRef(self.get_argument('s')) |
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330 pred = URIRef(self.get_argument('p')) |
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331 |
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332 turtleLiteral = self.request.body |
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333 try: |
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334 obj = Literal(float(turtleLiteral)) |
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335 except ValueError: |
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336 obj = Literal(turtleLiteral) |
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337 |
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338 stmt = (subj, pred, obj) |
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339 for b in self.settings.boards: |
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340 b.outputStatements([stmt]) |
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341 |
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342 |
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343 class Boards(cyclone.web.RequestHandler): |
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344 def get(self): |
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345 self.set_header('Content-type', 'application/json') |
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346 self.write(json.dumps({ |
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347 'host': hostname, |
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348 'boards': [b.description() for b in self.settings.boards] |
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349 }, indent=2)) |
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350 |
| 164 | 351 def currentSerialDevices(): |
| 352 log.info('find connected boards') | |
| 353 return glob.glob('/dev/serial/by-id/*') | |
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354 |
| 164 | 355 def main(): |
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356 arg = docopt(""" |
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357 Usage: arduinoNode.py [options] |
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358 |
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359 -v Verbose |
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360 """) |
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361 log.setLevel(logging.WARN) |
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362 if arg['-v']: |
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363 from twisted.python import log as twlog |
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364 twlog.startLogging(sys.stdout) |
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365 |
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366 log.setLevel(logging.DEBUG) |
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367 |
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368 masterGraph = PatchableGraph() |
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369 config = Config(masterGraph) |
| 164 | 370 current = currentSerialDevices() |
| 371 | |
| 372 boards = [] | |
| 373 for dev, board in config.serialDevices().items(): | |
| 374 if str(dev) not in current: | |
| 375 continue | |
| 376 log.info("we have board %s connected at %s" % (board, dev)) | |
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377 b = Board(dev, config.graph, masterGraph, board) |
| 164 | 378 boards.append(b) |
| 379 | |
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380 for b in boards: |
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381 b.deployToArduino() |
| 164 | 382 |
| 383 log.info('open boards') | |
| 384 for b in boards: | |
| 256 | 385 b.startPolling(period=.1 if not arg['-v'] else 10) |
| 164 | 386 |
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387 |
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388 reactor.listenTCP(9059, cyclone.web.Application([ |
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389 (r"/()", cyclone.web.StaticFileHandler, { |
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390 "path": "static", "default_filename": "index.html"}), |
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391 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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392 (r'/boards', Boards), |
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393 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}), |
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394 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}), |
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395 (r'/output', OutputPage), |
| 164 | 396 (r'/arduinoCode', ArduinoCode), |
| 397 (r'/dot', Dot), | |
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398 ], config=config, boards=boards), interface='::') |
| 164 | 399 reactor.run() |
| 400 | |
| 401 main() |