Mercurial > code > home > repos > homeauto
annotate service/piNode/devices.py @ 274:de541d0697b8
smooth output fading support
Ignore-this: 69d396a6c2ea8f693e270525e29d5b5d
| author | drewp@bigasterisk.com |
|---|---|
| date | Thu, 14 Apr 2016 01:52:09 -0700 |
| parents | 4685fbd208d1 |
| children | e1b870f1274c |
| rev | line source |
|---|---|
| 182 | 1 from __future__ import division |
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2 |
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3 import time, logging, os |
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4 from rdflib import Namespace, URIRef, Literal |
| 274 | 5 from twisted.internet import reactor |
| 182 | 6 |
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7 try: |
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8 import pigpio |
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9 except ImportError: |
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10 pigpio = None |
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11 import w1thermsensor |
| 259 | 12 try: |
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13 import neopixel |
| 259 | 14 except ImportError: |
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15 neopixel = None |
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16 |
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17 def setupPwm(pi, pinNumber, hz=8000): |
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18 pi.set_mode(pinNumber, pigpio.OUTPUT) |
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19 # see http://abyz.co.uk/rpi/pigpio/cif.html#gpioCfgClock |
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20 # and http://abyz.co.uk/rpi/pigpio/cif.html#gpioSetPWMfrequency |
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21 actual = pi.set_PWM_frequency(pinNumber, hz) |
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22 if actual != hz: |
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23 raise ValueError('pwm actual=%s' % actual) |
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24 pi.set_PWM_dutycycle(pinNumber, 0) |
| 259 | 25 |
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26 import sys |
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27 |
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28 log = logging.getLogger() |
| 182 | 29 ROOM = Namespace('http://projects.bigasterisk.com/room/') |
| 209 | 30 XSD = Namespace('http://www.w3.org/2001/XMLSchema#') |
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31 RDFS = Namespace('http://www.w3.org/2000/01/rdf-schema#') |
| 182 | 32 |
| 33 class DeviceType(object): | |
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34 deviceType = NotImplementedError |
| 182 | 35 @classmethod |
| 36 def findInstances(cls, graph, board, pi): | |
| 37 """ | |
| 38 return any number of instances of this class for all the separately | |
| 39 controlled devices on the board. Two LEDS makes two instances, | |
| 40 but two sensors on the same onewire bus makes only one device | |
| 41 (which yields more statements). | |
| 42 """ | |
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43 log.debug("graph has any connected devices of type %s?", cls.deviceType) |
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44 for row in graph.query("""SELECT ?dev ?gpioNumber WHERE { |
| 182 | 45 ?board :hasPin ?pin . |
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46 ?pin :gpioNumber ?gpioNumber; |
| 182 | 47 :connectedTo ?dev . |
| 48 ?dev a ?thisType . | |
| 49 } ORDER BY ?dev""", | |
| 50 initBindings=dict(board=board, | |
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51 thisType=cls.deviceType)): |
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52 yield cls(graph, row.dev, pi, int(row.gpioNumber)) |
| 182 | 53 |
| 54 def __init__(self, graph, uri, pi, pinNumber): | |
| 55 self.graph, self.uri, self.pi = graph, uri, pi | |
| 56 self.pinNumber = pinNumber | |
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57 self.hostStateInit() |
| 182 | 58 |
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59 def hostStateInit(self): |
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60 """ |
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61 If you don't want to use __init__, you can use this to set up |
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62 whatever storage you might need for hostStatements |
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63 """ |
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64 |
| 182 | 65 def description(self): |
| 66 return { | |
| 67 'uri': self.uri, | |
| 68 'className': self.__class__.__name__, | |
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69 'pinNumber': getattr(self, 'pinNumber', None), |
| 182 | 70 'outputPatterns': self.outputPatterns(), |
| 71 'watchPrefixes': self.watchPrefixes(), | |
| 72 'outputWidgets': self.outputWidgets(), | |
| 73 } | |
| 74 | |
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75 def hostStatements(self): |
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76 """ |
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77 Like readFromPoll but these statements come from the host-side |
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78 python code, not the connected device. Include output state |
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79 (e.g. light brightness) if its master version is in this |
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80 object. This method is called on /graph requests so it should |
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81 be fast. |
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82 """ |
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83 return [] |
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84 |
| 182 | 85 def watchPrefixes(self): |
| 86 """ | |
| 87 subj,pred pairs of the statements that might be returned from | |
| 88 readFromPoll, so the dashboard knows what it should | |
| 89 watch. This should be eliminated, as the dashboard should just | |
| 90 always watch the whole tree of statements starting self.uri | |
| 91 """ | |
| 92 return [] | |
| 93 | |
| 94 def poll(self): | |
| 95 return [] # statements | |
| 96 | |
| 97 def outputPatterns(self): | |
| 98 """ | |
| 99 Triple patterns, using None as a wildcard, that should be routed | |
| 100 to sendOutput | |
| 101 """ | |
| 102 return [] | |
| 103 | |
| 104 def outputWidgets(self): | |
| 105 """ | |
| 106 structs to make output widgets on the dashboard. ~1 of these per | |
| 107 handler you have in sendOutput | |
| 108 """ | |
| 109 return [] | |
| 110 | |
| 111 def sendOutput(self, statements): | |
| 112 """ | |
| 113 If we got statements that match this class's outputPatterns, this | |
| 114 will be called with the statements that matched. | |
| 115 | |
| 116 Todo: it would be fine to read back confirmations or | |
| 117 whatever. Just need a way to collect them into graph statements. | |
| 118 """ | |
| 119 raise NotImplementedError | |
| 120 | |
| 121 _knownTypes = set() | |
| 122 def register(deviceType): | |
| 123 _knownTypes.add(deviceType) | |
| 124 return deviceType | |
| 125 | |
| 126 @register | |
| 127 class MotionSensorInput(DeviceType): | |
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128 # compare motion sensor lib at http://pythonhosted.org/gpiozero/inputs/ |
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129 # which is a bit fancier |
| 182 | 130 deviceType = ROOM['MotionSensor'] |
| 131 | |
| 132 def setup(self): | |
| 133 self.pi.set_mode(17, pigpio.INPUT) | |
| 134 self.pi.set_pull_up_down(17, pigpio.PUD_DOWN) | |
| 135 | |
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136 def hostStateInit(self): |
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137 self.lastRead = None |
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138 |
| 182 | 139 def poll(self): |
| 140 motion = self.pi.read(17) | |
| 141 | |
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142 oneshot = [] |
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143 if self.lastRead is not None and motion != self.lastRead: |
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144 oneshot = [(self.uri, ROOM['sees'], ROOM['motionStart'])] |
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145 self.lastRead = motion |
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146 |
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147 return {'latest': [ |
| 182 | 148 (self.uri, ROOM['sees'], |
| 149 ROOM['motion'] if motion else ROOM['noMotion']), | |
| 267 | 150 ] + self.recentMotionStatements(motion), |
| 151 'oneshot': oneshot} | |
| 182 | 152 |
| 267 | 153 def recentMotionStatements(self, motion): |
| 182 | 154 if not hasattr(self, 'lastMotionTime'): |
| 155 self.lastMotionTime = 0 | |
| 156 now = time.time() | |
| 157 if motion: | |
| 158 self.lastMotionTime = now | |
| 267 | 159 dt = now - self.lastMotionTime |
| 160 return [(self.uri, ROOM['seesRecently'], | |
| 161 ROOM['motion'] if (dt < 60 * 10) else ROOM['noMotion']), | |
| 162 (self.uri, ROOM['seesRecently30'], | |
| 163 ROOM['motion'] if (dt < 30) else ROOM['noMotion'])] | |
| 182 | 164 |
| 165 def watchPrefixes(self): | |
| 166 return [ | |
| 167 (self.uri, ROOM['sees']), | |
| 168 (self.uri, ROOM['seesRecently']), | |
| 267 | 169 (self.uri, ROOM['seesRecently30']), |
| 182 | 170 ] |
| 171 | |
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172 |
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173 @register |
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174 class RgbStrip(DeviceType): |
| 220 | 175 """3 PWMs for r/g/b on a strip""" |
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176 # pigpio daemon is working fine, but |
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177 # https://github.com/RPi-Distro/python-gpiozero/blob/59ba7154c5918745ac894ea03503667d6473c760/gpiozero/output_devices.py#L213 |
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178 # can also apparently do PWM |
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179 deviceType = ROOM['RgbStrip'] |
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180 |
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181 @classmethod |
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182 def findInstances(cls, graph, board, pi): |
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183 for row in graph.query("""SELECT DISTINCT ?dev ?r ?g ?b WHERE { |
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184 ?board |
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185 :hasPin ?rpin; |
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186 :hasPin ?gpin; |
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187 :hasPin ?bpin . |
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188 ?dev a :RgbStrip; |
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189 :redChannel ?rpin; |
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190 :greenChannel ?gpin; |
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191 :blueChannel ?bpin . |
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192 ?rpin :gpioNumber ?r . |
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193 ?gpin :gpioNumber ?g . |
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194 ?bpin :gpioNumber ?b . |
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195 } ORDER BY ?dev""", |
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196 initBindings=dict(board=board), |
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197 initNs={'': ROOM}): |
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198 log.debug('found rgb %r', row) |
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199 yield cls(graph, row.dev, pi, row.r, row.g, row.b) |
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200 |
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201 def __init__(self, graph, uri, pi, r, g, b): |
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202 self.graph, self.uri, self.pi = graph, uri, pi |
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203 self.rgb = map(int, [r, g, b]) |
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204 self.value = '#000000' |
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205 |
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206 def setup(self): |
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207 for i in self.rgb: |
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208 setupPwm(self.pi, i) |
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209 |
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210 def hostStatements(self): |
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211 return [(self.uri, ROOM['color'], Literal(self.value))] |
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212 |
|
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213 def outputPatterns(self): |
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214 return [(self.uri, ROOM['color'], None)] |
| 220 | 215 |
| 216 def _rgbFromHex(self, h): | |
| 217 rrggbb = h.lstrip('#') | |
| 218 return [int(x, 16) for x in [rrggbb[0:2], rrggbb[2:4], rrggbb[4:6]]] | |
|
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219 |
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220 def sendOutput(self, statements): |
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221 assert len(statements) == 1 |
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222 assert statements[0][:2] == (self.uri, ROOM['color']) |
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223 |
| 220 | 224 rgb = self._rgbFromHex(statements[0][2]) |
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225 self.value = statements[0][2] |
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226 |
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227 for (i, v) in zip(self.rgb, rgb): |
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228 self.pi.set_PWM_dutycycle(i, v) |
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229 |
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230 def outputWidgets(self): |
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231 return [{ |
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232 'element': 'output-rgb', |
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233 'subj': self.uri, |
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234 'pred': ROOM['color'], |
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235 }] |
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236 |
| 210 | 237 |
| 238 @register | |
|
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239 class TempHumidSensor(DeviceType): |
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240 deviceType = ROOM['TempHumidSensor'] |
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241 |
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242 def __init__(self, *a, **kw): |
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243 DeviceType.__init__(self, *a, **kw) |
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244 sys.path.append('/opt/pigpio/EXAMPLES/Python/DHT22_AM2302_SENSOR') |
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245 import DHT22 |
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246 self.sensor = DHT22.sensor(self.pi, self.pinNumber) |
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247 |
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248 def poll(self): |
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249 self.sensor.trigger() |
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250 humid, tempC = self.sensor.humidity(), self.sensor.temperature() |
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251 |
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252 stmts = set() |
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253 if humid is not None: |
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254 stmts.add((self.uri, ROOM['humidity'], Literal(round(humid, 2)))) |
|
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255 else: |
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256 stmts.add((self.uri, RDFS['comment'], |
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257 Literal('DHT read returned None'))) |
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258 if tempC is not None: |
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259 stmts.add((self.uri, ROOM['temperatureF'], |
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260 # see round() note in arduinoNode/devices.py |
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261 Literal(round(tempC * 9 / 5 + 32, 2)))) |
|
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262 else: |
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263 stmts.add((self.uri, RDFS['comment'], |
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264 Literal('DHT read returned None'))) |
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265 return stmts |
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266 |
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267 def watchPrefixes(self): |
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268 return [ |
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269 (self.uri, ROOM['temperatureF']), |
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270 (self.uri, ROOM['humidity']), |
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271 ] |
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272 |
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273 @register |
| 244 | 274 class PushbuttonInput(DeviceType): |
| 275 """add a switch to ground; we'll turn on pullup""" | |
| 276 deviceType = ROOM['Pushbutton'] | |
| 277 | |
| 278 def __init__(self, *a, **kw): | |
| 279 DeviceType.__init__(self, *a, **kw) | |
| 280 log.debug("setup switch on %r", self.pinNumber) | |
| 281 self.pi.set_mode(self.pinNumber, pigpio.INPUT) | |
| 282 self.pi.set_pull_up_down(self.pinNumber, pigpio.PUD_UP) | |
|
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283 self.lastClosed = None |
| 262 | 284 self.invert = (self.uri, ROOM['style'], |
| 285 ROOM['inverted']) in self.graph | |
| 244 | 286 |
| 287 def poll(self): | |
| 288 closed = not self.pi.read(self.pinNumber) | |
| 262 | 289 if self.invert: |
| 290 closed = not closed | |
|
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291 |
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292 if self.lastClosed is not None and closed != self.lastClosed: |
| 262 | 293 log.debug('%s changed to %s', self.uri, closed) |
|
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294 oneshot = [ |
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295 (self.uri, ROOM['buttonState'], |
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296 ROOM['press'] if closed else ROOM['release']), |
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297 ] |
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298 else: |
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299 oneshot = [] |
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300 self.lastClosed = closed |
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301 |
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302 return {'latest': [ |
| 244 | 303 (self.uri, ROOM['buttonState'], |
| 304 ROOM['pressed'] if closed else ROOM['notPressed']), | |
|
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305 ], |
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306 'oneshot':oneshot} |
| 244 | 307 |
| 308 def watchPrefixes(self): | |
| 309 return [ | |
| 310 (self.uri, ROOM['buttonState']), | |
| 311 ] | |
| 312 | |
| 313 @register | |
|
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314 class OneWire(DeviceType): |
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315 """ |
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316 Also see /my/proj/ansible/roles/raspi_io_node/tasks/main.yml for |
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317 some system config that contains the pin number that you want to |
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318 use for onewire. The pin number in this config is currently ignored. |
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319 """ |
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320 deviceType = ROOM['OneWire'] |
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321 # deliberately written like arduinoNode's one for an easier merge. |
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322 def __init__(self, *a, **kw): |
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323 DeviceType.__init__(self, *a, **kw) |
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324 log.info("scan for w1 devices") |
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325 self._sensors = w1thermsensor.W1ThermSensor.get_available_sensors() |
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326 for s in self._sensors: |
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327 # Something looks different about these ids |
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328 # ('000003a5a94c') vs the ones I get from arduino |
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329 # ('2813bea50300003d'). Not sure if I'm parsing them |
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330 # differently or what. |
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331 s.uri = URIRef(os.path.join(self.uri, 'dev-%s' % s.id)) |
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332 log.info(' found temperature sensor %s' % s.uri) |
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333 |
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334 def poll(self): |
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335 try: |
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336 stmts = [] |
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337 for sensor in self._sensors: |
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338 stmts.append((self.uri, ROOM['connectedTo'], sensor.uri)) |
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339 try: |
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340 tempF = sensor.get_temperature(sensor.DEGREES_F) |
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341 stmts.append((sensor.uri, ROOM['temperatureF'], |
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342 # see round() note in arduinoNode/devices.py |
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343 Literal(round(tempF, 2)))) |
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344 except w1thermsensor.core.SensorNotReadyError as e: |
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345 log.warning(e) |
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346 |
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347 return stmts |
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348 except Exception as e: |
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349 log.error(e) |
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350 os.abort() |
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351 |
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352 def watchPrefixes(self): |
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353 return [(s.uri, ROOM['temperatureF']) for s in self._sensors] |
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354 |
| 274 | 355 class FilteredValue(object): |
| 356 def __init__(self, setter, | |
| 357 slew=2.0, # step/sec max slew rate | |
| 358 accel=5, # step/sec^2 acceleration | |
| 359 ): | |
| 360 self.setter = setter | |
| 361 self.slew, self.accel = slew, accel | |
| 362 | |
| 363 self.x = None | |
| 364 self.dx = 0 | |
| 365 self.goal = self.x | |
| 366 self.lastStep = 0 | |
| 367 | |
| 368 def set(self, goal): | |
| 369 self.goal = goal | |
| 370 self.step() | |
| 371 | |
| 372 def step(self): | |
| 373 now = time.time() | |
| 374 dt = min(.1, now - self.lastStep) | |
| 375 self.lastStep = now | |
| 376 | |
| 377 if self.x is None: | |
| 378 self.x = self.goal | |
| 379 | |
| 380 if self.goal > self.x: | |
| 381 self.dx = min(self.slew, self.dx + self.accel * dt) | |
| 382 else: | |
| 383 self.dx = max(-self.slew, self.dx - self.accel * dt) | |
| 384 | |
| 385 nextX = self.x + self.dx * dt | |
| 386 if self.x == self.goal or (self.x < self.goal < nextX) or (self.x > self.goal > nextX): | |
| 387 self.x = self.goal | |
| 388 self.dx = 0 | |
| 389 else: | |
| 390 self.x = nextX | |
| 391 reactor.callLater(.05, self.step) | |
| 392 | |
| 393 #print "x= %(x)s dx= %(dx)s goal= %(goal)s" % self.__dict__ | |
| 394 self.setter(self.x) | |
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395 |
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396 @register |
| 210 | 397 class LedOutput(DeviceType): |
| 398 deviceType = ROOM['LedOutput'] | |
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399 |
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400 def hostStateInit(self): |
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401 self.value = 0 |
| 274 | 402 self.fv = FilteredValue(self._setPwm) |
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403 |
| 210 | 404 def setup(self): |
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405 setupPwm(self.pi, self.pinNumber) |
| 210 | 406 |
| 407 def outputPatterns(self): | |
| 408 return [(self.uri, ROOM['brightness'], None)] | |
| 409 | |
| 410 def sendOutput(self, statements): | |
| 411 assert len(statements) == 1 | |
| 412 assert statements[0][:2] == (self.uri, ROOM['brightness']) | |
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413 self.value = float(statements[0][2]) |
| 274 | 414 self.fv.set(self.value) |
| 415 | |
| 416 def _setPwm(self, x): | |
| 417 v = int(x * 255) | |
| 210 | 418 self.pi.set_PWM_dutycycle(self.pinNumber, v) |
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419 |
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420 def hostStatements(self): |
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421 return [(self.uri, ROOM['brightness'], Literal(self.value))] |
| 210 | 422 |
| 423 def outputWidgets(self): | |
| 424 return [{ | |
| 425 'element': 'output-slider', | |
| 426 'min': 0, | |
| 427 'max': 1, | |
| 428 'step': 1 / 255, | |
| 429 'subj': self.uri, | |
| 430 'pred': ROOM['brightness'], | |
| 431 }] | |
| 432 | |
| 433 | |
| 205 | 434 @register |
| 435 class OnboardTemperature(DeviceType): | |
| 436 deviceType = ROOM['OnboardTemperature'] | |
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437 pollPeriod = 10 |
| 205 | 438 @classmethod |
| 439 def findInstances(cls, graph, board, pi): | |
| 259 | 440 log.debug('graph has any connected devices of type OnboardTemperature on %r?', board) |
| 207 | 441 for row in graph.query('''SELECT DISTINCT ?uri WHERE { |
| 205 | 442 ?board :onboardDevice ?uri . |
| 443 ?uri a :OnboardTemperature . | |
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444 }''', initBindings=dict(board=board)): |
| 259 | 445 log.debug(' found %s', row.uri) |
| 205 | 446 yield cls(graph, row.uri, pi, pinNumber=None) |
| 447 | |
| 208 | 448 def poll(self): |
| 205 | 449 milliC = open('/sys/class/thermal/thermal_zone0/temp').read().strip() |
| 450 c = float(milliC) / 1000. | |
| 451 f = c * 1.8 + 32 | |
| 452 return [ | |
| 453 (self.uri, ROOM['temperatureF'], Literal(f, datatype=XSD['decimal'])), | |
| 454 ] | |
| 455 | |
| 456 def watchPrefixes(self): | |
| 457 # these uris will become dynamic! see note on watchPrefixes | |
| 458 # about eliminating it. | |
| 459 return [(self.uri, ROOM['temperatureF']), | |
| 460 ] | |
| 259 | 461 |
| 462 @register | |
| 463 class RgbPixels(DeviceType): | |
| 464 """chain of ws2812 rgb pixels on pin GPIO18""" | |
| 465 deviceType = ROOM['RgbPixels'] | |
| 466 | |
| 467 def hostStateInit(self): | |
| 468 px = self.graph.value(self.uri, ROOM['pixels']) | |
| 469 self.pixelUris = list(self.graph.items(px)) | |
| 470 self.values = dict((uri, Literal('#000000')) for uri in self.pixelUris) | |
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471 colorOrder, stripType = self.getColorOrder(self.graph, self.uri) |
| 259 | 472 self.replace = {'ledArray': 'leds_%s' % self.pinNumber, |
| 473 'ledCount': len(self.pixelUris), | |
| 474 'pin': self.pinNumber, | |
| 475 'ledType': 'WS2812', | |
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476 'colorOrder': colorOrder |
| 259 | 477 } |
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478 self.neo = neopixel.Adafruit_NeoPixel(len(self.values), pin=18, strip_type=stripType) |
| 259 | 479 self.neo.begin() |
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480 |
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481 def getColorOrder(self, graph, uri): |
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482 colorOrder = graph.value(uri, ROOM['colorOrder'], |
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483 default=ROOM['ledColorOrder/RGB']) |
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484 head, tail = str(colorOrder).rsplit('/', 1) |
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485 if head != str(ROOM['ledColorOrder']): |
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486 raise NotImplementedError('%r colorOrder %r' % (uri, colorOrder)) |
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487 stripType = getattr(neopixel.ws, 'WS2811_STRIP_%s' % tail) |
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488 return colorOrder, stripType |
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489 |
| 259 | 490 def _rgbFromHex(self, h): |
| 491 rrggbb = h.lstrip('#') | |
| 492 return [int(x, 16) for x in [rrggbb[0:2], rrggbb[2:4], rrggbb[4:6]]] | |
| 493 | |
| 494 def sendOutput(self, statements): | |
| 495 px, pred, color = statements[0] | |
| 496 if pred != ROOM['color']: | |
| 497 raise ValueError(pred) | |
| 498 rgb = self._rgbFromHex(color) | |
| 499 if px not in self.values: | |
| 500 raise ValueError(px) | |
| 501 self.values[px] = Literal(color) | |
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502 self.neo.setPixelColorRGB(self.pixelUris.index(px), rgb[0], rgb[1], rgb[2]) |
| 259 | 503 self.neo.show() |
| 504 | |
| 505 def hostStatements(self): | |
| 506 return [(uri, ROOM['color'], hexCol) | |
| 507 for uri, hexCol in self.values.items()] | |
| 508 | |
| 509 def outputPatterns(self): | |
| 510 return [(px, ROOM['color'], None) for px in self.pixelUris] | |
| 511 | |
| 512 def outputWidgets(self): | |
| 513 return [{ | |
| 514 'element': 'output-rgb', | |
| 515 'subj': px, | |
| 516 'pred': ROOM['color'], | |
| 517 } for px in self.pixelUris] | |
| 518 | |
| 205 | 519 |
| 182 | 520 def makeDevices(graph, board, pi): |
| 521 out = [] | |
| 522 for dt in sorted(_knownTypes, key=lambda cls: cls.__name__): | |
| 523 out.extend(dt.findInstances(graph, board, pi)) | |
| 524 return out | |
| 525 |