Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 222:e606f1d89d89
hostname in page title
Ignore-this: 84be0d921c173a4c2c154d6a65e15add
| author | drewp@bigasterisk.com |
|---|---|
| date | Fri, 22 Jan 2016 00:39:35 -0800 |
| parents | f8ffb9d8d982 |
| children | 07ee72a042db |
| 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 |
| 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 from docopt import docopt |
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15 |
| 164 | 16 import devices |
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17 import dotrender |
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18 import rdflib_patch |
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19 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 20 |
| 21 logging.basicConfig(level=logging.DEBUG) | |
| 22 | |
| 23 from loggingserial import LoggingSerial | |
| 24 | |
| 25 sys.path.append("/my/site/magma") | |
| 26 from stategraph import StateGraph | |
| 27 | |
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28 sys.path.append("/my/proj/room") |
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29 from carbondata import CarbonClient |
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30 |
| 164 | 31 log = logging.getLogger() |
| 32 logging.getLogger('serial').setLevel(logging.WARN) | |
| 33 | |
| 34 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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35 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 36 |
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37 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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38 |
| 164 | 39 class Config(object): |
| 40 def __init__(self): | |
| 41 self.graph = Graph() | |
| 42 log.info('read config') | |
| 214 | 43 for f in os.listdir('config'): |
| 44 if f.startswith('.'): continue | |
| 45 self.graph.parse('config/%s' % f, format='n3') | |
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46 self.graph.bind('', ROOM) # not working |
| 164 | 47 self.graph.bind('rdf', RDF) |
| 48 | |
| 49 def serialDevices(self): | |
| 50 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 51 """SELECT ?board ?dev WHERE { | |
| 52 ?board :device ?dev; | |
| 53 a :ArduinoBoard . | |
| 54 }""", initNs={'': ROOM})]) | |
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55 |
| 164 | 56 class Board(object): |
| 57 """an arduino connected to this computer""" | |
| 58 baudrate = 115200 | |
| 59 def __init__(self, dev, graph, uri, onChange): | |
| 60 """ | |
| 61 each connected thing has some pins. | |
| 62 | |
| 63 We'll call onChange when we know the currentGraph() has | |
| 64 changed (and not just in creation time). | |
| 65 """ | |
| 66 self.uri = uri | |
| 67 self.graph = graph | |
| 68 self.dev = dev | |
| 69 | |
| 70 # The order of this list needs to be consistent between the | |
| 71 # deployToArduino call and the poll call. | |
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72 self._devs = devices.makeDevices(graph, self.uri) |
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73 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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74 for devIndex, dev in enumerate(self._devs)) |
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75 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 76 |
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77 self._statementsFromInputs = {} # input device uri: latest statements |
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78 self._carbon = CarbonClient(serverHost='bang') |
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79 self.open() |
| 164 | 80 |
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81 def description(self): |
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82 """for web page""" |
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83 return { |
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84 'uri': self.uri, |
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85 'dev': self.dev, |
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86 'baudrate': self.baudrate, |
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87 'devices': [d.description() for d in self._devs], |
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88 'graph': 'http://%s6:9059/graph' % socket.gethostname(), #todo |
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89 } |
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90 |
| 164 | 91 def open(self): |
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92 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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93 timeout=2) |
| 164 | 94 |
| 95 def startPolling(self): | |
| 96 task.LoopingCall(self._poll).start(.5) | |
| 97 | |
| 98 def _poll(self): | |
| 99 """ | |
| 100 even boards with no inputs need some polling to see if they're | |
| 101 still ok | |
| 102 """ | |
| 103 try: | |
| 104 self._pollWork() | |
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105 except serial.SerialException: |
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106 reactor.crash() |
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107 raise |
| 164 | 108 except Exception as e: |
| 109 log.warn("poll: %r" % e) | |
| 110 | |
| 111 def _pollWork(self): | |
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112 t1 = time.time() |
| 164 | 113 self.ser.write("\x60\x00") |
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114 for i in self._polledDevs: |
| 164 | 115 self._statementsFromInputs[i.uri] = i.readFromPoll(self.ser.read) |
| 116 #plus statements about succeeding or erroring on the last poll | |
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117 byte = self.ser.read(1) |
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118 if byte != 'x': |
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119 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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120 elapsed = time.time() - t1 |
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121 if elapsed > 1.0: |
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122 log.warn('poll took %.1f seconds' % elapsed) |
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123 self._exportToGraphite() |
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124 |
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125 def _exportToGraphite(self): |
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126 # note this is writing way too often- graphite is storing at a lower res |
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127 now = time.time() |
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128 # objects of these statements are suitable as graphite values. |
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129 graphitePredicates = {ROOM['temperatureF']} |
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130 for s, graphiteName in self.graph.subject_objects(ROOM['graphiteName']): |
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131 for group in self._statementsFromInputs.values(): |
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132 for stmt in group: |
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133 if stmt[0] == s and stmt[1] in graphitePredicates: |
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134 self._carbon.send(graphiteName, stmt[2].toPython(), now) |
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135 |
| 164 | 136 def currentGraph(self): |
| 137 g = Graph() | |
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138 |
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139 g.add((HOST[socket.gethostname()], ROOM['connectedTo'], self.uri)) |
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140 |
| 164 | 141 for si in self._statementsFromInputs.values(): |
| 142 for s in si: | |
| 143 g.add(s) | |
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144 for dev in self._devs: |
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145 for stmt in dev.hostStatements(): |
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146 g.add(stmt) |
| 164 | 147 return g |
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148 |
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149 def outputStatements(self, stmts): |
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150 unused = set(stmts) |
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151 for dev in self._devs: |
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152 stmtsForDev = [] |
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153 for pat in dev.outputPatterns(): |
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154 if [term is None for term in pat] != [False, False, True]: |
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155 raise NotImplementedError |
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156 for stmt in stmts: |
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157 if stmt[:2] == pat[:2]: |
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158 stmtsForDev.append(stmt) |
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159 unused.discard(stmt) |
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160 if stmtsForDev: |
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161 log.info("output goes to action handler for %s" % dev.uri) |
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162 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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163 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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164 if self.ser.read(1) != 'k': |
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165 raise ValueError( |
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166 "%s sendOutput/generateActionCode didn't use " |
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167 "matching output bytes" % dev.__class__) |
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168 log.info("success") |
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169 if unused: |
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170 log.info("Board %s doesn't care about these statements:", self.uri) |
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171 for s in unused: |
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172 log.info("%r", s) |
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173 |
| 164 | 174 def generateArduinoCode(self): |
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175 generated = { |
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176 'baudrate': self.baudrate, |
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177 'includes': '', |
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178 'global': '', |
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179 'setups': '', |
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180 'polls': '', |
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185
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181 'idles': '', |
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182 'actions': '', |
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183 } |
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184 for attr in ['includes', 'global', 'setups', 'polls', 'idles', |
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185 'actions']: |
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186 for dev in self._devs: |
|
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187 if attr == 'includes': |
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188 gen = '\n'.join('#include "%s"\n' % inc |
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189 for inc in dev.generateIncludes()) |
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190 elif attr == 'global': gen = dev.generateGlobalCode() |
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191 elif attr == 'setups': gen = dev.generateSetupCode() |
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192 elif attr == 'polls': gen = dev.generatePollCode() |
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193 elif attr == 'idles': gen = dev.generateIdleCode() |
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194 elif attr == 'actions': |
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195 code = dev.generateActionCode() |
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196 if code: |
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197 gen = '''else if (cmd == %(cmdNum)s) { |
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198 %(code)s |
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199 Serial.write('k'); |
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200 } |
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201 ''' % dict(cmdNum=self._devCommandNum[dev.uri], |
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202 code=code) |
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203 else: |
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204 gen = '' |
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205 else: |
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206 raise NotImplementedError |
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207 |
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208 if gen: |
| 192 | 209 generated[attr] += '// for %s\n%s\n' % (dev.uri, gen.strip()) |
| 164 | 210 |
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211 code = ''' |
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212 %(includes)s |
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213 |
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214 %(global)s |
|
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215 byte frame=0; |
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216 unsigned long lastFrame=0; |
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217 |
| 164 | 218 void setup() { |
| 219 Serial.begin(%(baudrate)d); | |
| 220 Serial.flush(); | |
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221 %(setups)s |
| 164 | 222 } |
| 223 | |
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224 void idle() { |
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225 // this slowdown is to spend somewhat less time PWMing, to reduce |
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226 // leaking from on channels to off ones (my shift register has no |
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227 // latching) |
| 192 | 228 if (micros() < lastFrame + 80) { |
|
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229 return; |
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230 } |
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231 lastFrame = micros(); |
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232 frame++; |
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233 %(idles)s |
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234 } |
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235 |
| 164 | 236 void loop() { |
| 237 byte head, cmd; | |
|
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238 idle(); |
| 164 | 239 if (Serial.available() >= 2) { |
| 240 head = Serial.read(); | |
| 241 if (head != 0x60) { | |
| 242 Serial.flush(); | |
| 243 return; | |
| 244 } | |
| 245 cmd = Serial.read(); | |
|
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246 if (cmd == 0x00) { // poll |
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247 %(polls)s |
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248 Serial.write('x'); |
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249 } else if (cmd == 0x01) { // get code checksum |
|
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250 Serial.write("CODE_CHECKSUM"); |
| 164 | 251 } |
|
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252 %(actions)s |
| 164 | 253 } |
| 254 } | |
| 255 ''' % generated | |
|
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256 try: |
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257 with tempfile.SpooledTemporaryFile() as codeFile: |
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258 codeFile.write(code) |
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259 codeFile.seek(0) |
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260 code = subprocess.check_output([ |
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261 'indent', |
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262 '-linux', |
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263 '-fc1', # ok to indent comments |
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264 '-i4', # 4-space indent |
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265 '-sob' # swallow blanks (not working) |
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266 ], stdin=codeFile) |
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267 except OSError as e: |
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268 log.warn("indent failed (%r)", e) |
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269 cksum = hashlib.sha1(code).hexdigest() |
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270 code = code.replace('CODE_CHECKSUM', cksum) |
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271 return code, cksum |
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272 |
|
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273 def _readBoardChecksum(self, length): |
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274 # this is likely right after reset, so it might take 2 seconds |
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275 for tries in range(6): |
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276 self.ser.write("\x60\x01") |
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277 try: |
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278 return self.ser.read(length) |
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279 except ValueError: |
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280 if tries == 5: |
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281 raise |
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282 time.sleep(.5) |
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283 raise ValueError |
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284 |
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285 def _boardIsCurrent(self, currentChecksum): |
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286 try: |
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287 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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288 if boardCksum == currentChecksum: |
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289 log.info("board has current code (%s)" % currentChecksum) |
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290 return True |
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291 else: |
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292 log.info("board responds with incorrect code version") |
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293 except Exception as e: |
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294 log.info("can't get code version from board: %r" % e) |
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295 return False |
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296 |
| 164 | 297 def deployToArduino(self): |
|
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298 code, cksum = self.generateArduinoCode() |
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299 |
|
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300 if self._boardIsCurrent(cksum): |
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301 return |
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302 |
| 164 | 303 try: |
| 304 if hasattr(self, 'ser'): | |
| 305 self.ser.close() | |
| 306 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 307 try: | |
| 308 self._arduinoMake(workDir, code) | |
| 309 finally: | |
| 310 shutil.rmtree(workDir) | |
| 311 finally: | |
| 312 self.open() | |
|
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313 |
| 164 | 314 def _arduinoMake(self, workDir, code): |
| 315 with open(workDir + '/makefile', 'w') as makefile: | |
| 316 makefile.write(''' | |
| 317 BOARD_TAG = %(tag)s | |
|
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318 USER_LIB_PATH := %(libs)s |
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319 ARDUINO_LIBS = %(arduinoLibs)s |
| 164 | 320 MONITOR_PORT = %(dev)s |
| 321 | |
| 322 include /usr/share/arduino/Arduino.mk | |
| 323 ''' % { | |
| 324 'dev': self.dev, | |
| 325 'tag': self.graph.value(self.uri, ROOM['boardTag']), | |
|
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326 'libs': os.path.abspath('arduino-libraries'), |
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327 'arduinoLibs': ' '.join(sum((d.generateArduinoLibs() |
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328 for d in self._devs), [])), |
| 164 | 329 }) |
| 330 | |
| 331 with open(workDir + '/main.ino', 'w') as main: | |
| 332 main.write(code) | |
| 333 | |
| 334 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 335 | |
| 336 | |
| 337 class GraphPage(cyclone.web.RequestHandler): | |
| 338 def get(self): | |
| 339 g = StateGraph(ctx=ROOM['arduinosOn%s' % 'host']) | |
| 340 | |
| 341 for b in self.settings.boards: | |
| 342 for stmt in b.currentGraph(): | |
| 343 g.add(stmt) | |
| 344 | |
| 345 if self.get_argument('config', 'no') == 'yes': | |
| 346 for stmt in self.settings.config.graph: | |
| 347 g.add(stmt) | |
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348 |
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349 if self.request.headers.get('accept') == 'application/ld+json': |
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350 self.set_header('Content-type', 'application/ld+json') |
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351 self.write(g.asJsonLd()) |
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352 return |
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353 |
| 164 | 354 self.set_header('Content-type', 'application/x-trig') |
| 355 self.write(g.asTrig()) | |
| 356 | |
| 357 class Dot(cyclone.web.RequestHandler): | |
| 358 def get(self): | |
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359 configGraph = self.settings.config.graph |
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360 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 361 self.write(dot) |
| 362 | |
| 363 class ArduinoCode(cyclone.web.RequestHandler): | |
| 364 def get(self): | |
| 365 board = [b for b in self.settings.boards if | |
| 366 b.uri == URIRef(self.get_argument('board'))][0] | |
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367 self.set_header('Content-Type', 'text/plain') |
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368 code, cksum = board.generateArduinoCode() |
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369 self.write(code) |
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370 |
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371 def rdfGraphBody(body, headers): |
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372 g = Graph() |
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373 g.parse(StringInputSource(body), format='nt') |
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374 return g |
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375 |
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376 class OutputPage(cyclone.web.RequestHandler): |
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377 def post(self): |
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378 # for old ui; use PUT instead |
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379 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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380 for b in self.settings.boards: |
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381 b.outputStatements(stmts) |
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382 |
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383 def put(self): |
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384 subj = URIRef(self.get_argument('s')) |
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385 pred = URIRef(self.get_argument('p')) |
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386 |
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387 turtleLiteral = self.request.body |
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388 try: |
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389 obj = Literal(float(turtleLiteral)) |
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390 except ValueError: |
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391 obj = Literal(turtleLiteral) |
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392 |
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393 stmt = (subj, pred, obj) |
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394 for b in self.settings.boards: |
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395 b.outputStatements([stmt]) |
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396 |
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397 |
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398 class Boards(cyclone.web.RequestHandler): |
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399 def get(self): |
| 164 | 400 |
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401 self.set_header('Content-type', 'application/json') |
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402 self.write(json.dumps({ |
| 222 | 403 'host': socket.gethostname(), |
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404 'boards': [b.description() for b in self.settings.boards] |
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405 }, indent=2)) |
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406 |
| 164 | 407 def currentSerialDevices(): |
| 408 log.info('find connected boards') | |
| 409 return glob.glob('/dev/serial/by-id/*') | |
| 410 | |
| 411 def main(): | |
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412 arg = docopt(""" |
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413 Usage: arduinoNode.py [options] |
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414 |
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415 -v Verbose |
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416 """) |
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417 log.setLevel(logging.WARN) |
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418 if arg['-v']: |
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419 from twisted.python import log as twlog |
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420 twlog.startLogging(sys.stdout) |
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421 |
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422 log.setLevel(logging.DEBUG) |
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423 |
| 164 | 424 config = Config() |
| 425 current = currentSerialDevices() | |
| 426 | |
| 427 def onChange(): | |
| 428 # notify reasoning | |
| 429 pass | |
| 430 | |
| 431 boards = [] | |
| 432 for dev, board in config.serialDevices().items(): | |
| 433 if str(dev) not in current: | |
| 434 continue | |
| 435 log.info("we have board %s connected at %s" % (board, dev)) | |
| 436 b = Board(dev, config.graph, board, onChange) | |
| 437 boards.append(b) | |
| 438 | |
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439 for b in boards: |
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440 b.deployToArduino() |
| 164 | 441 |
| 442 log.info('open boards') | |
| 443 for b in boards: | |
| 444 b.startPolling() | |
| 445 | |
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446 |
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447 app = cyclone.web.Application([ |
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448 (r"/()", cyclone.web.StaticFileHandler, { |
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449 "path": "static", "default_filename": "index.html"}), |
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450 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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451 (r'/boards', Boards), |
| 164 | 452 (r"/graph", GraphPage), |
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453 (r'/output', OutputPage), |
| 164 | 454 (r'/arduinoCode', ArduinoCode), |
| 455 (r'/dot', Dot), | |
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456 ], config=config, boards=boards) |
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457 reactor.listenTCP(9059, app, interface='::') |
| 164 | 458 reactor.run() |
| 459 | |
| 460 main() |