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annotate service/piNode/piNode.py @ 338:f64e20d3407e

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RgbPixelsAnimation and docker build updates Ignore-this: c79e4a64bb5ad8683aa837839e79785b
author drewp@bigasterisk.com
date Sat, 03 Mar 2018 18:09:34 -0800
parents a94f2a522d41
children 97f5cbcac00b
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1 from __future__ import division
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2 import sys, logging, socket, json, time, os
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3 import cyclone.web
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4 from cyclone.httpclient import fetch
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5 from rdflib import Namespace, URIRef, Literal, Graph, RDF, ConjunctiveGraph
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6 from rdflib.parser import StringInputSource
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7 from twisted.internet import reactor, task
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8 from docopt import docopt
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9
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10 logging.basicConfig(level=logging.DEBUG)
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11
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12 sys.path.append("../../lib")
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13 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler
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14
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15 from rdfdb.rdflibpatch import inContext
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16 from rdfdb.patch import Patch
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17
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18 try:
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19 import pigpio
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20 except ImportError:
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21 class pigpio(object):
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22 @staticmethod
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23 def pi():
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24 return None
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25
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26 import devices
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27 from export_to_influxdb import InfluxExporter
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28
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29 log = logging.getLogger()
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30 logging.getLogger('serial').setLevel(logging.WARN)
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31
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32 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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33 HOST = Namespace('http://bigasterisk.com/ruler/host/')
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34
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35 hostname = socket.gethostname()
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36 CTX = ROOM['pi/%s' % hostname]
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37 bang6 = 'fcb8:4119:fb46:96f8:8b07:1260:0f50:fcfa'
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38
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39 def patchRandid():
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40 """
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41 I'm concerned urandom is slow on raspberry pi, and I'm adding to
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42 graphs a lot. Unclear what the ordered return values might do to
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43 the balancing of the graph.
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44 """
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45 _id_serial = [1000]
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46 def randid():
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47 _id_serial[0] += 1
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48 return _id_serial[0]
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49 import rdflib.plugins.memory
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50 rdflib.plugins.memory.randid = randid
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51 patchRandid()
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52
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53 class Config(object):
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54 def __init__(self, masterGraph):
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55 self.graph = ConjunctiveGraph()
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56 log.info('read config')
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57 for f in os.listdir('config'):
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58 if f.startswith('.') or not f.endswith('.n3'): continue
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59 self.graph.parse('config/%s' % f, format='n3')
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60 log.info(' parsed %s', f)
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61 self.graph.bind('', ROOM)
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62 self.graph.bind('rdf', RDF)
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63 # config graph is too noisy; maybe make it a separate resource
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64 #masterGraph.patch(Patch(addGraph=self.graph))
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65
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66 class Board(object):
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67 """similar to arduinoNode.Board but without the communications stuff"""
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68 def __init__(self, graph, masterGraph, uri):
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69 self.graph, self.uri = graph, uri
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70 self.masterGraph = masterGraph
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71 self.masterGraph.patch(Patch(addQuads=self.staticStmts()))
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72 self.pi = pigpio.pi()
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73 self._devs = devices.makeDevices(graph, self.uri, self.pi)
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74 log.debug('found %s devices', len(self._devs))
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75 self._statementsFromInputs = {} # input device uri: latest statements
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76 self._lastPollTime = {} # input device uri: time()
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77 self._influx = InfluxExporter(self.graph)
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78 for d in self._devs:
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79 self.syncMasterGraphToHostStatements(d)
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80
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81 def startPolling(self):
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82 task.LoopingCall(self._poll).start(.05)
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83
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84 def _poll(self):
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85 try:
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86 self._pollMaybeError()
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87 except Exception:
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88 log.exception("During poll:")
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89
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90 def _pollMaybeError(self):
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91 pollTime = {} # uri: sec
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92 for i in self._devs:
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93 now = time.time()
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94 if (hasattr(i, 'pollPeriod') and
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95 self._lastPollTime.get(i.uri, 0) + i.pollPeriod > now):
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96 continue
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97 new = i.poll()
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98 pollTime[i.uri] = time.time() - now
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99 if isinstance(new, dict): # new style
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100 oneshot = new['oneshot']
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101 new = new['latest']
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102 else:
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103 oneshot = None
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104 prev = self._statementsFromInputs.get(i.uri, set())
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105
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106 if new or prev:
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107 self._statementsFromInputs[i.uri] = new
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108 # it's important that quads from different devices
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109 # don't clash, since that can lead to inconsistent
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110 # patches (e.g.
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111 # dev1 changes value from 1 to 2;
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112 # dev2 changes value from 2 to 3;
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113 # dev1 changes from 2 to 4 but this patch will
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114 # fail since the '2' statement is gone)
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115 self.masterGraph.patch(Patch.fromDiff(inContext(prev, i.uri),
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116 inContext(new, i.uri)))
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117
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118 if oneshot:
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119 self._sendOneshot(oneshot)
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120 self._lastPollTime[i.uri] = now
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121 if log.isEnabledFor(logging.DEBUG):
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122 log.debug('poll times:')
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123 for u, s in sorted(pollTime.items()):
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124 log.debug(" %.4f ms %s", s * 1000, u)
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125 log.debug('total poll time: %f ms', sum(pollTime.values()) * 1000)
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126
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127 pollResults = map(set, self._statementsFromInputs.values())
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128 if pollResults:
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129 self._influx.exportToInflux(set.union(*pollResults))
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130
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131 def _sendOneshot(self, oneshot):
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132 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3())
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133 for s,p,o in oneshot)).encode('utf8')
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134 url = 'http://[%s]:9071/oneShot' % bang6
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135 d = fetch(method='POST',
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136 url=url,
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137 headers={'Content-Type': ['text/n3']},
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138 postdata=body,
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139 timeout=5)
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140 def err(e):
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141 log.info('oneshot post to %r failed: %s',
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142 url, e.getErrorMessage())
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143 d.addErrback(err)
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144
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145 def outputStatements(self, stmts):
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146 unused = set(stmts)
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147 for dev in self._devs:
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148 stmtsForDev = []
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149 for pat in dev.outputPatterns():
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150 if [term is None for term in pat] != [False, False, True]:
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151 raise NotImplementedError
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152 for stmt in stmts:
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153 if stmt[:2] == pat[:2]:
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154 stmtsForDev.append(stmt)
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155 unused.discard(stmt)
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156 if stmtsForDev:
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157 log.info("output goes to action handler for %s" % dev.uri)
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158 dev.sendOutput(stmtsForDev)
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159
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160 # Dev *could* change hostStatements at any time, and
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161 # we're not currently tracking that, but the usual is
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162 # to change them in response to sendOutput so this
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163 # should be good enough. The right answer is to give
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164 # each dev the masterGraph for it to write to.
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165 self.syncMasterGraphToHostStatements(dev)
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166 log.info("output and masterGraph sync complete")
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167 if unused:
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168 log.info("Board %s doesn't care about these statements:", self.uri)
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169 for s in unused:
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170 log.warn("%r", s)
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171
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172 def syncMasterGraphToHostStatements(self, dev):
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173 hostStmtCtx = URIRef(dev.uri + '/host')
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174 newQuads = inContext(dev.hostStatements(), hostStmtCtx)
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175 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads)
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176 log.debug("patch master with these host stmts %s", p)
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177
226
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178 def staticStmts(self):
233
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179 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)]
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180
183
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181 def description(self):
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182 """for web page"""
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183 return {
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184 'uri': self.uri,
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185 'devices': [d.description() for d in self._devs],
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186 'graph': 'http://sticker:9059/graph', #todo
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187 }
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188
233
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189 class Dot(cyclone.web.RequestHandler):
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190 def get(self):
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191 configGraph = self.settings.config.graph
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192 dot = dotrender.render(configGraph, self.settings.boards)
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193 self.write(dot)
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194
184
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195 def rdfGraphBody(body, headers):
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196 g = Graph()
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197 g.parse(StringInputSource(body), format='nt')
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198 return g
183
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199
182
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200 class OutputPage(cyclone.web.RequestHandler):
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201 def put(self):
184
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202 arg = self.request.arguments
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203 if arg.get('s') and arg.get('p'):
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204 subj = URIRef(arg['s'][-1])
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205 pred = URIRef(arg['p'][-1])
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206 turtleLiteral = self.request.body
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207 try:
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208 obj = Literal(float(turtleLiteral))
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209 except ValueError:
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210 obj = Literal(turtleLiteral)
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211 stmt = (subj, pred, obj)
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212 else:
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213 g = rdfGraphBody(self.request.body, self.request.headers)
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214 assert len(g) == 1, len(g)
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215 stmt = g.triples((None, None, None)).next()
182
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216
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217 self.settings.board.outputStatements([stmt])
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218
183
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219 class Boards(cyclone.web.RequestHandler):
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220 def get(self):
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221 self.set_header('Content-type', 'application/json')
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222 self.write(json.dumps({
233
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223 'host': hostname,
183
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224 'boards': [self.settings.board.description()]
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225 }, indent=2))
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226
182
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227 def main():
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228 arg = docopt("""
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229 Usage: piNode.py [options]
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230
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231 -v Verbose
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232 """)
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233 log.setLevel(logging.WARN)
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234 if arg['-v']:
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235 from twisted.python import log as twlog
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236 twlog.startLogging(sys.stdout)
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237
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238 log.setLevel(logging.DEBUG)
233
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239
226
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diff changeset
240 masterGraph = PatchableGraph()
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241 config = Config(masterGraph)
182
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242
233
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243 thisHost = Literal(hostname)
221
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244 for row in config.graph.query(
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245 'SELECT ?board WHERE { ?board a :PiBoard; :hostname ?h }',
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246 initBindings=dict(h=thisHost)):
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247 thisBoard = row.board
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248 break
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249 else:
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250 raise ValueError("config had no board for :hostname %r" % thisHost)
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251
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252 log.info("found config for board %r" % thisBoard)
226
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diff changeset
253 board = Board(config.graph, masterGraph, thisBoard)
183
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diff changeset
254 board.startPolling()
182
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255
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256 reactor.listenTCP(9059, cyclone.web.Application([
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257 (r"/()", cyclone.web.StaticFileHandler, {
338
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diff changeset
258 "path": "static", "default_filename": "index.html"}),
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259 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}),
233
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260 (r'/boards', Boards),
226
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261 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}),
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262 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}),
182
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263 (r'/output', OutputPage),
233
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264 (r'/dot', Dot),
220
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diff changeset
265 ], config=config, board=board, debug=arg['-v']), interface='::')
258
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diff changeset
266 log.warn('serving on 9059')
182
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267 reactor.run()
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268
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269 main()