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annotate service/arduinoNode/devices.py @ 176:f81c4d3d774b

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arduinoNode: use -v for logging; support a PUT with subj+pred in query, obj in body Ignore-this: 744c3c7d95655430b8ec547e56f6b4bc
author drewp@bigasterisk.com
date Thu, 14 May 2015 01:26:12 -0700
parents 715c1c42185e
children 2161c71c7b02
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 from __future__ import division
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2 import itertools
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3 from rdflib import Namespace, RDF, URIRef, Literal
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4 import time
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5
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6 ROOM = Namespace('http://projects.bigasterisk.com/room/')
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7 XSD = Namespace('http://www.w3.org/2001/XMLSchema#')
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8
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9 def readLine(read):
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10 buf = ''
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11 for c in iter(lambda: read(1), '\n'):
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12 buf += c
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13 return buf
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14
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15 class DeviceType(object):
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16 deviceType = None
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17 @classmethod
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18 def findInstances(cls, graph, board):
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19 """
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20 return any number of instances of this class for all the separately
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21 controlled devices on the board. Two LEDS makes two instances,
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22 but two sensors on the same onewire bus makes only one device
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23 (which yields more statements).
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24 """
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25 for row in graph.query("""SELECT ?dev ?pinNumber WHERE {
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26 ?board :hasPin ?pin .
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27 ?pin :pinNumber ?pinNumber;
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28 :connectedTo ?dev .
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29 ?dev a ?thisType .
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30 } ORDER BY ?dev""",
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31 initBindings=dict(board=board,
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32 thisType=cls.deviceType),
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33 initNs={'': ROOM}):
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34 yield cls(graph, row.dev, int(row.pinNumber))
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35
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36 # subclasses may add args to this
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37 def __init__(self, graph, uri, pinNumber):
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38 self.graph, self.uri = graph, uri
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39 self.pinNumber = pinNumber
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40
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41 def description(self):
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42 return {
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43 'uri': self.uri,
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44 'className': self.__class__.__name__,
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45 'pinNumber': self.pinNumber,
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46 'outputPatterns': self.outputPatterns(),
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47 'watchPrefixes': self.watchPrefixes(),
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48 'outputWidgets': self.outputWidgets(),
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49 }
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50
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51 def readFromPoll(self, read):
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52 """
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53 read an update message returned as part of a poll bundle. This may
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54 consume a varying number of bytes depending on the type of
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55 input (e.g. IR receiver).
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56 Returns rdf statements.
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57 """
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58 raise NotImplementedError('readFromPoll in %s' % self.__class__)
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59
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60 def watchPrefixes(self):
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61 """
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62 subj,pred pairs of the statements that might be returned from
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63 readFromPoll, so the dashboard knows what it should
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64 watch. This should be eliminated, as the dashboard should just
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65 always watch the whole tree of statements starting self.uri
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66 """
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67 return []
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68
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69 def generateIncludes(self):
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70 """filenames of .h files to #include"""
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71 return []
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72
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73 def generateArduinoLibs(self):
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74 """names of libraries for the ARDUINO_LIBS line in the makefile"""
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75 return []
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76
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77 def generateGlobalCode(self):
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78 """C code to emit in the global section"""
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79 return ''
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80
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81 def generateSetupCode(self):
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82 """C code to emit in setup()"""
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83 return ''
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84
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85 def generatePollCode(self):
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86 """
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87 C code to run a poll update. This should Serial.write its output
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88 for readFromPoll to consume. If this returns nothing, we don't
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89 try to poll this device.
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90 """
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91 return ''
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92
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93 def generateActionCode(self):
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94 """
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95 If the host side runs sendOutput, this C code will be run on the
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96 board to receive whatever sendOutput writes. Each sendOutput
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97 write(buf) call should be matched with len(buf) Serial.read()
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98 calls in here.
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99 """
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100 return ''
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101
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102 def outputPatterns(self):
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103 """
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104 Triple patterns, using None as a wildcard, that should be routed
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105 to sendOutput
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106 """
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107 return []
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108
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109 def outputWidgets(self):
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110 """
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111 structs to make output widgets on the dashboard. ~1 of these per
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112 handler you have in sendOutput
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113 """
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114 return []
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115
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116 def sendOutput(self, statements, write, read):
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117 """
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118 If we got statements that match this class's outputPatterns, this
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119 will be called with the statements that matched, and a serial
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120 write method. What you write here will be available as
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121 Serial.read in the generateActionCode C code.
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122
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123 Todo: it would be fine to read back confirmations or
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124 whatever. Just need a way to collect them into graph statements.
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125 """
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126 raise NotImplementedError
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127
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128 _knownTypes = set()
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129 def register(deviceType):
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130 _knownTypes.add(deviceType)
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131 return deviceType
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132
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133 @register
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134 class PingInput(DeviceType):
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135 @classmethod
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136 def findInstances(cls, graph, board):
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137 return [cls(graph, board, None)]
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138
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139 def generatePollCode(self):
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140 return "Serial.write('k');"
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141
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142 def readFromPoll(self, read):
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143 if read(1) != 'k':
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144 raise ValueError('invalid ping response')
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145 return [(self.uri, ROOM['ping'], ROOM['ok'])]
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146
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147 def watchPrefixes(self):
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148 return [(self.uri, ROOM['ping'])]
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149
166
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150 @register
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151 class MotionSensorInput(DeviceType):
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152 deviceType = ROOM['MotionSensor']
164
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153 def generateSetupCode(self):
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154 return 'pinMode(%(pin)d, INPUT); digitalWrite(%(pin)d, LOW);' % {
169
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155 'pin': self.pinNumber,
164
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156 }
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157
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158 def generatePollCode(self):
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159 return "Serial.write(digitalRead(%(pin)d) ? 'y' : 'n');" % {
169
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160 'pin': self.pinNumber
164
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161 }
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162
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163 def readFromPoll(self, read):
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164 b = read(1)
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165 if b not in 'yn':
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166 raise ValueError('unexpected response %r' % b)
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167 motion = b == 'y'
176
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168
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169 return [
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170 (self.uri, ROOM['sees'],
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171 ROOM['motion'] if motion else ROOM['noMotion']),
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172 self.recentMotionStatement(motion),
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173 ]
164
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174
176
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175 def recentMotionStatement(self, motion):
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176 if not hasattr(self, 'lastMotionTime'):
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177 self.lastMotionTime = 0
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178 now = time.time()
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179 if motion:
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180 self.lastMotionTime = now
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181 recentMotion = now - self.lastMotionTime < 60 * 10
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182 return (self.uri, ROOM['seesRecently'],
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183 ROOM['motion'] if recentMotion else ROOM['noMotion'])
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184
170
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185 def watchPrefixes(self):
176
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186 return [
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187 (self.uri, ROOM['sees']),
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188 (self.uri, ROOM['seesRecently']),
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189 ]
170
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190
166
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191 @register
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192 class OneWire(DeviceType):
170
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193 """
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194 A OW bus with temperature sensors (and maybe other devices, which
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195 are also to be handled under this object)
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196 """
166
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197 deviceType = ROOM['OneWire']
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198
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199 def generateIncludes(self):
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200 return ['OneWire.h', 'DallasTemperature.h']
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201
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202 def generateArduinoLibs(self):
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203 return ['OneWire', 'DallasTemperature']
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204
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205 def generateGlobalCode(self):
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206 # not yet isolated to support multiple OW buses
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207 return '''
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208 OneWire oneWire(%(pinNumber)s);
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209 DallasTemperature sensors(&oneWire);
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210 DeviceAddress tempSensorAddress;
169
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211 #define NUM_TEMPERATURE_RETRIES 2
166
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212
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213 void initSensors() {
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214 sensors.begin();
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215 sensors.getAddress(tempSensorAddress, 0);
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216 sensors.setResolution(tempSensorAddress, 12);
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217 }
169
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218 ''' % dict(pinNumber=self.pinNumber)
164
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219
166
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220 def generatePollCode(self):
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221 return r'''
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222 for (int i=0; i<NUM_TEMPERATURE_RETRIES; i++) {
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223 sensors.requestTemperatures();
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224 float newTemp = sensors.getTempF(tempSensorAddress);
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225 if (i < NUM_TEMPERATURE_RETRIES-1 &&
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226 (newTemp < -100 || newTemp > 180)) {
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227 // too many errors that were fixed by restarting arduino.
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228 // trying repeating this much init
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229 initSensors();
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230 continue;
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231 }
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232 Serial.print(newTemp);
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233 Serial.print('\n');
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234 Serial.print((char)i);
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235 break;
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236 }
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237 '''
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238
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239 def readFromPoll(self, read):
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240 newTemp = readLine(read)
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241 retries = ord(read(1))
170
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242 # uri will change; there could (likely) be multiple connected sensors
166
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243 return [
169
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244 (self.uri, ROOM['temperatureF'],
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245 Literal(newTemp, datatype=XSD['decimal'])),
166
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246 (self.uri, ROOM['temperatureRetries'], Literal(retries)),
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247 ]
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248
170
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249 def watchPrefixes(self):
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250 # these uris will become dynamic! see note on watchPrefixes
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251 # about eliminating it.
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252 return [(self.uri, ROOM['temperatureF']),
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253 (self.uri, ROOM['temperatureRetries']),
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254 ]
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255
169
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256 def byteFromFloat(f):
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257 return chr(int(min(255, max(0, f * 255))))
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258
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259 @register
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260 class LedOutput(DeviceType):
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261 deviceType = ROOM['LedOutput']
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262 def generateSetupCode(self):
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263 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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264 'pin': self.pinNumber,
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265 }
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266
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267 def outputPatterns(self):
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268 return [(self.uri, ROOM['brightness'], None)]
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269
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270 def sendOutput(self, statements, write, read):
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271 assert len(statements) == 1
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272 assert statements[0][:2] == (self.uri, ROOM['brightness'])
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273 value = float(statements[0][2])
172
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274 if (self.uri, RDF.type, ROOM['ActiveLowOutput']) in self.graph:
169
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275 value = 1 - value
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276 write(byteFromFloat(value))
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277
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278 def generateActionCode(self):
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279 return r'''
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280 while(Serial.available() < 1) NULL;
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281 analogWrite(%(pin)d, Serial.read());
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282 ''' % dict(pin=self.pinNumber)
170
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283
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284 def outputWidgets(self):
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285 return [{
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286 'element': 'output-slider',
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287 'min': 0,
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288 'max': 1,
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289 'step': 1 / 255,
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290 'subj': self.uri,
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291 'pred': ROOM['brightness'],
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292 }]
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293
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294 @register
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295 class DigitalOutput(DeviceType):
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296 deviceType = ROOM['DigitalOutput']
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297 def generateSetupCode(self):
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298 return 'pinMode(%(pin)d, OUTPUT); digitalWrite(%(pin)d, LOW);' % {
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299 'pin': self.pinNumber,
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300 }
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301
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302 def outputPatterns(self):
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303 return [(self.uri, ROOM['level'], None)]
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304
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305 def sendOutput(self, statements, write, read):
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306 assert len(statements) == 1
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307 assert statements[0][:2] == (self.uri, ROOM['level'])
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308 value = {"high": 1, "low": 0}[str(statements[0][2])]
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309 write(chr(value))
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310
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311 def generateActionCode(self):
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312 return r'''
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313 while(Serial.available() < 1) NULL;
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314 digitalWrite(%(pin)d, Serial.read());
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315 ''' % dict(pin=self.pinNumber)
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316
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317 def outputWidgets(self):
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318 return [{
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319 'element': 'output-switch',
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320 'subj': self.uri,
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321 'pred': ROOM['level'],
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322 }]
169
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323
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324 @register
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325 class ST7576Lcd(DeviceType):
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326 deviceType = ROOM['ST7565Lcd']
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327 @classmethod
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328 def findInstances(cls, graph, board):
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329 grouped = itertools.groupby(
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330 graph.query("""SELECT DISTINCT ?dev ?pred ?pinNumber WHERE {
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331 ?board :hasPin ?pin .
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332 ?pin :pinNumber ?pinNumber;
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333 :connectedTo ?devPin .
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334 ?dev a :ST7565Lcd .
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335 ?dev ?pred ?devPin .
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336 } ORDER BY ?dev""",
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337 initBindings=dict(board=board,
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338 thisType=cls.deviceType),
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339 initNs={'': ROOM}),
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340 lambda row: row.dev)
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341 for dev, connections in grouped:
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342 connections = dict((role, int(num)) for unused_dev, role, num
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343 in connections)
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344 yield cls(graph, dev, connections=connections)
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345
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346 def __init__(self, graph, dev, connections):
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347 super(ST7576Lcd, self).__init__(graph, dev, pinNumber=None)
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348 self.connections = connections
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349
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350 def generateIncludes(self):
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351 return ['ST7565.h']
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352
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353 def generateArduinoLibs(self):
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354 return ['ST7565']
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355
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356 def generateGlobalCode(self):
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357 return '''
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358 ST7565 glcd(%(SID)d, %(SCLK)d, %(A0)d, %(RST)d, %(CS)d);
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359 char newtxt[21*8+1];
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360 unsigned int written;
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361 ''' % dict(SID=self.connections[ROOM['lcdSID']],
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362 SCLK=self.connections[ROOM['lcdSCLK']],
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363 A0=self.connections[ROOM['lcdA0']],
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364 RST=self.connections[ROOM['lcdRST']],
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365 CS=self.connections[ROOM['lcdCS']])
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366
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367 def generateSetupCode(self):
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368 return '''
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369 glcd.st7565_init();
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370 glcd.st7565_command(CMD_DISPLAY_ON);
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371 glcd.st7565_command(CMD_SET_ALLPTS_NORMAL);
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372 glcd.st7565_set_brightness(0x18);
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373
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374 glcd.display(); // show splashscreen
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375 '''
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376
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377 def outputPatterns(self):
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378 return [(self.uri, ROOM['text'], None)]
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379
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380 def sendOutput(self, statements, write, read):
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381 assert len(statements) == 1
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382 assert statements[0][:2] == (self.uri, ROOM['text'])
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383 value = str(statements[0][2])
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384 assert len(value) < 254, repr(value)
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385 write(chr(len(value)) + value)
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386
170
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387 def outputWidgets(self):
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388 return [{
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389 'element': 'output-fixed-text',
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390 'cols': 21,
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391 'rows': 8,
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392 'subj': self.uri,
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393 'pred': ROOM['text'],
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394 }]
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395
169
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396 def generateActionCode(self):
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397 return '''
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398 while(Serial.available() < 1) NULL;
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399 byte bufSize = Serial.read();
170
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400 for (byte i = 0; i < bufSize; ++i) {
169
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401 while(Serial.available() < 1) NULL;
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402 newtxt[i] = Serial.read();
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403 }
170
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404 for (byte i = bufSize; i < sizeof(newtxt); ++i) {
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405 newtxt[i] = 0;
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406 }
169
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407 glcd.clear();
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408 glcd.drawstring(0,0, newtxt);
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409 glcd.display();
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410 '''
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411
166
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412 def makeDevices(graph, board):
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413 out = []
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414 for dt in sorted(_knownTypes, key=lambda cls: cls.__name__):
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415 out.extend(dt.findInstances(graph, board))
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416 return out
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417