Mercurial > code > home > repos > homeauto
annotate service/arduinoNode/arduinoNode.py @ 293:fc0e42933baa
save data to influxdb, not graphite
Ignore-this: ebf07e54d1949bdf3c2e9a81c5fc7292
| author | drewp@bigasterisk.com |
|---|---|
| date | Mon, 01 Aug 2016 02:26:38 -0700 |
| parents | d2c60552fb13 |
| children | 6614416dd2c3 |
| rev | line source |
|---|---|
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1 """ |
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2 depends on packages: |
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3 arduino-mk |
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4 indent |
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5 """ |
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6 from __future__ import division |
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7 import glob, sys, logging, subprocess, socket, os, hashlib, time, tempfile |
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8 import shutil, json |
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9 import serial |
| 164 | 10 import cyclone.web |
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11 from cyclone.httpclient import fetch |
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12 from rdflib import Graph, Namespace, URIRef, Literal, RDF, ConjunctiveGraph |
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13 from rdflib.parser import StringInputSource |
| 164 | 14 from twisted.internet import reactor, task |
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15 from docopt import docopt |
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16 |
| 164 | 17 import devices |
| 229 | 18 import write_arduino_code |
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19 import dotrender |
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20 import rdflib_patch |
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21 rdflib_patch.fixQnameOfUriWithTrailingSlash() |
| 164 | 22 |
| 23 logging.basicConfig(level=logging.DEBUG) | |
| 24 | |
| 25 from loggingserial import LoggingSerial | |
| 26 | |
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27 sys.path.append("../../lib") |
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28 from patchablegraph import PatchableGraph, CycloneGraphHandler, CycloneGraphEventsHandler |
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29 |
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30 sys.path.append("/my/proj/light9") |
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31 from light9.rdfdb.patch import Patch |
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32 from light9.rdfdb.rdflibpatch import inContext |
| 164 | 33 |
| 293 | 34 sys.path.append("../piNode") |
| 35 from export_to_influxdb import InfluxExporter | |
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36 |
| 164 | 37 log = logging.getLogger() |
| 38 logging.getLogger('serial').setLevel(logging.WARN) | |
| 39 | |
| 40 ROOM = Namespace('http://projects.bigasterisk.com/room/') | |
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41 HOST = Namespace('http://bigasterisk.com/ruler/host/') |
| 164 | 42 |
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43 ACTION_BASE = 10 # higher than any of the fixed command numbers |
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44 |
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45 hostname = socket.gethostname() |
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46 CTX = ROOM['arduinosOn%s' % hostname] |
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47 |
| 164 | 48 class Config(object): |
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49 def __init__(self, masterGraph): |
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50 self.graph = ConjunctiveGraph() |
| 164 | 51 log.info('read config') |
| 214 | 52 for f in os.listdir('config'): |
| 53 if f.startswith('.'): continue | |
| 54 self.graph.parse('config/%s' % f, format='n3') | |
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55 self.graph.bind('', ROOM) # not working |
| 164 | 56 self.graph.bind('rdf', RDF) |
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57 # config graph is too noisy; maybe make it a separate resource |
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58 #masterGraph.patch(Patch(addGraph=self.graph)) |
| 164 | 59 |
| 60 def serialDevices(self): | |
| 61 return dict([(row.dev, row.board) for row in self.graph.query( | |
| 62 """SELECT ?board ?dev WHERE { | |
| 63 ?board :device ?dev; | |
| 64 a :ArduinoBoard . | |
| 65 }""", initNs={'': ROOM})]) | |
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66 |
| 164 | 67 class Board(object): |
| 68 """an arduino connected to this computer""" | |
| 69 baudrate = 115200 | |
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70 def __init__(self, dev, configGraph, masterGraph, uri): |
| 164 | 71 """ |
| 72 each connected thing has some pins. | |
| 73 """ | |
| 74 self.uri = uri | |
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75 self.configGraph = configGraph |
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76 self.masterGraph = masterGraph |
| 164 | 77 self.dev = dev |
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78 |
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79 self.masterGraph.patch(Patch(addQuads=self.staticStmts())) |
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80 |
| 164 | 81 # The order of this list needs to be consistent between the |
| 82 # deployToArduino call and the poll call. | |
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83 self._devs = devices.makeDevices(configGraph, self.uri) |
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84 self._devCommandNum = dict((dev.uri, ACTION_BASE + devIndex) |
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85 for devIndex, dev in enumerate(self._devs)) |
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86 self._polledDevs = [d for d in self._devs if d.generatePollCode()] |
| 164 | 87 |
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88 self._statementsFromInputs = {} # input device uri: latest statements |
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89 self._lastPollTime = {} # input device uri: time() |
| 293 | 90 self._influx = InfluxExporter(self.configGraph) |
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91 self.open() |
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92 for d in self._devs: |
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93 self.syncMasterGraphToHostStatements(d) |
| 164 | 94 |
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95 def description(self): |
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96 """for web page""" |
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97 return { |
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98 'uri': self.uri, |
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99 'dev': self.dev, |
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100 'baudrate': self.baudrate, |
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101 'devices': [d.description() for d in self._devs], |
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102 } |
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103 |
| 164 | 104 def open(self): |
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105 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, |
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106 timeout=2) |
| 164 | 107 |
| 256 | 108 def startPolling(self, period=.5): |
| 109 task.LoopingCall(self._poll).start(period) | |
| 164 | 110 |
| 111 def _poll(self): | |
| 112 """ | |
| 113 even boards with no inputs need some polling to see if they're | |
| 114 still ok | |
| 115 """ | |
| 116 try: | |
| 117 self._pollWork() | |
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118 except serial.SerialException: |
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119 reactor.crash() |
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120 raise |
| 164 | 121 except Exception as e: |
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122 import traceback; traceback.print_exc() |
| 164 | 123 log.warn("poll: %r" % e) |
| 124 | |
| 125 def _pollWork(self): | |
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126 t1 = time.time() |
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127 self.ser.write("\x60\x00") # "poll everything" |
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128 for i in self._polledDevs: |
| 256 | 129 try: |
| 130 now = time.time() | |
| 131 new = i.readFromPoll(self.ser.read) | |
| 132 if isinstance(new, dict): # new style | |
| 133 oneshot = new['oneshot'] | |
| 134 new = new['latest'] | |
| 135 else: | |
| 136 oneshot = None | |
| 137 prev = self._statementsFromInputs.get(i.uri, []) | |
| 138 if new or prev: | |
| 139 self._statementsFromInputs[i.uri] = new | |
| 140 # it's important that quads from different devices | |
| 141 # don't clash, since that can lead to inconsistent | |
| 142 # patches (e.g. | |
| 143 # dev1 changes value from 1 to 2; | |
| 144 # dev2 changes value from 2 to 3; | |
| 145 # dev1 changes from 2 to 4 but this patch will | |
| 146 # fail since the '2' statement is gone) | |
| 147 self.masterGraph.patch(Patch.fromDiff(inContext(prev, i.uri), | |
| 148 inContext(new, i.uri))) | |
| 149 if oneshot: | |
| 150 self._sendOneshot(oneshot) | |
| 151 self._lastPollTime[i.uri] = now | |
| 152 except: | |
| 153 log.warn('while polling %r:', i.uri) | |
| 154 raise | |
| 164 | 155 #plus statements about succeeding or erroring on the last poll |
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156 byte = self.ser.read(1) |
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157 if byte != 'x': |
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158 raise ValueError("after poll, got %x instead of 'x'" % byte) |
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159 elapsed = time.time() - t1 |
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160 if elapsed > 1.0: |
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161 log.warn('poll took %.1f seconds' % elapsed) |
| 293 | 162 |
| 163 self._influx.exportToInflux( | |
| 164 set.union([set(v) for v in self._statementsFromInputs.values()])) | |
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165 |
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166 def _sendOneshot(self, oneshot): |
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167 body = (' '.join('%s %s %s .' % (s.n3(), p.n3(), o.n3()) |
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168 for s,p,o in oneshot)).encode('utf8') |
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169 bang6 = 'fcb8:4119:fb46:96f8:8b07:1260:0f50:fcfa' |
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170 fetch(method='POST', |
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171 url='http://[%s]:9071/oneShot' % bang6, |
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172 headers={'Content-Type': ['text/n3']}, postdata=body, |
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173 timeout=5) |
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174 |
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175 def outputStatements(self, stmts): |
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176 unused = set(stmts) |
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177 for dev in self._devs: |
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178 stmtsForDev = [] |
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179 for pat in dev.outputPatterns(): |
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180 if [term is None for term in pat] != [False, False, True]: |
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181 raise NotImplementedError |
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182 for stmt in stmts: |
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183 if stmt[:2] == pat[:2]: |
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184 stmtsForDev.append(stmt) |
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185 unused.discard(stmt) |
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186 if stmtsForDev: |
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187 log.info("output goes to action handler for %s" % dev.uri) |
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188 self.ser.write("\x60" + chr(self._devCommandNum[dev.uri])) |
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189 dev.sendOutput(stmtsForDev, self.ser.write, self.ser.read) |
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190 if self.ser.read(1) != 'k': |
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191 raise ValueError( |
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192 "%s sendOutput/generateActionCode didn't use " |
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193 "matching output bytes" % dev.__class__) |
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194 # Dev *could* change hostStatements at any time, and |
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195 # we're not currently tracking that, but the usual is |
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196 # to change them in response to sendOutput so this |
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197 # should be good enough. The right answer is to give |
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198 # each dev the masterGraph for it to write to. |
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199 self.syncMasterGraphToHostStatements(dev) |
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200 log.info("output and masterGraph sync complete") |
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201 if unused: |
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202 log.info("Board %s doesn't care about these statements:", self.uri) |
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203 for s in unused: |
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204 log.warn("%r", s) |
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205 |
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206 def syncMasterGraphToHostStatements(self, dev): |
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207 hostStmtCtx = URIRef(dev.uri + '/host') |
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208 newQuads = inContext(dev.hostStatements(), hostStmtCtx) |
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209 p = self.masterGraph.patchSubgraph(hostStmtCtx, newQuads) |
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210 log.debug("patch master with these host stmts %s", p) |
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211 |
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212 def staticStmts(self): |
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213 return [(HOST[hostname], ROOM['connectedTo'], self.uri, CTX)] |
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214 |
| 164 | 215 def generateArduinoCode(self): |
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216 code = write_arduino_code.writeCode(self.baudrate, self._devs, |
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217 self._devCommandNum) |
| 229 | 218 code = write_arduino_code.indent(code) |
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219 cksum = hashlib.sha1(code).hexdigest() |
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220 code = code.replace('CODE_CHECKSUM', cksum) |
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221 return code, cksum |
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222 |
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223 def _readBoardChecksum(self, length): |
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224 # this is likely right after reset, so it might take 2 seconds |
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225 for tries in range(6): |
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226 self.ser.write("\x60\x01") |
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227 try: |
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228 return self.ser.read(length) |
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229 except ValueError: |
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230 if tries == 5: |
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231 raise |
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232 time.sleep(.5) |
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233 raise ValueError |
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234 |
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235 def _boardIsCurrent(self, currentChecksum): |
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236 try: |
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237 boardCksum = self._readBoardChecksum(len(currentChecksum)) |
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238 if boardCksum == currentChecksum: |
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239 log.info("board has current code (%s)" % currentChecksum) |
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240 return True |
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241 else: |
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242 log.info("board responds with incorrect code version") |
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243 except Exception as e: |
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244 log.info("can't get code version from board: %r" % e) |
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245 return False |
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246 |
| 164 | 247 def deployToArduino(self): |
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248 code, cksum = self.generateArduinoCode() |
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249 |
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250 if self._boardIsCurrent(cksum): |
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251 return |
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252 |
| 164 | 253 try: |
| 254 if hasattr(self, 'ser'): | |
| 255 self.ser.close() | |
| 256 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy') | |
| 257 try: | |
| 258 self._arduinoMake(workDir, code) | |
| 259 finally: | |
| 260 shutil.rmtree(workDir) | |
| 261 finally: | |
| 262 self.open() | |
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263 |
| 164 | 264 def _arduinoMake(self, workDir, code): |
| 265 with open(workDir + '/makefile', 'w') as makefile: | |
| 229 | 266 makefile.write(write_arduino_code.writeMakefile( |
| 267 dev=self.dev, | |
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268 tag=self.configGraph.value(self.uri, ROOM['boardTag']), |
| 229 | 269 allLibs=sum((d.generateArduinoLibs() for d in self._devs), []))) |
| 164 | 270 |
| 271 with open(workDir + '/main.ino', 'w') as main: | |
| 272 main.write(code) | |
| 273 | |
| 274 subprocess.check_call(['make', 'upload'], cwd=workDir) | |
| 275 | |
|
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276 |
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277 def currentGraph(self): |
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278 g = Graph() |
| 164 | 279 |
| 280 | |
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281 for dev in self._devs: |
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282 for stmt in dev.hostStatements(): |
| 164 | 283 g.add(stmt) |
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284 return g |
| 164 | 285 |
| 286 class Dot(cyclone.web.RequestHandler): | |
| 287 def get(self): | |
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288 configGraph = self.settings.config.graph |
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289 dot = dotrender.render(configGraph, self.settings.boards) |
| 164 | 290 self.write(dot) |
| 291 | |
| 292 class ArduinoCode(cyclone.web.RequestHandler): | |
| 293 def get(self): | |
| 294 board = [b for b in self.settings.boards if | |
| 295 b.uri == URIRef(self.get_argument('board'))][0] | |
|
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296 self.set_header('Content-Type', 'text/plain') |
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297 code, cksum = board.generateArduinoCode() |
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298 self.write(code) |
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299 |
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300 def rdfGraphBody(body, headers): |
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301 g = Graph() |
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302 g.parse(StringInputSource(body), format='nt') |
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303 return g |
|
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304 |
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305 class OutputPage(cyclone.web.RequestHandler): |
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306 def post(self): |
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307 # for old ui; use PUT instead |
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308 stmts = list(rdfGraphBody(self.request.body, self.request.headers)) |
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309 for b in self.settings.boards: |
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310 b.outputStatements(stmts) |
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311 |
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312 def put(self): |
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313 subj = URIRef(self.get_argument('s')) |
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314 pred = URIRef(self.get_argument('p')) |
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315 |
|
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316 turtleLiteral = self.request.body |
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317 try: |
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318 obj = Literal(float(turtleLiteral)) |
|
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319 except ValueError: |
|
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320 obj = Literal(turtleLiteral) |
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321 |
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322 stmt = (subj, pred, obj) |
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323 for b in self.settings.boards: |
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324 b.outputStatements([stmt]) |
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325 |
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326 |
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327 class Boards(cyclone.web.RequestHandler): |
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328 def get(self): |
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329 self.set_header('Content-type', 'application/json') |
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330 self.write(json.dumps({ |
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331 'host': hostname, |
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332 'boards': [b.description() for b in self.settings.boards] |
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333 }, indent=2)) |
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334 |
| 164 | 335 def currentSerialDevices(): |
| 336 log.info('find connected boards') | |
| 337 return glob.glob('/dev/serial/by-id/*') | |
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338 |
| 164 | 339 def main(): |
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340 arg = docopt(""" |
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341 Usage: arduinoNode.py [options] |
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342 |
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343 -v Verbose |
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344 """) |
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345 log.setLevel(logging.WARN) |
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346 if arg['-v']: |
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347 from twisted.python import log as twlog |
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348 twlog.startLogging(sys.stdout) |
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349 |
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350 log.setLevel(logging.DEBUG) |
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351 |
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352 masterGraph = PatchableGraph() |
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353 config = Config(masterGraph) |
| 164 | 354 current = currentSerialDevices() |
| 355 | |
| 356 boards = [] | |
| 357 for dev, board in config.serialDevices().items(): | |
| 358 if str(dev) not in current: | |
| 359 continue | |
| 360 log.info("we have board %s connected at %s" % (board, dev)) | |
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361 b = Board(dev, config.graph, masterGraph, board) |
| 164 | 362 boards.append(b) |
| 363 | |
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364 for b in boards: |
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365 b.deployToArduino() |
| 164 | 366 |
| 367 log.info('open boards') | |
| 368 for b in boards: | |
| 256 | 369 b.startPolling(period=.1 if not arg['-v'] else 10) |
| 164 | 370 |
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371 |
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372 reactor.listenTCP(9059, cyclone.web.Application([ |
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373 (r"/()", cyclone.web.StaticFileHandler, { |
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374 "path": "static", "default_filename": "index.html"}), |
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375 (r'/static/(.*)', cyclone.web.StaticFileHandler, {"path": "static"}), |
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376 (r'/boards', Boards), |
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377 (r"/graph", CycloneGraphHandler, {'masterGraph': masterGraph}), |
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378 (r"/graph/events", CycloneGraphEventsHandler, {'masterGraph': masterGraph}), |
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379 (r'/output', OutputPage), |
| 164 | 380 (r'/arduinoCode', ArduinoCode), |
| 381 (r'/dot', Dot), | |
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382 ], config=config, boards=boards), interface='::') |
| 164 | 383 reactor.run() |
| 384 | |
| 385 main() |