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comparison service/arduinoNode/arduinoNode.py @ 164:49c1756b2edb

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start arduinonode Ignore-this: 6ddc4d3af9ab8468e25b346bddf15835
author drewp@bigasterisk.com
date Mon, 06 Apr 2015 02:13:39 -0700
parents
children c0180bd2b33a
comparison
equal deleted inserted replaced
163:4b0f221d790c 164:49c1756b2edb
1 import shutil
2 import tempfile
3 import glob, sys, logging, subprocess
4 import cyclone.web
5 from rdflib import Graph, Namespace, URIRef, Literal, RDF
6 from twisted.internet import reactor, task
7 import devices
8
9 logging.basicConfig(level=logging.DEBUG)
10
11 from loggingserial import LoggingSerial
12
13 sys.path.append("/my/site/magma")
14 from stategraph import StateGraph
15
16 log = logging.getLogger()
17 logging.getLogger('serial').setLevel(logging.WARN)
18
19
20 ROOM = Namespace('http://projects.bigasterisk.com/room/')
21
22 class Config(object):
23 def __init__(self):
24 self.graph = Graph()
25 log.info('read config')
26 self.graph.bind('', ROOM)
27 self.graph.bind('rdf', RDF)
28 self.graph.parse('config.n3', format='n3')
29
30 def serialDevices(self):
31 return dict([(row.dev, row.board) for row in self.graph.query(
32 """SELECT ?board ?dev WHERE {
33 ?board :device ?dev;
34 a :ArduinoBoard .
35 }""", initNs={'': ROOM})])
36
37 class Board(object):
38 """an arduino connected to this computer"""
39 baudrate = 115200
40 def __init__(self, dev, graph, uri, onChange):
41 """
42 each connected thing has some pins.
43
44 We'll call onChange when we know the currentGraph() has
45 changed (and not just in creation time).
46 """
47 self.uri = uri
48 self.graph = graph
49 self.dev = dev
50
51 # The order of this list needs to be consistent between the
52 # deployToArduino call and the poll call.
53 self._inputs = [devices.PingInput(graph, self.uri)]
54 for row in graph.query("""SELECT ?dev WHERE {
55 ?board :hasPin ?pin .
56 ?pin :connectedTo ?dev .
57 } ORDER BY ?dev""",
58 initBindings=dict(board=self.uri),
59 initNs={'': ROOM}):
60 self._inputs.append(devices.makeBoardInput(graph, row.dev))
61
62 self._statementsFromInputs = {} # input uri: latest statements
63
64
65 def open(self):
66 self.ser = LoggingSerial(port=self.dev, baudrate=self.baudrate, timeout=2)
67
68 def startPolling(self):
69 task.LoopingCall(self._poll).start(.5)
70
71 def _poll(self):
72 """
73 even boards with no inputs need some polling to see if they're
74 still ok
75 """
76 try:
77 self._pollWork()
78 except Exception as e:
79 log.warn("poll: %r" % e)
80
81 def _pollWork(self):
82 self.ser.write("\x60\x00")
83 for i in self._inputs:
84 self._statementsFromInputs[i.uri] = i.readFromPoll(self.ser.read)
85 #plus statements about succeeding or erroring on the last poll
86
87 def currentGraph(self):
88 g = Graph()
89 for si in self._statementsFromInputs.values():
90 for s in si:
91 g.add(s)
92 return g
93
94 def generateArduinoCode(self):
95 generated = {'baudrate': self.baudrate, 'setups': '', 'polls': ''}
96 for attr in ['setups', 'polls']:
97 for i in self._inputs:
98 gen = (i.generateSetupCode() if attr == 'setups'
99 else i.generatePollCode())
100 generated[attr] += '// for %s\n%s\n' % (i.uri, gen)
101
102 return '''
103 void setup() {
104 Serial.begin(%(baudrate)d);
105 Serial.flush();
106 %(setups)s
107 }
108
109 void loop() {
110 byte head, cmd;
111 if (Serial.available() >= 2) {
112 head = Serial.read();
113 if (head != 0x60) {
114 Serial.flush();
115 return;
116 }
117 cmd = Serial.read();
118 if (cmd == 0x00) {
119 %(polls)s;
120 }
121 }
122 }
123 ''' % generated
124
125 def deployToArduino(self):
126 code = self.generateArduinoCode()
127 try:
128 if hasattr(self, 'ser'):
129 self.ser.close()
130 workDir = tempfile.mkdtemp(prefix='arduinoNode_board_deploy')
131 try:
132 self._arduinoMake(workDir, code)
133 finally:
134 shutil.rmtree(workDir)
135 finally:
136 self.open()
137
138 def _arduinoMake(self, workDir, code):
139 with open(workDir + '/makefile', 'w') as makefile:
140 makefile.write('''
141 BOARD_TAG = %(tag)s
142 USER_LIB_PATH :=
143 ARDUINO_LIBS =
144 MONITOR_PORT = %(dev)s
145
146 include /usr/share/arduino/Arduino.mk
147 ''' % {
148 'dev': self.dev,
149 'tag': self.graph.value(self.uri, ROOM['boardTag']),
150 })
151
152 with open(workDir + '/main.ino', 'w') as main:
153 main.write(code)
154
155 subprocess.check_call(['make', 'upload'], cwd=workDir)
156
157
158 class Index(cyclone.web.RequestHandler):
159 def get(self):
160 self.set_header("Content-Type", "text/html")
161 self.write(open("index.html").read())
162
163 class GraphPage(cyclone.web.RequestHandler):
164 def get(self):
165 g = StateGraph(ctx=ROOM['arduinosOn%s' % 'host'])
166
167 for b in self.settings.boards:
168 for stmt in b.currentGraph():
169 g.add(stmt)
170
171 if self.get_argument('config', 'no') == 'yes':
172 for stmt in self.settings.config.graph:
173 g.add(stmt)
174
175 self.set_header('Content-type', 'application/x-trig')
176 self.write(g.asTrig())
177
178 class Dot(cyclone.web.RequestHandler):
179 def get(self):
180 nodes = {} # uri: nodeline
181 edges = []
182
183 serial = [0]
184 def addNode(node):
185 if node not in nodes or isinstance(node, Literal):
186 id = 'node%s' % serial[0]
187 if isinstance(node, URIRef):
188 short = self.settings.config.graph.qname(node)
189 else:
190 short = str(node)
191 nodes[node] = (
192 id,
193 '%s [ label="%s", shape = record, color = blue ];' % (
194 id, short))
195 serial[0] += 1
196 else:
197 id = nodes[node][0]
198 return id
199 def addStmt(stmt):
200 ns = addNode(stmt[0])
201 no = addNode(stmt[2])
202 edges.append('%s -> %s [ label="%s" ];' % (ns, no, stmt[1]))
203 for b in self.settings.boards:
204 for stmt in b.currentGraph():
205 # color these differently from config ones
206 addStmt(stmt)
207 for stmt in self.settings.config.graph:
208 addStmt(stmt)
209
210 nodes = '\n'.join(line for _, line in nodes.values())
211 edges = '\n'.join(edges)
212 dot = '''
213 digraph {
214 rankdir = TB;
215 charset="utf-8";
216 %(nodes)s
217 %(edges)s
218 }
219 ''' % dict(nodes=nodes, edges=edges)
220 self.write(dot)
221
222 class ArduinoCode(cyclone.web.RequestHandler):
223 def get(self):
224 board = [b for b in self.settings.boards if
225 b.uri == URIRef(self.get_argument('board'))][0]
226 self.set_header('Content-type', 'text/plain')
227 self.write(board.generateArduinoCode())
228
229
230 def currentSerialDevices():
231 log.info('find connected boards')
232 return glob.glob('/dev/serial/by-id/*')
233
234 def main():
235 config = Config()
236 current = currentSerialDevices()
237
238 def onChange():
239 # notify reasoning
240 pass
241
242 boards = []
243 for dev, board in config.serialDevices().items():
244 if str(dev) not in current:
245 continue
246 log.info("we have board %s connected at %s" % (board, dev))
247 b = Board(dev, config.graph, board, onChange)
248 boards.append(b)
249
250 #boards[0].deployToArduino()
251
252 log.info('open boards')
253 for b in boards:
254 b.open()
255 b.startPolling()
256
257 from twisted.python import log as twlog
258 twlog.startLogging(sys.stdout)
259
260 log.setLevel(logging.DEBUG)
261 reactor.listenTCP(9059, cyclone.web.Application([
262 (r"/", Index),
263 (r"/graph", GraphPage),
264 (r'/arduinoCode', ArduinoCode),
265 (r'/dot', Dot),
266 ], config=config, boards=boards))
267 reactor.run()
268
269 main()