HydroBot/hydrobot-software Changeset - 25926382c27b

Changeset - 25926382c27b

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refactor

0 5 4

matthewreed - 8 years ago 2017-07-11 20:12:50

Added modules for database connection, scheduler, and comms protocol definition

9 files changed with 677 insertions and 329 deletions:

database.py

hydrobot.py

264

hydrobot_def.json

263

message.py

module.py

120

network.py

network_interface.py

protocol.py

scheduler.py

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database.py

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@@ new file 100644 @@
 from influxdb import InfluxDBClient
 from influxdb import SeriesHelper
 import configparser
 import logging
 import protocol
 class MySeriesHelper(SeriesHelper):
     # Meta class stores time series helper configuration.
     class Meta:
         # The client should be an instance of InfluxDBClient.
         #client = myclient
         # The series name must be a string. Add dependent fields/tags in curly brackets.
         series_name = '{measurement}'
         # Defines all the fields in this time series.
         fields = ['value']
         # Defines all the tags for the series.
         tags = ['measurement']
         # Defines the number of data points to store prior to writing on the wire.
         bulk_size = 5
         # autocommit must be set to True when using bulk_size
         autocommit = True
 class Database:
     def __init__(self, config):
         self.logger = logging.getLogger('hydrobot')
         host = config.get("database", "host")
         port = config.get("database", "port")
         username = config.get("database", "username")
         password = config.get("database", "password")
         database = config.get("database", "database")
         self.name = config.get("system", "name")
         try:
             self.client = InfluxDBClient(host, port, username, password, database)
             MySeriesHelper.Meta.client = self.client
             MySeriesHelper.Meta.series_name = self.name + '.{measurement}'
             self.logger.info("Connected to database")
         except:
             self.logger.error("Could not connect to database")
         # To manually submit data points which are not yet written, call commit:
         #MySeriesHelper.commit()
     def log_message(self, name, message):
         data_name = protocol.lookup_data_name_by_key(message.data_key)
         if not data_name == None:
             if message.sensor_num > 0:
                 num = "_" + str(message.sensor_num)
             else:
                 num = ""
             try:
                 self.logger.debug("Database log: " + name + "." + data_name + num)
                 MySeriesHelper(measurement=(name + "." + data_name + num), value=(float)(message.data))
             except:
                 self.logger.error("Database issue!")
         else:
             self.logger.warning("Unknown data key: " + str(message))

hydrobot.py

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 #!/usr/bin/env python
 import sys
 import os
 import time
 import _thread
 import ast
 import signal
 import configparser
 import datetime
 from canard import can, messaging
 from canard.hw import socketcan
 from canard.file import jsondb
 from canard.utils import queue
 from influxdb import InfluxDBClient
 from influxdb import SeriesHelper
 from apscheduler.schedulers.background import BackgroundScheduler
 import PID
 from pytz import timezone
 import logging
 import signal
 import network
 import network_interface
 from message import HydroBotMessage
 import module
 import protocol
 from database import Database
 from scheduler import Scheduler
 #TODO
 #fix temperature offsets
 #add periodic output refresh
 #add output cleanup on shutdown
 #validate config settings on load
-# load config file
 #load config file
 config = configparser.ConfigParser(allow_no_value = True)
 config.read("hydrobot.conf")
-# set up logger
 #set up logger
 logger = logging.getLogger('hydrobot')
 log_level = config.get("system", "log_level")
 levels = {"CRITICAL" : 50, "ERROR" : 40, "WARNING" : 30, "INFO" : 20, "DEBUG" : 10, "NOTSET" : 0}
 logger.setLevel(levels[log_level])
 fh = logging.FileHandler('hydrobot.log')
 fh.setLevel(logging.INFO)
 formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+formatter = logging.Formatter('[%(asctime)s][%(levelname)s][%(module)s][%(funcName)s] %(message)s') #('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
 fh.setFormatter(formatter)
 logger.addHandler(fh)
 logger.info("Starting HydroBot!")
 class MySeriesHelper(SeriesHelper):
     # Meta class stores time series helper configuration.
     class Meta:
         # The client should be an instance of InfluxDBClient.
         #client = myclient
         # The series name must be a string. Add dependent fields/tags in curly brackets.
         series_name = '{measurement}'
         # Defines all the fields in this time series.
         fields = ['value']
         # Defines all the tags for the series.
         tags = ['measurement']
         # Defines the number of data points to store prior to writing on the wire.
         bulk_size = 5
         # autocommit must be set to True when using bulk_size
         autocommit = True
 class Database:
     def __init__(self):
         host = config.get("database", "host")
         port = config.get("database", "port")
         username = config.get("database", "username")
         password = config.get("database", "password")
         database = config.get("database", "database")
         self.name = config.get("system", "name")
         try:
             self.client = InfluxDBClient(host, port, username, password, database)
             MySeriesHelper.Meta.client = self.client
             MySeriesHelper.Meta.series_name = self.name + '.{measurement}'
         except:
             logger.error("Could not connect to database")
         # To manually submit data points which are not yet written, call commit:
         #MySeriesHelper.commit()
     def log_data(self, msgdb, message):
         try:
             if message == msgdb.AirSense:
                 MySeriesHelper(measurement='air_temp', value=(float)(message.Temperature.value))
                 MySeriesHelper(measurement='air_humidity', value=(float)(message.Humidity.value))
                 MySeriesHelper(measurement='air_pressure', value=(float)(message.Pressure.value))
             if message == msgdb.RelayDriveIn:
                 MySeriesHelper(measurement='water_flow_rate', value=(float)(message.FlowRate.value))
                 MySeriesHelper(measurement='input_1', value=(float)(message.Input1.value))
                 MySeriesHelper(measurement='input_2', value=(float)(message.Input2.value))
                 MySeriesHelper(measurement='input_3', value=(float)(message.Input3.value))
                 MySeriesHelper(measurement='input_4', value=(float)(message.Input4.value))
             if message == msgdb.WaterSense:
                 MySeriesHelper(measurement='water_level', value=(float)(message.PercentFull.value))
                 MySeriesHelper(measurement='water_temp', value=(float)(message.Temperature.value))
         except:
             logger.error("Could not connect to database")
 class CanBus:
     def __init__(self, database, interface):
         # Bring up CAN interface (maybe do this in a systemd service file)
         # Passing random arguments to sudo is super dangerous
         os.system("sudo ip link set " + interface + " up type can bitrate 500000")
         self.database = database
         self.dev = socketcan.SocketCanDev(interface)
         self.queue = queue.CanQueue(self.dev)
         parser = jsondb.JsonDbParser()
         self.msgdb = parser.parse('hydrobot_can.json')
         self.temp_msg = self.msgdb.AirSense
         self.relay_msg = self.msgdb.RelayDriveIn
         self.relay_send_msg = self.msgdb.RelayDriveOut
     def start(self):
         self.queue.start()
         _thread.start_new_thread(self.process_can, ())
 ch = logging.StreamHandler(sys.stdout)
 ch.setLevel(logging.DEBUG)
 formatter = logging.Formatter('[%(asctime)s][%(levelname)s][%(module)s][%(funcName)s] %(message)s') #('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
 ch.setFormatter(formatter)
 logger.addHandler(ch)
     def process_can(self):
         while True:
             frame = self.queue.recv()
             if frame != None:
                 message = self.msgdb.decode(frame)
                 if message:
                     logger.debug("Received CAN message! ID: " + hex(message.id))
                     self.database.log_data(self.msgdb, message)
     def send_can(self):
         self.relay_send_msg.Nothing.value = 0
         if self.relay_send_msg.Output1.value == 0:
             self.relay_send_msg.Output1.value = 1
         else:
             self.relay_send_msg.Output1.value = 0
         self.relay_send_msg.Output2.value = 1
         self.relay_send_msg.Output3.value = 1
         self.relay_send_msg.Output4.value = 1
         logger.debug("Send CAN message! ID: " + hex(self.relay_send_msg.id) + " Data: " + str(self.relay_send_msg.data))
         self.queue.send(self.relay_send_msg.encode())
     def set_output(self, module, output, state):
         logger.info("Output! " + module + " " + output + " " + str(state))
         msg = self.msgdb.lookup_message(module)
         msg.lookup_signal(output).value = state
         self.queue.send(msg.encode())
         if msg.lookup_signal(output) == msg.Output1:
             try:
                 MySeriesHelper(measurement='output_1', value=state)
             except:
                 logger.error("Could not connect to database")
         if msg.lookup_signal(output) == msg.Output2:
             try:
                 MySeriesHelper(measurement='output_2', value=state)
             except:
                 logger.error("Could not connect to database")
         if msg.lookup_signal(output) == msg.Output3:
             try:
                 MySeriesHelper(measurement='output_3', value=state)
             except:
                 logger.error("Could not connect to database")
         if msg.lookup_signal(output) == msg.Output4:
             try:
                 MySeriesHelper(measurement='output_4', value=state)
             except:
                 logger.error("Could not connect to database")
 class Scheduler:
     def __init__(self, canbus):
         self.canbus = canbus
         self.apscheduler = BackgroundScheduler()
         self.apscheduler.configure(timezone=timezone('US/Eastern'))
     def start(self):
         self.apscheduler.start()
         for section in config.sections():
             if "timer" in section:
                 items = config.items(section)
                 for item in items:
                     if item[0] == 'trigger':
                         trigger = item[1]
                     if item[0] == 'module':
                         module = item[1]
                     if item[0] == 'output':
                         output = item[1]
                     if item[0] == 'on_time':
                         on_time = ast.literal_eval(item[1])
                     if item[0] == 'off_time':
                         off_time = ast.literal_eval(item[1])
                     if item[0] == 'on_duration':
                         on_duration = ast.literal_eval(item[1])
                     if item[0] == 'off_duration':
                         off_duration = ast.literal_eval(item[1])
                 if trigger == 'cron':
                     on_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 1], day = on_time[0], day_of_week = on_time[1], hour = on_time[2], minute = on_time[3], second = on_time[4])
                     off_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 0], day = off_time[0], day_of_week = off_time[1], hour = off_time[2], minute = off_time[3], second = off_time[4])
                     #evalute the current state of the cron trigger and set output on if needed
                     if on_job.next_run_time > off_job.next_run_time:
                         self.canbus.set_output(module, output, 1)
                     else:
                         self.canbus.set_output(module, output, 0)
                 if trigger == 'interval':
                     self.apscheduler.add_job(self.interval_off, trigger, [module, output, section + "_off", section + "_on", on_duration], id = section + "_off", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
                     timer = self.apscheduler.add_job(self.interval_on, trigger, [module, output, section + "_off", section + "_on", off_duration], id = section + "_on", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
                     timer.pause()
                     self.interval_off(module, output, section + "_off", section + "_on", on_duration)
             if "pid" in section:
                 items = config.items(section)
                 for item in items:
                     if item[0] == 'module_out':
                         module_out = item[1]
                     if item[0] == 'output':
                         signal_out = item[1]
                     if item[0] == 'module_in':
                         module_in = item[1]
                     if item[0] == 'input':
                         signal_in = item[1]
                     if item[0] == 'kp':
                         kp = item[1]
                     if item[0] == 'ki':
                         ki = item[1]
                     if item[0] == 'kd':
                         kd = item[1]
                     if item[0] == 'rate':
                         rate = item[1]
                     if item[0] == 'setpoint':
                         setpoint = item[1]
                 pid = PID.PID(float(setpoint))
                 pid.SetKp(kp)
                 pid.SetKi(ki)
                 pid.SetKd(kd)
                 pid.Reset()
                 self.apscheduler.add_job(self.process_PID, "interval", [pid, module_out, signal_out, module_in, signal_in], seconds = int(rate))
     def interval_off(self, module, output, timer_off, timer_on, on_duration):
         self.canbus.set_output(module, output, 1)
         self.apscheduler.get_job(timer_on).reschedule("interval", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
         self.apscheduler.get_job(timer_on).resume()
         self.apscheduler.get_job(timer_off).pause()
         logger.info("Turning " + timer_on + "!")
     def interval_on(self, module, output, timer_off, timer_on, off_duration):
         self.canbus.set_output(module, output, 0)
         self.apscheduler.get_job(timer_off).reschedule("interval", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
         self.apscheduler.get_job(timer_off).resume()
         self.apscheduler.get_job(timer_on).pause()
         logger.info("Turning " + timer_off + "!")
     def process_PID(self, pid, module_out, signal_out, module_in, signal_in):
         msg = self.canbus.msgdb.lookup_message(module_in)
         input_reading = msg.lookup_signal(signal_in).value
         input_reading = 19
         pid_out = pid.Update(input_reading)
         if pid_out > 0:
             self.canbus.set_output(module_out, signal_out, 1)
             run_time = datetime.datetime.now() + datetime.timedelta(milliseconds=pid_out)
             self.apscheduler.add_job(self.canbus.set_output, "date", run_date=run_time, args=[module_out, signal_out, 0])
 def func():
     print(1)
 logger.info('Logger initialized')
 def main(argv):
     logger.info("Starting HydroBot!")
     if len(argv) < 1:
-        print("Error: please specify a can interface")
+        logger.error("Please specify a can interface")
         return 1
     database = Database()
     database = Database(config)
     module_network = network.Network(logger)
     module_network.add_interface(network_interface.CanBusNetworkInterface(module_network, argv[0], logger))
     module_network = network.Network(database, config)
     module_network.start_all_interfaces()
     message = HydroBotMessage(0x0001, 0x81, 0x0007, 0x0001, 0x0111)
     module_network.send_message(message)
     scheduler = Scheduler(module_network, config)
     scheduler.start()
     #canbus = CanBus(database, argv[0])
     #canbus.start()
     #scheduler = Scheduler(canbus)
     #scheduler.start()
     #module = module_network.module_list.lookup_module_by_name("RelayDrive1")
     #message = HydroBotMessage(module.uuid, (0x80 | protocol.lookup_command_key_by_name("config")), protocol.lookup_data_key_by_name("can_id"), 0, 0x300)
     #module.send_message(message)
     #message = HydroBotMessage(module.uuid, (0x80 | protocol.lookup_command_key_by_name("config")), protocol.lookup_data_key_by_name("data_rate"), 0, 10)
     #module.send_message(message)
     while True:
-        time.sleep(0.001)
+        time.sleep(0.1)
 def close_program(signum, frame):
     logger.info("Closing now!")
     sys.exit(0)
 signal.signal(signal.SIGINT, close_program)
 if __name__ == "__main__":
-    sys.exit(main(sys.argv[1:]))
     main(sys.argv[1:])

hydrobot_def.json

➞

Show inline comments

@@ new file 100644 @@
+{
     "devices" : [
+        {
             "id" : "0x00",
             "name" : "master",
             "display" : "Master",
             "class" : "None"
         },
+        {
             "id" : "0x01",
             "name" : "airsense",
             "display" : "AirSense",
             "class" : "AirSenseModule"
         },
+        {
             "id" : "0x02",
             "name" : "relaydrive",
             "display" : "RelayDrive",
             "class" : "RelayDriveModule",
             "io" : [
+                {
                     "name" : "input_1",
                     "type" : "input",
                     "sensor_num" : "1",
                     "functions" : [
                         "digital_in",
                         "freq_in"
+                    ]
                 },
+                {
                     "name" : "input_2",
                     "type" : "input",
                     "sensor_num" : "2",
                     "functions" : [
                         "digital_in",
                         "freq_in"
+                    ]
                 },
+                {
                     "name" : "input_3",
                     "type" : "input",
                     "sensor_num" : "3",
                     "functions" : [
                         "digital_in",
                         "freq_in"
+                    ]
                 },
+                {
                     "name" : "input_4",
                     "type" : "input",
                     "sensor_num" : "4",
                     "functions" : [
                         "digital_in",
                         "freq_in"
+                    ]
                 },
+                {
                     "name" : "input_5",
                     "type" : "input",
                     "sensor_num" : "5",
                     "functions" : [
                         "digital_in",
                         "freq_in"
+                    ]
                 },
+                {
                     "name" : "input_6",
                     "type" : "input",
                     "sensor_num" : "6",
                     "functions" : [
                         "digital_in",
                         "freq_in"
+                    ]
                 },
+                {
                     "name" : "input_7",
                     "type" : "input",
                     "sensor_num" : "7",
                     "functions" : [
                         "digital_in",
                         "freq_in"
+                    ]
                 },
+                {
                     "name" : "input_8",
                     "type" : "input",
                     "sensor_num" : "8",
                     "functions" : [
                         "digital_in",
                         "freq_in"
+                    ]
+                }
+            ]
         },
+        {
             "id" : "0x03",
             "name" : "watersense",
             "display" : "WaterSense",
             "class" : "WaterSenseModule"
         },
+        {
             "id" : "0x04",
             "name" : "protomodule",
             "display" : "ProtoModule",
             "class" : "ProtoModule"
+        }
     ],
     "data_keys" : [
+        {
             "key" : "0x0001",
             "name" : "digital_in",
             "display" : "Digital Input",
             "units" : "bool"
         },
+        {
             "key" : "0x0002",
             "name" : "freq_in",
             "display" : "Frequency Input",
             "units" : "Hz"
         },
+        {
             "key" : "0x0003",
             "name" : "analog_in",
             "display" : "Analog Input",
             "units" : "V"
         },
+        {
             "key" : "0x0004",
             "name" : "digital_out",
             "display" : "Digital Output",
             "units" : "bool"
         },
+        {
             "key" : "0x0005",
             "name" : "pwm_out",
             "display" : "PWM Output",
             "units" : "%Duty"
         },
+        {
             "key" : "0x0006",
             "name" : "analog_out",
             "display" : "Analog Output",
             "units" : "V"
         },
+        {
             "key" : "0x0007",
             "name" : "air_temp",
             "display" : "Air Temp",
             "units" : "degC"
         },
+        {
             "key" : "0x0008",
             "name" : "air_humidity",
             "display" : "Air Humidity",
             "units" : "%RH"
         },
+        {
             "key" : "0x0009",
             "name" : "air_pressure",
             "display" : "Air Pressure",
             "units" : "hPa"
         },
+        {
             "key" : "0x000A",
             "name" : "ambient_light",
             "display" : "Ambient Light",
             "units" : "lux"
         },
+        {
             "key" : "0x000B",
             "name" : "water_temp",
             "display" : "Water Temp",
             "units" : "degC"
         },
+        {
             "key" : "0x000C",
             "name" : "water_level",
             "display" : "Water Level",
             "units" : "%Full"
         },
+        {
             "key" : "0x000D",
             "name" : "ec",
             "display" : "Conductivity",
             "units" : "uS"
         },
+        {
             "key" : "0x000E",
             "name" : "ph",
             "display" : "pH",
             "units" : "pH"
         },
+        {
             "key" : "0x0100",
             "name" : "can_id",
             "display" : "CAN ID",
             "units" : "hex"
         },
+        {
             "key" : "0x0101",
             "name" : "data_rate",
             "display" : "Data Rate",
             "units" : "seconds"
         },
+        {
             "key" : "0x0102",
             "name" : "led_brightness",
             "display" : "LED Brightness",
             "units" : "%"
         },
+        {
             "key" : "0x0103",
             "name" : "input",
             "display" : "Input",
             "units" : ""
         },
+        {
             "key" : "0x0104",
             "name" : "output",
             "display" : "Output",
             "units" : ""
+        }
     ],
     "command_keys" : [
+        {
             "key" : "0x00",
             "name" : "e_stop",
             "display" : "E-Stop",
             "units" : "bool"
         },
+        {
             "key" : "0x01",
             "name" : "silence_bus",
             "display" : "Silence Bus",
             "units" : "bool"
         },
+        {
             "key" : "0x10",
             "name" : "set_output",
             "display" : "Set Output",
             "units" : "Data Key"
         },
+        {
             "key" : "0x11",
             "name" : "get_data",
             "display" : "Get Data",
             "units" : "Data Key"
         },
+        {
             "key" : "0x12",
             "name" : "config",
             "display" : "Config",
             "units" : "Data Key"
         },
+        {
             "key" : "0x13",
             "name" : "calibrate",
             "display" : "Calibrate",
             "units" : "Data Key"
+        }
+    ]
+}

message.py

➞

Show inline comments

 #!/usr/bin/env python
 class HydroBotMessage:
     def __init__(self, module_uuid, message_type, data_key, sensor_num, data):
         self.module_uuid = module_uuid

module.py

➞

Show inline comments

 from abc import ABCMeta, abstractmethod
 import uuid
 import logging
 import protocol
 from message import HydroBotMessage
 class ModuleList():
     def __init__(self):
     def __init__(self, network, database, config):
         self.network = network
         self.database = database
         self.config = config
         self._modules = []
         self.load_modules()
     def load_modules(self):
         for section in self.config.sections():
             if "module" in section:
                 module_name = self.config.get(section, "name")
                 module_type = self.config.get(section, "type")
                 module_address = int(self.config.get(section, "address"), 16)
                 module_interface = self.config.get(section, "interface")
                 network_interface = self.network.get_interface(module_interface)
                 module_id = protocol.lookup_device_id_by_name(module_type)
                 new_module = self.new_module(module_id, module_address, network_interface, module_name)
                 network_interface.address_lookup[module_address] = new_module.uuid
                 network_interface.uuid_lookup[new_module.uuid] = module_address
                 new_module.config("data_rate", int(self.config.get(section, "data_rate")))
                 new_module.config("led_brightness", int(self.config.get(section, "led_brightness")))
     def add_module(self, module):
         assert isinstance(module, Module), 'invalid module'
         if module in self._modules:
             raise ValueError('Module %s already in database' % module)
         else:
@@ @@ -22,71 +48,136 @@ class ModuleList(): @@
     def lookup_module(self, uuid):
         for module in self._modules:
             if module.uuid == uuid:
                 return module
     def new_module(self, device_type, address, interface):
     def lookup_module_by_name(self, name):
         for module in self._modules:
             if module.name == name:
                 return module
     def new_module(self, device_id, address, interface, name = None):
         if name == None or self.lookup_module_by_name(name) != None:
             name = self.auto_assign_name(device_id)
         if device_type == 0x01:
             module = AirSenseModule(device_type, address, interface)
         elif device_type == 0x02:
             module = RelayDriveModule(device_type, address, interface)
         else:
             module = UnknownModule(device_type, address, interface)
         device_class = eval(protocol.lookup_device_class_by_id(device_id))
         module = device_class(address, interface, name, self.database)
         #if device_type == "airsense":
             #module = AirSenseModule(address, interface, name, self.database)
         #elif device_type == "relaydrive":
             #module = RelayDriveModule(address, interface, name, self.database)
         #else:
             #module = UnknownModule(address, interface, name, self.database)
         self.add_module(module)
         return module
     def auto_assign_name(self, device_id):
         keep_going = True
         num = 1
         device_name = protocol.lookup_device_display_by_id(device_id)
         while keep_going:
             name_taken = False
             for module in self._modules:
                 if module.name == device_name + str(num):
                     name_taken = True
                     break
             if not name_taken:
                 return device_name + str(num)
             else:
                 num = num + 1
 class Module(metaclass=ABCMeta):
     def __init__(self, device_type, address, interface):
         self.device_type = device_type
     def __init__(self, address, interface, name, database):
         self.logger = logging.getLogger('hydrobot')
         self.address = address
         self.interface = interface
         self.name = name
         self.database = database
         self.uuid = uuid.uuid1()
-        print("Created new module! " + str(self.uuid))
+        self.logger.info("Created new module! " + self.name + " " + str(self.uuid))
     @abstractmethod
     def send_message(self):
+    def send_message(self, message):
         pass
     @abstractmethod
     def receive_message(self):
     def receive_message(self, message):
         pass
     @abstractmethod
     def update(self):
         pass
     @abstractmethod
     def config(self):
         pass
 class AirSenseModule(Module):
     def __init__(self, device_type, address, interface):
         super(AirSenseModule, self).__init__(device_type, address, interface)
     def __init__(self, address, interface, name, database):
         super(AirSenseModule, self).__init__(address, interface, name, database)
     def send_message(self):
         message = None
     def send_message(self, message):
         self.interface.network.send_message(message)
     def receive_message(self):
         print("AirSenseModule receive message!")
     def receive_message(self, message):
         self.logger.debug("Receive message! From: " + self.name)
         self.database.log_message(self.name, message)
     def update(self):
         pass
     def config(self, data_key, value):
         message = HydroBotMessage(self.uuid, (0x80 | protocol.lookup_command_key_by_name("config")), protocol.lookup_data_key_by_name(data_key), 0, value)
         self.interface.send_message(message)
 class RelayDriveModule(Module):
     def __init__(self, device_type, address, interface):
         super(RelayDriveModule, self).__init__(device_type, address, interface)
     def __init__(self, address, interface, name, database):
         super(RelayDriveModule, self).__init__(address, interface, name, database)
     def send_message(self, message):
         self.interface.network.send_message(message)
     def send_message(self):
     def receive_message(self, message):
         self.logger.debug("Receive message! From: " + self.name)
         self.database.log_message(self.name, message)
     def update(self):
         pass
     def config(self, data_key, value):
         message = HydroBotMessage(self.uuid, (0x80 | protocol.lookup_command_key_by_name("config")), protocol.lookup_data_key_by_name(data_key), 0, value)
         self.interface.send_message(message)
     def receive_message(self):
         print("RelayDriveModule receive message!")
     def set_output(self, output, value):
         message = HydroBotMessage(self.uuid, (0x80 | protocol.lookup_command_key_by_name("set_output")), protocol.lookup_data_key_by_name("digital_out"), int(output), value)
         self.send_message(message)
 class UnknownModule(Module):
     def __init__(self, device_type, address, interface):
         super(UnknownModule, self).__init__(device_type, address, interface)
     def __init__(self, address, interface, name, database):
         super(UnknownModule, self).__init__(address, interface, name, database)
     def send_message(self):
+    def send_message(self, message):
         pass
     def receive_message(self):
         print("UnknownModule receive message!")
     def receive_message(self, message):
         self.logger.debug("Receive message! From: " + self.name)
     def update(self):
         pass
     def config(self, data_key, value):
         message = HydroBotMessage(self.uuid, (0x80 | protocol.lookup_command_key_by_name("config")), protocol.lookup_data_key_by_name(data_key), 0, value)
         self.interface.send_message(message)

network.py

➞

Show inline comments

 #!/usr/bin/env python
 import network_interface
 import module
 import logging
 class Network():
     def __init__(self, logger):
     def __init__(self, database, config):
         self.logger = logging.getLogger('hydrobot')
         self.database = database
         self.config = config
         self.interfaces = []
         self.module_list = module.ModuleList()
         self.logger = logger
         self.load_interfaces()
         self.module_list = module.ModuleList(self, database, config)
     def add_interface(self, interface):
         self.interfaces.append(interface)
     def load_interfaces(self):
         #TODO: Load interfaces from config file
         pass
         #load interfaces from config file
         for section in self.config.sections():
             if "interface" in section:
                 interface = None
                 interface_type = self.config.get(section, "type")
                 interface_name = self.config.get(section, "name")
                 if interface_type == "CAN":
                     interface = network_interface.CanBusNetworkInterface(self, interface_name)
                     self.add_interface(interface)
                 if interface_type == "WIFI":
                     interface = network_interface.CanBusNetworkInterface(self, interface_name)
                     self.add_interface(interface)
     def get_interface(self, interface_name):
         for interface in self.interfaces:
             if interface.interface_name == interface_name:
                 return interface
     def start_interface(self, interface_name):
         print("Network: start interface " + interface_name)
         #TODO: Start interface
         self.logger.info("Network: start interface " + interface_name)
         for interface in self.interfaces:
             if interface.interface_name == interface_name:
                 interface.start()
     def start_all_interfaces(self):
-        print("Network: start all interfaces")
+        self.logger.info("Network: start all interfaces")
         for interface in self.interfaces:
             interface.start()
     def send_message(self, message):
         module = self.module_list.lookup_module(message.module_uuid)
         if not module == None:
             module.interface.send_message(message)
         else:
-            print("Could not find module " + str(message.module_uuid))
+            self.logger.warning("Could not find module " + str(message.module_uuid))
     def process_message(self, message):
         print("Network: process message")
         self.module_list.lookup_module(message.module_uuid).receive_message()
         self.logger.debug("Network: process message")
         self.module_list.lookup_module(message.module_uuid).receive_message(message)

network_interface.py

➞

Show inline comments

 #!/usr/bin/env python
 import os
 import struct
 import _thread
 from abc import ABCMeta, abstractmethod
 import logging
 from message import HydroBotMessage
 import module
 import protocol
 from canard import can
 from canard.hw import socketcan
 from canard.utils import queue
 class NetworkInterface(metaclass=ABCMeta):
     def __init__(self, network, logger):
     def __init__(self, network):
         self.logger = logging.getLogger('hydrobot')
         self.network = network
         self.logger = logger
     @abstractmethod
     def start(self):
-        print("Network: start")
+        self.logger.info("Network: start")
     @abstractmethod
     def send_message(self, message):
         pass
     def process_message(self, message):
-        print("Network Interface: process message")
+        self.logger.debug("Network Interface: process message")
 class CanBusNetworkInterface(NetworkInterface):
     def __init__(self, network, interface_name, logger):
         super(CanBusNetworkInterface, self).__init__(network, logger)
     def __init__(self, network, interface_name):
         super(CanBusNetworkInterface, self).__init__(network)
         # Bring up CAN interface (maybe do this in a systemd service file)
         # Passing random arguments to sudo is super dangerous
         os.system("sudo ip link set " + interface_name + " up type can bitrate 500000")
         self.interface_name = interface_name
         self.dev = socketcan.SocketCanDev(interface_name)
         self.queue = queue.CanQueue(self.dev)
         #bidirectional address <==> uuid lookup
         self.address_lookup = {}
         self.uuid_lookup = {}
     def start(self):
         super(CanBusNetworkInterface, self).start()
-        print("CanBusNetworkInterface: start")
+        self.logger.info("CanBusNetworkInterface: start")
         self.queue.start()
         _thread.start_new_thread(self.process_message, ())
     def send_message(self, message):
         address = self.uuid_lookup[message.module_uuid]
         can_frame = can.Frame(address, 8, [message.message_type, (message.data_key>>8) & 0xff, (message.data_key>>0) & 0xff, message.sensor_num] + list(struct.pack("f", message.data)))
@@ @@ -60,37 +61,40 @@ class CanBusNetworkInterface(NetworkInte @@
         self.queue.send(can_frame)
     def process_message(self):
         while True:
             frame = self.queue.recv()
             if frame != None:
                 print("CanBusNetworkInterface: process message")
                 base_id = frame.id & 0x7fe
                 if not frame.id in self.address_lookup:
                     new_module = self.network.module_list.new_module(frame.data[0] & 0x7f, frame.id, self)
                     self.address_lookup[frame.id] = new_module.uuid
                     self.uuid_lookup[new_module.uuid] = frame.id
                 if not base_id in self.address_lookup:
                     self.logger.debug("Uknown module address: " + hex(base_id))
                     device_id = frame.data[0] & 0x7f
                     new_module = self.network.module_list.new_module(device_id, base_id, self)
                     self.address_lookup[base_id] = new_module.uuid
                     self.uuid_lookup[new_module.uuid] = base_id
                 self.logger.debug("Received CAN message! ID: " + hex(frame.id))
                 message = HydroBotMessage(self.address_lookup[frame.id], frame.data[0], ((frame.data[1] << 8) + frame.data[2]), frame.data[3], ((frame.data[4] << 24) + (frame.data[5] << 16) + (frame.data[6] << 8) + frame.data[7]))
                 print(message)
                 data = [frame.data[7], frame.data[6], frame.data[5], frame.data[4]]
                 b = struct.pack('4B', *data)
                 f_data = struct.unpack('>f', b)[0]
                 message = HydroBotMessage(self.address_lookup[base_id], frame.data[0], ((frame.data[1] << 8) + frame.data[2]), frame.data[3], f_data)
                 self.logger.debug("Process message: " + str(message))
                 self.network.process_message(message)
 class WifiNetworkInterface(NetworkInterface):
     def __init__(self, network, logger):
         super(WifiNetworkInterface, self).__init__(network, logger)
     def __init__(self, network):
         super(WifiNetworkInterface, self).__init__(network)
     def start(self):
         pass
     def send_message(self, message):
         pass
     def process_message(self, message):
         pass
 #module knows how to send and recieve messages

protocol.py

➞

Show inline comments

@@ new file 100644 @@
 import json
 _protocol_def = None
 with open('hydrobot_def.json') as def_file:
     _protocol_def = json.load(def_file)
 def lookup_device_name_by_id(id):
     devices = _protocol_def['devices']
     for device in devices:
         if device.get('id') == "{0:#0{1}x}".format(id, 4):
             return device.get('name')
 def lookup_device_id_by_name(name):
     devices = _protocol_def['devices']
     for device in devices:
         if device.get('name') == name:
             return int(device.get('id'), 16)
 def lookup_device_display_by_id(id):
     devices = _protocol_def['devices']
     for device in devices:
         if device.get('id') == "{0:#0{1}x}".format(id, 4):
             return device.get('display')
 def lookup_device_class_by_id(id):
     devices = _protocol_def['devices']
     for device in devices:
         if device.get('id') == "{0:#0{1}x}".format(id, 4):
             return device.get('class')
 def lookup_device_display_by_name(name):
     devices = _protocol_def['devices']
     for device in devices:
         if device.get('name') == name:
             return device.get('display')
 def lookup_data_name_by_key(key):
     data_keys = _protocol_def['data_keys']
     for data_key in data_keys:
         if data_key.get('key') == "{0:#0{1}x}".format(key, 6):
             return data_key.get('name')
 def lookup_data_key_by_name(name):
     data_keys = _protocol_def['data_keys']
     for data_key in data_keys:
         if data_key.get('name') == name:
             return int(data_key.get('key'), 16)
 def lookup_data_display_by_key(key):
     data_keys = _protocol_def['data_keys']
     for data_key in data_keys:
         if data_key.get('key') == "{0:#0{1}x}".format(key, 6):
             return data_key.get('display')
 def lookup_command_name_by_key(key):
     commands = _protocol_def['command_keys']
     for command in commands:
         if command.get('key') == "{0:#0{1}x}".format(key, 6):
             return command.get('name')
 def lookup_command_key_by_name(name):
     commands = _protocol_def['command_keys']
     for command in commands:
         if command.get('name') == name:
             return int(command.get('key'), 16)
 def lookup_command_display_by_key(key):
     commands = _protocol_def['command_keys']
     for command in commands:
         if command.get('key') == "{0:#0{1}x}".format(key, 6):
             return command.get('display')

scheduler.py

➞

Show inline comments

@@ new file 100644 @@
 from apscheduler.schedulers.background import BackgroundScheduler
 from pytz import timezone
 import ast
 import datetime
 import logging
 class Scheduler:
     def __init__(self, network, config):
         self.logger = logging.getLogger('hydrobot')
         self.network = network
         self.config = config
         self.apscheduler = BackgroundScheduler()
         self.apscheduler.configure(timezone=timezone(config.get("system", "timezone")))
     def start(self):
         self.apscheduler.start()
         self.load_schedules()
     def interval_on(self, module, output, timer_off, timer_on, on_duration):
         module.set_output(output, 1)
         self.apscheduler.get_job(timer_on).reschedule("interval", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
         self.apscheduler.get_job(timer_on).resume()
         self.apscheduler.get_job(timer_off).pause()
         self.logger.info("Turning " + timer_on + "!")
     def interval_off(self, module, output, timer_off, timer_on, off_duration):
         module.set_output(output, 0)
         self.apscheduler.get_job(timer_off).reschedule("interval", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
         self.apscheduler.get_job(timer_off).resume()
         self.apscheduler.get_job(timer_on).pause()
         self.logger.info("Turning " + timer_off + "!")
     def add_schedule(self, name, trigger, module_name, output, on_param, off_param):
         module = self.network.module_list.lookup_module_by_name(module_name)
         if not module == None:
             if trigger == "cron":
                 on_job = self.apscheduler.add_job(module.set_output, trigger, [output, 1], day = on_param[0], day_of_week = on_param[1], hour = on_param[2], minute = on_param[3], second = on_param[4])
                 off_job = self.apscheduler.add_job(module.set_output, trigger, [output, 0], day = off_param[0], day_of_week = off_param[1], hour = off_param[2], minute = off_param[3], second = off_param[4])
                 #evalute the current state of the cron trigger and set output on if needed
                 if on_job.next_run_time > off_job.next_run_time:
                     module.set_output(output, 1)
                 else:
                     module.set_output(output, 0)
             if trigger == "interval":
                 self.apscheduler.add_job(self.interval_on, trigger, [module, output, name + "_off", name + "_on", on_param], id = name + "_off", weeks = off_param[0], days = off_param[1], hours = off_param[2], minutes = off_param[3], seconds = off_param[4])
                 timer = self.apscheduler.add_job(self.interval_off, trigger, [module, output, name + "_off", name + "_on", off_param], id = name + "_on", weeks = on_param[0], days = on_param[1], hours = on_param[2], minutes = on_param[3], seconds = on_param[4])
                 timer.pause()
                 self.interval_on(module, output, name + "_off", name + "_on", on_param)
         else:
             self.logger.warning("Module not found: " + module_name)
     def load_schedules(self):
         for section in self.config.sections():
             if "timer" in section:
                 items = self.config.items(section)
                 for item in items:
                     if item[0] == "trigger":
                         trigger = item[1]
                     if item[0] == "module_name":
                         module_name = item[1]
                     if item[0] == "output":
                         output = item[1]
                     if item[0] == "on_time":
                         on_param = ast.literal_eval(item[1])
                     if item[0] == "off_time":
                         off_param = ast.literal_eval(item[1])
                     if item[0] == "on_duration":
                         on_param = ast.literal_eval(item[1])
                     if item[0] == "off_duration":
                         off_param = ast.literal_eval(item[1])
                 self.add_schedule(section, trigger, module_name, output, on_param, off_param)

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