Added sensor readout code and processes

Wallaby/Wallaby.py

@@ -15,6 +15,8 @@ CHANNEL = 2
 IS_WALLABY = is_wallaby()
 PATH = "/home/root/Documents/KISS/bin/" if IS_WALLABY else (sys.argv[1] if len(sys.argv) > 1 else None)
 
+LIB_WALLABY = "/usr/lib/libwallaby.so"
+
 if not PATH:
 	Logging.error("No path specified. (Necessary on simulated Wallaby controllers.)")
 	exit(1)
@@ -23,6 +25,118 @@ if not IS_WALLABY:
 	Logging.warning("Binaries that were created for Wallaby Controllers will not run on a simulated Wallaby.")
 
 
+class SensorReadout:
+	ANALOG = 1
+	DIGITAL = 2
+
+	def __init__(self, poll_rate=0.2, handler):
+		self.poll_rate = poll_rate
+		self.handler = handler
+		self.peers = {}
+		self.generate_random_values = False
+		if Utils.is_wallaby():
+			if not os.path.exists(LIB_WALLABY):
+				Logging.error("The Wallaby library should normally exist on "
+					"a Wallaby. You broke something, mate.")
+				self.generate_random_values = True
+		else:
+			Logging.warning("Sensor data can not be read on a dev-system. "
+				"Generating random values instead.")
+			self.generate_random_values = True
+		if not self.generate_random_values:
+			self.wallaby_library = cdll.LoadLibrary(LIB_WALLABY)
+			self.get_sensor_value = self.__get_sensor_value
+		else:
+			self.get_sensor_value = self.__get_random_value
+		start_new_thread(self._sensor_fetcher, ())
+
+
+	def subscribe(self, port, peer, mode):
+		if not peer in self.peers:
+			self.peers[peer] = {SensorReadout.ANALOG : [], SensorReadout.DIGITAL : []}
+		else:
+			self.peers[peer][mode].append(port)
+
+
+	def unsubscribe(self, port, peer, mode):
+		if peer in self.peers:
+			if port in self.peers[peer][mode]:
+				del self.peers[peer][mode][self.peers[peer][mode].index(port)]
+
+
+	def __get_sensor_value(self, port, mode):
+		if mode == SensorReadout.ANALOG:
+			return self.wallaby_library.analog(port)
+		elif mode == SensorReadout.DIGITAL:
+			return self.wallaby_library.digital(port)
+
+
+	def __get_random_value(self, port, mode):
+		if mode == SensorReadout.ANALOG:
+			return randint(0, 4095)
+		elif mode == DIGITAL:
+			return randint(0, 1)
+
+
+
+	def _sensor_fetcher(self, handler):
+		while True:
+			current_values = {"analog" : {}, "digital" : {}}
+			for peer in self.peers:
+				response = {"analog" : {}, "digital" : {}}
+				for port in self.peers[peer][SensorReadout.ANALOG]:
+					if not port in current_values["analog"]:
+						sensor_value = get_sensor_value(port, ANALOG)
+						response["analog"][port] = sensor_value
+						current_values["analog"][port] = sensor_value
+					else:
+						response["analog"][port] = current_values["analog"][port]
+				for port in self.peers[peer][SensorReadout.DIGITAL]:
+					if not port in current_values["digital"]:
+						sensor_value = get_sensor_value(port, DIGITAL)
+						response["digital"][port] = sensor_value
+						current_values["digital"][port] = sensor_value
+					else:
+						response["digital"][port] = current_values["digital"][port]
+				self.handler.pipe(response, "sensor", peer)
+			time.sleep(self.poll_rate)
+
+
+
+class Sensor(Pipe):
+	"""
+	{"subscribe" : {"analog" : [1, 2, 3], "digital" : [1, 2, 3]}}
+	{"unsubscribe" : {"analog" : [1, 2, 3], "digital" : [1, 2, 3]}}
+	"""
+	def run(self, data, peer, handler):
+		if type(data) is dict:
+			if "subscribe" in data:
+				if "analog" in data["subscribe"]:
+					for port in data["subscribe"]["analog"]:
+						if type(port) is int:
+							if port >= 0 and port <= 10:
+								sensor_readout.subscribe(port, handler,
+									SensorReadout.ANALOG)
+				if "digital" in data["subscribe"]:
+					for port in data["subscribe"]["digital"]:
+						if type(port) is int:
+							if port >= 0 and port <= 10:
+								sensor_readout.subscribe(port, handler,
+									SensorReadout.DIGITAL)
+			if "unsubscribe" in data:
+				if "analog" in data["unsubscribe"]:
+					for port in data["unsubscribe"]["analog"]:
+						if type(port) is int:
+							if port >= 0 and port <= 10:
+								sensor_readout.unsubscribe(port, handler,
+									SensorReadout.ANALOG)
+				if "digital" in data["unsubscribe"]:
+					for port in data["unsubscribe"]["digital"]:
+						if type(port) is int:
+							if port >= 0 and port <= 10:
+								sensor_readout.unsubscribe(port, handler,
+									SensorReadout.DIGITAL)
+
 class WallabyControl(Route):
 	def __init__(self, output_unbuffer):
 		self.output_unbuffer = output_unbuffer
@@ -90,6 +204,12 @@ class Hostname(Pipe):
 				set_hostname(str(data["set"]))
 
 
+class Processes(Pipe):
+	def run(self, data, peer, handler):
+		handler.pipe(
+			subprocess.check_output(["ps", "aux"]).decode().split("\n")[1:-1],
+			"processes", peer)
+
 
 class Handler(Client):
 	def setup(self, routes, debug=False):
@@ -115,7 +235,8 @@ except FileNotFoundError:
 try:
 	ws = Handler(config.server_address)
 	# setup has to be called before the connection is established
-	ws.setup({"subscribe" : Subscribe(), "hostname" : Hostname()}, 
+	ws.setup({"subscribe" : Subscribe(), "hostname" : Hostname(),
+		"processes" : Processes()}, 
 		debug=config.debug)
 	ws.connect()
 	ws.run_forever()