Python dataAccess.Sensors类代码示例

 def __init__(self):
     super(ROSLocationProcessor, self).__init__()
     self._lastSensors = {}
     self._lastLocations = {}
     self._sensors = Sensors()
     self._locations = Locations()
     self._ros = ROS()

class GEOSystem(PollingProcessor):
	
	def __init__ (self, hostName, userName, password, database, query):
		super(GEOSystem, self).__init__()
		self._geoDao = SQLDao(hostName, userName, password, database)		
		self._geoQuery = query
		self._sensorDao = Sensors()
		self._sensors = self._sensorDao.findSensors()
		self._sr = StateResolver()
		self._channels = {}
		self._warned = []

	@property
	def channels(self):		
		return self._channels

	def start(self):
		print "Started polling geo sensors"
		self._addPollingProcessor('geoSensors', self.pollGeoSystem, None, 0.1)

	def stop(self):
		print "Stopped polling geo sensors"
		self._removePollingProcessor('geoSensors')

	def pollGeoSystem(self):
		rows = self._geoDao.getData(self._geoQuery)
		# This appears to be needed or 'CALL exppower' doesn't update the power values,
		# oddly, it updates the timestamp field though...
		self._geoDao.close()
		for row in rows:
			try:
				sensor = next(s for s in self._sensors if s['ChannelDescriptor'] == str(row['ID']))
			except StopIteration:
				# Only warn once, or we'll flood the console
				if row['ID'] not in self._warned:
					print >> sys.stderr, "Warning: Unable to locate sensor record for geo sensor %s. ID: %s" % (row['Description'], row['ID'])
					self._warned.append(row['ID'])
				continue

			_device = sensor['locationName']
			_name = sensor['name']
			_id = sensor['sensorId']
			_type = sensor['sensorTypeName']

			# Only warn once, or we'll flood the console
			if _name != row['Description'] and row['ID'] not in self._warned:
				print >> sys.stderr, 'Warning: Channel name differs from Geo-System description: %s / %s' % (_name, row['Description'])
				self._warned.append(row['ID'])

			_status = self._sr.getDisplayState({'sensorTypeName': _type, 'value': row['Power'], 'sensorId': _id })

			self._channels[row['ID']] = { 
										'id': _id,
										'room': _device,
										'channel': _name,
										'value': '%.1f' % row['Power'],
										'status': _status
										}

class States(object):
    def __init__(self):
        self._dao = Sensors()
        self._sr = StateResolver()
    
    exposed = True
    
    def GET(self, *args, **kwargs):
        
        sensors = self._dao.findSensors()
        sensors = sorted(sensors, key = itemgetter('locationName', 'ChannelDescriptor'))
        
        elements = []
        for sensor in sensors:
            elements.append(
                            {
                             'color': self.getBackgroundColor(sensor),
                             'room': '%(loc)s: %(sen)s' % { 'loc': sensor['locationName'], 'sen': sensor['name'] },
                             'channel': sensor['ChannelDescriptor'],
                             'value': sensor['value'],
                             'status': self._sr.getDisplayState(sensor)
                             })
        
        cherrypy.response.headers['Content-Type'] = 'application/json'
        return json.dumps(elements)

    def getBackgroundColor(self, sensor):
        stype = sensor['sensorTypeName']
        if stype == 'CONTACT_REED':
            if float(sensor['value']) == 1:
                return '#FF0000'
            else:
                return '#00FF00' # closed door == green colour
        elif stype == 'CONTACT_PRESSUREMAT':
            if float(sensor['value']) == 1:
                return '#00FF00' # vacant chair == green colour
            else:
                return '#FF0000'
        elif stype == 'TEMPERATURE_MCP9700_HOT' or stype == 'TEMPERATURE_MCP9700_COLD':
            #return str((float(sensor['value']) - 0.5) * 100.0) + 'C'
            temp = float(sensor['value'])
            if temp < 0.0:
                r = 0
            elif temp > 50.0:
                r = 255
            else:
                r = int(temp * 5.1) # -0C..+50C -> 0..255
            g = 0
            b = 255 - r
            return '#%02X%02X%02X' % (r, g, b)
        elif stype == 'POWER_CONSUMPTION_MONITOR':
            if self._sr.isSensorOn(sensor):
                return '#FFFF00'
            else:
                return '#00FF00' # closed door == green colour
        else:
            return 'None'

	def __init__ (self, hostName, userName, password, database, query):
		super(GEOSystem, self).__init__()
		self._geoDao = SQLDao(hostName, userName, password, database)		
		self._geoQuery = query
		self._sensorDao = Sensors()
		self._sensors = self._sensorDao.findSensors()
		self._sr = StateResolver()
		self._channels = {}
		self._warned = []

	def __init__ (self, ipAddress):
		super(ZWaveHomeController, self).__init__()
		
		self._baseUrl = "http://%(ip)s:80/api/devices" % {'ip': ipAddress}

		# Place for the callback methods to store "static" values.
		# Currently only needed for the Moving Average Filter for the MCP9700
		# temperature sensor temperature calculations.
		self._handler_memory = {}
		self._channels = {}
		self._sr = StateResolver()
		self._sensorDao = Sensors()
		self._sensors = self._sensorDao.findSensors()
		self._warned = []

	def __init__(self, usbPort, baudRate=9600):
		super(ZigBeeDirect, self).__init__()
		import serial
		from Lib.xbee import ZigBee
		try:
			self._port = serial.Serial(usbPort, baudRate)
		except Exception as e:
			print >> sys.stderr, "Unable to connect to zigbee port, check that the port name (%s) and permissions are correct (should be a+rw)" % (usbPort)
			raise e
		self._zigbee = ZigBee(self._port)
		
		# Place for the callback methods to store "static" values.
		# Currently only needed for the Moving Average Filter for the MCP9700
		# temperature sensor temperature calculations.
		self._handler_memory = {}
		self._channels = {}
		self._sr = StateResolver()
		self._sensorDao = Sensors()
		self._sensors = self._sensorDao.findSensors()
		self._warned = []

class ZigBeeDirect(PollingProcessor):
	
	def __init__(self, usbPort, baudRate=9600):
		super(ZigBeeDirect, self).__init__()
		import serial
		from Lib.xbee import ZigBee
		self._port = serial.Serial(usbPort, baudRate)
		self._zigbee = ZigBee(self._port)
		
		# Place for the callback methods to store "static" values.
		# Currently only needed for the Moving Average Filter for the MCP9700
		# temperature sensor temperature calculations.
		self._handler_memory = {}
		self._channels = {}
		self._sr = StateResolver()
		self._sensorDao = Sensors()
		self._sensors = self._sensorDao.findSensors()
		self._warned = []
	
	def __del__(self):
		self._port.close()
		super(ZigBeeDirect, self).__del__()
	
	@property
	def channels(self):
		if self._channels == None:
			self._channels = {}
		
		return self._channels
	
	def start(self):
		print "Started polling directly connected zigBee sensors"
		self._addPollingProcessor('zigBeeDirect', self.pollZigbeeSensors, None, 0.1)

	def stop(self):
		print "Stopped polling directly connected zigBee sensors"
		self._removePollingProcessor('zigBeeDirect')
		
	# ZigBee thread main loop
	def pollZigbeeSensors(self):
		""" Read the data from the Zigbee sensors directly connected to this machine """
		try:
			#data, _ = self._xbee.wait_read_frame()
			data = self._zigbee.wait_read_frame()
		except Exception as e:
			if id(self) + type(e) not in self._warned:
				print >> sys.stderr, "Error while receiving data from ZigBeeDirect: %s" % e
				self._warned.append(id(self) + type(e))
			return

		if data["id"] == "rx_explicit":
			
			mac = repr(data['source_addr_long']).replace('\\x', ':').strip(":'").lower()
			
			# If NI (Network Id)recognised include NI string in returned values
			try:
				channels = self._zigbee._parse_samples(data['rf_data'])[0] # Parse IO data
			except Exception as e:
				print >> sys.stderr, "Error reading zigbee data: %s" % e
				return
			
			for channel, _value in channels.items():
				channel = "!" + channel.lower()

				try:
					sensor = next(s for s in self._sensors if s['ChannelDescriptor'] == str(mac) + str(channel))
				except StopIteration:
					# Only warn once, or we'll flood the console
					if str(mac) + str(channel) not in self._warned:
						print "Warning: Unable to locate sensor record for ZigBee sensor ID: %s" % (str(mac) + str(channel))
						self._warned.append(str(mac) + str(channel))
					continue
					
				_device = sensor['locationName']
				_pin = sensor['name']
				_id = sensor['sensorId']
				_rule = sensor['sensorRule']
		
				_value = _valueHelper.filterValue(_value, sensor['sensorTypeName'])
				if _value != None:
					_type = sensor['sensorTypeName']
					_uuid = '%s_%s' % (mac , channel)
					_status = self._sr.getDisplayState({'sensorTypeName': _type, 'value': _value, 'sensorId': _id, 'sensorRule': _rule })
		
					self._channels[_uuid] = { 
											'id': _id,
											'room': _device,
											'channel': _pin,
											'value': _value,
											'status': _status
											}

class ZigBee(PollingProcessor):

	# Initialisation method
	# Opens the configured UDP socket for the receipt of broadcast messages.
	def __init__ (self, udpPort):
		super(ZigBee, self).__init__()
		self.sock = socket(AF_INET, SOCK_DGRAM)
		self.sock.settimeout(1)
		self.sock.bind(('', udpPort))

		# Place for the callback methods to store "static" values.
		# Currently only needed for the Moving Average Filter for the MCP9700
		# temperature sensor temperature calculations.
		self._handler_memory = {}
		self._channels = {}
		self._sr = StateResolver()
		self._sensorDao = Sensors()
		self._sensors = self._sensorDao.findSensors()
		self._warned = []

	@property
	def channels(self):
		if self._channels == None:
			self._channels = {}
		
		return self._channels

	def start(self):
		print "Started polling zigBee sensors"
		self._addPollingProcessor('zigBee', self.pollZigbeeSensors, None, 0.0001)

	def stop(self):
		print "Stopped polling zigBee sensors"
		self._removePollingProcessor('zigBee')
		
	# ZigBee thread main loop
	def pollZigbeeSensors(self):
		try:
			data, _ = self.sock.recvfrom(10240, 0)
		except Exception as e:
			if type(e) != timeout:
				print e
			return

		(_, mac, channel, val) = data.split(' ')

		mac = mac.lower()
		channel = channel.upper()
		
		try:
			sensor = next(s for s in self._sensors if s['ChannelDescriptor'] == str(mac) + str(channel))
		except StopIteration:
			#Only warn once, or we'll flood the console
			if str(mac) + str(channel) not in self._warned:
				print >> sys.stderr, "Warning: Unable to locate sensor record for zigbee sensor ID: %s" % (str(mac) + str(channel))
				self._warned.append(str(mac) + str(channel))
			return

		_device = sensor['locationName']
		_pin = sensor['name']
		_id = sensor['sensorId']

		if val != '-' and val != '':
			_type = sensor['sensorTypeName']
			_uuid = '%s_%s' % (mac , channel)
			if _type == 'TEMPERATURE_MCP9700_HOT' or _type == 'TEMPERATURE_MCP9700_COLD':
				_value = str((float( val) - 0.5) * 100.0)
			else:
				_value = val
			
			_status = self._sr.getDisplayState({'sensorTypeName': _type, 'value': _value, 'sensorId': _id })

			self._channels[_uuid] = { 
									'id': _id, 
									'room': _device, 
									'channel': _pin, 
									'value': _value, 
									'status': _status
									}

class ROSLocationProcessor(PollingProcessor):
    """Abstract location processor, current concrete implementations are Human and Robot processors"""

    def __init__(self):
        super(ROSLocationProcessor, self).__init__()
        self._lastSensors = {}
        self._lastLocations = {}
        self._sensors = Sensors()
        self._locations = Locations()
        self._ros = ROS()

    def start(self):
        print "Started polling uh locations"
        self._addPollingProcessor('location_publish', self.checkUpdateLocations, (), 0.1)
        self._addPollingProcessor('sensor_publish', self.checkUpdateSensors, (), 0.1)

    def stop(self):
        print "Stopped polling uh locations"
        self._removePollingProcessor('location_publish')
        self._removePollingProcessor('sensor_publish')

    def checkUpdateLocations(self):
        locationData = self._locations.findLocations()
        locations = {}
        for location in locationData:
            locationParam = {
                'id': location['locationId'],
                'text': location['name'] or '',
                'color': {'r': float(not location['ValidRobotLocation'] and not location['ValidUserLocation']),
                          'g': float(location['ValidRobotLocation'] or 0),
                          'b': float(location['ValidUserLocation'] or 0),
                          'a': 1.0}
            }
            
            if location.get('xCoord', None) is not None:
                locationParam.setdefault('position', {})
                locationParam['position']['x'] = location.get('xCoord')
            
            if location.get('yCoord', None) is not None:
                locationParam.setdefault('position', {})
                locationParam['position']['y'] = location.get('yCoord')
            
            if location.get('zCoord', None) is not None:
                locationParam.setdefault('position', {})
                locationParam['position']['z'] = location.get('zCoord')

            if location.get('orientation', None) is not None:
                locationParam.setdefault('orientation', {})
                locationParam['orientation']['theta'] = math.radians(location['orientation'])
                
            locations[locationParam['id']] = locationParam

        if self._lastLocations != locations:
            self._lastLocations = locations
            self._ros.setParam('location_data', locations.values())

    def checkUpdateSensors(self):
        sensorData = self._sensors.findSensors()
        sensors = {}
        for sensor in sensorData:
            sensorParam = {
                'id': sensor['sensorId'],
                'text': sensor['name'] or '',
                'model': sensor['iconName'] or '',
                'color': {'r': 0,
                          'g': 0,
                          'b': 0,
                          'a': 0}
            }
            
            if sensor.get('xCoord', None) is not None:
                sensorParam.setdefault('position', {})
                sensorParam['position']['x'] = sensor.get('xCoord')
            
            if sensor.get('yCoord', None) is not None:
                sensorParam.setdefault('position', {})
                sensorParam['position']['y'] = sensor.get('yCoord')
            
            if sensor.get('zCoord', None) is not None:
                sensorParam.setdefault('position', {})
                sensorParam['position']['z'] = sensor.get('zCoord')

            if sensor['orientation'] is not None:
                sensorParam.setdefault('orientation', {})
                sensorParam['orientation']['theta'] = math.radians(sensor['orientation'])

            if sensor['isActive']:
                sensorParam['color']['r'] = 0
                sensorParam['color']['g'] = 1.0
                sensorParam['color']['b'] = 0
                sensorParam['color']['a'] = 1.0

            if sensor['xCoord'] is None and sensor['yCoord'] is None:
                sensorParam['position']['z'] = -1
                
            sensors[sensorParam['id']] = sensorParam

        if self._lastSensors != sensors:
            self._lastSensors = sensors
            self._ros.setParam('sensor_data', sensors.values())

class MapProcessor(object):
    """ Used to build the live image of the sensor network """
    _mapCache = {}
    _iconCache = {}
    _mapLock = RLock()
    _iconLock = RLock()

    def __init__(self, _map):
        self._root = os.path.dirname(os.path.realpath(__file__))
        self._baseFile = os.path.join(self._root, _map['base'])
        self._map = _map
        self._sensorTypes = {}
        self._dao = Sensors()

    @property
    def mapBase(self):
        """ Returns a copy of the base svg map file """
        """ Caches initial map for fast access in subsequent calls """
        if not MapProcessor._mapCache.has_key(self._baseFile):
            MapProcessor._mapLock.acquire()
            try:
                MapProcessor._mapCache[self._baseFile] = et.parse(self._baseFile)
            finally:
                MapProcessor._mapLock.release()
        
        return copy.deepcopy(MapProcessor._mapCache[self._baseFile])
    
    def getIcon(self, iconId, sensorOn=False):
        """ Returns the sensor icon (with option 'On' graphic') wrapped in a group node """
        """ Caches icon for fast access in subsequent calls """
        key = str(iconId) + str(sensorOn)
        if not MapProcessor._iconCache.has_key(key):
            MapProcessor._iconLock.acquire()
            try:
                if not self._sensorTypes.has_key(iconId):
                    self._sensorTypes[iconId] = self._dao.getSensorIcon(iconId) 
                    
                sensorDef = self._sensorTypes[iconId]
                
                imgFile = None
                imgPath = None
                imgName = None
                if sensorDef != None:
                    imgName = sensorDef['name'] 
                    if sensorDef['icon'] != None:
                        if sensorOn:
                            imgPath = sensorDef['icon'] + '_on' + ".svg"
                        else:
                            imgPath = sensorDef['icon'] + ".svg"
        
                        try:
                            imgFile = et.parse(os.path.join(self._root, imgPath))      
                        except Exception as e:
                            if sensorOn:
                                print >> sys.stderr, "Error parsing sensor image (%(path)s): %(error)s" % {'error' :e, 'path': imgPath }
    
                if imgFile == None:
                    if imgPath != None:
                        print "Unable to load image from %(path)s, using default" % {'path' : imgPath }
                    else:
                        print "Unable to load image for %(type)s, using default" % {'type': imgName }
                    imgPath = 'icons/default.svg'
                    imgFile = et.parse(os.path.join(self._root, imgPath))
                    imgFile.find('{http://www.w3.org/2000/svg}text').text = imgName            
                
                if sys.version_info >= (2, 7):
                    group = et.Element('g')
                else:
                    group = et.Element('ns0:g')
    
                for child in imgFile.getroot().getchildren():
                    group.append(et.fromstring(et.tostring(child)))
                
                height = float(imgFile.getroot().get('height', 0))
                width = float(imgFile.getroot().get('width', 0))
                
                MapProcessor._iconCache[key] = (group, height, width)
            finally:
                MapProcessor._iconLock.release()
        
        return copy.deepcopy(MapProcessor._iconCache[key])

    def buildMap(self, elements=[]):
        """elements=[{'state':'on', 'location':{'xCoord':2.3, 'yCoord':9.2', 'orientation':3.141}, 'id':12]"""
        """state must match from the sensor state=>sensor Icon mapping"""
        """state can be empty or missing to use a stateless icon"""
        """x and y are in meters"""
        """orientation is assumed in radians, use d or r suffix to use others (90d/6R)"""
        # TODO: when map is clicked, show RH coords
        
        if sys.version_info >= (2, 7):
            et.register_namespace("", "http://www.w3.org/2000/svg")

        root = self.mapBase.getroot()
        mapHeight = float(root.attrib['height'])
        cc = CoordinateConvertor(self._map)
        
        for element in elements:
            try:
                if element['on'] == None:
#.........这里部分代码省略.........

 def __init__(self, _map):
     self._root = os.path.dirname(os.path.realpath(__file__))
     self._baseFile = os.path.join(self._root, _map['base'])
     self._map = _map
     self._sensorTypes = {}
     self._dao = Sensors()

class ZWaveHomeController(PollingProcessor):

	# Initialisation method
	# Opens the configured UDP socket for the receipt of broadcast messages.
	def __init__ (self, ipAddress):
		super(ZWaveHomeController, self).__init__()
		
		self._baseUrl = "http://%(ip)s:80/api/devices" % {'ip': ipAddress}

		# Place for the callback methods to store "static" values.
		# Currently only needed for the Moving Average Filter for the MCP9700
		# temperature sensor temperature calculations.
		self._handler_memory = {}
		self._channels = {}
		self._sr = StateResolver()
		self._sensorDao = Sensors()
		self._sensors = self._sensorDao.findSensors()
		self._warned = []

	@property
	def channels(self):
		if self._channels == None:
			self._channels = {}
		
		return self._channels

	def start(self):
		print "Started polling zwave sensors"
		self._addPollingProcessor('zwave', self.pollZWaveSensors, None, 0.1)

	def stop(self):
		print "Stopped polling zwave sensors"
		self._removePollingProcessor('zwave')
		
	def pollZWaveSensors(self):
		""" Check the http api for sensors & values and add them to the channels list in the standard format """
		try:
			# http://192.168.1.109/devices
			url = self._baseUrl
			request = urllib2.Request(url)
			base64string = base64.encodestring('%s:%s' % ('admin', 'admin')).replace('\n', '')
			request.add_header("Authorization", "Basic %s" % base64string)
			result = urllib2.urlopen(request)
			data = json.load(result) 
		except Exception as e:
			if id(self) + type(e) not in self._warned:
				print >> sys.stderr, "Error while receiving data from ZWaveHomeController: %s" % e
				self._warned.append(id(self) + type(e))
			return
		
		for device in data:
			channelDescriptor = 'zwave:' + str(device['id'])
			try:
				sensor = next(s for s in self._sensors if s['ChannelDescriptor'] == channelDescriptor)
			except StopIteration:
				# Only warn once, or we'll flood the console
				if channelDescriptor not in self._warned:
					print "Warning: Unable to locate sensor record for ZWave sensor ID: %s (%s)" % (str(channelDescriptor), str(device['name']))
					self._warned.append(channelDescriptor)
				continue
	
			_device = sensor['locationName']
			_pin = sensor['name']
			_id = sensor['sensorId']
			_rule = sensor['sensorRule']
	
			# order determines priority
			valueKeys = ['valueSensor', 'value']
			
			_value = None
			for valueKey in valueKeys:
				if device['properties'].has_key(valueKey):
					_value = device['properties'][valueKey]
					break
				
			_value = _valueHelper.filterValue(_value, sensor['sensorTypeName'])
			if _value != None:
				_type = sensor['sensorTypeName']
				_uuid = channelDescriptor
				_status = self._sr.getDisplayState({'sensorTypeName': _type, 'value': _value, 'sensorId': _id, 'sensorRule': _rule })
	
				self._channels[_uuid] = { 
										'id': _id,
										'room': _device,
										'channel': _pin,
										'value': _value,
										'status': _status
										}

class MapProcessor(object):
    """ Used to build the live image of the sensor network """

    _mapCache = {}
    _iconCache = {}
    _mapLock = RLock()
    _iconLock = RLock()

    def __init__(self, _map):
        self._root = os.path.dirname(os.path.realpath(__file__))
        self._baseFile = os.path.join(self._root, _map["base"])
        self._map = _map
        self._sensorTypes = {}
        self._dao = Sensors()

    @property
    def mapBase(self):
        """ Returns a copy of the base svg map file """
        """ Caches initial map for fast access in subsequent calls """
        if self._baseFile not in MapProcessor._mapCache:
            MapProcessor._mapLock.acquire()
            try:
                MapProcessor._mapCache[self._baseFile] = et.parse(self._baseFile)
            finally:
                MapProcessor._mapLock.release()

        return copy.deepcopy(MapProcessor._mapCache[self._baseFile])

    def getIcon(self, iconId, text=None, sensorOn=False):
        """ Returns the sensor icon (with option 'On' graphic') wrapped in a group node """
        """ Caches icon for fast access in subsequent calls """
        key = str(iconId) + str(sensorOn)
        if key not in MapProcessor._iconCache:
            MapProcessor._iconLock.acquire()
            try:
                if iconId not in self._sensorTypes:
                    self._sensorTypes[iconId] = self._dao.getSensorIcon(iconId)

                sensorDef = self._sensorTypes[iconId]

                imgFile = None
                imgPath = None
                imgName = None
                if sensorDef is not None:
                    imgName = sensorDef["name"]
                    if sensorDef["icon"] is not None:
                        if sensorOn:
                            imgPath = sensorDef["icon"] + "_on" + ".svg"
                        else:
                            imgPath = sensorDef["icon"] + ".svg"

                        try:
                            imgFile = et.parse(os.path.join(self._root, imgPath))
                        except Exception as e:
                            if sensorOn:
                                print >> sys.stderr, "Error parsing sensor image (%(path)s): %(error)s" % {
                                    "error": e,
                                    "path": imgPath,
                                }

                if imgFile is None:
                    if imgPath is not None:
                        print "Unable to load image from %(path)s, using default" % {"path": imgPath}
                    else:
                        print "Unable to load image for %(type)s, using default" % {"type": imgName}
                    imgPath = "icons/default.svg"
                    imgFile = et.parse(os.path.join(self._root, imgPath))
                    imgFile.find("{http://www.w3.org/2000/svg}text").text = text or imgName or imgPath

                if sys.version_info >= (2, 7):
                    group = et.Element("g")
                else:
                    group = et.Element("ns0:g")

                for child in imgFile.getroot().getchildren():
                    group.append(et.fromstring(et.tostring(child)))

                height = float(imgFile.getroot().get("height", 0))
                width = float(imgFile.getroot().get("width", 0))

                MapProcessor._iconCache[key] = (group, height, width)
            finally:
                MapProcessor._iconLock.release()

        return copy.deepcopy(MapProcessor._iconCache[key])

    def buildMap(self, elements=[]):
        """elements=[{'state':'on', 'location':{'xCoord':2.3, 'yCoord':9.2', 'orientation':3.141}, 'id':12]"""
        """state must match from the sensor state=>sensor Icon mapping"""
        """state can be empty or missing to use a stateless icon"""
        """x and y are in meters"""
        """orientation is assumed in radians, use d or r suffix to use others (90d/6R)"""
        # TODO: when map is clicked, show RH coords

        if sys.version_info >= (2, 7):
            et.register_namespace("", "http://www.w3.org/2000/svg")

        root = self.mapBase.getroot()
        mapHeight = float(root.attrib["height"])
        cc = CoordinateConvertor(self._map)
#.........这里部分代码省略.........

class actuators():

    def __init__ (self):
	self._env = Environment(self._setup_switch)
        self._sensors = Sensors()

    def _setup_switch(self,switch):
	print "Switch found!", switch.name

    def start(self):
	self._env.start()

    def _getName(self):
	sensorName=self._env.list_switches()
	return sensorName[0]

    def _getNameList(self):
	sensorNameList=self._env.list_switches()
	return sensorNameList

    def _getIdFromName(self, name):
	if name=='Lamp01':
		idSensor='91'
	elif name=='LivingRoomLamp':
		idSensor='92'
	elif name=='KitchenCoffeMachine':
		idSensor='93'
	elif name=='LivingRoomTV':
		idSensor='94'
	else:
		idSensor=null
	return idSensor

    def _getValue(self, name):
	if name=='Lamp01':
		idSensor='91'
	elif name=='LivingRoomLamp':
		idSensor='92'
	elif name=='KitchenCoffeMachine':
		idSensor='93'
	elif name=='LivingRoomTV':
		idSensor='94'
	else:
		idSensor=null
	return self._sensors.getSensor(idSensor)

    def _get_switch(self, name):
	return self._env.get_switch(name)

    def _on_switch(self, switch):
	switch.basicevent.SetBinaryState(BinaryState=1)

    def _off_switch(self, switch):
	switch.basicevent.SetBinaryState(BinaryState=0)

    def setOn(self, name):
	self._sensors.updateSensor(self._getIdFromName(name), 1.0, 'On')
	print " %s has been switched On" % name

    def setOff(self, name):
	self._sensors.updateSensor(self._getIdFromName(name), 0.0, 'Off')
	print " %s has been switched Off" % name

class ZWaveVeraLite(PollingProcessor):

	# Initialisation method
	# Opens the configured UDP socket for the receipt of broadcast messages.
	def __init__ (self, ipAddress, port):
		super(ZWaveVeraLite, self).__init__()
		
		self._loadTime = None
		self._dataVersion = None
		self._baseUrl = "http://%(ip)s:%(port)s/data_request?id=lu_sdata&timeout=%(timeout)s" % {'ip': ipAddress, 'port': port, 'timeout': 60}

		# Place for the callback methods to store "static" values.
		# Currently only needed for the Moving Average Filter for the MCP9700
		# temperature sensor temperature calculations.
		self._handler_memory = {}
		self._channels = {}
		self._sr = StateResolver()
		self._sensorDao = Sensors()
		self._sensors = self._sensorDao.findSensors()
		self._warned = []

	@property
	def channels(self):
		if self._channels == None:
			self._channels = {}
		
		return self._channels

	def start(self):
		print "Started polling zwave sensors"
		self._addPollingProcessor('zwave', self.pollZWaveSensors, None, 0.1)

	def stop(self):
		print "Stopped polling zwave sensors"
		self._removePollingProcessor('zwave')
		
	# ZigBee thread main loop
	def pollZWaveSensors(self):
		""" Check the http api for sensors & values and add them to the channels list in the standard format """
		""" first iteration pulls all data, subsequent loops pull only changed data since the last run """
		try:
			# http://192.168.1.158:3480/data_request?id=lu_sdata
			# http://192.168.1.158:3480/data_request?id=lu_sdata&loadtime=1282441735&dataversion=441736333&timeout=60
			url = self._baseUrl
			if self._loadTime != None and self._dataVersion != None:
				url += '&loadtime=%(load)s&dataversion=(dataversion)s' % {'load': self._loadTime, 'dataversion': self._dataVersion }
			data = json.load(urllib2.urlopen(url)) 
		except Exception as e:
			if id(self) + type(e) not in self._warned:
				print >> sys.stderr, "Error while receiving data from ZWaveVeraLite: %s" % e
				self._warned.append(id(self) + type(e))
			return
		
		self._loadTime = data['loadtime']
		self._dataVersion = data['dataversion']
		
		for device in data['devices']:
			channelDescriptor = 'zwave:' + str(device['id'])
			try:
				sensor = next(s for s in self._sensors if s['ChannelDescriptor'] == channelDescriptor)
			except StopIteration:
				# Only warn once, or we'll flood the console
				if channelDescriptor not in self._warned:
					print "Warning: Unable to locate sensor record for ZWave sensor ID: %s (%s)" % (str(channelDescriptor), str(device['name']))
					self._warned.append(channelDescriptor)
				continue
	
			_device = sensor['locationName']
			_pin = sensor['name']
			_id = sensor['sensorId']
			_rule = sensor['sensorRule']

			valueKeys = ['armed', 'status']

			_value = None
			for valueKey in valueKeys:
				if device.has_key(valueKey):
					_value = device[valueKey]
					break
	
			_value = _valueHelper.filterValue(_value, sensor['sensorTypeName'])
			if _value != None:
				_type = sensor['sensorTypeName']
				_uuid = channelDescriptor
				_status = self._sr.getDisplayState({'sensorTypeName': _type, 'value': _value, 'sensorId': _id, 'sensorRule': _rule })
	
				self._channels[_uuid] = { 
										'id': _id,
										'room': _device,
										'channel': _pin,
										'value': _value,
										'status': _status
										}