statemachine.py

   1 from libtuer import ThreadFunction, logger, fire_and_forget
   2 from actor import Actor
   3 import os, random
   4
   5 # logger.{debug,info,warning,error,critical}
   6
   7 def play_sound (what):
   8         try:
   9                 soundfiles = os.listdir(SOUNDS_DIRECTORY+what)
  10         except FileNotFoundError:
  11                 logger.error("StateMachine: Unable to list sound files in %s" % (SOUNDS_DIRECTORY+what))
  12                 return
  13         soundfile = SOUNDS_DIRECTORY + what + '/' + random.choice(soundfiles)
  14         fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
  15
  16
  17 # StateOpening constants
  18 OPEN_REPEAT_TIMEOUT = 8
  19 OPEN_REPEAT_NUMBER = 3
  20
  21 # StateClosing constants
  22 CLOSE_REPEAT_TIMEOUT = 8
  23 CLOSE_REPEAT_NUMBER = 3
  24
  25 # StateAboutToOpen constants
  26 ABOUTOPEN_NERVLIST = [(5, lambda : play_sound("flipswitch")), (10, lambda:play_sound("flipswitch")), (10, lambda:Logger.warning("Space open but switch not flipped for 10 seconds")),\
  27         (20, lambda:play_sound("flipswitch")), (30, lambda:play_sound("flipswitch")), (30, lambda:Logger.error("Space open but switch not flipped for 30 seconds")),\
  28         (40, lambda:play_sound("flipswitch")), (50, lambda:play_sound("flipswitch")), (56, lambda:play_sound("flipswitch")), (60, lambda:Logger.critical("Space open but switch not flipped for 60 seconds"))]
  29
  30 # StateAuf constants
  31 #  time that must pass between two bell_ringing events to buzz the door again (seconds)
  32 AUF_BELLBUZZ_REPEAT_TIME = 2
  33
  34 # Timeout we wait after the switch was switched to "Closed", until we assume nobody will open the door and we just lock it
  35 LEAVE_TIMEOUT = 30
  36
  37 # play_sound constants
  38 SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
  39 SOUNDS_PLAYER = "/usr/bin/mplayer"
  40
  41
  42 class Nerver():
  43         # A little utility class used to run the nervlists. A nervlist is a list of (n, f) tuples where f() is run after n seconds.
  44         # If f returns something, that's also returned by nerv.
  45         def __init__(self, nervlist):
  46                 self.nervlist = list(nervlist)
  47
  48         def nerv(self, total_time):
  49                 if len(self.nervlist):
  50                         (time, f) = self.nervlist[0]
  51                         # check if the first element is to be triggered
  52                         if time >= total_time:
  53                                 self.nervlist = self.nervlist[1:] # "pop" the first element, but do not modify original list
  54                                 return f()
  55
  56
  57 class StateMachine():
  58         # commands you can send
  59         CMD_PINS = 0
  60         CMD_BUZZ = 1
  61         CMD_OPEN = 2
  62         CMD_WAKEUP = 3
  63         CMD_LAST = 4
  64
  65         class State():
  66                 def __init__(self, state_machine, nervlist = None):
  67                         self.state_machine = state_machine
  68                         self.time_entered = time.time()
  69                         self._nerver = None if nervlist is None else Nerver(nervlist)
  70                 def handle_pins_event(self):
  71                         pass # one needn't implement this
  72                 def handle_buzz_event(self,arg): # this shouldn't be overwritten
  73                         self.actor.act(Actor.CMD_BUZZ)
  74                         arg("200 okay: buzz executed")
  75                 def handle_open_event(self,arg):
  76                         if arg is not None:
  77                                 arg("412 Precondition Failed: The current state (%s) cannot handle the OPEN event" % self.__class__.__name__)
  78                 def handle_wakeup_event(self):
  79                         if self._nerver is not None:
  80                                 return self._nerver.nerv(time.time() - self.time_entered)
  81                 def pins(self):
  82                         return self.state_machine.pins
  83                 def actor(self):
  84                         return self.state_machine.actor
  85                 def handle_event(self,ev,arg): # don't override
  86                         if arg is CMD_PINS:
  87                                 self.handle_pins_event()
  88                         elif arg is CMD_BUZZ:
  89                                 self.handle_buzz_event(arg)
  90                         elif arg is CMD_OPEN:
  91                                 self.handle_open_event(arg)
  92                         elif arg is CMD_WAKEUP:
  93                                 self.handle_wakeup_event()
  94                         else:
  95                                 raise Exception("Unknown command number: %d" % ev)
  96
  97         class StateStart(State):
  98                 def handle_pins_event(self):
  99                         super().handle_pins_event()
 100                         thepins = self.pins()
 101                         for pin in thepins:
 102                                 if pin is None:
 103                                         return None
 104                         if thepins.door_locked:
 105                                 return StateZu
 106                         else:
 107                                 return StateAuf
 108
 109         class StateZu(State):
 110                 def handle_pins_event(self):
 111                         super().handle_pins_event()
 112                         pins = self.pins()
 113                         if not pins.door_locked:
 114                                 return StateAboutToOpen(self.state_machine)
 115                 def handle_open_event(self,callback):
 116                         # intentionally not calling super() implementation
 117                         return StateOpening(callback,self.state_machine)
 118
 119         class StateOpening(State):
 120                 def __init__(self,callback,sm):
 121                         # construct a nervlist
 122                         nervlist = [(t*OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_OPEN)) for t in xrange(1, OPEN_REPEAT_NUMBER+1)]
 123                         nervlist += [((OPEN_REPEAT_NUMBER+1)*OPEN_REPEAT_TIMEOUT, self.could_not_open)]
 124                         super().__init__(sm,nervlist)
 125                         self.callbacks=[callback]
 126                         # FIXME: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
 127                         self.actor().act(Actor.CMD_OPEN)
 128                 def notify(self, did_it_work):
 129                         s = "200 okay: door open" if did_it_work else ("500 internal server error: Couldn't open door with %d tries à %f seconds" % (OPEN_REPEAT_NUMBER,OPEN_REPEAT_TIMEOUT))
 130                         for cb in self.callbacks:
 131                                 if cb is not None: # FIXME why this check? shouldn't be needed
 132                                         cb(s)
 133                 def handle_pins_event(self):
 134                         super().handle_pins_event()
 135                         pins = self.pins()
 136                         if not pins.door_locked:
 137                                 self.notify(True)
 138                                 return StateAboutToOpen(self.state_machine)
 139                 def handle_open_event(self,callback):
 140                         # intentionally not calling super() implementation
 141                         # FIXME: 202 notification also here if possible
 142                         self.callbacks.append(callback)
 143                 def could_not_open(self):
 144                         logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
 145                         self.notify(False)
 146                         return StateZu(self.state_machine)
 147
 148         class AbstractStateWhereOpeningIsRedundant(State):
 149                 def handle_open_event(self, callback):
 150                         # intentionally not calling super() implementation
 151                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 152                         logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
 153                         self.actor().act(Actor.CMD_OPEN)
 154
 155         class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
 156                 def __init__(self, sm):
 157                         super().__init__(sm, ABOUTOPEN_NERVLIST)
 158                 def handle_pins_event(self):
 159                         super().handle_pins_event()
 160                         pins = self.pins()
 161                         if pins.door_locked:
 162                                 return StateZu(self.state_machine)
 163                         elif pins.space_active:
 164                                 return StateAuf(self.state_machine)
 165
 166         class StateAuf(AbstractStateWhereOpeningIsRedundant):
 167                 def __init__(self,sm):
 168                         super().__init__(sm)
 169                         self.last_buzzed = None
 170                 def handle_pins_event(self):
 171                         super().handle_pins_event()
 172                         pins = self.pins()
 173                         if pins.bell_ringing:
 174                                 now = time.time()
 175                                 if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME:
 176                                         logger.info("buzzing because of bell ringing in state auf")
 177                                         self.actor().act(Actor.CMD_BUZZ)
 178                                         self.last_buzzed = now
 179                         if not pins.space_active:
 180                                 logger.info("space switch off - starting leaving procedure")
 181                                 return StateAboutToLeave(self.state_machine)
 182                         if pins.door_locked:
 183                                 logger.error("door manually locked, but space switch on - going to StateZu")
 184                                 play_sound("manual_lock")
 185                                 return StateZu(self.state_machine)
 186                 # handle_wakeup_event intentionally not overwritten
 187
 188         class StateClosing(State):
 189                 # FIXME: Why does this even have callbacks?
 190                 # TODO: share code with StateOpening
 191                 def __init__(self,sm):
 192                         # construct a nervlist
 193                         nervlist = [(t*CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_CLOSE)) for t in xrange(1, CLOSE_REPEAT_NUMBER+1)]
 194                         nervlist += [((CLOSE_REPEAT_NUMBER+1)*CLOSE_REPEAT_TIMEOUT, self.could_not_close)]
 195                         super().__init__(sm, nervlist)
 196                         self.callbacks=[]
 197                         # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use?
 198                         self.tries = 0
 199                         assert self.pins().door_closed, "Door is open while we should close it, this must not happen"
 200                         self.actor().act(Actor.CMD_CLOSE)
 201                 def notify(self, did_it_work):
 202                         s = "200 okay: door closed" if did_it_work else ("500 internal server error: Couldn't close door with %d tries à %f seconds" % (CLOSE_REPEAT_NUMBER,CLOSE_REPEAT_TIMEOUT))
 203                         for cb in self.callbacks:
 204                                 if cb is not None:
 205                                         cb(s)
 206                 def handle_pins_event(self):
 207                         pins = self.pins()
 208                         if not pins.door_closed:
 209                                 # TODO play a sound? This shouldn't happen, door was opened while we are locking
 210                                 self.notify(True)
 211                                 return StateAboutToOpen(self.state_machine)
 212                         if pins.door_locked:
 213                                 return SpaceZu(self.state_machine)
 214                 def handle_open_event(self,callback):
 215                         callback("409 conflict: The server is currently trying to close the door. Try again later.")
 216                 def could_not_close(self):
 217                         logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
 218                         self.notify(False)
 219                         return StateAboutToOpen(self.state_machine)
 220
 221         class StateAboutToLeave(State):
 222                 def handle_pins_event(self):
 223                         if not self.pins().door_closed:
 224                                 return StateLeaving(self.state_machine)
 225                         if self.pins().door_locked:
 226                                 return StateZu(self.state_machine)
 227                 def handle_wakeup_event(self):
 228                         over = time.time() - self.time_entered
 229                         if over >= LEAVE_TIMEOUT:
 230                                 return StateClosing(self.state_machine)
 231
 232         class StateLeaving(State):
 233                 def handle_pins_event(self):
 234                         if self.pins().door_closed:
 235                                 return StateClosing(self.state_machine)
 236                         if self.pins().door_locked:
 237                                 return StateZu(self.state_machine)
 238                 def handle_wakeup_event(self):
 239                         over = time.time() - self.time_entered
 240                         if over >= LEAVE_TIMEOUT:
 241                                 return StateAboutToOpen(self.state_machine)
 242
 243         def __init__(self, actor):
 244                 self.actor = actor
 245                 self.callback = ThreadFunction(self._callback)
 246                 self.current_state = StateStart(self)
 247                 self.pins = None
 248                 self.old_pins = None
 249
 250         def stop (self):
 251                 self.callback.stop()
 252
 253         def _callback(self, cmd, arg=None):
 254                 # update pins
 255                 if cmd == StateMachine.CMD_PINS:
 256                         self.pins = arg
 257                 # handle stuff
 258                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 259                 self.old_pins = self.pins # FIXME not used?
 260                 while newstate is not None:
 261                         logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
 262                         self.current_state = newstate
 263                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)