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 # StateAboutToOpen constants
  22 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")),\
  23         (20, lambda:play_sound("flipswitch")), (30, lambda:play_sound("flipswitch")), (30, lambda:Logger.error("Space open but switch not flipped for 30 seconds")),\
  24         (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"))]
  25
  26 # StateAuf constants
  27 #  time that must pass between two bell_ringing events to buzz the door again (seconds)
  28 AUF_BELLBUZZ_REPEAT_TIME = 2
  29
  30 # play_sound constants
  31 SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
  32 SOUNDS_PLAYER = "/usr/bin/mplayer"
  33
  34
  35 class StateMachine():
  36         # commands you can send
  37         CMD_PINS = 0
  38         CMD_BUZZ = 1
  39         CMD_OPEN = 2
  40         CMD_WAKEUP = 3
  41         CMD_LAST = 4
  42
  43         class State():
  44                 def __init__(self, state_machine):
  45                         self.state_machine = state_machine
  46                         self.time_entered = time.time()
  47                         self.theDict = None
  48                         self.last_wakeup = self.time_entered
  49                 def handle_pins_event(self):
  50                         pass # one needn't implement this
  51                 def handle_buzz_event(self,arg): # this shouldn't be overwritten
  52                         self.actor.act(Actor.CMD_BUZZ)
  53                         arg("200 okay: buzz executed")
  54                 def handle_open_event(self,arg):
  55                         if arg is not None:
  56                                 arg("412 Precondition Failed: The current state (%s) cannot handle the OPEN event" % self.__class__.__name__)
  57                 def handle_wakeup_event(self):
  58                         self.last_wakeup = time.time()
  59                 def pins(self):
  60                         return self.state_machine.pins
  61                 def actor(self):
  62                         return self.state_machine.actor
  63                 def handle_event(self,ev,arg): # don't override
  64                         if arg is CMD_PINS:
  65                                 self.handle_pins_event()
  66                         elif arg is CMD_BUZZ:
  67                                 self.handle_buzz_event(arg)
  68                         elif arg is CMD_OPEN:
  69                                 self.handle_open_event(arg)
  70                         elif arg is CMD_WAKEUP:
  71                                 self.handle_wakeup_event()
  72                         else:
  73                                 raise Exception("Unknown command number: %d" % ev)
  74
  75         class StateStart(State):
  76                 def __init__(self, sm):
  77                         State.__init__(self,sm)
  78                 def handle_pins_event(self):
  79                         thepins = self.pins()
  80                         for pin in thepins:
  81                                 if pin is None:
  82                                         return None
  83                         if thepins.door_locked:
  84                                 return StateZu
  85                         else:
  86                                 return StateAuf
  87
  88         class StateZu(State):
  89                 def __init__(self,sm):
  90                         State.__init__(self,sm)
  91                 def handle_pins_event(self):
  92                         pins = self.pins()
  93                         if not pins.door_locked:
  94                                 return StateAboutToOpen(self.state_machine)
  95                 def handle_open_event(self,callback):
  96                         return StateOpening(callback,self.state_machine)
  97
  98         class StateOpening(State):
  99                 def __init__(self,callback,sm):
 100                         State.__init__(self,sm)
 101                         self.callbacks=[callback]
 102                         # FIXME: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
 103                         self.tries = 0
 104                         self.actor().act(Actor.CMD_OPEN)
 105                 def notify(self, did_it_work):
 106                         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))
 107                         for cb in self.callbacks:
 108                                 if cb is not None:
 109                                         cb(s)
 110                 def handle_pins_event(self):
 111                         pins = self.pins()
 112                         if not pins.door_locked:
 113                                 self.notify(True)
 114                                 return StateAboutToOpen(self.state_machine)
 115                 def handle_open_event(self,callback):
 116                         # FIXME: 202 notification also here if possible
 117                         self.callbacks.append(callback)
 118                 def handle_wakeup_event(self):
 119                         over = time.time() - self.time_entered
 120                         nexttry = (self.tries+1) * OPEN_REPEAT_TIMEOUT
 121                         if over > nexttry:
 122                                 if self.tries < OPEN_REPEAT_NUMBER:
 123                                         self.actor().act(Actor.CMD_OPEN)
 124                                         self.tries += 1
 125                                 else:
 126                                         logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
 127                                         self.notify(False)
 128                                         return StateZu(self.state_machine)
 129
 130         class AbstractStateWhereOpeningIsRedundant(State):
 131                 def __init__ (self,sm):
 132                         State.__init__(sm):
 133                 def handle_open_event(self, callback):
 134                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 135                         logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
 136                         self.actor().act(Actor.CMD_OPEN)
 137
 138         class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
 139                 def __init__(self, sm):
 140                         AbstractStateWhereOpeningIsRedundant.__init__(sm)
 141                 def handle_pins_event(self):
 142                         pins = self.pins()
 143                         if pins.door_locked:
 144                                 return StateZu(self.state_machine)
 145                         elif pins.space_active:
 146                                 return StateAuf(self.state_machine)
 147                 def handle_wakeup_event(self):
 148                         now = time.time()
 149                         lasttime = self.last_wakeup - self.time_entered
 150                         thistime = now - self.time_entered
 151                         for (t,f) in filter(lambda (t,f): t<=thistime and t>lasttime, ABOUTOPEN_NERVLIST):
 152                                 ret = f();
 153                                 if ret is not None:
 154                                         return ret
 155
 156         class StateAuf(AbstractStateWhereOpeningIsRedundant):
 157                 def __init__(self,sm):
 158                         AbstractStateWhereOpeningIsRedundant.__init__(sm)
 159                         self.last_buzzed = None
 160                 def handle_pins_event(self):
 161                         pins = self.pins()
 162                         if pins.bell_ringing:
 163                                 now = time.time()
 164                                 if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME:
 165                                         logger.info("buzzing because of bell ringing in state auf")
 166                                         self.actor().act(Actor.CMD_BUZZ)
 167                                         self.last_buzzed = now
 168                         if not pins.space_active:
 169                                 logger.info("space switch off - starting leaving procedure")
 170                                 return StateAboutToLeave(self.state_machine)
 171                         if pins.door_locked:
 172                                 logger.error("door manually locked, but space switch on - going to StateZu")
 173                                 play_sound("manual_lock")
 174                                 return StateZu(self.state_machine)
 175                 # handle_wakeup_event intentionally not overwritten
 176
 177         class StateClosing(State):
 178                 #TODO Ralf/Conny
 179                 pass
 180
 181         class StateAboutToLeave(State):
 182                 #TODO Ralf
 183                 pass
 184
 185         class StateLeaving(State):
 186                 #TODO Ralf
 187                 pass
 188
 189         def __init__(self, actor):
 190                 self.actor = actor
 191                 self.callback = ThreadFunction(self._callback)
 192                 self.current_state = StateStart(self)
 193                 self.pins = None
 194                 self.old_pins = None
 195
 196         def stop (self):
 197                 self.callback.stop()
 198
 199         def _callback(self, cmd, arg=None):
 200                 # update pins
 201                 if cmd == StateMachine.CMD_PINS:
 202                         self.old_pins = self.pins
 203                         self.pins = arg
 204                 # handle stuff
 205                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 206                 while newstate is not None:
 207                         logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
 208                         self.current_state = newstate
 209                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)