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 StateMachine():
  43         # commands you can send
  44         CMD_PINS = 0
  45         CMD_BUZZ = 1
  46         CMD_OPEN = 2
  47         CMD_WAKEUP = 3
  48         CMD_LAST = 4
  49
  50         class State():
  51                 def __init__(self, state_machine):
  52                         self.state_machine = state_machine
  53                         self.time_entered = time.time()
  54                         self.theDict = None
  55                         self.last_wakeup = self.time_entered
  56                 def handle_pins_event(self):
  57                         pass # one needn't implement this
  58                 def handle_buzz_event(self,arg): # this shouldn't be overwritten
  59                         self.actor.act(Actor.CMD_BUZZ)
  60                         arg("200 okay: buzz executed")
  61                 def handle_open_event(self,arg):
  62                         if arg is not None:
  63                                 arg("412 Precondition Failed: The current state (%s) cannot handle the OPEN event" % self.__class__.__name__)
  64                 def handle_wakeup_event(self):
  65                         self.last_wakeup = time.time()
  66                 def pins(self):
  67                         return self.state_machine.pins
  68                 def actor(self):
  69                         return self.state_machine.actor
  70                 def handle_event(self,ev,arg): # don't override
  71                         if arg is CMD_PINS:
  72                                 self.handle_pins_event()
  73                         elif arg is CMD_BUZZ:
  74                                 self.handle_buzz_event(arg)
  75                         elif arg is CMD_OPEN:
  76                                 self.handle_open_event(arg)
  77                         elif arg is CMD_WAKEUP:
  78                                 self.handle_wakeup_event()
  79                         else:
  80                                 raise Exception("Unknown command number: %d" % ev)
  81
  82         class StateStart(State):
  83                 def handle_pins_event(self):
  84                         super().handle_pins_event()
  85                         thepins = self.pins()
  86                         for pin in thepins:
  87                                 if pin is None:
  88                                         return None
  89                         if thepins.door_locked:
  90                                 return StateZu
  91                         else:
  92                                 return StateAuf
  93
  94         class StateZu(State):
  95                 def handle_pins_event(self):
  96                         super().handle_pins_event()
  97                         pins = self.pins()
  98                         if not pins.door_locked:
  99                                 return StateAboutToOpen(self.state_machine)
 100                 def handle_open_event(self,callback):
 101                         # intentionally not calling super() implementation
 102                         return StateOpening(callback,self.state_machine)
 103
 104         class StateOpening(State):
 105                 def __init__(self,callback,sm):
 106                         super().__init__(self,sm)
 107                         self.callbacks=[callback]
 108                         # FIXME: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
 109                         self.tries = 0
 110                         self.actor().act(Actor.CMD_OPEN)
 111                 def notify(self, did_it_work):
 112                         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))
 113                         for cb in self.callbacks:
 114                                 if cb is not None:
 115                                         cb(s)
 116                 def handle_pins_event(self):
 117                         super().handle_pins_event()
 118                         pins = self.pins()
 119                         if not pins.door_locked:
 120                                 self.notify(True)
 121                                 return StateAboutToOpen(self.state_machine)
 122                 def handle_open_event(self,callback):
 123                         # intentionally not calling super() implementation
 124                         # FIXME: 202 notification also here if possible
 125                         self.callbacks.append(callback)
 126                 def handle_wakeup_event(self):
 127                         super().handle_wakeup_event()
 128                         over = time.time() - self.time_entered
 129                         nexttry = (self.tries+1) * OPEN_REPEAT_TIMEOUT
 130                         if over > nexttry:
 131                                 if self.tries < OPEN_REPEAT_NUMBER:
 132                                         self.actor().act(Actor.CMD_OPEN)
 133                                         self.tries += 1
 134                                 else:
 135                                         logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
 136                                         self.notify(False)
 137                                         return StateZu(self.state_machine)
 138
 139         class AbstractStateWhereOpeningIsRedundant(State):
 140                 def handle_open_event(self, callback):
 141                         # intentionally not calling super() implementation
 142                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 143                         logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
 144                         self.actor().act(Actor.CMD_OPEN)
 145
 146         class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
 147                 def handle_pins_event(self):
 148                         super().handle_pins_event()
 149                         pins = self.pins()
 150                         if pins.door_locked:
 151                                 return StateZu(self.state_machine)
 152                         elif pins.space_active:
 153                                 return StateAuf(self.state_machine)
 154                 def handle_wakeup_event(self):
 155                         super().handle_wakeup_event()
 156                         now = time.time()
 157                         lasttime = self.last_wakeup - self.time_entered
 158                         thistime = now - self.time_entered
 159                         for (t,f) in filter(lambda (t,f): t<=thistime and t>lasttime, ABOUTOPEN_NERVLIST):
 160                                 ret = f();
 161                                 if ret is not None:
 162                                         return ret
 163
 164         class StateAuf(AbstractStateWhereOpeningIsRedundant):
 165                 def __init__(self,sm):
 166                         super().__init__(sm)
 167                         self.last_buzzed = None
 168                 def handle_pins_event(self):
 169                         super().handle_pins_event()
 170                         pins = self.pins()
 171                         if pins.bell_ringing:
 172                                 now = time.time()
 173                                 if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME:
 174                                         logger.info("buzzing because of bell ringing in state auf")
 175                                         self.actor().act(Actor.CMD_BUZZ)
 176                                         self.last_buzzed = now
 177                         if not pins.space_active:
 178                                 logger.info("space switch off - starting leaving procedure")
 179                                 return StateAboutToLeave(self.state_machine)
 180                         if pins.door_locked:
 181                                 logger.error("door manually locked, but space switch on - going to StateZu")
 182                                 play_sound("manual_lock")
 183                                 return StateZu(self.state_machine)
 184                 # handle_wakeup_event intentionally not overwritten
 185
 186         class StateClosing(State):
 187                 # FIXME: Why does this even have callbacks?
 188                 # TODO: share code with StateOpening, and possibly also with the nerv-mechanism from StateAboutToOpen
 189                 def __init__(self,sm):
 190                         super().__init__(sm)
 191                         self.callbacks=[]
 192                         # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use?
 193                         self.tries = 0
 194                         assert self.pins().door_closed, "Door is open while we should close it, this must not happen"
 195                         self.actor().act(Actor.CMD_CLOSE)
 196                 def notify(self, did_it_work):
 197                         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))
 198                         for cb in self.callbacks:
 199                                 if cb is not None:
 200                                         cb(s)
 201                 def handle_pins_event(self):
 202                         pins = self.pins()
 203                         if not pins.door_locked:
 204                                 self.notify(True)
 205                                 return StateAboutToOpen(self.state_machine)
 206                 def handle_open_event(self,callback):
 207                         callback("409 conflict: The server is currently trying to close the door. Try again later.")
 208                 def handle_wakeup_event(self):
 209                         over = time.time() - self.time_entered
 210                         nexttry = (self.tries+1) * CLOSE_REPEAT_TIMEOUT
 211                         if over > nexttry:
 212                                 if self.tries < CLOSE_REPEAT_NUMBER:
 213                                         self.actor().act(Actor.CMD_CLOSE)
 214                                         self.tries += 1
 215                                 else:
 216                                         logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
 217                                         self.notify(False)
 218                                         return StateAboutToOpen(self.state_machine)
 219
 220         class StateAboutToLeave(State):
 221                 def handle_pins_event(self):
 222                         if not self.pins().door_closed:
 223                                 return StateLeaving(self.state_machine)
 224                         if self.pins().door_locked:
 225                                 return StateZu(self.state_machine)
 226                 def handle_wakeup_event(self):
 227                         over = time.time() - self.time_entered
 228                         if over >= LEAVE_TIMEOUT:
 229                                 return StateClosing(self.state_machine)
 230
 231         class StateLeaving(State):
 232                 def handle_pins_event(self):
 233                         if self.pins().door_closed:
 234                                 return StateClosing(self.state_machine)
 235                         if self.pins().door_locked:
 236                                 return StateZu(self.state_machine)
 237                 def handle_wakeup_event(self):
 238                         over = time.time() - self.time_entered
 239                         if over >= LEAVE_TIMEOUT:
 240                                 return StateAboutToOpen(self.state_machine)
 241
 242         def __init__(self, actor):
 243                 self.actor = actor
 244                 self.callback = ThreadFunction(self._callback)
 245                 self.current_state = StateStart(self)
 246                 self.pins = None
 247                 self.old_pins = None
 248
 249         def stop (self):
 250                 self.callback.stop()
 251
 252         def _callback(self, cmd, arg=None):
 253                 # update pins
 254                 if cmd == StateMachine.CMD_PINS:
 255                         self.pins = arg
 256                 # handle stuff
 257                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 258                 self.old_pins = self.pins # FIXME not used?
 259                 while newstate is not None:
 260                         logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
 261                         self.current_state = newstate
 262                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)