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 # play_sound constants
  35 SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
  36 SOUNDS_PLAYER = "/usr/bin/mplayer"
  37
  38
  39 class StateMachine():
  40         # commands you can send
  41         CMD_PINS = 0
  42         CMD_BUZZ = 1
  43         CMD_OPEN = 2
  44         CMD_WAKEUP = 3
  45         CMD_LAST = 4
  46
  47         class State():
  48                 def __init__(self, state_machine):
  49                         self.state_machine = state_machine
  50                         self.time_entered = time.time()
  51                         self.theDict = None
  52                         self.last_wakeup = self.time_entered
  53                 def handle_pins_event(self):
  54                         pass # one needn't implement this
  55                 def handle_buzz_event(self,arg): # this shouldn't be overwritten
  56                         self.actor.act(Actor.CMD_BUZZ)
  57                         arg("200 okay: buzz executed")
  58                 def handle_open_event(self,arg):
  59                         if arg is not None:
  60                                 arg("412 Precondition Failed: The current state (%s) cannot handle the OPEN event" % self.__class__.__name__)
  61                 def handle_wakeup_event(self):
  62                         self.last_wakeup = time.time()
  63                 def pins(self):
  64                         return self.state_machine.pins
  65                 def actor(self):
  66                         return self.state_machine.actor
  67                 def handle_event(self,ev,arg): # don't override
  68                         if arg is CMD_PINS:
  69                                 self.handle_pins_event()
  70                         elif arg is CMD_BUZZ:
  71                                 self.handle_buzz_event(arg)
  72                         elif arg is CMD_OPEN:
  73                                 self.handle_open_event(arg)
  74                         elif arg is CMD_WAKEUP:
  75                                 self.handle_wakeup_event()
  76                         else:
  77                                 raise Exception("Unknown command number: %d" % ev)
  78
  79         class StateStart(State):
  80                 def __init__(self, sm):
  81                         State.__init__(self,sm)
  82                 def handle_pins_event(self):
  83                         thepins = self.pins()
  84                         for pin in thepins:
  85                                 if pin is None:
  86                                         return None
  87                         if thepins.door_locked:
  88                                 return StateZu
  89                         else:
  90                                 return StateAuf
  91
  92         class StateZu(State):
  93                 def __init__(self,sm):
  94                         State.__init__(self,sm)
  95                 def handle_pins_event(self):
  96                         pins = self.pins()
  97                         if not pins.door_locked:
  98                                 return StateAboutToOpen(self.state_machine)
  99                 def handle_open_event(self,callback):
 100                         return StateOpening(callback,self.state_machine)
 101
 102         class StateOpening(State):
 103                 def __init__(self,callback,sm):
 104                         State.__init__(self,sm)
 105                         self.callbacks=[callback]
 106                         # FIXME: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
 107                         self.tries = 0
 108                         self.actor().act(Actor.CMD_OPEN)
 109                 def notify(self, did_it_work):
 110                         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))
 111                         for cb in self.callbacks:
 112                                 if cb is not None:
 113                                         cb(s)
 114                 def handle_pins_event(self):
 115                         pins = self.pins()
 116                         if not pins.door_locked:
 117                                 self.notify(True)
 118                                 return StateAboutToOpen(self.state_machine)
 119                 def handle_open_event(self,callback):
 120                         # FIXME: 202 notification also here if possible
 121                         self.callbacks.append(callback)
 122                 def handle_wakeup_event(self):
 123                         over = time.time() - self.time_entered
 124                         nexttry = (self.tries+1) * OPEN_REPEAT_TIMEOUT
 125                         if over > nexttry:
 126                                 if self.tries < OPEN_REPEAT_NUMBER:
 127                                         self.actor().act(Actor.CMD_OPEN)
 128                                         self.tries += 1
 129                                 else:
 130                                         logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
 131                                         self.notify(False)
 132                                         return StateZu(self.state_machine)
 133
 134         class AbstractStateWhereOpeningIsRedundant(State):
 135                 def __init__ (self,sm):
 136                         State.__init__(sm):
 137                 def handle_open_event(self, callback):
 138                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 139                         logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
 140                         self.actor().act(Actor.CMD_OPEN)
 141
 142         class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
 143                 def __init__(self, sm):
 144                         AbstractStateWhereOpeningIsRedundant.__init__(sm)
 145                 def handle_pins_event(self):
 146                         pins = self.pins()
 147                         if pins.door_locked:
 148                                 return StateZu(self.state_machine)
 149                         elif pins.space_active:
 150                                 return StateAuf(self.state_machine)
 151                 def handle_wakeup_event(self):
 152                         now = time.time()
 153                         lasttime = self.last_wakeup - self.time_entered
 154                         thistime = now - self.time_entered
 155                         for (t,f) in filter(lambda (t,f): t<=thistime and t>lasttime, ABOUTOPEN_NERVLIST):
 156                                 ret = f();
 157                                 if ret is not None:
 158                                         return ret
 159
 160         class StateAuf(AbstractStateWhereOpeningIsRedundant):
 161                 def __init__(self,sm):
 162                         AbstractStateWhereOpeningIsRedundant.__init__(sm)
 163                         self.last_buzzed = None
 164                 def handle_pins_event(self):
 165                         pins = self.pins()
 166                         if pins.bell_ringing:
 167                                 now = time.time()
 168                                 if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME:
 169                                         logger.info("buzzing because of bell ringing in state auf")
 170                                         self.actor().act(Actor.CMD_BUZZ)
 171                                         self.last_buzzed = now
 172                         if not pins.space_active:
 173                                 logger.info("space switch off - starting leaving procedure")
 174                                 return StateAboutToLeave(self.state_machine)
 175                         if pins.door_locked:
 176                                 logger.error("door manually locked, but space switch on - going to StateZu")
 177                                 play_sound("manual_lock")
 178                                 return StateZu(self.state_machine)
 179                 # handle_wakeup_event intentionally not overwritten
 180
 181         class StateClosing(State):
 182                 # TODO: share code with StateOpening, and possibly also with the nerv-mechanism from StateAboutToOpen
 183                 def __init__(self,callback,sm):
 184                         State.__init__(self,sm)
 185                         self.callbacks=[callback]
 186                         # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use?
 187                         self.tries = 0
 188                         self.actor().act(Actor.CMD_CLOSE)
 189                 def notify(self, did_it_work):
 190                         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))
 191                         for cb in self.callbacks:
 192                                 if cb is not None:
 193                                         cb(s)
 194                 def handle_pins_event(self):
 195                         pins = self.pins()
 196                         if not pins.door_locked:
 197                                 self.notify(True)
 198                                 return StateAboutToOpen(self.state_machine)
 199                 def handle_open_event(self,callback):
 200                         callback("409 conflict: The server is currently trying to close the door. Try again later.")
 201                 def handle_wakeup_event(self):
 202                         over = time.time() - self.time_entered
 203                         nexttry = (self.tries+1) * CLOSE_REPEAT_TIMEOUT
 204                         if over > nexttry:
 205                                 if self.tries < CLOSE_REPEAT_NUMBER:
 206                                         self.actor().act(Actor.CMD_CLOSE)
 207                                         self.tries += 1
 208                                 else:
 209                                         logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
 210                                         self.notify(False)
 211                                         return StateAboutToOpen(self.state_machine)
 212
 213         class StateAboutToLeave(State):
 214                 #TODO Ralf
 215                 pass
 216
 217         class StateLeaving(State):
 218                 #TODO Ralf
 219                 pass
 220
 221         def __init__(self, actor):
 222                 self.actor = actor
 223                 self.callback = ThreadFunction(self._callback)
 224                 self.current_state = StateStart(self)
 225                 self.pins = None
 226                 self.old_pins = None
 227
 228         def stop (self):
 229                 self.callback.stop()
 230
 231         def _callback(self, cmd, arg=None):
 232                 # update pins
 233                 if cmd == StateMachine.CMD_PINS:
 234                         self.old_pins = self.pins
 235                         self.pins = arg
 236                 # handle stuff
 237                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 238                 while newstate is not None:
 239                         logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
 240                         self.current_state = newstate
 241                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)