statemachine.py

   1 from libtuer import ThreadFunction, logger, fire_and_forget, fire_and_forget_cmd
   2 from actor import Actor
   3 import os, random, time, threading, datetime
   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         hour = datetime.datetime.time(datetime.datetime.now()).hour
  15         volume = 60 if hour >= 22 or hour <= 6 else 95
  16         fire_and_forget_cmd ([SOUNDS_PLAYER, "-volume", str(volume), soundfile], "StateMachine: ")
  17
  18 # convert an absolute nervlist to a relative one
  19 def nervlist_abs2rel(nervlist_abs):
  20         nervlist_rel = []
  21         last_t = 0
  22         for (t, f) in nervlist_abs:
  23                 assert t >= last_t
  24                 nervlist_rel.append((t-last_t, f))
  25                 last_t = t
  26         return nervlist_rel
  27
  28 # StateAuf constants
  29 HELLO_PROBABILITY = 0.2
  30
  31 # StateUnlocking constants
  32 OPEN_REPEAT_TIMEOUT = 7
  33 OPEN_REPEAT_NUMBER = 3
  34
  35 # StateLocking constants
  36 CLOSE_REPEAT_TIMEOUT = 7
  37 CLOSE_REPEAT_NUMBER = 3
  38
  39 # StateFallback constants
  40 FALLBACK_LEAVE_DELAY_LOCK = 5 # seconds
  41
  42 # StateAboutToOpen constants
  43 SWITCH_PRAISE_PROBABILITY = 0.5
  44 ABOUTOPEN_NERVLIST = nervlist_abs2rel([(10, lambda:play_sound("flipswitch")),\
  45         (20, lambda:play_sound("flipswitch")), (30, lambda:play_sound("flipswitch")), (30, lambda:logger.error("Space open but switch not flipped for 30 seconds")),\
  46         (40, lambda:play_sound("flipswitch")), (50, lambda:play_sound("flipswitch")), (60, lambda:play_sound("mail_sent")),
  47         (60, lambda:logger.critical("Space open but switch not flipped for 60 seconds")), (120, lambda:play_sound("mail_sent")),
  48         (10*60, lambda:logger.critical("Space open but switch not flipped for 10 minutes")),
  49         (60*60, lambda:logger.critical("Space open but switch not flipped for one hour"))])
  50
  51 # Timeout we wait after the switch was switched to "Closed", until we assume nobody will open the door and we just lock it
  52 # ALso the time we wait after the door was opend, till we assume something went wrong and start nerving
  53 LEAVE_TIMEOUT = 20
  54
  55 # play_sound constants
  56 SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
  57 SOUNDS_PLAYER = "/usr/bin/mplayer"
  58
  59
  60 class Nerver():
  61         # 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.
  62         # If f returns something, that's also returned by nerv.
  63         def __init__(self, nervlist):
  64                 self.nervlist = list(nervlist)
  65                 self.last_event_time = time.time()
  66
  67         def nerv(self):
  68                 if len(self.nervlist):
  69                         (wait_time, f) = self.nervlist[0]
  70                         now = time.time()
  71                         time_gone = now-self.last_event_time
  72                         # check if the first element is to be triggered
  73                         if time_gone >= wait_time:
  74                                 self.nervlist = self.nervlist[1:] # "pop" the first element, but do not modify original list
  75                                 self.last_event_time = now
  76                                 return f()
  77
  78
  79 class StateMachine():
  80         # commands you can send
  81         CMD_PINS = 0
  82         CMD_BUZZ = 1
  83         CMD_UNLOCK = 2
  84         CMD_WAKEUP = 3
  85         CMD_LAST = 4
  86
  87         class State():
  88                 def __init__(self, state_machine, nervlist = None):
  89                         self.state_machine = state_machine
  90                         self._nerver = None if nervlist is None else Nerver(nervlist)
  91                 def handle_pins_event(self):
  92                         pass # one needn't implement this
  93                 def handle_buzz_event(self,arg): # this shouldn't be overwritten
  94                         self.actor().act(Actor.CMD_BUZZ)
  95                         arg("200 okay: buzz executed")
  96                 def handle_cmd_unlock_event(self,arg):
  97                         if arg is not None:
  98                                 arg("412 Precondition Failed: The current state (%s) cannot handle the UNLOCK command. Try again later." % self.__class__.__name__)
  99                 def handle_wakeup_event(self):
 100                         if self._nerver is not None:
 101                                 return self._nerver.nerv()
 102                 def on_leave(self):
 103                         pass
 104                 def pins(self):
 105                         return self.state_machine.pins
 106                 def old_pins(self):
 107                         return self.state_machine.old_pins
 108                 def actor(self):
 109                         return self.state_machine.actor
 110                 def api(self):
 111                         return self.state_machine.api
 112                 def handle_event(self,ev,arg): # don't override
 113                         if ev == StateMachine.CMD_PINS:
 114                                 return self.handle_pins_event()
 115                         elif ev == StateMachine.CMD_BUZZ:
 116                                 return self.handle_buzz_event(arg)
 117                         elif ev == StateMachine.CMD_UNLOCK:
 118                                 return self.handle_cmd_unlock_event(arg)
 119                         elif ev == StateMachine.CMD_WAKEUP:
 120                                 return self.handle_wakeup_event()
 121                         else:
 122                                 raise Exception("Unknown command number: %d" % ev)
 123
 124         class AbstractNonStartState(State):
 125                 def handle_pins_event(self):
 126                         if self.pins().door_locked != (not self.pins().space_active):
 127                                 self.actor().act(Actor.CMD_RED_ON)
 128                         else:
 129                                 self.actor().act(Actor.CMD_RED_OFF)
 130                         return super().handle_pins_event()
 131
 132         class AbstractLockedState(AbstractNonStartState):
 133                 '''A state with invariant "The space is locked", switching to StateAboutToOpen when the space becomes unlocked'''
 134                 def __init__(self, sm, nervlist = None):
 135                         super().__init__(sm, nervlist)
 136                         self.actor().act(Actor.CMD_GREEN_OFF)
 137                 def handle_pins_event(self):
 138                         if not self.pins().door_locked:
 139                                 logger.info("Door unlocked, space is about to open")
 140                                 return StateMachine.StateAboutToOpen(self.state_machine)
 141                         return super().handle_pins_event()
 142
 143         class AbstractUnlockedState(AbstractNonStartState):
 144                 '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked'''
 145                 def __init__(self, sm, nervlist = None):
 146                         super().__init__(sm, nervlist)
 147                         self.actor().act(Actor.CMD_GREEN_ON)
 148                 def handle_pins_event(self):
 149                         if self.pins().door_locked:
 150                                 logger.info("Door locked, closing space")
 151                                 if self.pins().space_active:
 152                                         logger.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu")
 153                                         play_sound("manual_lock")
 154                                 return StateMachine.StateZu(self.state_machine)
 155                         return super().handle_pins_event()
 156
 157         class StateStart(State):
 158                 def __init__(self, sm, nervlist = None, fallback=False):
 159                         super().__init__(sm, nervlist)
 160                         self.fallback = fallback
 161                 def handle_pins_event(self):
 162                         pins = self.pins()
 163                         if not (pins.door_locked is None or pins.door_closed is None or pins.space_active is None or pins.bell_ringing is None):
 164                                 if self.fallback:
 165                                         logger.info("Going to StateFallback because running in fallback mode")
 166                                         return StateMachine.StateFallback(self.state_machine)
 167                                 if pins.door_locked:
 168                                         logger.info("All sensors got a value, switching to a proper state: Space is closed")
 169                                         return StateMachine.StateZu(self.state_machine)
 170                                 else:
 171                                         logger.info("All sensors got a value, switching to a proper state: Space is (about to) open")
 172                                         return StateMachine.StateAboutToOpen(self.state_machine)
 173                         return super().handle_pins_event()
 174
 175         class StateFallback(State):
 176                 def __init__(self, sm, nervlist = None):
 177                         super().__init__(sm, nervlist)
 178                         self._red_state = False
 179                 def handle_pins_event(self):
 180                         pins = self.pins()
 181                         # buzz if open and bell rang
 182                         if pins.space_active and pins.bell_ringing and not self.old_pins().bell_ringing:
 183                                 logger.info("StateFallback: Space switch on and door bell rung => buzzing")
 184                                 self.actor().act(Actor.CMD_BUZZ)
 185                         # set green LED according to space switch
 186                         if pins.space_active:
 187                                 self.actor().act(Actor.CMD_GREEN_ON)
 188                         else:
 189                                 self.actor().act(Actor.CMD_GREEN_OFF)
 190                         # primitive leaving procedure if space switch turned off
 191                         if not pins.space_active and self.old_pins().space_active:
 192                                 def _close_after_time():
 193                                         time.sleep(FALLBACK_LEAVE_DELAY_LOCK)
 194                                         self.actor().act(Actor.CMD_LOCK)
 195                                 fire_and_forget(_close_after_time)
 196                         # not calling superclass because we want to stay in fallback mode
 197                 def handle_wakeup_event(self):
 198                         # blink red LED
 199                         if self._red_state:
 200                                 self.actor().act(Actor.CMD_RED_OFF)
 201                                 self._red_state = False
 202                         else:
 203                                 self.actor().act(Actor.CMD_RED_ON)
 204                                 self._red_state = True
 205                 def handle_cmd_unlock_event(self,arg):
 206                         if arg is not None:
 207                                 arg("298 Fallback Okay: Trying to unlock the door. The System is in fallback mode, success information is not available.")
 208                         self.actor().act(Actor.CMD_UNLOCK)
 209
 210         class StateZu(AbstractLockedState):
 211                 def handle_cmd_unlock_event(self,callback):
 212                         return StateMachine.StateUnlocking(self.state_machine, callback)
 213                 def handle_pins_event(self):
 214                         if not self.old_pins().space_active and self.pins().space_active: # first thing to check: edge detection
 215                                 logger.info("Space toggled to active while it was closed - unlocking the door")
 216                                 return StateMachine.StateUnlocking(self.state_machine)
 217                         return super().handle_pins_event()
 218
 219         class StateUnlocking(AbstractLockedState):
 220                 def __init__(self,sm,callback=None):
 221                         # construct a nervlist
 222                         nervlist = [(OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in range(OPEN_REPEAT_NUMBER)]
 223                         nervlist += [(OPEN_REPEAT_TIMEOUT, self.could_not_open)]
 224                         super().__init__(sm,nervlist)
 225                         self.callbacks = []
 226                         self.actor().act(Actor.CMD_UNLOCK)
 227                         # enqueue the callback
 228                         self.handle_cmd_unlock_event(callback)
 229                 def notify(self, s, lastMsg):
 230                         for cb in self.callbacks:
 231                                 cb(s, lastMsg)
 232                 def on_leave(self):
 233                         s = "200 okay: door unlocked" if not self.pins().door_locked else ("500 internal server error: Couldn't unlock door with %d tries à %f seconds" % (OPEN_REPEAT_NUMBER,OPEN_REPEAT_TIMEOUT))
 234                         self.notify(s, lastMsg=True)
 235                 def handle_cmd_unlock_event(self,callback):
 236                         if callback is not None:
 237                                 callback("202 processing: Trying to unlock the door", lastMsg=False)
 238                                 self.callbacks.append(callback)
 239                 def could_not_open(self):
 240                         logger.critical("StateMachine: Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
 241                         return StateMachine.StateZu(self.state_machine)
 242
 243         class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
 244                 def handle_cmd_unlock_event(self, callback):
 245                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 246                         logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__)
 247                         self.actor().act(Actor.CMD_UNLOCK)
 248
 249         class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant):
 250                 def __init__(self, sm):
 251                         super().__init__(sm, ABOUTOPEN_NERVLIST)
 252                 def handle_pins_event(self):
 253                         pins = self.pins()
 254                         if pins.space_active:
 255                                 logger.info("Space activated, opening procedure completed")
 256                                 if not self.old_pins().space_active and random.random() <= SWITCH_PRAISE_PROBABILITY:
 257                                         play_sound("success")
 258                                 return StateMachine.StateAuf(self.state_machine)
 259                         return super().handle_pins_event()
 260
 261         class StateAuf(AbstractStateWhereUnlockingIsRedundant):
 262                 def __init__(self,sm):
 263                         nervlist = [(24*60*60, lambda: logger.critical("Space is now open for 24h. Is everything all right?"))]
 264                         super().__init__(sm, nervlist)
 265                         self.last_buzzed = None
 266                         self.api().set_state(True)
 267                 def handle_pins_event(self):
 268                         pins = self.pins()
 269                         if pins.bell_ringing and not self.old_pins().bell_ringing: # first thing to check: edge detection
 270                                 # someone just pressed the bell
 271                                 logger.info("StateMachine: buzzing because of bell ringing in StateAuf")
 272                                 self.actor().act(Actor.CMD_BUZZ)
 273                         if not pins.space_active:
 274                                 logger.info("StateMachine: space switch turned off - starting leaving procedure")
 275                                 return StateMachine.StateAboutToLeave(self.state_machine)
 276                         if not pins.door_closed and self.old_pins().door_closed and random.random() <= HELLO_PROBABILITY:
 277                                 play_sound("hello")
 278                         return super().handle_pins_event()
 279                 def on_leave(self):
 280                         self.api().set_state(False)
 281
 282         class StateLocking(AbstractUnlockedState):
 283                 def __init__(self,sm):
 284                         # construct a nervlist
 285                         nervlist = [(CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(CLOSE_REPEAT_NUMBER)]
 286                         nervlist += [(CLOSE_REPEAT_TIMEOUT, self.could_not_close)]
 287                         super().__init__(sm, nervlist)
 288                         if self.pins().door_closed: # this should always be true, but just to be sure...
 289                                 self.actor().act(Actor.CMD_LOCK)
 290                 def handle_pins_event(self):
 291                         pins = self.pins()
 292                         if not pins.door_closed:
 293                                 # TODO play a sound? This shouldn't happen, door was opened while we are locking
 294                                 logger.warning("StateMachine: door manually opened during locking")
 295                                 return StateMachine.StateAboutToOpen(self.state_machine)
 296                         # TODO do anything here if the switch is activated now?
 297                         return super().handle_pins_event()
 298                 def handle_cmd_unlock_event(self,callback):
 299                         callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.")
 300                 def could_not_close(self):
 301                         logger.critical("StateMachine: Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
 302                         return StateMachine.StateAboutToOpen(self.state_machine)
 303
 304         class StateAboutToLeave(AbstractUnlockedState):
 305                 def __init__(self, sm):
 306                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateLocking(self.state_machine))]
 307                         super().__init__(sm, nervlist)
 308                 def handle_pins_event(self):
 309                         if not self.pins().door_closed:
 310                                 return StateMachine.StateLeaving(self.state_machine)
 311                         if self.pins().space_active:
 312                                 logger.info("Space re-activated, cancelling leaving procedure")
 313                                 return StateMachine.StateAuf(self.state_machine)
 314                         return super().handle_pins_event()
 315
 316         class StateLeaving(AbstractUnlockedState):
 317                 def __init__(self, sm):
 318                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateAboutToOpen(self.state_machine))]
 319                         super().__init__(sm, nervlist)
 320                 def handle_pins_event(self):
 321                         if self.pins().door_closed:
 322                                 logger.info("The space was left, locking the door")
 323                                 return StateMachine.StateLocking(self.state_machine)
 324                         if self.pins().space_active:
 325                                 logger.info("Space re-activated, cancelling leaving procedure")
 326                                 return StateMachine.StateAuf(self.state_machine)
 327                         return super().handle_pins_event()
 328
 329         def __init__(self, actor, waker, api, fallback = False):
 330                 self.actor = actor
 331                 self.api = api
 332                 self.callback = ThreadFunction(self._callback, name="StateMachine")
 333                 self.current_state = StateMachine.StateStart(self, fallback=fallback)
 334                 self.pins = None
 335                 self.old_pins = None
 336                 waker.register(lambda: self.callback(StateMachine.CMD_WAKEUP), 1.0) # wake up every second
 337                 # initially, the space is closed
 338                 api.set_state(False)
 339
 340         def stop (self):
 341                 self.callback.stop()
 342
 343         def _callback(self, cmd, arg=None):
 344                 # update pins
 345                 if cmd == StateMachine.CMD_PINS:
 346                         self.pins = arg
 347                 # handle stuff
 348                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 349                 self.old_pins = self.pins
 350                 while newstate is not None:
 351                         assert isinstance(newstate, StateMachine.State), "I should get a state"
 352                         self.current_state.on_leave()
 353                         logger.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__))
 354                         self.current_state = newstate
 355                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)