70f9fe3e3cd942d16a992087bb8e76705a895138
[saartuer.git] / 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 handle_pins_event(self):
81                         super().handle_pins_event()
82                         thepins = self.pins()
83                         for pin in thepins:
84                                 if pin is None:
85                                         return None
86                         if thepins.door_locked:
87                                 return StateZu
88                         else:
89                                 return StateAuf
90
91         class StateZu(State):
92                 def handle_pins_event(self):
93                         super().handle_pins_event()
94                         pins = self.pins()
95                         if not pins.door_locked:
96                                 return StateAboutToOpen(self.state_machine)
97                 def handle_open_event(self,callback):
98                         # intentionally not calling super() implementation
99                         return StateOpening(callback,self.state_machine)
100         
101         class StateOpening(State):
102                 def __init__(self,callback,sm):
103                         super().__init__(self,sm)
104                         self.callbacks=[callback]
105                         # FIXME: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
106                         self.tries = 0
107                         self.actor().act(Actor.CMD_OPEN)
108                 def notify(self, did_it_work):
109                         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))
110                         for cb in self.callbacks:
111                                 if cb is not None:
112                                         cb(s)
113                 def handle_pins_event(self):
114                         super().handle_pins_event()
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                         # intentionally not calling super() implementation
121                         # FIXME: 202 notification also here if possible
122                         self.callbacks.append(callback)
123                 def handle_wakeup_event(self):
124                         super().handle_wakeup_event()
125                         over = time.time() - self.time_entered
126                         nexttry = (self.tries+1) * OPEN_REPEAT_TIMEOUT
127                         if over > nexttry:
128                                 if self.tries < OPEN_REPEAT_NUMBER:
129                                         self.actor().act(Actor.CMD_OPEN)
130                                         self.tries += 1
131                                 else:
132                                         logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
133                                         self.notify(False)
134                                         return StateZu(self.state_machine)
135         
136         class AbstractStateWhereOpeningIsRedundant(State):
137                 def handle_open_event(self, callback):
138                         # intentionally not calling super() implementation
139                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
140                         logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
141                         self.actor().act(Actor.CMD_OPEN)
142         
143         class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
144                 def handle_pins_event(self):
145                         super().handle_pins_event()
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                         super().handle_wakeup_event()
153                         now = time.time()
154                         lasttime = self.last_wakeup - self.time_entered
155                         thistime = now - self.time_entered
156                         for (t,f) in filter(lambda (t,f): t<=thistime and t>lasttime, ABOUTOPEN_NERVLIST):
157                                 ret = f();
158                                 if ret is not None:
159                                         return ret
160         
161         class StateAuf(AbstractStateWhereOpeningIsRedundant):
162                 def __init__(self,sm):
163                         super().__init__(sm)
164                         self.last_buzzed = None
165                 def handle_pins_event(self):
166                         super().handle_pins_event()
167                         pins = self.pins()
168                         if pins.bell_ringing:
169                                 now = time.time()
170                                 if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME:
171                                         logger.info("buzzing because of bell ringing in state auf")
172                                         self.actor().act(Actor.CMD_BUZZ)
173                                         self.last_buzzed = now
174                         if not pins.space_active:
175                                 logger.info("space switch off - starting leaving procedure")
176                                 return StateAboutToLeave(self.state_machine)
177                         if pins.door_locked:
178                                 logger.error("door manually locked, but space switch on - going to StateZu")
179                                 play_sound("manual_lock")
180                                 return StateZu(self.state_machine)
181                 # handle_wakeup_event intentionally not overwritten
182         
183         class StateClosing(State):
184                 # TODO: share code with StateOpening, and possibly also with the nerv-mechanism from StateAboutToOpen
185                 def __init__(self,callback,sm):
186                         super().__init__(sm)
187                         self.callbacks=[callback]
188                         # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use?
189                         self.tries = 0
190                         self.actor().act(Actor.CMD_CLOSE)
191                 def notify(self, did_it_work):
192                         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))
193                         for cb in self.callbacks:
194                                 if cb is not None:
195                                         cb(s)
196                 def handle_pins_event(self):
197                         pins = self.pins()
198                         if not pins.door_locked:
199                                 self.notify(True)
200                                 return StateAboutToOpen(self.state_machine)
201                 def handle_open_event(self,callback):
202                         callback("409 conflict: The server is currently trying to close the door. Try again later.")
203                 def handle_wakeup_event(self):
204                         over = time.time() - self.time_entered
205                         nexttry = (self.tries+1) * CLOSE_REPEAT_TIMEOUT
206                         if over > nexttry:
207                                 if self.tries < CLOSE_REPEAT_NUMBER:
208                                         self.actor().act(Actor.CMD_CLOSE)
209                                         self.tries += 1
210                                 else:
211                                         logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
212                                         self.notify(False)
213                                         return StateAboutToOpen(self.state_machine)
214         
215         class StateAboutToLeave(State):
216                 #TODO Ralf
217                 pass
218         
219         class StateLeaving(State):
220                 #TODO Ralf
221                 pass
222         
223         def __init__(self, actor):
224                 self.actor = actor
225                 self.callback = ThreadFunction(self._callback)
226                 self.current_state = StateStart(self)
227                 self.pins = None
228                 self.old_pins = None
229         
230         def stop (self):
231                 self.callback.stop()
232         
233         def _callback(self, cmd, arg=None):
234                 # update pins
235                 if cmd == StateMachine.CMD_PINS:
236                         self.pins = arg
237                 # handle stuff
238                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
239                 self.old_pins = self.pins # FIXME not used?
240                 while newstate is not None:
241                         logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
242                         self.current_state = newstate
243                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)