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 handle_pins_event(self):
  77                         thepins = self.pins()
  78                         for pin in thepins:
  79                                 if pin is None:
  80                                         return None
  81                         if thepins.door_locked:
  82                                 return StateZu
  83                         else:
  84                                 return StateAuf
  85
  86         class StateZu(State):
  87                 def handle_pins_event(self):
  88                         pins = self.pins()
  89                         if not pins.door_locked:
  90                                 return StateAboutToOpen(self.state_machine)
  91                 def handle_open_event(self,callback):
  92                         return StateOpening(callback,self.state_machine)
  93
  94         class StateOpening(State):
  95                 def __init__(self,callback,sm):
  96                         super().__init__(self,sm)
  97                         self.callbacks=[callback]
  98                         # FIXME: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
  99                         self.tries = 0
 100                         self.actor().act(Actor.CMD_OPEN)
 101                 def notify(self, did_it_work):
 102                         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))
 103                         for cb in self.callbacks:
 104                                 if cb is not None:
 105                                         cb(s)
 106                 def handle_pins_event(self):
 107                         pins = self.pins()
 108                         if not pins.door_locked:
 109                                 self.notify(True)
 110                                 return StateAboutToOpen(self.state_machine)
 111                 def handle_open_event(self,callback):
 112                         # FIXME: 202 notification also here if possible
 113                         self.callbacks.append(callback)
 114                 def handle_wakeup_event(self):
 115                         over = time.time() - self.time_entered
 116                         nexttry = (self.tries+1) * OPEN_REPEAT_TIMEOUT
 117                         if over > nexttry:
 118                                 if self.tries < OPEN_REPEAT_NUMBER:
 119                                         self.actor().act(Actor.CMD_OPEN)
 120                                         self.tries += 1
 121                                 else:
 122                                         logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
 123                                         self.notify(False)
 124                                         return StateZu(self.state_machine)
 125
 126         class AbstractStateWhereOpeningIsRedundant(State):
 127                 def handle_open_event(self, callback):
 128                         # FIXME contradicting original plan where open would be ignored in StateAboutToOpen?
 129                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 130                         logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
 131                         self.actor().act(Actor.CMD_OPEN)
 132
 133         class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
 134                 def handle_pins_event(self):
 135                         pins = self.pins()
 136                         if pins.door_locked:
 137                                 return StateZu(self.state_machine)
 138                         elif pins.space_active:
 139                                 return StateAuf(self.state_machine)
 140                 def handle_wakeup_event(self):
 141                         now = time.time()
 142                         lasttime = self.last_wakeup - self.time_entered
 143                         thistime = now - self.time_entered
 144                         for (t,f) in filter(lambda (t,f): t<=thistime and t>lasttime, ABOUTOPEN_NERVLIST):
 145                                 ret = f();
 146                                 if ret is not None:
 147                                         return ret
 148
 149         class StateAuf(AbstractStateWhereOpeningIsRedundant):
 150                 def __init__(self,sm):
 151                         super().__init__(sm)
 152                         self.last_buzzed = None
 153                 def handle_pins_event(self):
 154                         pins = self.pins()
 155                         if pins.bell_ringing:
 156                                 now = time.time()
 157                                 if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME:
 158                                         logger.info("buzzing because of bell ringing in state auf")
 159                                         self.actor().act(Actor.CMD_BUZZ)
 160                                         self.last_buzzed = now
 161                         if not pins.space_active:
 162                                 logger.info("space switch off - starting leaving procedure")
 163                                 return StateAboutToLeave(self.state_machine)
 164                         if pins.door_locked:
 165                                 logger.error("door manually locked, but space switch on - going to StateZu")
 166                                 play_sound("manual_lock")
 167                                 return StateZu(self.state_machine)
 168                 # handle_wakeup_event intentionally not overwritten
 169
 170         class StateClosing(State):
 171                 #TODO Ralf/Conny
 172                 pass
 173
 174         class StateAboutToLeave(State):
 175                 #TODO Ralf
 176                 pass
 177
 178         class StateLeaving(State):
 179                 #TODO Ralf
 180                 pass
 181
 182         def __init__(self, actor):
 183                 self.actor = actor
 184                 self.callback = ThreadFunction(self._callback)
 185                 self.current_state = StateStart(self)
 186                 self.pins = None
 187                 self.old_pins = None
 188
 189         def stop (self):
 190                 self.callback.stop()
 191
 192         def _callback(self, cmd, arg=None):
 193                 # update pins
 194                 if cmd == StateMachine.CMD_PINS:
 195                         self.pins = arg
 196                 # handle stuff
 197                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 198                 self.old_pins = self.pins # FIXME not used?
 199                 while newstate is not None:
 200                         logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
 201                         self.current_state = newstate
 202                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)