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                         # FIXME contradicting original plan where open would be ignored in StateAboutToOpen?
 140                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 141                         logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
 142                         self.actor().act(Actor.CMD_OPEN)
 143
 144         class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
 145                 def handle_pins_event(self):
 146                         super().handle_pins_event()
 147                         pins = self.pins()
 148                         if pins.door_locked:
 149                                 return StateZu(self.state_machine)
 150                         elif pins.space_active:
 151                                 return StateAuf(self.state_machine)
 152                 def handle_wakeup_event(self):
 153                         super().handle_wakeup_event()
 154                         now = time.time()
 155                         lasttime = self.last_wakeup - self.time_entered
 156                         thistime = now - self.time_entered
 157                         for (t,f) in filter(lambda (t,f): t<=thistime and t>lasttime, ABOUTOPEN_NERVLIST):
 158                                 ret = f();
 159                                 if ret is not None:
 160                                         return ret
 161
 162         class StateAuf(AbstractStateWhereOpeningIsRedundant):
 163                 def __init__(self,sm):
 164                         super().__init__(sm)
 165                         self.last_buzzed = None
 166                 def handle_pins_event(self):
 167                         super().handle_pins_event()
 168                         pins = self.pins()
 169                         if pins.bell_ringing:
 170                                 now = time.time()
 171                                 if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME:
 172                                         logger.info("buzzing because of bell ringing in state auf")
 173                                         self.actor().act(Actor.CMD_BUZZ)
 174                                         self.last_buzzed = now
 175                         if not pins.space_active:
 176                                 logger.info("space switch off - starting leaving procedure")
 177                                 return StateAboutToLeave(self.state_machine)
 178                         if pins.door_locked:
 179                                 logger.error("door manually locked, but space switch on - going to StateZu")
 180                                 play_sound("manual_lock")
 181                                 return StateZu(self.state_machine)
 182                 # handle_wakeup_event intentionally not overwritten
 183
 184         class StateClosing(State):
 185                 # TODO: share code with StateOpening, and possibly also with the nerv-mechanism from StateAboutToOpen
 186                 def __init__(self,callback,sm):
 187                         super().__init__(sm)
 188                         self.callbacks=[callback]
 189                         # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use?
 190                         self.tries = 0
 191                         self.actor().act(Actor.CMD_CLOSE)
 192                 def notify(self, did_it_work):
 193                         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))
 194                         for cb in self.callbacks:
 195                                 if cb is not None:
 196                                         cb(s)
 197                 def handle_pins_event(self):
 198                         pins = self.pins()
 199                         if not pins.door_locked:
 200                                 self.notify(True)
 201                                 return StateAboutToOpen(self.state_machine)
 202                 def handle_open_event(self,callback):
 203                         callback("409 conflict: The server is currently trying to close the door. Try again later.")
 204                 def handle_wakeup_event(self):
 205                         over = time.time() - self.time_entered
 206                         nexttry = (self.tries+1) * CLOSE_REPEAT_TIMEOUT
 207                         if over > nexttry:
 208                                 if self.tries < CLOSE_REPEAT_NUMBER:
 209                                         self.actor().act(Actor.CMD_CLOSE)
 210                                         self.tries += 1
 211                                 else:
 212                                         logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
 213                                         self.notify(False)
 214                                         return StateAboutToOpen(self.state_machine)
 215
 216         class StateAboutToLeave(State):
 217                 #TODO Ralf
 218                 pass
 219
 220         class StateLeaving(State):
 221                 #TODO Ralf
 222                 pass
 223
 224         def __init__(self, actor):
 225                 self.actor = actor
 226                 self.callback = ThreadFunction(self._callback)
 227                 self.current_state = StateStart(self)
 228                 self.pins = None
 229                 self.old_pins = None
 230
 231         def stop (self):
 232                 self.callback.stop()
 233
 234         def _callback(self, cmd, arg=None):
 235                 # update pins
 236                 if cmd == StateMachine.CMD_PINS:
 237                         self.pins = arg
 238                 # handle stuff
 239                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 240                 self.old_pins = self.pins # FIXME not used?
 241                 while newstate is not None:
 242                         logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
 243                         self.current_state = newstate
 244                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)