Merge branch 'master' of ralfj.de:saartuer
[saartuer.git] / statemachine.py
1 from libtuer import ThreadFunction, logger, fire_and_forget
2 from actor import Actor
3 import os, random, time
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 # StateUnlocking constants
18 OPEN_REPEAT_TIMEOUT = 7
19 OPEN_REPEAT_NUMBER = 3
20
21 # StateLocking constants
22 CLOSE_REPEAT_TIMEOUT = 7
23 CLOSE_REPEAT_NUMBER = 3
24
25 # StateAboutToOpen constants
26 ABOUTOPEN_NERVLIST = [(5, lambda : play_sound("flipswitch")), (5, lambda:play_sound("flipswitch")), (0, lambda:logger.warning("Space open but switch not flipped for 10 seconds")),\
27         (10, lambda:play_sound("flipswitch")), (10, lambda:play_sound("flipswitch")), (0, lambda:logger.error("Space open but switch not flipped for 30 seconds")),\
28         (10, lambda:play_sound("flipswitch")), (10, lambda:play_sound("flipswitch")), (6, lambda:play_sound("flipswitch")), (4, lambda:logger.critical("Space open but switch not flipped for 60 seconds")),
29         (59*60, lambda:logger.critical("Space open but switch not flipped for one hour"))]
30
31 # Timeout we wait after the switch was switched to "Closed", until we assume nobody will open the door and we just lock it
32 # ALso the time we wait after the door was opend, till we assume something went wrong and start nerving
33 LEAVE_TIMEOUT = 20
34
35 # play_sound constants
36 SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
37 SOUNDS_PLAYER = "/usr/bin/mplayer"
38
39
40 class Nerver():
41         # 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.
42         # If f returns something, that's also returned by nerv.
43         def __init__(self, nervlist):
44                 self.nervlist = list(nervlist)
45                 self.last_event_time = time.time()
46         
47         def nerv(self):
48                 if len(self.nervlist):
49                         (wait_time, f) = self.nervlist[0]
50                         now = time.time()
51                         time_gone = now-self.last_event_time
52                         # check if the first element is to be triggered
53                         if time_gone >= wait_time:
54                                 self.nervlist = self.nervlist[1:] # "pop" the first element, but do not modify original list
55                                 self.last_event_time = now
56                                 return f()
57
58
59 class StateMachine():
60         # commands you can send
61         CMD_PINS = 0
62         CMD_BUZZ = 1
63         CMD_UNLOCK = 2
64         CMD_WAKEUP = 3
65         CMD_LAST = 4
66         
67         class State():
68                 def __init__(self, state_machine, nervlist = None):
69                         self.state_machine = state_machine
70                         self._nerver = None if nervlist is None else Nerver(nervlist)
71                 def handle_pins_event(self):
72                         pass # one needn't implement this
73                 def handle_buzz_event(self,arg): # this shouldn't be overwritten
74                         self.actor().act(Actor.CMD_BUZZ)
75                         arg("200 okay: buzz executed")
76                 def handle_cmd_unlock_event(self,arg):
77                         if arg is not None:
78                                 arg("412 Precondition Failed: The current state (%s) cannot handle the UNLOCK command. Try again later." % self.__class__.__name__)
79                 def handle_wakeup_event(self):
80                         if self._nerver is not None:
81                                 return self._nerver.nerv()
82                 def on_leave(self):
83                         pass
84                 def pins(self):
85                         return self.state_machine.pins
86                 def old_pins(self):
87                         return self.state_machine.old_pins
88                 def actor(self):
89                         return self.state_machine.actor
90                 def handle_event(self,ev,arg): # don't override
91                         if ev == StateMachine.CMD_PINS:
92                                 return self.handle_pins_event()
93                         elif ev == StateMachine.CMD_BUZZ:
94                                 return self.handle_buzz_event(arg)
95                         elif ev == StateMachine.CMD_UNLOCK:
96                                 return self.handle_cmd_unlock_event(arg)
97                         elif ev == StateMachine.CMD_WAKEUP:
98                                 return self.handle_wakeup_event()
99                         else:
100                                 raise Exception("Unknown command number: %d" % ev)
101         
102         class AbstractNonStartState(State):
103                 def handle_pins_event(self):
104                         if self.pins().door_locked != (not self.pins().space_active):
105                                 self.actor().act(Actor.CMD_RED_ON)
106                         else:
107                                 self.actor().act(Actor.CMD_RED_OFF)
108                         return super().handle_pins_event()
109         
110         class AbstractLockedState(AbstractNonStartState):
111                 '''A state with invariant "The space is locked", switching to StateAboutToOpen when the space becomes unlocked'''
112                 def __init__(self, sm, nervlist = None):
113                         super().__init__(sm, nervlist)
114                         self.actor().act(Actor.CMD_GREEN_OFF)
115                 def handle_pins_event(self):
116                         if not self.pins().door_locked:
117                                 logger.info("Door unlocked, space is about to open")
118                                 return StateMachine.StateAboutToOpen(self.state_machine)
119                         if not self.old_pins().space_active and self.pins().space_active:
120                                 logger.info("Space toggled to active while it was closed - unlocking the door")
121                                 return StateMachine.StateUnlocking(self.state_machine)
122                         return super().handle_pins_event()
123         
124         class AbstractUnlockedState(AbstractNonStartState):
125                 '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked'''
126                 def __init__(self, sm, nervlist = None):
127                         super().__init__(sm, nervlist)
128                         self.actor().act(Actor.CMD_GREEN_ON)
129                 def handle_pins_event(self):
130                         if self.pins().door_locked:
131                                 logger.info("Door locked, closing space")
132                                 if self.pins().space_active:
133                                         logger.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu")
134                                         play_sound("manual_lock")
135                                 return StateMachine.StateZu(self.state_machine)
136                         return super().handle_pins_event()
137         
138         class StateStart(State):
139                 def handle_pins_event(self):
140                         pins = self.pins()
141                         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):
142                                 logger.info("All sensors got a value, switching to a proper state")
143                                 if pins.door_locked:
144                                         return StateMachine.StateZu(self.state_machine)
145                                 else:
146                                         return StateMachine.StateAboutToOpen(self.state_machine)
147                         return super().handle_pins_event()
148         
149         class StateZu(AbstractLockedState):
150                 def handle_cmd_unlock_event(self,callback):
151                         return StateMachine.StateUnlocking(self.state_machine, callback)
152         
153         class StateUnlocking(AbstractLockedState):
154                 def __init__(self,sm,callback=None):
155                         # construct a nervlist
156                         nervlist = [(OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in range(OPEN_REPEAT_NUMBER)]
157                         nervlist += [(OPEN_REPEAT_TIMEOUT, self.could_not_open)]
158                         super().__init__(sm,nervlist)
159                         self.callbacks=[callback]
160                         # TODO: can we send "202 processing: Trying to unlock the door" here? Are the callbacks multi-use?
161                         self.actor().act(Actor.CMD_UNLOCK)
162                 def notify(self, did_it_work):
163                         s = "200 okay: door unlocked" if did_it_work else ("500 internal server error: Couldn't unlock door with %d tries à %f seconds" % (OPEN_REPEAT_NUMBER,OPEN_REPEAT_TIMEOUT))
164                         for cb in self.callbacks:
165                                 if cb is not None:
166                                         cb(s)
167                 def on_leave(self):
168                         self.notify(not self.pins().door_locked)
169                 def handle_cmd_unlock_event(self,callback):
170                         # TODO: 202 notification also here if possible
171                         self.callbacks.append(callback)
172                 def could_not_open(self):
173                         logger.critical("StateMachine: Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
174                         return StateMachine.StateZu(self.state_machine)
175         
176         class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
177                 def handle_cmd_unlock_event(self, callback):
178                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
179                         logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__)
180                         self.actor().act(Actor.CMD_UNLOCK)
181         
182         class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant):
183                 def __init__(self, sm):
184                         super().__init__(sm, ABOUTOPEN_NERVLIST)
185                 def handle_pins_event(self):
186                         pins = self.pins()
187                         if pins.space_active:
188                                 logger.info("Space activated, opening procedure completed")
189                                 return StateMachine.StateAuf(self.state_machine)
190                         return super().handle_pins_event()
191         
192         class StateAuf(AbstractStateWhereUnlockingIsRedundant):
193                 def __init__(self,sm):
194                         nervlist = [(24*60*60, lambda: logger.critical("Space is now open for 24h. Is everything all right?"))]
195                         super().__init__(sm, nervlist)
196                         self.last_buzzed = None
197                 def handle_pins_event(self):
198                         pins = self.pins()
199                         if pins.bell_ringing and not self.old_pins().bell_ringing:
200                                 # someone just pressed the bell
201                                 logger.info("StateMachine: buzzing because of bell ringing in StateAuf")
202                                 self.actor().act(Actor.CMD_BUZZ)
203                         if not pins.space_active:
204                                 logger.info("StateMachine: space switch turned off - starting leaving procedure")
205                                 return StateMachine.StateAboutToLeave(self.state_machine)
206                         return super().handle_pins_event()
207         
208         class StateLocking(AbstractUnlockedState):
209                 def __init__(self,sm):
210                         # construct a nervlist
211                         nervlist = [(CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(CLOSE_REPEAT_NUMBER)]
212                         nervlist += [(CLOSE_REPEAT_TIMEOUT, self.could_not_close)]
213                         super().__init__(sm, nervlist)
214                         if self.pins().door_closed: # this should always be true, but just to be sure...
215                                 self.actor().act(Actor.CMD_LOCK)
216                 def handle_pins_event(self):
217                         pins = self.pins()
218                         if not pins.door_closed:
219                                 # TODO play a sound? This shouldn't happen, door was opened while we are locking
220                                 logger.warning("StateMachine: door manually opened during locking")
221                                 return StateMachine.StateAboutToOpen(self.state_machine)
222                         # TODO do anything here if the switch is activated now?
223                         return super().handle_pins_event()
224                 def handle_cmd_unlock_event(self,callback):
225                         callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.")
226                 def could_not_close(self):
227                         logger.critical("StateMachine: Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
228                         return StateMachine.StateAboutToOpen(self.state_machine)
229         
230         class StateAboutToLeave(AbstractUnlockedState):
231                 def __init__(self, sm):
232                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateLocking(self.state_machine))]
233                         super().__init__(sm, nervlist)
234                 def handle_pins_event(self):
235                         if not self.pins().door_closed:
236                                 return StateMachine.StateLeaving(self.state_machine)
237                         if self.pins().space_active:
238                                 logger.info("Space re-activated, cancelling leaving procedure")
239                                 return StateMachine.StateAuf(self.state_machine)
240                         return super().handle_pins_event()
241         
242         class StateLeaving(AbstractUnlockedState):
243                 def __init__(self, sm):
244                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateAboutToOpen(self.state_machine))]
245                         super().__init__(sm, nervlist)
246                 def handle_pins_event(self):
247                         if self.pins().door_closed:
248                                 logger.info("The space was left, locking the door")
249                                 return StateMachine.StateLocking(self.state_machine)
250                         if self.pins().space_active:
251                                 logger.info("Space re-activated, cancelling leaving procedure")
252                                 return StateMachine.StateAuf(self.state_machine)
253                         return super().handle_pins_event()
254         
255         def __init__(self, actor):
256                 self.actor = actor
257                 self.callback = ThreadFunction(self._callback, name="StateMachine")
258                 self.current_state = StateMachine.StateStart(self)
259                 self.pins = None
260                 self.old_pins = None
261         
262         def stop (self):
263                 self.callback.stop()
264         
265         def _callback(self, cmd, arg=None):
266                 # update pins
267                 if cmd == StateMachine.CMD_PINS:
268                         self.pins = arg
269                 # handle stuff
270                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
271                 self.old_pins = self.pins
272                 while newstate is not None:
273                         assert isinstance(newstate, StateMachine.State), "I should get a state"
274                         self.current_state.on_leave()
275                         logger.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__))
276                         self.current_state = newstate
277                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)