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 = 4
  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 AbstractLockedState(State):
 103                 '''A state with invariant "The space is locked", switching to StateAboutToOpen when the space becomes unlocked'''
 104                 def handle_pins_event(self):
 105                         if not self.pins().door_locked:
 106                                 logger.info("Door unlocked, space is about to open")
 107                                 return StateMachine.StateAboutToOpen(self.state_machine)
 108                         return super().handle_pins_event()
 109
 110         class AbstractUnlockedState(State):
 111                 '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked'''
 112                 def handle_pins_event(self):
 113                         if self.pins().door_locked:
 114                                 logger.info("Door locked, closing space")
 115                                 if self.pins().space_active:
 116                                         # FIXME the same state can be reached by first locking the door, and then activating the space. What to do then?
 117                                         logger.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu")
 118                                         play_sound("manual_lock")
 119                                 return StateMachine.StateZu(self.state_machine)
 120                         return super().handle_pins_event()
 121
 122         class StateStart(State):
 123                 def handle_pins_event(self):
 124                         pins = self.pins()
 125                         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):
 126                                 logger.info("All sensors got a value, switching to a proper state")
 127                                 if pins.door_locked:
 128                                         return StateMachine.StateZu(self.state_machine)
 129                                 else:
 130                                         return StateMachine.StateAboutToOpen(self.state_machine)
 131                         return super().handle_pins_event()
 132
 133         class StateZu(AbstractLockedState):
 134                 def handle_cmd_unlock_event(self,callback):
 135                         return StateMachine.StateUnlocking(self.state_machine, callback)
 136
 137         class StateUnlocking(AbstractLockedState):
 138                 def __init__(self,sm,callback=None):
 139                         # construct a nervlist
 140                         nervlist = [(OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in range(OPEN_REPEAT_NUMBER)]
 141                         nervlist += [(OPEN_REPEAT_TIMEOUT, self.could_not_open)]
 142                         super().__init__(sm,nervlist)
 143                         self.callbacks=[callback]
 144                         # TODO: can we send "202 processing: Trying to unlock the door" here? Are the callbacks multi-use?
 145                         self.actor().act(Actor.CMD_UNLOCK)
 146                 def notify(self, did_it_work):
 147                         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))
 148                         for cb in self.callbacks:
 149                                 if cb is not None:
 150                                         cb(s)
 151                 def on_leave(self):
 152                         self.notify(not self.pins().door_locked)
 153                 def handle_cmd_unlock_event(self,callback):
 154                         # TODO: 202 notification also here if possible
 155                         self.callbacks.append(callback)
 156                 def could_not_open(self):
 157                         logger.critical("StateMachine: Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
 158                         return StateMachine.StateZu(self.state_machine)
 159
 160         class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
 161                 def handle_cmd_unlock_event(self, callback):
 162                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 163                         logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__)
 164                         self.actor().act(Actor.CMD_UNLOCK)
 165
 166         class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant):
 167                 def __init__(self, sm):
 168                         super().__init__(sm, ABOUTOPEN_NERVLIST)
 169                 def handle_pins_event(self):
 170                         pins = self.pins()
 171                         if pins.space_active:
 172                                 logger.info("Space activated, opening procedure completed")
 173                                 return StateMachine.StateAuf(self.state_machine)
 174                         return super().handle_pins_event()
 175
 176         class StateAuf(AbstractStateWhereUnlockingIsRedundant):
 177                 def __init__(self,sm):
 178                         nervlist = [(24*60*60, lambda: logger.critical("Space is now open for 24h. Is everything all right?"))]
 179                         super().__init__(sm, nervlist)
 180                         self.last_buzzed = None
 181                 def handle_pins_event(self):
 182                         pins = self.pins()
 183                         if pins.bell_ringing and not self.old_pins().bell_ringing:
 184                                 # someone just pressed the bell
 185                                 logger.info("StateMachine: buzzing because of bell ringing in StateAuf")
 186                                 self.actor().act(Actor.CMD_BUZZ)
 187                         if not pins.space_active:
 188                                 logger.info("StateMachine: space switch turned off - starting leaving procedure")
 189                                 return StateMachine.StateAboutToLeave(self.state_machine)
 190                         return super().handle_pins_event()
 191
 192         class StateLocking(AbstractUnlockedState):
 193                 def __init__(self,sm):
 194                         # construct a nervlist
 195                         nervlist = [(CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(CLOSE_REPEAT_NUMBER)]
 196                         nervlist += [(CLOSE_REPEAT_TIMEOUT, self.could_not_close)]
 197                         super().__init__(sm, nervlist)
 198                         if self.pins().door_closed: # this should always be true, but just to be sure...
 199                                 self.actor().act(Actor.CMD_LOCK)
 200                 def handle_pins_event(self):
 201                         pins = self.pins()
 202                         if not pins.door_closed:
 203                                 # TODO play a sound? This shouldn't happen, door was opened while we are locking
 204                                 logger.warning("StateMachine: door manually opened during locking")
 205                                 return StateMachine.StateAboutToOpen(self.state_machine)
 206                         # TODO do anything here if the switch is activated now?
 207                         return super().handle_pins_event()
 208                 def handle_cmd_unlock_event(self,callback):
 209                         callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.")
 210                 def could_not_close(self):
 211                         logger.critical("StateMachine: Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
 212                         return StateMachine.StateAboutToOpen(self.state_machine)
 213
 214         class StateAboutToLeave(AbstractUnlockedState):
 215                 def __init__(self, sm):
 216                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateLocking(self.state_machine))]
 217                         super().__init__(sm, nervlist)
 218                 def handle_pins_event(self):
 219                         if not self.pins().door_closed:
 220                                 return StateMachine.StateLeaving(self.state_machine)
 221                         if self.pins().space_active:
 222                                 logger.info("Space re-activated, cancelling leaving procedure")
 223                                 return StateMachine.StateAuf(self.state_machine)
 224                         return super().handle_pins_event()
 225
 226         class StateLeaving(AbstractUnlockedState):
 227                 def __init__(self, sm):
 228                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateAboutToOpen(self.state_machine))]
 229                         super().__init__(sm, nervlist)
 230                 def handle_pins_event(self):
 231                         if self.pins().door_closed:
 232                                 logger.info("The space was left, locking the door")
 233                                 return StateMachine.StateLocking(self.state_machine)
 234                         if self.pins().space_active:
 235                                 logger.info("Space re-activated, cancelling leaving procedure")
 236                                 return StateMachine.StateAuf(self.state_machine)
 237                         return super().handle_pins_event()
 238
 239         def __init__(self, actor):
 240                 self.actor = actor
 241                 self.callback = ThreadFunction(self._callback, name="StateMachine")
 242                 self.current_state = StateMachine.StateStart(self)
 243                 self.pins = None
 244                 self.old_pins = None
 245
 246         def stop (self):
 247                 self.callback.stop()
 248
 249         def _callback(self, cmd, arg=None):
 250                 # update pins
 251                 if cmd == StateMachine.CMD_PINS:
 252                         self.pins = arg
 253                 # handle stuff
 254                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 255                 self.old_pins = self.pins
 256                 while newstate is not None:
 257                         assert isinstance(newstate, StateMachine.State), "I should get a state"
 258                         self.current_state.on_leave()
 259                         logger.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__))
 260                         self.current_state = newstate
 261                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)