statemachine.py

   1 from libtuer import ThreadFunction, logger, fire_and_forget, fire_and_forget_cmd
   2 from actor import Actor
   3 import os, random, time, threading, datetime
   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         hour = datetime.datetime.time(datetime.datetime.now()).hour
  15         volume = 60 if hour >= 22 or hour <= 6 else 95
  16         fire_and_forget_cmd ([SOUNDS_PLAYER, "-volume", str(volume), soundfile], "StateMachine: ")
  17
  18 # convert an absolute nervlist to a relative one
  19 def nervlist_abs2rel(nervlist_abs):
  20         nervlist_rel = []
  21         last_t = 0
  22         for (t, f) in nervlist_abs:
  23                 assert t >= last_t
  24                 nervlist_rel.append((t-last_t, f))
  25                 last_t = t
  26         return nervlist_rel
  27
  28 # StateAuf constants
  29 HELLO_PROBABILITY = 0.2
  30
  31 # StateUnlocking constants
  32 OPEN_REPEAT_TIMEOUT = 7
  33 OPEN_REPEAT_NUMBER = 3
  34
  35 # StateLocking constants
  36 CLOSE_REPEAT_TIMEOUT = 7
  37 CLOSE_REPEAT_NUMBER = 3
  38
  39 # StateFallback constants
  40 FALLBACK_LEAVE_DELAY_LOCK = 5 # seconds
  41
  42 # StateAboutToOpen constants
  43 SWITCH_PRAISE_PROBABILITY = 0.5
  44 ABOUTOPEN_NERVLIST = nervlist_abs2rel([(10, lambda:play_sound("flipswitch")),\
  45         (20, lambda:play_sound("flipswitch")), (30, lambda:play_sound("flipswitch")), (30, lambda:logger.error("Space open but switch not flipped for 30 seconds")),\
  46         (40, lambda:play_sound("flipswitch")), (50, lambda:play_sound("flipswitch")), (60, lambda:play_sound("mail_sent")),
  47         (60, lambda:logger.critical("Space open but switch not flipped for 60 seconds")), (120, lambda:play_sound("mail_sent")),
  48         (10*60, lambda:logger.critical("Space open but switch not flipped for 10 minutes")),
  49         (60*60, lambda:logger.critical("Space open but switch not flipped for one hour"))])
  50
  51 # Timeout we wait after the switch was switched to "Closed", until we assume nobody will open the door and we just lock it
  52 # ALso the time we wait after the door was opend, till we assume something went wrong and start nerving
  53 LEAVE_TIMEOUT = 20
  54
  55 # play_sound constants
  56 SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
  57 SOUNDS_PLAYER = "/usr/bin/mplayer"
  58
  59
  60 class Nerver():
  61         # 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.
  62         # If f returns something, that's also returned by nerv.
  63         def __init__(self, nervlist):
  64                 self.nervlist = list(nervlist)
  65                 self.last_event_time = time.time()
  66
  67         def nerv(self):
  68                 if len(self.nervlist):
  69                         (wait_time, f) = self.nervlist[0]
  70                         now = time.time()
  71                         time_gone = now-self.last_event_time
  72                         # check if the first element is to be triggered
  73                         if time_gone >= wait_time:
  74                                 self.nervlist = self.nervlist[1:] # "pop" the first element, but do not modify original list
  75                                 self.last_event_time = now
  76                                 return f()
  77
  78
  79 class StateMachine():
  80         # commands you can send
  81         CMD_PINS = 0
  82         CMD_BUZZ = 1
  83         CMD_UNLOCK = 2
  84         CMD_WAKEUP = 3
  85         CMD_LAST = 4
  86         CMD_LOCK = 5
  87         CMD_FALLBACK_ON = 6
  88         CMD_FALLBACK_OFF = 7
  89
  90         class State():
  91                 def __init__(self, state_machine, nervlist = None):
  92                         self.state_machine = state_machine
  93                         self._nerver = None if nervlist is None else Nerver(nervlist)
  94                 def handle_pins_event(self):
  95                         pass # one needn't implement this
  96                 def handle_buzz_event(self,arg): # this shouldn't be overwritten
  97                         self.actor().act(Actor.CMD_BUZZ)
  98                         arg("200 okay: buzz executed")
  99                 def handle_cmd_unlock_event(self,arg):
 100                         if arg is not None:
 101                                 arg("412 Precondition Failed: The current state (%s) cannot handle the UNLOCK command. Try again later." % self.__class__.__name__)
 102                 def handle_wakeup_event(self):
 103                         if self._nerver is not None:
 104                                 return self._nerver.nerv()
 105                 def handle_cmd_lock_event(self,arg):
 106                         arg("412 Precondition Failed: If not in fallback mode, use the hardware switch to lock the space.")
 107                 def handle_cmd_fallback_on_event(self,arg):
 108                         arg("200 okay: Entering fallback mode and notifying admins.")
 109                         logger.critical("Entering fallback mode. Somebody thinks, the hardware sensors are broken.")
 110                         return StateMachine.StateFallback(self.state_machine)
 111                 def handle_cmd_fallback_off_event(self,arg):
 112                         arg("412 Precondition Failed: Not in fallback mode!")
 113                 def on_leave(self):
 114                         pass
 115                 def pins(self):
 116                         return self.state_machine.pins
 117                 def old_pins(self):
 118                         return self.state_machine.old_pins
 119                 def actor(self):
 120                         return self.state_machine.actor
 121                 def api(self):
 122                         return self.state_machine.api
 123                 def handle_event(self,ev,arg): # don't override
 124                         if ev == StateMachine.CMD_PINS:
 125                                 return self.handle_pins_event()
 126                         elif ev == StateMachine.CMD_BUZZ:
 127                                 return self.handle_buzz_event(arg)
 128                         elif ev == StateMachine.CMD_UNLOCK:
 129                                 return self.handle_cmd_unlock_event(arg)
 130                         elif ev == StateMachine.CMD_WAKEUP:
 131                                 return self.handle_wakeup_event()
 132                         elif ev == StateMachine.CMD_LOCK:
 133                                 return self.handle_cmd_lock_event(arg)
 134                         elif ev == StateMachine.CMD_FALLBACK_ON:
 135                                 return self.handle_cmd_fallback_on_event(arg)
 136                         elif ev == StateMachine.CMD_FALLBACK_OFF:
 137                                 return self.handle_cmd_fallback_off_event(arg)
 138                         else:
 139                                 raise Exception("Unknown command number: %d" % ev)
 140
 141         class AbstractNonStartState(State):
 142                 def handle_pins_event(self):
 143                         if self.pins().door_locked != (not self.pins().space_active):
 144                                 self.actor().act(Actor.CMD_RED_ON)
 145                         else:
 146                                 self.actor().act(Actor.CMD_RED_OFF)
 147                         return super().handle_pins_event()
 148
 149         class AbstractLockedState(AbstractNonStartState):
 150                 '''A state with invariant "The space is locked", switching to StateAboutToOpen when the space becomes unlocked'''
 151                 def __init__(self, sm, nervlist = None):
 152                         super().__init__(sm, nervlist)
 153                         self.actor().act(Actor.CMD_GREEN_OFF)
 154                 def handle_pins_event(self):
 155                         if not self.pins().door_locked:
 156                                 logger.info("Door unlocked, space is about to open")
 157                                 return StateMachine.StateAboutToOpen(self.state_machine)
 158                         return super().handle_pins_event()
 159
 160         class AbstractUnlockedState(AbstractNonStartState):
 161                 '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked'''
 162                 def __init__(self, sm, nervlist = None):
 163                         super().__init__(sm, nervlist)
 164                         self.actor().act(Actor.CMD_GREEN_ON)
 165                 def handle_pins_event(self):
 166                         if self.pins().door_locked:
 167                                 logger.info("Door locked, closing space")
 168                                 if self.pins().space_active:
 169                                         logger.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu")
 170                                         play_sound("manual_lock")
 171                                 return StateMachine.StateZu(self.state_machine)
 172                         return super().handle_pins_event()
 173
 174         class StateStart(State):
 175                 def __init__(self, sm, nervlist = None, fallback=False):
 176                         super().__init__(sm, nervlist)
 177                         self.fallback = fallback
 178                 def handle_pins_event(self):
 179                         pins = self.pins()
 180                         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):
 181                                 if self.fallback:
 182                                         logger.info("Going to StateFallback because running in fallback mode")
 183                                         return StateMachine.StateFallback(self.state_machine)
 184                                 if pins.door_locked:
 185                                         logger.info("All sensors got a value, switching to a proper state: Space is closed")
 186                                         return StateMachine.StateZu(self.state_machine)
 187                                 else:
 188                                         logger.info("All sensors got a value, switching to a proper state: Space is (about to) open")
 189                                         return StateMachine.StateAboutToOpen(self.state_machine)
 190                         return super().handle_pins_event()
 191
 192         class StateFallback(State):
 193                 def __init__(self, sm, nervlist = None):
 194                         super().__init__(sm, nervlist)
 195                         self._red_state = False
 196                 def handle_pins_event(self):
 197                         pins = self.pins()
 198                         # set green LED according to space switch
 199                         if pins.space_active:
 200                                 self.actor().act(Actor.CMD_GREEN_ON)
 201                         else:
 202                                 self.actor().act(Actor.CMD_GREEN_OFF)
 203                         # primitive leaving procedure if space switch turned off
 204                         if not pins.space_active and self.old_pins().space_active:
 205                                 def _close_after_time():
 206                                         time.sleep(FALLBACK_LEAVE_DELAY_LOCK)
 207                                         self.actor().act(Actor.CMD_LOCK)
 208                                 fire_and_forget(_close_after_time)
 209                         # not calling superclass because we want to stay in fallback mode
 210                 def handle_wakeup_event(self):
 211                         # blink red LED
 212                         if self._red_state:
 213                                 self.actor().act(Actor.CMD_RED_OFF)
 214                                 self._red_state = False
 215                         else:
 216                                 self.actor().act(Actor.CMD_RED_ON)
 217                                 self._red_state = True
 218                 def handle_cmd_unlock_event(self,arg):
 219                         if arg is not None:
 220                                 arg("200 okay: Trying to unlock the door. The System is in fallback mode, success information is not available.")
 221                         self.actor().act(Actor.CMD_UNLOCK)
 222                 def handle_cmd_lock_event(self,arg):
 223                         if arg is not None:
 224                                 arg("200 okay: Trying to lock the door. The System is in fallback mode, success information is not available.")
 225                         self.actor().act(Actor.CMD_LOCK)
 226                 def handle_cmd_fallback_on_event(self,arg):
 227                         arg("412 Precondition Failed: Fallback mode already active.")
 228                 def handle_cmd_fallback_off_event(self,arg):
 229                         arg("200 okay: Leaving fallback mode and notifying admins.")
 230                         logger.critical("Leaving fallback mode. Somebody thinks, the sensors are working again.")
 231                         return StateMachine.StateStart(self.state_machine)
 232
 233         class StateZu(AbstractLockedState):
 234                 def handle_cmd_unlock_event(self,callback):
 235                         return StateMachine.StateUnlocking(self.state_machine, callback)
 236                 def handle_pins_event(self):
 237                         if not self.old_pins().space_active and self.pins().space_active: # first thing to check: edge detection
 238                                 logger.info("Space toggled to active while it was closed - unlocking the door")
 239                                 return StateMachine.StateUnlocking(self.state_machine)
 240                         return super().handle_pins_event()
 241
 242         class StateUnlocking(AbstractLockedState):
 243                 def __init__(self,sm,callback=None):
 244                         # construct a nervlist
 245                         nervlist = [(OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in range(OPEN_REPEAT_NUMBER)]
 246                         nervlist += [(OPEN_REPEAT_TIMEOUT, self.could_not_open)]
 247                         super().__init__(sm,nervlist)
 248                         self.callbacks = []
 249                         self.actor().act(Actor.CMD_UNLOCK)
 250                         # enqueue the callback
 251                         self.handle_cmd_unlock_event(callback)
 252                 def notify(self, s, lastMsg):
 253                         for cb in self.callbacks:
 254                                 cb(s, lastMsg)
 255                 def on_leave(self):
 256                         s = "200 okay: door unlocked" if not self.pins().door_locked else ("500 internal server error: Couldn't unlock door with %d tries à %f seconds" % (OPEN_REPEAT_NUMBER,OPEN_REPEAT_TIMEOUT))
 257                         self.notify(s, lastMsg=True)
 258                 def handle_cmd_unlock_event(self,callback):
 259                         if callback is not None:
 260                                 callback("202 processing: Trying to unlock the door", lastMsg=False)
 261                                 self.callbacks.append(callback)
 262                 def could_not_open(self):
 263                         logger.critical("StateMachine: Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
 264                         return StateMachine.StateZu(self.state_machine)
 265
 266         class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
 267                 def handle_cmd_unlock_event(self, callback):
 268                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
 269                         logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__)
 270                         self.actor().act(Actor.CMD_UNLOCK)
 271
 272         class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant):
 273                 def __init__(self, sm):
 274                         super().__init__(sm, ABOUTOPEN_NERVLIST)
 275                 def handle_pins_event(self):
 276                         pins = self.pins()
 277                         if pins.space_active:
 278                                 logger.info("Space activated, opening procedure completed")
 279                                 if not self.old_pins().space_active and random.random() <= SWITCH_PRAISE_PROBABILITY:
 280                                         play_sound("success")
 281                                 return StateMachine.StateAuf(self.state_machine)
 282                         return super().handle_pins_event()
 283
 284         class StateAuf(AbstractStateWhereUnlockingIsRedundant):
 285                 def __init__(self,sm):
 286                         nervlist = [(24*60*60, lambda: logger.critical("Space is now open for 24h. Is everything all right?"))]
 287                         super().__init__(sm, nervlist)
 288                         self.last_buzzed = None
 289                         self.api().set_state(True)
 290                 def handle_pins_event(self):
 291                         pins = self.pins()
 292                         if pins.bell_ringing and not self.old_pins().bell_ringing: # first thing to check: edge detection
 293                                 # someone just pressed the bell
 294                                 logger.info("StateMachine: buzzing because of bell ringing in StateAuf")
 295                                 self.actor().act(Actor.CMD_BUZZ)
 296                         if not pins.space_active:
 297                                 logger.info("StateMachine: space switch turned off - starting leaving procedure")
 298                                 return StateMachine.StateAboutToLeave(self.state_machine)
 299                         if not pins.door_closed and self.old_pins().door_closed and random.random() <= HELLO_PROBABILITY:
 300                                 play_sound("hello")
 301                         return super().handle_pins_event()
 302                 def on_leave(self):
 303                         self.api().set_state(False)
 304
 305         class StateLocking(AbstractUnlockedState):
 306                 def __init__(self,sm):
 307                         # construct a nervlist
 308                         nervlist = [(CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(CLOSE_REPEAT_NUMBER)]
 309                         nervlist += [(CLOSE_REPEAT_TIMEOUT, self.could_not_close)]
 310                         super().__init__(sm, nervlist)
 311                         if self.pins().door_closed: # this should always be true, but just to be sure...
 312                                 self.actor().act(Actor.CMD_LOCK)
 313                 def handle_pins_event(self):
 314                         pins = self.pins()
 315                         if not pins.door_closed:
 316                                 # TODO play a sound? This shouldn't happen, door was opened while we are locking
 317                                 logger.warning("StateMachine: door manually opened during locking")
 318                                 return StateMachine.StateAboutToOpen(self.state_machine)
 319                         # TODO do anything here if the switch is activated now?
 320                         return super().handle_pins_event()
 321                 def handle_cmd_unlock_event(self,callback):
 322                         callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.")
 323                 def could_not_close(self):
 324                         logger.critical("StateMachine: Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
 325                         return StateMachine.StateAboutToOpen(self.state_machine)
 326
 327         class StateAboutToLeave(AbstractUnlockedState):
 328                 def __init__(self, sm):
 329                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateLocking(self.state_machine))]
 330                         super().__init__(sm, nervlist)
 331                 def handle_pins_event(self):
 332                         if not self.pins().door_closed:
 333                                 return StateMachine.StateLeaving(self.state_machine)
 334                         if self.pins().space_active:
 335                                 logger.info("Space re-activated, cancelling leaving procedure")
 336                                 return StateMachine.StateAuf(self.state_machine)
 337                         return super().handle_pins_event()
 338
 339         class StateLeaving(AbstractUnlockedState):
 340                 def __init__(self, sm):
 341                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateAboutToOpen(self.state_machine))]
 342                         super().__init__(sm, nervlist)
 343                 def handle_pins_event(self):
 344                         if self.pins().door_closed:
 345                                 logger.info("The space was left, locking the door")
 346                                 return StateMachine.StateLocking(self.state_machine)
 347                         if self.pins().space_active:
 348                                 logger.info("Space re-activated, cancelling leaving procedure")
 349                                 return StateMachine.StateAuf(self.state_machine)
 350                         return super().handle_pins_event()
 351
 352         def __init__(self, actor, waker, api, fallback = False):
 353                 self.actor = actor
 354                 self.api = api
 355                 self.callback = ThreadFunction(self._callback, name="StateMachine")
 356                 self.current_state = StateMachine.StateStart(self, fallback=fallback)
 357                 self.pins = None
 358                 self.old_pins = None
 359                 waker.register(lambda: self.callback(StateMachine.CMD_WAKEUP), 1.0) # wake up every second
 360                 # initially, the space is closed
 361                 api.set_state(False)
 362
 363         def stop (self):
 364                 self.callback.stop()
 365
 366         # actually call this.callback (is set in the constructor to make this thread safe)
 367         def _callback(self, cmd, arg=None):
 368                 # update pins
 369                 if cmd == StateMachine.CMD_PINS:
 370                         self.pins = arg
 371                 # handle stuff
 372                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
 373                 self.old_pins = self.pins
 374                 while newstate is not None:
 375                         assert isinstance(newstate, StateMachine.State), "I should get a state"
 376                         self.current_state.on_leave()
 377                         logger.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__))
 378                         self.current_state = newstate
 379                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)