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                         return super().handle_pins_event()
120         
121         class AbstractUnlockedState(AbstractNonStartState):
122                 '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked'''
123                 def __init__(self, sm, nervlist = None):
124                         super().__init__(sm, nervlist)
125                         self.actor().act(Actor.CMD_GREEN_ON)
126                 def handle_pins_event(self):
127                         if self.pins().door_locked:
128                                 logger.info("Door locked, closing space")
129                                 if self.pins().space_active:
130                                         # FIXME the same state can be reached by first locking the door, and then activating the space. What to do then?
131                                         logger.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu")
132                                         play_sound("manual_lock")
133                                 return StateMachine.StateZu(self.state_machine)
134                         return super().handle_pins_event()
135         
136         class StateStart(State):
137                 def handle_pins_event(self):
138                         pins = self.pins()
139                         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):
140                                 logger.info("All sensors got a value, switching to a proper state")
141                                 if pins.door_locked:
142                                         return StateMachine.StateZu(self.state_machine)
143                                 else:
144                                         return StateMachine.StateAboutToOpen(self.state_machine)
145                         return super().handle_pins_event()
146         
147         class StateZu(AbstractLockedState):
148                 def handle_cmd_unlock_event(self,callback):
149                         return StateMachine.StateUnlocking(self.state_machine, callback)
150         
151         class StateUnlocking(AbstractLockedState):
152                 def __init__(self,sm,callback=None):
153                         # construct a nervlist
154                         nervlist = [(OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in range(OPEN_REPEAT_NUMBER)]
155                         nervlist += [(OPEN_REPEAT_TIMEOUT, self.could_not_open)]
156                         super().__init__(sm,nervlist)
157                         self.callbacks=[callback]
158                         # TODO: can we send "202 processing: Trying to unlock the door" here? Are the callbacks multi-use?
159                         self.actor().act(Actor.CMD_UNLOCK)
160                 def notify(self, did_it_work):
161                         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))
162                         for cb in self.callbacks:
163                                 if cb is not None:
164                                         cb(s)
165                 def on_leave(self):
166                         self.notify(not self.pins().door_locked)
167                 def handle_cmd_unlock_event(self,callback):
168                         # TODO: 202 notification also here if possible
169                         self.callbacks.append(callback)
170                 def could_not_open(self):
171                         logger.critical("StateMachine: Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
172                         return StateMachine.StateZu(self.state_machine)
173         
174         class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
175                 def handle_cmd_unlock_event(self, callback):
176                         callback("299 redundant: Space seems to be already open. Still processing your request tough.")
177                         logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__)
178                         self.actor().act(Actor.CMD_UNLOCK)
179         
180         class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant):
181                 def __init__(self, sm):
182                         super().__init__(sm, ABOUTOPEN_NERVLIST)
183                 def handle_pins_event(self):
184                         pins = self.pins()
185                         if pins.space_active:
186                                 logger.info("Space activated, opening procedure completed")
187                                 return StateMachine.StateAuf(self.state_machine)
188                         return super().handle_pins_event()
189         
190         class StateAuf(AbstractStateWhereUnlockingIsRedundant):
191                 def __init__(self,sm):
192                         nervlist = [(24*60*60, lambda: logger.critical("Space is now open for 24h. Is everything all right?"))]
193                         super().__init__(sm, nervlist)
194                         self.last_buzzed = None
195                 def handle_pins_event(self):
196                         pins = self.pins()
197                         if pins.bell_ringing and not self.old_pins().bell_ringing:
198                                 # someone just pressed the bell
199                                 logger.info("StateMachine: buzzing because of bell ringing in StateAuf")
200                                 self.actor().act(Actor.CMD_BUZZ)
201                         if not pins.space_active:
202                                 logger.info("StateMachine: space switch turned off - starting leaving procedure")
203                                 return StateMachine.StateAboutToLeave(self.state_machine)
204                         return super().handle_pins_event()
205         
206         class StateLocking(AbstractUnlockedState):
207                 def __init__(self,sm):
208                         # construct a nervlist
209                         nervlist = [(CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(CLOSE_REPEAT_NUMBER)]
210                         nervlist += [(CLOSE_REPEAT_TIMEOUT, self.could_not_close)]
211                         super().__init__(sm, nervlist)
212                         if self.pins().door_closed: # this should always be true, but just to be sure...
213                                 self.actor().act(Actor.CMD_LOCK)
214                 def handle_pins_event(self):
215                         pins = self.pins()
216                         if not pins.door_closed:
217                                 # TODO play a sound? This shouldn't happen, door was opened while we are locking
218                                 logger.warning("StateMachine: door manually opened during locking")
219                                 return StateMachine.StateAboutToOpen(self.state_machine)
220                         # TODO do anything here if the switch is activated now?
221                         return super().handle_pins_event()
222                 def handle_cmd_unlock_event(self,callback):
223                         callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.")
224                 def could_not_close(self):
225                         logger.critical("StateMachine: Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
226                         return StateMachine.StateAboutToOpen(self.state_machine)
227         
228         class StateAboutToLeave(AbstractUnlockedState):
229                 def __init__(self, sm):
230                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateLocking(self.state_machine))]
231                         super().__init__(sm, nervlist)
232                 def handle_pins_event(self):
233                         if not self.pins().door_closed:
234                                 return StateMachine.StateLeaving(self.state_machine)
235                         if self.pins().space_active:
236                                 logger.info("Space re-activated, cancelling leaving procedure")
237                                 return StateMachine.StateAuf(self.state_machine)
238                         return super().handle_pins_event()
239         
240         class StateLeaving(AbstractUnlockedState):
241                 def __init__(self, sm):
242                         nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateAboutToOpen(self.state_machine))]
243                         super().__init__(sm, nervlist)
244                 def handle_pins_event(self):
245                         if self.pins().door_closed:
246                                 logger.info("The space was left, locking the door")
247                                 return StateMachine.StateLocking(self.state_machine)
248                         if self.pins().space_active:
249                                 logger.info("Space re-activated, cancelling leaving procedure")
250                                 return StateMachine.StateAuf(self.state_machine)
251                         return super().handle_pins_event()
252         
253         def __init__(self, actor):
254                 self.actor = actor
255                 self.callback = ThreadFunction(self._callback, name="StateMachine")
256                 self.current_state = StateMachine.StateStart(self)
257                 self.pins = None
258                 self.old_pins = None
259         
260         def stop (self):
261                 self.callback.stop()
262         
263         def _callback(self, cmd, arg=None):
264                 # update pins
265                 if cmd == StateMachine.CMD_PINS:
266                         self.pins = arg
267                 # handle stuff
268                 newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
269                 self.old_pins = self.pins
270                 while newstate is not None:
271                         assert isinstance(newstate, StateMachine.State), "I should get a state"
272                         self.current_state.on_leave()
273                         logger.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__))
274                         self.current_state = newstate
275                         newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)