-from libtuer import ThreadFunction, logger, fire_and_forget
+from libtuer import ThreadFunction, logger, fire_and_forget, fire_and_forget_cmd
from actor import Actor
-import os, random
+import os, random, time, threading
# logger.{debug,info,warning,error,critical}
logger.error("StateMachine: Unable to list sound files in %s" % (SOUNDS_DIRECTORY+what))
return
soundfile = SOUNDS_DIRECTORY + what + '/' + random.choice(soundfiles)
- fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
+ fire_and_forget_cmd ([SOUNDS_PLAYER,soundfile], "StateMachine: ")
+# convert an absolute nervlist to a relative one
+def nervlist_abs2rel(nervlist_abs):
+ nervlist_rel = []
+ last_t = 0
+ for (t, f) in nervlist_abs:
+ assert t >= last_t
+ nervlist_rel.append((t-last_t, f))
+ last_t = t
+ return nervlist_rel
-# StateOpening constants
-OPEN_REPEAT_TIMEOUT = 8
+# StateAuf constants
+HELLO_PROBABILITY = 0.2
+
+# StateUnlocking constants
+OPEN_REPEAT_TIMEOUT = 7
OPEN_REPEAT_NUMBER = 3
+# StateLocking constants
+CLOSE_REPEAT_TIMEOUT = 7
+CLOSE_REPEAT_NUMBER = 3
+
+# StateFallback constants
+FALLBACK_LEAVE_DELAY_LOCK = 5 # seconds
+
# StateAboutToOpen constants
-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")),\
- (20, lambda:play_sound("flipswitch")), (30, lambda:play_sound("flipswitch")), (30, lambda:Logger.error("Space open but switch not flipped for 30 seconds")),\
- (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"))]
+SWITCH_PRAISE_PROBABILITY = 0.5
+ABOUTOPEN_NERVLIST = nervlist_abs2rel([(10, lambda:play_sound("flipswitch")),\
+ (20, lambda:play_sound("flipswitch")), (30, lambda:play_sound("flipswitch")), (30, lambda:logger.error("Space open but switch not flipped for 30 seconds")),\
+ (40, lambda:play_sound("flipswitch")), (50, lambda:play_sound("flipswitch")), (60, lambda:play_sound("mail_sent")),
+ (60, lambda:logger.critical("Space open but switch not flipped for 60 seconds")), (120, lambda:play_sound("mail_sent")),
+ (10*60, lambda:logger.critical("Space open but switch not flipped for 10 minutes")),
+ (60*60, lambda:logger.critical("Space open but switch not flipped for one hour"))])
-# StateAuf constants
-# time that must pass between two bell_ringing events to buzz the door again (seconds)
-AUF_BELLBUZZ_REPEAT_TIME = 2
+# Timeout we wait after the switch was switched to "Closed", until we assume nobody will open the door and we just lock it
+# ALso the time we wait after the door was opend, till we assume something went wrong and start nerving
+LEAVE_TIMEOUT = 20
# play_sound constants
SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
SOUNDS_PLAYER = "/usr/bin/mplayer"
+class Nerver():
+ # 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.
+ # If f returns something, that's also returned by nerv.
+ def __init__(self, nervlist):
+ self.nervlist = list(nervlist)
+ self.last_event_time = time.time()
+
+ def nerv(self):
+ if len(self.nervlist):
+ (wait_time, f) = self.nervlist[0]
+ now = time.time()
+ time_gone = now-self.last_event_time
+ # check if the first element is to be triggered
+ if time_gone >= wait_time:
+ self.nervlist = self.nervlist[1:] # "pop" the first element, but do not modify original list
+ self.last_event_time = now
+ return f()
+
+
class StateMachine():
# commands you can send
CMD_PINS = 0
CMD_BUZZ = 1
- CMD_OPEN = 2
+ CMD_UNLOCK = 2
CMD_WAKEUP = 3
CMD_LAST = 4
class State():
- def __init__(self, state_machine):
+ def __init__(self, state_machine, nervlist = None):
self.state_machine = state_machine
- self.time_entered = time.time()
- self.theDict = None
- self.last_wakeup = self.time_entered
+ self._nerver = None if nervlist is None else Nerver(nervlist)
def handle_pins_event(self):
pass # one needn't implement this
def handle_buzz_event(self,arg): # this shouldn't be overwritten
- self.actor.act(Actor.CMD_BUZZ)
+ self.actor().act(Actor.CMD_BUZZ)
arg("200 okay: buzz executed")
- def handle_open_event(self,arg):
+ def handle_cmd_unlock_event(self,arg):
if arg is not None:
- arg("412 Precondition Failed: The current state (%s) cannot handle the OPEN event" % self.__class__.__name__)
+ arg("412 Precondition Failed: The current state (%s) cannot handle the UNLOCK command. Try again later." % self.__class__.__name__)
def handle_wakeup_event(self):
- self.last_wakeup = time.time()
+ if self._nerver is not None:
+ return self._nerver.nerv()
+ def on_leave(self):
+ pass
def pins(self):
return self.state_machine.pins
+ def old_pins(self):
+ return self.state_machine.old_pins
def actor(self):
return self.state_machine.actor
+ def api(self):
+ return self.state_machine.api
def handle_event(self,ev,arg): # don't override
- if arg is CMD_PINS:
- self.handle_pins_event()
- elif arg is CMD_BUZZ:
- self.handle_buzz_event(arg)
- elif arg is CMD_OPEN:
- self.handle_open_event(arg)
- elif arg is CMD_WAKEUP:
- self.handle_wakeup_event()
+ if ev == StateMachine.CMD_PINS:
+ return self.handle_pins_event()
+ elif ev == StateMachine.CMD_BUZZ:
+ return self.handle_buzz_event(arg)
+ elif ev == StateMachine.CMD_UNLOCK:
+ return self.handle_cmd_unlock_event(arg)
+ elif ev == StateMachine.CMD_WAKEUP:
+ return self.handle_wakeup_event()
else:
raise Exception("Unknown command number: %d" % ev)
- class StateStart(State):
- def __init__(self, sm):
- State.__init__(self,sm)
+ class AbstractNonStartState(State):
def handle_pins_event(self):
- thepins = self.pins()
- for pin in thepins:
- if pin is None:
- return None
- if thepins.door_locked:
- return StateZu
+ if self.pins().door_locked != (not self.pins().space_active):
+ self.actor().act(Actor.CMD_RED_ON)
else:
- return StateAuf
-
- class StateZu(State):
- def __init__(self,sm):
- State.__init__(self,sm)
+ self.actor().act(Actor.CMD_RED_OFF)
+ return super().handle_pins_event()
+
+ class AbstractLockedState(AbstractNonStartState):
+ '''A state with invariant "The space is locked", switching to StateAboutToOpen when the space becomes unlocked'''
+ def __init__(self, sm, nervlist = None):
+ super().__init__(sm, nervlist)
+ self.actor().act(Actor.CMD_GREEN_OFF)
+ def handle_pins_event(self):
+ if not self.pins().door_locked:
+ logger.info("Door unlocked, space is about to open")
+ return StateMachine.StateAboutToOpen(self.state_machine)
+ return super().handle_pins_event()
+
+ class AbstractUnlockedState(AbstractNonStartState):
+ '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked'''
+ def __init__(self, sm, nervlist = None):
+ super().__init__(sm, nervlist)
+ self.actor().act(Actor.CMD_GREEN_ON)
+ def handle_pins_event(self):
+ if self.pins().door_locked:
+ logger.info("Door locked, closing space")
+ if self.pins().space_active:
+ logger.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu")
+ play_sound("manual_lock")
+ return StateMachine.StateZu(self.state_machine)
+ return super().handle_pins_event()
+
+ class StateStart(State):
+ def __init__(self, sm, nervlist = None, fallback=False):
+ super().__init__(sm, nervlist)
+ self.fallback = fallback
def handle_pins_event(self):
pins = self.pins()
- if not pins.door_locked:
- return StateAboutToOpen(self.state_machine)
- def handle_open_event(self,callback):
- return StateOpening(callback,self.state_machine)
-
- class StateOpening(State):
- def __init__(self,callback,sm):
- State.__init__(self,sm)
- self.callbacks=[callback]
- # FIXME: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
- self.tries = 0
- self.actor().act(Actor.CMD_OPEN)
- def notify(self, did_it_work):
- 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))
- for cb in self.callbacks:
- if cb is not None:
- cb(s)
+ 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):
+ if self.fallback:
+ logger.info("Going to StateFallback because running in fallback mode")
+ return StateMachine.StateFallback(self.state_machine)
+ if pins.door_locked:
+ logger.info("All sensors got a value, switching to a proper state: Space is closed")
+ return StateMachine.StateZu(self.state_machine)
+ else:
+ logger.info("All sensors got a value, switching to a proper state: Space is (about to) open")
+ return StateMachine.StateAboutToOpen(self.state_machine)
+ return super().handle_pins_event()
+
+ class StateFallback(State):
+ def __init__(self, sm, nervlist = None):
+ super().__init__(sm, nervlist)
+ self._red_state = False
def handle_pins_event(self):
pins = self.pins()
- if not pins.door_locked:
- self.notify(True)
- return StateAboutToOpen(self.state_machine)
- def handle_open_event(self,callback):
- # FIXME: 202 notification also here if possible
- self.callbacks.append(callback)
+ # buzz if open and bell rang
+ if pins.space_active and pins.bell_ringing and not self.old_pins().bell_ringing:
+ logger.info("StateFallback: Space switch on and door bell rung => buzzing")
+ self.actor().act(Actor.CMD_BUZZ)
+ # set green LED according to space switch
+ if pins.space_active:
+ self.actor().act(Actor.CMD_GREEN_ON)
+ else:
+ self.actor().act(Actor.CMD_GREEN_OFF)
+ # primitive leaving procedure if space switch turned off
+ if not pins.space_active and self.old_pins().space_active:
+ def _close_after_time():
+ time.sleep(FALLBACK_LEAVE_DELAY_LOCK)
+ self.actor().act(Actor.CMD_LOCK)
+ fire_and_forget(_close_after_time)
+ # not calling superclass because we want to stay in fallback mode
def handle_wakeup_event(self):
- over = time.time() - self.time_entered
- nexttry = (self.tries+1) * OPEN_REPEAT_TIMEOUT
- if over > nexttry:
- if self.tries < OPEN_REPEAT_NUMBER:
- self.actor().act(Actor.CMD_OPEN)
- self.tries += 1
- else:
- logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
- self.notify(False)
- return StateZu(self.state_machine)
-
- class AbstractStateWhereOpeningIsRedundant(State):
- def __init__ (self,sm):
- State.__init__(sm):
- def handle_open_event(self, callback):
+ # blink red LED
+ if self._red_state:
+ self.actor().act(Actor.CMD_RED_OFF)
+ self._red_state = False
+ else:
+ self.actor().act(Actor.CMD_RED_ON)
+ self._red_state = True
+ def handle_cmd_unlock_event(self,arg):
+ if arg is not None:
+ arg("298 Fallback Okay: Trying to unlock the door. The System is in fallback mode, success information is not available.")
+ self.actor().act(Actor.CMD_UNLOCK)
+
+ class StateZu(AbstractLockedState):
+ def handle_cmd_unlock_event(self,callback):
+ return StateMachine.StateUnlocking(self.state_machine, callback)
+ def handle_pins_event(self):
+ if not self.old_pins().space_active and self.pins().space_active: # first thing to check: edge detection
+ logger.info("Space toggled to active while it was closed - unlocking the door")
+ return StateMachine.StateUnlocking(self.state_machine)
+ return super().handle_pins_event()
+
+ class StateUnlocking(AbstractLockedState):
+ def __init__(self,sm,callback=None):
+ # construct a nervlist
+ nervlist = [(OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in range(OPEN_REPEAT_NUMBER)]
+ nervlist += [(OPEN_REPEAT_TIMEOUT, self.could_not_open)]
+ super().__init__(sm,nervlist)
+ self.callbacks = []
+ self.actor().act(Actor.CMD_UNLOCK)
+ # enqueue the callback
+ self.handle_cmd_unlock_event(callback)
+ def notify(self, s, lastMsg):
+ for cb in self.callbacks:
+ cb(s, lastMsg)
+ def on_leave(self):
+ 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))
+ self.notify(s, lastMsg=True)
+ def handle_cmd_unlock_event(self,callback):
+ if callback is not None:
+ callback("202 processing: Trying to unlock the door", lastMsg=False)
+ self.callbacks.append(callback)
+ def could_not_open(self):
+ logger.critical("StateMachine: Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
+ return StateMachine.StateZu(self.state_machine)
+
+ class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
+ def handle_cmd_unlock_event(self, callback):
callback("299 redundant: Space seems to be already open. Still processing your request tough.")
- logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
- self.actor().act(Actor.CMD_OPEN)
+ logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__)
+ self.actor().act(Actor.CMD_UNLOCK)
- class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
+ class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant):
def __init__(self, sm):
- AbstractStateWhereOpeningIsRedundant.__init__(sm)
+ super().__init__(sm, ABOUTOPEN_NERVLIST)
def handle_pins_event(self):
pins = self.pins()
- if pins.door_locked:
- return StateZu(self.state_machine)
- elif pins.space_active:
- return StateAuf(self.state_machine)
- def handle_wakeup_event(self):
- now = time.time()
- lasttime = self.last_wakeup - self.time_entered
- thistime = now - self.time_entered
- for (t,f) in filter(lambda (t,f): t<=thistime and t>lasttime, ABOUTOPEN_NERVLIST):
- ret = f();
- if ret is not None:
- return ret
-
- class StateAuf(AbstractStateWhereOpeningIsRedundant):
+ if pins.space_active:
+ logger.info("Space activated, opening procedure completed")
+ if not self.old_pins().space_active and random.random() <= SWITCH_PRAISE_PROBABILITY:
+ play_sound("success")
+ return StateMachine.StateAuf(self.state_machine)
+ return super().handle_pins_event()
+
+ class StateAuf(AbstractStateWhereUnlockingIsRedundant):
def __init__(self,sm):
- AbstractStateWhereOpeningIsRedundant.__init__(sm)
+ nervlist = [(24*60*60, lambda: logger.critical("Space is now open for 24h. Is everything all right?"))]
+ super().__init__(sm, nervlist)
self.last_buzzed = None
+ self.api().set_state(True)
def handle_pins_event(self):
pins = self.pins()
- if pins.bell_ringing:
- now = time.time()
- if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME:
- logger.info("buzzing because of bell ringing in state auf")
- self.actor().act(Actor.CMD_BUZZ)
- self.last_buzzed = now
+ if pins.bell_ringing and not self.old_pins().bell_ringing: # first thing to check: edge detection
+ # someone just pressed the bell
+ logger.info("StateMachine: buzzing because of bell ringing in StateAuf")
+ self.actor().act(Actor.CMD_BUZZ)
if not pins.space_active:
- logger.info("space switch off - starting leaving procedure")
- return StateAboutToLeave(self.state_machine)
- if pins.door_locked:
- logger.error("door manually locked, but space switch on - going to StateZu")
- play_sound("manual_lock")
- return StateZu(self.state_machine)
- # handle_wakeup_event intentionally not overwritten
-
- class StateClosing(State):
- #TODO Ralf/Conny
- pass
-
- class StateAboutToLeave(State):
- #TODO Ralf
- pass
-
- class StateLeaving(State):
- #TODO Ralf
- pass
-
- def __init__(self, actor):
+ logger.info("StateMachine: space switch turned off - starting leaving procedure")
+ return StateMachine.StateAboutToLeave(self.state_machine)
+ if not pins.door_closed and self.old_pins().door_closed and random.random() <= HELLO_PROBABILITY:
+ play_sound("hello")
+ return super().handle_pins_event()
+ def on_leave(self):
+ self.api().set_state(False)
+
+ class StateLocking(AbstractUnlockedState):
+ def __init__(self,sm):
+ # construct a nervlist
+ nervlist = [(CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(CLOSE_REPEAT_NUMBER)]
+ nervlist += [(CLOSE_REPEAT_TIMEOUT, self.could_not_close)]
+ super().__init__(sm, nervlist)
+ if self.pins().door_closed: # this should always be true, but just to be sure...
+ self.actor().act(Actor.CMD_LOCK)
+ def handle_pins_event(self):
+ pins = self.pins()
+ if not pins.door_closed:
+ # TODO play a sound? This shouldn't happen, door was opened while we are locking
+ logger.warning("StateMachine: door manually opened during locking")
+ return StateMachine.StateAboutToOpen(self.state_machine)
+ # TODO do anything here if the switch is activated now?
+ return super().handle_pins_event()
+ def handle_cmd_unlock_event(self,callback):
+ callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.")
+ def could_not_close(self):
+ logger.critical("StateMachine: Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
+ return StateMachine.StateAboutToOpen(self.state_machine)
+
+ class StateAboutToLeave(AbstractUnlockedState):
+ def __init__(self, sm):
+ nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateLocking(self.state_machine))]
+ super().__init__(sm, nervlist)
+ def handle_pins_event(self):
+ if not self.pins().door_closed:
+ return StateMachine.StateLeaving(self.state_machine)
+ if self.pins().space_active:
+ logger.info("Space re-activated, cancelling leaving procedure")
+ return StateMachine.StateAuf(self.state_machine)
+ return super().handle_pins_event()
+
+ class StateLeaving(AbstractUnlockedState):
+ def __init__(self, sm):
+ nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateAboutToOpen(self.state_machine))]
+ super().__init__(sm, nervlist)
+ def handle_pins_event(self):
+ if self.pins().door_closed:
+ logger.info("The space was left, locking the door")
+ return StateMachine.StateLocking(self.state_machine)
+ if self.pins().space_active:
+ logger.info("Space re-activated, cancelling leaving procedure")
+ return StateMachine.StateAuf(self.state_machine)
+ return super().handle_pins_event()
+
+ def __init__(self, actor, waker, api, fallback = False):
self.actor = actor
- self.callback = ThreadFunction(self._callback)
- self.current_state = StateStart(self)
+ self.api = api
+ self.callback = ThreadFunction(self._callback, name="StateMachine")
+ self.current_state = StateMachine.StateStart(self, fallback=fallback)
self.pins = None
self.old_pins = None
+ waker.register(lambda: self.callback(StateMachine.CMD_WAKEUP), 1.0) # wake up every second
+ # initially, the space is closed
+ api.set_state(False)
def stop (self):
self.callback.stop()
def _callback(self, cmd, arg=None):
# update pins
if cmd == StateMachine.CMD_PINS:
- self.old_pins = self.pins
self.pins = arg
# handle stuff
newstate = self.current_state.handle_event(cmd,arg) # returns None or an instance of the new state
+ self.old_pins = self.pins
while newstate is not None:
- logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
+ assert isinstance(newstate, StateMachine.State), "I should get a state"
+ self.current_state.on_leave()
+ logger.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__))
self.current_state = newstate
newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)
projects / saartuer.git / blobdiff