-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, time
+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
+
+# StateAuf constants
+HELLO_PROBABILITY = 0.2
# StateUnlocking constants
OPEN_REPEAT_TIMEOUT = 7
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")), (5, lambda:play_sound("flipswitch")), (0, lambda:logger.warning("Space open but switch not flipped for 10 seconds")),\
- (10, lambda:play_sound("flipswitch")), (10, lambda:play_sound("flipswitch")), (0, lambda:logger.error("Space open but switch not flipped for 30 seconds")),\
- (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"))]
+SWITCH_PRAISE_PROBABILITY = 0.5
+ABOUTOPEN_NERVLIST = nervlist_abs2rel([(5, lambda : play_sound("flipswitch")), (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"))])
# 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
arg("200 okay: buzz executed")
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):
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 ev == StateMachine.CMD_PINS:
return self.handle_pins_event()
else:
raise Exception("Unknown command number: %d" % ev)
+ class AbstractNonStartState(State):
+ def handle_pins_event(self):
+ if self.pins().door_locked != (not self.pins().space_active):
+ self.actor().act(Actor.CMD_RED_ON)
+ else:
+ 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):
- super().handle_pins_event()
pins = self.pins()
- if pins.door_locked is None or pins.door_closed is None or pins.space_active is None or pins.bell_ringing is None:
- return None # wait till we have all sensors non-None
- if pins.door_locked:
- return StateMachine.StateZu(self.state_machine)
- else:
- return StateMachine.StateAuf(self.state_machine)
+ 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 StateZu(State):
+ class StateFallback(State):
+ def __init__(self, sm, nervlist = None):
+ super().__init__(sm, nervlist)
+ self._red_state = False
def handle_pins_event(self):
- super().handle_pins_event()
pins = self.pins()
- if not pins.door_locked:
- return StateMachine.StateAboutToOpen(self.state_machine)
+ # 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):
+ # 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):
- # intentionally not calling super() implementation
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(State):
+ 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=[callback]
- # TODO: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
+ self.callbacks = []
self.actor().act(Actor.CMD_UNLOCK)
- 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))
+ # enqueue the callback
+ self.handle_cmd_unlock_event(callback)
+ def notify(self, s, lastMsg):
for cb in self.callbacks:
- if cb is not None:
- cb(s)
- def handle_pins_event(self):
- super().handle_pins_event()
- pins = self.pins()
- if not pins.door_locked:
- self.notify(True)
- return StateMachine.StateAboutToOpen(self.state_machine)
+ 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):
- # intentionally not calling super() implementation
- # TODO: 202 notification also here if possible
- self.callbacks.append(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)
- self.notify(False)
return StateMachine.StateZu(self.state_machine)
- class AbstractStateWhereOpeningIsRedundant(State):
+ class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
def handle_cmd_unlock_event(self, callback):
- # intentionally not calling super() implementation
callback("299 redundant: Space seems to be already open. Still processing your request tough.")
- logger.info("StateMachine: Received UNLOCK command in StateAboutToOpen. This should not be necessary.")
+ 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):
super().__init__(sm, ABOUTOPEN_NERVLIST)
def handle_pins_event(self):
- super().handle_pins_event()
pins = self.pins()
- if pins.door_locked:
- return StateMachine.StateZu(self.state_machine)
- elif pins.space_active:
+ 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(AbstractStateWhereOpeningIsRedundant):
+ class StateAuf(AbstractStateWhereUnlockingIsRedundant):
def __init__(self,sm):
- super().__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):
- super().handle_pins_event()
pins = self.pins()
- if pins.bell_ringing and not self.old_pins().bell_ringing:
+ 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 state auf")
+ logger.info("StateMachine: buzzing because of bell ringing in StateAuf")
self.actor().act(Actor.CMD_BUZZ)
if not pins.space_active:
- logger.info("StateMachine: space switch off - starting leaving procedure")
+ logger.info("StateMachine: space switch turned off - starting leaving procedure")
return StateMachine.StateAboutToLeave(self.state_machine)
- if pins.door_locked:
- logger.info("StateMachine: door manually locked, but space switch on - going to StateZu")
- play_sound("manual_lock")
- return StateMachine.StateZu(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(State):
- # TODO: share code with StateUnlocking
+ 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)]
# 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)
- if pins.door_locked:
- return StateMachine.StateZu(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(State):
+ 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().door_locked:
- return StateMachine.StateZu(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(State):
+ 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().door_locked:
- return StateMachine.StateZu(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):
+ def __init__(self, actor, waker, api, fallback = False):
self.actor = actor
+ self.api = api
self.callback = ThreadFunction(self._callback, name="StateMachine")
- self.current_state = StateMachine.StateStart(self)
+ 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()
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:
+ 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