from libtuer import ThreadFunction, logger, fire_and_forget
from actor import Actor
-import os, random
+import os, random, time
# logger.{debug,info,warning,error,critical}
fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
-# StateOpening constants
-OPEN_REPEAT_TIMEOUT = 8
+# StateUnlocking constants
+OPEN_REPEAT_TIMEOUT = 7
OPEN_REPEAT_NUMBER = 3
-# StateClosing constants
-CLOSE_REPEAT_TIMEOUT = 8
+# StateLocking constants
+CLOSE_REPEAT_TIMEOUT = 7
CLOSE_REPEAT_NUMBER = 3
# 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"))]
+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"))]
# 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__)
def handle_wakeup_event(self):
- self.last_wakeup = time.time()
+ if self._nerver is not None:
+ return self._nerver.nerv()
def pins(self):
return self.state_machine.pins
def actor(self):
return self.state_machine.actor
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)
def handle_pins_event(self):
- thepins = self.pins()
- for pin in thepins:
- if pin is None:
- return None
- if thepins.door_locked:
- return StateZu
+ super().handle_pins_event()
+ pins = self.pins()
+ if pins.door_locked is None or pins.door_closed is None or pins.space_dactive 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 StateAuf
-
+ return StateMachine.StateAuf(self.state_machine)
+
class StateZu(State):
- def __init__(self,sm):
- State.__init__(self,sm)
def handle_pins_event(self):
+ super().handle_pins_event()
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)
+ return StateMachine.StateAboutToOpen(self.state_machine)
+ def handle_cmd_unlock_event(self,callback):
+ # intentionally not calling super() implementation
+ return StateMachine.StateUnlocking(self.state_machine, callback)
- class StateOpening(State):
- def __init__(self,callback,sm):
- State.__init__(self,sm)
+ class StateUnlocking(State):
+ 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]
- # 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)
+ # TODO: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
+ 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))
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 StateAboutToOpen(self.state_machine)
- def handle_open_event(self,callback):
- # FIXME: 202 notification also here if possible
+ return StateMachine.StateAboutToOpen(self.state_machine)
+ def handle_cmd_unlock_event(self,callback):
+ # intentionally not calling super() implementation
+ # TODO: 202 notification also here if possible
self.callbacks.append(callback)
- 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)
+ def could_not_open(self):
+ logger.critical("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):
- def __init__ (self,sm):
- State.__init__(sm):
- def handle_open_event(self, callback):
+ 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.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.")
- self.actor().act(Actor.CMD_OPEN)
+ logger.info("Received OPEN command in StateAboutToOpen. This should not be necessary.")
+ self.actor().act(Actor.CMD_UNLOCK)
class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
def __init__(self, sm):
- AbstractStateWhereOpeningIsRedundant.__init__(sm)
+ super().__init__(sm, ABOUTOPEN_NERVLIST)
def handle_pins_event(self):
+ super().handle_pins_event()
pins = self.pins()
if pins.door_locked:
- return StateZu(self.state_machine)
+ return StateMachine.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
+ return StateMachine.StateAuf(self.state_machine)
class StateAuf(AbstractStateWhereOpeningIsRedundant):
def __init__(self,sm):
- AbstractStateWhereOpeningIsRedundant.__init__(sm)
+ super().__init__(sm)
self.last_buzzed = None
def handle_pins_event(self):
+ super().handle_pins_event()
pins = self.pins()
if pins.bell_ringing:
+ # TODO: use old_pins instead of a timer
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.last_buzzed = now
if not pins.space_active:
logger.info("space switch off - starting leaving procedure")
- return StateAboutToLeave(self.state_machine)
+ return StateMachine.StateAboutToLeave(self.state_machine)
if pins.door_locked:
- logger.error("door manually locked, but space switch on - going to StateZu")
+ logger.info("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
+ return StateMachine.StateZu(self.state_machine)
- class StateClosing(State):
- # TODO: share code with StateOpening, and possibly also with the nerv-mechanism from StateAboutToOpen
- def __init__(self,callback,sm):
- State.__init__(self,sm)
- self.callbacks=[callback]
- # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use?
- self.tries = 0
- self.actor().act(Actor.CMD_CLOSE)
- def notify(self, did_it_work):
- s = "200 okay: door closed" if did_it_work else ("500 internal server error: Couldn't close door with %d tries à %f seconds" % (CLOSE_REPEAT_NUMBER,CLOSE_REPEAT_TIMEOUT))
- for cb in self.callbacks:
- if cb is not None:
- cb(s)
+ class StateLocking(State):
+ # TODO: share code with StateUnlocking
+ 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_locked:
- self.notify(True)
- return StateAboutToOpen(self.state_machine)
- def handle_open_event(self,callback):
- callback("409 conflict: The server is currently trying to close the door. Try again later.")
- def handle_wakeup_event(self):
- over = time.time() - self.time_entered
- nexttry = (self.tries+1) * CLOSE_REPEAT_TIMEOUT
- if over > nexttry:
- if self.tries < CLOSE_REPEAT_NUMBER:
- self.actor().act(Actor.CMD_CLOSE)
- self.tries += 1
- else:
- logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
- self.notify(False)
- return StateAboutToOpen(self.state_machine)
+ if not pins.door_closed:
+ # TODO play a sound? This shouldn't happen, door was opened while we are locking
+ logger.warning("door manually opened during locking")
+ return StateMachine.StateAboutToOpen(self.state_machine)
+ if pins.door_locked:
+ return StateMachine.StateZu(self.state_machine)
+ def handle_cmd_unlock_event(self,callback):
+ callback("409 conflict: The server is currently trying to lock the door. Try again later.")
+ def could_not_close(self):
+ logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
+ return StateMachine.StateAboutToOpen(self.state_machine)
class StateAboutToLeave(State):
- #TODO Ralf
- pass
+ 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:
+ return StateMachine.StateAuf(self.state_machine)
class StateLeaving(State):
- #TODO Ralf
- pass
+ 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:
+ return StateMachine.StateLocking(self.state_machine)
+ if self.pins().door_locked:
+ return StateMachine.StateZu(self.state_machine)
+ if self.pins().space_active:
+ return StateMachine.StateAuf(self.state_machine)
def __init__(self, actor):
self.actor = actor
- self.callback = ThreadFunction(self._callback)
- self.current_state = StateStart(self)
+ self.callback = ThreadFunction(self._callback, name="StateMachine")
+ self.current_state = StateMachine.StateStart(self)
self.pins = None
self.old_pins = None
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__)
+ logger.debug("StateMachine: new state = %s" % newstate.__class__.__name__)
self.current_state = newstate
newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)
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