Merge branch 'master' of ralfj.de:saartuer

[saartuer.git] / statemachine.py

diff --git a/statemachine.py b/statemachine.py
index 4b82def39c8859f66539fbadc64f6a75822fe3d3..07d6574ff7dd601396669640f8a9dd62eed07543 100644 (file)
--- a/statemachine.py
+++ b/statemachine.py
@@ -1,6 +1,6 @@
 from libtuer import ThreadFunction, logger, fire_and_forget
 from actor import Actor
 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}
 
 
 # logger.{debug,info,warning,error,critical}
 


@@ -14,156 +14,167 @@ def play_sound (what):
        fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
 
 
        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
 
 OPEN_REPEAT_NUMBER = 3
 

-# StateClosing constants
-CLOSE_REPEAT_TIMEOUT = 8
+# StateLocking constants
+CLOSE_REPEAT_TIMEOUT = 7

 CLOSE_REPEAT_NUMBER = 3
 
 # StateAboutToOpen constants
 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
 
 
 # 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"
 
 
 # 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
 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():
        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.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
                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")
                        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):
                        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
                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):
                        else:
                                raise Exception("Unknown command number: %d" % ev)
        
        class StateStart(State):

-               def __init__(self, sm):
-                       State.__init__(self,sm)

                def handle_pins_event(self):
                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:
                        else:

-                               return StateAuf
-
+                               return StateMachine.StateAuf(self.state_machine)
+       

        class StateZu(State):
        class StateZu(State):

-               def __init__(self,sm):
-                       State.__init__(self,sm)

                def handle_pins_event(self):
                def handle_pins_event(self):

+                       super().handle_pins_event()

                        pins = self.pins()
                        if not pins.door_locked:
                        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]
                        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):
                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)
                        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)
                        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):
        
        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.")
                        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):
        
        class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
                def __init__(self, sm):

-                       AbstractStateWhereOpeningIsRedundant.__init__(sm)
+                       super().__init__(sm, ABOUTOPEN_NERVLIST)

                def handle_pins_event(self):
                def handle_pins_event(self):

+                       super().handle_pins_event()

                        pins = self.pins()
                        if pins.door_locked:
                        pins = self.pins()
                        if pins.door_locked:

-                               return StateZu(self.state_machine)
+                               return StateMachine.StateZu(self.state_machine)

                        elif pins.space_active:
                        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):
        
        class StateAuf(AbstractStateWhereOpeningIsRedundant):
                def __init__(self,sm):

-                       AbstractStateWhereOpeningIsRedundant.__init__(sm)
+                       super().__init__(sm)

                        self.last_buzzed = None
                def handle_pins_event(self):
                        self.last_buzzed = None
                def handle_pins_event(self):

+                       super().handle_pins_event()

                        pins = self.pins()
                        if pins.bell_ringing:
                        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")
                                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")


@@ -171,57 +182,63 @@ class StateMachine():
                                        self.last_buzzed = now
                        if not pins.space_active:
                                logger.info("space switch off - starting leaving procedure")
                                        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:
                        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")
                                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()
                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):
        
        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):
        
        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
        
        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
        
                self.pins = None
                self.old_pins = None
        


@@ -231,11 +248,11 @@ class StateMachine():
        def _callback(self, cmd, arg=None):
                # update pins
                if cmd == StateMachine.CMD_PINS:
        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.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:
                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)
                        self.current_state = newstate
                        newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)