abs2rel works and more sounds

[saartuer.git] / statemachine.py

diff --git a/statemachine.py b/statemachine.py
index ca58e1d08b747ed003448f17a764142883c05430..4fccee406117750ee33dc074a647e110a35acd31 100644 (file)
--- a/statemachine.py
+++ b/statemachine.py
@@ -1,6 +1,6 @@
-from libtuer import ThreadFunction, logger, fire_and_forget
+from libtuer import ThreadFunction, logger, fire_and_forget, fire_and_forget_cmd

 from actor import Actor
 from actor import Actor

-import os, random, time
+import os, random, time, threading

 
 # logger.{debug,info,warning,error,critical}
 
 
 # logger.{debug,info,warning,error,critical}
 


@@ -11,8 +11,20 @@ def play_sound (what):
                logger.error("StateMachine: Unable to list sound files in %s" % (SOUNDS_DIRECTORY+what))
                return
        soundfile = SOUNDS_DIRECTORY + what + '/' + random.choice(soundfiles)
                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
 
 # StateUnlocking constants
 OPEN_REPEAT_TIMEOUT = 7


@@ -22,11 +34,17 @@ OPEN_REPEAT_NUMBER = 3
 CLOSE_REPEAT_TIMEOUT = 7
 CLOSE_REPEAT_NUMBER = 3
 
 CLOSE_REPEAT_TIMEOUT = 7
 CLOSE_REPEAT_NUMBER = 3
 

+# StateFallback constants
+FALLBACK_LEAVE_DELAY_LOCK = 5 # seconds
+

 # StateAboutToOpen constants
 # 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")),
-       (59*60, lambda:logger.critical("Space open but switch not flipped for one hour"))]
+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
 
 # 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


@@ -87,6 +105,8 @@ class StateMachine():
                        return self.state_machine.old_pins
                def actor(self):
                        return self.state_machine.actor
                        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()
                def handle_event(self,ev,arg): # don't override
                        if ev == StateMachine.CMD_PINS:
                                return self.handle_pins_event()


@@ -116,9 +136,6 @@ class StateMachine():
                        if not self.pins().door_locked:
                                logger.info("Door unlocked, space is about to open")
                                return StateMachine.StateAboutToOpen(self.state_machine)
                        if not self.pins().door_locked:
                                logger.info("Door unlocked, space is about to open")
                                return StateMachine.StateAboutToOpen(self.state_machine)

-                       if not self.old_pins().space_active and self.pins().space_active:
-                               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 AbstractUnlockedState(AbstractNonStartState):
                        return super().handle_pins_event()
        
        class AbstractUnlockedState(AbstractNonStartState):


@@ -136,19 +153,66 @@ class StateMachine():
                        return super().handle_pins_event()
        
        class StateStart(State):
                        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 is None or pins.door_closed is None or pins.space_active is None or pins.bell_ringing is None):
                def handle_pins_event(self):
                        pins = self.pins()
                        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):

-                               logger.info("All sensors got a value, switching to a proper state")
+                               if self.fallback:
+                                       logger.info("Going to StateFallback because running in fallback mode")
+                                       return StateMachine.StateFallback(self.state_machine)

                                if pins.door_locked:
                                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:
                                        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()
        
                                        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()
+                       # 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):
                        return StateMachine.StateUnlocking(self.state_machine, callback)
        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):
        
        class StateUnlocking(AbstractLockedState):
                def __init__(self,sm,callback=None):


@@ -156,19 +220,20 @@ class StateMachine():
                        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)
                        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 unlock the door" here? Are the callbacks multi-use?
+                       self.callbacks = []

                        self.actor().act(Actor.CMD_UNLOCK)
                        self.actor().act(Actor.CMD_UNLOCK)

-               def notify(self, did_it_work):
-                       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))
+                       # enqueue the callback
+                       self.handle_cmd_unlock_event(callback)
+               def notify(self, s, lastMsg):

                        for cb in self.callbacks:
                        for cb in self.callbacks:

-                               if cb is not None:
-                                       cb(s)
+                               cb(s, lastMsg)

                def on_leave(self):
                def on_leave(self):

-                       self.notify(not self.pins().door_locked)
+                       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):
                def handle_cmd_unlock_event(self,callback):

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


@@ -186,6 +251,8 @@ class StateMachine():
                        pins = self.pins()
                        if pins.space_active:
                                logger.info("Space activated, opening procedure completed")
                        pins = self.pins()
                        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()
        
                                return StateMachine.StateAuf(self.state_machine)
                        return super().handle_pins_event()
        


@@ -194,16 +261,21 @@ class StateMachine():
                        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
                        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()
                def handle_pins_event(self):
                        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 StateAuf")
                                self.actor().act(Actor.CMD_BUZZ)
                        if not pins.space_active:
                                logger.info("StateMachine: space switch turned off - starting leaving procedure")
                                return StateMachine.StateAboutToLeave(self.state_machine)
                                # 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("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()
                        return super().handle_pins_event()

+               def on_leave(self):
+                       self.api().set_state(False)

        
        class StateLocking(AbstractUnlockedState):
                def __init__(self,sm):
        
        class StateLocking(AbstractUnlockedState):
                def __init__(self,sm):


@@ -252,12 +324,16 @@ class StateMachine():
                                return StateMachine.StateAuf(self.state_machine)
                        return super().handle_pins_event()
        
                                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.actor = actor

+               self.api = api

                self.callback = ThreadFunction(self._callback, name="StateMachine")
                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
                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 stop (self):
                self.callback.stop()