Make nervlists relative

[saartuer.git] / statemachine.py

diff --git a/statemachine.py b/statemachine.py
index 70f9fe3e3cd942d16a992087bb8e76705a895138..f2cac47d8df7d2462aaf8222b48816d4bd0a35e0 100644 (file)
--- a/statemachine.py
+++ b/statemachine.py
@@ -14,11 +14,11 @@ def play_sound (what):
        fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
 
 
        fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
 
 

-# StateOpening constants
+# StateUnlocking constants

 OPEN_REPEAT_TIMEOUT = 8
 OPEN_REPEAT_NUMBER = 3
 
 OPEN_REPEAT_TIMEOUT = 8
 OPEN_REPEAT_NUMBER = 3
 

-# StateClosing constants
+# StateLocking constants

 CLOSE_REPEAT_TIMEOUT = 8
 CLOSE_REPEAT_NUMBER = 3
 
 CLOSE_REPEAT_TIMEOUT = 8
 CLOSE_REPEAT_NUMBER = 3
 


@@ -31,35 +31,56 @@ ABOUTOPEN_NERVLIST = [(5, lambda : play_sound("flipswitch")), (10, lambda:play_s
 #  time that must pass between two bell_ringing events to buzz the door again (seconds)
 AUF_BELLBUZZ_REPEAT_TIME = 2
 
 #  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
+LEAVE_TIMEOUT = 30
+

 # 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):
+                       (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 >= 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
                        self.actor.act(Actor.CMD_BUZZ)
                        arg("200 okay: buzz executed")
                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)
                        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):
                def pins(self):
                        return self.state_machine.pins
                def actor(self):


@@ -69,8 +90,8 @@ class StateMachine():
                                self.handle_pins_event()
                        elif arg is CMD_BUZZ:
                                self.handle_buzz_event(arg)
                                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_UNLOCK:
+                               self.handle_cmd_unlock_event(arg)

                        elif arg is CMD_WAKEUP:
                                self.handle_wakeup_event()
                        else:
                        elif arg is CMD_WAKEUP:
                                self.handle_wakeup_event()
                        else:


@@ -94,21 +115,23 @@ class StateMachine():
                        pins = self.pins()
                        if not pins.door_locked:
                                return StateAboutToOpen(self.state_machine)
                        pins = self.pins()
                        if not pins.door_locked:
                                return StateAboutToOpen(self.state_machine)

-               def handle_open_event(self,callback):
+               def handle_cmd_unlock_event(self,callback):

                        # intentionally not calling super() implementation
                        # intentionally not calling super() implementation

-                       return StateOpening(callback,self.state_machine)
+                       return StateUnlocking(callback,self.state_machine)

        
        

-       class StateOpening(State):
+       class StateUnlocking(State):

                def __init__(self,callback,sm):
                def __init__(self,callback,sm):

-                       super().__init__(self,sm)
+                       # construct a nervlist
+                       nervlist = [(OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in xrange(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.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)
+                       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:
                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:
+                               if cb is not None: # FIXME why this check? shouldn't be needed

                                        cb(s)
                def handle_pins_event(self):
                        super().handle_pins_event()
                                        cb(s)
                def handle_pins_event(self):
                        super().handle_pins_event()


@@ -116,31 +139,25 @@ class StateMachine():
                        if not pins.door_locked:
                                self.notify(True)
                                return StateAboutToOpen(self.state_machine)
                        if not pins.door_locked:
                                self.notify(True)
                                return StateAboutToOpen(self.state_machine)

-               def handle_open_event(self,callback):
+               def handle_cmd_unlock_event(self,callback):

                        # intentionally not calling super() implementation
                        # FIXME: 202 notification also here if possible
                        self.callbacks.append(callback)
                        # intentionally not calling super() implementation
                        # FIXME: 202 notification also here if possible
                        self.callbacks.append(callback)

-               def handle_wakeup_event(self):
-                       super().handle_wakeup_event()
-                       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 StateZu(self.state_machine)

        
        class AbstractStateWhereOpeningIsRedundant(State):
        
        class AbstractStateWhereOpeningIsRedundant(State):

-               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.")
                        # 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)
+                       self.actor().act(Actor.CMD_UNLOCK)

        
        class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
        
        class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):

+               def __init__(self, sm):
+                       super().__init__(sm, ABOUTOPEN_NERVLIST)

                def handle_pins_event(self):
                        super().handle_pins_event()
                        pins = self.pins()
                def handle_pins_event(self):
                        super().handle_pins_event()
                        pins = self.pins()


@@ -148,15 +165,6 @@ class StateMachine():
                                return StateZu(self.state_machine)
                        elif pins.space_active:
                                return StateAuf(self.state_machine)
                                return StateZu(self.state_machine)
                        elif pins.space_active:
                                return StateAuf(self.state_machine)

-               def handle_wakeup_event(self):
-                       super().handle_wakeup_event()
-                       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):
                def __init__(self,sm):
        
        class StateAuf(AbstractStateWhereOpeningIsRedundant):
                def __init__(self,sm):


@@ -178,16 +186,20 @@ class StateMachine():
                                logger.error("door manually locked, but space switch on - going to StateZu")
                                play_sound("manual_lock")
                                return StateZu(self.state_machine)
                                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: share code with StateOpening, and possibly also with the nerv-mechanism from StateAboutToOpen
-               def __init__(self,callback,sm):
-                       super().__init__(sm)
-                       self.callbacks=[callback]
+       class StateLocking(State):
+               # FIXME: Why does this even have callbacks?
+               # TODO: share code with StateUnlocking
+               def __init__(self,sm):
+                       # construct a nervlist
+                       nervlist = [(t*CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(1, CLOSE_REPEAT_NUMBER+1)]
+                       nervlist += [((CLOSE_REPEAT_NUMBER+1)*CLOSE_REPEAT_TIMEOUT, self.could_not_close)]
+                       super().__init__(sm, nervlist)
+                       self.callbacks=[]

                        # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use?
                        self.tries = 0
                        # 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)
+                       assert self.pins().door_closed, "Door is open while we should close it, this must not happen"
+                       self.actor().act(Actor.CMD_LOCK)

                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:
                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:


@@ -195,30 +207,38 @@ class StateMachine():
                                        cb(s)
                def handle_pins_event(self):
                        pins = self.pins()
                                        cb(s)
                def handle_pins_event(self):
                        pins = self.pins()

-                       if not pins.door_locked:
+                       if not pins.door_closed:
+                               # TODO play a sound? This shouldn't happen, door was opened while we are locking

                                self.notify(True)
                                return StateAboutToOpen(self.state_machine)
                                self.notify(True)
                                return StateAboutToOpen(self.state_machine)

-               def handle_open_event(self,callback):
+                       if pins.door_locked:
+                               return SpaceZu(self.state_machine)
+               def handle_cmd_unlock_event(self,callback):

                        callback("409 conflict: The server is currently trying to close the door. Try again later.")
                        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)
+               def could_not_close(self):
+                       logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
+                       self.notify(False)
+                       return StateAboutToOpen(self.state_machine)

        
        class StateAboutToLeave(State):
        
        class StateAboutToLeave(State):

-               #TODO Ralf
-               pass
+               def __init__(self, sm):
+                       nervlist = [(LEAVE_TIMEOUT, lambda: StateLocking(self.state_machine))]
+                       super().__init__(sm, nervlist)
+               def handle_pins_event(self):
+                       if not self.pins().door_closed:
+                               return StateLeaving(self.state_machine)
+                       if self.pins().door_locked:
+                               return StateZu(self.state_machine)

        
        class StateLeaving(State):
        
        class StateLeaving(State):

-               #TODO Ralf
-               pass
+               def __init__(self, sm):
+                       nervlist = [(LEAVE_TIMEOUT, lambda: StateAboutToOpen(self.state_machine))]
+                       super().__init__(sm, nervlist)
+               def handle_pins_event(self):
+                       if self.pins().door_closed:
+                               return StateLocking(self.state_machine)
+                       if self.pins().door_locked:
+                               return StateZu(self.state_machine)

        
        def __init__(self, actor):
                self.actor = actor
        
        def __init__(self, actor):
                self.actor = actor