fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
-# StateOpening constants
+# StateUnlocking constants
OPEN_REPEAT_TIMEOUT = 8
OPEN_REPEAT_NUMBER = 3
-# StateClosing constants
+# StateLocking constants
CLOSE_REPEAT_TIMEOUT = 8
CLOSE_REPEAT_NUMBER = 3
# 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"
+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)
+
+ def nerv(self, total_time):
+ if len(self.nervlist):
+ (time, f) = self.nervlist[0]
+ # check if the first element is to be triggered
+ if time >= total_time:
+ self.nervlist = self.nervlist[1:] # "pop" the first element, but do not modify original list
+ 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)
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(time.time() - self.time_entered)
def pins(self):
return self.state_machine.pins
def actor(self):
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:
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
- return StateOpening(callback,self.state_machine)
+ return StateUnlocking(callback,self.state_machine)
- class StateOpening(State):
+ class StateUnlocking(State):
def __init__(self,callback,sm):
- super().__init__(self,sm)
+ # construct a nervlist
+ nervlist = [(t*OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in xrange(1, OPEN_REPEAT_NUMBER+1)]
+ nervlist += [((OPEN_REPEAT_NUMBER+1)*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)
+ 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:
+ if cb is not None: # FIXME why this check? shouldn't be needed
cb(s)
def handle_pins_event(self):
super().handle_pins_event()
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)
- 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):
- 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)
+ self.actor().act(Actor.CMD_UNLOCK)
class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
+ def __init__(self, sm):
+ super().__init__(sm, ABOUTOPEN_NERVLIST)
def handle_pins_event(self):
super().handle_pins_event()
pins = self.pins()
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):
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 xrange(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
- 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:
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)
- 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.")
- 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):
- #TODO Ralf
- pass
+ 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)
+ def handle_wakeup_event(self):
+ over = time.time() - self.time_entered
+ if over >= LEAVE_TIMEOUT:
+ return StateLocking(self.state_machine)
class StateLeaving(State):
- #TODO Ralf
- pass
+ 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 handle_wakeup_event(self):
+ over = time.time() - self.time_entered
+ if over >= LEAVE_TIMEOUT:
+ return StateAboutToOpen(self.state_machine)
def __init__(self, actor):
self.actor = actor
projects / saartuer.git / blobdiff