status report command introduced

[saartuer.git] / statemachine.py

diff --git a/statemachine.py b/statemachine.py
index 3a27adaf8c58a5cd384c417283bf82236450e706..dd9dc542bbe51524c24978bc5263bade5b1650de 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, threading
+import os, random, time, threading, datetime

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


@@ -11,8 +11,22 @@ 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: ")
+       hour = datetime.datetime.time(datetime.datetime.now()).hour
+       volume = 60 if hour >= 22 or hour <= 6 else 95
+       fire_and_forget_cmd ([SOUNDS_PLAYER, "-volume", str(volume), 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


@@ -23,14 +37,16 @@ CLOSE_REPEAT_TIMEOUT = 7
 CLOSE_REPEAT_NUMBER = 3
 
 # StateFallback constants
 CLOSE_REPEAT_NUMBER = 3
 
 # StateFallback constants

-FALLBACK_BLINK_SPEED = 0.5 # seconds

 FALLBACK_LEAVE_DELAY_LOCK = 5 # seconds
 
 # StateAboutToOpen constants
 FALLBACK_LEAVE_DELAY_LOCK = 5 # seconds
 
 # 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([(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


@@ -67,6 +83,10 @@ class StateMachine():
        CMD_UNLOCK = 2
        CMD_WAKEUP = 3
        CMD_LAST = 4
        CMD_UNLOCK = 2
        CMD_WAKEUP = 3
        CMD_LAST = 4

+       CMD_LOCK = 5
+       CMD_FALLBACK_ON = 6
+       CMD_FALLBACK_OFF = 7
+       CMD_STATUS = 8

        
        class State():
                def __init__(self, state_machine, nervlist = None):
        
        class State():
                def __init__(self, state_machine, nervlist = None):


@@ -83,6 +103,17 @@ class StateMachine():
                def handle_wakeup_event(self):
                        if self._nerver is not None:
                                return self._nerver.nerv()
                def handle_wakeup_event(self):
                        if self._nerver is not None:
                                return self._nerver.nerv()

+               def handle_cmd_lock_event(self,arg):
+                       arg("412 Precondition Failed: If not in fallback mode, use the hardware switch to lock the space.")
+               def handle_cmd_fallback_on_event(self,arg):
+                       arg("200 okay: Entering fallback mode and notifying admins.")
+                       logger.critical("Entering fallback mode. Somebody thinks, the hardware sensors are broken.")
+                       return StateMachine.StateFallback(self.state_machine)
+               def handle_cmd_fallback_off_event(self,arg):
+                       arg("412 Precondition Failed: Not in fallback mode!")
+               def handle_cmd_status_event(self,arg):
+                       # TODO use a proper JSON lib
+                       arg('200 okay: {state:\"%s\"}' % self.__class__.__name__)

                def on_leave(self):
                        pass
                def pins(self):
                def on_leave(self):
                        pass
                def pins(self):


@@ -91,6 +122,8 @@ 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()


@@ -100,6 +133,14 @@ class StateMachine():
                                return self.handle_cmd_unlock_event(arg)
                        elif ev == StateMachine.CMD_WAKEUP:
                                return self.handle_wakeup_event()
                                return self.handle_cmd_unlock_event(arg)
                        elif ev == StateMachine.CMD_WAKEUP:
                                return self.handle_wakeup_event()

+                       elif ev == StateMachine.CMD_LOCK:
+                               return self.handle_cmd_lock_event(arg)
+                       elif ev == StateMachine.CMD_FALLBACK_ON:
+                               return self.handle_cmd_fallback_on_event(arg)
+                       elif ev == StateMachine.CMD_FALLBACK_OFF:
+                               return self.handle_cmd_fallback_off_event(arg)
+                       elif ev == StateMachine.CMD_STATUS:
+                               return self.handle_cmd_status_event(arg)

                        else:
                                raise Exception("Unknown command number: %d" % ev)
        
                        else:
                                raise Exception("Unknown command number: %d" % ev)
        


@@ -138,32 +179,28 @@ class StateMachine():
        
        class StateStart(State):
                def __init__(self, sm, nervlist = None, fallback=False):
        
        class StateStart(State):
                def __init__(self, sm, nervlist = None, fallback=False):

-                       super().__init__(self, sm, nervlist)
+                       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):
                        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):

-                               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 self.fallback:
                                        logger.info("Going to StateFallback because running in fallback mode")
                                        return StateMachine.StateFallback(self.state_machine)
                                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()
        
        class StateFallback(State):
                def __init__(self, sm, nervlist = None):
                                        return StateMachine.StateAboutToOpen(self.state_machine)
                        return super().handle_pins_event()
        
        class StateFallback(State):
                def __init__(self, sm, nervlist = None):

-                       super().__init__(self, sm, nervlist)
-                       self._last_blink_time = time.time()
+                       super().__init__(sm, nervlist)

                        self._red_state = False
                def handle_pins_event(self):
                        pins = self.pins()
                        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)
                        # set green LED according to space switch
                        if pins.space_active:
                                self.actor().act(Actor.CMD_GREEN_ON)


@@ -174,25 +211,30 @@ class StateMachine():
                                def _close_after_time():
                                        time.sleep(FALLBACK_LEAVE_DELAY_LOCK)
                                        self.actor().act(Actor.CMD_LOCK)
                                def _close_after_time():
                                        time.sleep(FALLBACK_LEAVE_DELAY_LOCK)
                                        self.actor().act(Actor.CMD_LOCK)

-                               t = threading.Thread(target=_close_after_time)
-                               t.start()
-                       # without return because we want to stay in fallback mode
-                       super().handle_pins_event()
+                               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
                def handle_wakeup_event(self):
                        # blink red LED

-                       now = time.time()
-                       if now - self._last_blink_time < FALLBACK_BLINK_SPEED:
-                               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
-                               self._last_blink_time = now
+                       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:
                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.")
+                               arg("200 okay: Trying to unlock the door. The System is in fallback mode, success information is not available.")

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

+               def handle_cmd_lock_event(self,arg):
+                       if arg is not None:
+                               arg("200 okay: Trying to lock the door. The System is in fallback mode, success information is not available.")
+                       self.actor().act(Actor.CMD_LOCK)
+               def handle_cmd_fallback_on_event(self,arg):
+                       arg("412 Precondition Failed: Fallback mode already active.")
+               def handle_cmd_fallback_off_event(self,arg):
+                       arg("200 okay: Leaving fallback mode and notifying admins.")
+                       logger.critical("Leaving fallback mode. Somebody thinks, the sensors are working again.")
+                       return StateMachine.StateStart(self.state_machine)

        
        class StateZu(AbstractLockedState):
                def handle_cmd_unlock_event(self,callback):
        
        class StateZu(AbstractLockedState):
                def handle_cmd_unlock_event(self,callback):


@@ -209,19 +251,20 @@ 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)


@@ -239,6 +282,8 @@ 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()
        


@@ -247,6 +292,7 @@ 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()
                        if pins.bell_ringing and not self.old_pins().bell_ringing: # first thing to check: edge detection
                def handle_pins_event(self):
                        pins = self.pins()
                        if pins.bell_ringing and not self.old_pins().bell_ringing: # first thing to check: edge detection


@@ -256,7 +302,11 @@ class StateMachine():
                        if not pins.space_active:
                                logger.info("StateMachine: space switch turned off - starting leaving procedure")
                                return StateMachine.StateAboutToLeave(self.state_machine)
                        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):


@@ -305,16 +355,21 @@ 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, fallback = False):
+       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, fallback)
+               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()
        

+       # actually call this.callback (is set in the constructor to make this thread safe)

        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: