avoid hard-coding a default value twice
[saartuer.git] / statemachine.py
index 0fc24bdf08e1c4d9b91c80752cf6c6cc97d5e704..dcee055c6413962986df6e635c7a8889e81f0219 100644 (file)
@@ -1,6 +1,6 @@
 from libtuer import ThreadFunction, logger, fire_and_forget
 from actor import Actor
-import os, random, time
+import os, random, time, threading
 
 # logger.{debug,info,warning,error,critical}
 
@@ -11,7 +11,7 @@ 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)
-       fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
+       fire_and_forget_cmd ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ")
 
 
 # StateUnlocking constants
@@ -22,6 +22,10 @@ OPEN_REPEAT_NUMBER = 3
 CLOSE_REPEAT_TIMEOUT = 7
 CLOSE_REPEAT_NUMBER = 3
 
+# StateFallback constants
+FALLBACK_BLINK_SPEED = 0.5 # seconds
+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")),\
@@ -99,38 +103,104 @@ class StateMachine():
                        else:
                                raise Exception("Unknown command number: %d" % ev)
        
-       class AbstractLockedState(State):
+       class AbstractNonStartState(State):
+               def handle_pins_event(self):
+                       if self.pins().door_locked != (not self.pins().space_active):
+                               self.actor().act(Actor.CMD_RED_ON)
+                       else:
+                               self.actor().act(Actor.CMD_RED_OFF)
+                       return super().handle_pins_event()
+       
+       class AbstractLockedState(AbstractNonStartState):
                '''A state with invariant "The space is locked", switching to StateAboutToOpen when the space becomes unlocked'''
+               def __init__(self, sm, nervlist = None):
+                       super().__init__(sm, nervlist)
+                       self.actor().act(Actor.CMD_GREEN_OFF)
                def handle_pins_event(self):
                        if not self.pins().door_locked:
-                               return StateAboutToOpen(self.state_machine)
-                       return super().handle_pins_event
+                               logger.info("Door unlocked, space is about to open")
+                               return StateMachine.StateAboutToOpen(self.state_machine)
+                       return super().handle_pins_event()
        
-       class AbstractUnlockedState(State):
+       class AbstractUnlockedState(AbstractNonStartState):
                '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked'''
+               def __init__(self, sm, nervlist = None):
+                       super().__init__(sm, nervlist)
+                       self.actor().act(Actor.CMD_GREEN_ON)
                def handle_pins_event(self):
                        if self.pins().door_locked:
+                               logger.info("Door locked, closing space")
                                if self.pins().space_active:
-                                       # FIXME the same state can be reached by first locking the door, and then activating the space. What to do then?
-                                       logger.info("StateMachine: door manually locked, but space switch is still on - going to StateZu")
+                                       logger.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu")
                                        play_sound("manual_lock")
-                               return StateZu(self.state_machine)
-                       return super().handle_pins_event
+                               return StateMachine.StateZu(self.state_machine)
+                       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):
-                               # All sensors got a value, switch 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:
+                                       logger.info("All sensors got a value, switching to a proper state: Space is closed")
                                        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):
+                       super().__init__(sm, nervlist)
+                       self._last_blink_time = time.time()
+                       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
+                       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
+               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)
+               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):
@@ -167,6 +237,7 @@ class StateMachine():
                def handle_pins_event(self):
                        pins = self.pins()
                        if pins.space_active:
+                               logger.info("Space activated, opening procedure completed")
                                return StateMachine.StateAuf(self.state_machine)
                        return super().handle_pins_event()
        
@@ -177,7 +248,7 @@ class StateMachine():
                        self.last_buzzed = None
                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)
@@ -216,6 +287,7 @@ class StateMachine():
                        if not self.pins().door_closed:
                                return StateMachine.StateLeaving(self.state_machine)
                        if self.pins().space_active:
+                               logger.info("Space re-activated, cancelling leaving procedure")
                                return StateMachine.StateAuf(self.state_machine)
                        return super().handle_pins_event()
        
@@ -225,17 +297,20 @@ class StateMachine():
                        super().__init__(sm, nervlist)
                def handle_pins_event(self):
                        if self.pins().door_closed:
+                               logger.info("The space was left, locking the door")
                                return StateMachine.StateLocking(self.state_machine)
                        if self.pins().space_active:
+                               logger.info("Space re-activated, cancelling leaving procedure")
                                return StateMachine.StateAuf(self.state_machine)
                        return super().handle_pins_event()
        
-       def __init__(self, actor):
+       def __init__(self, actor, waker, fallback = False):
                self.actor = actor
                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
+               waker.register(lambda: self.callback(StateMachine.CMD_WAKEUP), 1.0) # wake up every second
        
        def stop (self):
                self.callback.stop()
@@ -248,6 +323,7 @@ class StateMachine():
                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:
+                       assert isinstance(newstate, StateMachine.State), "I should get a state"
                        self.current_state.on_leave()
                        logger.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__))
                        self.current_state = newstate