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}
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
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")),\
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):
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()
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)
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()
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()
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
projects / saartuer.git / blobdiff