-from libtuer import ThreadFunction, logger, fire_and_forget
+from libtuer import ThreadFunction, logger, fire_and_forget, fire_and_forget_cmd
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_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")),\
# 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
-LEAVE_TIMEOUT = 4
+LEAVE_TIMEOUT = 20
# play_sound constants
SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
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()
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:
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.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu")
play_sound("manual_lock")
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):
- 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:
+ 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._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
+ 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:
+ 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):
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)
- 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:
- if cb is not None:
- cb(s)
+ cb(s, lastMsg)
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):
- # 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)
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:
+ 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)
logger.info("StateMachine: space switch turned off - starting leaving procedure")
return StateMachine.StateAboutToLeave(self.state_machine)
return super().handle_pins_event()
+ def on_leave(self):
+ self.api().set_state(False)
class StateLocking(AbstractUnlockedState):
def __init__(self,sm):
return StateMachine.StateAuf(self.state_machine)
return super().handle_pins_event()
- def __init__(self, actor):
+ def __init__(self, actor, waker, api, fallback = False):
self.actor = actor
+ self.api = api
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
+ # initially, the space is closed
+ api.set_state(False)
def stop (self):
self.callback.stop()
projects / saartuer.git / blobdiff