X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/05d80f06d0d28433e7b730e6290b79c7d0e32c6b..a7c0b8e1ba3fc6170f14bb0c964e5ac9e9ba4881:/statemachine.py?ds=inline diff --git a/statemachine.py b/statemachine.py deleted file mode 100644 index f2fb817..0000000 --- a/statemachine.py +++ /dev/null @@ -1,254 +0,0 @@ -from libtuer import ThreadFunction, logger, fire_and_forget -from actor import Actor -import os, random, time - -# logger.{debug,info,warning,error,critical} - -def play_sound (what): - try: - soundfiles = os.listdir(SOUNDS_DIRECTORY+what) - except FileNotFoundError: - 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: ") - - -# StateUnlocking constants -OPEN_REPEAT_TIMEOUT = 7 -OPEN_REPEAT_NUMBER = 3 - -# StateLocking constants -CLOSE_REPEAT_TIMEOUT = 7 -CLOSE_REPEAT_NUMBER = 3 - -# 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"))] - -# 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 = 20 - -# 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) - self.last_event_time = time.time() - - def nerv(self): - if len(self.nervlist): - (wait_time, f) = self.nervlist[0] - now = time.time() - time_gone = now-self.last_event_time - # check if the first element is to be triggered - if time_gone >= wait_time: - self.nervlist = self.nervlist[1:] # "pop" the first element, but do not modify original list - self.last_event_time = now - return f() - - -class StateMachine(): - # commands you can send - CMD_PINS = 0 - CMD_BUZZ = 1 - CMD_UNLOCK = 2 - CMD_WAKEUP = 3 - CMD_LAST = 4 - - class State(): - def __init__(self, state_machine, nervlist = None): - self.state_machine = state_machine - 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_cmd_unlock_event(self,arg): - if arg is not None: - arg("412 Precondition Failed: The current state (%s) cannot handle the UNLOCK command. Try again later." % self.__class__.__name__) - def handle_wakeup_event(self): - if self._nerver is not None: - return self._nerver.nerv() - def pins(self): - return self.state_machine.pins - def old_pins(self): - return self.state_machine.old_pins - def actor(self): - return self.state_machine.actor - def handle_event(self,ev,arg): # don't override - if ev == StateMachine.CMD_PINS: - return self.handle_pins_event() - elif ev == StateMachine.CMD_BUZZ: - return self.handle_buzz_event(arg) - elif ev == StateMachine.CMD_UNLOCK: - return self.handle_cmd_unlock_event(arg) - elif ev == StateMachine.CMD_WAKEUP: - return self.handle_wakeup_event() - else: - raise Exception("Unknown command number: %d" % ev) - - class AbstractLockedState(State): - '''A state with invariant "The space is locked", switching to StateAboutToOpen when the space becomes unlocked''' - def handle_pins_event(self): - if not self.pins().door_locked: - return StateAboutToOpen(self.state_machine) - return super().handle_pins_event - - class AbstractUnlockedState(State): - '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked''' - def handle_pins_event(self): - if self.pins().door_locked: - 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") - play_sound("manual_lock") - return StateZu(self.state_machine) - return super().handle_pins_event - - class StateStart(State): - 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 pins.door_locked: - return StateMachine.StateZu(self.state_machine) - else: - return StateMachine.StateAboutToOpen(self.state_machine) - return super().handle_pins_event() - - class StateZu(AbstractLockedState): - def handle_cmd_unlock_event(self,callback): - return StateMachine.StateUnlocking(self.state_machine, callback) - - class StateUnlocking(AbstractLockedState): - def __init__(self,sm,callback=None): - # construct a 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.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)) - for cb in self.callbacks: - if cb is not None: - cb(s) - def handle_pins_event(self): - # overriding superclass as we need to do notification (TODO can this be done better? on_leave?) - if not self.pins().door_locked: - self.notify(True) - return StateMachine.StateAboutToOpen(self.state_machine) - def handle_cmd_unlock_event(self,callback): - # TODO: 202 notification also here if possible - 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) - self.notify(False) - return StateMachine.StateZu(self.state_machine) - - class AbstractStateWhereOpeningIsRedundant(AbstractUnlockedState): - def handle_cmd_unlock_event(self, callback): - callback("299 redundant: Space seems to be already open. Still processing your request tough.") - logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__) - self.actor().act(Actor.CMD_UNLOCK) - - class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant): - def __init__(self, sm): - super().__init__(sm, ABOUTOPEN_NERVLIST) - def handle_pins_event(self): - pins = self.pins() - if pins.space_active: - return StateMachine.StateAuf(self.state_machine) - return super().handle_pins_event() - - class StateAuf(AbstractStateWhereOpeningIsRedundant): - def __init__(self,sm): - super().__init__(sm) - self.last_buzzed = None - def handle_pins_event(self): - pins = self.pins() - if pins.bell_ringing and not self.old_pins().bell_ringing: - # someone just pressed the bell - logger.info("StateMachine: buzzing because of bell ringing in StateAuf") - self.actor().act(Actor.CMD_BUZZ) - if not pins.space_active: - logger.info("StateMachine: space switch turned off - starting leaving procedure") - return StateMachine.StateAboutToLeave(self.state_machine) - return super().handle_pins_event() - - class StateLocking(AbstractUnlockedState): - def __init__(self,sm): - # construct a nervlist - nervlist = [(CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(CLOSE_REPEAT_NUMBER)] - nervlist += [(CLOSE_REPEAT_TIMEOUT, self.could_not_close)] - super().__init__(sm, nervlist) - if self.pins().door_closed: # this should always be true, but just to be sure... - self.actor().act(Actor.CMD_LOCK) - def handle_pins_event(self): - pins = self.pins() - if not pins.door_closed: - # TODO play a sound? This shouldn't happen, door was opened while we are locking - logger.warning("StateMachine: door manually opened during locking") - return StateMachine.StateAboutToOpen(self.state_machine) - # TODO do anything here if the switch is activated now? - return super().handle_pins_event() - def handle_cmd_unlock_event(self,callback): - callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.") - def could_not_close(self): - logger.critical("StateMachine: Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER) - return StateMachine.StateAboutToOpen(self.state_machine) - - class StateAboutToLeave(AbstractUnlockedState): - def __init__(self, sm): - nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateLocking(self.state_machine))] - super().__init__(sm, nervlist) - def handle_pins_event(self): - if not self.pins().door_closed: - return StateMachine.StateLeaving(self.state_machine) - if self.pins().space_active: - return StateMachine.StateAuf(self.state_machine) - return super().handle_pins_event() - - class StateLeaving(AbstractUnlockedState): - def __init__(self, sm): - nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateAboutToOpen(self.state_machine))] - super().__init__(sm, nervlist) - def handle_pins_event(self): - if self.pins().door_closed: - return StateMachine.StateLocking(self.state_machine) - if self.pins().space_active: - return StateMachine.StateAuf(self.state_machine) - return super().handle_pins_event() - - def __init__(self, actor): - self.actor = actor - self.callback = ThreadFunction(self._callback, name="StateMachine") - self.current_state = StateMachine.StateStart(self) - self.pins = None - self.old_pins = None - - def stop (self): - self.callback.stop() - - def _callback(self, cmd, arg=None): - # update pins - if cmd == StateMachine.CMD_PINS: - self.pins = arg - # handle stuff - 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: - logger.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__)) - self.current_state = newstate - newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)