X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/0a8315d2d0460a77b8e9c0ff3b4ce138e4f4a593..77625890f7be83890ca4a99fe9571a9a13772624:/statemachine.py?ds=inline diff --git a/statemachine.py b/statemachine.py index 893287a..4fccee4 100644 --- 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 -import os, random, time +import os, random, time, threading # logger.{debug,info,warning,error,critical} @@ -11,8 +11,20 @@ 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], "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 @@ -22,14 +34,17 @@ OPEN_REPEAT_NUMBER = 3 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"))] +# StateFallback constants +FALLBACK_LEAVE_DELAY_LOCK = 5 # seconds -# StateAuf constants -# time that must pass between two bell_ringing events to buzz the door again (seconds) -AUF_BELLBUZZ_REPEAT_TIME = 2 +# StateAboutToOpen constants +SWITCH_PRAISE_PROBABILITY = 0.5 +ABOUTOPEN_NERVLIST = nervlist_abs2rel([(5, lambda : play_sound("flipswitch")), (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 @@ -78,14 +93,20 @@ class StateMachine(): 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 OPEN event" % self.__class__.__name__) + 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 on_leave(self): + pass 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 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() @@ -98,98 +119,165 @@ class StateMachine(): else: raise Exception("Unknown command number: %d" % ev) + 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(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: + 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): - super().handle_pins_event() pins = self.pins() - if pins.door_locked is None or pins.door_closed is None or pins.space_active is None or pins.bell_ringing is None: - return None # wait till we have all sensors non-None - if pins.door_locked: - return StateMachine.StateZu(self.state_machine) - else: - return StateMachine.StateAuf(self.state_machine) + 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): + 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 StateZu(State): + class StateFallback(State): + def __init__(self, sm, nervlist = None): + super().__init__(sm, nervlist) + self._red_state = False def handle_pins_event(self): - super().handle_pins_event() pins = self.pins() - if not pins.door_locked: - return StateMachine.StateAboutToOpen(self.state_machine) + # 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): - # intentionally not calling super() implementation 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(State): + 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 open 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 open" if did_it_work else ("500 internal server error: Couldn't open 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) - def handle_pins_event(self): - super().handle_pins_event() - pins = self.pins() - if not pins.door_locked: - self.notify(True) - return StateMachine.StateAboutToOpen(self.state_machine) + cb(s, lastMsg) + def on_leave(self): + 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): - # intentionally not calling super() implementation - # 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("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER) - self.notify(False) + logger.critical("StateMachine: Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER) return StateMachine.StateZu(self.state_machine) - class AbstractStateWhereOpeningIsRedundant(State): + class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState): def handle_cmd_unlock_event(self, callback): - # intentionally not calling super() implementation callback("299 redundant: Space seems to be already open. Still processing your request tough.") - logger.info("Received OPEN command in StateAboutToOpen. This should not be necessary.") + 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): + class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant): def __init__(self, sm): super().__init__(sm, ABOUTOPEN_NERVLIST) def handle_pins_event(self): - super().handle_pins_event() pins = self.pins() - if pins.door_locked: - return StateMachine.StateZu(self.state_machine) - elif pins.space_active: + 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() - class StateAuf(AbstractStateWhereOpeningIsRedundant): + class StateAuf(AbstractStateWhereUnlockingIsRedundant): def __init__(self,sm): - super().__init__(sm) + 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): - super().handle_pins_event() pins = self.pins() - if pins.bell_ringing: - # TODO: use old_pins instead of a timer - now = time.time() - if self.last_buzzed is None or now-self.last_buzzed < AUF_BELLBUZZ_REPEAT_TIME: - logger.info("buzzing because of bell ringing in state auf") - self.actor().act(Actor.CMD_BUZZ) - self.last_buzzed = now + 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 pins.space_active: - logger.info("space switch off - starting leaving procedure") + logger.info("StateMachine: space switch turned off - starting leaving procedure") return StateMachine.StateAboutToLeave(self.state_machine) - if pins.door_locked: - logger.info("door manually locked, but space switch on - going to StateZu") - play_sound("manual_lock") - return StateMachine.StateZu(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() + def on_leave(self): + self.api().set_state(False) - class StateLocking(State): - # TODO: share code with StateUnlocking + 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)] @@ -201,46 +289,51 @@ class StateMachine(): 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("door manually opened during locking") + logger.warning("StateMachine: door manually opened during locking") return StateMachine.StateAboutToOpen(self.state_machine) - if pins.door_locked: - return StateMachine.StateZu(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 server is currently trying to lock the door. Try again later.") + callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.") def could_not_close(self): - logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER) + 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(State): + 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().door_locked: - return StateMachine.StateZu(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() - class StateLeaving(State): + 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: + logger.info("The space was left, locking the door") return StateMachine.StateLocking(self.state_machine) - if self.pins().door_locked: - return StateMachine.StateZu(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, 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() @@ -253,6 +346,8 @@ 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: - logger.debug("StateMachine: new state = %s" % newstate.__class__.__name__) + 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 newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)