X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/0c9ef9a101c6adfe914f9d039c8ec6698ccf8eb5..e489f494d0bb7ee28ef8c41ef47069ceebe118ee:/statemachine.py?ds=sidebyside diff --git a/statemachine.py b/statemachine.py index f6b45dd..a3a24d4 100644 --- a/statemachine.py +++ b/statemachine.py @@ -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")),\ @@ -79,6 +83,8 @@ class StateMachine(): 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): @@ -97,38 +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): @@ -144,17 +216,13 @@ class StateMachine(): 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 on_leave(self): + self.notify(not self.pins().door_locked) 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 AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState): @@ -169,16 +237,18 @@ 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() 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 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) @@ -217,6 +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() @@ -226,17 +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, None, 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() @@ -249,6 +323,8 @@ 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: + 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)