X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/311d7fb5023a6c80ce370d79a6f52495fd54d867..0644bed139c320b03b54f1e5a4fecadc96fa67c8:/statemachine.py?ds=sidebyside diff --git a/statemachine.py b/statemachine.py index fe92682..0fa485a 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 +import os, random, time, threading # logger.{debug,info,warning,error,critical} @@ -11,187 +11,329 @@ 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 -# StateOpening constants -OPEN_REPEAT_TIMEOUT = 8 +# StateAuf constants +HELLO_PROBABILITY = 0.2 + +# StateUnlocking constants +OPEN_REPEAT_TIMEOUT = 7 OPEN_REPEAT_NUMBER = 3 +# StateLocking 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")), (10, lambda:play_sound("flipswitch")), (10, lambda:Logger.warning("Space open but switch not flipped for 10 seconds")),\ - (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")), (56, lambda:play_sound("flipswitch")), (60, lambda:Logger.critical("Space open but switch not flipped for 60 seconds"))] +SWITCH_PRAISE_PROBABILITY = 0.5 +ABOUTOPEN_NERVLIST = nervlist_abs2rel([(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"))]) -# StateAuf constants -# time that must pass between two bell_ringing events to buzz the door again (seconds) -AUF_BELLBUZZ_REPEAT_TIME = 2 +# 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_OPEN = 2 + CMD_UNLOCK = 2 CMD_WAKEUP = 3 CMD_LAST = 4 class State(): - def __init__(self, state_machine): + def __init__(self, state_machine, nervlist = None): self.state_machine = state_machine - self.time_entered = time.time() - self.theDict = None - self.last_wakeup = self.time_entered + 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) + self.actor().act(Actor.CMD_BUZZ) arg("200 okay: buzz executed") - def handle_open_event(self,arg): + 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): - self.last_wakeup = time.time() + 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 arg is CMD_PINS: - self.handle_pins_event() - elif arg is CMD_BUZZ: - self.handle_buzz_event(arg) - elif arg is CMD_OPEN: - self.handle_open_event(arg) - elif arg is CMD_WAKEUP: - self.handle_wakeup_event() + 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 StateStart(State): - def __init__(self, sm): - State.__init__(self,sm) + class AbstractNonStartState(State): def handle_pins_event(self): - thepins = self.pins() - for pin in thepins: - if pin is None: - return None - if thepins.door_locked: - return StateZu + if self.pins().door_locked != (not self.pins().space_active): + self.actor().act(Actor.CMD_RED_ON) else: - return StateAuf - - class StateZu(State): - def __init__(self,sm): - State.__init__(self,sm) + 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): pins = self.pins() - if not pins.door_locked: - return StateAboutToOpen(self.state_machine) - def handle_open_event(self,callback): - return StateOpening(callback,self.state_machine) - - class StateOpening(State): - def __init__(self,callback,sm): - State.__init__(self,sm) - self.callbacks=[callback] - # FIXME: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use? - self.tries = 0 - self.actor().act(Actor.CMD_OPEN) - 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)) - for cb in self.callbacks: - if cb is not None: - cb(s) + 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 StateFallback(State): + def __init__(self, sm, nervlist = None): + super().__init__(sm, nervlist) + self._red_state = False def handle_pins_event(self): pins = self.pins() - if not pins.door_locked: - self.notify(True) - return StateAboutToOpen(self.state_machine) - def handle_open_event(self,callback): - # FIXME: 202 notification also here if possible - self.callbacks.append(callback) + # 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): - over = time.time() - self.time_entered - nexttry = (self.tries+1) * OPEN_REPEAT_TIMEOUT - if over > nexttry: - if self.tries < OPEN_REPEAT_NUMBER: - self.actor().act(Actor.CMD_OPEN) - self.tries += 1 - else: - logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER) - self.notify(False) - return StateZu(self.state_machine) - - class AbstractStateWhereOpeningIsRedundant(State): - def __init__ (self,sm): - State.__init__(sm): - def handle_open_event(self, callback): + # 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): + # 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 = [] + self.actor().act(Actor.CMD_UNLOCK) + # enqueue the callback + self.handle_cmd_unlock_event(callback) + def notify(self, s, lastMsg): + for cb in self.callbacks: + 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): + 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) + + class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState): + def handle_cmd_unlock_event(self, callback): callback("299 redundant: Space seems to be already open. Still processing your request tough.") - logger.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.") - self.actor().act(Actor.CMD_OPEN) + 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): - AbstractStateWhereOpeningIsRedundant.__init__(sm) + super().__init__(sm, ABOUTOPEN_NERVLIST) def handle_pins_event(self): pins = self.pins() - if pins.door_locked: - return StateZu(self.state_machine) - elif pins.space_active: - return StateAuf(self.state_machine) - def handle_wakeup_event(self): - now = time.time() - lasttime = self.last_wakeup - self.time_entered - thistime = now - self.time_entered - for (t,f) in filter(lambda (t,f): t<=thistime and t>lasttime, ABOUTOPEN_NERVLIST): - ret = f(); - if ret is not None: - return ret - - class StateAuf(AbstractStateWhereOpeningIsRedundant): + 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(AbstractStateWhereUnlockingIsRedundant): def __init__(self,sm): - AbstractStateWhereOpeningIsRedundant.__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): pins = self.pins() - if pins.bell_ringing: - 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") - return StateAboutToLeave(self.state_machine) - if pins.door_locked: - logger.error("door manually locked, but space switch on - going to StateZu") - play_sound("manual_lock") - return StateZu(self.state_machine) - # handle_wakeup_event intentionally not overwritten - - class StateClosing(State): - #TODO Ralf/Conny - pass - - class StateAboutToLeave(State): - #TODO Ralf - pass - - class StateLeaving(State): - #TODO Ralf - pass - - def __init__(self, actor): + logger.info("StateMachine: space switch turned off - starting leaving procedure") + return StateMachine.StateAboutToLeave(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(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: + logger.info("Space re-activated, cancelling leaving procedure") + 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: + 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, waker, api, fallback = False): self.actor = actor - self.callback = ThreadFunction(self._callback) - self.current_state = StateStart(self) + self.api = api + self.callback = ThreadFunction(self._callback, name="StateMachine") + 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() @@ -199,11 +341,13 @@ class StateMachine(): def _callback(self, cmd, arg=None): # update pins if cmd == StateMachine.CMD_PINS: - self.old_pins = self.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.info("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)