X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/60b53b780de5b18308adfe0f61e0c739bdf3186d..6f24ccffd4dc1b8401cddad047296a0c11fedb5f:/statemachine.py diff --git a/statemachine.py b/statemachine.py index 4b82def..332f48d 100644 --- a/statemachine.py +++ b/statemachine.py @@ -1,4 +1,4 @@ -from libtuer import ThreadFunction, logger, fire_and_forget +8from libtuer import ThreadFunction, logger, fire_and_forget from actor import Actor import os, random @@ -14,52 +14,73 @@ def play_sound (what): fire_and_forget ([SOUNDS_PLAYER,soundfile], logger.error, "StateMachine: ") -# StateOpening constants +# StateUnlocking constants OPEN_REPEAT_TIMEOUT = 8 OPEN_REPEAT_NUMBER = 3 -# StateClosing constants +# StateLocking constants CLOSE_REPEAT_TIMEOUT = 8 CLOSE_REPEAT_NUMBER = 3 # 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"))] +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"))] # 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 +LEAVE_TIMEOUT = 30 + # 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): + (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 >= 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) 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__) def handle_wakeup_event(self): - self.last_wakeup = time.time() + if self._nerver is not None: + return self._nerver.nerv() def pins(self): return self.state_machine.pins def actor(self): @@ -69,17 +90,16 @@ class StateMachine(): 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_UNLOCK: + self.handle_cmd_unlock_event(arg) elif arg is CMD_WAKEUP: self.handle_wakeup_event() else: raise Exception("Unknown command number: %d" % ev) class StateStart(State): - def __init__(self, sm): - State.__init__(self,sm) def handle_pins_event(self): + super().handle_pins_event() thepins = self.pins() for pin in thepins: if pin is None: @@ -90,78 +110,68 @@ class StateMachine(): return StateAuf class StateZu(State): - def __init__(self,sm): - State.__init__(self,sm) def handle_pins_event(self): + super().handle_pins_event() 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) + def handle_cmd_unlock_event(self,callback): + # intentionally not calling super() implementation + return StateUnlocking(callback,self.state_machine) - class StateOpening(State): + class StateUnlocking(State): def __init__(self,callback,sm): - State.__init__(self,sm) + # construct a nervlist + nervlist = [(OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in xrange(OPEN_REPEAT_NUMBER)] + nervlist += [(OPEN_REPEAT_TIMEOUT, self.could_not_open)] + super().__init__(sm,nervlist) 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) + 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)) for cb in self.callbacks: - if cb is not None: + if cb is not None: # FIXME why this check? shouldn't be needed cb(s) def handle_pins_event(self): + super().handle_pins_event() pins = self.pins() if not pins.door_locked: self.notify(True) return StateAboutToOpen(self.state_machine) - def handle_open_event(self,callback): + def handle_cmd_unlock_event(self,callback): + # intentionally not calling super() implementation # FIXME: 202 notification also here if possible self.callbacks.append(callback) - 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) + def could_not_open(self): + 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): + 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.warning("Received OPEN command in StateAboutToOpen. This should not be necessary.") - self.actor().act(Actor.CMD_OPEN) + self.actor().act(Actor.CMD_UNLOCK) class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant): def __init__(self, sm): - AbstractStateWhereOpeningIsRedundant.__init__(sm) + super().__init__(sm, ABOUTOPEN_NERVLIST) def handle_pins_event(self): + super().handle_pins_event() 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): def __init__(self,sm): - AbstractStateWhereOpeningIsRedundant.__init__(sm) + super().__init__(sm) self.last_buzzed = None def handle_pins_event(self): + super().handle_pins_event() pins = self.pins() if pins.bell_ringing: now = time.time() @@ -176,16 +186,20 @@ class StateMachine(): 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: share code with StateOpening, and possibly also with the nerv-mechanism from StateAboutToOpen - def __init__(self,callback,sm): - State.__init__(self,sm) - self.callbacks=[callback] + class StateLocking(State): + # FIXME: Why does this even have callbacks? + # TODO: share code with StateUnlocking + def __init__(self,sm): + # construct a nervlist + nervlist = [(t*CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_LOCK)) for t in range(1, CLOSE_REPEAT_NUMBER+1)] + nervlist += [((CLOSE_REPEAT_NUMBER+1)*CLOSE_REPEAT_TIMEOUT, self.could_not_close)] + super().__init__(sm, nervlist) + self.callbacks=[] # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use? self.tries = 0 - self.actor().act(Actor.CMD_CLOSE) + assert self.pins().door_closed, "Door is open while we should close it, this must not happen" + self.actor().act(Actor.CMD_LOCK) def notify(self, did_it_work): s = "200 okay: door closed" if did_it_work else ("500 internal server error: Couldn't close door with %d tries à %f seconds" % (CLOSE_REPEAT_NUMBER,CLOSE_REPEAT_TIMEOUT)) for cb in self.callbacks: @@ -193,30 +207,38 @@ class StateMachine(): cb(s) def handle_pins_event(self): pins = self.pins() - if not pins.door_locked: + if not pins.door_closed: + # TODO play a sound? This shouldn't happen, door was opened while we are locking self.notify(True) return StateAboutToOpen(self.state_machine) - def handle_open_event(self,callback): + if pins.door_locked: + return SpaceZu(self.state_machine) + def handle_cmd_unlock_event(self,callback): callback("409 conflict: The server is currently trying to close the door. Try again later.") - def handle_wakeup_event(self): - over = time.time() - self.time_entered - nexttry = (self.tries+1) * CLOSE_REPEAT_TIMEOUT - if over > nexttry: - if self.tries < CLOSE_REPEAT_NUMBER: - self.actor().act(Actor.CMD_CLOSE) - self.tries += 1 - else: - logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER) - self.notify(False) - return StateAboutToOpen(self.state_machine) + def could_not_close(self): + logger.critical("Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER) + self.notify(False) + return StateAboutToOpen(self.state_machine) class StateAboutToLeave(State): - #TODO Ralf - pass + def __init__(self, sm): + nervlist = [(LEAVE_TIMEOUT, lambda: StateLocking(self.state_machine))] + super().__init__(sm, nervlist) + def handle_pins_event(self): + if not self.pins().door_closed: + return StateLeaving(self.state_machine) + if self.pins().door_locked: + return StateZu(self.state_machine) class StateLeaving(State): - #TODO Ralf - pass + def __init__(self, sm): + nervlist = [(LEAVE_TIMEOUT, lambda: StateAboutToOpen(self.state_machine))] + super().__init__(sm, nervlist) + def handle_pins_event(self): + if self.pins().door_closed: + return StateLocking(self.state_machine) + if self.pins().door_locked: + return StateZu(self.state_machine) def __init__(self, actor): self.actor = actor @@ -231,10 +253,10 @@ 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 # FIXME not used? while newstate is not None: logger.info("StateMachine: new state = %s" % newstate.__class__.__name__) self.current_state = newstate