X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/60b53b780de5b18308adfe0f61e0c739bdf3186d..e99d4446af1d2f2419c4de4fe3874f17b0873a48:/statemachine.py

diff --git a/statemachine.py b/statemachine.py
index 4b82def..6a3e889 100644
--- a/statemachine.py
+++ b/statemachine.py
@@ -14,11 +14,11 @@ 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
 
@@ -31,35 +31,53 @@ ABOUTOPEN_NERVLIST = [(5, lambda : play_sound("flipswitch")), (10, lambda:play_s
 #  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)
+	
+	def nerv(self, total_time):
+		if len(self.nervlist):
+			(time, f) = self.nervlist[0]
+			# check if the first element is to be triggered
+			if time >= total_time:
+				self.nervlist = self.nervlist[1:] # "pop" the first element, but do not modify original list
+				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(time.time() - self.time_entered)
 		def pins(self):
 			return self.state_machine.pins
 		def actor(self):
@@ -69,17 +87,16 @@ 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 +107,68 @@ 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 = [(t*OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_UNLOCK)) for t in xrange(1, OPEN_REPEAT_NUMBER+1)]
+			nervlist += [((OPEN_REPEAT_NUMBER+1)*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()
@@ -178,14 +185,19 @@ class StateMachine():
 				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 xrange(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 +205,40 @@ 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 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)
+		def handle_wakeup_event(self):
+			over = time.time() - self.time_entered
+			if over >= LEAVE_TIMEOUT:
+				return StateLocking(self.state_machine)
 	
 	class StateLeaving(State):
-		#TODO Ralf
-		pass
+		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 handle_wakeup_event(self):
+			over = time.time() - self.time_entered
+			if over >= LEAVE_TIMEOUT:
+				return StateAboutToOpen(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