X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/ae16fc79ab4455d5dd0bc79c73066ce61157362a..d70ca0e92ad8ec4ccad5fe20eca7c6224e4f5f3a:/statemachine.py

diff --git a/statemachine.py b/statemachine.py
index 70f9fe3..a18cb53 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 +14,74 @@ 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
+# ALso the time we wait after the door was opend, till we assume something went wrong and start nerving
+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):
@@ -69,8 +91,8 @@ 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:
@@ -84,9 +106,9 @@ class StateMachine():
 				if pin is None:
 					return None
 			if thepins.door_locked:
-				return StateZu
+				return StateZu(self.state_machine)
 			else:
-				return StateAuf
+				return StateAuf(self.state_machine)
 
 	class StateZu(State):
 		def handle_pins_event(self):
@@ -94,17 +116,19 @@ class StateMachine():
 			pins = self.pins()
 			if not pins.door_locked:
 				return StateAboutToOpen(self.state_machine)
-		def handle_open_event(self,callback):
+		def handle_cmd_unlock_event(self,callback):
 			# intentionally not calling super() implementation
-			return StateOpening(callback,self.state_machine)
+			return StateUnlocking(self.state_machine, callback)
 	
-	class StateOpening(State):
-		def __init__(self,callback,sm):
-			super().__init__(self,sm)
+	class StateUnlocking(State):
+		def __init__(self,sm,callback=None):
+			# 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)
+			# TODO: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
+			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:
@@ -116,31 +140,25 @@ class StateMachine():
 			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
+			# TODO: 202 notification also here if possible
 			self.callbacks.append(callback)
-		def handle_wakeup_event(self):
-			super().handle_wakeup_event()
-			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 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)
+			logger.info("Received OPEN command in StateAboutToOpen. This should not be necessary.")
+			self.actor().act(Actor.CMD_UNLOCK)
 	
 	class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
+		def __init__(self, sm):
+			super().__init__(sm, ABOUTOPEN_NERVLIST)
 		def handle_pins_event(self):
 			super().handle_pins_event()
 			pins = self.pins()
@@ -148,15 +166,6 @@ class StateMachine():
 				return StateZu(self.state_machine)
 			elif pins.space_active:
 				return StateAuf(self.state_machine)
-		def handle_wakeup_event(self):
-			super().handle_wakeup_event()
-			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):
@@ -166,6 +175,7 @@ class StateMachine():
 			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")
@@ -175,50 +185,52 @@ class StateMachine():
 				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")
+				logger.info("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):
-			super().__init__(sm)
-			self.callbacks=[callback]
-			# 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)
-		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:
-				if cb is not None:
-					cb(s)
+	class StateLocking(State):
+		# TODO: share code with StateUnlocking
+		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 not 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_locked:
-				self.notify(True)
+			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")
 				return StateAboutToOpen(self.state_machine)
-		def handle_open_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)
+			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 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)
+			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
@@ -236,7 +248,7 @@ class StateMachine():
 			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?
+		self.old_pins = self.pins
 		while newstate is not None:
 			logger.info("StateMachine: new state = %s" % newstate.__class__.__name__)
 			self.current_state = newstate