X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/c18f24f8dd55661841deb73acf04be9eb7011202..98411bd460ad1474b8c3100bf8241c04519b7a2d:/statemachine.py

diff --git a/statemachine.py b/statemachine.py
index 0fc24bd..e6a2757 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, time
+import os, random, time, threading, datetime
 
 # logger.{debug,info,warning,error,critical}
 
@@ -11,8 +11,22 @@ 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: ")
+	hour = datetime.datetime.time(datetime.datetime.now()).hour
+	volume = 60 if hour >= 22 or hour <= 6 else 95
+	fire_and_forget_cmd ([SOUNDS_PLAYER, "-volume", str(volume), 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
+
+# StateAuf constants
+HELLO_PROBABILITY = 0.2
 
 # StateUnlocking constants
 OPEN_REPEAT_TIMEOUT = 7
@@ -22,11 +36,17 @@ OPEN_REPEAT_NUMBER = 3
 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")), (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")),
-	(59*60, lambda:logger.critical("Space open but switch not flipped for one hour"))]
+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"))])
 
 # 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
@@ -63,6 +83,9 @@ class StateMachine():
 	CMD_UNLOCK = 2
 	CMD_WAKEUP = 3
 	CMD_LAST = 4
+	CMD_LOCK = 5
+	CMD_FALLBACK_ON = 6
+	CMD_FALLBACK_OFF = 7
 	
 	class State():
 		def __init__(self, state_machine, nervlist = None):
@@ -79,6 +102,14 @@ class StateMachine():
 		def handle_wakeup_event(self):
 			if self._nerver is not None:
 				return self._nerver.nerv()
+		def handle_cmd_lock_event(self,arg):
+			arg("412 Precondition Failed: If not in fallback mode, use the hardware switch to lock the space.")
+		def handle_cmd_fallback_on_event(self,arg):
+			arg("200 okay: Entering fallback mode and notifying admins.")
+			logger.critical("Entering fallback mode. Somebody thinks, the hardware sensors are broken.")
+			return StateMachine.StateFallback(self.state_machine)
+		def handle_cmd_fallback_off_event(self,arg):
+			arg("412 Precondition Failed: Not in fallback mode!")
 		def on_leave(self):
 			pass
 		def pins(self):
@@ -87,6 +118,8 @@ class StateMachine():
 			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 ev == StateMachine.CMD_PINS:
 				return self.handle_pins_event()
@@ -96,41 +129,115 @@ class StateMachine():
 				return self.handle_cmd_unlock_event(arg)
 			elif ev == StateMachine.CMD_WAKEUP:
 				return self.handle_wakeup_event()
+			elif ev == StateMachine.CMD_LOCK:
+				return self.handle_cmd_lock_event(arg)
+			elif ev == StateMachine.CMD_FALLBACK_ON:
+				return self.handle_cmd_fallback_on_event(arg)
+			elif ev == StateMachine.CMD_FALLBACK_OFF:
+				return self.handle_cmd_fallback_off_event(arg)
 			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._red_state = False
+		def handle_pins_event(self):
+			pins = self.pins()
+			# 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
+			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("200 okay: Trying to unlock the door. The System is in fallback mode, success information is not available.")
+			self.actor().act(Actor.CMD_UNLOCK)
+		def handle_cmd_lock_event(self,arg):
+			if arg is not None:
+				arg("200 okay: Trying to lock the door. The System is in fallback mode, success information is not available.")
+			self.actor().act(Actor.CMD_LOCK)
+		def handle_cmd_fallback_on_event(self,arg):
+			arg("412 Precondition Failed: Fallback mode already active.")
+		def handle_cmd_fallback_off_event(self,arg):
+			arg("200 okay: Leaving fallback mode and notifying admins.")
+			logger.critical("Leaving fallback mode. Somebody thinks, the sensors are working again.")
+			return StateMachine.StateStart(self.state_machine)
+	
 	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):
@@ -138,19 +245,20 @@ class StateMachine():
 			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=[callback]
-			# TODO: can we send "202 processing: Trying to unlock the door" here? Are the callbacks multi-use?
+			self.callbacks = []
 			self.actor().act(Actor.CMD_UNLOCK)
-		def notify(self, did_it_work):
-			s = "200 okay: door unlocked" if did_it_work else ("500 internal server error: Couldn't unlock door with %d tries à %f seconds" % (OPEN_REPEAT_NUMBER,OPEN_REPEAT_TIMEOUT))
+			# enqueue the callback
+			self.handle_cmd_unlock_event(callback)
+		def notify(self, s, lastMsg):
 			for cb in self.callbacks:
-				if cb is not None:
-					cb(s)
+				cb(s, lastMsg)
 		def on_leave(self):
-			self.notify(not self.pins().door_locked)
+			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):
-			# TODO: 202 notification also here if possible
-			self.callbacks.append(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)
@@ -167,6 +275,9 @@ class StateMachine():
 		def handle_pins_event(self):
 			pins = self.pins()
 			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()
 	
@@ -175,16 +286,21 @@ class StateMachine():
 			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 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)
 			if not pins.space_active:
 				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):
@@ -216,6 +332,7 @@ 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()
 	
@@ -225,21 +342,28 @@ 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, api, fallback = False):
 		self.actor = actor
+		self.api = api
 		self.callback = ThreadFunction(self._callback, name="StateMachine")
-		self.current_state = StateMachine.StateStart(self)
+		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()
 	
+	# actually call this.callback (is set in the constructor to make this thread safe)
 	def _callback(self, cmd, arg=None):
 		# update pins
 		if cmd == StateMachine.CMD_PINS:
@@ -248,6 +372,7 @@ 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