X-Git-Url: https://git.ralfj.de/saartuer.git/blobdiff_plain/cf244d9312e36b30583da60d3b9918db57ab3610..56645e3cebe9fd8a49c60d1e7969fe6754625dfd:/statemachine.py diff --git a/statemachine.py b/statemachine.py index 850eb0e..a5e52f6 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 90 + 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 @@ -22,15 +36,21 @@ 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 -LEAVE_TIMEOUT = 4 +LEAVE_TIMEOUT = 20 # play_sound constants SOUNDS_DIRECTORY = "/opt/tuer/sounds/" @@ -63,6 +83,10 @@ class StateMachine(): CMD_UNLOCK = 2 CMD_WAKEUP = 3 CMD_LAST = 4 + CMD_LOCK = 5 + CMD_FALLBACK_ON = 6 + CMD_FALLBACK_OFF = 7 + CMD_STATUS = 8 class State(): def __init__(self, state_machine, nervlist = None): @@ -71,6 +95,8 @@ class StateMachine(): def handle_pins_event(self): pass # one needn't implement this def handle_buzz_event(self,arg): # this shouldn't be overwritten + # Buzz twice to give users more time to run ;-) + self.actor().act(Actor.CMD_BUZZ) self.actor().act(Actor.CMD_BUZZ) arg("200 okay: buzz executed") def handle_cmd_unlock_event(self,arg): @@ -79,6 +105,17 @@ 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 handle_cmd_status_event(self,arg): + # TODO use a proper JSON lib + arg('200 okay: {state:\"%s\"}' % self.__class__.__name__) def on_leave(self): pass def pins(self): @@ -87,6 +124,8 @@ 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() @@ -96,43 +135,117 @@ 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) + elif ev == StateMachine.CMD_STATUS: + return self.handle_cmd_status_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: 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.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 is None or pins.door_closed is None or pins.space_active is None or pins.bell_ringing is None): - logger.info("All sensors got a value, switching 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): @@ -140,19 +253,20 @@ 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) @@ -170,6 +284,8 @@ class StateMachine(): 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() @@ -178,16 +294,21 @@ 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): @@ -236,16 +357,21 @@ class StateMachine(): 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: @@ -256,6 +382,6 @@ class StateMachine(): 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__)) + logger.info("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)