implement a general nerv mechanism and also use it for door closing/opening

diff --git a/statemachine.py b/statemachine.py
index 333285869f514af727d4a38d8cda9478f0462e45..1be022b863f5a28d96765bfb343ee867a320cab3 100644 (file)
--- a/statemachine.py
+++ b/statemachine.py
@@ -39,6 +39,21 @@ SOUNDS_DIRECTORY = "/opt/tuer/sounds/"
 SOUNDS_PLAYER = "/usr/bin/mplayer"
 
 
 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
 class StateMachine():
        # commands you can send
        CMD_PINS = 0


@@ -48,11 +63,10 @@ class StateMachine():
        CMD_LAST = 4
        
        class State():
        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.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
                def handle_pins_event(self):
                        pass # one needn't implement this
                def handle_buzz_event(self,arg): # this shouldn't be overwritten


@@ -62,7 +76,8 @@ class StateMachine():
                        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):
                        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):
                def pins(self):
                        return self.state_machine.pins
                def actor(self):


@@ -103,15 +118,17 @@ class StateMachine():
        
        class StateOpening(State):
                def __init__(self,callback,sm):
        
        class StateOpening(State):
                def __init__(self,callback,sm):

-                       super().__init__(self,sm)
+                       # construct a nervlist
+                       nervlist = [(t*OPEN_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_OPEN)) 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.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)
                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:
                        self.actor().act(Actor.CMD_OPEN)
                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()
                                        cb(s)
                def handle_pins_event(self):
                        super().handle_pins_event()


@@ -123,18 +140,10 @@ class StateMachine():
                        # intentionally not calling super() implementation
                        # FIXME: 202 notification also here if possible
                        self.callbacks.append(callback)
                        # intentionally not calling super() implementation
                        # FIXME: 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):
        
        class AbstractStateWhereOpeningIsRedundant(State):
                def handle_open_event(self, callback):


@@ -144,6 +153,8 @@ class StateMachine():
                        self.actor().act(Actor.CMD_OPEN)
        
        class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
                        self.actor().act(Actor.CMD_OPEN)
        
        class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):

+               def __init__(self, sm):
+                       super().__init__(sm, ABOUTOPEN_NERVLIST)

                def handle_pins_event(self):
                        super().handle_pins_event()
                        pins = self.pins()
                def handle_pins_event(self):
                        super().handle_pins_event()
                        pins = self.pins()


@@ -151,15 +162,6 @@ class StateMachine():
                                return StateZu(self.state_machine)
                        elif pins.space_active:
                                return StateAuf(self.state_machine)
                                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):
        
        class StateAuf(AbstractStateWhereOpeningIsRedundant):
                def __init__(self,sm):


@@ -185,9 +187,12 @@ class StateMachine():
        
        class StateClosing(State):
                # FIXME: Why does this even have callbacks?
        
        class StateClosing(State):
                # FIXME: Why does this even have callbacks?

-               # TODO: share code with StateOpening, and possibly also with the nerv-mechanism from StateAboutToOpen
+               # TODO: share code with StateOpening

                def __init__(self,sm):
                def __init__(self,sm):

-                       super().__init__(sm)
+                       # construct a nervlist
+                       nervlist = [(t*CLOSE_REPEAT_TIMEOUT, lambda: self.actor().act(Actor.CMD_CLOSE)) 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.callbacks=[]
                        # FIXME: can we send "202 processing: Trying to close the door" here? Are the callbacks multi-use?
                        self.tries = 0


@@ -200,22 +205,18 @@ class StateMachine():
                                        cb(s)
                def handle_pins_event(self):
                        pins = self.pins()
                                        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)
                                self.notify(True)
                                return StateAboutToOpen(self.state_machine)

+                       if pins.door_locked:
+                               return SpaceZu(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_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)
+               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):
                def handle_pins_event(self):
        
        class StateAboutToLeave(State):
                def handle_pins_event(self):