-from libtuer import ThreadFunction, logger, fire_and_forget, fire_and_forget_cmd
-from actor import Actor
-import os, random, time, threading, datetime
-
-# logger.{debug,info,warning,error,critical}
-
-def play_sound (what):
- try:
- soundfiles = os.listdir(SOUNDS_DIRECTORY+what)
- except FileNotFoundError:
- logger.error("StateMachine: Unable to list sound files in %s" % (SOUNDS_DIRECTORY+what))
- return
- soundfile = SOUNDS_DIRECTORY + what + '/' + random.choice(soundfiles)
- 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
-OPEN_REPEAT_NUMBER = 3
-
-# StateLocking constants
-CLOSE_REPEAT_TIMEOUT = 7
-CLOSE_REPEAT_NUMBER = 3
-
-# StateFallback constants
-FALLBACK_LEAVE_DELAY_LOCK = 5 # seconds
-
-# StateAboutToOpen constants
-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 = 20
-
-# 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):
- (wait_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 >= wait_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_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):
- self.state_machine = state_machine
- 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
- # 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):
- if arg is not None:
- arg("412 Precondition Failed: The current state (%s) cannot handle the UNLOCK command. Try again later." % self.__class__.__name__)
- 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):
- return self.state_machine.pins
- def old_pins(self):
- 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()
- elif ev == StateMachine.CMD_BUZZ:
- return self.handle_buzz_event(arg)
- elif ev == StateMachine.CMD_UNLOCK:
- 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 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(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:
- 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):
- 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):
- # construct a nervlist
- 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 = []
- self.actor().act(Actor.CMD_UNLOCK)
- # enqueue the callback
- self.handle_cmd_unlock_event(callback)
- def notify(self, s, lastMsg):
- for cb in self.callbacks:
- cb(s, lastMsg)
- def on_leave(self):
- 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):
- 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)
-
- class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
- def handle_cmd_unlock_event(self, callback):
- callback("299 redundant: Space seems to be already open. Still processing your request tough.")
- logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__)
- self.actor().act(Actor.CMD_UNLOCK)
-
- class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant):
- def __init__(self, sm):
- super().__init__(sm, ABOUTOPEN_NERVLIST)
- 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()
-
- class StateAuf(AbstractStateWhereUnlockingIsRedundant):
- def __init__(self,sm):
- 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: # 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):
- # 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 self.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_closed:
- # TODO play a sound? This shouldn't happen, door was opened while we are locking
- logger.warning("StateMachine: door manually opened during locking")
- return StateMachine.StateAboutToOpen(self.state_machine)
- # TODO do anything here if the switch is activated now?
- return super().handle_pins_event()
- def handle_cmd_unlock_event(self,callback):
- callback("409 conflict: The sphinx is currently trying to lock the door. Try again later.")
- def could_not_close(self):
- logger.critical("StateMachine: Couldn't close door after %d tries. Going back to StateAboutToOpen." % CLOSE_REPEAT_NUMBER)
- return StateMachine.StateAboutToOpen(self.state_machine)
-
- class StateAboutToLeave(AbstractUnlockedState):
- def __init__(self, sm):
- nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateLocking(self.state_machine))]
- super().__init__(sm, nervlist)
- def handle_pins_event(self):
- 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()
-
- class StateLeaving(AbstractUnlockedState):
- def __init__(self, sm):
- nervlist = [(LEAVE_TIMEOUT, lambda: StateMachine.StateAboutToOpen(self.state_machine))]
- 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, waker, api, fallback = False):
- self.actor = actor
- self.api = api
- self.callback = ThreadFunction(self._callback, name="StateMachine")
- 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:
- 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
- while newstate is not None:
- assert isinstance(newstate, StateMachine.State), "I should get a state"
- self.current_state.on_leave()
- 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)
projects / saartuer.git / commitdiff
