import time
class Actor:
- CMD_BUZZ = 0
- CMD_UNLOCK = 1
- CMD_LOCK = 2
+ CMD_BUZZ = 0
+ CMD_UNLOCK = 1
+ CMD_LOCK = 2
+ CMD_GREEN_ON = 3
+ CMD_GREEN_OFF = 4
+ CMD_RED_ON = 5
+ CMD_RED_OFF = 6
+
+ class CMD():
+ def __init__(self, name, pin, tid, todo):
+ self.name = name
+ self.pin = pin
+ self.tid = tid
+ self.todo = todo
+ # don't do the GPIO setup here, the main init did not yet run
+
+ def execute(self):
+ logger.info("Actor: Running command %s" % self.name)
+ for (value, delay) in self.todo:
+ if value is not None:
+ logger.debug("Actor: Setting pin %d to %d" % (self.pin, value))
+ GPIO.output(self.pin, value)
+ if delay > 0:
+ time.sleep(delay)
CMDs = {
- CMD_UNLOCK: ("unlock", 12, [(None, 0.2), (True, 0.3), (False, 0.5)]),
- CMD_LOCK: ("lock", 16, [(None, 0.2), (True, 0.3), (False, 0.5)]),
- CMD_BUZZ: ("buzz", 22, [(None, 0.2), (True, 2.0), (False, 0.5)]),
+ CMD_UNLOCK: CMD("unlock", pin=12, tid=0, todo=[(True, 0.3), (False, 0.1)]),
+ CMD_LOCK: CMD("lock", pin=16, tid=0, todo=[(True, 0.3), (False, 0.1)]),
+ CMD_BUZZ: CMD("buzz", pin=22, tid=1, todo=[(True, 2.5), (False, 0.1)]),
+ CMD_GREEN_ON: CMD("green on", pin=23, tid=2, todo=[(True, 0)]),
+ CMD_GREEN_OFF: CMD("green off", pin=23, tid=2, todo=[(False, 0)]),
+ CMD_RED_ON: CMD("red on", pin=26, tid=2, todo=[(True, 0)]),
+ CMD_RED_OFF: CMD("red on", pin=26, tid=2, todo=[(False, 0)]),
}
def __init__(self):
- self.act = ThreadFunction(self._act, name="Actor")
- for (name, pin, todo) in self.CMDs.values():
- GPIO.setup(pin, GPIO.OUT)
+ # launch threads, all running the "_execute" method
+ self.threads = {}
+ for cmd in Actor.CMDs.values():
+ GPIO.setup(cmd.pin, GPIO.OUT)
+ GPIO.output(cmd.pin, False)
+ if not cmd.tid in self.threads:
+ self.threads[cmd.tid] = ThreadFunction(self._execute, "Actor TID %d" % cmd.tid)
- def _act(self, cmd):
- if cmd in self.CMDs:
- (name, pin, todo) = self.CMDs[cmd]
- logger.info("Actor: Running command %s" % name)
- for (value, delay) in todo:
- if value is not None:
- logger.debug("Setting pin %d to %d" % (pin, value))
- GPIO.output(pin, value)
- time.sleep(delay)
- else:
- logger.error("Actor: Gut unknown command %d" % cmd)
+ def _execute(self, cmd):
+ Actor.CMDs[cmd].execute()
+
+ def act(self, cmd):
+ # dispatch command to correct thread
+ self.threads[Actor.CMDs[cmd].tid](cmd)
def stop(self):
- self.act.stop()
+ for thread in self.threads.values():
+ thread.stop()
import logging, logging.handlers, os, time, queue, threading, subprocess
import traceback, smtplib
-from email.mime.text import MIMEText
+import email.mime.text, email.utils
# Logging configuration
syslogLevel = logging.INFO
mailLevel = logging.CRITICAL # must be "larger" than syslog level!
-mailAddress = 'post+tuer'+'@'+'ralfj.de'
+mailAddress = ['post+tuer'+'@'+'ralfj.de', 'vorstand@lists.hacksaar.de']
+printLevel = logging.DEBUG
# Mail logging handler
def sendeMail(subject, text, receivers, sender='sphinx@hacksaar.de', replyTo=None):
if not isinstance(type(receivers), list): receivers = [receivers]
# construct content
- msg = MIMEText(text.encode('UTF-8'), 'plain', 'UTF-8')
+ msg = email.mime.text.MIMEText(text.encode('UTF-8'), 'plain', 'UTF-8')
msg['Subject'] = subject
+ msg['Date'] = email.utils.formatdate(localtime=True)
msg['From'] = sender
msg['To'] = ', '.join(receivers)
if replyTo is not None:
msg['Reply-To'] = replyTo
# put into envelope and send
- s = smtplib.SMTP('ralfj.de')
+ s = smtplib.SMTP('localhost')
s.sendmail(sender, receivers, msg.as_string())
s.quit()
class Logger:
def __init__ (self):
self.syslog = logging.getLogger("tuerd")
- self.syslog.setLevel(syslogLevel)
+ self.syslog.setLevel(logging.DEBUG)
self.syslog.addHandler(logging.handlers.SysLogHandler(address = '/dev/log',
facility = logging.handlers.SysLogHandler.LOG_LOCAL0))
def _log (self, lvl, what):
- thestr = "%s[%d]: %s" % ("osspd", os.getpid(), what)
+ thestr = "%s[%d]: %s" % ("tuerd", os.getpid(), what)
# console log
- print(thestr)
+ if lvl >= printLevel:
+ print(thestr)
# syslog
- self.syslog.log(lvl, thestr)
+ if lvl >= syslogLevel:
+ self.syslog.log(lvl, thestr)
# mail log
- if lvl >= mailLevel:
+ if lvl >= mailLevel and mailAddress is not None:
sendeMail('Kritischer Türfehler', what, mailAddress)
def debug(self, what):
with open("/dev/null", "w") as fnull:
retcode = subprocess.call(cmd, stdout=fnull, stderr=fnull)
if retcode is not 0:
- log("%sReturn code %d at command: %s" % (prefix,retcode,str(cmd)))
+ logger.error("%sReturn code %d at command: %s" % (prefix,retcode,str(cmd)))
t = threading.Thread(target=_fire_and_forget)
t.start()
# 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"))]
-
-# StateAuf constants
-# time that must pass between two bell_ringing events to buzz the door again (seconds)
-AUF_BELLBUZZ_REPEAT_TIME = 2
+ (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"))]
# 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
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 OPEN event" % self.__class__.__name__)
+ 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 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 handle_event(self,ev,arg): # don't override
else:
raise Exception("Unknown command number: %d" % ev)
- class StateStart(State):
+ class AbstractNonStartState(State):
def handle_pins_event(self):
- super().handle_pins_event()
- pins = self.pins()
- if pins.door_locked is None or pins.door_closed is None or pins.space_dactive is None or pins.bell_ringing is None:
- return None # wait till we have all sensors non-None
- if pins.door_locked:
- return StateMachine.StateZu(self.state_machine)
+ if self.pins().door_locked != (not self.pins().space_active):
+ self.actor().act(Actor.CMD_RED_ON)
else:
- return StateMachine.StateAuf(self.state_machine)
+ self.actor().act(Actor.CMD_RED_OFF)
+ return super().handle_pins_event()
- class StateZu(State):
+ 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):
- super().handle_pins_event()
- pins = self.pins()
- if not pins.door_locked:
+ 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:
+ # 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 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 pins.door_locked:
+ return StateMachine.StateZu(self.state_machine)
+ else:
+ return StateMachine.StateAboutToOpen(self.state_machine)
+ return super().handle_pins_event()
+
+ class StateZu(AbstractLockedState):
def handle_cmd_unlock_event(self,callback):
- # intentionally not calling super() implementation
return StateMachine.StateUnlocking(self.state_machine, callback)
- class StateUnlocking(State):
+ 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=[callback]
- # TODO: can we send "202 processing: Trying to open the door" here? Are the callbacks multi-use?
+ # TODO: can we send "202 processing: Trying to unlock 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))
+ 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))
for cb in self.callbacks:
if cb is not None:
cb(s)
- def handle_pins_event(self):
- super().handle_pins_event()
- pins = self.pins()
- if not pins.door_locked:
- self.notify(True)
- return StateMachine.StateAboutToOpen(self.state_machine)
+ def on_leave(self):
+ self.notify(not self.pins().door_locked)
def handle_cmd_unlock_event(self,callback):
- # intentionally not calling super() implementation
# TODO: 202 notification also here if possible
self.callbacks.append(callback)
def could_not_open(self):
- logger.critical("Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
- self.notify(False)
+ logger.critical("StateMachine: Couldn't open door after %d tries. Going back to StateZu." % OPEN_REPEAT_NUMBER)
return StateMachine.StateZu(self.state_machine)
- class AbstractStateWhereOpeningIsRedundant(State):
+ class AbstractStateWhereUnlockingIsRedundant(AbstractUnlockedState):
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.info("Received OPEN command in StateAboutToOpen. This should not be necessary.")
+ logger.info("StateMachine: Received UNLOCK command in %s. This should not be necessary." % self.__class__.__name__)
self.actor().act(Actor.CMD_UNLOCK)
- class StateAboutToOpen(AbstractStateWhereOpeningIsRedundant):
+ class StateAboutToOpen(AbstractStateWhereUnlockingIsRedundant):
def __init__(self, sm):
super().__init__(sm, ABOUTOPEN_NERVLIST)
def handle_pins_event(self):
- super().handle_pins_event()
pins = self.pins()
- if pins.door_locked:
- return StateMachine.StateZu(self.state_machine)
- elif pins.space_active:
+ if pins.space_active:
+ logger.info("Space activated, opening procedure completed")
return StateMachine.StateAuf(self.state_machine)
+ return super().handle_pins_event()
- class StateAuf(AbstractStateWhereOpeningIsRedundant):
+ class StateAuf(AbstractStateWhereUnlockingIsRedundant):
def __init__(self,sm):
- super().__init__(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
def handle_pins_event(self):
- 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")
- self.actor().act(Actor.CMD_BUZZ)
- self.last_buzzed = now
+ if pins.bell_ringing and not self.old_pins().bell_ringing:
+ # 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("space switch off - starting leaving procedure")
+ logger.info("StateMachine: space switch turned off - starting leaving procedure")
return StateMachine.StateAboutToLeave(self.state_machine)
- if pins.door_locked:
- logger.info("door manually locked, but space switch on - going to StateZu")
- play_sound("manual_lock")
- return StateMachine.StateZu(self.state_machine)
+ return super().handle_pins_event()
- class StateLocking(State):
- # TODO: share code with StateUnlocking
+ 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)]
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("door manually opened during locking")
+ logger.warning("StateMachine: door manually opened during locking")
return StateMachine.StateAboutToOpen(self.state_machine)
- if pins.door_locked:
- return StateMachine.StateZu(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 server is currently trying to lock the door. Try again later.")
+ callback("409 conflict: The sphinx 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)
+ 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(State):
+ 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().door_locked:
- return StateMachine.StateZu(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(State):
+ 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().door_locked:
- return StateMachine.StateZu(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):
self.actor = actor
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:
- logger.debug("StateMachine: new state = %s" % newstate.__class__.__name__)
+ 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
newstate = self.current_state.handle_event(StateMachine.CMD_PINS, self.pins)
projects / saartuer.git / commitdiff