From: Ralf Jung <post@ralfj.de>
Date: Thu, 10 Oct 2013 17:03:22 +0000 (+0200)
Subject: implement a general nerv mechanism and also use it for door closing/opening
X-Git-Url: https://git.ralfj.de/saartuer.git/commitdiff_plain/4f929e668c842100aaaf31008c4624c75b280a1b

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

diff --git a/statemachine.py b/statemachine.py
index 3332858..1be022b 100644
--- a/statemachine.py
+++ b/statemachine.py
@@ -39,6 +39,21 @@ 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)
+	
+	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
@@ -48,11 +63,10 @@ class StateMachine():
 	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.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
@@ -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):
-			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):
@@ -103,15 +118,17 @@ class StateMachine():
 	
 	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.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:
-				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()
@@ -123,18 +140,10 @@ class StateMachine():
 			# 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):
@@ -144,6 +153,8 @@ class StateMachine():
 			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()
@@ -151,15 +162,6 @@ class StateMachine():
 				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):
@@ -185,9 +187,12 @@ class StateMachine():
 	
 	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):
-			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
@@ -200,22 +205,18 @@ class StateMachine():
 					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)
+			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_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):