From cf244d9312e36b30583da60d3b9918db57ab3610 Mon Sep 17 00:00:00 2001 From: Ralf Jung Date: Wed, 16 Oct 2013 19:46:09 +0200 Subject: [PATCH] make the actor more multi-threaded and do more logging --- actor.py | 51 ++++++++++++++++++++++++++++++++----------------- libtuer.py | 3 +-- statemachine.py | 21 +++++++++++++------- tysock.py | 2 +- 4 files changed, 49 insertions(+), 28 deletions(-) diff --git a/actor.py b/actor.py index 0a53263..439a7bb 100644 --- a/actor.py +++ b/actor.py @@ -7,28 +7,43 @@ class Actor: CMD_UNLOCK = 1 CMD_LOCK = 2 + 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) + time.sleep(delay) + CMDs = { - CMD_UNLOCK: ("unlock", 12, [(True, 0.3), (False, 0.1)]), - CMD_LOCK: ("lock", 16, [(True, 0.3), (False, 0.1)]), - CMD_BUZZ: ("buzz", 22, [(True, 2.0), (False, 0.1)]), + 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, 2.0), (False, 0.1)]), } 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) + 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("Actor: Setting pin %d to %d" % (pin, value)) - GPIO.output(pin, value) - time.sleep(delay) - else: - logger.critical("Actor: Got 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() diff --git a/libtuer.py b/libtuer.py index 05607f6..cd10a7b 100644 --- a/libtuer.py +++ b/libtuer.py @@ -1,6 +1,6 @@ import logging, logging.handlers, os, time, queue, threading, subprocess import traceback, smtplib -import email.mime.text, email.util +import email.mime.text, email.utils # Logging configuration syslogLevel = logging.INFO @@ -18,7 +18,6 @@ def sendeMail(subject, text, receivers, sender='sphinx@hacksaar.de', replyTo=Non msg['To'] = ', '.join(receivers) if replyTo is not None: msg['Reply-To'] = replyTo - # FIXME set time # put into envelope and send s = smtplib.SMTP('ralfj.de') s.sendmail(sender, receivers, msg.as_string()) diff --git a/statemachine.py b/statemachine.py index 0fc24bd..850eb0e 100644 --- a/statemachine.py +++ b/statemachine.py @@ -30,7 +30,7 @@ ABOUTOPEN_NERVLIST = [(5, lambda : play_sound("flipswitch")), (5, lambda:play_so # 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 +LEAVE_TIMEOUT = 4 # play_sound constants SOUNDS_DIRECTORY = "/opt/tuer/sounds/" @@ -103,25 +103,27 @@ class StateMachine(): '''A state with invariant "The space is locked", switching to StateAboutToOpen when the space becomes unlocked''' def handle_pins_event(self): if not self.pins().door_locked: - return StateAboutToOpen(self.state_machine) - return super().handle_pins_event + logger.info("Door unlocked, space is about to open") + return StateMachine.StateAboutToOpen(self.state_machine) + return super().handle_pins_event() class AbstractUnlockedState(State): '''A state with invariant "The space is unlocked", switching to StateZu when the space becomes locked''' 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.info("StateMachine: door manually locked, but space switch is still on - going to StateZu") + logger.warning("StateMachine: door manually locked, but space switch is still on - going to StateZu") play_sound("manual_lock") - return StateZu(self.state_machine) - return super().handle_pins_event + 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): - # All sensors got a value, switch to a proper state + logger.info("All sensors got a value, switching to a proper state") if pins.door_locked: return StateMachine.StateZu(self.state_machine) else: @@ -167,6 +169,7 @@ class StateMachine(): def handle_pins_event(self): pins = self.pins() if pins.space_active: + logger.info("Space activated, opening procedure completed") return StateMachine.StateAuf(self.state_machine) return super().handle_pins_event() @@ -216,6 +219,7 @@ class StateMachine(): 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() @@ -225,8 +229,10 @@ class StateMachine(): 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() @@ -248,6 +254,7 @@ class StateMachine(): 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.debug("StateMachine: Doing state transition %s -> %s" % (self.current_state.__class__.__name__, newstate.__class__.__name__)) self.current_state = newstate diff --git a/tysock.py b/tysock.py index 82d26a8..0984b2a 100644 --- a/tysock.py +++ b/tysock.py @@ -1,4 +1,4 @@ -import socket, os, stat, struct, pwd +import socket, os, stat, struct, pwd, errno from statemachine import StateMachine from libtuer import logger SO_PEERCRED = 17 # DO - NOT - TOUCH -- 2.30.2