mqtt wrapper
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ac125cb4bd
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0982a213dd
139
door.py
139
door.py
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@ -28,6 +28,43 @@ config = parser.parse_args()
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def timestamp():
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return datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
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class MqttValue:
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def __init__(self, client, topic, persistent = False, start_value = None, *, translate = None, max_update = 0.1):
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self.client = client
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self.topic = topic
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self.persistent = persistent
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self.value = start_value
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self.last_update = datetime.datetime.now() - datetime.timedelta(seconds = max_update)
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self.last_update_value = None
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self.max_update = max_update
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if translate == None:
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self.translate = str
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elif callable(translate):
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self.translate = translate
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else:
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self.translate = lambda x: translate[x]
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if start_value != None:
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self.update(start_value)
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def update(self, value, force = False, no_update = False):
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if value != self.value or value != self.last_update_value:
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self.value = value
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if force or (not no_update and value != self.last_update_value and (datetime.datetime.now() - self.last_update).total_seconds() >= self.max_update):
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self.last_update = datetime.datetime.now()
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self.last_update_value = value
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self.client.publish(self.topic, self.translate(value), qos = 2, retain = self.persistent)
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def force_update(self, value):
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self.update(value, force = True)
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def __call__(self, value = None, **kwargs):
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if value != None:
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self.update(value, **kwargs)
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else:
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return self.value
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class DoorControl:
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# Actions
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IDLE, CLOSE, OPEN_THEN_CLOSE, OPEN, CLOSE_THEN_OPEN, ERROR = range(6)
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@ -60,10 +97,13 @@ class DoorControl:
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self.mqttc.loop_start()
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# Current door state
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self.state = None
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self.state_pos = 0
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self.state = MqttValue(self.mqttc, "door/state/value", True, translate = self.state_names)
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self.state_target = MqttValue(self.mqttc, "door/state/target", True, translate = self.state_names, max_update = 0)
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self.state_pos = MqttValue(self.mqttc, "door/position/value", True, 0)
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self.last_invalid_token = MqttValue(self.mqttc, "door/token/last_invalid", True)
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self.speed = MqttValue(self.mqttc, "door/position/speed")
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# Current target action
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self.action = DoorControl.CLOSE
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self.action = MqttValue(self.mqttc, "door/state/action", True, DoorControl.CLOSE, translate = self.action_names, max_update = 0)
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# Start time of the current action
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self.start_time = None
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# How often the action was repeated
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@ -104,10 +144,6 @@ class DoorControl:
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return logger
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def mqtt(self, topic: str, msg: str, persistent: bool = True):
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"""Publishes data to a topic"""
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self.mqttc.publish("door/" + topic, msg, qos=2, retain=persistent)
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def _open_control_socket(self, config):
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"""(Re-)creates and opens the control socket. Config must have a control_socket member."""
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self.logger.debug("Opening control socket")
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@ -127,7 +163,7 @@ class DoorControl:
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self.serial_port = serial.Serial(config.serial_port, timeout=2)
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self._send_door_cmd(b'r')
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except:
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serial_port = None
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self.serial_port = None
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return self.serial_port
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def _open_nfc_fifo(self, config):
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@ -169,18 +205,14 @@ class DoorControl:
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def _set_position(self, data: int):
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"""Set a new door position"""
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if self.state_pos != data:
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self.mqtt("position/value", data, True)
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self.state_pos = data
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if data > ERROR_THRESHOLD and self.state != DoorControl.ERROR:
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self.logger.error("Invalid position:", state)
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self.state = DoorControl.ERROR
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elif data > OPEN_THRESHOLD and self.state != DoorControl.OPEN:
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self.mqtt("state/value", "open", True)
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self.state = DoorControl.OPEN
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elif data < CLOSED_THRESHOLD and self.state != DoorControl.CLOSE:
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self.mqtt("state/value", "closed", True)
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self.state = DoorControl.CLOSE
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self.state_pos(data)
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if data > ERROR_THRESHOLD and self.state() != DoorControl.ERROR:
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self.logger.error("Invalid position:", state)
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self.state(DoorControl.ERROR)
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elif data > OPEN_THRESHOLD and self.state() != DoorControl.OPEN:
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self.state(DoorControl.OPEN)
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elif data < CLOSED_THRESHOLD and self.state() != DoorControl.CLOSE:
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self.state(DoorControl.CLOSE)
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def _check_reporting(self, current: int):
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if current == 0:
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@ -213,7 +245,7 @@ class DoorControl:
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self.last_door_pos_time = datetime.datetime.now()
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self._send_door_cmd(b"R")
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self.handle_door_line()
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return self.state
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return self.state()
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def handle_door_state(self):
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"""Checks the door state and executes any actions necessary to reach the target state"""
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@ -231,13 +263,6 @@ class DoorControl:
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if 1. / delta_t > MAX_UPDATE_RATE:
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return
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speed = abs(self.state_pos - self.last_position) / delta_t
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self.last_position = self.state_pos
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self.last_handle_state_timestamp = now
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if speed >= 0 or delta_t >= 1. / UPDATE_RATE:
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self.mqtt("position/speed", f"{speed}")
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# If no serial port, try to open it or return
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if not self.serial_port:
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try:
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@ -247,21 +272,27 @@ class DoorControl:
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# Get new state
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self.poll_door_state()
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self.last_handled_state = self.state
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self.last_handled_state = self.state()
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speed = abs(self.state_pos() - self.last_position) / delta_t
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speed = 10 * round(speed / 10)
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self.speed(speed)
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self.last_position = self.state_pos()
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self.last_handle_state_timestamp = now
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if self.state == DoorControl.ERROR:
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if self.state() == DoorControl.ERROR:
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self.logger.error("Restarting the MCU and exiting.")
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self.send_door_cmd(b'S')
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return
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# Idle + change = key?
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if self.action == DoorControl.IDLE:
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if self.state != old_state:
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self.logger.info(f"Door changed unexpectedly: {DoorControl.state_names[self.state]}")
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if self.action() == DoorControl.IDLE:
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if self.state() != old_state:
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self.logger.info(f"Door changed unexpectedly: {DoorControl.state_names[self.state()]}")
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self.start_time = now
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if self.start_time and (now - self.start_time).total_seconds() >= self.config.state_timeout:
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self.start_time = None
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if self.state_pos <= CLOSED_THRESHOLD and self.state_pos > CLOSED_WANT:
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if self.state_pos() <= CLOSED_THRESHOLD and self.state_pos() > CLOSED_WANT:
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self.logger.info("Closing door a bit more")
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self._send_door_cmd(target_state_cmd[DoorControl.CLOSE])
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return
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@ -276,50 +307,52 @@ class DoorControl:
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if self.start_time is None:
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self.start_time = now
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self._send_door_cmd(target_state_cmd[actions[self.action][0]])
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self._send_door_cmd(target_state_cmd[actions[self.action()][0]])
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# Target state reached
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if self.state == actions[self.action][0]:
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if self.state() == actions[self.action()][0]:
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# Select next action, reset start time and repetitions
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self.action = actions[self.action][1]
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self.action(actions[self.action()][1])
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self.start_time = now
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self.repeats = 0
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# On idle, we're done
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if self.action == DoorControl.IDLE:
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self.logger.debug(f"Reached target position: {DoorControl.state_names[self.state]}")
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if self.action() == DoorControl.IDLE:
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self.logger.debug(f"Reached target position: {DoorControl.state_names[self.state()]}")
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return
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# Execution time
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t = (now - self.start_time).total_seconds()
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if t >= self.config.state_timeout or (t >= self.config.state_timeout_speed and speed < MIN_SPEED and delta_t >= 1. / UPDATE_RATE):
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if t >= self.config.state_timeout or (t >= self.config.state_timeout_speed and self.speed() < MIN_SPEED and delta_t >= 1. / UPDATE_RATE):
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# Timeout -> switch to timeout action
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self.state = actions[self.action][0]
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self.action = actions[self.action][2]
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self.state(actions[self.action()][0], force = True, no_update = True)
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self.action(actions[self.action()][2])
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self.start_time = None
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self.repeats = 0
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self.logger.debug(f"Timeout. Switching to {DoorControl.action_names[self.action]}")
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self.logger.debug(f"Timeout. Switching to {DoorControl.action_names[self.action()]}")
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elif t >= (1 + self.repeats) * self.config.repeat_time:
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# Repeat every couple of seconds
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self.repeats += 1
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self.logger.debug(f"Repeating command: {target_state_cmd[actions[self.action][0]]}")
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self._send_door_cmd(target_state_cmd[actions[self.action][0]])
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self.logger.debug(f"Repeating command: {target_state_cmd[actions[self.action()][0]]}")
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self._send_door_cmd(target_state_cmd[actions[self.action()][0]])
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def open_door(self):
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self.logger.info("Opening the door")
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self.mqtt("state/target", "open", True)
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self.action = DoorControl.OPEN
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self.state_target(DoorControl.OPEN)
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self.action(DoorControl.OPEN)
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self.start_time = None
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self.handle_door_state()
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def close_door(self):
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self.logger.info("Closing the door")
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self.mqtt("state/target", "closed", True)
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self.action = DoorControl.CLOSE
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self.state_target(DoorControl.CLOSE)
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self.action(DoorControl.CLOSE)
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self.start_time = None
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self.handle_door_state()
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def toggle_door_state(self):
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if self.state == DoorControl.CLOSE:
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if not self.action() == DoorControl.IDLE:
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return
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if self.state_target() == DoorControl.CLOSE:
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self.open_door()
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else:
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self.close_door()
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@ -351,7 +384,7 @@ class DoorControl:
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self.logger.warning(f"Token {token} of {data['name']} expired on {data['valid_thru']}")
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else:
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self.logger.warning(f"Invalid token: {token}")
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self.mqtt("token/last_invalid", "%s;%s" % (timestamp(), token))
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self.last_invalid_token(f"{timestamp()};{token}")
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class LineBuffer(object):
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def __init__(self, f, handler):
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@ -396,8 +429,8 @@ class DoorControl:
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elif cmd == 'stat':
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send("Door status is %s, position is %d. Current action: %s (%g seconds ago)\n" % (
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DoorControl.state_names.get(self.state, "None"),
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self.state_pos,
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DoorControl.action_names[self.action],
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self.state_pos.value,
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DoorControl.action_names[self.action()],
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(datetime.datetime.now() - self.start_time).total_seconds()))
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