apo/DoorControl
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

mqtt wrapper

Browse Source
This commit is contained in:
Lynn Ochs 2021-08-10 01:28:33 +02:00
parent ac125cb4bd
commit 0982a213dd
1 changed files with 86 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

137
door.py
View File

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