Speed handling and stuff
This commit is contained in:
parent
2576ad0dce
commit
ac125cb4bd
472
door.py
472
door.py
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@ -1,11 +1,16 @@
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#!/usr/bin/python
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import os, serial, socket, subprocess, select, datetime, sys
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import os, serial, socket, select, datetime
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import paho.mqtt.client as mqcl
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import argparse
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import logging
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OPEN_THRESHOLD = 35
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CLOSED_THRESHOLD = 60
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CLOSED_WANT = 135
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UPDATE_RATE = 2
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MAX_UPDATE_RATE = 20
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MIN_SPEED = 5
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ERROR_THRESHOLD = 250
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OPEN_THRESHOLD = 190
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CLOSED_THRESHOLD = 160
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CLOSED_WANT = 40
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parser = argparse.ArgumentParser()
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parser.add_argument("--serial_port", default="/dev/serial/by-id/usb-Imaginaerraum.de_DoorControl_43363220195053573A002C0-if01")
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@ -14,33 +19,98 @@ parser.add_argument("--control_socket", default="/tmp/nfc.sock")
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parser.add_argument("--valid_tokens", default="/etc/door_tokens")
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parser.add_argument("--log_file", default="/tmp/nfc.log")
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parser.add_argument("--state_timeout", type=float, default=10)
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parser.add_argument("--state_timeout_speed", type=float, default=3)
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parser.add_argument("--repeat_time", type=float, default=5)
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parser.add_argument("--mqtt_host", default="10.10.21.2")
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config = parser.parse_args()
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mqttc = mqcl.Client()
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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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# Log data to stdout and the log file
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def log(*args):
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data = "%s %s" % (timestamp(), " ".join(str(i) for i in args))
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lgf.write(data + "\n")
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lgf.flush()
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print(data)
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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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state_names = {
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OPEN: "open",
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CLOSE: "close",
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ERROR: "error",
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}
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action_names = {
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IDLE: "idling",
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OPEN: "waiting for open door",
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CLOSE: "waiting for closed door",
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OPEN_THEN_CLOSE: "waiting for open door, then closing again",
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CLOSE_THEN_OPEN: "waiting for closed door, then opening again",
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ERROR: "error",
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}
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def mqtt(topic, msg, persistent = True):
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mqttc.publish("door/" + topic, msg, qos=2, retain=persistent)
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def __init__(self, config):
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self.config = config
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# Opens the socket that can control the daemon
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# Commands are TBD
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def open_control_socket():
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global control_socket
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global config
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global comm_channels
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self.mqttc = mqcl.Client()
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self.logger = self._setup_logging(config)
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self._open_serial_port(config)
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self.valid_tokens = self._read_valid_tokens(config)
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self.nfc_fifo = self._open_nfc_fifo(config)
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self.control_socket, self.comm_channels = self._open_control_socket(config)
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self.mqttc.on_connect = lambda client, userdata, flags, rc: self.logger.info(f"Connected to mqtt host with result {rc}")
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self.mqttc.connect_async(config.mqtt_host, keepalive=60)
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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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# Current target action
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self.action = DoorControl.CLOSE
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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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self.repeats = 0
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self.last_handled_state = self.OPEN
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self.last_door_pos_time = datetime.datetime.now() - datetime.timedelta(minutes = 10)
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self.last_position = 0
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self.last_handle_state_timestamp = datetime.datetime.now()
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def _send_door_cmd(self, cmd: bytes):
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"""Send a command to the door."""
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if cmd != b'R': self.logger.debug(f"Sending {cmd}")
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return self.serial_port.write(cmd)
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def _read_door_line(self):
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"""Read a single line from the serial port"""
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return self.serial_port.readline().decode('ascii')
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def _setup_logging(self, config):
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"""Set up logging"""
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log_format = '%(asctime)s - %(name)s - %(levelname)s - %(message)s'
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logging.basicConfig(force = True,
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level = logging.DEBUG,
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format = log_format)
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# create logger
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logger = logging.getLogger('nfc_log')
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# create console handler and set level to debug
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fh = logging.FileHandler(config.log_file)
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fh.setLevel(logging.DEBUG)
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# create formatter
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formatter = logging.Formatter(log_format)
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fh.setFormatter(formatter)
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logger.addHandler(fh)
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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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if os.path.exists(config.control_socket):
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os.unlink(config.control_socket)
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@ -49,33 +119,27 @@ def open_control_socket():
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control_socket.listen(5)
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comm_channels = []
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# Opens the serial port to talk to the lock actuator
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# Might return a failure. In that case, it will be tried again later
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def open_serial_port():
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global serial_port
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global config
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return control_socket, comm_channels
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def _open_serial_port(self, config):
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"""Opens the serial port controlling the door opener. config must have a serial_port member."""
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try:
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serial_port = serial.Serial(config.serial_port, timeout=2)
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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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pass
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# Detected tokens are passed in through a FIFO
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def open_nfc_fifo():
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global nfc_fifo
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global config
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return self.serial_port
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def _open_nfc_fifo(self, config):
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"""Opens config.nfc_fifo as the FIFO through which detected tokens are passed in."""
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nfc_fifo = open(config.nfc_fifo, "r")
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return nfc_fifo
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# Refresh valid tokens from the configured file
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def read_valid_tokens():
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global valid
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global config
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try:
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log("Loading tokens")
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def _read_valid_tokens(self, config):
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"""Refreshes all tokens from config.valid_tokens"""
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valid = {}
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try:
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self.logger.info("Loading tokens")
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lines =[ s.strip() for s in open(config.valid_tokens, "r").readlines() ]
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for i, line in enumerate(lines):
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l = line.split('|')
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@ -88,181 +152,190 @@ def read_valid_tokens():
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else:
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valid_thru = None
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except Exception:
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log(f"Could not parse valid thru date for token {token} in line {i}")
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logging.error(f"Could not parse valid thru date for token {token} in line {i}")
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valid_thru = None
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log(f"Got token {token} associated with {name} <{email}> of {organization}, valid thru {valid_thru}")
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logging.debug(f"Got token {token} associated with {name} <{email}> of {organization}, valid thru {valid_thru}")
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if token in valid:
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log(f"Warning: Overwriting token {token}")
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logging.warning(f"Overwriting token {token}")
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valid[token] = {'name': name, 'organization': organization, 'email': email,
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'valid_thru': valid_thru}
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else:
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log(f"Skipping line {i} ({line}) since it does not contain exactly 5 data field")
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except:
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logging.warning(f"Skipping line {i} ({line}) since it does not contain exactly 5 data field")
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except Exception as e:
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valid = {}
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log("Error reading token file")
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raise
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logging.error(f"Error reading token file. Exception: {e}")
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# Opens the log file for writing
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def open_logfile():
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global lgf
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global config
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return valid
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lgf = open(config.log_file, "a+")
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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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# Actions
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IDLE, CLOSE, OPEN_THEN_CLOSE, OPEN, CLOSE_THEN_OPEN = range(5)
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state_names = {
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OPEN: "open",
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CLOSE: "close"
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def _check_reporting(self, current: int):
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if current == 0:
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self.logger.info("Turning position reporting on")
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self._send_door_cmd(b'r')
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else:
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self.logger.info("Position reporting is on")
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def handle_door_line(self):
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"""Reads a single line from the serial port and handles it"""
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data = self._read_door_line().strip()
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handling = {
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"pos": (int, self._set_position),
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"pos reporting": (int, self._check_reporting),
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}
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action_names = {
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IDLE: "idling",
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OPEN: "waiting for open door",
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CLOSE: "waiting for closed door",
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OPEN_THEN_CLOSE: "waiting for open door, then closing again",
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CLOSE_THEN_OPEN: "waiting for closed door, then opening again"
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}
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# Current door state
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state = None
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state_pos = 0
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# Current target action
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action = CLOSE
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# Start time of the current action
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start_time = None
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# How often the action was repeated
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repeats = 0
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# Read the state of the door from the serial port
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def poll_door_state():
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global state
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global state_pos
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global serial_port
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serial_port.reset_input_buffer()
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serial_port.write(b"R")
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data = serial_port.readline().strip().split()
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if data[0] == b'pos:':
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data = int(data[1])
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if state_pos != data:
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mqtt("position/value", data, True)
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state_pos = data
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changed = False
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if data < OPEN_THRESHOLD and state != OPEN:
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state = OPEN
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changed = True
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mqtt("state/value", "open", True)
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elif data > CLOSED_THRESHOLD and state != CLOSE:
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state = CLOSE
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changed = True
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mqtt("state/value", "closed", True)
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return state
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try:
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prefix, data = data.split(':')
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if prefix in handling:
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data_type, fun = handling[prefix]
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fun(data_type(data))
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except:
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pass
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# Check the door state and send commands through a state machine
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def handle_door_state():
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global action, target, serial_port, start_time, repeats
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def poll_door_state(self):
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"""Checks the door state if the last polling was at least 5 seconds ago, and returns the current state"""
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t = (datetime.datetime.now() - self.last_door_pos_time).total_seconds()
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if t >= 5:
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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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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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# Commands associated with each target state
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target_state_cmd = {
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OPEN: b'O',
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CLOSE: b'C'
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DoorControl.OPEN: b'O',
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DoorControl.CLOSE: b'C'
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}
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old_state = state
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now = datetime.datetime.now()
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old_state = self.last_handled_state
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delta_t = (now - self.last_handle_state_timestamp).total_seconds()
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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 serial_port:
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if not self.serial_port:
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try:
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open_serial_port()
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self._open_serial_port(self.config)
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except:
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return
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# Get new state
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poll_door_state()
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self.poll_door_state()
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self.last_handled_state = self.state
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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 action == IDLE:
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if state != old_state:
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log("Door changed unexpectedly:", state_names[state])
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start_time = datetime.datetime.now()
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if start_time and (datetime.datetime.now() - start_time).total_seconds() >= config.state_timeout:
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start_time = None
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if state_pos >= CLOSED_THRESHOLD and state_pos < CLOSED_WANT:
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log("Closing door a bit more")
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serial_port.write(target_state_cmd[CLOSE])
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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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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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# Target state, next action, timeout action
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actions = {
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OPEN: (OPEN, IDLE, CLOSE_THEN_OPEN ),
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CLOSE: (CLOSE, IDLE, OPEN_THEN_CLOSE ),
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OPEN_THEN_CLOSE: (OPEN, CLOSE, CLOSE ),
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CLOSE_THEN_OPEN: (CLOSE, OPEN, OPEN )
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DoorControl.OPEN: (DoorControl.OPEN, DoorControl.IDLE, DoorControl.CLOSE_THEN_OPEN ),
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DoorControl.CLOSE: (DoorControl.CLOSE, DoorControl.IDLE, DoorControl.OPEN_THEN_CLOSE ),
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DoorControl.OPEN_THEN_CLOSE: (DoorControl.OPEN, DoorControl.CLOSE, DoorControl.CLOSE ),
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DoorControl.CLOSE_THEN_OPEN: (DoorControl.CLOSE, DoorControl.OPEN, DoorControl.OPEN )
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}
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if start_time == None:
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start_time = datetime.datetime.now()
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serial_port.write(target_state_cmd[actions[action][0]])
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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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# Target state reached
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if state == actions[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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action = actions[action][1]
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start_time = datetime.datetime.now()
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repeats = 0
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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 action == IDLE:
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log("Reached target position:", state_names[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 = (datetime.datetime.now() - start_time).total_seconds()
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if t >= config.state_timeout:
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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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# Timeout -> switch to timeout action
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action = actions[action][2]
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start_time = None
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repeats = 0
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log("Timeout. Switching to", action_names[action])
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elif t >= (1 + repeats) * config.repeat_time:
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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.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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elif t >= (1 + self.repeats) * self.config.repeat_time:
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# Repeat every couple of seconds
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repeats += 1
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serial_port.write(target_state_cmd[actions[action][0]])
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log("Repeating command:", target_state_cmd[actions[action][0]])
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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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def open_door():
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global action
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global start_time
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log("Opening the door")
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action = OPEN
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start_time = None
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mqtt("state/target", "open", True)
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handle_door_state()
|
||||
def open_door(self):
|
||||
self.logger.info("Opening the door")
|
||||
self.mqtt("state/target", "open", True)
|
||||
self.action = DoorControl.OPEN
|
||||
self.start_time = None
|
||||
self.handle_door_state()
|
||||
|
||||
def close_door():
|
||||
global action
|
||||
global start_time
|
||||
log("Closing the door")
|
||||
action = CLOSE
|
||||
start_time = None
|
||||
mqtt("state/target", "closed", True)
|
||||
handle_door_state()
|
||||
def close_door(self):
|
||||
self.logger.info("Closing the door")
|
||||
self.mqtt("state/target", "closed", True)
|
||||
self.action = DoorControl.CLOSE
|
||||
self.start_time = None
|
||||
self.handle_door_state()
|
||||
|
||||
def toggle_door_state():
|
||||
global state, action
|
||||
if state == CLOSE:
|
||||
open_door()
|
||||
def toggle_door_state(self):
|
||||
if self.state == DoorControl.CLOSE:
|
||||
self.open_door()
|
||||
else:
|
||||
close_door()
|
||||
|
||||
def handle_nfc_token(token = None):
|
||||
global valid
|
||||
self.close_door()
|
||||
|
||||
def handle_nfc_token(self, token = None):
|
||||
if not token:
|
||||
token = nfc_fifo.readline()
|
||||
token = self.nfc_fifo.readline().strip()
|
||||
self.logger.debug(f"Token from nfc_fifo: {token}")
|
||||
if token == "":
|
||||
open_nfc_fifo()
|
||||
self.logger.debug("Opening nfc_fifo")
|
||||
self.nfc_fifo = self._open_nfc_fifo(self.config)
|
||||
return
|
||||
|
||||
token = token.strip()
|
||||
if token in valid:
|
||||
data = valid[token]
|
||||
if token in self.valid_tokens:
|
||||
data = self.valid_tokens[token]
|
||||
|
||||
if data['valid_thru'] is not None:
|
||||
# if a valid thru date has been set we check if the token is still valid
|
||||
|
|
@ -272,13 +345,13 @@ def handle_nfc_token(token = None):
|
|||
authorized = True
|
||||
|
||||
if authorized:
|
||||
log(f"Valid token {token} of {data['name']}")
|
||||
toggle_door_state()
|
||||
self.logger.info(f"Valid token {token} of {data['name']}")
|
||||
self.toggle_door_state()
|
||||
else:
|
||||
log(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:
|
||||
log("Invalid token:", token)
|
||||
mqtt("token/last_invalid", "%s;%s" % (timestamp(), token))
|
||||
self.logger.warning(f"Invalid token: {token}")
|
||||
self.mqtt("token/last_invalid", "%s;%s" % (timestamp(), token))
|
||||
|
||||
class LineBuffer(object):
|
||||
def __init__(self, f, handler):
|
||||
|
|
@ -297,61 +370,56 @@ class LineBuffer(object):
|
|||
self.handler(self.f, i)
|
||||
return True
|
||||
|
||||
def handle_cmd(comm, data):
|
||||
def handle_cmd(self, comm, data):
|
||||
cmd = data.decode('utf8').split()
|
||||
cmd, args = cmd[0], cmd[1:]
|
||||
log("Got command:", data)
|
||||
self.logger.debug(f"Got command: {data}")
|
||||
|
||||
send = lambda x: comm.send(x.encode('utf8'))
|
||||
|
||||
if cmd == 'fake':
|
||||
log("Faking token", args[0])
|
||||
self.logger.debug(f"Faking token {args[0]}")
|
||||
send("Handling token\n")
|
||||
handle_nfc_token(args[0])
|
||||
self.handle_nfc_token(args[0])
|
||||
elif cmd == 'open':
|
||||
log("Control socket opening door")
|
||||
self.logger.debug("Control socket opening door")
|
||||
send("Opening door")
|
||||
open_door()
|
||||
self.open_door()
|
||||
elif cmd == 'close':
|
||||
log("Control socket closing door")
|
||||
self.logger.debug("Control socket closing door")
|
||||
send("Closing door")
|
||||
close_door()
|
||||
self.close_door()
|
||||
elif cmd == 'rld':
|
||||
log("Reloading tokens")
|
||||
self.logger.debug("Reloading tokens")
|
||||
send("Reloading tokens")
|
||||
read_valid_tokens()
|
||||
self.valid_tokens = self._read_valid_tokens(self.config)
|
||||
elif cmd == 'stat':
|
||||
send("Door status is %s, position is %d. Current action: %s (%g seconds ago)\n" % (
|
||||
state_names.get(state, "None"),
|
||||
state_pos,
|
||||
action_names[action],
|
||||
(datetime.datetime.now() - start_time).total_seconds()))
|
||||
DoorControl.state_names.get(self.state, "None"),
|
||||
self.state_pos,
|
||||
DoorControl.action_names[self.action],
|
||||
(datetime.datetime.now() - self.start_time).total_seconds()))
|
||||
|
||||
open_logfile()
|
||||
read_valid_tokens()
|
||||
open_nfc_fifo()
|
||||
open_serial_port()
|
||||
open_control_socket()
|
||||
|
||||
mqttc.on_connect = lambda client, userdata, flags, rc: log("Connected to mqtt host with result %s" % (str(rc), ))
|
||||
mqttc.connect_async(config.mqtt_host, keepalive = 60)
|
||||
mqttc.loop_start()
|
||||
dc = DoorControl(config)
|
||||
|
||||
buffers = {}
|
||||
while True:
|
||||
readable = select.select([ nfc_fifo, control_socket ] + comm_channels, [], [], 1)[0]
|
||||
readable = select.select([ dc.serial_port.fileno(), dc.nfc_fifo, dc.control_socket ] + dc.comm_channels, [], [], 1 / UPDATE_RATE)[0]
|
||||
|
||||
for c in readable:
|
||||
if c == nfc_fifo:
|
||||
handle_nfc_token()
|
||||
elif c == control_socket:
|
||||
log("Got connection")
|
||||
sock = control_socket.accept()[0]
|
||||
buffers[sock] = LineBuffer(sock, handle_cmd)
|
||||
comm_channels += [sock]
|
||||
if c == dc.serial_port.fileno():
|
||||
dc.handle_door_line()
|
||||
elif c == dc.nfc_fifo:
|
||||
dc.handle_nfc_token()
|
||||
elif c == dc.control_socket:
|
||||
dc.logger.info("Got connection")
|
||||
sock = dc.control_socket.accept()[0]
|
||||
buffers[sock] = dc.LineBuffer(sock, dc.handle_cmd)
|
||||
dc.comm_channels += [sock]
|
||||
else:
|
||||
if not buffers[c].update():
|
||||
log("Lost connection")
|
||||
dc.logger.info("Lost connection")
|
||||
del buffers[c]
|
||||
comm_channels.remove(c)
|
||||
handle_door_state()
|
||||
dc.comm_channels.remove(c)
|
||||
dc.handle_door_state()
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user