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DoorControl
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Lotsa stuff

main
Valentin Ochs 2022-11-06 14:30:11 +01:00
parent df4d0efe33
commit d7bd00c3b6
16 changed files with 1204 additions and 485 deletions
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3
.gitignore vendored
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__pycache__
.mypy_cache
build
dist
door_pi_control.egg-info/

513
door_pi_control/__init__.py
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#!/usr/bin/python
import argparse
import datetime
import logging
import os
import select
import socket
from . import nfc, socket, door, bell
from .util import init_logging
from collections import namedtuple
import paho.mqtt.client as mqcl
import serial
UPDATE_RATE = 2
MAX_UPDATE_RATE = 20
ERROR_THRESHOLD = 250
OPEN_THRESHOLD = 190
CLOSED_THRESHOLD = 180
CLOSED_WANT = 50
MIN_IDLE_TIME = 1
COMMAND_IDLE_TIME = 1.5
def timestamp():
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:
# Actions
IDLE, CLOSE, OPEN_THEN_CLOSE, OPEN, CLOSE_THEN_OPEN, ERROR = range(6)
state_names = {
OPEN: "open",
CLOSE: "close",
ERROR: "error",
}
action_names = {
IDLE: "idling",
OPEN: "waiting for open door",
CLOSE: "waiting for closed door",
ERROR: "error",
}
def __init__(self, config):
self.config = config
self.mqttc = mqcl.Client()
self.logger = self._setup_logging(config)
self._open_serial_port(config)
self.valid_tokens = self._read_valid_tokens(config)
self.nfc_fifo = self._open_nfc_fifo(config)
self.control_socket, self.comm_channels = self._open_control_socket(config)
self.mqttc.on_connect = lambda client, userdata, flags, rc: self.logger.debug(f"Connected to mqtt host ({rc})")
self.mqttc.connect_async(config.mqtt_host, keepalive=60)
self.mqttc.loop_start()
# Current door state
self.state = MqttValue(self.mqttc, "door/state/value", True, translate = self.state_names)
self.target_state = MqttValue(self.mqttc, "door/state/target", True, DoorControl.CLOSE, 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
self.action = MqttValue(self.mqttc, "door/state/action", True, DoorControl.CLOSE, translate = self.action_names, max_update = 0)
# Start time of the current action
self.start_time = None
# How often the action was repeated
self.repeats = 0
self.last_handled_state = self.OPEN
self.last_door_pos_time = datetime.datetime.now() - datetime.timedelta(minutes = 10)
self.last_position = 0
self.last_handle_state_timestamp = datetime.datetime.now()
self.idle_start_time = None
self.last_command_time = datetime.datetime.now() - datetime.timedelta(COMMAND_IDLE_TIME)
def idle_time(self):
if self.idle_start_time != None:
return (datetime.datetime.now() - self.idle_start_time).total_seconds()
else:
return 0
def _send_door_cmd(self, cmd: bytes):
"""Send a command to the door."""
if cmd != b'R': self.logger.debug(f"Sending {cmd}")
return self.serial_port.write(cmd)
def _read_door_line(self):
"""Read a single line from the serial port"""
return self.serial_port.readline().decode('ascii')
def _setup_logging(self, config):
"""Set up logging"""
log_format = '%(asctime)s - %(name)s - %(levelname)s - %(message)s'
logging.basicConfig(force = True,
level = logging.DEBUG,
format = log_format)
# create logger
logger = logging.getLogger('nfc_log')
# create console handler and set level to debug
fh = logging.FileHandler(config.log_file)
fh.setLevel(logging.DEBUG)
# create formatter
formatter = logging.Formatter(log_format)
fh.setFormatter(formatter)
logger.addHandler(fh)
return logger
def _open_control_socket(self, config):
"""(Re-)creates and opens the control socket. Config must have a control_socket member."""
self.logger.debug("Opening control socket")
if os.path.exists(config.control_socket):
os.unlink(config.control_socket)
control_socket = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
control_socket.bind(config.control_socket)
control_socket.listen(5)
comm_channels = []
return control_socket, comm_channels
def _open_serial_port(self, config):
"""Opens the serial port controlling the door opener. config must have a serial_port member."""
try:
self.serial_port = serial.Serial(config.serial_port, timeout=2)
self._send_door_cmd(b'>r1\n')
except:
self.serial_port = None
return self.serial_port
def _open_nfc_fifo(self, config):
"""Opens config.nfc_fifo as the FIFO through which detected tokens are passed in."""
nfc_fifo = open(config.nfc_fifo, "r")
return nfc_fifo
def _read_valid_tokens(self, config):
"""Refreshes all tokens from config.valid_tokens"""
valid = {}
try:
self.logger.info("Loading tokens")
lines =[ s.strip() for s in open(config.valid_tokens, "r").readlines() ]
for i, line in enumerate(lines):
l = line.split('|')
if len(l) == 5:
if not l[0].strip().startswith('#'):
token, name, organization, email, valid_thru = l
try:
if len(valid_thru.strip()) > 0:
valid_thru = datetime.date.fromisoformat(valid_thru)
else:
valid_thru = None
except Exception:
logging.error(f"Could not parse valid thru date for token {token} in line {i}")
valid_thru = None
logging.debug(f"Got token {token} associated with {name} <{email}> of {organization}, valid thru {valid_thru}")
if token in valid:
logging.warning(f"Overwriting token {token}")
valid[token] = {'name': name, 'organization': organization, 'email': email,
'valid_thru': valid_thru}
else:
logging.warning(f"Skipping line {i} ({line}) since it does not contain exactly 5 data field")
except Exception as e:
valid = {}
logging.error(f"Error reading token file. Exception: {e}")
return valid
def _set_position(self, data: str):
"""Set a new door position"""
pos, speed = [ int(x) for x in data.strip().split() ]
self.state_pos(pos)
self.speed(speed)
if self.speed() != 0 and self.idle_start_time != None:
self.idle_start_time = None
elif self.speed() == 0 and self.idle_start_time == None:
self.idle_start_time = datetime.datetime.now()
if pos > ERROR_THRESHOLD and self.state() != DoorControl.ERROR:
self.logger.error("Invalid position:", state)
self.state(DoorControl.ERROR)
elif pos > OPEN_THRESHOLD and self.state() != DoorControl.OPEN:
self.state(DoorControl.OPEN)
elif pos < CLOSED_THRESHOLD and self.state() != DoorControl.CLOSE:
self.state(DoorControl.CLOSE)
def _check_reporting(self, current: int):
if current == 0:
self.logger.info("Turning position reporting on")
self._send_door_cmd(b'>r1\n')
else:
self.logger.info("Position reporting is on")
def handle_door_line(self):
"""Reads a single line from the serial port and handles it"""
data = self._read_door_line().strip()
handling = {
"pos": (str, self._set_position),
"pos reporting": (int, self._check_reporting),
}
try:
prefix, data = data.split(':')
if prefix in handling:
data_type, fun = handling[prefix]
fun(data_type(data))
except:
pass
def poll_door_state(self):
"""Checks the door state if the last polling was a while ago, and returns the current state"""
t = (datetime.datetime.now() - self.last_door_pos_time).total_seconds()
if t >= 0.5:
self.last_door_pos_time = datetime.datetime.now()
self._send_door_cmd(b"R")
self.handle_door_line()
return self.state()
def handle_door_state(self):
"""Checks the door state and executes any actions necessary to reach the target state"""
# Commands associated with each target state
target_state_cmd = {
DoorControl.OPEN: b'O',
DoorControl.CLOSE: b'C'
}
now = datetime.datetime.now()
old_state = self.last_handled_state
delta_t = (now - self.last_handle_state_timestamp).total_seconds()
# If no serial port, try to open it or return
if not self.serial_port:
try:
self._open_serial_port(self.config)
except:
return
self.poll_door_state()
if (self.idle_time() < MIN_IDLE_TIME) and delta_t < 5:
return
# Get new state
self.last_handled_state = self.state()
self.last_handle_state_timestamp = now
if self.state() == DoorControl.ERROR:
self.logger.error("Restarting the MCU and exiting.")
self.send_door_cmd(b'S')
return
# Idle + change = key?
if self.action() == DoorControl.IDLE:
if self.state() != old_state:
self.logger.info(f"Door changed unexpectedly: {DoorControl.state_names[self.state()]}")
self.target_state(self.state())
self.start_time = now
if self.state() == DoorControl.CLOSE \
and self.start_time \
and (now - self.start_time).total_seconds() >= self.config.state_timeout:
self.start_time = None
if self.state_pos() <= CLOSED_THRESHOLD and self.state_pos() > CLOSED_WANT:
self.logger.info("Closing door a bit more")
self._send_door_cmd(target_state_cmd[DoorControl.CLOSE])
return
if self.start_time is None:
self.start_time = now
self._send_door_cmd(target_state_cmd[self.action()])
# Target state reached
if self.state() == self.target_state():
self.action(DoorControl.IDLE)
self.logger.debug(f"Reached target position: {DoorControl.state_names[self.state()]}")
self.repeats = 0
self.start_time = now
return
elif self.state() != old_state:
# Changed state, try to go to the target state again
self.start_time = now
self.action(old_state)
self._send_door_cmd(target_state_cmd[self.action()])
# Execution time
t = (now - self.start_time).total_seconds()
if t >= self.config.state_timeout:
# Timeout -> switch to timeout action
if self.action() == DoorControl.OPEN:
self.action(DoorControl.CLOSE)
else:
self.action(DoorControl.OPEN)
self.start_time = None
self.repeats = 0
self.logger.debug(f"Timeout. Switching to {DoorControl.action_names[self.action()]}")
elif t >= (1 + self.repeats) * self.config.repeat_time:
# Repeat every couple of seconds
self.repeats += 1
self.logger.debug(f"Repeating command: {target_state_cmd[self.action()]}")
self._send_door_cmd(target_state_cmd[self.action()])
def open_door(self):
self.logger.info("Opening the door")
self.target_state(DoorControl.OPEN)
if self.action() == DoorControl.IDLE:
self.action(DoorControl.OPEN)
self.start_time = None
self.handle_door_state()
def close_door(self):
self.logger.info("Closing the door")
self.target_state(DoorControl.CLOSE)
if self.action() == DoorControl.IDLE:
self.action(DoorControl.CLOSE)
self.start_time = None
self.handle_door_state()
def toggle_door_state(self):
if self.action() != DoorControl.IDLE:
return
if self.target_state() == DoorControl.CLOSE:
self.open_door()
else:
self.close_door()
def handle_nfc_token(self, token = None):
if not token:
token = self.nfc_fifo.readline().strip()
self.logger.debug(f"Token from nfc_fifo: {token}")
if token == "":
self.logger.debug("Opening nfc_fifo")
self.nfc_fifo = self._open_nfc_fifo(self.config)
return
token = token.strip()
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
authorized = datetime.date.today() <= data['valid_thru']
else:
# otherwise we don't need to check
authorized = True
if authorized:
self.logger.info(f"Valid token {token} of {data['name']}")
self.toggle_door_state()
else:
self.logger.warning(f"Token {token} of {data['name']} expired on {data['valid_thru']}")
else:
self.logger.warning(f"Invalid token: {token}")
self.last_invalid_token(f"{timestamp()};{token}")
class LineBuffer(object):
def __init__(self, f, handler):
self.data = b''
self.f = f
self.handler = handler
def update(self):
data = self.f.recv(1024)
if not data:
return False
self.data += data
d = self.data.split(b'\n')
d, self.data = d[:-1], d[-1]
for i in d:
self.handler(self.f, i)
return True
def handle_cmd(self, comm, data):
cmd = data.decode('utf8').split()
cmd, args = cmd[0], cmd[1:]
self.logger.debug(f"Got command: {data}")
send = lambda x: comm.send(x.encode('utf8'))
if cmd == 'fake':
self.logger.debug(f"Faking token {args[0]}")
send("Handling token\n")
self.handle_nfc_token(args[0])
elif cmd == 'reset':
self.logger.info("Resetting")
send("Resetting MCU")
self._send_door_cmd(b'S')
elif cmd == 'open':
if len(args) > 0:
self.logger.info(f"Control socket opening door for {args[0]}")
send("Opening door")
self.open_door()
else:
send("Missing login")
elif cmd == 'close':
if len(args) > 0:
self.logger.info(f"Control socket closing door for {args[0]}")
send("Closing door")
self.close_door()
else:
send("Missing login")
elif cmd == 'rld':
self.logger.debug("Reloading tokens")
send("Reloading 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" % (
DoorControl.state_names.get(self.state, "None"),
self.state_pos.value,
DoorControl.action_names[self.action()],
(datetime.datetime.now() - self.start_time).total_seconds()))
import logging
def main():
import argparse
import logging
import time
from .nfc import DoorControlNfc
from .socket import DoorControlSocket
from .door import Control
from .util import init_logging, logger
parser = argparse.ArgumentParser()
parser.add_argument("--serial_port", default="/dev/serial/by-id/usb-Imaginaerraum.de_DoorControl_43363220195053573A002C0-if01")
parser.add_argument("--serial_port", default="/dev/serial/by-id/usb-Imaginaerraum.de_DoorControl_433632201350535727003F0-if01")
parser.add_argument("--bell_port", default="/dev/ttyS2")
parser.add_argument("--nfc_fifo", default="/tmp/nfc_fifo")
parser.add_argument("--control_socket", default="/tmp/nfc.sock")
parser.add_argument("--valid_tokens", default="/etc/door_tokens")
parser.add_argument("--log_file", default="/tmp/nfc.log")
parser.add_argument("--state_timeout", type=float, default=10)
parser.add_argument("--state_timeout_speed", type=float, default=3)
parser.add_argument("--repeat_time", type=float, default=COMMAND_IDLE_TIME)
parser.add_argument("--mqtt_host", default="10.10.21.2")
config = parser.parse_args()
dc = DoorControl(config)
buffers = {}
while True:
readable = select.select([ dc.serial_port.fileno(), dc.nfc_fifo, dc.control_socket ] + dc.comm_channels, [], [], 1 / UPDATE_RATE)[0]
mqttc = mqcl.Client()
mqttc.connect_async("10.10.21.2", keepalive=60)
mqttc.loop_start()
for c in readable:
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.debug("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():
dc.logger.debug("Lost connection")
del buffers[c]
dc.comm_channels.remove(c)
dc.handle_door_state()
init_logging(level=logging.INFO, output_file=config.log_file)
logger().info("Starting control")
control = Control(config, mqttc)
control.start()
logger().info("Starting NFC")
nfc = DoorControlNfc(config, control, mqttc)
nfc.start()
logger().info("Starting socket")
socket = DoorControlSocket(config, control, nfc)
socket.start()
if __name__ == '__main__':
main()
logger().info("Starting bell")
def door_is_open():
return control.state() == control.target() == door.constants.state.OPEN
bell_control = bell.Control(config.bell_port, door_is_open)
bell_control.start()
while True:
time.sleep(60)

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door_pi_control/__main__.py Normal file
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#!/usr/bin/python
from . import main
main()

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door_pi_control/bell.py Normal file
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from . import mqtt, util
from .util import timestamp
import time
import serial
import serial.threaded
import threading
msgs = {
"push_1": bytes.fromhex("B0 A0 6F 08"),
"push_2": bytes.fromhex("B5 A0 6F 18"),
"release": bytes.fromhex("B2 A0 6F 08"),
"voice_closed": bytes.fromhex("B5 02 60 08"),
"ring_hs": bytes.fromhex("91 02 60 08"),
"ring_meyer": bytes.fromhex("91 01 60 08"),
"open_push": bytes.fromhex("96 a0 6f a4"),
"open_release": bytes.fromhex("96 a0 6f a0"),
"light_push": bytes.fromhex("bd a0 6f a4"),
"light_release":bytes.fromhex("bd a0 6f a0"),
}
class Reader(util.Loggable):
def __init__(self, should_open_immediately_cb = None):
self.tmp = bytes()
self.data = []
self.lock = threading.RLock()
self.cv = threading.Condition(self.lock)
self.times = []
self.start = None
self.last_symbol_timestamp = None
self.light_push_time = None
self.doing_light = False
self.closed = False
self.open_now_cb = should_open_immediately_cb
def connection_lost(self, exc):
if exc:
print(exc)
traceback.print_exc()
self._logger().info("Closed")
self.closed = True
def connection_made(self, transport):
# super(Reader, self).connection_made(transport)
self.port = transport
self._logger().info("Opened")
def chksum(self, x):
return x[0] ^ x[1] ^ x[2] ^ x[3]
def write(self, data):
with self.lock:
self.port.write(bytes([0xA8]) + data + bytes([self.chksum(data), 0xA3]))
def data_received(self, data):
self.tmp += data
data= self.tmp
# log(data)
while len(data) >= 7:
while len(data) >= 7 and (data[0] != 0xA8 or data[-1] != 0xA3 or self.chksum(data[1:-2]) != data[-2]):
if 0xA8 in data[1:]:
next = data[1:].index(0xA8)
data = data[1+next:]
else:
data = bytes()
if len(data) >= 7:
msg = data[1:5]
with self.cv:
if len(self.data) and msg == self.data[-1]:
pass
#log("Repeats")
else:
for k,v in msgs.items():
if v == msg:
self._logger().debug("Known message: %s: %s" % (k, v.hex()))
break
else:
self._logger().debug("Unknown message: %s" % (msg.hex(),))
self.data.append(data[1:5])
self.cv.notify()
if msgs['light_push'] == msg and not self.light_push_time:
self.light_push_time = datetime.datetime.now()
elif msgs['light_release'] == msg and self.light_push_time != None:
dt = (datetime.datetime.now() - self.light_push_time).total_seconds()
self.light_push_time = None
self._logger().debug(f"Light time: {dt}")
if dt >= 3:
self.doing_light = not self.doing_light
elif msgs['ring_hs'] == msg:
open_now = self.open_now_cb and self.open_now_cb()
if open_now:
self.open_door()
elif not self.start:
self.start = datetime.datetime.now()
if self.last_symbol_timestamp and (self.start - self.last_symbol_timestamp).total_seconds() > 5:
self.times = []
elif msgs['release'] == msg and self.start:
t = datetime.datetime.now()
self.last_symbol_timestamp = t
dt = (t - self.start).total_seconds()
self.start = None
self.times = self.times[-3:] + [dt]
avg = sum(self.times) / len(self.times)
morse = [x>avg for x in self.times]
if len(self.times) == 4:
self._logger().info(", ".join([{True: "dah", False: "dit"}[x > avg] for x in self.times]))
if morse == [False, False, True, False]:
self.open_door()
data = data[7:]
self.tmp = data
def alternate_msgs(self, names, times = 3, *, dt = 0.04):
for _ in range(times):
for m in names:
self.write(msgs[m])
time.sleep(dt)
def send_light_msg(self):
self.alternate_msgs(['light_push'])
time.sleep(0.3)
self.alternate_msgs(['light_release'])
def send_open_msg(self):
self.alternate_msgs(['open_push'])
time.sleep(0.3)
self.alternate_msgs(['open_release'])
def open_door(self):
self._logger().info("Opening")
self.alternate_msgs(['light_push', 'open_push'], dt = 0.04)
time.sleep(0.3)
self.alternate_msgs(['light_release', 'open_release'], dt = 0.04);
def get(self, block = False):
with self.cv:
if len(self.data) == 0:
if block:
self.cv.wait_for(lambda: len(self.data) > 0)
else:
return None
rv = self.data[0]
self.data = self.data[1:]
return rv
class Control(util.Loggable):
def __init__(self, port, open_immediately_cb = None):
self._port = port
self._task = None
self._cb = open_immediately_cb
def start(self):
if not self._task:
self._task = threading.Thread(target = self.run, daemon=True)
self._task.start()
def run(self):
port = None
protocol = None
while True:
if port is None or protocol.closed:
try:
port = serial.Serial(self._port, 9600)
protocol = serial.threaded.ReaderThread(port, lambda: Reader(self._cb))
protocol.start()
protocol = protocol.protocol
except Exception as e:
self._logger().exception("Port opening error")
time.sleep(10)
continue
if protocol.doing_light:
protocol.send_light_msg()
time.sleep(1)

4
door_pi_control/door/__init__.py Normal file
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"""Meh"""
from .communication import Communication
from .control import Control

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door_pi_control/door/communication.py Normal file
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import os
import select
import serial
import time
from threading import Lock, RLock, Thread
from typing import IO, Dict, Callable, Union
from ..util import Loggable
class Communication(Loggable):
def __init__(self, port: Union[os.PathLike, IO]):
self._mutex: RLock = RLock()
self._write_mutex: Lock = Lock()
self._subscribers: Dict[str, Callable] = {}
self._read_pipe, self._write_pipe = os.pipe()
os.set_blocking(self._read_pipe, False)
self._read_pipe = os.fdopen(self._read_pipe, 'rb', buffering=0, )
self._write_pipe = os.fdopen(self._write_pipe, 'wb', buffering=0)
self._port_path = port
self._serial_port = None
self._open_serial_port()
self._stopped = True
self._task = None
def _forward(self) -> None:
data = self._read_pipe.read()
while True:
try:
return self._write(data)
except serial.serialutil.SerialException:
self._open_serial_port()
def _open_serial_port(self) -> None:
self._logger().debug("Opening port")
port = self._port_path
if type(port) == str:
i = 0
while i < 30 and not os.path.exists(port):
time.sleep(1)
i += 1
self._serial_port = serial.Serial(port, timeout=2)
else:
self._serial_port = port
def _process(self):
try:
line = self._read()
except serial.serialutil.SerialException:
line = None
if line == None:
self._logger().info("Empty line, reopening serial port")
self._open_serial_port()
return
if ':' not in line:
self._logger().debug(f"Line: {line}")
self._send_event("", line.strip())
return
try:
prefix, data = line.split(":", maxsplit=2)
if not prefix.startswith("pos"):
self._logger().debug(f"Line: {line}")
self._send_event(prefix, data.strip())
except:
pass
def _read(self) -> str:
data = self._serial_port.readline()
if data == "":
return None
return data.decode("ascii").strip()
def _run(self):
while True:
with self._mutex:
if self._stopped:
return
readable, _, _ = select.select(
[self._serial_port, self._read_pipe],
[], [], 0.1)
for r in readable:
if r == self._serial_port:
self._process()
elif r == self._read_pipe:
self._forward()
def _send_event(self, prefix, data):
with self._mutex:
if prefix in self._subscribers:
for sub in self._subscribers[prefix]:
sub(prefix, data)
def _write(self, data: bytes) -> None:
with self._write_mutex:
self._logger().debug(f"Sending {repr(data)}")
if self._serial_port:
self._serial_port.write(data)
def start(self):
with self._mutex:
self._logger().debug("Starting")
if self._task is None:
self._stopped = False
self._task = Thread(target=self._run, daemon=True)
self._task.start()
def stop(self) -> None:
self._mutex.acquire()
if self._task is not None:
self._stopped = True
self._mutex.release()
self._task.join()
self._mutex.acquire()
self._task = None
self._mutex.release()
def subscribe(self, prefix: str, callback: Callable):
with self._mutex:
if prefix not in self._subscribers:
self._subscribers[prefix] = []
self._subscribers[prefix].append(callback)
def write(self, data):
with self._write_mutex:
self._write_pipe.write(data)
def cmd_open(self):
self.write(b"O")
def cmd_close(self):
self.write(b"C")
def cmd_report(self):
self.write(b">r1\nR")
def cmd_restart(self):
self.write(b"S")

31
door_pi_control/door/constants.py Normal file
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"""Constants"""
ERROR_THRESHOLD = 350
OPEN_THRESHOLD = 190
CLOSED_THRESHOLD = 6*7
CLOSED_WANT = 4*7
MIN_IDLE_TIME = 0
UPDATE_RATE = 1
MAX_UPDATE_RATE = 20
COMMAND_IDLE_TIME = 0.5
class state:
IDLE, CLOSE, OPEN_THEN_CLOSE, OPEN, CLOSE_THEN_OPEN, ERROR, RESTART = range(7)
state_names = {
state.OPEN: "open",
state.CLOSE: "closed",
state.ERROR: "error",
state.OPEN_THEN_CLOSE: "open, then close",
state.CLOSE_THEN_OPEN: "close, then open",
state.RESTART: "reset MCU",
state.IDLE: "idle",
}
action_names = {
state.IDLE: "idling",
state.OPEN: "waiting for open door",
state.CLOSE: "waiting for closed door",
state.ERROR: "error",
}

220
door_pi_control/door/control.py Normal file
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from datetime import datetime
import os
from threading import Lock, RLock, Condition, Thread
from .communication import Communication
from .. import util
from .. import mqtt
from .constants import state_names, state
from . import constants
class Control(util.Loggable):
def __init__(self, config, mqtt_client=None):
self._config = config
self._mutex = RLock()
self._control_update = Condition(self._mutex)
self._comms = Communication(config.serial_port)
self._position_task: Thread = None
self._control_task: Thread = None
self.target = mqtt.Value(mqtt_client, "door/state/target",
persistent=True,
translate=state_names)
self.state = mqtt.Value(mqtt_client, "door/state/value",
persistent=True,
translate=state_names)
self.position = mqtt.Value(mqtt_client, "door/position/value",
persistent=True)
self._speed = 0
self._started = False
self._stop = False
self._idle = True
def _run_position(self):
cond = Condition(self._mutex)
warned = False
def update_position(_, line):
p, s = map(int, line.split())
with cond:
if p != self.position():
self._logger().debug(f"Position: {p}, {s}")
self.position(p)
self._speed = s
cond.notify()
self._comms.subscribe("pos", update_position)
last_update = datetime.now()
last_movement = datetime.now()
while True:
with cond:
if self._stop:
return
if not cond.wait(5):
self._comms.cmd_report()
dt = (datetime.now() - last_update).total_seconds()
if dt > 10 and not warned:
warned = True
self._logger().warn(f"No position for {dt} seconds")
else:
last_update = datetime.now()
warned = False
if self._speed != 0:
last_movement = datetime.now()
mov_dt = (datetime.now() - last_movement).total_seconds()
if mov_dt > constants.MIN_IDLE_TIME:
if self.position() < constants.CLOSED_THRESHOLD:
self.state(state.CLOSE)
self._control_update.notify()
elif self.position() > constants.ERROR_THRESHOLD:
self.state(state.ERROR)
self._control_update.notify()
elif self.position() > constants.OPEN_THRESHOLD:
self.state(state.OPEN)
self._control_update.notify()
elif not self._idle:
self._control_update.notify()
self._idle = True
else:
self._idle = False
def _run_control(self):
# Last known state
st = state.IDLE
# Current action
action = state.IDLE
cmd = {
None: lambda: None,
state.IDLE: lambda: None,
state.ERROR: lambda: None,
state.RESTART: self._comms.cmd_restart,
state.OPEN: self._comms.cmd_open,
state.OPEN_THEN_CLOSE: self._comms.cmd_open,
state.CLOSE: self._comms.cmd_close,
state.CLOSE_THEN_OPEN: self._comms.cmd_close,
}
with self._control_update:
last_target = state.IDLE
# When starting, reset the MCU once
self.target(state.CLOSE)
# Starting time of the current action
start_time = datetime.now()
timeouts = 0
while not self._stop:
# Wait for an update
self._control_update.wait(1)
if not self._idle:
# If still moving, continue
self._logger().debug(f"Not idle")
continue
# Update was that the target has changed
if self.target() != last_target:
self._logger().debug(f"Target update: {state_names[self.target()]}")
self._logger().debug(f"{cmd[self.target()]}, {cmd[last_target]}")
if cmd.get(action, None) != cmd[self.target()]:
# We need to send a different command for this
self._logger().debug(f"Calling {cmd[self.target()]}")
cmd[self.target()]()
else:
self._logger().debug(f"Same command as {state_names[last_target]}")
# Update last known target and starting time
last_target = self.target()
start_time = datetime.now()
# Update current target
target = last_target
if self.state() != st:
# State from position handling differs from last known state
self._logger().debug(f"State update, target is {state_names[target]}")
st = self.state()
self._logger().info("Reached state "
f"{state_names.get(st, st)}")
if st == target:
# Reached target
timeouts = 0
if target == state.CLOSE \
and self.position() > constants.CLOSED_WANT:
self._logger().info(
f"Position is {self.position()}, "
"closing some more")
self._comms.cmd_close()
action = state.IDLE
elif self.state() == state.ERROR:
# Position too high, restart
self._comm.cmd_restart()
self.target(state.CLOSE)
else:
if timeouts < 3:
timeouts += 1
if action == target:
# Initially, switch to the other one
# and execute that
action = {
state.CLOSE: state.OPEN_THEN_CLOSE,
state.OPEN: state.CLOSE_THEN_OPEN
}.get(target, state.RESTART)
cmd[action]()
else:
# Then go back
action = target
cmd[action]()
else:
# Tried too often, restart
self.target(state.RESTART)
if action == state.IDLE:
continue
def start(self):
with self._mutex:
if not self._started:
self._started = True
self._stop = False
self._comms.start()
self._position_task = Thread(target=self._run_position,
daemon=True)
self._control_task = Thread(target=self._run_control,
daemon=True)
self._position_task.start()
self._control_task.start()
def stop(self):
with self._mutex:
if self._started:
self._started = False
self._stop = True
self._comms.stop()
self._mutex.release()
self._position_task.join()
self._control_task.join()
def open(self):
with self._mutex:
self.target(state.OPEN)
self._control_update.notify()
def close(self):
with self._mutex:
self.target(state.CLOSE)
self._control_update.notify()
def toggle(self):
with self._mutex:
self._logger().debug("Asked to toggle")
if self.target() == state.OPEN:
self.close()
else:
self.open()
def state(self):
with self._mutex:
return self._state

89
door_pi_control/door/token_control.py Normal file
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from ... import util
import datetime
import os
import select
from threading import Thread, RLock
class TokenControl(util.Loggable):
def __init__(self, token_path, fifo_path, control):
self._token_path = token_path
self._fifo_path = fifo_path
self._control = control
self._open_fifo()
self.refresh_tokens()
pipes = os.pipe()
self._mutex = RLock()
self._stop_pipe_write = pipes[1]
self._stop_pipe_read = pipes[0]
self._thread = None
def _open_fifo(self):
self._fifo = open(self._fifo_path, "r")
def refresh_tokens(self):
"""Refreshes all tokens from config.valid_tokens"""
valid = {}
try:
self._logger().info("Loading tokens")
lines =[ s.strip() for s in open(self._token_path, "r").readlines() ]
for i, line in enumerate(lines):
l = line.split('|')
if len(l) == 5:
if not l[0].strip().startswith('#'):
token, name, organization, email, valid_thru = l
try:
if len(valid_thru.strip()) > 0:
valid_thru = datetime.date.fromisoformat(valid_thru)
else:
valid_thru = None
except Exception:
self._logger().error(f"Could not parse valid thru date for token {token} in line {i}")
valid_thru = None
self._logger().debug(f"Got token {token} associated with {name} <{email}> of {organization}, valid thru {valid_thru}")
if token in valid:
self._logger().warning(f"Overwriting token {token}")
valid[token] = {
'name': name,
'organization': organization,
'email': email,
'valid_thru': valid_thru
}
else:
self._logger().warning(f"Skipping line {i} ({line}) since it does not contain exactly 5 data field")
except Exception as e:
valid = {}
self._logger().error(f"Error reading token file. Exception: {e}")
with self._mutex:
self._tokens = valid
def start(self):
with self._mutex:
if self._thread != None:
return
self._thread = Thread(target = self.run, daemon=True)
self._thread.start()
def stop(self):
with self._mutex:
if self._thread == None:
return
self._stop_pipe_write.write('c')
self._thread.join()
self._thread = None
def run(self):
while True:
readable = select.select([self._fifo, self._stop_pipe_read], [], [], 0.5)[0]
if self._stop_pipe_read in readable:
self._stop_pipe_read.read(1)
return
if self._fifo in readable:
line = self._fifo.readline()
if line == None:
self._open_fifo()
continue

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door_pi_control/mqtt.py Normal file
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import datetime
import logging
import typing
from typing import Any, Optional, Callable
from paho.mqtt.client import Client as Client
_logger = logging.getLogger("door_pi_control").getChild("util")
class Value:
def __init__(self,
client: Client,
topic: str,
start_value: Any = None,
*,
persistent: bool = False,
translate: typing.Union[
None,
typing.Dict[Any, str],
typing.Callable]
= None,
max_update: float = 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 is None:
self.translate: Callable = str
elif callable(translate):
self.translate = translate
else:
self.translate = lambda x: translate[x]
if start_value is not None:
self.update(start_value)
def update(self, value: Any, *,
force: bool = False,
no_update: bool = False) -> None:
if value != self.value or value != self.last_update_value:
self.value = value
if value is not None and \
(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
if self.client is not None:
self.client.publish(
self.topic,
self.translate(value),
qos=2,
retain=self.persistent)
def force_update(self, value) -> None:
self.update(value, force=True)
def __call__(self, value=None, **kwargs) -> typing.Optional[Any]:
if value is not None:
self.update(value, **kwargs)
return value
return self.value
def str(self):
return self.translate(self.value)
def reconnecting_client(host: str, *, keepalive: int = 60):
client = Client()
client.on_connect = lambda client, userdata, flags, rc: \
_logger.debug("Connected to mqtt host")
client.connect_async(host, keepalive=keepalive)
client.loop_start()
return client

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door_pi_control/nfc.py Normal file
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import select
import socket
import time
from threading import Lock, RLock, Condition, Thread
from typing import Callable, Optional, IO, Container
from . import mqtt, util
from .util import timestamp
class DoorControlNfc(util.Loggable):
"""Validates tokens read from a socket and tells a DoorControl to toggle its target"""
def __init__(self, config, control, mqtt_client = None):
self._config = config
self._nfc = self._open_nfc_fifo()
self._control = control
self._stop = True
self._mutex = RLock()
self._cond = Condition(self._mutex)
self._fifo = None
self._mqttc = mqtt_client
self._read_valid_tokens()
self.last_invalid_token = mqtt.Value(self._mqttc,
"door/token/last_invalid", persistent=True)
def _open_nfc_fifo(self) -> IO:
"""Opens config.nfc_fifo as the FIFO through which detected tokens are passed in."""
self._logger().debug(f"Opening FIFO {self._config.nfc_fifo}")
return open(self._config.nfc_fifo, "rb")
def _read_valid_tokens(self) -> Container:
"""Refreshes all tokens from config.valid_tokens"""
with self._mutex:
valid = {}
try:
self._logger().info("Loading tokens")
lines =[ s.strip() for s in open(self._config.valid_tokens, "r").readlines() ]
for i, line in enumerate(lines):
l = line.split('|')
if len(l) == 5:
if not l[0].strip().startswith('#'):
token, name, organization, email, valid_thru = l
try:
if len(valid_thru.strip()) > 0:
valid_thru = datetime.date.fromisoformat(valid_thru)
else:
valid_thru = None
except Exception:
self._logger().error(f"Could not parse valid thru date for token {token} in line {i}")
valid_thru = None
self._logger().debug(f"Got token {token} associated with {name} <{email}> of {organization}, valid thru {valid_thru}")
if token in valid:
self._logger().warning(f"Overwriting token {token}")
valid[token] = {
'name': name,
'organization': organization,
'email': email,
'valid_thru': valid_thru
}
else:
self._logger().warning(f"Skipping line {i} ({line}) since it does not contain exactly 5 data field")
except Exception as e:
valid = {}
self._logger().error(f"Error reading token file. Exception: {e}")
self._tokens = valid
def _run(self):
with self._cond:
while not self._stop:
if not self._fifo:
self._read_valid_tokens()
self._fifo = self._open_nfc_fifo()
if not self._fifo:
time.sleep(5)
continue
self._cond.release()
readable, _, _ = select.select(
[self._fifo],
[], [], 1)
self._cond.acquire()
if self._fifo in readable:
token = self._fifo.readline().strip()
if token == "":
self._fifo = None
continue
self._logger().debug(f"Token from nfc_fifo: {token}")
self.handle_token(token)
def handle_token(self, token):
with self._mutex:
if token in self._tokens:
data = self._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
authorized = datetime.date.today() <= data['valid_thru']
else:
# otherwise we don't need to check
authorized = True
if authorized:
self._logger().info(f"Valid token {token} of {data['name']}")
self._control.toggle()
else:
self._logger().warning(f"Token {token} of {data['name']} expired on {data['valid_thru']}")
else:
self._logger().warning(f"Invalid token: {token}")
self.last_invalid_token(f"{timestamp()};{token}")
def start(self):
with self._mutex:
if self._stop:
self._stop = False
self._task = Thread(target=self._run, daemon=True)
self._task.start()
print("Done")
def stop(self):
with self._cond:
if not self._stop:
self._stop = True
self._cond.notify()
self._task.join()

160
door_pi_control/socket.py Normal file
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import os
import select
import socket
import time
from threading import Lock, RLock, Condition, Thread
from typing import Callable, Optional, IO, Container
from . import mqtt, util
from .util import timestamp
from .door.constants import state_names
class DoorControlSocket(util.Loggable):
class LineBuffer(object):
def __init__(self, f, handler):
self.data = b''
self.f = f
self.handler = handler
def update(self):
data = self.f.recv(1024)
print(repr(data))
if not data:
print("Eep")
return False
self.data += data
d = self.data.split(b'\n')
d, self.data = d[:-1], d[-1]
for i in d:
print("Handling", repr(i))
self.handler(self.f, i)
return True
def __init__(self, config, control, nfc):
self._config = config
self._control = control
self._nfc = nfc
self._fifo = self._open_control_socket()
self._stop = True
self._mutex = RLock()
self._cond = Condition(self._mutex)
def _open_control_socket(self) -> socket.socket:
"""(Re-)creates and opens the control socket. Config must have a control_socket member."""
path = self._config.control_socket
self._logger().debug(f"Opening control socket {path}")
if os.path.exists(path):
os.unlink(path)
s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
s.bind(path)
s.listen(5)
return s
def _run(self):
buffers = {}
sockets = []
with self._cond:
while not self._stop:
if not self._fifo:
self._fifo = self._open_control_socket()
if not self._fifo:
time.sleep(5)
continue
readable, _, _ = select.select(
[self._fifo] + sockets,
[], [], 1)
for fd in readable:
if fd == self._fifo:
self._logger().debug("Got connection")
sock = fd.accept()[0]
buffers[sock] = DoorControlSocket.LineBuffer(sock, self.handle_cmd)
sockets += [sock]
else:
if not buffers[fd].update():
del buffers[fd]
sockets.remove(fd)
def handle_cmd(self, comm, data):
cmd = data.decode('utf8').split()
try:
cmd, args = cmd[0], cmd[1:]
except:
return
self._logger().debug(f"Got command: {data}")
send = lambda x: comm.send(x.encode('utf8'))
if cmd == 'fake':
self._logger().debug(f"Faking token {args[0]}")
send("Handling token\n")
self._nfc.handle_token(args[0])
elif cmd == 'reset':
self._logger().info("Resetting")
send("Resetting MCU")
self._control._comms.cmd_restart()
elif cmd == 'open':
if len(args) > 0:
self._logger().info(f"Control socket opening door for {args[0]}")
send("Opening door")
self._control.open()
else:
send("Missing login")
elif cmd == 'close':
if len(args) > 0:
self._logger().info(f"Control socket closing door for {args[0]}")
send("Closing door")
self._control.close()
else:
send("Missing login")
elif cmd == 'rld':
self._logger().debug("Reloading tokens")
send("Reloading tokens")
self._nfc._read_valid_tokens()
elif cmd == 'stat':
send("Door status is %s, position is %d. Current action: %s\n" % (
self._control.state.str(),
self._control.position(),
self._control.target.str()))
def start(self):
with self._mutex:
if self._stop:
self._stop = False
self._task = Thread(target=self._run, daemon=True)
self._task.start()
def stop(self):
with self._cond:
if not self._stop:
self._stop = True
self._cond.notify()
self._task.join()
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("--serial_port", default="/dev/serial/by-id/usb-Imaginaerraum.de_DoorControl_43363220195053573A002C0-if01")
parser.add_argument("--nfc_fifo", default="/tmp/nfc_fifo")
parser.add_argument("--control_socket", default="/tmp/nfc.sock")
parser.add_argument("--valid_tokens", default="/etc/door_tokens")
parser.add_argument("--log_file", default="/tmp/nfc.log")
parser.add_argument("--state_timeout", type=float, default=10)
parser.add_argument("--state_timeout_speed", type=float, default=3)
parser.add_argument("--repeat_time", type=float, default=COMMAND_IDLE_TIME)
parser.add_argument("--mqtt_host", default="10.10.21.2")
config = parser.parse_args()
util.init_logging()
def start():
dc = DoorControl(config)
dc._comms.start()
t = Thread(target=dc.run)
t.start()
return dc

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door_pi_control/util.py Normal file
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from typing import Callable, Iterable, Optional, Tuple, TextIO, BinaryIO, IO, Union, List
from os import PathLike
from threading import RLock, Condition
import datetime
import logging
import sys
_log_handlers: List[logging.Handler] = []
_log_format = '%(asctime)s - %(name)s - %(levelname)s - %(message)s'
def init_logging(*,
level: int = logging.DEBUG,
output_file: Union[None, str, PathLike] = None,
output_host: Optional[Tuple[str, int]] = None,
output_stream: Optional[TextIO] = sys.stdout) -> None:
"""Set up the logging format and outputs.
level: Logging level (DEBUG)
output_file: File to write to (None)
output_host: Tuple of host and port that will receive log datagrams
"""
global _log_handlers
_log_handlers = []
if output_file != None:
# Create a file handler
file_handler = logging.FileHandler(output_file)
_log_handlers.append(file_handler)
if output_host != None:
dgram_handler = logging.DatagramHandler(*output_host)
_log_handlers.append(dgram_handler)
if output_stream != None:
console_handler = logging.StreamHandler(output_stream)
_log_handlers.append(console_handler)
for h in _log_handlers:
h.setLevel(level)
# Default log output
logging.basicConfig(force=True, level=level, format=_log_format, handlers=_log_handlers)
def logger(*path: Iterable[str]) -> logging.Logger:
logger = logging.getLogger("door_pi_control")
for p in path:
logger = logger.getChild(p)
return logger
def now() -> datetime.datetime:
return datetime.datetime.now()
def timestamp() -> str:
return now().strftime("%Y-%m-%d %H:%M:%S")
class Loggable:
def _logger(self) -> logging.Logger:
return logger(type(self).__name__)
class Event:
def __init__(self, lock = None):
self._lock = lock if lock != None else RLock()
self._condition = Condition(self._lock)
self._subscribers = {}
def acquire(self, *args):
return self._condition.acquire(*args)
def notify(self, *args, **kwargs):
with self._lock:
for cv, cb in self._subscribers:
with cv:
if cb:
cb(*args, **kwargs)
cv.notify()
self._condition.notify()
def notify_all(self):
with self._lock:
for cv, cb in self._subscribers:
with cv:
if cb:
cb()
cv.notify_all()
self._condition.notify_all()
def subscribe(self, cv: Condition, callback: Callable = None):
with self._lock:
self._subscribers[cv] = callback
def unsubscribe(self, cv: Condition):
with self._lock:
if cv in self._subscribers:
del self._subscribers[cv]
def wait(self, timeout=None):
return self._condition.wait(timeout)
def wait_for(self, predicate, timeout=None):
return self._condition.wait_for(predicate, timeout)
def __enter__(self):
return self._lock.__enter__()
def __exit__(self, *args):
self._lock.__exit__()

16
pyproject.toml
View File

@ -1,3 +1,17 @@
[build-system]
requires = ["setuptools", "wheel"]
requires = ["setuptools"]
build-backend = "setuptools.build_meta"
[project]
name = "door_pi_control"
version = "0.1.0"
dependencies = [
"paho-mqtt",
"pyserial",
]
[tool.setuptools.packages]
find = {}
[project.scripts]
door_pi_control="door_pi_control:main"

9
setup.cfg
View File

@ -1,9 +0,0 @@
[metadata]
name = door_pi_control
version = 0.0.1
[options]
packages = door_pi_control
install_requires =
paho-mqtt
serial

2
setup.py
View File

@ -1,2 +0,0 @@
import setuptools
setuptools.setup()