Stuff
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154
door.py
154
door.py
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@ -1,3 +1,4 @@
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#!/usr/bin/python
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import os, serial, socket, subprocess, select, datetime, sys
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import argparse
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@ -14,7 +15,7 @@ config = parser.parse_args()
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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" % (datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"), " ".join(i for i in args))
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data = "%s %s" % (datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"), " ".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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@ -59,10 +60,23 @@ def read_valid_tokens():
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global config
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try:
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valid = [ s.strip() for s in open(config.valid_tokens, "r").readlines() ]
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log("Loading tokens")
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valid = {}
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lines =[ s.strip() for s in open(config.valid_tokens, "r").readlines() ]
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for l in lines:
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l = l.split(' ', 1)
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if len(l) > 1:
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if l[0] in valid:
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log("Warning: Overwriting token %s" % (l[0],))
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log("Got token: %s (%s)" % (l[0], l[1]))
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valid[l[0]] = l[1]
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else:
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log("Got unnamed token: %s" % (l[0],))
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valid[l[0]] = None
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except:
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valid = []
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log("No valid tokens")
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valid = {}
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log("Error reading token file")
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raise
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# Opens the log file for writing
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def open_logfile():
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@ -73,43 +87,51 @@ def open_logfile():
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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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}
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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 = datetime.datetime.now()
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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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state_pos = data
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changed = False
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if data < 80 and door_state != OPEN:
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door_state = OPEN
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if data < 80 and state != OPEN:
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state = OPEN
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changed = True
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elif data > 100 and door_state != CLOSE:
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door_state = CLOSE
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elif data > 100 and state != CLOSE:
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state = CLOSE
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changed = True
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else:
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print(data)
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return door_state
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return state
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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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state_names = {
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OPEN: "open",
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CLOSE: "close"
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}
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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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@ -129,7 +151,7 @@ def handle_door_state():
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poll_door_state()
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# Idle + change = key?
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if target == IDLE:
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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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return
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@ -142,6 +164,10 @@ def handle_door_state():
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CLOSE_THEN_OPEN: (CLOSE, OPEN, 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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# Target state reached
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if state == actions[action][0]:
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# Select next action, reset start time and repetitions
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@ -154,13 +180,13 @@ def handle_door_state():
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return
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# Execution time
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t = (datetime.datetime.now() - start_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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# Timeout -> switch to timeout action
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action = actions[action][2]
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start_time = datetime.datetime.now()
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start_time = None
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repeats = 0
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log("Timeout. Switching to", action)
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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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# Repeat every couple of seconds
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repeats += 1
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@ -169,13 +195,19 @@ def handle_door_state():
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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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handle_door_state()
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def close_door():
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global action
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global start_time
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log("Closing the door")
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action = CLOSE
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start_time = None
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handle_door_state()
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def toggle_door_state():
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global state, action
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@ -184,17 +216,22 @@ def toggle_door_state():
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else:
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close_door()
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def handle_nfc_token():
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def handle_nfc_token(token = None):
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global valid
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token = nfc_fifo.readline()
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if token == "":
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open_nfc_fifo()
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if not token:
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token = nfc_fifo.readline()
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if token == "":
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open_nfc_fifo()
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token = token.strip()
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if token in valid:
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log("Valid token:", token)
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name = valid[token]
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if name:
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name = "%s (%s)" % (token, name)
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else:
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name = token
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log("Valid token: %s" % name)
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toggle_door_state()
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else:
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log("Invalid token:", token)
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@ -205,18 +242,69 @@ open_nfc_fifo()
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open_serial_port()
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open_control_socket()
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class LineBuffer(object):
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def __init__(self, f, handler):
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self.data = b''
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self.f = f
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self.handler = handler
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def update(self):
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data = self.f.recv(1024)
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if not data:
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return False
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self.data += data
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d = self.data.split(b'\n')
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d, self.data = d[:-1], d[-1]
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for i in d:
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self.handler(self.f, i)
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return True
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def handle_cmd(comm, data):
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cmd = data.decode('utf8').split()
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cmd, args = cmd[0], cmd[1:]
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log("Got command:", data)
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send = lambda x: comm.send(x.encode('utf8'))
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if cmd == 'fake':
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log("Faking token", args[0])
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send("Handling token\n")
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handle_nfc_token(args[0])
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elif cmd == 'open':
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log("Control socket opening door")
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send("Opening door")
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open_door()
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elif cmd == 'close':
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log("Control socket closing door")
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send("Closing door")
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close_door()
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elif cmd == 'rld':
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log("Reloading tokens")
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send("Reloading tokens")
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read_valid_tokens()
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elif cmd == 'stat':
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send("Door status is %s, position is %d. Current action: %s (%g seconds ago)\n" % (
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state_names.get(state, "None"),
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state_pos,
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action_names[action],
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(datetime.datetime.now() - start_time).total_seconds()))
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buffers = {}
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while True:
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readable = select.select([ nfc_fifo, control_socket ] + comm_channels, [], [], 0.5)[0]
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readable = select.select([ nfc_fifo, control_socket ] + comm_channels, [], [], 1)[0]
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for c in readable:
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if c == nfc_fifo:
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handle_nfc_token()
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elif c == control_socket:
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comm_channels.append(control_socket.accept()[0])
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log("Got connection")
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sock = control_socket.accept()[0]
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buffers[sock] = LineBuffer(sock, handle_cmd)
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comm_channels += [sock]
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else:
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data = c.recv(1024)
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if len(data) == 0:
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if not buffers[c].update():
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log("Lost connection")
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del buffers[c]
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comm_channels.remove(c)
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else:
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print("Got comms data: ", str(c.recv(1024)))
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c.sendall(b':)\n')
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handle_door_state()
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