Stuff

door.py

@@ -1,3 +1,4 @@
+#!/usr/bin/python
 import os, serial, socket, subprocess, select, datetime, sys
 import argparse
 
@@ -14,7 +15,7 @@ config = parser.parse_args()
 
 # Log data to stdout and the log file
 def log(*args):
-    data = "%s %s" % (datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"), " ".join(i for i in args))
+    data = "%s %s" % (datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"), " ".join(str(i) for i in args))
     lgf.write(data + "\n")
     lgf.flush()
     print(data)
@@ -59,10 +60,23 @@ def read_valid_tokens():
     global config
 
     try:
-        valid = [ s.strip() for s in open(config.valid_tokens, "r").readlines() ]
+        log("Loading tokens")
+        valid = {}
+        lines =[ s.strip() for s in open(config.valid_tokens, "r").readlines() ]
+        for l in lines:
+            l = l.split(' ', 1)
+            if len(l) > 1:
+                if l[0] in valid:
+                    log("Warning: Overwriting token %s" % (l[0],))
+                log("Got token: %s (%s)" % (l[0], l[1]))
+                valid[l[0]] = l[1]
+            else:
+                log("Got unnamed token: %s" % (l[0],))
+                valid[l[0]] = None
     except:
-        valid = []
+        valid = {}
-        log("No valid tokens")
+        log("Error reading token file")
+        raise
 
 # Opens the log file for writing
 def open_logfile():
@@ -73,43 +87,51 @@ def open_logfile():
 
 # Actions
 IDLE, CLOSE, OPEN_THEN_CLOSE, OPEN, CLOSE_THEN_OPEN = range(5)
+state_names = {
+    OPEN: "open",
+    CLOSE: "close"
+}
+action_names = {
+    IDLE: "idling",
+    OPEN: "waiting for open door",
+    CLOSE: "waiting for closed door",
+    OPEN_THEN_CLOSE: "waiting for open door, then closing again",
+    CLOSE_THEN_OPEN: "waiting for closed door, then opening again"
+}
 # Current door state
 state = None
+state_pos = 0
 # Current target action
 action = CLOSE
 # Start time of the current action
-start_time = datetime.datetime.now()
+start_time = None
 # How often the action was repeated
 repeats = 0
 
 # Read the state of the door from the serial port
 def poll_door_state():
     global state
+    global state_pos
     global serial_port
     serial_port.reset_input_buffer()
     serial_port.write(b"R")
     data = serial_port.readline().strip().split()
     if data[0] == b'pos:':
         data = int(data[1])
+        state_pos = data
         changed = False
-        if data < 80 and door_state != OPEN:
+        if data < 80 and state != OPEN:
-            door_state = OPEN
+            state = OPEN
             changed = True
-        elif data > 100 and door_state != CLOSE:
+        elif data > 100 and state != CLOSE:
-            door_state = CLOSE
+            state = CLOSE
             changed = True
-        else:
+    return state
-            print(data)
-    return door_state
 
 # Check the door state and send commands through a state machine
 def handle_door_state():
     global action, target, serial_port, start_time, repeats
     
-    state_names = {
-        OPEN: "open",
-        CLOSE: "close"
-        }
     # Commands associated with each target state
     target_state_cmd = {
         OPEN:  b'O',
@@ -129,7 +151,7 @@ def handle_door_state():
     poll_door_state()
 
     # Idle + change = key?
-    if target == IDLE:
+    if action == IDLE:
         if state != old_state:
             log("Door changed unexpectedly:", state_names[state])
         return
@@ -142,6 +164,10 @@ def handle_door_state():
         CLOSE_THEN_OPEN: (CLOSE, OPEN, OPEN  )
     }
 
+    if start_time == None:
+        start_time = datetime.datetime.now()
+        serial_port.write(target_state_cmd[actions[action][0]])
+
     # Target state reached
     if state == actions[action][0]:
         # Select next action, reset start time and repetitions
@@ -154,13 +180,13 @@ def handle_door_state():
             return
 
     # Execution time
-    t = (datetime.datetime.now() - start_time)
+    t = (datetime.datetime.now() - start_time).total_seconds()
     if t >= config.state_timeout:
         # Timeout -> switch to timeout action
         action = actions[action][2]
-        start_time = datetime.datetime.now()
+        start_time = None
         repeats = 0
-        log("Timeout. Switching to", action)
+        log("Timeout. Switching to", action_names[action])
     elif t >= (1 + repeats) * config.repeat_time:
         # Repeat every couple of seconds
         repeats += 1
@@ -169,13 +195,19 @@ def handle_door_state():
 
 def open_door():
     global action
+    global start_time
     log("Opening the door")
     action = OPEN
+    start_time = None
+    handle_door_state()
 
 def close_door():
     global action
+    global start_time
     log("Closing the door")
     action = CLOSE
+    start_time = None
+    handle_door_state()
 
 def toggle_door_state():
     global state, action
@@ -184,17 +216,22 @@ def toggle_door_state():
     else:
         close_door()
 
-def handle_nfc_token():
+def handle_nfc_token(token = None):
     global valid
     
+    if not token:
         token = nfc_fifo.readline()
-
         if token == "":
             open_nfc_fifo()
 
     token = token.strip()
     if token in valid:
-        log("Valid token:", token)
+        name = valid[token]
+        if name:
+            name = "%s (%s)" % (token, name)
+        else:
+            name = token
+        log("Valid token: %s" % name)
         toggle_door_state()
     else:
         log("Invalid token:", token)
@@ -205,18 +242,69 @@ open_nfc_fifo()
 open_serial_port()
 open_control_socket()
 
+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(comm, data):
+    cmd = data.decode('utf8').split()
+    cmd, args = cmd[0], cmd[1:]
+    log("Got command:", data)
+
+    send = lambda x: comm.send(x.encode('utf8'))
+
+    if cmd == 'fake':
+        log("Faking token", args[0])
+        send("Handling token\n")
+        handle_nfc_token(args[0])
+    elif cmd == 'open':
+        log("Control socket opening door")
+        send("Opening door")
+        open_door()
+    elif cmd == 'close':
+        log("Control socket closing door")
+        send("Closing door")
+        close_door()
+    elif cmd == 'rld':
+        log("Reloading tokens")
+        send("Reloading tokens")
+        read_valid_tokens()
+    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()))
+
+buffers = {}
 while True:
-    readable = select.select([ nfc_fifo, control_socket ] + comm_channels, [], [], 0.5)[0]
+    readable = select.select([ nfc_fifo, control_socket ] + comm_channels, [], [], 1)[0]
 
     for c in readable:
         if c == nfc_fifo:
             handle_nfc_token()
         elif c == control_socket:
-            comm_channels.append(control_socket.accept()[0])
+            log("Got connection")
+            sock = control_socket.accept()[0]
+            buffers[sock] = LineBuffer(sock, handle_cmd)
+            comm_channels += [sock]
         else:
-            data = c.recv(1024)
+            if not buffers[c].update():
-            if len(data) == 0:
+                log("Lost connection")
+                del buffers[c]
                 comm_channels.remove(c)
-            else:
+    handle_door_state()
-                print("Got comms data: ", str(c.recv(1024)))
-                c.sendall(b':)\n')