apo/DoorControl
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Improve state handling

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This commit is contained in:
Lynn Ochs 2021-08-15 01:57:55 +02:00
parent d7fc4e366b
commit eccf936f6c
1 changed files with 68 additions and 56 deletions
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122
door_pi_control/__init__.py
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@ -11,11 +11,12 @@ import serial
UPDATE_RATE = 2 UPDATE_RATE = 2
MAX_UPDATE_RATE = 20 MAX_UPDATE_RATE = 20
MIN_SPEED = 5
ERROR_THRESHOLD = 250 ERROR_THRESHOLD = 250
OPEN_THRESHOLD = 190 OPEN_THRESHOLD = 190
CLOSED_THRESHOLD = 160 CLOSED_THRESHOLD = 180
CLOSED_WANT = 40 CLOSED_WANT = 50
MIN_IDLE_TIME = 1
COMMAND_IDLE_TIME = 1.5
def timestamp(): def timestamp():
return datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S") return datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
@ -69,8 +70,6 @@ class DoorControl:
IDLE: "idling", IDLE: "idling",
OPEN: "waiting for open door", OPEN: "waiting for open door",
CLOSE: "waiting for closed 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",
ERROR: "error", ERROR: "error",
} }
@ -90,7 +89,7 @@ class DoorControl:
# Current door state # Current door state
self.state = MqttValue(self.mqttc, "door/state/value", True, translate = self.state_names) self.state = MqttValue(self.mqttc, "door/state/value", True, translate = self.state_names)
self.state_target = MqttValue(self.mqttc, "door/state/target", True, translate = self.state_names, max_update = 0) 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.state_pos = MqttValue(self.mqttc, "door/position/value", True, 0)
self.last_invalid_token = MqttValue(self.mqttc, "door/token/last_invalid", True) self.last_invalid_token = MqttValue(self.mqttc, "door/token/last_invalid", True)
self.speed = MqttValue(self.mqttc, "door/position/speed") self.speed = MqttValue(self.mqttc, "door/position/speed")
@ -105,6 +104,14 @@ class DoorControl:
self.last_door_pos_time = datetime.datetime.now() - datetime.timedelta(minutes = 10) self.last_door_pos_time = datetime.datetime.now() - datetime.timedelta(minutes = 10)
self.last_position = 0 self.last_position = 0
self.last_handle_state_timestamp = datetime.datetime.now() 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): def _send_door_cmd(self, cmd: bytes):
"""Send a command to the door.""" """Send a command to the door."""
@ -195,15 +202,23 @@ class DoorControl:
return valid return valid
def _set_position(self, data: int): def _set_position(self, data: str):
"""Set a new door position""" """Set a new door position"""
self.state_pos(data) pos, speed = [ int(x) for x in data.strip().split() ]
if data > ERROR_THRESHOLD and self.state() != DoorControl.ERROR: 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.logger.error("Invalid position:", state)
self.state(DoorControl.ERROR) self.state(DoorControl.ERROR)
elif data > OPEN_THRESHOLD and self.state() != DoorControl.OPEN: elif pos > OPEN_THRESHOLD and self.state() != DoorControl.OPEN:
self.state(DoorControl.OPEN) self.state(DoorControl.OPEN)
elif data < CLOSED_THRESHOLD and self.state() != DoorControl.CLOSE: elif pos < CLOSED_THRESHOLD and self.state() != DoorControl.CLOSE:
self.state(DoorControl.CLOSE) self.state(DoorControl.CLOSE)
def _check_reporting(self, current: int): def _check_reporting(self, current: int):
@ -218,7 +233,7 @@ class DoorControl:
data = self._read_door_line().strip() data = self._read_door_line().strip()
handling = { handling = {
"pos": (int, self._set_position), "pos": (str, self._set_position),
"pos reporting": (int, self._check_reporting), "pos reporting": (int, self._check_reporting),
} }
@ -231,9 +246,9 @@ class DoorControl:
pass pass
def poll_door_state(self): def poll_door_state(self):
"""Checks the door state if the last polling was at least 5 seconds ago, and returns the current state""" """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() t = (datetime.datetime.now() - self.last_door_pos_time).total_seconds()
if t >= 5: if t >= 0.5:
self.last_door_pos_time = datetime.datetime.now() self.last_door_pos_time = datetime.datetime.now()
self._send_door_cmd(b"R") self._send_door_cmd(b"R")
self.handle_door_line() self.handle_door_line()
@ -252,9 +267,6 @@ class DoorControl:
old_state = self.last_handled_state old_state = self.last_handled_state
delta_t = (now - self.last_handle_state_timestamp).total_seconds() delta_t = (now - self.last_handle_state_timestamp).total_seconds()
if 1. / delta_t > MAX_UPDATE_RATE:
return
# If no serial port, try to open it or return # If no serial port, try to open it or return
if not self.serial_port: if not self.serial_port:
try: try:
@ -262,14 +274,13 @@ class DoorControl:
except: except:
return return
# Get new state
self.poll_door_state() self.poll_door_state()
self.last_handled_state = self.state()
speed = abs(self.state_pos() - self.last_position) / delta_t if (self.idle_time() < MIN_IDLE_TIME) and delta_t < 5:
speed = 10 * round(speed / 10) return
self.speed(speed)
self.last_position = self.state_pos() # Get new state
self.last_handled_state = self.state()
self.last_handle_state_timestamp = now self.last_handle_state_timestamp = now
if self.state() == DoorControl.ERROR: if self.state() == DoorControl.ERROR:
@ -281,70 +292,71 @@ class DoorControl:
if self.action() == DoorControl.IDLE: if self.action() == DoorControl.IDLE:
if self.state() != old_state: if self.state() != old_state:
self.logger.info(f"Door changed unexpectedly: {DoorControl.state_names[self.state()]}") self.logger.info(f"Door changed unexpectedly: {DoorControl.state_names[self.state()]}")
self.target_state(self.state())
self.start_time = now self.start_time = now
if self.start_time and (now - self.start_time).total_seconds() >= self.config.state_timeout: if self.state() == DoorControl.CLOSE \
and self.start_time \
and (now - self.start_time).total_seconds() >= self.config.state_timeout:
self.start_time = None self.start_time = None
if self.state_pos() <= CLOSED_THRESHOLD and self.state_pos() > CLOSED_WANT: if self.state_pos() <= CLOSED_THRESHOLD and self.state_pos() > CLOSED_WANT:
self.logger.info("Closing door a bit more") self.logger.info("Closing door a bit more")
self._send_door_cmd(target_state_cmd[DoorControl.CLOSE]) self._send_door_cmd(target_state_cmd[DoorControl.CLOSE])
return return
# Target state, next action, timeout action
actions = {
DoorControl.OPEN: (DoorControl.OPEN, DoorControl.IDLE, DoorControl.CLOSE_THEN_OPEN ),
DoorControl.CLOSE: (DoorControl.CLOSE, DoorControl.IDLE, DoorControl.OPEN_THEN_CLOSE ),
DoorControl.OPEN_THEN_CLOSE: (DoorControl.OPEN, DoorControl.CLOSE, DoorControl.CLOSE ),
DoorControl.CLOSE_THEN_OPEN: (DoorControl.CLOSE, DoorControl.OPEN, DoorControl.OPEN )
}
if self.start_time is None: if self.start_time is None:
self.start_time = now self.start_time = now
self._send_door_cmd(target_state_cmd[actions[self.action()][0]]) self._send_door_cmd(target_state_cmd[self.action()])
# Target state reached # Target state reached
if self.state() == actions[self.action()][0]: if self.state() == self.target_state():
# Select next action, reset start time and repetitions self.action(DoorControl.IDLE)
self.action(actions[self.action()][1]) self.logger.debug(f"Reached target position: {DoorControl.state_names[self.state()]}")
self.start_time = now
self.repeats = 0 self.repeats = 0
# On idle, we're done self.start_time = now
if self.action() == DoorControl.IDLE: return
self.logger.debug(f"Reached target position: {DoorControl.state_names[self.state()]}") elif self.state() != old_state:
return # 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 # Execution time
t = (now - self.start_time).total_seconds() t = (now - self.start_time).total_seconds()
if t >= self.config.state_timeout or (t >= self.config.state_timeout_speed and self.speed() < MIN_SPEED and delta_t >= 1. / UPDATE_RATE): if t >= self.config.state_timeout:
# Timeout -> switch to timeout action # Timeout -> switch to timeout action
self.state(actions[self.action()][0], force = True, no_update = True) if self.action() == DoorControl.OPEN:
self.action(actions[self.action()][2]) self.action(DoorControl.CLOSE)
else:
self.action(DoorControl.OPEN)
self.start_time = None self.start_time = None
self.repeats = 0 self.repeats = 0
self.logger.debug(f"Timeout. Switching to {DoorControl.action_names[self.action()]}") self.logger.debug(f"Timeout. Switching to {DoorControl.action_names[self.action()]}")
elif t >= (1 + self.repeats) * self.config.repeat_time: elif t >= (1 + self.repeats) * self.config.repeat_time:
# Repeat every couple of seconds # Repeat every couple of seconds
self.repeats += 1 self.repeats += 1
self.logger.debug(f"Repeating command: {target_state_cmd[actions[self.action()][0]]}") self.logger.debug(f"Repeating command: {target_state_cmd[self.action()]}")
self._send_door_cmd(target_state_cmd[actions[self.action()][0]]) self._send_door_cmd(target_state_cmd[self.action()])
def open_door(self): def open_door(self):
self.logger.info("Opening the door") self.logger.info("Opening the door")
self.state_target(DoorControl.OPEN) self.target_state(DoorControl.OPEN)
self.action(DoorControl.OPEN) if self.action() == DoorControl.IDLE:
self.start_time = None self.action(DoorControl.OPEN)
self.start_time = None
self.handle_door_state() self.handle_door_state()
def close_door(self): def close_door(self):
self.logger.info("Closing the door") self.logger.info("Closing the door")
self.state_target(DoorControl.CLOSE) self.target_state(DoorControl.CLOSE)
self.action(DoorControl.CLOSE) if self.action() == DoorControl.IDLE:
self.start_time = None self.action(DoorControl.CLOSE)
self.start_time = None
self.handle_door_state() self.handle_door_state()
def toggle_door_state(self): def toggle_door_state(self):
if not self.action() == DoorControl.IDLE: if self.action() != DoorControl.IDLE:
return return
if self.state_target() == DoorControl.CLOSE: if self.target_state() == DoorControl.CLOSE:
self.open_door() self.open_door()
else: else:
self.close_door() self.close_door()
@ -434,7 +446,7 @@ def main():
parser.add_argument("--log_file", default="/tmp/nfc.log") parser.add_argument("--log_file", default="/tmp/nfc.log")
parser.add_argument("--state_timeout", type=float, default=10) parser.add_argument("--state_timeout", type=float, default=10)
parser.add_argument("--state_timeout_speed", type=float, default=3) parser.add_argument("--state_timeout_speed", type=float, default=3)
parser.add_argument("--repeat_time", type=float, default=5) parser.add_argument("--repeat_time", type=float, default=COMMAND_IDLE_TIME)
parser.add_argument("--mqtt_host", default="10.10.21.2") parser.add_argument("--mqtt_host", default="10.10.21.2")
config = parser.parse_args() config = parser.parse_args()