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