DoorControl/door.py

#!/usr/bin/python
import os, serial, socket, subprocess, select, datetime, sys
import paho.mqtt.client as mqcl
import argparse

OPEN_THRESHOLD = 35
CLOSED_THRESHOLD = 60
CLOSED_WANT = 135

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("--repeat_time", type=float, default=5)
parser.add_argument("--mqtt_host", default="10.10.21.2")

config = parser.parse_args()

mqttc = mqcl.Client()

def timestamp():
    return datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")

# Log data to stdout and the log file
def log(*args):
    data = "%s %s" % (timestamp(), " ".join(str(i) for i in args))
    lgf.write(data + "\n")
    lgf.flush()
    print(data)

def mqtt(topic, msg, persistent = True):
    mqttc.publish("door/" + topic, msg, qos=2, retain=persistent)

# Opens the socket that can control the daemon
# Commands are TBD
def open_control_socket():
    global control_socket
    global config
    global comm_channels

    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 = []

# Opens the serial port to talk to the lock actuator
# Might return a failure. In that case, it will be tried again later
def open_serial_port():
    global serial_port
    global config

    try:
        serial_port = serial.Serial(config.serial_port, timeout=2)
    except:
        serial_port = None
        pass

# Detected tokens are passed in through a FIFO
def open_nfc_fifo():
    global nfc_fifo
    global config

    nfc_fifo = open(config.nfc_fifo, "r")

# Refresh valid tokens from the configured file
def read_valid_tokens():
    global valid
    global config

    try:
        log("Loading tokens")
        valid = {}
        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)
                    except Exception:
                        log(f"Could not parse valid thru date for token {token} in line {i}")
                        valid_thru = None
                    log(f"Got token {token} associated with {name} <{email}> of {organization}, valid thru {valid_thru}")
                    if token in valid:
                        log(f"Warning: Overwriting token {token}")
                    valid[token] = {'name': name, 'organization': organization, 'email': email,
                                    'valid_thru': valid_thru}
            else:
                log(f"Skipping line {i} ({line}) since it does not contain exactly 5 data field")
    except:
        valid = {}
        log("Error reading token file")
        raise

# Opens the log file for writing
def open_logfile():
    global lgf
    global config

    lgf = open(config.log_file, "a+")

# 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 = 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])
        if state_pos != data:
            mqtt("position/value", data, True)
        state_pos = data
        changed = False
        if data < OPEN_THRESHOLD and state != OPEN:
            state = OPEN
            changed = True
            mqtt("state/value", "open", True)
        elif data > CLOSED_THRESHOLD and state != CLOSE:
            state = CLOSE
            changed = True
            mqtt("state/value", "closed", True)
    return state

# Check the door state and send commands through a state machine
def handle_door_state():
    global action, target, serial_port, start_time, repeats
    
    # Commands associated with each target state
    target_state_cmd = {
        OPEN:  b'O',
        CLOSE: b'C'
        }

    old_state = state

    # If no serial port, try to open it or return
    if not serial_port:
        try:
            open_serial_port()
        except:
            return

    # Get new state
    #poll_door_state()

    # Idle + change = key?
    if action == IDLE:
        if state != old_state:
            log("Door changed unexpectedly:", state_names[state])
            start_time = datetime.datetime.now()
        if start_time and (datetime.datetime.now() - start_time).total_seconds() >= config.state_timeout:
            start_time = None
            if state_pos >= CLOSED_THRESHOLD and state_pos < CLOSED_WANT:
                log("Closing door a bit more")
                serial_port.write(target_state_cmd[CLOSE])
        return

    # Target state, next action, timeout action
    actions = {
        OPEN:  (OPEN,  IDLE, CLOSE_THEN_OPEN ),
        CLOSE: (CLOSE, IDLE, OPEN_THEN_CLOSE ),
        OPEN_THEN_CLOSE: (OPEN, CLOSE, CLOSE ),
        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
        action = actions[action][1]
        start_time = datetime.datetime.now()
        repeats = 0
        # On idle, we're done
        if action == IDLE:
            log("Reached target position:", state_names[state])
            return

    # Execution 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 = None
        repeats = 0
        log("Timeout. Switching to", action_names[action])
    elif t >= (1 + repeats) * config.repeat_time:
        # Repeat every couple of seconds
        repeats += 1
        serial_port.write(target_state_cmd[actions[action][0]])
        log("Repeating command:", target_state_cmd[actions[action][0]])

def open_door():
    global action
    global start_time
    log("Opening the door")
    action = OPEN
    start_time = None
    mqtt("state/target", "open", True)
    handle_door_state()

def close_door():
    global action
    global start_time
    log("Closing the door")
    action = CLOSE
    start_time = None
    mqtt("state/target", "closed", True)
    handle_door_state()

def toggle_door_state():
    global state, action
    if state == CLOSE:
        open_door()
    else:
        close_door()

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:
        data = valid[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:
            log(f"Valid token {token} of {data['name']}")
            toggle_door_state()
        else:
            log(f"Token {token} of {data['name']} expired on {data['valid_thru']}")
    else:
        log("Invalid token:", token)
        mqtt("token/last_invalid", "%s;%s" % (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(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()))

open_logfile()
read_valid_tokens()
open_nfc_fifo()
open_serial_port()
open_control_socket()

mqttc.on_connect = lambda client, userdata, flags, rc: log("Connected to mqtt host with result %s" % (str(rc), ))
mqttc.connect_async(config.mqtt_host, keepalive = 60)
mqttc.loop_start()

buffers = {}
while True:
    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:
            log("Got connection")
            sock = control_socket.accept()[0]
            buffers[sock] = LineBuffer(sock, handle_cmd)
            comm_channels += [sock]
        else:
            if not buffers[c].update():
                log("Lost connection")
                del buffers[c]
                comm_channels.remove(c)
    handle_door_state()