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dlockoslo.py
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dlockoslo.py
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import gevent.monkey
gevent.monkey.patch_all()
import gevent
import msgflo
import typing
import numbers
import os
import sys
import time
import os.path
import json
import math
import copy
import logging
logging.basicConfig()
log_level = os.environ.get('LOGLEVEL', 'info')
level = getattr(logging, log_level.upper())
log = logging.getLogger('firmware')
log.setLevel(level)
class Inputs():
def __init__(self,
openbutton_outside : bool = False,
openbutton_inside : bool = False,
holdopen_button : bool = False,
bolt_present : bool = False,
mqtt_connected : bool = False,
mqtt_request : typing.Any = None,
current_time : float = 0) -> None:
self.openbutton_outside = openbutton_outside
self.openbutton_inside = openbutton_inside
self.holdopen_button = holdopen_button
self.mqtt_connected = mqtt_connected
self.mqtt_request = mqtt_request
self.current_time = current_time
self.bolt_present = bolt_present
# States
class TemporaryBoolean():
def __init__(self,
state : str,
since : float,
until : float = None,
reason : str = None,
) -> None:
self.state = state
self.since = since
self.until = until
self.reason = reason
def __repr__(self):
return json.dumps(self.__dict__)
## XXX: nasty
class Inactive(TemporaryBoolean):
def __init__(self, *args, **kwargs):
super().__init__('Inactive', *args, **kwargs)
class Active(TemporaryBoolean):
def __init__(self, *args, **kwargs):
super().__init__('Active', *args, **kwargs)
class TemporarilyActive(TemporaryBoolean):
def __init__(self, *args, **kwargs):
super().__init__('TemporarilyActive', *args, **kwargs)
class Unlocked(TemporaryBoolean):
def __init__(self, *args, **kwargs):
super().__init__('Unlocked', *args, **kwargs)
class Locked(TemporaryBoolean):
def __init__(self, *args, **kwargs):
super().__init__('Locked', *args, **kwargs)
class TemporarilyUnlocked(TemporaryBoolean):
def __init__(self, *args, **kwargs):
super().__init__('TemporarilyUnlocked', *args, **kwargs)
Opener = typing.Union[Inactive,Active,TemporarilyActive]
Lock = typing.Union[Unlocked,Locked,TemporarilyUnlocked]
class States:
def __init__(self,
lock : Lock = Locked(0),
opener : Opener = Inactive(0),
bolt_present : bool = False,
bolt_present_updated : float = 0.0,
connected_light : bool = False) -> None:
self.lock = lock
self.opener = opener
self.connected_light = connected_light
self.bolt_present = bolt_present
self.bolt_present_updated = bolt_present_updated
def next_state(current: States, inputs: Inputs) -> States:
i = inputs
# Doorlock
lock = current.lock
if i.mqtt_request is not None:
action, data = i.mqtt_request
# unlock permanently
if action == 'unlock' and isinstance(data, bool) and data == True:
lock = Unlocked(since=i.current_time)
# unlock for number of seconds
elif action == 'unlock' and isinstance(data, int):
until = i.current_time + data
lock = TemporarilyUnlocked(since=i.current_time, until=until)
# lock permanently
elif action == 'lock' and isinstance(data, bool) and data == True:
lock = Locked(since=i.current_time)
else:
raise ValueError('Invalid MQTT request data: {}'.format(data))
if lock.state == 'TemporarilyUnlocked' and i.current_time >= lock.until:
lock = Locked(since=i.current_time)
# Opener
opener = current.opener
opener_time = 10
def ensure_unlocked_for_opener():
assert opener.state in ('Active', 'TemporarilyActive')
temp_unlock_time = 5
nonlocal lock
if lock.state in ('Locked', 'TemporarilyUnlocked'):
lock = TemporarilyUnlocked(since=i.current_time, until=i.current_time+temp_unlock_time)
# unlock switch
if i.holdopen_button == True:
lock = Unlocked(since=i.current_time, reason='switch')
elif i.holdopen_button == False and lock.state == 'Unlocked' and lock.reason == 'switch':
lock = Locked(since=i.current_time, reason='switch')
# inside button
if opener.state in ('Inactive','TemporarilyActive') and i.openbutton_inside == True:
opener = TemporarilyActive(since=i.current_time, until=i.current_time+opener_time)
ensure_unlocked_for_opener()
# outside button
elif opener.state in ('Inactive','TemporarilyActive') and i.openbutton_outside == True:
if lock.state in ('Unlocked', 'TemporarilyUnlocked'):
opener = TemporarilyActive(since=i.current_time, until=i.current_time+opener_time)
else:
# DENY. user is outside, door is locked, have to unlock using app first
pass
# shut off again
elif opener.state == 'TemporarilyActive' and i.current_time >= opener.until:
opener = Inactive(since=i.current_time)
# Door presence sensor
door_update_interval = 60.0
bolt_present = i.bolt_present # just reflect input 1-1
# calculate whether to update status, even though state has not changed
if i.current_time >= current.bolt_present_updated + door_update_interval:
door_updated = i.current_time
else:
door_updated = current.bolt_present_updated
state = States(
connected_light=i.mqtt_connected,
bolt_present=bolt_present,
bolt_present_updated=door_updated,
lock=lock,
opener=opener,
)
return state
def gpio_file_path(number: int):
return '/sys/class/gpio/gpio{}/value'.format(number)
# idempotent
def setup_gpio_pin(number : int, direction):
export_path = '/sys/class/gpio/export'
direction_path = '/sys/class/gpio/gpio{}/direction'.format(number)
# Export GPIO
if not os.path.exists(direction_path):
with open(export_path, 'w') as exportfile:
exportfile.write(str(number))
# wait for export done, otherwise direction change fails EACCESS
time.sleep(0.1)
# Set direction
with open(direction_path, 'w') as directionfile:
directionfile.write(direction)
# TODO: configure drive current?
def read_boolean(file_path):
with open(file_path) as f:
s = f.read().strip()
return s == '1'
def setup_gpio(pinmap):
input_files = {}
output_files = {}
for name, pinconfig in pinmap.items():
direction, gpio = pinconfig
if isinstance(gpio, int):
setup_gpio_pin(gpio, direction)
path = gpio_file_path(gpio)
else:
# assumed to be a regular file that can be read/written to
path = gpio
with open(path, 'w') as f:
f.write('0')
files = input_files if direction == 'in' else output_files
files[name] = path
return input_files, output_files
def set_gpio(file_path : str, on : bool):
s = "1" if on else "0"
with open(file_path, 'w') as f:
f.write(s)
def set_outputs(states : States, file_paths):
s = {
'opener': states.opener.state != 'Inactive',
'lock': states.lock.state == 'Locked', # solenoid is locked when active
'connected_light': states.connected_light,
'door_unlocked_light': states.lock.state != 'Locked',
}
for name, on in s.items():
set_gpio(file_paths[name], on)
# Board input/output to GPIO pin mapping
ins = {
1: 25,
2: 10,
3: 24,
4: 22,
5: 23,
6: 27,
7: 18,
8: 17,
}
outs = {
1: 6,
2: 19,
3: 16,
4: 26,
5: 20,
6: 21,
}
status = {
1: 12,
2: 13,
}
participant_definition = {
'component': 'dlock-oslo/Door',
'label': 'A door that can be locked and unlocked',
'icon': 'clock-o',
'inports': [
{ 'id': 'unlock', 'type': 'number' },
{ 'id': 'lock', 'type': 'bool' },
],
'outports': [
{ 'id': 'error', 'type': 'string' },
{ 'id': 'islocked', 'type': 'bool' },
{ 'id': 'openeractive', 'type': 'bool' },
{ 'id': 'boltpresent', 'type': 'bool' },
],
}
# Used for testing
class AlwaysErroringParticipant(msgflo.Participant):
def __init__(self, role):
d = copy.deepcopy(participant_definition)
msgflo.Participant.__init__(self, d, role)
def process(self, inport, msg):
if inport == 'lock':
self.send('error', "Lock request fails always")
elif inport == 'unlock':
self.send('error', "Unlock request fails always")
else:
self.send('error', 'Unknown port {}'.format(inport))
self.ack(msg)
class LockParticipant(msgflo.Participant):
def __init__(self, role):
d = copy.deepcopy(participant_definition)
msgflo.Participant.__init__(self, d, role)
self.discovery_period = float(os.environ.get("DLOCK_DISCOVERY_PERIOD", "60"))
pin_mapping = {
# in
'holdopen_button': ('in', ins[1]),
'openbutton_outside': ('in', ins[2]),
'openbutton_inside': ('in', ins[3]),
'bolt_present': ('in', ins[4]),
# out
'lock': ('out', outs[1]),
'opener': ('out', outs[2]),
'connected_light': ('out', outs[3]),
'door_unlocked_light': ('out', outs[4]),
}
# Take input from plain files, mostly useful for testing on non-Raspberry deives
fake_gpio = os.environ.get('DLOCK_FAKE_GPIO')
if fake_gpio:
if not os.path.exists(fake_gpio):
os.mkdir(fake_gpio)
pin_mapping = { p: (cfg[0], '{}/gpio{}'.format(fake_gpio, cfg[1])) for p, cfg in pin_mapping.items() }
i, o = setup_gpio(pin_mapping)
self.input_files = i
self.output_files = o
self.state = States(
lock = Locked(0),
opener = Inactive(0),
connected_light = False,
)
self.inputs = Inputs()
gevent.Greenlet.spawn(self.loop)
def process(self, inport, msg):
if inport == 'unlock':
self.recalculate_state((inport, msg.data))
elif inport == 'lock':
self.recalculate_state((inport, msg.data))
else:
pass
self.ack(msg)
def loop(self):
while True:
self.recalculate_state()
gevent.sleep(0.2)
def recalculate_state(self, mqtt_request=None):
# Retrieve current inputs
connected = getattr(self, '_engine', None) and self._engine.connected
if connected:
self._engine.discovery_period = self.discovery_period
inputs = dict(
current_time=math.ceil(time.monotonic()),
mqtt_request=mqtt_request,
mqtt_connected=connected,
)
gpio_inputs = { i: read_boolean(p) for i, p in self.input_files.items() }
gpio_inputs['openbutton_outside'] = not gpio_inputs['openbutton_outside'] # active-low
gpio_inputs['openbutton_inside'] = not gpio_inputs['openbutton_inside'] # active-low
inputs.update(gpio_inputs)
next = next_state(self.state, Inputs(**inputs))
set_outputs(self.state, self.output_files)
state_changed = next.__dict__ != self.state.__dict__
if state_changed:
entry = { 'inputs': inputs, 'state': next.__dict__ }
log.info(entry)
if connected:
self.send('islocked', next.lock.state == 'Locked')
self.send('openeractive', next.opener.state != 'Inactive')
self.send('boltpresent', next.bolt_present)
self.state = next
self.inputs = inputs
def main():
role = os.environ.get('DLOCK_ROLE')
if len(sys.argv) >= 2:
role = sys.argv[1]
p = msgflo.main(LockParticipant, role=role)
if __name__ == '__main__':
main()