def test_timer():
if "s" is "s":
print("same!")
t0 = {"source": "initial", "target": "s_1"}
m = Machine(transitions=[t0], obj=None, name="t")
driver = Driver()
driver.add_stm(m)
m.start_timer("t", 1000)
print(driver.print_status())
m.stop_timer("t")
print(driver.print_status())
def test(self):
terminate = Terminate()
t0 = {"source": "initial", "target": "s_1"}
t1 = {
"trigger": "t",
"source": "s_1",
"target": "s_2",
"effect": "action"
}
stm_terminate = Machine(name="stm_terminate",
transitions=[t0, t1],
obj=terminate)
terminate.stm = stm_terminate
scheduler = Driver()
scheduler.add_machine(stm_terminate)
scheduler.start(max_transitions=2, keep_active=False)
scheduler.send("t", "stm_terminate")
scheduler.wait_until_finished()
_ = stmpy.get_graphviz_dot(stm_terminate)
_ = scheduler.print_status()
self.assertTrue(True)
def test(self):
# print(stmpy.__version__)
logger = logging.getLogger("stmpy")
logger.setLevel(logging.DEBUG)
ch = logging.StreamHandler()
ch.setLevel(logging.DEBUG)
formatter = logging.Formatter(
"%(asctime)s - %(name)s - %(levelname)s - %(message)s")
ch.setFormatter(formatter)
logger.addHandler(ch)
tick1 = Tick()
t0 = {
"source": "initial",
"target": "active",
"effect": "start_timer('tick', 1000); print('initial1')",
}
#'effect': 'print("initial1")'}
t1 = {
"trigger": "tick",
"source": "active",
"target": "active",
"effect": "start_timer('tick', 1000); print('timeout1')",
}
#'effect': 'print("timeout1")'}
stm_tick_1 = Machine(name="stm_tick_1",
transitions=[t0, t1],
obj=tick1)
tick1.stm = stm_tick_1
tick2 = Tick()
t0 = {
"source": "initial",
"target": "active",
"effect": "start_timer('tick', 2000); print('initial2')",
}
#'effect': 'print("initial2")'}
t1 = {
"trigger": "tick",
"source": "active",
"target": "active",
"effect": "start_timer('tick', 1000); print('timeout2')",
}
stm_tick_2 = Machine(name="stm_tick_2",
transitions=[t0, t1],
obj=tick2)
tick2.stm = stm_tick_2
driver1 = Driver()
driver1.start(max_transitions=6, keep_active=True)
print("driver state: active {} and thread alive {} ".format(
driver1._active, driver1.thread.is_alive()))
driver1.add_machine(stm_tick_1)
print(driver1.print_status())
driver1.add_machine(stm_tick_2)
print(driver1.print_status())
driver1._wake_queue()
print("driver state: active {} and thread alive {} ".format(
driver1._active, driver1.thread.is_alive()))
# driver1.start(max_transitions=6, keep_active=True)
print(driver1.print_status())
# driver2 = Driver()
# driver1.add_machine(stm_tick_2)
# driver2.start(max_transitions=10)
driver1.wait_until_finished()
class BikeRack:
def __init__(self, name, mqtt_broker, mqtt_port):
"""
Start the component.
## Start of MQTT
We subscribe to the topic(s) the component listens to.
The client is available as variable `self.client` so that subscriptions
may also be changed over time if necessary.
The MQTT client reconnects in case of failures.
## State Machine driver
We create a single state machine driver for STMPY. This should fit
for most components. The driver is available from the variable
`self.driver`. You can use it to send signals into specific state
machines, for instance.
"""
# TODO Make the mqtt topics into bike/$name/command (input) and bike/$name (output).
# Something wrong happened trying to do so.
self.MQTT_TOPIC_INPUT = 'bike/' #, name, '/command'
self.MQTT_TOPIC_OUTPUT = 'bike/' #, name
# Get the logger object for the component
self._logger = logging.getLogger(__name__)
print('Logging under name {}.'.format(__name__))
# ::: DEBUGGING :::
# logging.DEBUG: Most fine-grained logging, printing everything
# logging.INFO: Only the most important informational log items
# logging.WARN: Show only warnings and errors.
# logging.ERROR: Show only error messages.
debug_level = logging.DEBUG
logger = logging.getLogger(__name__)
logger.setLevel(debug_level)
ch = logging.StreamHandler()
ch.setLevel(debug_level)
formatter = logging.Formatter(
'%(asctime)s - %(name)-12s - %(levelname)-8s - %(message)s')
ch.setFormatter(formatter)
logger.addHandler(ch)
# END DEBUGGING
self._logger.info('Starting Component')
# Create a new MQTT client
self._logger.debug('Connecting to MQTT broker {} at port {}'.format(
mqtt_broker, mqtt_port))
self.mqtt_client = mqtt.Client()
# Callback methods
self.mqtt_client.on_connect = self.on_connect
self.mqtt_client.on_message = self.on_message
# Connect to the broker
self.mqtt_client.connect(mqtt_broker, mqtt_port)
# Subscribe to proper topic(s) of your choice
self.mqtt_client.subscribe(self.MQTT_TOPIC_INPUT)
# Start the internal loop to process MQTT messages
self.mqtt_client.loop_start()
# We start the stmpy driver, without any state machines for now
self.driver = Driver()
self.driver.start(keep_active=True)
self._logger.debug('Component initialization finished')
# Active machines
self.active_machines = {}
self.name = name
# Add test_lock
lock_name = "en"
self._logger.debug(f'Create machine with name: {lock_name}')
lock_stm = BikeLock(self.driver, self, lock_name)
self.driver.add_machine(lock_stm.stm)
self.active_machines[lock_name] = lock_name
self._logger.debug("Start driver")
self.driver.start()
# TEST END
def stop(self):
"""
Stop the component.
"""
# Stop the MQTT client
self.mqtt_client.loop_stop()
# Stop the state machine Driver
self.driver.stop()
def on_connect(self, client, userdata, flags, rc):
# We just log that we are connected
self._logger.debug('MQTT connected to {}'.format(client))
def check_available(self):
for name in self.active_machines:
if self.driver._stms_by_id[name].state == "available":
return True
def on_message(self, client, userdata, msg):
"""
Processes incoming MQTT messages.
We assume the payload of all received MQTT messages is an UTF-8 encoded
string, which is formatted as a JSON object. The JSON object contains
a field called `command` which identifies what the message should achieve.
As a reaction to a received message, we can for example do the following:
* create a new state machine instance to handle the incoming messages,
* route the message to an existing state machine session,
* handle the message right here,
* throw the message away.
"""
self._logger.debug('Incoming message to topic {}'.format(msg.topic))
payload = json.loads(msg.payload)
command = payload.get('command')
self._logger.debug(f"Have detected this command: {command}")
if command == "check_driver":
self._logger.debug(f"State Machine: {self.driver.print_status()}")
if self.check_available():
self.mqtt_client.publish(self.MQTT_TOPIC_OUTPUT,
self.driver.print_status())
# Assumes payload with ``lock_name`` and ``nfc_tag``
elif command == "reserve":
for name in self.active_machines:
if self.driver._stms_by_id[name].state == "available":
self._logger.debug(f"Reserving lock with id: {name}")
kwargs = {"nfc_tag": payload.get("value")}
self.driver.send(message_id='reserve',
stm_id=name,
kwargs=kwargs)
self.mqtt_client.publish(
self.MQTT_TOPIC_OUTPUT,
f'Reserved lock with name {name}')
self.mqtt_client.publish(
self.get_stm_by_name(name)._obj.get_nfc_tag())
self._logger.debug(
self.get_stm_by_name(name)._obj.get_nfc_tag())
return
self._logger.debug("No locks available in this rack")
self.mqtt_client.publish(self.MQTT_TOPIC_OUTPUT,
f'No locks available')
elif command == "add_lock":
lock_name = payload.get("lock_name")
self._logger.debug(f"Add lock with name: {lock_name}")
lock_stm = BikeLock(self.driver, self, lock_name)
self.driver.add_machine(lock_stm.stm)
self.active_machines[lock_name] = lock_name
# Assumes payload with``nfc_tag`` and ``lock_name``
elif command == "nfc_det":
self._logger.debug("running nfc_det")
self.nfc_det(nfc_tag=payload.get("value"),
lock_name=payload.get("lock_name"))
elif command == "check_state":
name = payload.get("name")
self._logger.debug(
f"Machine: {name}, is in state: {self.get_stm_by_name(name).state}"
)
self.mqtt_client.publish(
self.MQTT_TOPIC_OUTPUT,
f"Machine: {name}, is in state: {self.get_stm_by_name(name).state}"
)
# Catch message without handler
else:
self._logger.debug(f"Command: {command} does not have a handler")
def res_expired(self, nfc_tag):
self.mqtt_client.publish(self.MQTT_TOPIC_OUTPUT,
f'Reservetion timed out for {nfc_tag}')
def nfc_det(self, nfc_tag, lock_name):
self._logger.debug(
f"Detected NFC-tag with value: {nfc_tag} presented to lock: {lock_name}"
)
self._logger.debug(self.get_stm_by_name(lock_name).state)
kwargs = {"nfc_tag": nfc_tag}
self.driver.send(message_id='nfc_det', stm_id=lock_name, kwargs=kwargs)
# Getter for stm_by name
def get_stm_by_name(self, stm_name):
if self.driver._stms_by_id[stm_name]:
self._logger.debug(f"Getting stm with name: {stm_name}")
return self.driver._stms_by_id[stm_name]
# Did not find machine with ``stm_name``
self._logger.error(f"Error: did not find stm with name: {stm_name}")
return None