def __init__(self) -> None:
"""Initializes coordinator."""
# Initialize parent class
super().__init__()
# Initialize logger
self.logger = Logger("Coordinator", "coordinator")
self.logger.debug("Initializing coordinator")
# Initialize state
self.state = State()
# Initialize environment state dict, TODO: remove this
self.state.environment = {
"sensor": {"desired": {}, "reported": {}},
"actuator": {"desired": {}, "reported": {}},
"reported_sensor_stats": {
"individual": {"instantaneous": {}, "average": {}},
"group": {"instantaneous": {}, "average": {}},
},
}
# Initialize recipe state dict, TODO: remove this
self.state.recipe = {
"recipe_uuid": None,
"start_timestamp_minutes": None,
"last_update_minute": None,
}
# Initialize managers
self.recipe = RecipeManager(self.state)
self.iot = IotManager(self.state, self.recipe) # type: ignore
self.resource = ResourceManager(self.state, self.iot) # type: ignore
self.network = NetworkManager(self.state) # type: ignore
self.upgrade = UpgradeManager(self.state) # type: ignore
# Initialize state machine transitions
self.transitions = {
modes.INIT: [modes.CONFIG, modes.ERROR, modes.SHUTDOWN],
modes.CONFIG: [modes.SETUP, modes.ERROR, modes.SHUTDOWN],
modes.SETUP: [modes.NORMAL, modes.ERROR, modes.SHUTDOWN],
modes.NORMAL: [modes.LOAD, modes.ERROR, modes.SHUTDOWN],
modes.LOAD: [modes.CONFIG, modes.ERROR, modes.SHUTDOWN],
modes.RESET: [modes.INIT, modes.SHUTDOWN],
modes.ERROR: [modes.RESET, modes.SHUTDOWN],
}
# Initialize state machine mode
self.mode = modes.INIT
def __init__(self):
"""Initializes coordinator."""
self.logger.debug("Initializing coordinator")
# Initialize mode and error
self.mode = Modes.INIT
# Initialize latest publish timestamp
self.latest_publish_timestamp = 0
# Initialize state machine transitions
self.transitions = Transitions(self, TRANSITION_TABLE)
# Initialize coordinator event handler
self.events = CoordinatorEvents(self)
# Initialize managers
self.iot = IoTManager(self.state, self.recipe)
self.resource = ResourceManager(self.state, self, self.iot)
self.connect = ConnectManager(self.state, self.iot)
self.upgrade = UpgradeManager(self.state)
class CoordinatorManager(StateMachineManager):
"""Manages device state machine thread that spawns child threads to run
recipes, read sensors, set actuators, manage control loops, sync data,
and manage external events."""
# Initialize vars
latest_publish_timestamp = 0.0
peripherals: Dict[str, StateMachineManager] = {}
controllers: Dict[str, StateMachineManager] = {}
new_config: bool = False
def __init__(self) -> None:
"""Initializes coordinator."""
# Initialize parent class
super().__init__()
# Initialize logger
self.logger = Logger("Coordinator", "coordinator")
self.logger.debug("Initializing coordinator")
# Initialize state
self.state = State()
# Initialize environment state dict, TODO: remove this
self.state.environment = {
"sensor": {
"desired": {},
"reported": {}
},
"actuator": {
"desired": {},
"reported": {}
},
"reported_sensor_stats": {
"individual": {
"instantaneous": {},
"average": {}
},
"group": {
"instantaneous": {},
"average": {}
},
},
}
# Initialize recipe state dict, TODO: remove this
self.state.recipe = {
"recipe_uuid": None,
"start_timestamp_minutes": None,
"last_update_minute": None,
}
# Initialize managers
self.recipe = RecipeManager(self.state)
self.iot = IotManager(self.state, self.recipe) # type: ignore
self.recipe.set_iot(self.iot)
self.resource = ResourceManager(self.state, self.iot) # type: ignore
self.network = NetworkManager(self.state) # type: ignore
self.upgrade = UpgradeManager(self.state) # type: ignore
# Initialize state machine transitions
self.transitions = {
modes.INIT: [modes.CONFIG, modes.ERROR, modes.SHUTDOWN],
modes.CONFIG: [modes.SETUP, modes.ERROR, modes.SHUTDOWN],
modes.SETUP: [modes.NORMAL, modes.ERROR, modes.SHUTDOWN],
modes.NORMAL: [modes.LOAD, modes.ERROR, modes.SHUTDOWN],
modes.LOAD: [modes.CONFIG, modes.ERROR, modes.SHUTDOWN],
modes.RESET: [modes.INIT, modes.SHUTDOWN],
modes.ERROR: [modes.RESET, modes.SHUTDOWN],
}
# Initialize state machine mode
self.mode = modes.INIT
@property
def mode(self) -> str:
"""Gets mode."""
return self._mode
@mode.setter
def mode(self, value: str) -> None:
"""Safely updates mode in state object."""
self._mode = value
with self.state.lock:
self.state.device["mode"] = value
@property
def config_uuid(self) -> Optional[str]:
""" Gets config uuid from shared state. """
return self.state.device.get("config_uuid") # type: ignore
@config_uuid.setter
def config_uuid(self, value: Optional[str]) -> None:
""" Safely updates config uuid in state. """
with self.state.lock:
self.state.device["config_uuid"] = value
@property
def config_dict(self) -> Dict[str, Any]:
"""Gets config dict for config uuid in device config table."""
if self.config_uuid == None:
return {}
config = models.DeviceConfigModel.objects.get(uuid=self.config_uuid)
return json.loads(config.json) # type: ignore
@property
def latest_environment_timestamp(self) -> float:
"""Gets latest environment timestamp from environment table."""
if not models.EnvironmentModel.objects.all():
return 0.0
else:
environment = models.EnvironmentModel.objects.latest()
return float(environment.timestamp.timestamp())
@property
def manager_modes(self) -> Dict[str, str]:
"""Gets manager modes."""
self.logger.debug("Getting manager modes")
# Get known manager modes
modes = {
"Coordinator": self.mode,
"Recipe": self.recipe.mode,
"Network": self.network.mode,
"IoT": self.iot.mode,
"Resource": self.resource.mode,
}
# Get peripheral manager modes
for peripheral_name, peripheral_manager in self.peripherals.items():
modes[peripheral_name] = peripheral_manager.mode
# Get controller manager modes
for controller_name, controller_manager in self.controllers.items():
modes[controller_name] = controller_manager.mode
# Return modes
self.logger.debug("Returning modes: {}".format(modes))
return modes
@property
def manager_healths(self) -> Dict[str, str]:
"""Gets manager healths."""
self.logger.debug("Getting manager healths")
# Initialize healths
healths = {}
# Get peripheral manager modes
for peripheral_name, peripheral_manager in self.peripherals.items():
healths[
peripheral_name] = peripheral_manager.health # type: ignore
# Return modes
self.logger.debug("Returning healths: {}".format(healths))
return healths
##### STATE MACHINE FUNCTIONS ######################################################
def run(self) -> None:
"""Runs device state machine."""
# Loop forever
while True:
# Check if thread is shutdown
if self.is_shutdown:
break
# Check for transitions
if self.mode == modes.INIT:
self.run_init_mode()
elif self.mode == modes.CONFIG:
self.run_config_mode()
elif self.mode == modes.SETUP:
self.run_setup_mode()
elif self.mode == modes.NORMAL:
self.run_normal_mode()
elif self.mode == modes.LOAD:
self.run_load_mode()
elif self.mode == modes.ERROR:
self.run_error_mode()
elif self.mode == modes.RESET:
self.run_reset_mode()
elif self.mode == modes.SHUTDOWN:
self.run_shutdown_mode()
else:
self.logger.critical("Invalid state machine mode")
self.mode = modes.INVALID
self.is_shutdown = True
break
def run_init_mode(self) -> None:
"""Runs init mode. Loads local data files and stored database state
then transitions to config mode."""
self.logger.info("Entered INIT")
# Load local data files and stored db state
self.load_local_data_files()
self.load_database_stored_state()
# Transition to config mode on next state machine update
self.mode = modes.CONFIG
def run_config_mode(self) -> None:
"""Runs configuration mode. If device config is not set, loads 'unspecified'
config then transitions to setup mode."""
self.logger.info("Entered CONFIG")
# Check device config specifier file exists in repo
try:
with open(DEVICE_CONFIG_PATH) as f:
config_name = f.readline().strip()
except:
env_dev_type = os.getenv("OPEN_AG_DEVICE_TYPE")
if env_dev_type is None:
config_name = "unspecified"
message = "Unable to read {}, using unspecified config".format(
DEVICE_CONFIG_PATH)
else:
config_name = env_dev_type
message = "Unable to read {}, using {} config from env".format(
DEVICE_CONFIG_PATH, config_name)
self.logger.warning(message)
# Create the directories if needed
os.makedirs(os.path.dirname(DEVICE_CONFIG_PATH), exist_ok=True)
# Write `unspecified` to device.txt
with open(DEVICE_CONFIG_PATH, "w") as f:
f.write("{}\n".format(config_name))
# Load device config
self.logger.debug("Loading device config file: {}".format(config_name))
device_config = json.load(
open("data/devices/{}.json".format(config_name)))
# Check if config uuid changed, if so, adjust state
if self.config_uuid != device_config["uuid"]:
with self.state.lock:
self.state.peripherals = {}
self.state.controllers = {}
set_nested_dict_safely(
self.state.environment,
["reported_sensor_stats"],
{},
self.state.lock,
)
set_nested_dict_safely(self.state.environment,
["sensor", "reported"], {},
self.state.lock)
self.config_uuid = device_config["uuid"]
# Transition to setup mode on next state machine update
self.mode = modes.SETUP
def run_setup_mode(self) -> None:
"""Runs setup mode. Creates and spawns recipe, peripheral, and
controller threads, waits for all threads to initialize then
transitions to normal mode."""
self.logger.info("Entered SETUP")
config_uuid = self.state.device["config_uuid"]
# Spawn managers
if not self.new_config:
self.recipe.spawn()
self.iot.spawn()
self.resource.spawn()
self.network.spawn()
self.upgrade.spawn()
# Create and spawn peripherals
self.logger.debug("Creating and spawning peripherals")
self.create_peripherals()
self.spawn_peripherals()
# Create and spawn controllers
self.create_controllers()
self.spawn_controllers()
# Wait for all threads to initialize
while not self.all_managers_initialized():
time.sleep(0.2)
# Unset new config flag
self.new_config = False
# Transition to normal mode on next state machine update
self.mode = modes.NORMAL
def run_normal_mode(self) -> None:
"""Runs normal operation mode. Updates device state summary and stores device
state in database, checks for new events and transitions."""
self.logger.info("Entered NORMAL")
while True:
# Overwrite system state in database every 100ms
self.update_state()
# Store environment state in every 10 minutes
if time.time() - self.latest_environment_timestamp > 60 * 10:
self.store_environment()
# Check for events
self.check_events()
# Check for transitions
if self.new_transition(modes.NORMAL):
break
# Update every 100ms
time.sleep(0.1)
def run_load_mode(self) -> None:
"""Runs load mode, shutsdown peripheral and controller threads then transitions
to config mode."""
self.logger.info("Entered LOAD")
# Shutdown peripherals and controllers
self.shutdown_peripheral_threads()
self.shutdown_controller_threads()
# Initialize timeout parameters
timeout = 10
start_time = time.time()
# Loop forever
while True:
# Check if peripherals and controllers are shutdown
if self.all_peripherals_shutdown(
) and self.all_controllers_shutdown():
self.logger.debug("All peripherals and controllers shutdown")
break
# Check for timeout
if time.time() - start_time > timeout:
self.logger.critical("Config threads did not shutdown")
self.mode = modes.ERROR
return
# Update every 100ms
time.sleep(0.1)
# Set new config flag
self.new_config = True
# Transition to config mode on next state machine update
self.mode = modes.CONFIG
def run_reset_mode(self) -> None:
"""Runs reset mode. Shutsdown child threads then transitions to init."""
self.logger.info("Entered RESET")
# Shutdown managers
self.shutdown_peripheral_threads()
self.shutdown_controller_threads()
self.recipe.shutdown()
self.iot.shutdown()
# Transition to init mode on next state machine update
self.mode = modes.INIT
def run_error_mode(self) -> None:
"""Runs error mode. Shutsdown child threads, waits for new events
and transitions."""
self.logger.info("Entered ERROR")
# Shutsdown peripheral and controller threads
self.shutdown_peripheral_threads()
self.shutdown_controller_threads()
# Loop forever
while True:
# Check for events
self.check_events()
# Check for transitions
if self.new_transition(modes.ERROR):
break
# Update every 100ms
time.sleep(0.1)
##### SUPPORT FUNCTIONS ############################################################
def update_state(self) -> None:
"""Updates stored state in database. If state does not exist, creates it."""
# TODO: Move this to state manager
if not models.StateModel.objects.filter(pk=1).exists():
models.StateModel.objects.create(
id=1,
device=json.dumps(self.state.device),
recipe=json.dumps(self.state.recipe),
environment=json.dumps(self.state.environment),
peripherals=json.dumps(self.state.peripherals),
controllers=json.dumps(self.state.controllers),
iot=json.dumps(self.state.iot),
resource=json.dumps(self.state.resource),
connect=json.dumps(self.state.network),
upgrade=json.dumps(self.state.upgrade),
)
else:
models.StateModel.objects.filter(pk=1).update(
device=json.dumps(self.state.device),
recipe=json.dumps(self.state.recipe),
environment=json.dumps(self.state.environment),
peripherals=json.dumps(self.state.peripherals),
controllers=json.dumps(self.state.controllers),
iot=json.dumps(self.state.iot),
resource=json.dumps(self.state.resource),
connect=json.dumps(self.state.network), # TODO: migrate this
upgrade=json.dumps(self.state.upgrade),
)
def load_local_data_files(self) -> None:
""" Loads local data files. """
self.logger.info("Loading local data files")
# Load files with no verification dependencies first
self.load_sensor_variables_file()
self.load_actuator_variables_file()
self.load_cultivars_file()
self.load_cultivation_methods_file()
# Load recipe files after sensor/actuator variables, cultivars, and
# cultivation methods since verification depends on them
self.load_recipe_files()
# Load peripheral setup files after sensor/actuator variable since verification
# depends on them
self.load_peripheral_setup_files()
# Load controller setup files after sensor/actuator variable since verification
# depends on them
self.load_controller_setup_files()
# Load device config after peripheral setups since verification
# depends on them
self.load_device_config_files()
def load_sensor_variables_file(self) -> None:
""" Loads sensor variables file into database after removing all
existing entries. """
self.logger.debug("Loading sensor variables file")
# Load sensor variables and schema
sensor_variables = json.load(open(SENSOR_VARIABLES_PATH))
sensor_variables_schema = json.load(open(SENSOR_VARIABLES_SCHEMA_PATH))
# Validate sensor variables with schema
jsonschema.validate(sensor_variables, sensor_variables_schema)
# Delete sensor variables tables
models.SensorVariableModel.objects.all().delete()
# Create sensor variables table
for sensor_variable in sensor_variables:
models.SensorVariableModel.objects.create(
json=json.dumps(sensor_variable))
def load_actuator_variables_file(self) -> None:
""" Loads actuator variables file into database after removing all
existing entries. """
self.logger.debug("Loading actuator variables file")
# Load actuator variables and schema
actuator_variables = json.load(open(ACTUATOR_VARIABLES_PATH))
actuator_variables_schema = json.load(
open(ACTUATOR_VARIABLES_SCHEMA_PATH))
# Validate actuator variables with schema
jsonschema.validate(actuator_variables, actuator_variables_schema)
# Delete actuator variables tables
models.ActuatorVariableModel.objects.all().delete()
# Create actuator variables table
for actuator_variable in actuator_variables:
models.ActuatorVariableModel.objects.create(
json=json.dumps(actuator_variable))
def load_cultivars_file(self) -> None:
""" Loads cultivars file into database after removing all
existing entries."""
self.logger.debug("Loading cultivars file")
# Load cultivars and schema
cultivars = json.load(open(CULTIVARS_PATH))
cultivars_schema = json.load(open(CULTIVARS_SCHEMA_PATH))
# Validate cultivars with schema
jsonschema.validate(cultivars, cultivars_schema)
# Delete cultivars tables
models.CultivarModel.objects.all().delete()
# Create cultivars table
for cultivar in cultivars:
models.CultivarModel.objects.create(json=json.dumps(cultivar))
def load_cultivation_methods_file(self) -> None:
""" Loads cultivation methods file into database after removing all
existing entries. """
self.logger.debug("Loading cultivation methods file")
# Load cultivation methods and schema
cultivation_methods = json.load(open(CULTIVATION_METHODS_PATH))
cultivation_methods_schema = json.load(
open(CULTIVATION_METHODS_SCHEMA_PATH))
# Validate cultivation methods with schema
jsonschema.validate(cultivation_methods, cultivation_methods_schema)
# Delete cultivation methods tables
models.CultivationMethodModel.objects.all().delete()
# Create cultivation methods table
for cultivation_method in cultivation_methods:
models.CultivationMethodModel.objects.create(
json=json.dumps(cultivation_method))
def load_recipe_files(self) -> None:
"""Loads recipe files into database via recipe manager create or update
function."""
self.logger.debug("Loading recipe files")
# Get recipes
for filepath in glob.glob(RECIPES_PATH):
self.logger.debug("Loading recipe file: {}".format(filepath))
with open(filepath, "r") as f:
json_ = f.read().replace("\n", "")
message, code = self.recipe.create_or_update_recipe(json_)
if code != 200:
filename = filepath.split("/")[-1]
error = "Unable to load {} -> {}".format(filename, message)
self.logger.error(error)
def load_peripheral_setup_files(self) -> None:
"""Loads peripheral setup files from codebase into database by creating new
entries after deleting existing entries. Verification depends on sensor and
actuator variables."""
self.logger.info("Loading peripheral setup files")
# Get peripheral setups
peripheral_setups = []
for filepath in glob.glob(PERIPHERAL_SETUP_FILES_PATH):
self.logger.debug(
"Loading peripheral setup file: {}".format(filepath))
peripheral_setups.append(json.load(open(filepath)))
# Get get peripheral setup schema
# TODO: Finish schema
peripheral_setup_schema = json.load(open(PERIPHERAL_SETUP_SCHEMA_PATH))
# Validate peripheral setups with schema
for peripheral_setup in peripheral_setups:
jsonschema.validate(peripheral_setup, peripheral_setup_schema)
# Delete all peripheral setup entries from database
models.PeripheralSetupModel.objects.all().delete()
# TODO: Validate peripheral setup variables with database variables
# Create peripheral setup entries in database
for peripheral_setup in peripheral_setups:
models.PeripheralSetupModel.objects.create(
json=json.dumps(peripheral_setup))
def load_controller_setup_files(self) -> None:
"""Loads controller setup files from codebase into database by creating new
entries after deleting existing entries. Verification depends on sensor and
actuator variables."""
self.logger.info("Loading controller setup files")
# Get controller setups
controller_setups = []
for filepath in glob.glob(CONTROLLER_SETUP_FILES_PATH):
self.logger.debug(
"Loading controller setup file: {}".format(filepath))
controller_setups.append(json.load(open(filepath)))
# Get get controller setup schema
controller_setup_schema = json.load(open(CONTROLLER_SETUP_SCHEMA_PATH))
# Validate peripheral setups with schema
for controller_setup in controller_setups:
jsonschema.validate(controller_setup, controller_setup_schema)
# Delete all peripheral setup entries from database
models.ControllerSetupModel.objects.all().delete()
# TODO: Validate controller setup variables with database variables
# Create peripheral setup entries in database
for controller_setup in controller_setups:
models.ControllerSetupModel.objects.create(
json=json.dumps(controller_setup))
def load_device_config_files(self) -> None:
"""Loads device config files from codebase into database by creating new entries
after deleting existing entries. Verification depends on peripheral setups. """
self.logger.info("Loading device config files")
# Get devices
device_configs = []
for filepath in glob.glob(DEVICE_CONFIG_FILES_PATH):
self.logger.debug(
"Loading device config file: {}".format(filepath))
device_configs.append(json.load(open(filepath)))
# Get get device config schema
# TODO: Finish schema (see optional objects)
device_config_schema = json.load(open(DEVICE_CONFIG_SCHEMA_PATH))
# Validate device configs with schema
for device_config in device_configs:
jsonschema.validate(device_config, device_config_schema)
# TODO: Validate device config with peripherals
# TODO: Validate device config with varibles
# Delete all device config entries from database
models.DeviceConfigModel.objects.all().delete()
# Create device config entry if new or update existing
for device_config in device_configs:
models.DeviceConfigModel.objects.create(
json=json.dumps(device_config))
def load_database_stored_state(self) -> None:
""" Loads stored state from database if it exists. """
self.logger.info("Loading database stored state")
# Get stored state from database
if not models.StateModel.objects.filter(pk=1).exists():
self.logger.info("No stored state in database")
self.config_uuid = None
return
stored_state = models.StateModel.objects.filter(pk=1).first()
# Load device state
stored_device_state = json.loads(stored_state.device)
# Load recipe state
stored_recipe_state = json.loads(stored_state.recipe)
self.recipe.recipe_uuid = stored_recipe_state["recipe_uuid"]
self.recipe.recipe_name = stored_recipe_state["recipe_name"]
self.recipe.duration_minutes = stored_recipe_state["duration_minutes"]
self.recipe.start_timestamp_minutes = stored_recipe_state[
"start_timestamp_minutes"]
self.recipe.last_update_minute = stored_recipe_state[
"last_update_minute"]
self.recipe.stored_mode = stored_recipe_state["mode"]
# Load peripherals state
stored_peripherals_state = json.loads(stored_state.peripherals)
for peripheral_name in stored_peripherals_state:
self.state.peripherals[peripheral_name] = {}
if "stored" in stored_peripherals_state[peripheral_name]:
stored = stored_peripherals_state[peripheral_name]["stored"]
self.state.peripherals[peripheral_name]["stored"] = stored
# Load controllers state
stored_controllers_state = json.loads(stored_state.controllers)
for controller_name in stored_controllers_state:
self.state.controllers[controller_name] = {}
if "stored" in stored_controllers_state[controller_name]:
stored = stored_controllers_state[controller_name]["stored"]
self.state.controllers[controller_name]["stored"] = stored
# Load iot state
stored_iot_state = json.loads(stored_state.iot)
self.state.iot["stored"] = stored_iot_state.get("stored", {})
def store_environment(self) -> None:
""" Stores current environment state in environment table. """
models.EnvironmentModel.objects.create(state=self.state.environment)
def create_peripherals(self) -> None:
""" Creates peripheral managers. """
self.logger.info("Creating peripheral managers")
# Verify peripherals are configured
if self.config_dict.get("peripherals") == None:
self.logger.info("No peripherals configured")
return
# Set var type
mux_simulator: Optional[MuxSimulator]
# Inintilize simulation parameters
if os.environ.get("SIMULATE") == "true":
simulate = True
mux_simulator = MuxSimulator()
else:
simulate = False
mux_simulator = None
# Create thread locks
i2c_lock = threading.RLock()
# Create peripheral managers
self.peripherals = {}
peripheral_config_dicts = self.config_dict.get("peripherals", {})
for peripheral_config_dict in peripheral_config_dicts:
self.logger.debug("Creating {}".format(
peripheral_config_dict["name"]))
# Get peripheral setup dict
peripheral_uuid = peripheral_config_dict["uuid"]
peripheral_setup_dict = self.get_peripheral_setup_dict(
peripheral_uuid)
self.logger.debug("UUID {}".format(peripheral_uuid))
# Verify valid peripheral config dict
if peripheral_setup_dict == {}:
self.logger.critical(
"Invalid peripheral uuid in device "
"config. Validator should have caught this.")
continue
# Get peripheral module and class name
module_name = ("device.peripherals.modules." +
peripheral_setup_dict["module_name"])
class_name = peripheral_setup_dict["class_name"]
# Import peripheral library
module_instance = __import__(module_name, fromlist=[class_name])
class_instance = getattr(module_instance, class_name)
# Create peripheral manager
peripheral_name = peripheral_config_dict["name"]
peripheral = class_instance(
name=peripheral_name,
state=self.state,
config=peripheral_config_dict,
simulate=simulate,
i2c_lock=i2c_lock,
mux_simulator=mux_simulator,
)
self.peripherals[peripheral_name] = peripheral
def get_peripheral_setup_dict(self, uuid: str) -> Dict[str, Any]:
"""Gets peripheral setup dict for uuid in peripheral setup table."""
if not models.PeripheralSetupModel.objects.filter(uuid=uuid).exists():
return {}
else:
json_ = models.PeripheralSetupModel.objects.get(uuid=uuid).json
peripheral_setup_dict = json.loads(json_)
return peripheral_setup_dict # type: ignore
def get_controller_setup_dict(self, uuid: str) -> Dict[str, Any]:
"""Gets controller setup dict for uuid in peripheral setup table."""
if not models.ControllerSetupModel.objects.filter(uuid=uuid).exists():
return {}
else:
json_ = models.ControllerSetupModel.objects.get(uuid=uuid).json
controller_setup_dict = json.loads(json_)
return controller_setup_dict # type: ignore
def spawn_peripherals(self) -> None:
""" Spawns peripherals. """
if self.peripherals == {}:
self.logger.info("No peripheral threads to spawn")
else:
self.logger.info("Spawning peripherals")
for name, manager in self.peripherals.items():
manager.spawn()
def create_controllers(self) -> None:
""" Creates controller managers. """
self.logger.info("Creating controller managers")
# Verify controllers are configured
if self.config_dict.get("controllers") == None:
self.logger.info("No controllers configured")
return
# Create controller managers
self.controllers = {}
controller_config_dicts = self.config_dict.get("controllers", {})
for controller_config_dict in controller_config_dicts:
self.logger.debug("Creating {}".format(
controller_config_dict["name"]))
# Get controller setup dict
controller_uuid = controller_config_dict["uuid"]
controller_setup_dict = self.get_controller_setup_dict(
controller_uuid)
# Verify valid controller config dict
if controller_setup_dict == None:
self.logger.critical(
"Invalid controller uuid in device "
"config. Validator should have caught this.")
continue
# Get controller module and class name
module_name = ("device.controllers.modules." +
controller_setup_dict["module_name"])
class_name = controller_setup_dict["class_name"]
# Import controller library
module_instance = __import__(module_name, fromlist=[class_name])
class_instance = getattr(module_instance, class_name)
# Create controller manager
controller_name = controller_config_dict["name"]
controller_manager = class_instance(controller_name, self.state,
controller_config_dict)
self.controllers[controller_name] = controller_manager
def spawn_controllers(self) -> None:
""" Spawns controllers. """
if self.controllers == {}:
self.logger.info("No controller threads to spawn")
else:
self.logger.info("Spawning controllers")
for name, manager in self.controllers.items():
self.logger.debug("Spawning {}".format(name))
manager.spawn()
def all_managers_initialized(self) -> bool:
"""Checks if all managers have initialized."""
if self.recipe.mode == modes.INIT:
return False
elif not self.all_peripherals_initialized():
return False
elif not self.all_controllers_initialized():
return False
return True
def all_peripherals_initialized(self) -> bool:
"""Checks if all peripherals have initialized."""
for name, manager in self.peripherals.items():
if manager.mode == modes.INIT:
return False
return True
def all_controllers_initialized(self) -> bool:
"""Checks if all controllers have initialized."""
for name, manager in self.controllers.items():
if manager.mode == modes.INIT:
return False
return True
def shutdown_peripheral_threads(self) -> None:
"""Shutsdown all peripheral threads."""
for name, manager in self.peripherals.items():
manager.shutdown()
def shutdown_controller_threads(self) -> None:
"""Shutsdown all controller threads."""
for name, manager in self.controllers.items():
manager.shutdown()
def all_peripherals_shutdown(self) -> bool:
"""Check if all peripherals are shutdown."""
for name, manager in self.peripherals.items():
if manager.thread.is_alive():
return False
return True
def all_controllers_shutdown(self) -> bool:
"""Check if all controllers are shutdown."""
for name, manager in self.controllers.items():
if manager.thread.is_alive():
return False
return True
##### EVENT FUNCTIONS ##############################################################
def check_events(self) -> None:
"""Checks for a new event. Only processes one event per call, even if there are
multiple in the queue. Events are processed first-in-first-out (FIFO)."""
# Check for new events
if self.event_queue.empty():
return
# Get request
request = self.event_queue.get()
self.logger.debug("Received new request: {}".format(request))
# Get request parameters
try:
type_ = request["type"]
except KeyError as e:
message = "Invalid request parameters: {}".format(e)
self.logger.exception(message)
return
# Execute request
if type_ == events.RESET:
self._reset() # Defined in parent class
elif type_ == events.SHUTDOWN:
self._shutdown() # Defined in parent class
elif type_ == events.LOAD_DEVICE_CONFIG:
self._load_device_config(request)
else:
self.logger.error(
"Invalid event request type in queue: {}".format(type_))
def load_device_config(self, uuid: str) -> Tuple[str, int]:
"""Pre-processes load device config event request."""
self.logger.debug("Pre-processing load device config request")
# Get filename of corresponding uuid
filename = None
for filepath in glob.glob(DEVICE_CONFIG_FILES_PATH):
self.logger.debug(filepath)
device_config = json.load(open(filepath))
if device_config["uuid"] == uuid:
filename = filepath.split("/")[-1].replace(".json", "")
# Verify valid config uuid
if filename == None:
message = "Invalid config uuid, corresponding filepath not found"
self.logger.debug(message)
return message, 400
# Check valid mode transition if enabled
if not self.valid_transition(self.mode, modes.LOAD):
message = "Unable to load device config from {} mode".format(
self.mode)
self.logger.debug(message)
return message, 400
# Add load device config event request to event queue
request = {"type": events.LOAD_DEVICE_CONFIG, "filename": filename}
self.event_queue.put(request)
# Successfully added load device config request to event queue
message = "Loading config"
return message, 200
def _load_device_config(self, request: Dict[str, Any]) -> None:
"""Processes load device config event request."""
self.logger.debug("Processing load device config request")
# Get request parameters
filename = request.get("filename")
# Write config filename to device config path
with open(DEVICE_CONFIG_PATH, "w") as f:
f.write(str(filename) + "\n")
# Transition to init mode on next state machine update
self.mode = modes.LOAD
def test_init() -> None:
state = State()
manager = ResourceManager(state, IotManager(state, RecipeManager(state)))
class CoordinatorManager(Manager):
"""Manages device state machine thread that spawns child threads to run
recipes, read sensors, set actuators, manage control loops, sync data,
and manage external events."""
# Initialize logger
extra = {"console_name": "Coordinator", "file_name": "Coordinator"}
logger = logging.getLogger("coordinator")
logger = logging.LoggerAdapter(logger, extra)
# Initialize device mode and error
_mode = None
# Initialize state object, `state` serves as shared memory between threads
state = State()
# Initialize environment state dict
state.environment = {
"sensor": {
"desired": {},
"reported": {}
},
"actuator": {
"desired": {},
"reported": {}
},
"reported_sensor_stats": {
"individual": {
"instantaneous": {},
"average": {}
},
"group": {
"instantaneous": {},
"average": {}
},
},
}
# Initialize recipe state dict
state.recipe = {
"recipe_uuid": None,
"start_timestamp_minutes": None,
"last_update_minute": None,
}
# Initialize recipe object
recipe = RecipeManager(state)
# Initialize peripheral and controller managers
peripherals = {}
controllers = {}
def __init__(self):
"""Initializes coordinator."""
self.logger.debug("Initializing coordinator")
# Initialize mode and error
self.mode = Modes.INIT
# Initialize latest publish timestamp
self.latest_publish_timestamp = 0
# Initialize state machine transitions
self.transitions = Transitions(self, TRANSITION_TABLE)
# Initialize coordinator event handler
self.events = CoordinatorEvents(self)
# Initialize managers
self.iot = IoTManager(self.state, self.recipe)
self.resource = ResourceManager(self.state, self, self.iot)
self.connect = ConnectManager(self.state, self.iot)
self.upgrade = UpgradeManager(self.state)
@property
def mode(self):
"""Gets mode."""
return self._mode
@mode.setter
def mode(self, value):
"""Safely updates mode in state object """
self._mode = value
with self.state.lock:
self.state.device["mode"] = value
@property
def commanded_mode(self):
""" Gets commanded mode from shared state object. """
if "commanded_mode" in self.state.device:
return self.state.device["commanded_mode"]
else:
return None
@commanded_mode.setter
def commanded_mode(self, value):
""" Safely updates commanded mode in state object. """
with self.state.lock:
self.state.device["commanded_mode"] = value
@property
def request(self):
""" Gets request from shared state object. """
if "request" in self.state.device:
return self.state.device["request"]
else:
return None
@request.setter
def request(self, value):
""" Safely updates request in state object. """
with self.state.lock:
self.state.device["request"] = value
@property
def response(self):
""" Gets response from shared state object. """
if "response" in self.state.device:
return self.state.device["response"]
else:
return None
@response.setter
def response(self, value):
""" Safely updates response in state object. """
with self.state.lock:
self.state.device["response"] = value
@property
def config_uuid(self):
""" Gets config uuid from shared state. """
if "config_uuid" in self.state.device:
return self.state.device["config_uuid"]
else:
return None
@config_uuid.setter
def config_uuid(self, value):
""" Safely updates config uuid in state. """
with self.state.lock:
self.state.device["config_uuid"] = value
@property
def commanded_config_uuid(self):
""" Gets commanded config uuid from shared state. """
if "commanded_config_uuid" in self.state.device:
return self.state.device["commanded_config_uuid"]
else:
return None
@commanded_config_uuid.setter
def commanded_config_uuid(self, value):
"""Safely updates commanded config uuid in state."""
with self.state.lock:
self.state.device["commanded_config_uuid"] = value
@property
def config_dict(self):
"""Gets config dict for config uuid in device config table."""
if self.config_uuid == None:
return None
config = DeviceConfigModel.objects.get(uuid=self.config_uuid)
return json.loads(config.json)
@property
def latest_environment_timestamp(self):
"""Gets latest environment timestamp from environment table."""
if not EnvironmentModel.objects.all():
return 0
else:
environment = EnvironmentModel.objects.latest()
return environment.timestamp.timestamp()
def spawn(self, delay=None):
"""Spawns device thread."""
self.thread = threading.Thread(target=self.run_state_machine,
args=(delay, ))
self.thread.daemon = True
self.thread.start()
def run_state_machine(self, delay: float = 0) -> None:
"""Runs device state machine."""
# Wait for optional delay
time.sleep(delay)
self.logger.info("Spawning device thread")
# Start state machine
self.logger.info("Started state machine")
while True:
if self.mode == Modes.INIT:
self.run_init_mode()
elif self.mode == Modes.CONFIG:
self.run_config_mode()
elif self.mode == Modes.SETUP:
self.run_setup_mode()
elif self.mode == Modes.NORMAL:
self.run_normal_mode()
elif self.mode == Modes.LOAD:
self.run_load_mode()
elif self.mode == Modes.ERROR:
self.run_error_mode()
elif self.mode == Modes.RESET:
self.run_reset_mode()
def run_init_mode(self):
"""Runs initialization mode. Loads local data files and stored database state
then transitions to config mode."""
self.logger.info("Entered INIT")
# Load local data files
self.load_local_data_files()
# Load stored state from database
self.load_database_stored_state()
# Check for transitions
if self.transitions.is_new(Modes.INIT):
return
# Transition to CONFIG
self.mode = Modes.CONFIG
def run_config_mode(self):
"""Runs configuration mode. If device config is not set, loads 'unspecified'
config then transitions to setup mode."""
self.logger.info("Entered CONFIG")
# Check device config specifier file exists in repo
DEVICE_CONFIG_PATH = "data/config/device.txt"
try:
with open(DEVICE_CONFIG_PATH) as f:
config_name = f.readline().strip()
except:
message = "Unable to read {}, using unspecified config".format(
DEVICE_CONFIG_PATH)
self.logger.warning(message)
config_name = "unspecified"
# Write `unspecified` to device.txt
with open(DEVICE_CONFIG_PATH, "w") as f:
f.write("{}\n".format(config_name))
# Load device config
self.logger.debug("Loading device config file: {}".format(config_name))
device_config = json.load(
open("data/devices/{}.json".format(config_name)))
# Check if config uuid changed, if so, adjust state
if self.config_uuid != device_config["uuid"]:
with self.state.lock:
self.state.peripherals = {}
set_nested_dict_safely(
self.state.environment,
["reported_sensor_stats"],
{},
self.state.lock,
)
set_nested_dict_safely(self.state.environment,
["sensor", "reported"], {},
self.state.lock)
self.config_uuid = device_config["uuid"]
# Check for transitions
if self.transitions.is_new(Modes.CONFIG):
return
# Transition to SETUP
self.mode = Modes.SETUP
def run_setup_mode(self):
"""Runs setup mode. Creates and spawns recipe, peripheral, and
controller threads, waits for all threads to initialize then
transitions to normal mode."""
self.logger.info("Entered SETUP")
config_uuid = self.state.device["config_uuid"]
self.logger.debug("state.device.config_uuid = {}".format(config_uuid))
# Spawn the threads this object controls
self.recipe.spawn()
self.iot.spawn()
self.resource.spawn()
self.connect.spawn()
self.upgrade.spawn()
# Create peripheral managers and spawn threads
self.create_peripherals()
self.spawn_peripherals()
# Create controller managers and spawn threads
self.create_controllers()
self.spawn_controllers()
# Wait for all threads to initialize
while not self.all_threads_initialized():
time.sleep(0.2)
# Check for transitions
if self.transitions.is_new(Modes.SETUP):
return
# Transition to NORMAL
self.mode = Modes.NORMAL
def run_normal_mode(self):
"""Runs normal operation mode. Updates device state summary and stores device
state in database, checks for new events and transitions."""
self.logger.info("Entered NORMAL")
while True:
# Overwrite system state in database every 100ms
self.update_state()
# Store environment state in every 10 minutes
if time.time() - self.latest_environment_timestamp > 60 * 10:
self.store_environment()
# Once a minute, publish any changed values
if time.time() - self.latest_publish_timestamp > 60:
self.latest_publish_timestamp = time.time()
self.iot.publish()
# Check for events
self.events.check()
# Check for transitions
if self.transitions.is_new(Modes.NORMAL):
break
# Update every 100ms
time.sleep(0.1)
def run_load_mode(self):
"""Runs load mode, kills peripheral and controller threads then transitions
to config mode."""
self.logger.info("Entered LOAD")
# Kill peripheral and controller threads
self.kill_peripheral_threads()
self.kill_controller_threads()
# Transition to CONFIG
self.mode = Modes.CONFIG
def run_reset_mode(self):
"""Runs reset mode. Kills child threads then transitions to init."""
self.logger.info("Entered RESET")
# Kills child threads
self.kill_peripheral_threads()
self.kill_controller_threads()
self.recipe.stop()
self.iot.stop()
# Transition to init on next state machine update
self.mode = Modes.INIT
def run_error_mode(self):
"""Runs error mode. Shutsdown child threads, waits for new events and transitions."""
self.logger.info("Entered ERROR")
# Kills peripheral and controller threads
self.kill_peripheral_threads()
self.kill_controller_threads()
# Loop forever
while True:
# Check for events
self.events.check()
# Check for transitions
if self.transitions.is_new(Modes.ERROR):
break
# Update every 100ms
time.sleep(0.1)
def update_state(self):
"""Updates stored state in database. If state does not exist, creates it."""
# TODO: Move this to state manager
if not StateModel.objects.filter(pk=1).exists():
StateModel.objects.create(
id=1,
device=json.dumps(self.state.device),
recipe=json.dumps(self.state.recipe),
environment=json.dumps(self.state.environment),
peripherals=json.dumps(self.state.peripherals),
controllers=json.dumps(self.state.controllers),
iot=json.dumps(self.state.iot),
resource=json.dumps(self.state.resource),
connect=json.dumps(self.state.connect),
upgrade=json.dumps(self.state.upgrade),
)
else:
StateModel.objects.filter(pk=1).update(
device=json.dumps(self.state.device),
recipe=json.dumps(self.state.recipe),
environment=json.dumps(self.state.environment),
peripherals=json.dumps(self.state.peripherals),
controllers=json.dumps(self.state.controllers),
iot=json.dumps(self.state.iot),
resource=json.dumps(self.state.resource),
connect=json.dumps(self.state.connect),
upgrade=json.dumps(self.state.upgrade),
)
def load_local_data_files(self):
""" Loads local data files. """
self.logger.info("Loading local data files")
# Load files with no verification dependencies first
self.load_sensor_variables_file()
self.load_actuator_variables_file()
self.load_cultivars_file()
self.load_cultivation_methods_file()
# Load recipe files after sensor/actuator variables, cultivars, and
# cultivation methods since verification depends on them
self.load_recipe_files()
# Load peripherals after sensor/actuator variable since verification
# depends on them
self.load_peripheral_setup_files()
# Load device config after peripheral setups since verification
# depends on them
self.load_device_config_files()
def load_sensor_variables_file(self):
""" Loads sensor variables file into database after removing all
existing entries. """
self.logger.debug("Loading sensor variables file")
# Load sensor variables and schema
sensor_variables = json.load(
open("data/variables/sensor_variables.json"))
sensor_variables_schema = json.load(
open("data/schemas/sensor_variables.json"))
# Validate sensor variables with schema
validate(sensor_variables, sensor_variables_schema)
# Delete sensor variables tables
SensorVariableModel.objects.all().delete()
# Create sensor variables table
for sensor_variable in sensor_variables:
SensorVariableModel.objects.create(
json=json.dumps(sensor_variable))
def load_actuator_variables_file(self):
""" Loads actuator variables file into database after removing all
existing entries. """
self.logger.debug("Loading actuator variables file")
# Load actuator variables and schema
actuator_variables = json.load(
open("data/variables/actuator_variables.json"))
actuator_variables_schema = json.load(
open("data/schemas/actuator_variables.json"))
# Validate actuator variables with schema
validate(actuator_variables, actuator_variables_schema)
# Delete actuator variables tables
ActuatorVariableModel.objects.all().delete()
# Create actuator variables table
for actuator_variable in actuator_variables:
ActuatorVariableModel.objects.create(
json=json.dumps(actuator_variable))
def load_cultivars_file(self):
""" Loads cultivars file into database after removing all
existing entries."""
self.logger.debug("Loading cultivars file")
# Load cultivars and schema
cultivars = json.load(open("data/cultivations/cultivars.json"))
cultivars_schema = json.load(open("data/schemas/cultivars.json"))
# Validate cultivars with schema
validate(cultivars, cultivars_schema)
# Delete cultivars tables
CultivarModel.objects.all().delete()
# Create cultivars table
for cultivar in cultivars:
CultivarModel.objects.create(json=json.dumps(cultivar))
def load_cultivation_methods_file(self):
""" Loads cultivation methods file into database after removing all
existing entries. """
self.logger.debug("Loading cultivation methods file")
# Load cultivation methods and schema
cultivation_methods = json.load(
open("data/cultivations/cultivation_methods.json"))
cultivation_methods_schema = json.load(
open("data/schemas/cultivation_methods.json"))
# Validate cultivation methods with schema
validate(cultivation_methods, cultivation_methods_schema)
# Delete cultivation methods tables
CultivationMethodModel.objects.all().delete()
# Create cultivation methods table
for cultivation_method in cultivation_methods:
CultivationMethodModel.objects.create(
json=json.dumps(cultivation_method))
def load_recipe_files(self):
"""Loads recipe files into database via recipe manager create or update function."""
self.logger.debug("Loading recipe files")
# Get recipes
for filepath in glob.glob("data/recipes/*.json"):
self.logger.debug("Loading recipe file: {}".format(filepath))
with open(filepath, "r") as f:
json_ = f.read().replace("\n", "")
message, code = self.recipe.events.create_or_update_recipe(
json_)
if code != 200:
filename = filepath.split("/")[-1]
error = "Unable to load {} -> {}".format(filename, message)
self.logger.error(error)
def load_peripheral_setup_files(self):
""" Loads peripheral setup files from codebase into database by
creating new entries after deleting existing entries. Verification
depends on sensor/actuator variables. """
self.logger.info("Loading peripheral setup files")
# Get peripheral setups
peripheral_setups = []
for filepath in glob.glob(
"device/peripherals/modules/*/setups/*.json"):
self.logger.debug(
"Loading peripheral setup file: {}".format(filepath))
peripheral_setups.append(json.load(open(filepath)))
# Get get peripheral setup schema
# TODO: Finish schema
peripheral_setup_schema = json.load(
open("data/schemas/peripheral_setup.json"))
# Validate peripheral setups with schema
for peripheral_setup in peripheral_setups:
validate(peripheral_setup, peripheral_setup_schema)
# Delete all peripheral setup entries from database
PeripheralSetupModel.objects.all().delete()
# TODO: Validate peripheral setup variables with database variables
# Create peripheral setup entries in database
for peripheral_setup in peripheral_setups:
PeripheralSetupModel.objects.create(
json=json.dumps(peripheral_setup))
def load_device_config_files(self):
""" Loads device config files from codebase into database by creating
new entries after deleting existing entries. Verification depends
on peripheral setups. """
self.logger.info("Loading device config files")
# Get devices
device_configs = []
for filepath in glob.glob("data/devices/*.json"):
self.logger.debug(
"Loading device config file: {}".format(filepath))
device_configs.append(json.load(open(filepath)))
# Get get device config schema
# TODO: Finish schema (see optional objects)
device_config_schema = json.load(
open("data/schemas/device_config.json"))
# Validate device configs with schema
for device_config in device_configs:
validate(device_config, device_config_schema)
# TODO: Validate device config with peripherals
# TODO: Validate device config with varibles
# Delete all device config entries from database
DeviceConfigModel.objects.all().delete()
# Create device config entry if new or update existing
for device_config in device_configs:
DeviceConfigModel.objects.create(json=json.dumps(device_config))
def load_database_stored_state(self):
""" Loads stored state from database if it exists. """
self.logger.info("Loading database stored state")
# Get stored state from database
if not StateModel.objects.filter(pk=1).exists():
self.logger.info("No stored state in database")
self.config_uuid = None
return
stored_state = StateModel.objects.filter(pk=1).first()
# Load device state
stored_device_state = json.loads(stored_state.device)
# Load recipe state
stored_recipe_state = json.loads(stored_state.recipe)
self.recipe.recipe_uuid = stored_recipe_state["recipe_uuid"]
self.recipe.recipe_name = stored_recipe_state["recipe_name"]
self.recipe.duration_minutes = stored_recipe_state["duration_minutes"]
self.recipe.start_timestamp_minutes = stored_recipe_state[
"start_timestamp_minutes"]
self.recipe.last_update_minute = stored_recipe_state[
"last_update_minute"]
self.recipe.stored_mode = stored_recipe_state["mode"]
# Load peripherals state
stored_peripherals_state = json.loads(stored_state.peripherals)
for peripheral_name in stored_peripherals_state:
self.state.peripherals[peripheral_name] = {}
if "stored" in stored_peripherals_state[peripheral_name]:
stored = stored_peripherals_state[peripheral_name]["stored"]
self.state.peripherals[peripheral_name]["stored"] = stored
# Load controllers state
stored_controllers_state = json.loads(stored_state.controllers)
for controller_name in stored_controllers_state:
self.state.controllers[controller_name] = {}
if "stored" in stored_controllers_state[controller_name]:
stored = stored_controllers_state[controller_name]["stored"]
self.state.controllers[controller_name]["stored"] = stored
def store_environment(self):
""" Stores current environment state in environment table. """
EnvironmentModel.objects.create(state=self.state.environment)
def create_peripherals(self):
""" Creates peripheral managers. """
self.logger.info("Creating peripheral managers")
# Verify peripherals are configured
if self.config_dict["peripherals"] == None:
self.logger.info("No peripherals configured")
return
# Inintilize simulation parameters
if os.environ.get("SIMULATE") == "true":
simulate = True
mux_simulator = MuxSimulator()
else:
simulate = False
mux_simulator = None
# Create thread locks
i2c_lock = threading.RLock()
# Create peripheral managers
self.peripherals = {}
for peripheral_config_dict in self.config_dict["peripherals"]:
self.logger.debug("Creating {}".format(
peripheral_config_dict["name"]))
# Get peripheral setup dict
peripheral_uuid = peripheral_config_dict["uuid"]
peripheral_setup_dict = self.get_peripheral_setup_dict(
peripheral_uuid)
# Verify valid peripheral config dict
if peripheral_setup_dict == None:
self.logger.critical(
"Invalid peripheral uuid in device "
"config. Validator should have caught this.")
continue
# Get peripheral module and class name
module_name = ("device.peripherals.modules." +
peripheral_setup_dict["module_name"])
class_name = peripheral_setup_dict["class_name"]
# Import peripheral library
module_instance = __import__(module_name, fromlist=[class_name])
class_instance = getattr(module_instance, class_name)
# Create peripheral manager
peripheral_name = peripheral_config_dict["name"]
peripheral = class_instance(
name=peripheral_name,
state=self.state,
config=peripheral_config_dict,
simulate=simulate,
i2c_lock=i2c_lock,
mux_simulator=mux_simulator,
)
self.peripherals[peripheral_name] = peripheral
def get_peripheral_setup_dict(self, uuid):
""" Gets peripheral setup dict for uuid in peripheral setup table. """
if not PeripheralSetupModel.objects.filter(uuid=uuid).exists():
return None
return json.loads(PeripheralSetupModel.objects.get(uuid=uuid).json)
def spawn_peripherals(self):
""" Spawns peripheral threads. """
if self.peripherals == {}:
self.logger.info("No peripheral threads to spawn")
else:
self.logger.info("Spawning peripheral threads")
for peripheral_name in self.peripherals:
self.peripherals[peripheral_name].spawn()
def create_controllers(self):
""" Creates controller managers. """
self.logger.info("Creating controller managers")
# Verify controllers are configured
if self.config_dict["controllers"] == None:
self.logger.info("No controllers configured")
return
# Create controller managers
self.controllers = {}
for controller_config_dict in self.config_dict["controllers"]:
self.logger.debug("Creating {}".format(
controller_config_dict["name"]))
# Get controller setup dict
controller_uuid = controller_config_dict["uuid"]
controller_setup_dict = self.get_controller_setup_dict(
controller_uuid)
# Verify valid controller config dict
if controller_setup_dict == None:
self.logger.critical(
"Invalid controller uuid in device "
"config. Validator should have caught this.")
continue
# Get controller module and class name
module_name = ("device.controllers.drivers." +
controller_setup_dict["module_name"])
class_name = controller_setup_dict["class_name"]
# Import controller library
module_instance = __import__(module_name, fromlist=[class_name])
class_instance = getattr(module_instance, class_name)
# Create controller manager
controller_name = controller_config_dict["name"]
controller_manager = class_instance(controller_name, self.state,
controller_config_dict)
self.controllers[controller_name] = controller_manager
def spawn_controllers(self):
""" Spawns controller threads. """
if self.controllers == {}:
self.logger.info("No controller threads to spawn")
else:
self.logger.info("Spawning controller threads")
for controller_name in self.controllers:
self.controllers[controller_name].spawn()
def all_threads_initialized(self):
""" Checks that all recipe, peripheral, and controller
theads are initialized. """
if self.state.recipe["mode"] == Modes.INIT:
return False
elif not self.all_peripherals_initialized():
return False
elif not self.all_controllers_initialized():
return False
return True
def all_peripherals_initialized(self):
""" Checks that all peripheral threads have transitioned from INIT. """
for peripheral_name in self.state.peripherals:
peripheral_state = self.state.peripherals[peripheral_name]
# Check if mode in peripheral state
if "mode" not in peripheral_state:
return False
# Check if mode either init or setup
if peripheral_state["mode"] == Modes.INIT:
return False
return True
def all_controllers_initialized(self):
""" Checks that all controller threads have transitioned from INIT. """
for controller_name in self.state.controllers:
controller_state = self.state.controllers[controller_name]
if controller_state["mode"] == Modes.INIT:
return False
return True
def kill_peripheral_threads(self):
"""Kills all peripheral threads."""
for peripheral_name, peripheral_manager in self.peripherals.items():
peripheral_manager.thread_is_active = False
def kill_controller_threads(self):
"""Kills all controller threads."""
for controller_name, controller_manager in self.controllers.items():
controlled_manager.thread_is_active = False